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266 results about "Bracing leg" patented technology
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Post-operative knee braces are worn immediately after a person leaves surgery. This brace protects the leg from any unneeded stretching or pulling and protects the leg in its healing process. This type of brace can immobilize the affected area, but also can be adjusted as healing takes place to allow more movement.
Robotic Knee Testing Device, Subjective Patient Input Device and Methods for Using Same
An apparatus for evaluating leg movement characteristics of a patient is provided. The apparatus comprises a base assembly configured to at least partially support the patient's torso; and first and second leg support assemblies independently pivotably mounted about a pivot axis relative to the base assembly. Each leg support assembly is configured to at least partially support a portion of a respective one of the first and second legs, independent of the support of the torso. Each of the leg support assemblies also comprises: a first leg support member including a foot rotation assembly configured to at least partially retain and support an associated foot of the patient and to rotate it about an axis of rotation relative to the base assembly; and a second leg support member configured for supporting a portion of the leg at a location proximal relative to the first leg support member.
Owner:ERMI
Exercise device
Owner:SFLASHLIGHT SHIMON
Child high chair with an inclination adjustable backrest
ActiveUS20050248186A1Easy constructionEasy to operateFoldable chairStoolsClassical mechanicsBracing leg
A child high chair includes a seat body disposed between two side guarding members on an upper portion of a support leg, a backrest unit having two lateral ends pivotally coupled to the side guarding members to be turnable relative thereto, two bolts disposed movably on the lateral ends in a longitudinal direction, an actuator movably disposed on the backrest unit in an upright direction, and two flexible members interconnecting the actuator and the bolts such that when the actuator is moved from a lower position to an upper position, the flexible members are pulled to move the bolts in the longitudinal direction from an extended position where the bolts engage retaining members on the side guarding members to a retracted position where the bolts disengage from the retaining members so as to permit turning of the backrest unit relative to the seat body.
Owner:BAMBINO PREZIOSO SWITZERLAND AG
Apparatus and method for instruction in orthopedic surgery
Owner:EVERGREEN ORTHOPEDIC RES LAB LLC
Motion planning method and apparatus for preventing humanoid robot tilting forwards and backwards
InactiveCN101439738AReduced front and rear tiltReduce the phenomenon of tilting the groundSelf-moving toy figuresVehiclesLeft directionKnee Joint
The invention discloses a motion planning method which prevents fore-and-after leaning of a humanoid robot and a device thereof, belonging to the technical field of the motion planning of the humanoid robot. The method comprises: compensation angles are arranged respectively for the rotor angles of an electric motors for the hip joint, the ankle joint and the knee joint of a supporting leg; the corresponding compensation angles are respectively added on the planning angles of the rotor angles of the electric motors for the hip joint, the ankle joint and the knee joint of the supporting leg. The device comprises a compensation angle setting module and an add module, wherein, the compensation angle setting module is used for respectively setting the compensation angle for the rotor angles of the electric motors for the hip joint, the ankle joint and the knee joint of the supporting leg; the add module is used for respectively adding the corresponding compensation angles on the planning angles of the rotor angles of the electric motors for the hip joint, the ankle joint and the knee joint of the supporting leg; wherein, the electric motors for the hip joint, the ankle joint and the knee joint are the electric motors arranged along the left direction and the right direction of the humanoid robot in the axial direction. The invention can effectively reduce the fore-and-after leaning phenomenon when the humanoid robot is supported by a single leg, and improving the landing stability.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Landmine avoidance and protection device
InactiveUS7437986B2Avoid injuryNot interfereDefensive equipmentDefence devicesPhysical medicine and rehabilitationBracing leg
Owner:NANYANG TECH UNIV
Folding stool or folding table and folding frame thereof
ActiveUS20200390233A1High strengthImprove bearing capacityDismountable chairsFoldable chairsBracing legMechanical engineering
Owner:NEW TEC INTEGRATION (XIAMEN) CO LTD
Extension-retraction folding type portable movable operation platform
ActiveCN107939026AHighlight substantiveSignificant progressBuilding scaffoldsBracing legMechanical engineering
Owner:重庆今心实业有限公司
Bench press frame
ActiveCN111939518AGuaranteed stabilityReal-time monitoring of movement speedDumb-bellsBench pressingBracing leg
The invention discloses a bench press frame which comprises a lying plate, supporting legs are fixedly connected to the bottom of the lying plate, a leg exerciser is installed at the tail end of the lying plate, side vertical plates are fixedly installed on the two sides of the lying plate, and a main channel is vertically formed in the center of each side vertical plate. A first side channel anda second side channel are arranged on the two sides of the main channel respectively, a pushing and lifting limiting device is arranged in the main channel, a safety monitoring device is arranged in the first side channel, and an emergency locking device is arranged in the second side channel. By arranging the pushing limiting device, a barbell rod moves along the fixed path of the limiting sliding rail during exercising, the stability in the exercising process is guaranteed, meanwhile, by arranging the safety monitoring device and the emergency locking device, the moving speed of the barbellrod can be monitored in real time, the barbell rod is effectively prevented from falling suddenly, and the safety of the exerciser is protected.
Owner:上海索兆健康科技有限公司
Rehabilitation training device for knee joints
The invention discloses a rehabilitation training device for knee joints. The rehabilitation training device comprises a support and supporting legs, supporting legs are installed at the four cornersof the lower end of the support. A back supporting plate is arranged at the upper end of the support; a head supporting block is arranged at the upper end of one side of the back supporting plate; a groove is formed in the middle of the head supporting block; the other end of the back supporting plate is rotationally connected with a waist supporting plate; the two sides of the waist supporting plate are fixedly connected with a fixing plate through bolts. The other end of the fixing plate is fixedly connected with the support through bolts; the other end of the waist supporting plate is rotationally connected with a leg supporting plate; when a patient lies on the back supporting plate, the waist supporting plate and the leg supporting plate, the patient's legs are fixed through binding bands, when the patient's legs exert force downwards, the leg supporting plate is pushed to rotate anticlockwise, springs are compressed, a second telescopic rod is shortened, and when the patient's legs are relaxed, the leg supporting plate resets under the action of the springs, so that knee joint rehabilitation of the patient is facilitated.
Owner:陈漫
Wound care apparatus and methods for using the same
A wound care apparatus having a first surface for supporting a first portion of a patient's leg and a second surface for supporting a second portion of the leg. Generally, the apparatus includes a leg support that includes the first the second surfaces, wherein the first surface is configured to support the patient's calf and the second surface is configured to support the patient's foot. In some cases, the leg support includes a pivot joint that allows the support to pivot between a first position that presents the first surface and a second position that presents the second surface. In some instances, the leg support is further configured such that when it is in the first position, a lowest support portion of the first surface is lower than is a lowest support portion of the second surface when the leg support is in the second position. Other implementations are described.
Owner:MEDICAL TECH IND
Man-machine interaction intelligent control method of load maneuvering exoskeleton and exoskeleton system
ActiveCN113001540AAccurate trackingSimplified position calculationProgramme-controlled manipulatorHuman bodyKinetics equation
The invention discloses a man-machine interaction intelligent control method of a load maneuvering exoskeleton and an exoskeleton system. The method comprises the following steps: firstly, modeling a human body and the load maneuvering exoskeleton into a five-connecting-rod model consisting of a trunk, a left thigh, a right thigh, a left shank and a right shank; dividing the five-connecting-rod model into a supporting leg model and a swinging leg model, and respectively establishing kinetic equations of the two models by utilizing a Lagrange motion equation; and then designing a hybrid control method combining position control and AIA control based on a tracking differentiator, applying the position control to the supporting leg model in a gait period, enabling the joint angle of an exoskeleton to track the joint angle of the human body in real time, applying the AIA control based on the tracking differentiator to the swinging leg model, enabling the exoskeleton to adapt to the human body movement and environment of a wearer by self, achieving the two control methods alternately according to a supporting phase and a swinging phase of the gait cycle, so that the exoskeleton tracks the position of the human body in real time. Coordinated movement of the exoskeleton and the human body can be achieved.
Owner:SOUTH CHINA UNIV OF TECH
Method for planning and controlling gaits when biped robot suffers from external thrust disturbance in advancing direction
ActiveCN111230868AReal-time feedbackReal-time controlProgramme-controlled manipulatorPhysical medicine and rehabilitationControl manner
The invention provides a method for planning and controlling gaits when a biped robot suffers from external thrust disturbance in the advancing direction. When the robot is provided with under-actuated ankles or the ankles are in a force control manner, external disturbance borne by the robot can be shown through the state change of the ankle joint freedom degree (or other variables relevant to the ankle joint freedom degree). Based on the thought, according to the method for planning and controlling the gaits, the force control manner is adopted for the ankle joints of the robot, then the included angles between connecting lines between the supporting leg ankles and supporting leg hip joints and the vertical direction are selected to serve as the state variables of the robot to representthe state of the robot, and the state of the robot is estimated and calculated in real time based on a simplified inverted pendulum model. Based on the method, external thrust information borne by therobot does not need to be measured, and real-time feedback and control can be achieved.
Owner:ZHEJIANG LAB
Safety Step Stepladder
A ladder with supplementary support legs is an apparatus that provides increased stability when compared to traditional stepladders. The apparatus includes a left support mechanism, a right support mechanism, and a front set of rungs. The left support mechanism and the right support mechanism are identical halves of the apparatus. Each support mechanism includes a ladder rail, a bracing leg, and a pivoting outrigger. The ladder rail and bracing leg are hinged together and are able to move between an expanded and collapsed configuration. The outrigger pivots away from the ladder rail and bracing leg to create a tripod between the three legs. The front set of rungs functions as steps which are connected between the ladder rails of the left support mechanism and the right support mechanism.
Owner:PERDUE BRADLEY PHILLIP
Lumbar support mechanism and head tilt mechanism and adjustable bed therewith
The lumbar support mechanism and an adjustable bed having the same. The lumbar support mechanism includes a lumbar support member; first, second, third and fourth support legs; a linkage member; and first and second lumbar support brackets operably attachable to a back platform of the adjustable bed. The first and second support legs are pivotally connected between the lumbar support member and the linkage member; and the third and fourth support legs are pivotally connected between the first and second support legs, and the first and second lumbar support brackets, respectively, such that the lumbar support member is operably movable between a retracted position and an expanded (ejected) position when the linkage member moves between first and second positions. The lumbar support is provided when the lumbar support member is in the ejected position.
Owner:NISCO
Thoracentesis seat
PendingCN107951669AEasy to manufactureLow costOperating chairsSurgical needlesHuman bodySurgical risk
The invention discloses a thoracentesis seat, comprising support legs, a support frame, a seat mounted on the support legs and a backrest mounted on the support frame; the backrest is arranged above one side of the seat. The thoracentesis seat also comprises a lifting carrier plate for lifting the jaw of a human body; the lifting carrier plate is arranged above the backrest in lifting manner. Whenin use, the thoracentesis seat can keep a patient to sit in fixed posture for long time, the position of the patient is kept unchanged, deviation of a focus positioning mark is avoided, surgery can be performed quickly, accurately and safely by medical staff, and surgical risk is lowered. The thoracentesis seat also has the advantages of simple structure, ease of manufacture and low cost.
Owner:严振才
Nail taking device for orthopedics
InactiveCN111281524AAdjustable spacingHeight adjustableOsteosynthesis devicesMedical equipmentOrthopedic department
The invention belongs to the technical field of medical equipment, and concretely relates to a nail taking device for orthopedics, existing screw taking modes are mostly used through screwdrivers, thescrews often fall off, during twisting, the screw is stressed unevenly and is capable of easily slipping, proposed now is the following scheme, the device comprises a transverse plate, a threaded rodis in threaded connection with the central position of the transverse plate; the bottom end of the threaded rod is connected with a screw head; two telescopic legs are symmetrically mounted at the bottom of the transverse plate in a sliding manner; supporting legs are slidably mounted on the outer sides of the two telescopic legs correspondingly, two welding rods are fixedly mounted at the bottomof the transverse plate, the same welding plate is fixedly mounted at the bottoms of the two welding rods correspondingly, the threaded rod is in threaded connection with the welding plate, two adjusting holes are symmetrically formed in the welding plate, and two transverse supporting rods are transversely and fixedly mounted in the two adjusting holes correspondingly. According to the screw taking device, screws can be clamped during screw taking, the screws are prevented from falling off, and the screw taking device can adapt to screws of different sizes.
Owner:王衍武
Biped robot space domain gait planning and control method
ActiveCN114248855AImprove robustnessEasy to controlGeometric image transformationDesign optimisation/simulationWhole bodyNon linear model predictive control
The invention discloses a biped robot space domain gait planning and control method which comprises the following steps: setting the horizontal distance of a biped robot hip joint relative to a supporting leg ankle joint as a phase variable delta, and designing and optimizing a swing leg joint reference angle track based on the phase variable according to a current state, a reference step length and a reference speed; swinging leg gait planning in a space domain is completed; a second-order inverted pendulum model is established, and a support leg hip joint reference moment for speed control is optimized through nonlinear model prediction control; after the swing leg joint reference angle track and the supporting leg hip joint reference torque are obtained, the joint torque is optimized in a multi-target task through whole-body dynamics Quadratic Programming control, and then gait walking of the robot is controlled. According to the method, the motion of swinging the ankle joint is separated from the time, so that the ankle joint only depends on the own state, and the robustness is enhanced.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Landmine avoidance and protection device
InactiveUS20070044645A1Avoid injuryNot interfereDefensive equipmentDefence devicesPhysical medicine and rehabilitationBracing leg
A mine avoidance and protection device has a frame adapted to be secured to a source of a load, such as the foot of a person. Attached to the frame are at least three support legs each extending from the frame. Each leg has a releasable joint between the leg and the frame. At least one detector is operable to provide a detection capability for each support leg, operable to detect a characteristic of a mine when at least a portion of the support leg is located proximate to the mine. An actuator operable to provide an actuation capability at the joint of each leg, to: constrain the joint to allow a load to be transmitted from the frame, through the joint and the support to the terrain. The actuator can also release the joint such that a load can not be transmitted from the frame through the joint. The joint between the plate and each leg may be a one degree-of-freedom prismatic joint or revolute joint.
Owner:NANYANG TECH UNIV
Collapsible Pushup Bar
A collapsible push-up bar comprises a hollow main shaft and a leg assembly. The collapsible push-up bar is, for example, a pair of push up bars which are modular and portable. The collapsible push-up bar is used for exercising, gymnastics and calisthenics. The hollow main shaft comprises one or more engagement devices that are disposed on a length of the hollow main shaft. The hollow main shaft is configured to be held by a user during a workout. The leg assembly comprises one or more support legs, insertable within the hollow main shaft and configured to be removably secured to the engagement device within the hollow main shaft.
Owner:KENSUI LLC
Device with leg exercise recovery function for orthopedics
InactiveCN111282202AWeight increaseIncreased versatilityDevices for heating/cooling reflex pointsVibration massageMuscle strengthLeg exercise
The invention belongs to the technical field of medical instruments, in particular to a device with a leg exercise recovery function. The objective of the invention is to solve the problem that an existing device can only exercise leg flexor muscle strength, so that the movement range and the muscle strength of the extensor muscle of the joint cannot be effectively exercised. According to the invention, the device comprises a square tube base, supporting legs are arranged at the positions, close to the four corners, of the lower surface of the square pipe base. Two channel steel cross beams with opposite openings and parallel to each other are fixed to the right sides, close to the bottom ends, of the supporting legs through bolts, sliding frames are slidably connected into sliding groovesof the two channel steel cross beams correspondingly, and bearing seats are clamped to the portions, close to the bottom horizontal rod, of the opposite sides of the two sliding frames correspondingly. According to the device, an ejector rod can be driven to rhythmically eject upwards when an elliptical wheel rotates, and the ejector rod can drive an arc-shaped plate to continuously move up and down to drive a convex block to strike the lower part of a leg in cooperation with a compression spring, so that the effect of promoting blood circulation to remove blood stasis is achieved.
Owner:张天明
Active compliance control method for foot-type robot under complex terrains
ActiveCN111176283AAchieving active compliancePrevent slippingPosition/course control in two dimensionsPhysical medicine and rehabilitationSimulation
The invention discloses an active compliance control method for a foot-type robot under complex terrains. The method comprises the steps that a joint angle correction amount and a joint angular velocity correction amount are generated at the same time through an impedance filter; a joint angle instruction and a joint angular speed instruction are outputted to a joint PD controller based on the joint angle correction amount and the joint angular speed correction amount; after the output, the adjustment amount of the length of a supporting leg is calculated through the attitude angle error of amachine body; based on the adjustment amount of the length of the supporting leg, a leg length correction instruction is generated through the impedance filter, and the leg length correction instruction is outputted to the joint PD controller; and through the joint PD controller, the foot type robot under the complex terrains is actively and flexibly controlled. In the embodiment of the invention,the method prevents foot ends of the robot from slipping, and guarantees the motion stability of the posture of a robot trunk.
Owner:GUANGDONG INST OF INTELLIGENT MFG
Medical instrument facilitating sitting and lying of orthopedic patient
InactiveCN114432079AAdjustable rotation angleRealize mutual transformation functionOperating tablesDiagnosticsPhysical medicine and rehabilitationOrthopedic department
The invention discloses a medical instrument facilitating sitting and lying of an orthopedic patient. The medical instrument comprises a sitting plate, a backup plate, a leg supporting plate and a driving mechanism. Supporting legs are arranged at the bottom of the seat plate, a first groove and a second groove are symmetrically formed in the two sides of the seat plate respectively, a mounting groove is formed in one side of the top of the seat plate, and the mounting groove is perpendicular to the first groove; one end of the backup plate is hinged to the first groove through a first hinge shaft; one end of the leg supporting plate is hinged to the second groove through a second hinge shaft; the driving mechanism is arranged in the mounting groove, the input end of the driving mechanism is connected with a push block, and the output end of the driving mechanism is connected with the first hinge shaft and the second hinge shaft and used for driving the first hinge shaft and the second hinge shaft to rotate when the push block is pushed. During use, a patient can independently adjust the rotation angle of the backup plate and the leg supporting plate, so that the function of mutual conversion between a lying posture and a sitting posture is achieved, and the whole adjusting process does not need assistance of other people.
Owner:沭阳县中医院
Limb rehabilitation training device for neurosurgery department
PendingCN114305898AMeet the needs of useComfortable to useGymnastic exercisingChiropractic devicesBracing legMassage
The invention provides a limb rehabilitation training device for the neurosurgery department. The limb rehabilitation training device comprises a bed board and supporting legs. An upper limb exercise mechanism and a lower limb exercise mechanism are arranged on the bed board, the upper limb exercise mechanism comprises a supporting frame, a main pulley and a guide pulley, a pull rope is arranged on the main pulley and the guide pulley, and the other end of the pull rope is connected with a first linkage mechanism; the lower limb exercising mechanism is detachably connected with the first linkage mechanism, and the leg supporting frame is driven by the pull rope and the first linkage mechanism to do leg lifting motion; a driving device used for driving the leg supporting frame to conduct leg buckling movement is arranged in the box body, a back lifting mechanism is arranged on the upper surface of the bed board, the lower end of the back lifting mechanism is connected with one end of a second linkage mechanism, and when the driving device drives the leg supporting frame to conduct buckling movement, the back lifting mechanism is lifted. And the back lifting mechanism is driven by the second linkage mechanism and the driving device to do back lifting motion. Upper and lower limbs can be exercised at the same time, and the limb coordination degree is increased; active and passive exercises are combined to be suitable for different patients; back massage is added, and interestingness is high.
Owner:FOURTH MILITARY MEDICAL UNIVERSITY
Reclining chair
InactiveCN1615097AReduce manufacturing costMaintain or improve structural strengthVehicle seatsReclining chairsBracing legEngineering
Owner:萨巴斯蒂安·阿拉姆布鲁埃切夫里亚
Shank fixing device for puncture operation
PendingCN110786937AAffect the treatment processQuick fixInstruments for stereotaxic surgeryPhysical medicine and rehabilitationKnee support
The invention discloses a shank fixing device for puncture operation. The shank fixing device for the puncture operation comprises a leg supporting mechanism and a foot supporting mechanism, wherein the leg supporting mechanism for supporting legs is arranged on one side of the foot supporting mechanism for supporting feet. The shank fixing device for the puncture operation also comprises an adjusting mechanism, a telescopic fixing mechanism and a connecting mechanism, wherein the adjusting mechanism is used for fixing the angle between the foot supporting mechanism and the leg supporting mechanism; the telescopic fixing mechanism is used for supporting the height of the foot supporting mechanism; and the connecting mechanism is used for connecting a device and a bed. The angle between theleg supporting mechanism and the foot supporting mechanism can be fixed by the adjusting mechanism, so that influence on the treatment process of people by too fast rotation of the foot supporting mechanism relative to the leg supporting mechanism is avoided; the connecting mechanism can fix the device on a bed plate rapidly; and the telescopic fixing mechanism can fix the leg supporting mechanism and rapidly adjust and fix the height of the leg supporting mechanism, can adjust the position of a knee supporting shaft and can assist in supporting or fixing the other joint during knee joint orankle joint treatment.
Owner:XIANGYA HOSPITAL CENT SOUTH UNIV
Sport activity screen
A sport activity screen is disclosed for use in a selected sport to simulate the presence and position of actual players in that sport during training and practice exercises. A sports activity screen according to the present invention comprises a base unit which includes a main horizontal support bar and a plurality of bracing legs which are attached to the main horizontal support bar to support the main horizontal support bar. A sport activity screen according to the present invention also includes at least one frame structure where each said frame structure is operatively connected to the main horizontal support bar. In one embodiment, a sport activity screen according to the present invention comprises a plurality of frame structures which are operatively connected to the main horizontal support bar at spaced intervals along the length of the bar. Each frame structure comprises two spaced apart vertical members having two ends, where one end of each vertical member is operatively connected to the main horizontal support bar and where the other ends of each vertical member are joined together by a horizontal top member. Each frame structure may further comprise at least one horizontal cross member which is attached between the two vertical members at a point intermediate the two ends of those vertical members. A player simulation screen is attached to each frame structure.
Owner:SAPP GEROME DAREN
Sitting type high-tension dorsal muscle rehabilitation training machine
PendingCN112754866AIncrease flexibilityReduce tensionChiropractic devicesTherapeutic coolingHuman bodyPhysical medicine and rehabilitation
The invention relates to the field of rehabilitation training equipment, in particular to a sitting type high-tension dorsal muscle rehabilitation training machine. Therehabilitation training machine comprises a support; a supporting leg is welded to one end of the support; a supporting frame is welded to the top of the support; an inclined frame is welded to the top end of the supporting frame; a fixed sleeve is welded to the top of the inclined frame; a rotating frame is rotationally connected inside the fixed sleeve; a handle is welded to one end of the rotating frame and sleeved with an anti-skid sleeve; a connecting frame is welded inside the rotating frame; a rotating seat I is welded to one side of the supporting frame; a rotating seat II is welded to the bottom of the connecting frame; and an electric cylinder is rotationally connected between the rotating seat I and the rotating seat II. The sitting type high-tension dorsal muscle rehabilitation training machine has the beneficial effects that the electric cylinder drives the limbs of the human body to move to achieve the rehabilitation purpose, the movement of the human body is not needed, a user only needs to hold the handle, the sitting type high-tension dorsal muscle rehabilitation training machine can be conveniently used by people with different heights, and the comfort degree of the user using the sitting type high-tension dorsal muscle rehabilitation training machine is improved.
Owner:迈族智能科技(上海)有限公司
Mass center pose estimation method and device, computer-readable storage medium, and robot
ActiveCN113146638AEfficiently handle flipped casesHandling flipped casesProgramme-controlled manipulatorMedicineSimulation
The invention belongs to the technical field of robots, and particularly relates to a mass center pose estimation method and device, a computer-readable storage medium, and a robot. The method comprises: obtaining a waist measurement posture of the robot and all joint angles of supporting legs; calculating ankle postures of the supporting legs according to the waist measurement posture and the joint angles; compensating preset initial ankle positions according to the ankle postures to obtain ankle positions of the supporting legs; calculating a waist pose of the robot according to the ankle poses of the supporting legs and all the joint angles; and calculating a mass center pose of the robot according to the waist pose. According to the method, the ankle poses are fully considered in the calculation process of the mass center pose, so that the situation of sole overturning can be effectively processed, and the result accuracy is greatly improved.
Owner:UBTECH ROBOTICS CORP LTD
Self-adapting three-foot parallel type TBM support with three-foot parallel supporting legs
ActiveCN107288643AChange the structural stiffnessImproved dynamic support force response characteristicsTunnelsPhysical medicine and rehabilitationBracing leg
A self-adapting three-foot parallel type TBM support with three-foot parallel supporting legs comprises a center bearing bracket (10), an upper supporting leg (1L), a left lower supporting leg (2L) and a right lower supporting leg (3L). A center supporting cylinder (1C) and two side-direction supporting cylinders (2C) are connected in parallel and then connected with a supporting boot (1G) in series to form the upper supporting leg, and after being driven, the upper supporting leg can drive the supporting boot to conduct telescopic movement in the radial direction; and the left lower supporting leg and the right lower supporting leg are the same as the upper supporting leg in structure. According to the self-adapting three-foot parallel type TBM support with the three-foot parallel supporting legs, the TBM support has a self-aligning ability, self-adaption can be achieved for shape position errors of a supporting surface, and the pressure center of an auxiliary support is easy to regulate, so that the force bearing of the auxiliary support is more reasonable; and a contact load of the supporting boot and the supporting surface can be distributed more evenly by adjusting the magnitude of the supporting force of the center supporting cylinder and the side-direction supporting cylinders. A differential driving mode is adopted under the working condition that large supporting force is not needed, the rigidity of the support is low, under the effect of a vibration load, the supporting boot is not prone to loosening in the working process, and supporting failure risks are reduced.
Owner:EAST CHINA JIAOTONG UNIVERSITY +1
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