CN206216672U - A kind of auxiliary support apparatus - Google Patents

Abstract

The utility model provides a kind of auxiliary support apparatus, heavy burden platform including exoskeleton mechanism and on exoskeleton mechanism, heavy burden platform is detachably connected with exoskeleton mechanism by coupling assembly, coupling assembly includes the male joint and female joint of nested arrangements, male joint and female joint are individually fixed on heavy burden platform and exoskeleton mechanism, trip and draw-in groove are provided between male joint and female joint, and for driving trip to enter or exit the operating mechanism and force transmission mechanism of draw-in groove.Wherein operating mechanism can use stay-supported, knob or poke-rod type, force transmission mechanism to be cotter mechanism, be oriented to groove mechanism or magnetic force mechanism.Heavy burden platform is realized being detachably connected with ectoskeleton by quick-release components etc., realize the design of heavy burden console moduleization, the adaptability and versatility of ESD are improve, being detachably connected also makes the wearing of ESD more convenient, one man operation can be applied to.

Description

A kind of auxiliary support apparatus

Technical field

The utility model belongs to robot wearable device technical field, and in particular to a kind of auxiliary support apparatus.

Background technology

ESD is that one kind may be worn on human external, and according to human motion attitude or human brain idea, using outer Portion's energy or by manpower accumulation of energy, so as to aid in a kind of wearing class plant equipment of wearer's load-bearing or power-assisted.Lower limb exoskeleton Device is a kind of ESD for being worn on human body lower limbs and trunk, is mainly used in strengthening human body heavy burden ability, aids in human body The effect of walking.In military field, lower limb exoskeleton device can strengthen heavy burden and the locomitivity of soldier, effectively improve individual soldier Fight capability；In emergency management and rescue field, can be widely applied to fire-fighting, disaster relief etc. needs to bear huge amounts of material, and vehicle nothing The current situation of method；Moreover it is possible to be used in mountain-climbing, tourism, walk help and rehabilitation field.Therefore, with very wide application prospect.

In the prior art, lower limb exoskeleton device is designed heavy burden platform and exoskeleton lower limbs mechanism using non-dismountable formula It is fixedly connected, although this design can meet load-bearing demand, there is both sides not enough.First, heavy burden platform and outer The fixed design of bone lower limb mechanism causes one to be difficult to dress ESD walking with load.Outside this fixed design Bone generally has two kinds of wearing modes, and a kind of is first to be bundled on load platform the article for needing to bear, then will be with negative The ectoskeleton of weight is integrally worn by human body, and heavy device causes wearing inconvenience, and if wearer needs bait, also Whole device need to completely be taken off can just loosen；Another way is that ESD first is worn by into human body, then by aiding in people Be bundled in the article for needing to bear on load platform for it by member, namely needs other people to aid in completing, and same this kind of mode is being worn Support staff is needed to help it first to unload goods during wearer's bait.It is also not square therefore two ways is both inconvenient to dress and is shirked Just taking a break in walking way, seriously constrains the convenience of lower limb exoskeleton.

Further, since heavy burden platform is fixedly connected with exoskeleton lower limbs mechanism, therefore each device can only have a kind of fixation The heavy burden platform of pattern, so as to limit its species for bearing article.The potential application scenarios of ESD be it is very extensive, For example can be used to bearing knapsack, goods and materials, water tank, large cargo (refrigerator, TV, washing machine etc.), the wounded, carry a stretcher, old age helps Row etc..But a kind of heavy burden platform is even with Multifunctional design, it is also difficult to meets various application scenarios, thus seriously constrains The scope of application of lower limb exoskeleton device.So, heavy burden platform is fixedly connected with exoskeleton lower limbs mechanism in the prior art Design, seriously constrains the convenience and applicability of lower limb exoskeleton device.

Utility model content

The deficiencies in the prior art in view of the above, the purpose of this utility model is to provide a kind of auxiliary support apparatus, It is easy to the connection and dismounting of heavy burden platform and exoskeleton lower limbs mechanism, makes wearing convenient, heavy burden functional diversities.

In order to achieve the above objects and other related objects, technical solutions of the utility model are as follows：

A kind of auxiliary support apparatus, including exoskeleton mechanism and the heavy burden platform on exoskeleton mechanism, it is described negative Galassing platform is detachably connected with exoskeleton mechanism by coupling assembly, and this pair of connected components are additionally provided with and are born a heavy burden for locked and unblock The locking mechanism of platform and exoskeleton mechanism.

ESD is designed to heavy burden platform and lower limb exoskeleton Demountable, and in both connection places It is locked using the locking mechanism for being capable of quick-detach soon, realize that heavy burden platform couples and dismounting with the quick of lower limb exoskeleton, and Locked and load-bearing under connection status.This fast assembling-disassembling is designed to heavy burden platform and lower limb exoskeleton with locked docking facilities Between standardised generic structure, such heavy burden platform can on this basis realize design.

The coupling assembly includes the male joint and female joint of nested arrangements, and the male joint and female joint are individually fixed in On heavy burden platform and exoskeleton mechanism, and realize dismantling and locked by locking mechanism；The locking mechanism includes trip, draw-in groove And for driving trip to enter or exit the operating mechanism and force transmission mechanism of draw-in groove, the trip is arranged on male joint and mother connects In one of them in head, the draw-in groove is arranged on another joint.

Further, the docking facilities also include making male joint and female joint in the case of without unblock or locked action Locked or releasing orientation maintaining body can be maintained at.Male joint and female joint have locked and unclamp two kinds of normalities, it is necessary to logical External force is crossed to switch between two states.

Male joint and female joint is set to be maintained at the resetting-mechanism of locking state, the reset when further, also including normality Mechanism is elastic mechanism or magnet assembly.Male joint and female joint only have a kind of locked normality, outer power unblock, but can not keep In released state.

Further, the autoregistration mechanism being oriented to during for connecting is provided between the male joint and female joint.In order to Alignment is oriented to during connection, it is easy to operate.Can be by the way of chamfering or inclined plane.

Further, the operating mechanism is configured as rotating in a circumferential direction or being axially moved along male joint and female joint, the biography The direction of motion of force mechanisms to slide axially or rotate in a circumferential direction, the trip be configured as it is forward and reverse itself is rotary, along public access Head and the radial direction or circumferential movement of female joint.

Further, the operating mechanism be guy structure, knob structure or vertically stir structure；The force transmission mechanism For cotter mechanism, it is oriented to groove mechanism, the mechanism by elasticity or magnetically-actuated；The trip is sliding extension mechanism, revotating card Disc mechanism, detent mechanism or with transmission mechanism and the integrally formed elastic deformation mechanism of operating mechanism.Wherein being oriented to groove mechanism is Trip is stretched out or is return by the two side of oriented groove, can be moved along opposite both direction.

Further, the heavy burden platform includes backboard, support platform and shoulder belt, and support platform is arranged on backboard, described Connecting hole is provided with backboard, fixed seat with holes is provided with the exoskeleton mechanism.

Specifically, circumferentially arranged in the female joint have multiple chutes, the trip is arranged in chute and can be along footpath To slip, the draw-in groove is opened in male joint, and male joint is stretched into female joint and limits its relative rotation by anti-rotation structure, and By trip and draw-in groove axial locking；Mounting groove is offered on the trip, the first magnet is provided with mounting groove, the mother connects Rotary sleeve is arranged with head, multiple second magnet and the 3rd magnet being arranged alternately, second magnet are installed on rotary sleeve Attracting with the first magnet, the 3rd magnet repels each other with the first magnet, and one or more springs and the decorative pearl on top of an official cap are provided between the female joint Mechanism, is circumferentially designed with multiple corresponding with the second magnet and the 3rd magnet on corresponding rotary sleeve, and can coordinate with the decorative pearl on top of an official cap Groove, so as to form multiple locking positions, enable rotary sleeve the second magnet or the 3rd magnet just with the first magnet to it is corresponding when Locking.When the second magnet of rotary sleeve rotate to it is corresponding with the first magnet of trip when, trip is in the first magnet and the second magnetic Under the interattraction of iron, draw-in groove is slid out, so as to the unblock of the head that achieves a butt joint；When the 3rd magnet in rotary sleeve is rotated as card When first magnet of tenon is corresponding, trip slides the card into docking male under the effect of repelling each other of the first magnet and the 3rd magnet It is locked so as to the head that achieves a butt joint in groove.

Further, circumferentially arranged in the female joint to have multiple chutes, the trip is arranged in chute and can edge Radially slide, the draw-in groove is opened in male joint, male joint is stretched into female joint and limits its relative rotation by anti-rotation structure, And by trip and draw-in groove axial locking, the stopper slot of limitation trip sliding position, phase are provided with the chute in the female joint The trip outer end answered is provided with position limiting slide block, and then prevents trip from excessively skidding off or departing from chute.Simultaneously in the female joint of stopper slot Stage clip is provided between end face and trip position limiting slide block end face, for trip to be ejected to female joint outside, thus in no external force Trip in the lower female joint of effect can skid off the chute in male joint under the active force of the stage clip and keep released state.It is described Rotary sleeve is cased with outside female joint, the rotary sleeve inwall has been arranged alternately the continuous recess of curved surface and convex portion, the recess and convex portion Top arc position be provided with locking projection.Accordingly, the outer face of trip uses the convex surface that is matched with rotary sleeve recess, and The top arc position on convex surface is provided with and the fastening groove that projection matches is engaged on rotary sleeve.When rotary sleeve is rotated to outside its recess and trip When end face is in contact, trip skids off the draw-in groove of male joint in the presence of stage clip, so that male joint and female joint are unlocked and unclamped, When rotary sleeve turn to convex portion and trip end face to it is corresponding when under the squeezing action of rotary sleeve convex portion, trip extruding stage clip is inside Draw-in groove is moved into, so as to realize the stuck and locking of male joint and female joint.And the effect for engaging projection and fastening groove is, In the case of being acted on without external force, locked position or released position are kept it in.

Further, the draw-in groove is opened in female joint and accommodates on cavity wall, and female joint is fixed with heavy burden stage+module, public Chute is radially provided with to insertion on joint, chute is circumferentially distributed, trip be arranged on chute in and can be along chute inside and outside Slide, also including base plate, pressing plate, back-moving spring and bolt, screw bolt passes male joint, pressing plate and base plate, by base plate and public affairs It is fixed between joint, it is enclosed within bolt outside back-moving spring, one end is against on base plate, and the other end is against on pressing plate, and pressing plate is pressed to Male joint, wherein, pressing plate is provided with pressure head towards the side of male joint, and guiding is tiltedly installed with along centerline direction on pressure head Groove, and the position of gathering sill gradually leans on from the direction away from public access end surface to the direction near public access end surface to center line Hold together, the guiding slot cross-section is T-slot, and trip the inner is provided with T-shaped bayonet lock, and bayonet lock is stretched into gathering sill；During normality, reset Spring is moved by compressing pressing plate drive ram to public access end surface, trip is moved out and is entered and locking is realized in draw-in groove； When wearer presses pressing plate, pressing plate pressed home spring, and trip is driven to male joint internal contraction by slide rail, so that Trip skids off chute, realizes unblock.

Further, be provided with draw-in groove on the female joint inwall, female joint bottom is provided with magnet, and with heavy burden platform Connection, radially offers chute in male joint, chute is circumferentially distributed, and trip is arranged in chute, and trip the inner is provided with Formation accommodating chamber in limited block, male joint, and the jacking block of polygonized structure is installed, the jacking block has path section and big footpath section, Path section is stretched into the space that each trip the inner surrounds, and just right with female joint bottom magnet, between path section and big footpath section By being oriented to conical surface transition, there is guiding surface corresponding with the guide cone face, and path section end edge on the limited block of trip Two kinds of drive magnets of magnetic pole are circumferentially mounted alternately with, male joint outside extends and forms rotating disk, and is connected with ectoskeleton installation Seat.

Further, the male joint includes fixed seat, rotational slide cutting ferrule and the cutting ferrule for connecting lower limb exoskeleton Mounting seat, rotational slide cutting ferrule is enclosed within outside cutting ferrule mounting seat, and cutting ferrule mounting seat is connected with fixed seat, before the rotational slide cutting ferrule End outside is provided with trip, and draw-in groove and escape groove are offered in the female joint, and trip is by escape groove from axially loading draw-in groove Afterwards, turn to the position staggered with escape groove and realize axial locking；The operating mechanism is bracing wire, bracing wire and rotational slide cutting ferrule The draw ring connection that outer wall is set, torsion spring is fixed between the rotational slide cutting ferrule and cutting ferrule mounting seat；During normality, make in torsion spring Under, trip is in the position staggered with escape groove, maintains the lock status, it is necessary to when docking or dismantling, be pulled by bracing wire and revolved Turn to slide cutting ferrule and rotate, when turn to trip and escape groove to it is corresponding when male joint and female joint can be separated.Docking male and The shaft core position of female is docked, polygonal inclination face is additionally provided with, the inclined plane can be used for two butt joint rapid alignments, and Two butt joints axially mutually rotation can be prevented, and then avoids non-artificial rotation butt joint, cause trip to depart from from escape groove.

Further, fixed station is provided with the male joint, fixed station has oriented towards one end of female joint Face, fixed station outer wall is circumferentially arranged draw-in groove, and chuck is provided with the female joint, and multiple jacking blocks are provided with chuck, card Rotating disk is provided between disk and female joint, rotating disk inner ring is circumferentially arranged there are multiple cantilevered trips, and trip direction is fixed The one side of platform has inclined plane corresponding with spigot surface, and during docking, the spigot surface extruding trip of fixed station moves out it, Whne draw-in groove and trip to it is corresponding when trip fall into locking realized in draw-in groove；The jacking block be located at two neighboring trip between, and with card Coordinated by wedge surface between tenon end, when rotating rotating disk, jacking block extrudes trip by wedge surface, moves out trip and exits card Groove.

As described above, the beneficial effects of the utility model are：Heavy burden platform is fabricated to modular construction respectively with ectoskeleton, And realize being detachably connected by quick-release components etc., it is easy to use.It is easy to select different heavy burden platforms according to demand, carries The high adaptability and versatility of ESD.Make its functional diversities, dress convenient, one man operation or two can be applied to People cooperates.

Brief description of the drawings

Fig. 1 is the explosive view of ESD in the utility model embodiment 1；

Fig. 2 and Fig. 3 is the explosive view of coupling assembly and locking device in the utility model embodiment 1；

Fig. 4 is coupling assembly and locking device scheme of installation in the utility model embodiment 1；

Fig. 5 and Fig. 6 be in the utility model embodiment 2 using rotary operating mechanism when, coupling assembly and locking device Explosive view；

Fig. 7 is the structural representation of male joint and female joint locking state in the utility model embodiment 2；

Fig. 8 is the structural representation of male joint and female joint releasing orientation in the utility model embodiment 2；

Fig. 9 and Figure 10 be in the utility model embodiment 3 using telescopic operating mechanism when, coupling assembly and locking device Explosive view；

Figure 11 is the structural representation of male joint and female joint releasing orientation in the utility model embodiment 3；

Figure 12 is the structural representation of male joint and female joint locking state in the utility model embodiment 3；

Figure 13 is the explosive view of coupling assembly and locking device in the utility model embodiment 4；

Figure 14 is the structural representation of male joint and female joint releasing orientation in the utility model embodiment 4；

Figure 15 is the structural representation of male joint and female joint locking state in the utility model embodiment 4；

Figure 16 and Figure 17 be in the utility model embodiment 5 using bracing wire operating mechanism when, coupling assembly and locking device Explosive view；

Figure 18 is the schematic diagram of male joint and female joint attachment structure in the utility model embodiment 5；

Figure 19 and 20 is the explosive view of coupling assembly and locking device in the utility model embodiment 6；

Figure 21 is the structural representation of male joint and female joint locking state in the utility model embodiment 6；

Figure 22 is the structural representation of male joint and female joint releasing orientation in the utility model embodiment 6；

Figure 23 and 24 is the scheme of installation of trip in the utility model embodiment 6；

Figure 25 and Figure 26 is the explosive view of male joint and female joint in the utility model embodiment 7；

Figure 27 is the schematic cross-sectional view of the utility model embodiment 7；

Figure 28 is trip and the assembling schematic diagram for coming directly towards in the utility model embodiment 7.

Specific embodiment

Implementation method of the present utility model is illustrated by particular specific embodiment below, those skilled in the art can be by this Content disclosed by specification understands other advantages of the present utility model and effect easily.

Embodiment 1

As shown in figure 1, a kind of ESD, including exoskeleton mechanism 1 and the heavy burden on exoskeleton mechanism 1 are put down Platform 2, the heavy burden platform 2 is detachably connected with exoskeleton mechanism 1 by coupling assembly 3, heavy burden platform 2 and exoskeleton mechanism 1 Between be additionally provided with it is locked and unblock coupling assembly 3 locking mechanism, in this example exoskeleton mechanism 1 be preferably lower limb exoskeleton.

ESD is designed to heavy burden platform 2 and lower limb exoskeleton Demountable, and in both connections Place is locked using the locking mechanism for being capable of quick-detach soon, realizes the quick connection and dismounting of heavy burden platform 2 and lower limb exoskeleton, with And the locked and load-bearing under connection status.This fast assembling-disassembling and locking mechanism are designed to heavy burden platform 2 and lower limb exoskeleton Between standardised generic joint, such heavy burden platform 2 can on this basis realize design.

More specifically as shown in Figures 2 to 4, the coupling assembly 3 has two terminations, is respectively fixedly connected with heavy burden platform 2 and lower limb exoskeleton 1 on, due to bearing the shearing and moment of torsion of all directions between the two, in order to meet each to receiving of locking mechanism Power, two terminations of the coupling assembly 3 separately design the male joint 300 and the form of female joint 301 matched for profile.Male joint 300 and the profile of female joint 301 can be triangle, quadrangle, pentagon, arbitrary polygon, and the shape such as circle, ellipse Formula, as long as male joint matching mutually nested with female joint profile.During connection in the groove of male joint insertion female matching, realize Nested type is connected.

Locking mechanism includes trip 303 and draw-in groove 304 and for driving trip 303 to enter or exit draw-in groove in this example 304 operating mechanism and force transmission mechanism, wherein operating mechanism are the mechanisms directly operated for external force, and force transmission mechanism is to be connected to Between operating mechanism and trip 303, the action of external force is transferred to trip 303, realizes locked or opening action, the public access First 300 and female joint 301 be individually fixed on heavy burden platform 2 and exoskeleton mechanism 1, and realized by trip 303 and draw-in groove 304 Dismantle and locked.The trip 303 both may be provided in male joint 300, and corresponding draw-in groove 304 is arranged in female joint 301； Trip 303 can be arranged in female joint 301, corresponding draw-in groove 304 is arranged in male joint 300.

Trip 303 is arranged in female joint 301 in this example, and into cylinder, its inner side is provided with appearance to the outline of female joint 301 Receive the accommodating chamber of male joint 300, accommodating chamber is polygonized structure with the docking section of male joint 300, in female joint 301 circumferentially Multiple chutes 302 are arranged at intervals with, chute 302 extends radially through female joint 301, and trip 303 is arranged in chute 302 and can edge Female joint 301 is radially slided, and the side of trip 303 is provided with positive stop 310, and trip 303 is inner (near that side of docking port) Guiding surface is provided with, 45 degree of lead angles for employing large area are stretched into order to male joint 300, when male joint 300 enters fashionable, no Need to pack up trip 303 by operating mechanism (rotating rotary sleeve 400) again.But directly using the end face lead angle of male joint 300 With the inclined-plane of the lead angle of trip 303, during trip 303 headed into the chute of female joint 301, because trip 303 is by homopolar magnet Repulsion head into chute 302, so can be what is compressed when butt joint is slipped into.The draw-in groove 304 is opened in male joint On 300, male joint 300 is stretched into female joint 301 and relatively rotated by anti-rotation structure limitation male joint 300 and female joint 301, and By trip 303 and the axial locking of draw-in groove 304, the one end of male joint 300 coordinates with female joint 301, and the other end is for fixed negative The mounting seat of galassing platform 2.Anti-rotation structure therein is to be designed as polygon fit structure, can be triangle, rectangle shape, five sides Shape, hexagon etc..

Wherein operating mechanism uses knob structure, i.e. rotary sleeve 400, force transmission mechanism to use magnetic force mechanism, i.e., different in nature magnetic Iron phase is inhaled same sex magnet and is repelled each other, specifically：Position on trip 303 near outer end offers mounting groove 305, in mounting groove 305 It is provided with outside the first magnet 306, female joint 301 and is cased with rotary sleeve 400, multiple second magnetic is circumferentially installed on rotary sleeve 400 The magnet 402 of iron 401 and the 3rd, the 3rd magnet 402 and the second magnet 401 are arranged at the fixing groove 406 opened up on rotary sleeve 400 Interior, second magnet 401 is attracting with the first magnet 306, and the 3rd magnet 402 repels each other with the first magnet 306, the second magnet 401 It is arranged alternately with the 3rd magnet 402, and the second magnet 401 is identical with the quantity of the first magnet 306, the 3rd magnet 402 and first The quantity of magnet 306 is identical.Using said structure, by the principle of magnet same-sex attraction opposite sex repulsion, when operation rotary sleeve 400 to When second magnet 401 is relative with the first magnet 306, trip 303 is radially slided under suction, and departs from draw-in groove 304, unblock is realized, now male joint 300 and female joint 301 are unclamped, and realize the dismounting of heavy burden platform 2 and lower limb exoskeleton.When When the operation magnet 402 of rotary sleeve 400 to the 3rd is relative with the first magnet 306, so that trip 303 is compressed and protected under repulsion effect Hold in draw-in groove 304, realize the locked of male joint 300 and female joint 301.Rotary sleeve 400 and the rear of female joint 301 are additionally provided with Connecting seat 319, connecting seat 319 is corresponding with female joint 301 to offer connecting hole 315, is also equipped with the base of male joint 300 Connecting hole 315, is respectively used to be connected with heavy burden platform 2 or the installation of exoskeleton mechanism 1, and wherein connecting seat 319 is additionally operable to anti-spin-ended Pivoted housing 400 is skidded off towards the rear.

In order to ensure that male joint 300 and female joint 301 can rapidly be docked or dismantled under artificial action, ensure again even Non-artificial external force will not cause two joint dockingundockings or change connection status automatically when connecing, and be set in male joint and female joint Locked or releasing orientation the maintaining body of holding is equipped with, is specially in this example：Along circle between female joint 301 and rotary sleeve 400 Circumferential direction is provided with multiple locking positions, and each locking position is corresponding with fixing groove 406, in this example, each engage position by spring 405, The decorative pearl on top of an official cap 404 and location hole 403 are constituted, and spring 405 and the decorative pearl on top of an official cap 404 are installed in determining that female joint 301 and the correspondence of rotary sleeve 400 are opened up On position hole 307 and location hole 403, only in the presence of manual operation rotary sleeve 400 overcomes torsion moment, locking could be realized The change of position, plays a part of gear holding.

Further, position alignment when being connected for the ease of male joint 300 and female joint 301, connects in male joint 300 and mother The position of first 301 docking is provided with spigot surface 309, in connection with stronger alignment fault-tolerance, even if male joint 300 and mother Joint 301 is not fully aligned, it is also possible to slip into correct position with the help of spigot surface 309.Its effect is, by the platform that bears a heavy burden 2 and after lower limb exoskeleton separately designs, wearer first one can be worn by lower limb exoskeleton, then by heavy burden bondage in heavy burden Platform 2, then by the shoulder belt back of heavy burden platform 2, be finally directed at and locked coupling assembly 3.Now, because wearer has needed Into the alignment of coupling assembly 3 at itself back and locked, therefore, the coupling assembly 3 to find characteristic accurately certainly particularly important.

Further, heavy burden platform 2 can be arbitrarily conventional Knapsack structure, such as consolidate the small of the back of any money backpack It is scheduled on an end connector of coupling assembly 3, you can realize a kind of modularization heavy burden platform.If both shoulders bag is for mountain-climbing bag, it is necessary to will The waistband and back pad of the small of the back are pulled down in advance, and male joint 300 or female joint 301 are then fixed again.Wearer is outside wearing lower limb When bone bears the knapsack, the weight of article reaches lower limb exoskeleton by the coupling assembly 3 that knapsack the small of the back is fixed in knapsack On so as to realize efficient load-bearing, and the shoulder that shoulder strap for bag is born in human body primarily serves the effect of control knapsack center of gravity.

In order to realize the general utility functions of heavy burden platform 2 in this example, preferably heavy burden platform 2 is designed to a kind of multi-functional Modularization heavy burden platform, it mainly includes backboard 21, support platform 22, shoulder belt 24 etc., and support platform 22 is fixed under backboard 21 Portion, backboard 21 is supported on one of joint of coupling assembly 3, is offered on backboard 21 for being fixed with coupling assembly 3 Connecting hole 23, is provided with fixed seat 24 with holes on exoskeleton mechanism 1, fixed for being installed with coupling assembly 3.

The functional universal heavy burden platform 2 can be with the auxiliary of the accessories such as bandage, stretcher suspender, large cargo brace Complete various heavy burdens and bear task.For example, the luggage goods and materials such as mountain-climbing bag, luggage case, bucket, fuel tank, rice bag can be positioned over folding On folded platform 22, and fixed with backboard 21 using elastic bands, so as to realize that stabilization is born.When one bears the wounded, the wounded are allowed The i.e. achievable wounded are sitting in support platform 22 to bear.

Embodiment 2

With the difference of embodiment 1 it is the structure of locking mechanism and coupling assembly 3 in this example, specifically such as Fig. 5 extremely Shown in Fig. 8：

Circumferentially arranged in female joint 301 to have multiple chutes 302, chute 302 extends radially through the female joint 301, card Tenon 303 is arranged in chute 302 and can radially slide, and draw-in groove 304 is opened in male joint 300, and male joint 300 is stretched into mother and connect In first 301 and in rectangular configuration with the accommodating chamber of female joint 301, both relatively rotate for limitation, and by trip 303 and draw-in groove 304 axial lockings.The side of the trip 303 is provided with positive stop 310, possesses 301 chute of female joint, 302 sides are corresponding Stopper slot, so as to prevent trip excessive slip from departing from female joint 301.It is provided with for trip 303 to be pushed up outwardly in female joint 301 Spring 410, on the end face of the stopper slot that the one end of spring 410 withstands on female joint 301, the other end withstands on the limiting block of trip 303 On block 310, so that it is guaranteed that trip 303 can automatically skid off draw-in groove 304, and make pin and box sub when being acted on without other external force In released state.The outer end of trip 303 is arc, and offers fastening groove 311, and rotary sleeve 400 is cased with outside female joint 301, The inwall of rotary sleeve 400 has been arranged alternately recess 408 and convex portion 407, forms the continuous curve surface structure for rising and falling, recess 408 and convex The stop block 409 coordinated with fastening groove 311 is provided with portion 407, when rotary sleeve 400 turns to recess 408 and trip 303 pairs At once, trip 303 is moved out to recess 408 and fitted under the action of the spring, and now the inner of trip 303 departs from draw-in groove 304, Male joint 300 and female joint 301 are unclamped, when rotary sleeve 400 turn to convex portion 407 and trip 303 pairs it is corresponding when in convex portion 407 Under squeezing action, trip 303 is inwardly moved into draw-in groove 304, and male joint 300 and female joint 301 are locked.Wherein stop block 409 With fastening groove 311 as maintaining body, in the case where being acted on without external force, locked position or released position are kept it in.

The fillet surface 309 found accurately certainly when being also used for connection in male joint 300 and female joint 301 in this example.

Female joint 301 is fixed on lower limb exoskeleton, and male joint 300 is connected with heavy burden platform 2, remaining embodiment with Embodiment 1 is identical.

Embodiment 3

The radially inside and outside motion of trip 303 is driven using the axial movement of presser type operating mechanism in this example, it is specific such as Fig. 9 Shown in Figure 12, draw-in groove 304 is opened in female joint 301 and accommodates on cavity wall, and female joint 301 is fixed with heavy burden stage+module, public Joint 300 and female joint 301 are triangular structure, naturally it is also possible to be other polygons.In male joint 300 radially Chute 302 is provided with to insertion, chute 302 is circumferentially distributed, trip 303 is arranged in chute 302 and can be along sliding inside and outside chute 302 It is dynamic.Male joint 300 and female joint 301 are correspondingly arranged on for aligning the fillet surface 309 found accurately.

The difference larger with embodiment 1 is in this example, and locking mechanism also includes making trip 303 and draw-in groove 304 in wearing Person can be automatically replied in the case of not having unlocking motion and keep the resetting-mechanism of locking state, and back-moving spring is used in this example 411。

Wherein operating mechanism and force transmission mechanism includes：Base plate 413, pressing plate 414, back-moving spring 411 and bolt 412, bolt 412 sequentially pass through male joint 300, pressing plate 414 and base plate 413, by fixed between base plate 413 and male joint 300, back-moving spring It is enclosed within bolt 412 outside 411, one end is against on base plate 413, and the other end is against on pressing plate 414, and pressing plate 414 is pressed into male joint 300, wherein, pressing plate 414 is provided with pressure head 415 and platen support pin 416 towards the side of male joint 300, is set in male joint 300 Pressing plate link slot 417 is equipped with, platen support pin 416 is withstood in male joint 300, pressure head 415 is located at the middle part of pressing plate 414, pressure head 415 On be tiltedly installed with gathering sill 418 along centerline direction, formed and be oriented to groove mechanism, each gathering sill 418 one trip of correspondence 303, gathering sill 418 and center line have an angle, and the front end of gathering sill 418 with a distance from center line less than rear end from center line away from From front end refers to that rear end refers to the one end away from male joint 300 near one end of male joint 300.The wherein section of gathering sill 418 It is T-slot, the inner of trip 303 is provided with T-shaped bayonet lock 312, and bayonet lock 312 is stretched into gathering sill 418, and can be produced with pressure head 415 Raw relative slip.

Pressing plate 414 stretches out to form shifting disc 419, due to base plate 413 with the position of male joint 300 is fixed during normality , pressing plate 414 is pressed into male joint 300 under the effect of the pressure of back-moving spring 411, and now gathering sill 418 is relative to bayonet lock 312 Travel forward, drive trip 303 move radially outwards and enter draw-in groove 304 in, when move to the back-end location of gathering sill 418 with During 312 pairs of correspondences of bayonet lock, now trip 303 is maintained in draw-in groove 304 under elastic force effect, makes male joint 300 and female joint 301 lockings, only stirring pressing plate 414 through external force could change locking state.When need unclamp female joint 301 and male joint 300 When moved backward, it is necessary to stir pressing plate 414, gathering sill 418 is slided backward relative to bayonet lock 312, until the front end of gathering sill 418 Trip 303 completely disengages from draw-in groove 304 when corresponding with bayonet lock 312 pairs, and then can realize dismounting.

Gathering sill 418 and bayonet lock 312 play intermal force in this example, and back-moving spring 411 coordinates and plays resetting-mechanism Effect so that male joint 300 and female joint 301 are maintained at locking state, have both ensured male joint 300 and female joint 301 in people Can rapidly to dock or dismantle under effect, ensure that the external force non-artificial in connection will not cause both to depart from again.

Embodiment 4

As shown in Figure 13 to 15, female joint 301 is circular configuration, and draw-in groove 304 is provided with the inwall of female joint 301, and mother connects First 301 middle part is provided with fixing groove 313 and connecting hole 315, fixing groove 313 and is provided with magnet 314, and magnet 314 is by two kinds Magnetic pole is alternately arranged, and the loading of fastener, radially opens up in male joint 300 when connecting hole 315 is used to be connected with heavy burden platform There is chute 302, chute 302 is circumferentially distributed, trip 303 is arranged in chute 302, and the inner of trip 303 is provided with limited block 316, it is to avoid it skids off chute 302, male joint 300 is connected with the structure of rotating disk 424, and rotating disk 424 is cased with ectoskeleton outside rear portion Mounting seat 427, is provided with axle sleeve 428 between ectoskeleton mounting seat 427 and rotating disk 424, be connected with ectoskeleton mounting seat 427 Fixed underpan 425, is provided with pad 426, the rotating disk 424 between fixed underpan 425 and ectoskeleton mounting seat 427 and is formed Accommodating chamber, and the jacking block 420 of hexagonal structure is provided with, the jacking block 420 has path section and big footpath section, and path section stretches into each In the hexagonal space that the inner of trip 303 surrounds, by being oriented to the transition of the conical surface 422 between path section and big footpath section, trip 303 Have on limited block 316 with the corresponding guiding surface of the guiding conical surface 422, and path section end face is provided with magnet 421 and by pacifying End cap 423 in male joint 300 is covered, the circumferentially spaced arrangement of magnet 421 of different magnetic poles.Specifically, miner diameter end End face inner side is provided with magnet 421, and its number is identical with the magnet 314 in docking female, and is equally handed over using positive and negative the two poles of the earth For arrangement.Cover plate 423 covers the top of docking male 300, is so easy to the I＆M of trip 303 and jacking block 420.

The structure, when operation rotating disk 424 is rotated, rotating disk 424 drives jacking block 420 to rotate, when turning on jacking block 420 The magnet 314 of magnet 421 and female joint 301 when there is a natural attraction between the sexes, jacking block 420 is slided axially towards female joint 301, in guide cone In the presence of face 422 and the inclined-plane of limited block 316, trip 303 is moved out into draw-in groove 304, by male joint 300 and female joint 301 axial lockings.When needing unblock, the magnet of the artificial magnet 421 rotated on rotating disk 424 to jacking block 420 and female joint 301 314 repel each other, and now jacking block 420 is moved along the direction away from female joint 301, and the inner face of trip 303 installs the attractive material that is magnetic And it is attracting with the outer wall of jacking block 420, so as to return in chute 302.

Because magnet would generally keep attracting state, therefore the structure to be kept in the case where being acted on without external force Locking state.Although the device does not have axial limiting, in the case where butt joint is locked, the magnetic in male joint and female joint Iron is attracting, therefore during female joint rotation, male joint can be driven to rotate, so as to avoid because axial-rotation causes two ends magnet Repel each other, and then the state for unlocking.That is this Quick Release is to allow axial-rotation, but is not in non-artificial unblock feelings Condition.Remaining is same as Example 1.

Embodiment 5

As shown in Figure 16 to Figure 18, bracing wire torsion spring structure is used in this example, the direction of motion of trip 303 is circumferentially to turn It is dynamic, wherein, male joint includes fixed seat 434, mounting seat chassis 435, the rotational slide cutting ferrule 440 for connecting lower limb exoskeleton With cutting ferrule mounting seat 437, with fixed seat 434 by spline connection, rotational slide cutting ferrule 440 is enclosed within the rear end of mounting seat chassis 435 Outside cutting ferrule mounting seat 437, the rear end of cutting ferrule mounting seat 437 is fixed by latch 438 with mounting seat chassis 435, the rotational slide The front end outer side of cutting ferrule 440 forms two trips 303, and the rear end inwall of rotational slide cutting ferrule 440 is provided with rotational positioning groove 433, blocks Rotational positioning block 439 corresponding with rotational positioning groove 433 is provided with the set rear end outer wall of mounting seat 437, in cutting ferrule mounting seat Sliding shaft sleeve 436 is additionally provided between 437 and rotational slide cutting ferrule 440；Operating mechanism uses bracing wire 431, bracing wire 431 in this example The draw ring 432 set with the outer wall of rotational slide cutting ferrule 440 is connected, and resetting-mechanism uses torsion spring 430, and the one end of torsion spring 430 is fixed on On rotational slide cutting ferrule 440, the other end is fixed in cutting ferrule mounting seat 437, rotational slide cutting ferrule 440 and cutting ferrule mounting seat 437 The upper mounting hole offered respectively for fixing the end of torsion spring 430.Rotational positioning block 439 is fixed by spline and latch 438 Position, and the position of rotational positioning block 439 is to ensure that rotational slide cutting ferrule 440 is rotated in fixed angle.By spline With latch 438, fix the relative position between rotational positioning block 439 and ectoskeleton fixed seat 434, it is to avoid rotational positioning keeps off Block 439 is brought away from original position in the presence of external force, causes the position of rotational slide cutting ferrule 440 to occur moving.

Draw-in groove 304 and escape groove 317 are offered in female joint 301, trip 303 is by escape groove 317 from axially loading card After groove 304, turn to the position staggered with escape groove 317 and realize axial locking；For the ease of installing, in cutting ferrule mounting seat 437 Wall is taper surface, and the middle part of female joint 301 forms pyramid guide table 318, is thus easy to butt joint rapid alignment in docking, and And its polygonal profile prevents occurring relative rotation between male joint 300 and female joint 301, it is to avoid trip 303 is in non-artificial work Exited from escape groove 317 under.Specifically, the polygon pyramid guide table 318 uses hexagon in the present embodiment.Often During state under the effect of torsion spring 430, trip 303 is in the position staggered with escape groove 317, it is impossible to deviate from from draw-in groove 304, can be with Maintain the lock status, it is necessary to by bracing wire 431 and draw ring 432 when dismantling, pull rotational slide cutting ferrule 440 to rotate, when turning to Trip 303 and escape groove 317 pairs can separate male joint 300 and female joint 301 when corresponding, in the process cutting ferrule mounting seat 437 Do not rotated with mounting seat chassis 435, the slewing area of rotational slide cutting ferrule 440 is fixed by rotational positioning groove 433 and rotation Position block 439 is limited.The structure can keep it in locking state in the case where being operated without external force by torsion spring 430.

Embodiment 6

As shown in Figure 19 to 24, trip 303 is to be arranged in by the way of own rotation in male joint 300 in this example, It is exactly common pawl structures, connecting hole is offered on the base of male joint 300 and female joint 301, draw-in groove 304 is opened in mother On the inwall of joint 301, trip 303 is rotatably installed in the groove 322 opened up in male joint 300 by bayonet lock 320, is turned out When stretch out the outer wall of male joint 300, inwardly rotate when be retracted into the groove 322 of male joint 300, wherein operating mechanism uses swinging plate 325, force transmission mechanism uses stage clip 324 and poke rod 321, swinging plate 325 to be located between male joint base 328 and male joint 300, And can slide axially, stage clip 324 is against between swinging plate 325 and male joint, and poke rod 321 is arranged on trip 303, and is stretched Enter the actuating sleeve 326 set on swinging plate 325, during normality, under the effect of stage clip 324, swinging plate 325 makes away from male joint 300 Trip 303 stretches out groove 322, when unblock is needed, swinging plate 325, actuating sleeve 326 is stirred towards the direction near male joint 300 Inwardly rotation is return in groove 322 to pull trip 303.

Male joint 300, female joint 301, swinging plate 325 and actuating sleeve 326 are hexagonal structure, male joint bottom in this example Escape groove 323 is provided with seat 328, male joint 300 and female joint 301 so that swinging plate 325 can slide axially, card Tenon 303 and draw-in groove 304 are sector structure, and bayonet lock 320 is cotter pilotage, is arranged on the both sides of trip 303, the groove 322 of male joint 300 Circular mounting groove 330 and rectangular channel 329 are offered on inwall, the width of rectangular channel 329 is less than the diameter of circular mounting groove 330, cotter pilotage Loaded in circular mounting groove 330 by rectangular channel 329, rotated in circular mounting groove 330.The direction of poke rod 321 and bayonet lock 320 Direction is vertical, is offered on actuating sleeve 326 and corresponding to poke rod 321 stirs groove 327.It is in cross that this stirs groove 327, wherein It is that outer wall in order to avoid poke rod 321 with actuating sleeve 326 in swing process is interfered along the cross recess of male joint axial direction, And cross escape groove 327 coordinates along the circumferential groove of male joint with the cuphead pilotage 321a on the top of poke rod 321, form sliding block and slide Groove mechanism, so as to drive the inward turning of trip 303 or turn up.

Under normal conditions, actuating sleeve 326 is biased toward male joint base 328 to the present embodiment in the presence of stage clip 324, so that Groove 327 of stirring on actuating sleeve 326 drives the poke rod 321 of trip 303 to be swung towards the direction of male joint base 328, and then makes card The outer wall of male joint 300 is routed up outside tenon 303, and is stretched into the draw-in groove 304 in female joint 301, it is locked so as to the head that achieves a butt joint, The state is as shown in figure 21.When needing unblock, operator need to only push swinging plate 325 to female joint 301 side, then can order about driving Set 326 extrudes stage clip 324, and stirs the drive poke rod 321 of groove 327 towards female joint side oscillation on actuating sleeve, and then orders about Thus it is that trip 303 exits draw-in groove 304, and realize male joint 300 and female joint 301 in the inward turning of trip 303 such as groove 322 Unblock, the state is as shown in figure 22.If in addition, want by two joints dock, only need to be by the rough alignment male joint of female joint 301 300, just can voluntarily be aligned and slip into the help of fillet surface 309, while when the fillet surface 309 of female joint 301 touches card During the outer lateral incline of tenon 303, can directly extrude trip 303 and force in its press-in groove 322, and reversely order about poke rod 322 swing towards female joint direction, and then drive actuating sleeve 326 to be moved towards female joint direction, and oppress stage clip 324, realize elasticity Accumulation of energy.After male joint 300 has been slid completely into the accommodating chamber of female joint 301, draw-in groove 304 is just matched with trip, now stage clip 324 release spring energy storages, drive actuating sleeve 326 and poke rod 321 to reset, and then order about trip 303 and voluntarily slip into draw-in groove 304 In, it is locked so as to the head that achieves a butt joint.

Embodiment 7

As shown in Figure 25 to Figure 28, it is provided with for exoskeleton mechanism 1 in male joint 300 and female joint 301 in this example Or the connecting hole of the connection of heavy burden platform 2, fixed station 345 is provided with male joint 300, the outer wall of fixed station 345 is circumferentially arranged to be had Draw-in groove 304, the middle part of fixed station 345 forms the pyramid type of indent, with the pyramid 343 corresponding to setting in female joint 301, after docking Prevent both from relatively rotating, chuck 340 is installed in the female joint 301, rotation is provided between chuck 340 and female joint 301 Rotating disk 342,342 one-tenth of rotating disk is ring-like, and outer shroud is to be easy to operator to rotate using fancy structure, and its inner ring is circumferentially arranged many Individual cantilevered trip 303, the cantilever 347 has certain elasticity and toughness, and trip 303 can be driven to follow rotating disk 342 to revolve Transhipment is dynamic, and certain bending can also occur so as to allow trip 303 to be made a concession towards outer rim side.The two ends of trip 303 are inclined plane 303b, circumferentially arranged on the chuck 340 to have multiple jacking blocks 341, jacking block 341 is located between two neighboring trip 303, and top The two ends of block 341 be with the corresponding inclined plane of trip 303, trip 303 towards the one side of fixed station 345 be inclined plane 303a, it is fixed The end edge of platform 345 is inclined guide surface 346.

When joint is docked, by the extruding of the spigot surface of fixed station 345 and trip 303 so that trip 303 is towards rotating disk 342 The movement of outer shroud direction, and then be retracted into the inner side of chuck 340, after fixed station 345 stretches into rotating disk 342, draw-in groove 304 and trip 303 Contraposition, now trip 303 resets under the elastic reaction of its cantilever 347, falls into draw-in groove 304, positions in the axial direction；Unblock When, rotating disk 342 is rotated, due to the inclined plane at the extruding of jacking block 341 trip 303 two ends so that trip 303 is towards rotating disk 342 Outer shroud direction is moved, and departs from draw-in groove 304, and now male joint can be separated with female joint.Due to the two ends of trip 303 and jacking block 341 Two ends Jun You inclined-planes, no matter rotating disk 342 rotate forward or invert trip 303 can be made to exit draw-in groove 304.

Trip 303 is integrally formed with rotating disk 342 in this example, and clamping and separation are realized by the elasticity extruding of trip 303, It is easy to operate, black box simple structure, low cost of manufacture；Fixed column 344 is wherein provided with chuck 340, in fixed column 344 Screw is offered, screw is equipped with the base of female joint 301, be connected with fixed column 344 by screw.

Any person skilled in the art all can be under without prejudice to spirit and scope of the present utility model, to above-described embodiment Carry out modifications and changes.Therefore, such as those of ordinary skill in the art without departing from disclosed in the utility model Spirit and all equivalent modifications for being completed under technological thought or change, should be contained by claim of the present utility model Lid.

Claims (11)

1. a kind of auxiliary support apparatus, including exoskeleton mechanism and the heavy burden platform on exoskeleton mechanism, its feature exist In：By detachably connected to connected components, this pair of connected components are additionally provided with for locking for the heavy burden platform and exoskeleton mechanism Dead and unblock heavy burden platform and exoskeleton mechanism locking mechanism.

2. a kind of auxiliary support apparatus according to claim 1, it is characterised in that：It is described that nested arrangements are included to connected components Male joint and female joint, the male joint and female joint be individually fixed on heavy burden platform and exoskeleton mechanism, and by lock Determine mechanism to realize dismantling and locked, the locking mechanism includes trip and draw-in groove, and for driving trip to enter or exit card The operating mechanism and force transmission mechanism of groove, the trip are arranged in one of them in male joint and female joint, and the draw-in groove sets Put on another joint.

3. a kind of auxiliary support apparatus according to claim 2, it is characterised in that：The locking mechanism also includes making public access Head and female joint can be maintained at locked or releasing orientation maintaining body in the case of without unblock or locked action.

4. a kind of auxiliary support apparatus according to Claims 2 or 3, it is characterised in that：The locking mechanism also includes normal Male joint and female joint is set to be maintained at the resetting-mechanism of locking state during state, the resetting-mechanism is elastic mechanism or magnetic group Part.

5. a kind of auxiliary support apparatus according to Claims 2 or 3, it is characterised in that：In the male joint and female joint It is additionally provided with the guiding mechanism for being easy to voluntarily be aligned during for connecting.

6. a kind of auxiliary support apparatus according to claim 2, it is characterised in that：The operating mechanism be guy structure, Knob structure stirs structure；The force transmission mechanism is cotter mechanism, guiding groove mechanism, the machine by elasticity or magnetically-actuated Structure；The trip is sliding extension mechanism, rotating chuck mechanism, detent mechanism or is integrally formed with transmission mechanism and operating mechanism Elastic deformation mechanism.

7. a kind of auxiliary support apparatus according to claim 2, it is characterised in that：Fixation is provided with the male joint Platform, fixed station has inclined guide surface towards one end of female joint, and fixed station outer wall is circumferentially arranged draw-in groove, the female joint On chuck is installed, multiple jacking blocks are provided with chuck, be provided with rotating disk between chuck and female joint, rotating disk inner ring is along week To multiple cantilevered trips are provided with, trip has inclined plane corresponding with spigot surface towards the one side of fixed station, during docking, Gu Determine the spigot surface extruding trip of platform, move out it, whne draw-in groove and trip to it is corresponding when trip fall into realization in draw-in groove and lock； The jacking block is located between two neighboring trip, and is coordinated by wedge surface between trip end, and when rotating rotating disk, jacking block leads to Wedge surface extruding trip is crossed, trip is moved out and is exited draw-in groove, so as to realize unblock.

8. a kind of auxiliary support apparatus according to claim 2, it is characterised in that：It is circumferentially arranged in the female joint to have Multiple chutes, the trip is arranged in chute and can radially slide, and the draw-in groove is opened in male joint, and male joint is stretched into It is limited by anti-rotation structure to relatively rotate, and by trip and draw-in groove axial locking, offered on the trip in female joint Mounting groove, is provided with the first magnet in mounting groove, rotary sleeve is arranged with the female joint, is provided with rotary sleeve and is arranged alternately Multiple second magnet and the 3rd magnet, second magnet is attracting with the first magnet, and the 3rd magnet repels each other with the first magnet, should Multiple springs with second and on the 3rd corresponding ball recess of magnet, with female joint and decorative pearl on top of an official cap cooperation are provided with rotary sleeve, Circumferentially form multiple locking positions.

9. a kind of auxiliary support apparatus according to claim 2, it is characterised in that：It is circumferentially arranged in the female joint to have Multiple chutes, the trip is arranged in chute and can radially slide, and the draw-in groove is opened in male joint, and male joint is stretched into It is limited by anti-rotation structure to relatively rotate, and by trip and draw-in groove axial locking, installed in the female joint in female joint There is the spring for trip to be pushed up outwardly, the trip outer end is provided with stopper slot, and rotary sleeve is cased with outside the female joint, the rotary sleeve Inwall has been arranged alternately recess and convex portion, and the limited block coordinated with stopper slot is provided with the recess and convex portion, works as rotation Set turn to recess and trip to it is corresponding when and female joint release, when rotary sleeve turn to convex portion and trip to it is corresponding when Head and female joint locking.

10. a kind of auxiliary support apparatus according to claim 2, it is characterised in that：The draw-in groove is opened in female joint appearance Receive on cavity wall, multiple chutes are radially provided with to insertion in male joint, chute is circumferentially distributed, trip is arranged on chute It is interior and can along inside and outside chute slide, also including base plate, pressing plate, back-moving spring and bolt, screw bolt passes male joint, pressing plate and Base plate, will be fixed between base plate and male joint, is enclosed within bolt outside back-moving spring, and one end is against on base plate, and the other end is against pressure On plate, pressing plate is pressed into male joint, wherein, pressing plate is provided with pressure head towards the side of male joint, along centerline direction on pressure head Be tiltedly installed with gathering sill, and gathering sill position by the direction away from public access end surface near the direction of public access end surface by Gradually drawn close to center line, the guiding slot cross-section is T-slot, and trip the inner is provided with T-shaped bayonet lock, and bayonet lock stretches into gathering sill It is interior；During normality, back-moving spring is moved by compressing pressing plate drive ram to public access end surface, is moved out trip and is entered card Locking is realized in groove.

A kind of 11. auxiliary support apparatus according to claim 2, it is characterised in that：The male joint is included for connecting The fixed seat of lower limb exoskeleton, rotational slide cutting ferrule and cutting ferrule mounting seat, rotational slide cutting ferrule are enclosed within outside cutting ferrule mounting seat, cutting ferrule Mounting seat is connected with fixed seat, and the rotational slide cutting ferrule front end outer side is provided with trip, and draw-in groove is offered in the female joint And escape groove, trip by escape groove from axially load draw-in groove after, turn to the position staggered with escape groove and realize axial locking； The operating mechanism is bracing wire, and the draw ring that bracing wire is set with rotational slide cutting ferrule outer wall is connected, and the rotational slide cutting ferrule and is blocked Torsion spring is fixed between set mounting seat；During normality, under torsion spring effect, trip is in the position staggered with escape groove, keeps lock Tight state, it is necessary to when dismantling, pull rotational slide cutting ferrule to rotate by bracing wire, when turn to trip and escape groove to it is corresponding when energy Enough to separate male joint and female joint, male joint and female joint end face are additionally provided with polygonal inclination face, thus realize it is voluntarily right It is accurate and prevent butt joint from mutually rotating；

Or draw-in groove is provided with the female joint inwall, female joint bottom is provided with magnet, cunning is radially offered in male joint Groove, chute is circumferentially distributed, and trip is arranged in chute, and trip the inner is provided with and accommodating chamber is formed in limited block, male joint, and The jacking block of polygonized structure is installed, the jacking block has path section and big footpath section, path section stretches into what each trip the inner surrounded It is in space and just right with female joint bottom magnet, by being oriented to conical surface transition, the limited block of trip between path section and big footpath section It is upper that there is guiding surface corresponding with the guide cone face, and path section end is circumferentially alternating is provided with two kinds of driving magnetic of magnetic pole Iron, male joint outside extends and forms rotating disk.