A weight-bearing exoskeleton

Abstract

The present invention discloses a load-bearing power-assisting exoskeleton, comprising an ankle mechanism, a leg power-assisting mechanism, a waist adjustment mechanism and a back adjustment mechanism, wherein the back adjustment mechanism, the waist adjustment mechanism and the leg power-assisting mechanism are connected to the ankle mechanism in sequence, the waist adjustment mechanism comprises a left connecting rod, a right connecting rod, a left positioning sleeve and a right positioning sleeve, the left positioning sleeve and the right positioning sleeve are fixed to the waist plate by fasteners after being rotated to a desired angle, the left connecting rod and the right connecting rod are respectively inserted into the left positioning sleeve and the right positioning sleeve and fixed by adjusting fasteners, a support plate is detachably mounted on the waist plate, the back adjustment mechanism comprises a back plate and an adjustment plate, the adjustment plate is connected to the waist plate, the adjustment plate is slidably mounted on the back plate and fixed by a clamping mechanism after sliding to a preset position, and the removed support plate is clamped on the back plate by a clamping mechanism. The present invention has the advantages that the wearer can adjust the waist mechanism and the size of the back plate according to his / her own wearing needs, and the support plate is detachable and convenient to store.

Description

[Technical field]

[0001] The present invention belongs to the technical field of exoskeleton robots, and in particular relates to a load-bearing power-assisted exoskeleton. [Background technology]

[0002] Exoskeleton robot technology is an important branch of robotics technology. It involves fields such as robotics, ergonomics, mechanics, computer science and communication technology. It is a hot technology currently being studied at home and abroad. Exoskeleton robots can help people complete more intensive tasks by their own strength, such as weight-bearing. In medicine, they can also help patients with rehabilitation training. Exoskeleton robots generally include waist mechanisms, leg mechanisms and ankle mechanisms. Existing load-bearing exoskeleton robots have problems such as the waist size is not easy to adjust, the adjustment range is small, the weight-bearing tray cannot be disassembled and replaced, the tray is inconvenient to store, which makes it easy to collide with foreign objects during use, and the overall structure is complex. [Summary of the invention]

[0003] The purpose of the present invention is to solve the problems in the background technology and to propose a weight-bearing assisted exoskeleton that can facilitate the wearer to effectively adjust the waist mechanism and the size of the back panel according to his or her own wearing needs. The support plate is detachable and can be replaced with support plates of different sizes and shapes, and the support plate is easy to store.

[0004] To achieve the above-mentioned purpose, the present invention proposes a load-bearing power-assisting exoskeleton, including an ankle mechanism, a leg power-assisting mechanism, a waist adjustment mechanism and a back adjustment mechanism. The upper end of the ankle mechanism is connected to the leg power-assisting mechanism, and the waist adjustment mechanism is respectively connected to the leg power-assisting mechanism and the back adjustment mechanism. The waist adjustment mechanism includes a left connecting rod, a right connecting rod, a left positioning sleeve and a right positioning sleeve. The left positioning sleeve and the right positioning sleeve are rotatably connected and are fixed to the waist plate by fasteners after being rotated to a desired angle. The left positioning sleeve and the right positioning sleeve are provided with sliding grooves. The first ends of the left connecting rod and the right connecting rod are respectively inserted into Inserted into the left positioning sleeve and the right positioning sleeve, and after inserting the required length, the left connecting rod and the left positioning sleeve, and the right connecting rod and the right positioning sleeve are fastened together by adjusting the fasteners. The waist plate is detachably mounted with a support plate, and the adjusting fastener can pass through the slide groove and be adaptively connected to the left connecting rod or the right connecting rod. The back adjustment mechanism includes a back plate and an adjustment plate, the lower end of the adjustment plate is connected to the waist plate, and the upper part of the adjustment plate can be slid up and down and installed on the back plate, and when the adjustment plate slides to the required height position, the adjustment plate is fastened to the back plate by a clamping mechanism, and the clamping mechanism is installed on the back plate, and the support plate removed from the waist plate can be clamped on the back plate by the clamping mechanism.

[0005] Preferably, the ankle mechanism includes an ankle connection component, a support seat, a connecting head and an ankle fixing sleeve, the upper end of the ankle connection component is connected to the leg power-assisting mechanism, the support seat is connected to the ankle fixing sleeve, the upper and lower ends of the connecting head are rotatably connected to the ankle connection component and the support seat respectively so that the ankle connection component can move along the X and Y directions, a first elastic damping member is connected between the ankle connection component and the connecting head, a second elastic damping member is connected between the bottom side of the connecting head and the support seat, the first elastic damping member and the second elastic damping member are arranged perpendicular to each other, and the wearer's ankle is effectively protected under the buffering action of the vertically arranged double elastic damping members, and multiple degrees of freedom of movement are ergonomic.

[0006] Preferably, the leg power-assisting mechanism includes a thigh fixing assembly, a calf fixing assembly and a power-assisting connecting mechanism, the power-assisting connecting mechanism includes a first connecting piece, an elastic piece and a second connecting piece, the first connecting piece is connected to the thigh fixing assembly, the second connecting piece is connected to the calf fixing assembly, one side of the second connecting piece is rotatably connected to the first connecting piece, the elastic piece is respectively connected to the first connecting piece and the second connecting piece, the first connecting piece and the thigh fixing assembly are restored to an initial state from a moving state through the elastic piece, and the leg power-assisting mechanism is made lightweight as a whole while ensuring a certain power-assisting function, without the need for a motor to drive the power-assisting function, and is easy to disassemble and carry, and the elastic reset effect of the elastic piece can ensure that the leg power-assisting structure has a certain power-assisting buffering function.

[0007] Preferably, the clamping mechanism includes a clamping seat, and the adjustment plate can move up and down along the reserved gap between the clamping seat and the back plate. A plurality of adjustment holes are provided in the vertical direction of the adjustment plate, and a through hole is provided on the clamping seat. A clamping claw is rotatably installed on the clamping seat, and a hook bent inwardly is provided at one end of the clamping claw. When the clamping claw is rotated downward, the hook can pass through the through hole and be buckled with the corresponding adjustment hole to fix the relative position of the adjustment plate, the clamping seat and the back plate. When the clamping claw is rotated upward, the hook is disengaged from the corresponding adjustment hole, so that the relative position of the adjustment plate, the clamping seat and the back plate can be movably adjusted, so that the wearer can buckle or disengage the hook and the adjustment hole by rotating the clamping claw according to the size of his or her back, thereby realizing the movable adjustment of the relative position of the adjustment plate, the clamping seat and the back plate, and the adjustment of the back plate installation height is more convenient.

[0008] Preferably, a partition is used to separate a left-right symmetrical cavity in the middle of the support plate, and stepped clamping sections which are narrow at the bottom and wide at the top are provided on both sides of the partition. A longitudinal clamping slot is provided on the side of the clamping seat. When the support plate is placed, the stepped clamping sections on both sides of the partition are correspondingly clamped with the clamping slots of the two clamping seats, and the clamping seat can move in the cavity during the clamping process.

[0009] Preferably, the right end of the left positioning sleeve is provided with a first connecting portion, and the left end of the right positioning sleeve is provided with two parallel second connecting portions, and when the left positioning sleeve is connected to the right positioning sleeve, the first connecting portion is inserted between the two second connecting portions, and the fastener passes through the first connecting portion and the second connecting portion and is connected to the waist plate.

[0010] Preferably, the upper and lower ends of the left positioning sleeve and the right positioning sleeve are cooperated with installed positioning blocks, the positioning blocks can move along the opening direction of the slide groove, the adjusting fastener is adaptively connected to the positioning block, the positioning block can move horizontally and smoothly along the slide grooves at the upper and lower ends of the left positioning sleeve and the right positioning sleeve, and the double positioning blocks can be effectively clamped and fixed on the left positioning sleeve and the right positioning sleeve to fix the left connecting rod and the right connecting rod.

[0011] Preferably, the second ends of the left connecting rod and the right connecting rod are horizontally rotationally connected to one end of the thigh mechanism adapter assembly, the other end of the thigh mechanism adapter assembly is vertically rotationally connected to the upper end of the thigh mechanism connecting piece, and the lower end of the thigh mechanism connecting piece is connected to the upper end of the leg power-assisting mechanism, so that the left connecting rod or the right connecting rod is connected to the thigh mechanism adapter assembly with left and right freedom, and the thigh mechanism connecting piece and the thigh mechanism adapter assembly have front and back freedom, which improves the wearer's flexibility, and the thigh mechanism connecting piece and the leg power-assisting mechanism can maintain synchronous movement.

[0012] Preferably, the thigh mechanism adapter assembly includes a connecting seat, one end of the connecting seat is provided with a first opening in the horizontal direction, and one end of the connecting seat is provided with a second opening in the vertical direction. The second ends of the left connecting rod and the right connecting rod are rotatably installed in the first opening, and the upper end of the thigh mechanism connecting piece is rotatably installed in the second opening. The vertically distributed first and second openings allow the thigh mechanism adapter assembly to have left and right and front and back directions of freedom after installation, thereby realizing the limited installation of the left connecting rod, the right connecting rod and the thigh mechanism connecting piece.

[0013] Preferably, the second ends of the left connecting rod and the right connecting rod are connected to the connecting seat, and the upper end side of the thigh mechanism connecting piece and the connecting seat by a pin shaft, and a first torsion spring is sleeved on the outer side of the pin shaft, and the end of the first torsion spring is connected to the corresponding connecting seat or the left connecting rod or the right connecting rod or the thigh mechanism connecting piece, so that the thigh mechanism connecting piece, the left connecting rod and the right connecting rod can rotate with the corresponding pin shaft as the center, and the first torsion spring facilitates the elastic reset of the thigh mechanism connecting piece relative to the left connecting rod or the right connecting rod, and can provide a certain buffering and assisting effect.

[0014] The beneficial effects of the present invention are as follows: the present invention realizes the width adjustment of the exoskeleton waist mechanism through horizontal plugging and unplugging between the left connecting rod, the right connecting rod and the corresponding left positioning sleeve and the right positioning sleeve to meet the wearer's own wearing needs, and the width adjustment is also relatively convenient, and the left connecting rod, the right connecting rod and the corresponding left positioning sleeve and the right positioning sleeve are convenient to disassemble and assemble; the left positioning sleeve and the right positioning sleeve are rotatably connected and fixed to the waist board by fasteners after rotating to the required angle, so that the installation angle of the left connecting rod and the right connecting rod can be easily adjusted to meet the wearer's own wearing needs, and the left positioning sleeve, the right positioning sleeve and the waist board are convenient to disassemble and assemble; the adjustment plate is slid up and down along the back board, and after sliding to a preset position, the adjustment plate is fixed to the back board by a clamping mechanism to adapt to the wearer's own back; a support plate is detachably installed on the waist board, so that the support plate is convenient to disassemble and assemble, and the user can replace support plates of different shapes and sizes according to needs. The removed support plate can be clamped on the back board by the clamping mechanism, so that the removed support plate can be placed at a fixed point, which is convenient for the storage of the support plate.

[0015] The features and advantages of the present invention will be described in detail through embodiments in conjunction with the accompanying drawings.

Brief Description of the Drawings

[0016] Figure 1 is a schematic diagram of a main first-view structure of an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of the structure from a second viewing angle of an embodiment of the present invention;

[0018] Figure 3 It is a schematic diagram of the installation structure of the waist adjustment mechanism and the back adjustment mechanism of an embodiment of the present invention;

[0019] Figure 4 It is a schematic diagram of the waist adjustment mechanism and the back adjustment mechanism in use according to an embodiment of the present invention;

[0020] Figure 5 It is a schematic diagram of the disassembly of the waist adjustment mechanism of an embodiment of the present invention;

[0021] Figure 6 This is a schematic diagram of the installation of a support plate according to an embodiment of the present invention;

[0022] Figure 7 This is a schematic diagram of a tray storage according to an embodiment of the present invention;

[0023] Figure 8 This is a front view of a tray storage state of an embodiment of the present invention;

[0024] Fig. 9 An embodiment of the present invention Figure 8 Sectional view of the middle AA plane;

[0025] Fig.10 is a schematic diagram of the backplane structure of an embodiment of the present invention;

[0026] Fig.11 It is a schematic diagram of the support plate structure of an embodiment of the present invention;

[0027] Fig.12 is a schematic diagram of a leg power assist mechanism according to an embodiment of the present invention;

[0028] Fig.13 It is a schematic diagram of the disassembly of a leg power-assisting mechanism according to an embodiment of the present invention;

[0029] Fig.14 is a main schematic diagram of an ankle mechanism according to an embodiment of the present invention;

[0030] Fig.15 It is a schematic diagram of the disassembly of the ankle mechanism of an embodiment of the present invention;

[0031] Fig.16 It is a schematic diagram of the installation of a thigh mechanism adapter assembly and a thigh mechanism connector according to an embodiment of the present invention;

[0032] Fig.17 It is a front view of the installation of a thigh mechanism adapter assembly and a thigh mechanism connector according to an embodiment of the present invention;

[0033] Fig.18 This is a main schematic diagram of a clamping mechanism according to an embodiment of the present invention;

[0034] Fig.19 is a schematic diagram of a clamping mechanism according to an embodiment of the present invention;

[0035] Fig. 20 is a schematic diagram of a card connector according to an embodiment of the present invention;

[0036] Fig.21 It is a schematic diagram of the disassembly of the clamping mechanism of an embodiment of the present invention.

[0037] In the figure: 1-ankle mechanism, 2-leg power mechanism, 3-waist adjustment mechanism, 4-back adjustment mechanism, 5-support plate, 6-connecting seat, 7-support plate, 11-ankle connection assembly, 12-support seat, 13-connector, 14-ankle fixing sleeve, 15-first elastic damping member, 16-second elastic damping member, 17-rigid plate, 21-thigh fixing assembly, 22-calf fixing assembly, 23-hook, 24-power connection mechanism, 25-strap length adjustment mechanism, 26-first claw, 31-left connecting rod, 32-right connecting rod, 33-left positioning sleeve, 34-right positioning sleeve, 35-lumbar plate, 36-positioning block, 37-adjusting fastener , 38-fastener, 41-back plate, 42-clamping mechanism, 43-adjusting plate, 61-thigh mechanism connecting piece, 62-plug, 63-first torsion spring, 71-leg fixing plate, 72-connecting channel, 73-socket, 74-first mounting groove, 130-elastic damping member mounting groove, 241-first connecting head, 242-end cover, 243-second connecting piece, 244-elastic member, 245-torsion spring mounting groove, 331-first connecting part, 341-second connecting part, 351-support plate mounting part, 410-limiting groove, 421-clamping seat, 422-claw, 423-bayonet, 424-through hole, 425-fourth torsion spring, 426-hook. [Specific implementation method]

[0038] See also Figures 1 to 21, the present embodiment provides a load-bearing assisted exoskeleton, including an ankle mechanism 1, a leg assisting mechanism 2, a waist adjusting mechanism 3 and a back adjusting mechanism 4, the upper end of the ankle mechanism 1 is connected to the leg assisting mechanism 2, the waist adjusting mechanism 3 is respectively connected to the leg assisting mechanism 2 and the back adjusting mechanism 4, the waist adjusting mechanism 3 includes a left connecting rod 31, a right connecting rod 32, a left positioning sleeve 33 and a right positioning sleeve 34, the left positioning sleeve 33 and the right positioning sleeve 34 are rotatably connected and after being rotated to a desired angle, the left positioning sleeve 33 and the right positioning sleeve 34 are fixed to the waist plate 35 by a fastener 38, the left positioning sleeve 33 and the right positioning sleeve 34 are provided with a sliding groove, the first ends of the left connecting rod 31 and the right connecting rod 32 are respectively inserted into the left positioning sleeve 33 and the right positioning sleeve 34, and after being inserted to a desired length, the left connecting rod 31 and the left positioning sleeve 33, the right connecting rod 32 and the right positioning sleeve 35 are connected by adjusting the fastener 37. The positioning sleeve 34 is fastened, and a support plate 5 is detachably installed on the waist plate 35. The adjusting fastener 37 can pass through the slide groove and be adaptively connected to the left connecting rod 31 or the right connecting rod 32. The back adjustment mechanism 4 includes a back plate 41 and an adjusting plate 43. The lower end of the adjusting plate 43 is connected to the waist plate 35. The upper part of the adjusting plate 43 can be slidably installed on the back plate 41 up and down, and the adjusting plate 35 is fastened to the back plate 41 through the clamping mechanism 42 when sliding to the required height position. The clamping mechanism 42 is installed on the back plate 41. The support plate 5 removed from the waist plate 35 can be clamped on the back plate 41 through the clamping mechanism 42. Among them, a support plate mounting portion 351 is installed on the waist plate 35, and a slot is provided in the middle part of the front end of the support plate mounting portion 351. A joint is installed at one end of the support plate 5, and the joint and the slot can be plugged into each other. A limiting groove 410 adapted to the adjusting plate 43 is provided on the back plate 41, and the adjusting plate 43 can slide along the limiting groove 410.

[0039] A threaded connection hole connected to the slot is provided at the bottom of the support mounting portion 351, a spring screw is installed on the threaded connection hole, and a limiting hole is provided on the joint. When the joint is plugged into the slot, the upper end of the spring screw can be correspondingly inserted into the limiting hole, and when the joint is pulled out of the slot, the upper end of the spring screw is separated from the limiting hole.

[0040] A first connecting portion 331 is provided at the right end of the left positioning sleeve 33, and two parallel second connecting portions 341 are provided at the left end of the right positioning sleeve 34. When the left positioning sleeve 33 is connected to the right positioning sleeve 34, the first connecting portion 331 is inserted between the two second connecting portions 341, and the fastener 38 passes through the first connecting portion 331 and the second connecting portion 341 and is connected to the waist plate 35. The fastener 38 can be a first knob screw, and a rolling bearing is connected between the first connecting portion 331 and the second connecting portion 341.

[0041] The upper and lower ends of the left positioning sleeve 33 and the right positioning sleeve 34 are provided with parallel sliding grooves, which are in a straight line shape. The adjusting fastener 37 includes a knob screw. The upper and lower ends of the left positioning sleeve 33 and the right positioning sleeve 34 are both equipped with positioning blocks 36, and the knob screw is adaptively connected to the positioning block 36.

[0042] The second ends of the left connecting rod 31 and the right connecting rod 32 are horizontally rotationally connected to one end of the thigh mechanism adapter assembly, and the other end of the thigh mechanism adapter assembly is vertically rotationally connected to the upper end of the thigh mechanism connector 61, and the lower end of the thigh mechanism connector 61 is connected to the upper end of the leg power assist mechanism 2.

[0043] The thigh mechanism adapter assembly includes a connecting seat 6, one end of the connecting seat 6 is provided with a first opening in the horizontal direction, and one end of the connecting seat 6 is provided with a second opening in the vertical direction. The second ends of the left connecting rod 31 and the right connecting rod 2 and the upper end of the thigh mechanism connecting member 61 are respectively rotatably installed in the first opening and the second opening by means of a pin shaft. The second ends of the left connecting rod 31 and the right connecting rod 32 are provided with a plug 62, and a first torsion spring 63 is sleeved on the outside of the pin shaft. The end of the first torsion spring 63 is connected to the corresponding connecting seat 6 or the plug 62 or the thigh mechanism connecting member 61.

[0044] Furthermore, the ankle mechanism 1 includes an ankle connecting component 11, a support seat 12, a connecting head 13 and an ankle fixing sleeve 14. The upper end of the ankle connecting component 11 is connected to the leg power-assisting mechanism 2, and the support seat 12 is connected to the ankle fixing sleeve 14. The upper and lower ends of the connecting head 13 are rotatably connected to the ankle connecting component 11 and the support seat 12 respectively so that the ankle connecting component 11 can move along the X and Y directions. A first elastic damping member 15 is connected between the ankle connecting component 11 and the connecting head 13, and a second elastic damping member 16 is connected between the bottom side of the connecting head 13 and the support seat 12. The first elastic damping member 15 and the second elastic damping member 16 are arranged perpendicular to each other. The first elastic damping member 15 and the second elastic damping member 16 are both torsion springs. The torsion springs have high strength and good damping, buffering and resetting effects.

[0045] The ankle fixing sleeve 14 is made of rubber material, and a plurality of raised friction strips are arranged at the bottom of the ankle fixing sleeve 14, wherein the X direction is the left-right direction, and the Y direction is the front-back direction, so that the ankle fixing sleeve 14 has a certain degree of softness and is more comfortable for the user to wear. The friction strips can enhance the friction effect between the ankle fixing sleeve 14 and the ground.

[0046] An elastic damping member mounting portion is provided on the top of the connector 13, and a mounting opening is provided in the middle of the elastic damping member mounting portion, and the first elastic damping member 15 is mounted in the mounting opening. A plug-in interface is provided at the lower end of the ankle connecting assembly 11, and the upper end of the elastic damping member mounting portion is inserted into the plug-in interface and connected with a first pin shaft. The first pin shaft vertically passes through the first elastic damping member 15 and limits the installation of the first elastic damping member 15 in the mounting opening. The elastic damping member mounting portion is provided to facilitate the limited installation of the first elastic damping member 15, so that the first elastic damping member 15 is not easily misplaced during operation.

[0047] An elastic damping member installation groove 130 and a notch connected to the elastic damping member installation groove 130 are provided on the side of the connecting head 13. The main body of the second elastic damping member 16 is installed in the elastic damping member installation groove 130. One end of the second elastic damping member 16 is against the inner wall of the elastic damping member installation groove 130, and the other end of the second elastic damping member 16 passes through the notch and is against the support seat 12, so that the position of the second elastic damping member 16 is relatively fixed, thereby ensuring the stability of the elastic deformation range of the second elastic damping member 16.

[0048] A slot is provided on the top of the support seat 12, and the lower end of the connecting head 13 is inserted into the slot and connected with a second pin shaft. The second pin shaft vertically passes through the side of the connecting head 13 so that the connecting head 13 can rotate around the second pin shaft, so that the connection between the support seat 12 and the connecting head 13 is relatively stable and not easy to loosen or misalign. After the lower end of the connecting head 13 is inserted into the slot, the support seat 12 can seal the elastic damping member installation groove 130 so that the second elastic damping member 16 can be installed in a hidden sealed manner, and it is not easy to fall off from the notch of the elastic damping member installation groove 130, and the rotation of the connecting head 13 is relatively stable and smooth.

[0049] The side of the support seat 12 close to the ankle fixing sleeve 14 is connected to the side of the ankle fixing sleeve 14 by a rigid plate 17. The side of the support seat 12 close to the ankle fixing sleeve 14 is provided with a groove adapted to the bending section of the rigid plate 17. The rigid plate 17 and the support seat 12, and the rigid plate 17 and the ankle fixing sleeve 14 are connected by screws. The rigid plate 17 can improve the connection firmness between the support seat 12 and the ankle fixing sleeve 14, and provide a certain supporting and fixing effect on the ankle fixing sleeve 14.

[0050] Connecting plates extend upward from the left and right sides of the ankle fixing sleeve 14, and round holes are provided on the connecting plates. An opening for the sole of the foot to pass through is provided at the front end of the ankle fixing sleeve 14. The connecting plates are made of rubber material. The round holes on the two connecting plates can be used for threading foot straps. The foot straps can fit the two connecting plates and the user's foot together and tighten them, making them very comfortable to wear.

[0051] Furthermore, the leg power-assist mechanism 2 includes a thigh fixing assembly 21, a calf fixing assembly 22 and a power-assist connection mechanism 24, the power-assist connection mechanism 24 includes a first connection member, an elastic member 244 and a second connection member 243, the first connection member is connected to the thigh fixing assembly 21, the second connection member 243 is connected to the calf fixing assembly 22, the second connection member 243 is rotatably connected to the first connection member at the side, the elastic member 244 is respectively connected to the first connection member and the second connection member 243, the first connection member and the thigh fixing assembly 21 are restored to the initial state from the moving state through the elastic member 244, the elastic member 244 is a second torsion spring, the first connection member includes a first connector 241, and the first connector 243 is connected to the first connector 243. The end cover 242 adapted to be connected with 41, the side surfaces of the end cover 242 and the first connecting head 241 are provided with a torsion spring installation groove 245 with a notch, the main body of the second torsion spring is installed in the torsion spring installation groove 245, one end of the second torsion spring can pass through the corresponding notch and abut against the second connecting member 243, the upper end of the second connecting member 243 is located between the first connecting head 241 and the end cover 242, and the three are connected by a third pin shaft, so that the first connecting member, the elastic member 244 and the second connecting member 243 are firmly connected, and the second torsion spring is not easy to loosen or dislocate after installation. The good elasticity of the second torsion spring can provide sufficient assistance for the rotation and reset of the first connecting member, and the second torsion spring can also play a certain buffering role when the first connecting member rotates.

[0052] The upper end of the thigh fixing component 21 is connected to the thigh mechanism connecting piece 61, and the lower end of the calf fixing component 22 is connected to the ankle connecting component 11. The thigh fixing component 21 and the calf fixing component 22 both include a support plate 7, and a connecting channel 72 runs through the interior of the support plate 7 from top to bottom. Leg fixing plates 71 extend outward from the left and right sides of the support plate 7, and a strap mounting hole is provided on the leg fixing plate 71 on one side, and a strap length adjustment mechanism 25 is installed on the outer wall of the leg fixing plate 71 on the other side. The connecting channel 72 facilitates the corresponding thigh mechanism connecting piece 61 or ankle connecting component 11 to be plugged in, and it is not easy to be misaligned after plugging in. The strap length adjustment mechanism 25 can effectively adjust the strap length according to the user's leg size.

[0053] A positioning module, a communication module or a power supply module is installed on the support plate 7. The positioning module is a Beidou positioning module or a GPS module. A leg motion analysis sensor device is installed on the front of the support plate 7. The leg motion analysis sensor device is used to sense leg motion data and upload the data to a host computer. The leg motion analysis sensor device includes but is not limited to a three-axis gyroscope. The positioning module is used to locate the wearer's position. The power supply module can power the remaining exoskeleton electrical components. The communication module is used for the wearer to communicate. The three-axis gyroscope accurately senses the leg motion and effectively transmits it to the host computer. It has a simple structure and high reliability. Data can be transmitted between the three-axis gyroscope and the host computer. The leg motion data includes the wearer's squatting, standing up, walking, jumping and other motion data. The host computer can be a mobile phone, a cloud or a PC.

[0054] A first mounting groove is provided on the front side of the support plate 7, a bent hook is provided in the first mounting groove 74, a hook 23 is rotatably installed in the first mounting groove 74 by a first rotating shaft, a rotating shaft torsion spring is provided on the outer sleeve of the first rotating shaft, and both ends of the rotating shaft torsion spring respectively abut against the inner wall of the first mounting groove 74 and the hook 23, the hook 23 and the bent hook are used for fixedly installing the leg motion analysis sensor device or the positioning module or the communication module or the power supply module, which facilitates the embedded installation of the leg motion analysis sensor device or the positioning module or the communication module or the power supply module. After installation, the surface of the support plate 7 is relatively flat, and the leg motion analysis sensor device or the positioning module or the communication module or the power supply module is not easy to loosen and fall off.

[0055] The thigh mechanism connector 61 and the ankle connecting assembly 11 both include a connecting plate and a first connecting seat. The connecting plate is connected to the first connecting seat. The connecting plate is provided with a plurality of longitudinally distributed connecting holes. The connecting plate can be inserted into the corresponding connecting channel 72 on the support plate 7. The connecting plate can move up and down along the corresponding connecting channel 72.

[0056] A second mounting groove is provided on the front of the support plate 7, and a socket 73 connected to the connecting channel 72 is provided in the second mounting groove. A first clamping assembly is rotatably installed in the second mounting groove, and the first clamping assembly includes a first claw 26, one end of the first claw 26 penetrates a shaft mounting hole, and third torsion springs are provided on both sides of the first claw 26. One end of the first claw 26 is rotatably connected to the support plate 7 by a shaft, and the shaft passes through the main body of the third torsion spring and is matched and installed in the shaft mounting hole. The other end of the first claw 26 is provided with a first hook bent inwardly. The first hook can pass through the socket 73 and be buckled with the connecting hole on the connecting plate, so that the length of the lower end of the thigh mechanism connecting member 61 inserted into the connecting channel 72 on the thigh fixing component 21 and the length of the upper end of the ankle connecting component 11 inserted into the connecting channel 72 on the calf fixing component 22 can be easily adjusted to adjust the leg height of the weight-assisted exoskeleton, ensuring that the first claw 26 can be firmly buckled on the thigh mechanism connecting member 61 or the ankle connecting component 11, and the third torsion spring can be used for resetting the first claw 26 and provide a certain clamping effect for the first claw 26.

[0057] The strap length adjustment mechanism 25 comprises a base and a winding wheel. The winding wheel is rotatably mounted on the base by means of an adjustment knob. A strap is wound around the winding wheel, and the strap length can be easily adjusted.

[0058] Furthermore, the clamping mechanism 42 includes a clamping seat 421, and the adjustment plate 43 can move up and down along the reserved gap between the clamping seat 421 and the back plate 41. A plurality of adjustment holes are provided in the vertical direction of the adjustment plate 43, and a through hole 424 is provided on the clamping seat 421. A clamping claw 422 is rotatably installed on the clamping seat 421 through a fourth pin shaft, and an inwardly bent hook portion 426 is provided at one end of the clamping claw 422. When the clamping claw 422 rotates downward, the hook portion 426 can pass through the through hole 424 and buckle with the corresponding adjustment hole to realize the adjustment plate 43 and the clamping seat 421 and the back plate 41 is fixed in relative position, and when the claw 422 is rotated upward, the hook portion 426 is disengaged from the corresponding adjustment hole, so that the relative position of the adjustment plate 43, the clamping seat 421, and the back plate 41 can be movably adjusted, so that the adjustment plate 43 can move up and down along the reserved gap between the clamping seat 421 and the back plate 41. The user can rotate the claw 422 according to the size of his or her back to make the hook portion 426 engage or disengage with the adjustment hole, thereby achieving the movable adjustment of the relative position of the adjustment plate 43, the clamping seat 421, and the back plate 41, thereby effectively adjusting the height size of the back plate 41.

[0059] A claw installation groove is provided on the front side of the clamping seat 421, and the through hole 424 is connected to the claw installation groove. The claw 422 is rotatably installed in the claw installation groove to realize the hidden limited installation of the claw 422, which is convenient for the storage of the claw 422 and the claw 422 is not easy to loosen or misplace left and right.

[0060] A connecting portion is provided on the inner side of one end of the claw 422 away from the hook portion 426, a first connecting hole passes through the middle of the connecting portion, second connecting holes are provided on the left and right inner walls of the claw mounting groove, the claw 422 and the claw mounting groove are rotatably connected by a fourth pin shaft, the fourth pin shaft passes through the first connecting hole and the two ends of the fourth pin shaft are respectively adapted to be connected with the corresponding second connecting holes, so that the rotation of the claw 422 is relatively stable and smooth, and the fourth pin shaft is concealedly installed and is relatively firm after installation.

[0061] A fourth torsion spring 425 is installed on both sides of the connection part. The fourth torsion spring 425 is sleeved on the outside of the fourth pin shaft. Both sides of the fourth torsion spring 425 are installed on the left and right inner walls of the claw installation groove. After the fourth torsion spring is installed, it is not easy to loosen or misalign.

[0062] A left-right symmetrical cavity is separated in the middle of the support plate 5 by a partition, and stepped clamping sections which are narrow at the bottom and wide at the top are provided on both sides of the partition, and longitudinal clamping slots 423 are provided on the sides of the clamping seat 421. When the support plate 5 is placed, the stepped clamping sections on both sides of the partition correspond to the clamping slots 423 of the two clamping seats 421, and the clamping seat 421 can move in the cavity during the clamping process. The stepped clamping section on the partition and the clamping slot 423 on the clamping seat 421 can be disengaged or clamped with each other only by moving the support plate 5 up and down, so that the removed support plate 5 can be conveniently clamped on the clamping seat 421 on the back plate 41.

[0063] The application process:

[0064] During the operation of the load-bearing assisted exoskeleton, when putting it on, the wearer places the sole of the foot on the ankle fixing sleeve 14, with the front end of the sole passing through the opening and the instep against the edge of the opening, and the sole strap is passed through the round hole to fit the two connecting plates to the upper part of the user's ankle and fasten them, the lower end of the connecting plate on the thigh mechanism connector 61 is inserted into the connecting channel 72 on the thigh fixing component 21 and is buckled with the first claw 26, the upper end of the connecting plate on the ankle connecting component 22 is inserted into the connecting channel 72 on the calf fixing component 33 and is buckled with the corresponding first claw 26, the leg fixing plate 71 fits the wearer's thigh and calf and is fastened with the strap, the waist plate 35 is against the wearer's waist, and the back plate 41 is against the wearer's back, and the wearing is completed, wherein the strap length can be adjusted by rotating the adjustment knob to adapt to the wearer's leg size.

[0065] When the pallet 5 needs to be used to support heavy objects, the joint of the pallet 5 is aligned with the slot on the pallet mounting portion 351 and then inserted. The spring screw is screwed into the bottom of the pallet mounting portion 351, and the upper end of the spring screw passes through the limiting hole on the joint so that the joint is not easily loosened or misaligned after being inserted into the slot, completing the fastening installation between the pallet 5 and the pallet mounting portion 351. When the pallet 5 needs to be removed, the pallet 5 is pulled outward so that the joint moves outward synchronously. During the outward movement, the joint can press down the upper end of the spring screw so that the spring screw and the joint are separated until the joint can be pulled out of the slot. When the removed pallet 5 needs to be placed, the mounting portion 351 on the pallet 5 is placed. The end with the connector faces upwards, and the lower end of the partition is aligned with the area between the two snap-fit ​​seats 421 and moves downward. During the downward movement, as the width of the step snap-fit ​​section gradually increases, it can gradually contact the snap-fit ​​socket 423 on the snap-fit ​​seat 421 until the step snap-fit ​​sections on both sides of the partition are correspondingly snapped into the snap-fit ​​sockets 423 of the two snap-fit ​​seats 421, thus completing the placement of the pallet 5. When taking the pallet, it is only necessary to lift the pallet 5 upwards so that the step snap-fit ​​sections on both sides of the partition are loosened and disengaged from the snap-fit ​​sockets 423 of the two snap-fit ​​seats 421. The user can replace the pallets 5 of different shapes and sizes according to the load requirements and install them on the pallet mounting part 351.

[0066] When it is necessary to adjust the installation height of the back plate 41 relative to the waist plate 35, the claw 422 is rotated upward, and the claw 422 is rotated upward around the fourth pin axis. The fourth torsion spring 425 is in a compressed state, and the hook 426 on the claw 422 is disengaged from the adjustment hole on the adjustment plate 43. The adjustment plate 43 is moved downward or upward so that the length of the adjustment plate 43 extending out of the back plate 41 can be lengthened or shortened, thereby adjusting the installation height of the back plate 41. After the adjustment is completed, the claw 422 is released. Under the elastic reset action of the fourth torsion spring 425, the claw 422 is rotated downward around the fourth pin axis, so that the hook 426 is re-engaged with the corresponding adjustment hole on the adjustment plate 43. After the engagement, the positions of the clamping seat 421, the back plate 41 and the adjustment plate 43 are fixed to each other.

[0067] When it is necessary to reduce the width of the exoskeleton waist mechanism, the left connecting rod 31 and the right connecting rod 32 are further inserted into the left positioning sleeve 33 and the right positioning sleeve 34, and the positioning block 36 moves synchronously. The length of the left connecting rod 31 and the right connecting rod 32 inserted into the left positioning sleeve 33 and the right positioning sleeve 34 becomes longer, and the length of the left connecting rod 31 and the right connecting rod 32 exposed outside the left positioning sleeve 33 and the right positioning sleeve 34 is reduced. When it is adjusted to the required width, the knob screw is turned so that the knob screw can tighten the corresponding positioning block 36, the left positioning sleeve 33 or the right positioning sleeve 34, and the left connecting rod 31 or the right connecting rod 32 to complete the narrowing adjustment of the exoskeleton waist mechanism width; conversely, when it is necessary to increase the width of the exoskeleton waist mechanism, the knob screw is turned so that the corresponding positioning block 36, the left positioning sleeve 33 or the right positioning sleeve 34, the left connecting rod 31 or the right connecting rod 32 are loosened from each other, and the left connecting rod 31, The right connecting rod 32 is pulled out from the left positioning sleeve 33 and the right positioning sleeve 34, and the length of the left connecting rod 31 and the right connecting rod 32 inserted into the left positioning sleeve 33 and the right positioning sleeve 34 becomes shorter, and the length of the left connecting rod 31 and the right connecting rod 32 exposed outside the left positioning sleeve 33 and the right positioning sleeve 34 increases. When the required width is adjusted, the knob screw can be turned so that the knob screw can fasten the corresponding positioning block 36, the left positioning sleeve 33 or the right positioning sleeve 34, and the left connecting rod 31 or the right connecting rod 32 to complete the width widening adjustment of the exoskeleton waist mechanism; when it is necessary to adjust the rotation angle between the left connecting rod 31 and the right connecting rod 32, the first knob screw is turned so that the left positioning sleeve 33 and the right positioning sleeve 34 can be rotated and adjusted around the first knob screw. After rotating and adjusting to the required rotation angle, the first knob screw can be turned to fasten the left positioning sleeve 33, the right positioning sleeve 34 and the waist plate 35.

[0068] When the wearer performs some actions such as squatting, the downward bending of the thigh will drive the thigh fixing component 21 to bend and rotate downward. The rotation of the thigh fixing component 21 can drive the first connecting member to rotate relative to the third pin shaft. The bending and compression of the second torsion spring plays a certain buffering role. When the wearer needs to stand up after completing the squatting action, the elastic reset action of the second torsion spring can provide a certain assistance for the upward rotation of the first connecting member. After the first connecting member rotates, the thigh fixing component 21 can be lifted upward synchronously until it returns to the initial state.

[0069] When performing a squatting action, the calf fixing component 22 will also bend and press downward to make the connecting plate on the ankle connecting component 11 move forward. During the pressing process of the connecting plate on the ankle connecting component 11, the connecting head 13 can be rotated forward around the second pin axis, and the second elastic damping member 16 is pressed during the rotation process. After the action is completed, the connecting plate and the connecting head 13 on the ankle connecting component 11 are reset under the elastic reset action of the second elastic damping member 16. When the user performs a left and right shaking action, the connecting plate on the ankle connecting component 11 can rotate left and right around the first pin axis. During the rotation process, the first elastic damping member 15 is pressed. After the action is completed, the connecting plate on the ankle connecting component 11 can be reset under the elastic reset action of the first elastic damping member 15. The buffering effect of the first elastic damping member 15 and the second elastic damping member 16 can reduce the impact and force caused by certain actions, thereby effectively protecting the ankle area. The first elastic damping member 15 and the second elastic damping member 16 can also play a certain assisting effect under the elastic reset action.

[0070] When the wearer rotates left or right, the left connecting rod 31 and the right connecting rod 32 can rotate left or right around the pin shaft at the first opening on the connecting seat 6, and the first torsion spring 63 at the first opening can provide a certain elastic buffering effect. When rotating in the opposite direction, the first torsion spring 63 can be elastically reset, so that the left connecting rod 31 and the right connecting rod 32 are restored to the initial position relative to the connecting seat 6. When the first torsion spring 63 is elastically reset, it can provide a certain assisting effect for the reverse rotation of the body; the up and down movement of the body can make the thigh mechanism connecting part 61 rotate back and forth around the pin shaft at the second opening on the connecting seat 6, and the first torsion spring 63 at the second opening can provide a certain elastic buffering effect. When rotating in the opposite direction, the first torsion spring 63 can be elastically reset, so that the thigh mechanism connecting part 61 is restored to the initial position relative to the connecting seat 6. When the first torsion spring 63 is elastically reset, it can provide a certain assisting effect for the reverse rotation of the body.

[0071] The above embodiments are intended to illustrate the present invention, not to limit the present invention. Any solution that is a simple transformation of the present invention belongs to the protection scope of the present invention.

Claims

1. A load-bearing power-assisting exoskeleton, comprising an ankle mechanism and a leg power-assisting mechanism, wherein the upper end of the ankle mechanism is connected to the leg power-assisting mechanism, and characterized in that: The back adjustment mechanism further comprises a waist adjustment mechanism and a back adjustment mechanism, wherein the waist adjustment mechanism is connected to the leg assist mechanism and the back adjustment mechanism respectively, the waist adjustment mechanism comprises a left connecting rod, a right connecting rod, a left positioning sleeve and a right positioning sleeve, the left positioning sleeve and the right positioning sleeve are rotatably connected with each other and after being rotated to a desired angle, the left positioning sleeve and the right positioning sleeve are fixed to the waist plate by fasteners, a sliding groove is provided on the left positioning sleeve and the right positioning sleeve, the first ends of the left connecting rod and the right connecting rod are respectively inserted into the left positioning sleeve and the right positioning sleeve, and after being inserted to a desired length, the left connecting rod and the left positioning sleeve, and the right connecting rod and the right positioning sleeve are fastened and connected by adjusting fasteners, a supporting plate is detachably installed on the waist plate, the adjusting fastener can pass through the sliding groove and be adaptively connected to the left connecting rod or the right connecting rod, the back adjustment mechanism comprises a back plate and an adjusting plate, the lower end of the adjusting plate is connected to the waist plate, and the adjusting plate The upper part of the section plate can be slid up and down and installed on the back plate, and the adjusting plate is fastened to the back plate through a clamping mechanism when the adjusting plate slides to a desired height position, the clamping mechanism is installed on the back plate, and the support plate removed from the waist plate can be clamped on the back plate through the clamping mechanism, the clamping mechanism includes a clamping seat, and the adjusting plate can move up and down along the reserved gap between the clamping seat and the back plate, and a plurality of adjusting holes are provided in the vertical direction of the adjusting plate, and the clamping seat is provided with a through hole, and a clamping claw is rotatably installed on the clamping seat, and one end of the clamping claw is provided with a hook bent inwardly, and when the clamping claw is rotated downward, the hook can pass through the through hole and buckle with the corresponding adjusting hole to fix the relative position of the adjusting plate, the clamping seat and the back plate, and when the clamping claw is rotated upward, the hook is disengaged from the corresponding adjusting hole so that the relative position of the adjusting plate, the clamping seat and the back plate can be movably adjusted, and a positioning module, a communication module or a power supply module is installed on the support plate of the leg power-assisting mechanism.

2. A weight-assisted exoskeleton as claimed in claim 1, characterized in that: The ankle mechanism includes an ankle connection component, a support seat, a connecting head and an ankle fixing sleeve. The upper end of the ankle connection component is connected to the leg power-assisting mechanism, and the support seat is connected to the ankle fixing sleeve. The upper and lower ends of the connecting head are rotatably connected to the ankle connection component and the support seat respectively so that the ankle connection component can move along the X and Y directions. A first elastic damping member is connected between the ankle connection component and the connecting head, and a second elastic damping member is connected between the bottom side of the connecting head and the support seat. The first elastic damping member and the second elastic damping member are arranged perpendicular to each other.

3. A weight-bearing assisted exoskeleton as claimed in claim 1, characterized in that: The leg power-assisting mechanism includes a thigh fixing assembly, a calf fixing assembly and a power-assisting connecting mechanism, the power-assisting connecting mechanism includes a first connecting piece, an elastic piece and a second connecting piece, the first connecting piece is connected to the thigh fixing assembly, the second connecting piece is connected to the calf fixing assembly, one side of the second connecting piece is rotatably connected to the first connecting piece, the elastic piece is respectively connected to the first connecting piece and the second connecting piece, and the first connecting piece and the thigh fixing assembly are restored to an initial state from a moving state through the elastic piece.

4. A weight-bearing assisted exoskeleton as claimed in claim 1, characterized in that: A left-right symmetrical cavity is separated in the middle of the support plate by a partition, stepped clamping sections which are narrow at the bottom and wide at the top are provided on both sides of the partition, and longitudinal clamping slots are provided on the sides of the clamping seat. When the support plate is placed, the stepped clamping sections on both sides of the partition are correspondingly clamped with the clamping slots of the two clamping seats, and the clamping seat can move in the cavity during the clamping process.

5. A weight-assisted exoskeleton as claimed in claim 1, characterized in that: The right end of the left positioning sleeve is provided with a first connecting part, and the left end of the right positioning sleeve is provided with two parallel second connecting parts. When the left positioning sleeve is connected to the right positioning sleeve, the first connecting part is inserted between the two second connecting parts, and the fastener passes through the first connecting part and the second connecting part and is connected to the waist plate.

6. A weight-assisted exoskeleton as claimed in claim 1, characterized in that: The upper and lower ends of the left positioning sleeve and the right positioning sleeve are both equipped with positioning blocks, which can move along the direction in which the slide slot is opened, and the adjusting fastener is adaptively connected to the positioning blocks.

7. A weight-assisted exoskeleton as claimed in claim 1, characterized in that: The second ends of the left connecting rod and the right connecting rod are both horizontally rotationally connected to one end of the thigh mechanism adapter assembly, and the other end of the thigh mechanism adapter assembly is vertically rotationally connected to the upper end of the thigh mechanism connecting piece, and the lower end of the thigh mechanism connecting piece is connected to the upper end of the leg power assist mechanism.

8. A weight-assisted exoskeleton as claimed in claim 7, characterized in that: The thigh mechanism adapter assembly includes a connecting seat, one end of the connecting seat is provided with a first opening in the horizontal direction, and one end of the connecting seat is provided with a second opening in the vertical direction. The second ends of the left connecting rod and the right connecting rod are rotatably installed in the first opening, and the upper end of the thigh mechanism connecting piece is rotatably installed in the second opening.

9. A weight-assisted exoskeleton as claimed in claim 8, characterized in that: The second ends of the left connecting rod and the right connecting rod are connected to the connecting seat, and the upper end side of the thigh mechanism connecting piece and the connecting seat by a pin shaft. A first torsion spring is sleeved on the outer side of the pin shaft, and the end of the first torsion spring is connected to the corresponding connecting seat or the left connecting rod or the right connecting rod or the thigh mechanism connecting piece.

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