Exoskeleton support for in-vitro assistance

Abstract

The utility model discloses an in-vitro auxiliary exoskeleton support which comprises thigh rods corresponding to thighs of a human body, knee joint structural parts corresponding to knee joints of the human body and shank rods corresponding to shanks of the human body. The thigh rod is connected with the shank rod through the knee joint structural part, the thigh rod and the shank rod are hinged to each other through the knee joint structural part and can be positioned and fixed at an angle, and a sitting supporting part corresponding to the buttocks of the human body and an upper binding part used for binding the thigh rod to the thighs of the human body are installed on the thigh rod. A supporting leg rod used for supporting the ground is installed at the lower end of the shank rod, and a lower binding piece used for binding the shank rod to the shank of the human body is further installed on the shank rod. The utility model has the advantages that the human body can sit in a posture close to standing at any time after wearing, so that the fatigue of the lower limbs of the human body during operation is relieved, and the human body can walk naturally after wearing without any inconvenience during walking.

Description

Technical Field

[0001] This utility model relates to the field of assistive device technology, specifically to an exoskeleton frame for external assisted seating. Background Technology

[0002] Due to the limitations of the work environment and the characteristics of the work, many jobs still require operators to stand while working, such as surgeons in medical settings and workers on industrial production lines. However, prolonged standing during production work can easily lead to lower limb fatigue and, in severe cases, occupational diseases such as varicose veins. Furthermore, because surgeons need to move occasionally to adjust their surgical position and posture, and industrial production line workers need to move continuously to retrieve tools and transport production materials, there is an urgent need to design a device that allows operators to sit in a near-standing posture at any time. Utility Model Content

[0003] The purpose of this invention is to provide an external assistive exoskeleton that allows the operator to sit in a near-standing posture at any time, thereby reducing lower limb fatigue during human work, and also allows the human body to walk naturally after wearing it.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: an external assisted exoskeleton frame, including a thigh rod corresponding to the human thigh, a knee joint structure corresponding to the human knee joint, and a lower leg rod corresponding to the human calf; the thigh rod is connected to the lower leg rod through the knee joint structure, the knee joint structure hinges the thigh rod and the lower leg rod together and can be fixed at an angle, a seating support part corresponding to the human buttocks is installed on the thigh rod, and an upper binding piece for binding the thigh rod to the human thigh is installed on the upper end of the lower leg rod for supporting the ground, and a lower binding piece for binding the lower leg rod to the human calf is also installed on the lower leg rod.

[0005] Furthermore, in the aforementioned external assisted exoskeleton support, the knee joint structure includes a knee joint disc and a thigh connecting rod. The thigh connecting rod is used to connect and fix to a thigh rod. The lower end of the thigh connecting rod is hinged to the center of the knee joint disc via a hinge shaft. The lower end of the knee joint disc has a lower leg connecting portion, and the knee joint disc is connected and fixed to the lower leg rod via the lower leg connecting portion. An arc-shaped groove is provided on one side surface of the knee joint disc. An adjusting block is slidably embedded in the arc-shaped groove for the thigh connecting rod to abut against and limit when it is flipped backward relative to the knee joint disc. An anti-dislodgement limiting component is provided on the knee joint disc to prevent the adjusting block from dislodging from the arc-shaped groove. The adjusting block is installed in the arc-shaped groove of the knee joint disc through a locking and unlocking mechanism. The locking and unlocking mechanism can adjust and position the adjusting block in the arc-shaped groove, thereby adjusting the angle between the thigh connecting rod and the lower leg connecting portion when the thigh connecting rod is flipped backward relative to the knee joint disc and abuts against the adjusting block, so as to simultaneously adjust the angle between the thigh rod and the lower leg rod.

[0006] Furthermore, in the aforementioned external assisted exoskeleton support, the locking and unlocking mechanism comprises: a plurality of position adjustment slots spaced circumferentially on the outer arcuate groove sidewall within the arcuate groove of the knee joint disc; a locking tongue mounting slot is provided on the inner end face of the adjustment block opposite the bottom wall of the arcuate groove; the locking tongue mounting slot extends outward to the outer arcuate sidewall of the adjustment block; a locking tongue capable of being inserted into the position adjustment slot is slidably embedded in the locking tongue mounting slot; a spring is provided between the locking tongue and the adjustment block; the spring causes the locking tongue to always have a tendency to move relative to the adjustment block towards the outer arcuate groove sidewall of the arcuate groove; and when the locking tongue rotates with the adjustment block along the arcuate groove relative to the knee joint disc to any position on the outer arcuate groove sidewall of the corresponding arcuate groove, the locking mechanism is activated. When the locking bolt is inserted, it will be inserted into the position adjustment socket under the action of the spring force to lock the position of the adjustment block in the arc groove. An unlocking button mounting slot is provided on the outer end face of the adjustment block away from the bottom wall of the arc groove. A radial elongated hole is provided in the adjustment block. The two ends of the radial elongated hole respectively pass through the locking bolt mounting slot and the unlocking button mounting slot. The unlocking button is slidably embedded in the unlocking button mounting slot. The unlocking button is connected to the locking bolt through a connecting pin that passes through the radial elongated hole. When the unlocking button drives the locking bolt to move relative to the adjustment block away from the outer arc groove side wall through the connecting pin, it can disengage the locking bolt from the corresponding position adjustment socket of the knee joint disc so that the adjustment block can be in the unlocked state of rotating relative to the knee joint disc.

[0007] Furthermore, in the aforementioned externally assisted exoskeleton support, the anti-dislodgement limiting component is a limiting plate located on the outside of the adjusting block and fixed to the knee joint disc.

[0008] Furthermore, in the aforementioned external assisted exoskeleton support, a knob cover is provided on the outside of the limiting baffle, the knob cover is connected and fixed to the adjusting block, and a clearance notch corresponding to the unlocking button is provided on the edge of the knob cover.

[0009] Furthermore, in the aforementioned external assisted exoskeleton scaffold, the specific connection structure between the thigh rod and the thigh connecting rod of the knee joint structure includes: a first positioning pin; a first guide groove is provided on the thigh rod along its length direction; the thigh connecting rod is slidably embedded in the first guide groove; the thigh rod and the thigh connecting rod are slidably engaged through the first guide groove; a first positioning hole is provided on the thigh rod; and a plurality of second positioning holes are arranged sequentially at intervals along the length direction of the thigh connecting rod; when the thigh rod moves relative to the thigh connecting rod of the knee joint structure through the first guide groove, the first positioning hole can pass through any position of the second positioning hole; the first positioning pin passes through the corresponding first positioning hole and second positioning hole to position and connect the thigh rod and the thigh connecting rod of the knee joint structure.

[0010] Furthermore, in the aforementioned external assisted exoskeleton support, the specific installation structure of the first positioning pin includes: the first positioning pin includes a first rod body that can be adapted to pass through the first positioning hole and the second positioning hole, defining the two ends of the first rod body as the head end and the tail end, respectively, the head end of the first rod body is provided with a first head with a diameter larger than each positioning hole, and a first mounting groove is provided on the outer peripheral wall of the tail end of the first rod body, in which a first rubber ring is embedded. After the tail end of the first positioning pin passes through the corresponding second positioning hole and the first positioning hole in sequence and exits the thigh connecting rod and the thigh rod, the first rubber ring embedded in the first mounting groove at the tail end of the first positioning pin will expand outward under its own elastic force to the initial state where the outer diameter is larger than each positioning hole, so that the first rubber ring can cooperate with the first head of the first positioning pin to securely install the first positioning pin in the corresponding positioning holes of the thigh rod and the thigh connecting rod.

[0011] Furthermore, in the aforementioned external assisted exoskeleton scaffold, the specific connection structure between the lower leg rod and the supporting leg rod includes: a second positioning pin; a second guide groove is provided on the lower leg rod along its length direction; the supporting leg rod is slidably embedded in the second guide groove; the supporting leg rod and the lower leg rod are slidably engaged through the second guide groove; a third positioning hole is provided on the lower leg rod; and a plurality of fourth positioning holes are arranged sequentially at intervals along the length direction of the supporting leg rod; when the supporting leg rod moves relative to the lower leg rod through the second guide groove, the third positioning hole can pass through any position of the fourth positioning hole; the second positioning pin passes through the corresponding third positioning hole and fourth positioning hole to position and connect the lower leg rod and the supporting leg rod.

[0012] Furthermore, in the aforementioned external assisted exoskeleton support, the specific installation structure of the second positioning pin includes: the second positioning pin includes a second rod body that can be adapted to pass through the third positioning hole and the fourth positioning hole, the two ends of the second rod body are defined as the head end and the tail end, the head end of the second rod body is provided with a second head with a diameter larger than each positioning hole, a second mounting groove is provided on the outer peripheral wall of the tail end of the second rod body, and a second rubber ring is embedded in the second mounting groove. After the tail end of the second positioning pin passes through the corresponding fourth positioning hole and the third positioning hole in sequence and exits the lower leg rod and the support leg rod, the second rubber ring embedded in the second mounting groove at the tail end of the second positioning pin will expand outward under its own elastic force to the initial state where the outer diameter is larger than each positioning hole, so that the second rubber ring can cooperate with the second head of the second positioning pin to securely install the second positioning pin in the corresponding positioning holes of the lower leg rod and the support leg rod.

[0013] Furthermore, in the aforementioned external assisted exoskeleton scaffold, the lower binding component comprises: a foot buckle fixing plate, a lower binding component mounting base, and foot straps. The foot buckle fixing plate is fixed to the lower side wall of the support leg. A vertical elongated groove is provided on the outer end face of the foot buckle fixing plate. The lower part of the elongated groove is an embedding section, and the upper part is a snap-fit ​​section. A U-shaped snap-fit ​​edge is installed on the snap-fit ​​section of the elongated groove, with the opening of the U-shaped snap-fit ​​edge facing the elongated groove. Embedded section; the foot strap is installed on the lower binding member mounting base. The outer wall of the lower binding member mounting base is provided with a columnar protrusion that can be inserted into a long strip groove. A ring of slots is provided on the outer peripheral wall of the columnar protrusion. The columnar protrusion of the lower binding member mounting base is inserted into the long strip groove from the embedded section and moves towards the snap-fit ​​section so that the U-shaped snap edge is inserted into the slot of the columnar protrusion, thereby allowing the lower binding member mounting base to be freely rotatably connected to the support leg relative to the support leg.

[0014] Through the implementation of the above technical solution, the beneficial effects of this utility model are: after wearing it, the human body can sit in a near-standing posture or a half-squatting posture at any time, thereby reducing lower limb fatigue during human work, and the human body can also walk naturally after wearing it without any inconvenience, and the structure is compact and highly comfortable to wear. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the external assisted exoskeleton scaffold described in this utility model.

[0016] Figure 2 for Figure 1 The diagram shows a structural schematic of the AA cross section.

[0017] Figure 3 for Figure 2 An enlarged schematic diagram of part B shown in the figure.

[0018] Figure 4 for Figure 2 An enlarged schematic diagram of part C shown in the figure.

[0019] Figure 5 for Figure 1 A stereoscopic view from one perspective.

[0020] Figure 6 for Figure 1 A stereoscopic view from another perspective.

[0021] Figure 7 This is a structural diagram of a knee joint component.

[0022] Figure 8 for Figure 7 The diagram shows a structural schematic of the DD cross-section.

[0023] Figure 9 for Figure 7 A schematic diagram of the structure after the knob cover is removed.

[0024] Figure 10 for Figure 9 A schematic diagram of the structure after the limiting baffle is removed.

[0025] Figure 11 This is a schematic diagram of the knee joint disc.

[0026] Figure 12 A perspective view of the adjustment block, unlock button, and latch after assembly.

[0027] Figure 13 A perspective view of the adjustment block, unlock button, and latch after assembly.

[0028] Figure 14 A 3D view of the adjustable stop from one angle.

[0029] Figure 15 A 3D view of the adjustment block from another perspective.

[0030] Figure 16 This is an exploded view of the connection structure between the thigh bar and the knee joint structure.

[0031] Figure 17 This is an exploded view of the connection structure between the lower leg and the supporting leg.

[0032] Figure 18 A 3D view of the foot clip fixing plate.

[0033] Figure 19 This is a structural diagram of the mounting base for the lower binding component. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0035] like Figure 1 , Figure 2 , Figure 5 , Figure 6 As shown, the external assisted exoskeleton frame includes a thigh rod 1 corresponding to the human thigh, a knee joint structure 2 corresponding to the human knee joint, and a lower leg rod 3 corresponding to the human lower leg. The thigh rod 1 is connected to the lower leg rod 3 through the knee joint structure 2. The knee joint structure 2 allows the thigh rod 1 and the lower leg rod 3 to be hinged together and positioned and fixed at an angle. A seating support part 4 corresponding to the human buttocks and an upper binding member for binding the thigh rod 1 to the human thigh are installed on the thigh rod 1. The upper binding member is an upper connecting strap 5 installed on the seating support part 4 of the thigh rod 1. A knee joint support part 6 is installed at the upper end of the lower leg rod 3. A middle connecting strap 7 is installed on the knee joint support part 6. A support foot rod 8 for supporting the ground is installed at the lower end of the lower leg rod 3. A lower binding member 9 for binding the lower leg rod 3 to the human lower leg is also installed on the lower leg rod 3.

[0036] In this embodiment, as Figure 7 , Figure 9 As shown, the structure of the knee joint component includes: a knee joint disc 10 and a thigh connecting rod 11. The thigh connecting rod 11 is used to connect and fix to the thigh rod 1. The lower end of the thigh connecting rod 11 is hinged to the center of the knee joint disc 10 through a hinge shaft 12. The lower end of the knee joint disc 10 extends downward to form a lower leg connecting part 13. The knee joint disc 10 is connected and fixed to the lower leg rod 13 through the lower leg connecting part 13. An arc-shaped groove 14 is provided on one side surface of the knee joint disc 10. An adjusting stop 1 is slidably embedded in the arc-shaped groove 10 for the thigh connecting rod 11, which rotates backward relative to the knee joint disc 10 around the hinge shaft 12, to abut and limit its movement. 5. An anti-dislodgement limiting component is provided on the knee joint disc 10 to prevent the adjustment block 15 from dislodging from the arc groove 14. The anti-dislodgement limiting component is a limiting plate 16 that is set on the outside of the adjustment block 15 and fixed to the knee joint disc 10. The adjustment block 15 is installed in the arc groove 14 of the knee joint disc 10 through a locking and unlocking mechanism. The locking and unlocking mechanism can adjust and position the adjustment block 15 in the arc groove 14, thereby adjusting the angle between the thigh connecting rod 11 and the lower leg connecting part 13 when the thigh connecting rod 11 flips backward relative to the knee joint disc 10 and abuts against the adjustment block 15, so as to synchronously adjust the angle between the thigh rod 1 and the lower leg rod 3.

[0037] In this embodiment, as Figure 8 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15 As shown, the locking and unlocking mechanism includes: a plurality of gear adjustment ports 17 are circumferentially spaced on the outer arc-shaped groove sidewall within the arc-shaped groove 14 of the knee joint disc 10. In practical applications, the number of gear adjustment ports 17 can be set according to the actual gear adjustment needs. In this embodiment, the number of gear adjustment ports 17 is three, such as... Figure 11As shown, in this embodiment, the three gear adjustment ports are arranged counterclockwise around the knee joint disc 10 as follows: near-standing gear adjustment port 171, semi-squatting gear adjustment port 172, and free walking gear adjustment port 173. A locking tongue mounting slot 18 is provided on the inner end face of the adjustment block 15 facing the bottom wall of the arc-shaped groove 14. The locking tongue mounting slot 18 is radially arranged along the knee joint disc 10, with one end extending outward to the outer arc-shaped sidewall of the adjustment block 15. When the adjustment block 15 is installed in the arc-shaped groove 14 of the knee joint disc 10, the outer arc-shaped sidewall of the adjustment block 15 faces the outer arc-shaped groove sidewall of the knee joint disc arc-shaped groove 14. A locking tongue 19, which can be adapted to be inserted into the gear adjustment socket 17, is slidably embedded in the opening 18. A spring 20 is provided between the locking tongue 19 and the adjustment block 15. The spring 20 causes the locking tongue 19 to always have a tendency to move relative to the adjustment block 15 towards the outer arc-shaped groove sidewall of the arc-shaped groove 14. When the locking tongue 19 rotates with the adjustment block 15 along the arc-shaped groove 14 relative to the knee joint disc 10 to any position of the gear adjustment socket 17 on the outer arc-shaped groove sidewall of the corresponding arc-shaped groove 14, the locking tongue 19 will be inserted into the gear adjustment socket 17 at that position under the elastic force of the spring 20 to lock the position of the adjustment block 15 in the arc-shaped groove 14. An unlocking button mounting slot 21 is provided on the outer end face of the block 15. The unlocking button mounting slot 21 also extends outward to the outer arc-shaped sidewall of the adjusting block 15. A radial elongated hole 22 is provided in the adjusting block 15. The radial elongated hole 22 is also arranged radially along the knee joint disc 10. The two ends of the radial elongated hole 22 extend to the locking tongue mounting slot 18 and the unlocking button mounting slot 21, respectively. An unlocking button 23 is slidably embedded in the unlocking button mounting slot 21. The unlocking button 23 is connected to the locking tongue 19 through a connecting pin 24 passing through the radial elongated hole 22. When the unlocking button 23 drives the locking tongue 19 away from the arc-shaped slot relative to the adjusting block 15 through the connecting pin 24, When the outer arc-shaped groove sidewall of 14 moves, the locking tongue 19 can disengage from the corresponding position adjustment socket 17 of the knee joint disc 10 so that the adjustment block 15 can be in an unlocked state that rotates relative to the knee joint disc 10. In this embodiment, a knob cover 25 is provided on the outside of the limiting plate 16. The knob cover 25 is connected and fixed to the adjustment block 15. The knob cover 25 is sleeved on the hinge shaft 12. A clearance notch corresponding to the unlock button 23 is provided on the edge of the knob cover 25. The adjustment block 15 in the unlocked state can be rotated along the arc-shaped groove 14 of the knee joint disc 10 to adjust its position more conveniently through the knob cover 25. The above-mentioned knee joint structure is compact and has high stability in use.

[0038] In this embodiment, as Figure 3 , Figure 16As shown, the specific connection structure between the thigh rod 1 and the thigh connecting rod 11 of the knee joint structure 2 includes: a first positioning pin 26; a first guide groove 27 is provided on the thigh rod 1 along its length direction; the thigh rod 1 is formed by two thigh plates joined together, and the first guide groove 27 is provided between the two thigh plates along the length direction of the thigh rod; the thigh connecting rod 11 is slidably embedded in the first guide groove 27; the thigh rod 1 and the thigh connecting rod 11 slide together through the first guide groove; a first positioning hole 28 is provided on the thigh rod 1; and a plurality of second positioning holes 29 are arranged sequentially at intervals along the length direction of the thigh connecting rod 11; the thigh rod 1 is aligned with the thigh of the knee joint structure 2 through the first guide groove. When the connecting rod 11 moves, the first positioning hole 28 can pass through the second positioning hole 29 at any position. The first positioning pin 26 passes through the corresponding first positioning hole 28 and second positioning hole 29 to position and connect the thigh rod 1 with the thigh connecting rod 11 of the knee joint structure 2. After the thigh rod 1 and the thigh connecting rod 11 adopt the above connection structure, the first positioning hole 28 of the thigh rod 1 can be aligned with the second positioning hole 29 of the thigh connecting rod at different positions and connected and positioned using the first positioning pin 26. This allows for convenient adjustment of the relative position of the thigh rod 11 and the thigh connecting rod 11, so that the position of the thigh rod 11 can adapt to users with different leg lengths, making the overall adaptability of the equipment wider.

[0039] In this embodiment, the specific installation structure of the first positioning pin 26 includes: the first positioning pin 26 includes a first rod body 30 that can fit through the first positioning hole 28 and the second positioning hole 29. The two ends of the first rod body 30 are defined as the head end and the tail end, respectively. The head end of the first rod body 30 is provided with a first head 31 with a diameter larger than each positioning hole. A first mounting groove 32 is provided on the outer peripheral wall of the tail end of the first rod body 30. A first rubber ring 33 is embedded in the first mounting groove 32. After the tail end of the first positioning pin 26 passes through the corresponding second positioning hole 29 and the first positioning hole 28 in sequence and exits the thigh connecting rod 11 and the thigh rod 1, the first rubber ring 33 embedded in the first mounting groove 32 at the tail end of the first positioning pin 26... Under its own elastic force, it will expand outward to the initial state where the outer diameter is larger than each positioning hole, so that the first rubber ring 33 can cooperate with the first head 31 of the first positioning pin 26 to securely install the first positioning pin 26 in the corresponding positioning holes of the thigh rod 1 and the thigh connecting rod 11; in this embodiment, a thigh rod outer shell 34 is fixed on the thigh rod 1, which covers both the thigh rod 1 and the first positioning pin 26. A first mounting port 35 corresponding to the first positioning pin 26 is provided on the thigh rod outer shell 34. The first mounting port 35 is on the same side as the first head 31 of the first positioning pin 26. A first positioning pin protective cover 36 for limiting and protecting the first positioning pin 26 is detachably installed at the first mounting port 35.

[0040] In this embodiment, as Figure 4 , Figure 17 As shown, the specific connection structure between the lower leg rod 3 and the support leg rod 8 includes: a second positioning pin 37; a second guide groove 38 provided on the lower leg rod 3 along its length direction; the lower leg rod 3 is formed by two lower leg plates joined together, with the second guide groove 38 formed between the two lower leg plates along the length direction of the lower leg rod; the support leg rod 8 is slidably embedded in the second guide groove 38; the support leg rod 8 and the lower leg rod 3 are slidably engaged through the second guide groove 38; a third positioning hole 39 is provided on the lower leg rod 3; and a plurality of fourth positioning holes 40 are arranged sequentially at intervals along the length direction of the support leg rod 8; the support leg rod 8 moves relative to the lower leg rod 3 through the second guide groove 38. The third positioning hole 39 can pass through the fourth positioning hole 40 at any position. The second positioning pin 37 is inserted into the corresponding third positioning hole 39 and fourth positioning hole 40 to position and connect the lower leg rod 3 and the support leg rod 8. After the lower leg rod 3 and the support leg rod 8 adopt the above connection structure, the relative position of the lower leg rod 3 and the support leg rod 8 can be easily adjusted by aligning the third positioning hole 39 of the lower leg rod 3 with the fourth positioning hole 40 of the support leg rod at different positions and using the second positioning pin 37 for connection and positioning. This allows the position of the lower leg rod 3 and the support leg rod 8 to adapt to users with different leg lengths, making the overall adaptability of the equipment wider.

[0041] In this embodiment, the specific installation structure of the second positioning pin 37 includes: the second positioning pin 37 includes a second rod body 41 that can fit through the third positioning hole 39 and the fourth positioning hole 40. The two ends of the second rod body 41 are defined as the head end and the tail end, respectively. The head end of the second rod body 41 is provided with a second head 42 with a diameter larger than each positioning hole. A second mounting groove 43 is provided on the outer peripheral wall of the tail end of the second rod body 41. A second rubber ring 44 is embedded in the second mounting groove 43. After the tail end of the second positioning pin 37 passes through the corresponding fourth positioning hole 40 and third positioning hole 39 in sequence and exits the lower leg rod 3 and the support leg rod 8, the second rubber ring 44 embedded in the second mounting groove 43 at the tail end of the second positioning pin 37... Under its own elastic force, it will expand outward to the initial state where the outer diameter is larger than each positioning hole, so that the second rubber ring 44 can cooperate with the second head 42 of the second positioning pin 37 to securely install the second positioning pin 37 in the corresponding positioning holes of the lower leg rod 3 and the support leg rod 8. In this embodiment, a lower leg rod outer shell 45 is fixed on the lower leg rod 3, which covers both the lower leg rod 3 and the second positioning pin 37. A second mounting port 46 corresponding to the second positioning pin 37 is provided on the lower leg rod outer shell 45. The second mounting port 46 is on the same side as the second head 42 of the second positioning pin 37. A second positioning pin protective cover 47 for limiting and protecting the second positioning pin 37 is detachably installed at the second mounting port 46.

[0042] In this embodiment, as Figure 18 , Figure 19 As shown, the structure of the lower binding member 9 includes: a foot buckle fixing plate 48, a lower binding member mounting base 49, and a foot strap 50. The foot buckle fixing plate 48 is fixed to the lower side wall of the support leg 8. A vertical elongated groove 51 is provided on the outer end face of the foot buckle fixing plate 48. The lower part of the elongated groove 51 is an embedding section, and the upper part is a snap-fit ​​section. A U-shaped snap edge 52 is installed on the snap-fit ​​section of the elongated groove 51, with the opening of the U-shaped snap edge 52 facing the embedding section of the elongated groove 51. The foot strap 50 is installed on the lower binding member mounting base 49. A columnar protrusion 53 that can be inserted into the elongated groove 51 is provided on the outer wall of the lower binding member mounting base 49. A ring of slots 54 is provided on the outer peripheral wall of the columnar protrusion 53. The columnar protrusion 53 of the lower binding member mounting base 49 is inserted into the elongated groove 51 from the embedding section and the columnar protrusion 53 is... The U-shaped locking edge 52 is moved to the corresponding slot 54 of the columnar protrusion 53, so that the lower binding member mounting base 49 can be freely rotated relative to the supporting leg 8 and connected to the supporting leg 8. In this structure of the lower binding member 9, the foot strap 50 is tied to the ankle, thereby achieving the purpose of binding the lower leg bar 3 to the human lower leg. Moreover, since the lower binding member mounting base 49 can rotate freely relative to the supporting leg 8, and since the lower binding member mounting base 49 is inserted into the elongated groove 51 through the columnar protrusion 53, and the columnar protrusion 53 has a movement gap in the elongated groove 51, the lower leg bar 3 is tied to the human lower leg without hindering the human ankle movement, making it more comfortable for people to use. Furthermore, when the foot strap is tied to the human ankle, the lower binding member mounting base 49 is restricted by the human instep and will not fall down, making it more stable to use.

[0043] Before use, wear one of these exoskeleton frames on the left and right legs of the body respectively. The specific operation of wearing the exoskeleton frame on the body is as follows: First, adjust the extension length of the thigh bar 1 relative to the knee joint structure and the extension length of the supporting foot bar 8 relative to the lower leg bar 1 so that the length of the exoskeleton frame is exactly matched with the length of the operator's legs; then, place the seat support part 4 against the buttocks, the knee joint structure 2 against the knee joint, place the thigh bar 1 against the thigh, and the lower leg bar 3 against the lower leg; then, tie the upper connecting strap 5 to the thigh, the middle connecting strap 7 to the knee, and the foot strap 50 to the ankle. This completes the wearing of the exoskeleton frame.

[0044] Furthermore, the position of the adjustment block 15 in the knee joint disc 10 can be adjusted by engaging the locking tongue with different positions of the adjustment slot 17, thereby simultaneously adjusting the angle between the thigh bar 1 and the calf bar 3, and thus adjusting the usage mode of the exoskeleton support. The specific operation for adjusting the usage mode of the exoskeleton support is as follows: When adjusting the position of the adjustment block 15, simply press the unlock button 23 towards the center of the knee joint disc 10. The unlock button 23, through the connecting pin 24, drives the locking tongue 19 to overcome the elasticity of the spring 20 and move towards the center of the knee joint disc until the locking tongue 19 disengages from the corresponding adjustment slot 17. At this time, the adjustment block 15 is in the unlocked state. Then, by rotating the knob cover 25, the adjustment block 15, the unlock button 23, and the locking tongue 19 are simultaneously moved along the knee joint disc. The arc-shaped groove 14 of the joint disc 10 moves; when the locking tongue 19 rotates with the adjusting block 15 to the next gear adjustment socket 17, the external force applied to the unlocking button 23 is removed. At this time, the locking tongue 19 will be inserted into the gear adjustment socket 17 under the elastic force of the spring 20, thereby locking the adjusting block 15 back into the arc-shaped groove 14 of the knee joint disc 10, thereby adjusting the position of the adjusting block 15 in the knee joint disc 10; repeat the above unlocking and locking steps of the adjusting block 15, and adjust the position of the adjusting block 15 in the knee joint disc 10 by inserting the locking tongue 19 into different positions of the gear adjustment socket 17. Since the thigh bar 1 is backed against the adjusting block 15, the position adjustment of the adjusting block 15 can simultaneously adjust the angle between the thigh bar 1 and the calf bar 3.

[0045] When the operator needs to sit in a near-standing position, simply engage the locking tongue 19 into the near-standing position adjustment port 171. At this time, the operator bends their legs. During the bending of the legs, the thigh bar 1 will rotate backward relative to the lower leg and the lower leg bar 3 until the thigh bar 1 abuts against the adjustment block 15 in the knee joint structure 2. At this time, the thigh bar 1 and the lower leg bar 3 will be fixed at a fixed angle, so that the thigh bar 1, the lower leg bar 3 and the support leg bar 8 form a stable support structure. At this time, the support leg bar 8 of the exoskeleton frame supports the ground, and the operator's buttocks support the sitting support. The operator then sits in the exoskeleton frame in a near-standing position.

[0046] When the operator needs to sit in a semi-squatting position, simply engage the locking tongue 19 into the semi-squatting position adjustment port 172. At this time, the operator bends their legs. During the bending of the legs, the thigh bar 1 will rotate backward relative to the lower leg and the lower leg bar 3 until the thigh bar 1 abuts against the adjustment block 15 in the knee joint structure 2. At this time, the thigh bar 1 and the lower leg bar 3 will be fixed at a fixed angle, so that the thigh bar 1, the lower leg bar 3 and the support leg bar 8 form a stable support structure. At this time, the support leg bar 8 of the exoskeleton frame supports the ground, and the operator's buttocks support the sitting support part, and the operator sits in a semi-squatting position on the exoskeleton frame.

[0047] When the operator needs to walk freely, simply engage the locking tongue 19 into the free walking adjustment slot 173. Since the angle at which the thigh and lower leg can bend freely when the exoskeleton is worn on the human leg is the angle α between the adjustment block 15 and the thigh connecting rod 11, the angle α between the adjustment block 15 and the thigh connecting rod 11 is large enough to satisfy the free bending of the thigh and lower leg, thus allowing the operator to walk freely without any inconvenience.

[0048] The advantages of this invention are: after wearing it, the wearer can sit in a near-standing or semi-squatting posture at any time, thereby reducing lower limb fatigue during work. The wearer can also walk naturally without any inconvenience. Furthermore, the structure is compact and the wearer is highly comfortable.

[0049] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any modifications or equivalent changes made based on the technical essence of the present utility model shall still fall within the scope of protection claimed by the present utility model.

Claims

1. An externally assisted exoskeleton scaffold, characterized in that: It includes a thigh bar corresponding to the human thigh, a knee joint structure corresponding to the human knee joint, and a lower leg bar corresponding to the human calf. The thigh bar is connected to the lower leg bar through the knee joint structure, which hinges the thigh bar and the lower leg bar together and allows them to be positioned and fixed at an angle. A seating support part corresponding to the human buttocks is installed on the thigh bar, as well as an upper binding piece for binding the thigh bar to the human thigh. A support foot bar for supporting the ground is installed at the lower end of the lower leg bar, and a lower binding piece for binding the lower leg bar to the human calf is also installed on the lower leg bar.

2. The exoskeleton scaffold for external assistance according to claim 1, characterized in that: The knee joint structure includes a knee joint disc and a thigh connecting rod. The thigh connecting rod is used to connect and fix to the thigh rod. The lower end of the thigh connecting rod is hinged to the center of the knee joint disc via a hinge shaft. The lower end of the knee joint disc has a lower leg connecting part, and the knee joint disc is connected and fixed to the lower leg rod via the lower leg connecting part. An arc-shaped groove is provided on one side surface of the knee joint disc. An adjusting block is slidably embedded in the arc-shaped groove for the thigh connecting rod to abut against and limit when it is flipped backward relative to the knee joint disc. An anti-dislodgement limiting component is provided on the knee joint disc to prevent the adjusting block from dislodging from the arc-shaped groove. The adjusting block is installed in the arc-shaped groove of the knee joint disc through a locking and unlocking mechanism. The locking and unlocking mechanism can adjust and position the adjusting block in the arc-shaped groove, thereby adjusting the angle between the thigh connecting rod and the lower leg connecting part when the thigh connecting rod is flipped backward relative to the knee joint disc and abuts against the adjusting block, so as to simultaneously adjust the angle between the thigh rod and the lower leg rod.

3. The exoskeleton scaffold for external assistance according to claim 2, characterized in that: The locking and unlocking mechanism comprises: several position adjustment slots spaced circumferentially on the outer arc-shaped groove sidewall within the arc-shaped groove of the knee joint disc; a latch mounting slot on the inner end face of the adjustment block opposite the bottom wall of the arc-shaped groove; the latch mounting slot extending outward to the outer arc-shaped sidewall of the adjustment block; a latch slidably fitted into the latch mounting slot to accommodate the position adjustment slots; and a spring between the latch and the adjustment block. The spring ensures that the latch always tends to move relative to the adjustment block towards the outer arc-shaped groove sidewall. When the latch rotates with the adjustment block along the arc-shaped groove relative to the knee joint disc to any position of the position adjustment slot on the outer arc-shaped groove sidewall, the latch is released by the spring. Under the action of force, it will be inserted into the gear adjustment socket at this position to lock the position of the adjustment block in the arc groove. An unlocking button mounting slot is provided on the outer end face of the adjustment block away from the bottom wall of the arc groove. A radial elongated hole is provided in the adjustment block. The two ends of the radial elongated hole respectively pass through the locking tongue mounting slot and the unlocking button mounting slot. The unlocking button is slidably embedded in the unlocking button mounting slot. The unlocking button is connected to the locking tongue through a connecting pin passing through the radial elongated hole. When the unlocking button drives the locking tongue to move relative to the adjustment block away from the outer arc groove side wall of the arc groove through the connecting pin, it can disengage the locking tongue from the corresponding gear adjustment socket of the knee joint disc so that the adjustment block can be in the unlocked state of rotating relative to the knee joint disc.

4. The exoskeleton scaffold for external assistance according to claim 2, characterized in that: The anti-dislodgement limiting component is a limiting plate that is set on the outside of the adjusting block and fixed to the knee joint disc.

5. The exoskeleton scaffold for external assistance according to claim 4, characterized in that: A knob cover is provided on the outside of the limiting stop plate. The knob cover is connected and fixed to the adjusting block. A clearance notch corresponding to the unlocking button is provided on the edge of the knob cover.

6. The exoskeleton scaffold for external assistance according to claim 2, characterized in that: The specific connection structure between the thigh rod and the thigh connecting rod of the knee joint structure includes: a first positioning pin; a first guide groove is provided on the thigh rod along its length direction; the thigh connecting rod is slidably embedded in the first guide groove; the thigh rod and the thigh connecting rod are slidably engaged through the first guide groove; a first positioning hole is provided on the thigh rod; and a plurality of second positioning holes are arranged sequentially at intervals along the length direction of the thigh connecting rod; when the thigh rod moves relative to the thigh connecting rod of the knee joint structure through the first guide groove, the first positioning hole can pass through any position of the second positioning hole; the first positioning pin passes through the corresponding first positioning hole and second positioning hole to position and connect the thigh rod and the thigh connecting rod of the knee joint structure.

7. The exoskeleton scaffold for external assistance according to claim 6, characterized in that: The specific installation structure of the first positioning pin includes: the first positioning pin includes a first rod body that can fit through the first positioning hole and the second positioning hole. The two ends of the first rod body are defined as the head end and the tail end, respectively. The head end of the first rod body is provided with a first head with a diameter larger than each positioning hole. A first mounting groove is provided on the outer peripheral wall of the tail end of the first rod body. A first rubber ring is embedded in the first mounting groove. After the tail end of the first positioning pin passes through the corresponding second positioning hole and the first positioning hole in sequence and exits the thigh connecting rod and the thigh rod, the first rubber ring embedded in the first mounting groove at the tail end of the first positioning pin will expand outward under its own elastic force to the initial state where the outer diameter is larger than each positioning hole, so that the first rubber ring can cooperate with the first head of the first positioning pin to securely install the first positioning pin in the corresponding positioning holes of the thigh rod and the thigh connecting rod.

8. The exoskeleton scaffold for external assistance according to claim 1, characterized in that: The specific connection structure between the lower leg and the support leg includes: a second positioning pin; a second guide groove is provided on the lower leg along its length; the support leg is slidably embedded in the second guide groove; the support leg and the lower leg slide together through the second guide groove; a third positioning hole is provided on the lower leg; and several fourth positioning holes are arranged sequentially at intervals along the length of the support leg; when the support leg moves relative to the lower leg through the second guide groove, the third positioning hole can pass through any position of the fourth positioning hole; the second positioning pin passes through the corresponding third and fourth positioning holes to position and connect the lower leg and the support leg.

9. The exoskeleton scaffold for external assistance according to claim 8, characterized in that: The specific installation structure of the second positioning pin includes: the second positioning pin includes a second rod body that can fit through the third positioning hole and the fourth positioning hole. The two ends of the second rod body are defined as the head end and the tail end, respectively. The head end of the second rod body is provided with a second head with a diameter larger than each positioning hole. A second mounting groove is provided on the outer peripheral wall of the tail end of the second rod body. A second rubber ring is embedded in the second mounting groove. After the tail end of the second positioning pin passes through the corresponding fourth positioning hole and the third positioning hole in sequence, it passes through the lower leg rod and the support leg rod. Under its own elastic force, the second rubber ring embedded in the second mounting groove at the tail end of the second positioning pin will expand outward to the initial state with an outer diameter larger than each positioning hole, so that the second rubber ring can cooperate with the second head of the second positioning pin to securely install the second positioning pin in the corresponding positioning holes of the lower leg rod and the support leg rod.

10. The exoskeleton scaffold for external assistance according to claim 1, characterized in that: The lower binding component includes a foot buckle fixing plate, a lower binding component mounting base, and a foot strap. The foot buckle fixing plate is fixed to the lower side wall of the support leg. A vertical elongated groove is provided on the outer end face of the foot buckle fixing plate. The lower part of the elongated groove is an embedding section, and the upper part is a snap-fit ​​section. A U-shaped snap-fit ​​edge is installed on the snap-fit ​​section of the elongated groove, with the opening of the U-shaped snap-fit ​​edge facing the embedding section of the elongated groove. The foot strap is installed on the lower binding component mounting base. A columnar protrusion that can be inserted into the elongated groove is provided on the outer wall of the lower binding component mounting base. A groove is provided on the outer peripheral wall of the columnar protrusion. The columnar protrusion of the lower binding component mounting base is inserted into the elongated groove from the embedding section and moves towards the snap-fit ​​section so that the U-shaped snap-fit ​​edge is inserted into the groove of the columnar protrusion. This allows the lower binding component mounting base to be freely rotatable relative to the support leg.

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