公开(公告)号：US20230293380A1

公开(公告)日：2023-09-21

申请号：US17786331

申请日：2020-05-21

Applicant: Beijing Ai-Robotics Technology Co., Ltd.

Inventor： Mei SHUAI

IPC: A61H3/00 ,  A61H1/02 ,  B25J9/00 ,  B25J9/10 ,  B25J11/00

CPC classification number: A61H3/00 ,  A61H1/0262 ,  B25J9/0006 ,  B25J9/106 ,  B25J11/009 ,  A61H2201/1659 ,  A61H2201/165 ,  A61H2201/1454 ,  A61H2201/0192

Abstract: The disclosure relates to a lower limb structure, comprising: a hip joint assembly comprising a hip joint support, a hip joint driver fixed to the hip joint support, and a hip joint transmission handle driven by the hip joint driver; a thigh rod connected to the hip joint transmission handle and driven by the hip joint driver; a knee joint assembly comprising a knee joint fixing base, a knee joint driver fixed on the knee joint fixing base, and a knee joint transmission handle driven by the knee joint driver, wherein the knee joint fixing base comprises a sleeve and a connector which is connected to the knee joint driver, and the sleeve is slidably fixed on the thigh rod along an extension direction of the thigh rod; and a lower leg rod connected to the knee joint transmission handle and driven by the knee joint driver, wherein the thigh rod does not coincide with a line connecting centers of the hip joint driver and the knee joint driver, such that a movement range of the knee joint on the thigh rod regulator is larger. The disclosure also relates to an exoskeleton robot having the lower limb structure.

公开(公告)号：US20220331186A1

公开(公告)日：2022-10-20

申请号：US17625540

申请日：2019-09-06

Applicant: Beijing Ai-Robotics Technology Co., Ltd.

Inventor： Mei SHUAI

IPC: A61H1/02 ,  A61H3/04

Abstract: The invention provides a cam for an unpowered multi joint synchronous training device, wherein the cam has a circular main body, a cam slot is disposed on a first side surface of the circular main body, and a contour of the cam slot is configured such that rotational movement of the cam drives a follower provided in the cam slot to perform variable-speed reciprocation motion along a predetermined horizontal axis, wherein for each rotation of the cam, the follower performs reciprocating motion once between a first position and a second position; the first position and the second position are respectively positions of the follower along the horizontal axis when the follower is at positions of the contour closest to, and farthest from, a center of the circular main body; and the reciprocating motion drives a driven object connected to the follower to perform variable-speed oscillation within a range of an angle. The invention further provides a non-circular gear pair for an unpowered multi joint synchronous training device, a method of manufacturing the cam and the non-circular gear pair, a transmission mechanism using the cam and the non-circular gear pair, and an unpowered multi joint synchronous training device using the transmission mechanism.