Upper limb assisting exoskeleton and exoskeleton device capable of assisting carrying

Abstract

The present invention discloses an upper limb power-assisting exoskeleton and an exoskeleton device, comprising an upper limb elastic energy storage mechanism and a force transmission component worn on a human body; the force transmission component connects the upper limb elastic energy storage mechanism and the wearer's upper limb, so that when the wearer stretches the upper limb joints, the force transmission component drives the upper limb elastic energy storage mechanism to store energy, and when the wearer's upper limb joints are bent, the upper limb elastic energy storage mechanism releases elastic potential energy to assist the wearer's upper limb. Wherein, the upper limb elastic energy storage mechanism includes an elastic energy storage component, and the force transmission component is a pull wire; the pull wire can pull the elastic energy storage component to contract and store energy, and when the elastic energy storage component is relaxed, it can drive the pull wire to assist the upper limb. The principle of the present invention is to promote the elastic energy storage mechanism to store energy by bending joints such as waist and leg joints, and when the waist and leg joints are stretched, the elastic energy storage mechanism releases the stored elastic potential energy to achieve the effect of power assistance.

Description

[0001] This application claims priority to Chinese patent application CN202110001245.6 filed on January 4, 2021 and Chinese patent application CN2021107621582 filed on July 6, 2021, which are incorporated by reference in their entirety. Technical Field

[0002] The present invention belongs to the technical field of wearable devices, and in particular relates to an exoskeleton capable of assisting upper limbs and an exoskeleton device comprising the upper limb exoskeleton. Background Art

[0003] Although logistics transportation and material handling can be carried out by land, sea and air, human handling is still an important and irreplaceable way of handling. For example, during geological disaster rescue, the most urgent material transportation can only be carried by manpower because of road damage. However, the human body is limited by its own physiological structure, and its ability to carry materials for a long time is usually difficult to exceed 20kg. If a load-bearing device such as a backpack or a back frame is used, the long-term load-bearing capacity can be increased to 30-50kg. However, because backpacks and back frames still rely on the shoulders and back of the human body to bear the gravity of the load, and are supported by the skeletal muscles of the lower limbs of the human body, the auxiliary load-bearing capacity of backpacks and back frames is limited. In addition, the human body often uses chest hugging, shoulder carrying, and hand lifting to carry goods. When carrying heavy objects in these ways, it is usually not because of excessive exercise that causes fatigue, but because the shoulders, arms, fingers and other parts are subjected to local heavy pressure for a long time, causing local limbs to feel severe discomfort, and then reaching the limit of fatigue. For example, if you carry a 10kg plastic bag by hand for less than a few minutes, the fingers that lift the bag will suffer from local ischemia due to severe strain, and you will need to change hands or take a break before you can continue carrying. In addition, because the objects are not suitable for hugging, lifting, or holding, the upper limbs of the human body need to exert additional and sustained force to lift the objects off the ground for transportation, which is also an important reason for the low efficiency of transportation. For example, when a person bends over to pick up a heavy object and then lifts the object, the fingers will show obvious ischemia due to local pressure. In addition, the process of carrying heavy objects requires not only a certain amount of force from the arms, but also a certain backward tilt angle of the waist to prevent the heavy object from sliding down when the object is heavy. Therefore, the arm muscles, especially the upper arm muscles and waist muscles, continue to exert force, which causes the arm and waist to feel sore immediately after carrying the heavy object for a while. An exoskeleton is a mechanical device worn on the outside of the human body. The device can adapt to the movement of human limbs, assist the human body to bear weight or the body's own weight, and even assist the human limbs to move. Therefore, it has strong application prospects in disaster relief, individual load-bearing, fire rescue, outdoor hiking, logistics and transportation, etc. Although there are many exoskeletons used to assist the human body in bearing weight, the human body mainly relies on the bending of the upper limb joints when lifting heavy objects. However, the existing exoskeletons do not take into account the upper limb assistance, so the wearer can only rely on his own upper limb strength to lift the heavy object at the moment of lifting the heavy object. Summary of the invention

[0004] In view of this, the present invention provides an upper limb assisting exoskeleton and an exoskeleton device capable of assisting carrying, which can assist the wearer when carrying heavy objects.

[0005] In order to solve the above technical problems, the present invention provides an upper limb power-assisting exoskeleton, comprising an upper limb elastic energy storage mechanism and a force transmission component worn on a human body; the force transmission component connects the upper limb elastic energy storage mechanism and the wearer's upper limb, so that when the wearer stretches the upper limb joints, the force transmission component drives the upper limb elastic energy storage mechanism to store energy, and when the wearer's upper limb joints are bent, the upper limb elastic energy storage mechanism releases elastic potential energy to assist the wearer's upper limbs. The principle is that the upper limb elastic energy storage mechanism is prompted to store energy through the stretching of the upper limb joints, and when the upper limbs are bent to carry heavy objects, the upper limb elastic energy storage mechanism releases the accumulated elastic potential energy to achieve the effect of assisting the upper limbs.

[0006] As an improvement, the upper limb elastic energy storage mechanism includes an elastic energy storage component, and the force transmission component is a pull wire; the pull wire can pull the elastic energy storage component to contract and store energy, and when the elastic energy storage component relaxes, it can drive the pull wire to assist the upper limb.

[0007] As an improvement, the elastic energy storage component is a coil spring, and the pull wire is wound on a winch and linked with the coil spring by the winch, thereby pulling the coil spring to contract and store energy or being pulled by the coil spring to assist the upper limbs.

[0008] As an improvement, the upper limb elastic energy storage mechanism also includes a mounting seat, and the capstan is rotatably mounted in the mounting seat using a spline shaft; the coil spring is sleeved on the spline shaft, its outer end is connected to the mounting seat, and its inner end is connected to the spline shaft.

[0009] As an improvement, it also includes a shoulder wearing piece worn on the shoulders of the human body, and the pull line passes around the shoulder wearing piece and is connected to the upper limbs of the human body.

[0010] As an improvement, it further comprises a wire tube, one end of which is fixed on an opening of a mounting seat for passing the pull wire, and the other end is fixed on a shoulder wearable piece; the pull wire passes through the wire tube.

[0011] As an improvement, a wire guide device is provided on the shoulder wearable piece, wherein the wire guide device comprises two upper and lower rollers for clamping the wire.

[0012] As an improvement, it further comprises a back mounting plate, and the mounting seat is fixed to the back of a human body or a back exoskeleton worn by the human body by means of the back mounting plate.

[0013] As an improvement, it also includes a hand-worn piece worn on a human hand, and the force transmission component is connected to the hand-worn piece.

[0014] As an improvement, the hand wearable item is a glove, and the glove is detachably connected to the force transmission component.

[0015] The present invention also provides an exoskeleton device that can assist in carrying, including a waist exoskeleton for assisting the waist and the above-mentioned upper limb exoskeleton for assisting the upper limbs.

[0016] As an improvement, it also includes an adjustment device for adjusting the wearing position of the waist exoskeleton.

[0017] As an improvement, the adjustment device includes a spacing adjustment plate and a spacing adjustment rod arranged along the wearer's spine; the spacing adjustment rod is provided with a plurality of adjustment holes arranged along its axial direction, and the waist exoskeleton is provided with positioning fasteners that cooperate with the adjustment holes for positioning.

[0018] As an improvement, it also includes a back exoskeleton and a flexible shoulder strap connected to the back exoskeleton; it also includes a fixing belt, one end of which is connected to the flexible shoulder strap and the other end is connected to the waist exoskeleton, and is used to fix the back exoskeleton and the waist exoskeleton on the human body.

[0019] As an improvement, the waist exoskeleton includes a waist exoskeleton body and a waist power-assisting mechanism.

[0020] As an improvement, the waist assist mechanism includes a waist elastic energy storage mechanism and a force transmission member worn on the human body; the force transmission member connects the waist elastic energy storage mechanism and the wearer's limbs, so that when the wearer's limb joints are bent, the force transmission member drives the waist elastic energy storage mechanism to store energy, and when the wearer's waist is stretched, the waist elastic energy storage mechanism releases elastic potential energy to assist the wearer's waist. The principle is that the waist elastic energy storage mechanism is prompted to store energy by bending joints such as waist and leg joints, and when the waist and leg joints are stretched, the waist elastic energy storage mechanism releases the stored elastic potential energy to achieve the assist effect.

[0021] As an improvement, the waist elastic energy storage mechanism includes an elastic energy storage component and a movable pulley group; the force transmission member is a pull line, the pull line passes through the movable pulley group, and when the pull line pulls the movable pulley group to displace, the movable pulley group acts on the elastic energy storage component to store energy. The elastic energy storage component is driven to store energy by the movable pulley group, making the energy storage process more labor-saving. In addition, the movable pulley group shortens the energy storage stroke of the elastic energy storage component, making the entire mechanism more miniaturized.

[0022] As a further preferred embodiment, the elastic energy storage component is a compression spring, and the pull line pulls the movable pulley block to drive the compression spring to compress and store energy. The compression spring is compressed to store energy, which can further reduce the stroke and make the device miniaturized.

[0023] As a further preferred embodiment, the elastic energy storage component is a tension spring, and the tension wire pulls the movable pulley block to drive the tension spring to stretch and store energy. The tension spring is a tension energy storage.

[0024] As another further improvement, it also includes a fixed pulley group, the pulling wire is passed around the fixed pulley group; the fixed pulley group and the movable pulley group are arranged at both ends of the elastic energy storage component and are located in the expansion and contraction direction of the elastic energy storage component, and the movement direction of the movable pulley group is consistent with the expansion and contraction direction of the elastic energy storage component. The fixed pulley group is used to change the direction of the pulling force to match the energy storage direction of the elastic energy storage component.

[0025] As an improvement, the number of movable pulleys in the movable pulley group is one more than the fixed pulley in the fixed pulley group, so that the fixed pulley faces the gap between the two movable pulleys, so that the force is balanced and the direction of the pulling wire is consistent with the moving direction of the movable pulley group as much as possible.

[0026] As an improvement, it also includes a guide column arranged along the extension and contraction direction of the elastic energy storage component, and the movable pulley group is installed on the guide column and can slide along the guide column.

[0027] As an improvement, it also includes a movable pulley seat that can slide along the guide column, and the movable pulley is arranged on the movable pulley seat; when the wearer's limb joints bend to drive the pull line to pull the movable pulley group, the movable pulley seat can drive the elastic energy storage component to store energy.

[0028] As an improvement, it further comprises a buffer component, which generates resistance when the elastic energy storage component releases the elastic potential energy, so as to prevent the elastic energy storage component from releasing the elastic potential energy too violently, causing discomfort or even injury to the wearer.

[0029] As an improvement, the buffer component is a gas spring.

[0030] As an improvement, the elastic energy storage components are in an even number and are symmetrically arranged on both sides of the buffer component so that the forces on both sides are balanced.

[0031] As an improvement, the elastic energy storage mechanism is fixed to the torso of the wearer, and the pull line is connected to the left and right lower limbs of the wearer after passing through the movable pulley set. After the pull line is connected to the lower limbs, whether the wearer bends or squats, the pull line can be driven to cause the elastic energy storage component to store energy, which is in line with the posture of the human body when lifting heavy objects.

[0032] As an improvement, the elastic energy storage mechanism is fixed to the waist of the wearer, and the pull line is connected to the wearer's calf and / or foot.

[0033] As an improvement, the two ends of the pull line are respectively connected to the left and right lower limb exoskeletons worn by the wearer.

[0034] As an improvement, the elastic energy storage mechanism is fixed to the waist of the wearer by means of a waist mounting plate.

[0035] As an improvement, the waist mounting plate is fixed to the waist exoskeleton body worn by the wearer.

[0036] As an improvement, it further comprises a shell, and the elastic energy storage mechanism is installed in the shell.

[0037] As an improvement, a limiting plate for limiting the movable pulley block is provided in the housing, so as to limit the maximum stroke of the movable pulley block.

[0038] As an improvement, the pull cord is in the shape of a strip; the housing is provided with openings for the two ends of the pull cord to pass through; the opening is provided with a guide assembly for arranging and stretching the pull cord. The strip-shaped pull cord is more comfortable when in contact with the human body.

[0039] As an improvement, the guide assembly includes two left and right guide mounting seats, and a guide rod is arranged between the two guide mounting seats.

[0040] As an improvement, the pull wire is in a thread-like shape; the shell is provided with openings for the two ends of the pull wire to pass through; the opening is connected to a wire tube for the pull wire to pass through.

[0041] As an improvement, a wire tube rack for fixing the wire tube is arranged in the shell.

[0042] The benefit of the present invention lies in that the upper limb exoskeleton and waist exoskeleton with power assistance provide corresponding power assistance to the wearer's upper limbs and waist, making it easier for the wearer to carry heavy objects or exercise, thereby protecting the waist muscles and avoiding muscle fatigue and muscle soreness caused by long-term carrying or exercise, and even muscle injury or strain. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of an exoskeleton device capable of assisting transportation according to the present invention being worn on a human body;

[0044] Figure 2 It is a schematic diagram of the structure of the exoskeleton device that can assist in carrying of the present invention;

[0045] Figure 3 Schematic diagram of embodiment 1 of the waist assist mechanism in the waist exoskeleton;

[0046] Figure 4 An exploded view of Embodiment 1 of the waist assist mechanism in the waist exoskeleton;

[0047] Figure 5 It is a schematic diagram of the structure of the movable pulley block in Embodiment 1 of the waist assist mechanism in the waist exoskeleton;

[0048] Figure 6 Schematic diagram of embodiment 2 of the waist assist mechanism in the waist exoskeleton;

[0049] Figure 7A schematic diagram of the force transmission component in the waist assist mechanism driving the elastic energy storage mechanism to store energy when the wearer bends over while wearing the waist exoskeleton to carry heavy objects;

[0050] Figure 8 A schematic diagram of the movement direction of the force transmission component in the waist assist mechanism when the wearer wears the waist exoskeleton and takes a normal walk with his right leg;

[0051] Fig. 9 A schematic diagram of the movement direction of the force transmission component in the waist assist mechanism when the wearer wears the waist exoskeleton and takes a normal walk with his left leg;

[0052] Fig.10 A schematic diagram of the combined use of an upper limb exoskeleton and a waist power assist mechanism;

[0053] Fig.11 A schematic diagram of the combined use of an upper limb exoskeleton, a back exoskeleton, a waist exoskeleton, and a lower limb exoskeleton;

[0054] Fig.12 This is an exploded view of the upper limb exoskeleton;

[0055] Fig.13 It is a front view of the adjustment mechanism;

[0056] Fig.14 It is the rear view of the adjustment mechanism;

[0057] Fig.15 is a schematic structural diagram of an exoskeleton embodiment that can be used to assist in carrying according to an exemplary embodiment of the present invention;

[0058] Fig.16 is a schematic diagram of an exoskeleton that can be used to assist in carrying according to an exemplary embodiment of the present invention cooperating with other exoskeletons that are already worn by a wearer;

[0059] Fig.17 yes Fig.16 Front view of the middle exoskeleton;

[0060] Fig.18 is an exploded view of an upper limb assist mechanism in an exoskeleton that can be used to assist in carrying according to an exemplary embodiment of the present invention;

[0061] Fig.19 yes Fig.18 Schematic diagram of the mid-upper limb assistance exoskeleton after assembly and coordination with the length adjustment mechanism;

[0062] Fig. 20 yes Fig.19 Front view of the mid-upper limb assistance exoskeleton after assembly and coordination with the length adjustment mechanism;

[0063] Fig.21 yes Fig.18Rear view of the mid-upper limb power-assisting exoskeleton after assembly and coordination with the length adjustment mechanism;

[0064] Fig. 22 is a first schematic diagram reflecting the cooperation between the shoulder support mechanism and the first force transmission member;

[0065] Fig.23 is a second schematic diagram reflecting the cooperation between the shoulder support mechanism and the first force transmission member;

[0066] Fig.24 is an exploded view of a waist assist mechanism in an exoskeleton that can be used to assist in carrying according to an exemplary embodiment of the present invention;

[0067] Fig.25 It is a front view reflecting the coordination of the upper limb power-assisting mechanism and the waist power-assisting mechanism through the length adjustment mechanism;

[0068] Fig.26 is a schematic diagram reflecting the second energy storage mechanism in the waist assisting mechanism;

[0069] Fig. 27 It is a rear view reflecting the coordination of the upper limb power-assisting mechanism and the waist power-assisting mechanism through the length adjustment mechanism;

[0070] Fig.28 It is a bottom view of a waist assist mechanism in an exoskeleton that can be used to assist carrying according to an exemplary embodiment of the present invention.

[0071] Markings in the figure: 1 upper limb exoskeleton, 2 waist power assist mechanism, 3 lower limb exoskeleton, 4 waist exoskeleton body;

[0072] 11 upper limb elastic energy storage mechanism, 12 force transmission component, 13 hand wearable component, 14 wire tube, 15 shoulder wearable component, 16 back mounting plate;

[0073] 111 outer cover, 112 capstan, 113 spline shaft, 114 coil spring, 115 seat body, 151 roller, 152 rotating shaft, 171 buckle, 172 buckle;

[0074] 100 spacing adjustment plate, 101 spacing adjustment rod, 102 positioning fastener, 103 flexible shoulder strap, 104 fixing strap;

[0075] 21 waist elastic energy storage mechanism, 22 force transmission member, 23 waist mounting plate, 31 leg exoskeleton, 32 foot exoskeleton;

[0076] 211 elastic energy storage component, 212 buffer component, 213 movable pulley block, 214 movable pulley seat, 215 fixed pulley block, 216 fixed pulley seat, 217 guide column, 218 limit plate, 219 housing, 210 guide assembly, 221 wire tube, 222 wire tube rack;

[0077] 2131 the first movable pulley, 2132 the second movable pulley, 2133 the third movable pulley, 2134 the pulley protection cover, 2141 the movable pulley seat housing, 2142 the upper cover, 2143 the lower cover, 2144 the pin shaft, 2145 the linear bearing, 2151 the first fixed pulley, 2152 the second fixed pulley, 2161 the bearing seat, 219a the front cover, 219b the rear cover, 2101 the guide mounting seat, 2102 the guide rod;

[0078] 3 lower limb exoskeleton, 31 calf exoskeleton, 32 foot exoskeleton;

[0079] 4 Waist exoskeleton body;

[0080] 5. Back exoskeleton. DETAILED DESCRIPTION

[0081] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific implementation methods.

[0082] The so-called "assistance" of the upper limbs in the present invention means that the direction of the force generated by the release of elastic potential energy by the upper limb elastic energy storage mechanism is consistent with the direction of the bending of the wearer's upper limb joints, thereby helping the wearer to bend the upper limbs to assist in lifting heavy objects. When the wearer wants to lift heavy objects with the upper limbs, the conventional action should be to straighten the upper limb joints to pick up the heavy objects, and then lift the heavy objects by bending the upper limb joints. The upper limb elastic energy storage mechanism releases elastic potential energy in the process of bending the joints, so it can assist the upper limbs.

[0083] The so-called waist "assistance" in the present invention means that the direction of the force generated by the release of elastic potential energy by the waist elastic energy storage mechanism is consistent with the direction of the wearer's waist stretching, thereby pushing the wearer's waist to stretch. When the wearer needs to pick up heavy objects, he usually needs to lean forward or bend his waist. When the wearer picks up heavy objects, and the objects are heavy, the wearer's waist will lean forward or backward to a certain extent during the handling process. Therefore, in order to protect the wearer's waist muscles, a certain amount of assistance is provided to the wearer's waist.

[0084] The so-called "pull wire" in the present invention refers to a linear or strip-shaped component that can transmit assisting force, such as a steel wire or a rope.

[0085] The so-called "quick release" in the present invention refers to the possibility of quick disassembly or quick disassembly between two connected or associated parts / components; and the connection between two parts / components connected in a quick disassembly / quick disassembly manner is called "quick release connection".

[0086] Example 1

[0087] like Figure 1 , Figure 2As shown, the present invention provides an exoskeleton device that can assist in carrying, mainly including a waist exoskeleton for assisting the waist and an upper limb exoskeleton 1 for assisting the upper limbs. The waist exoskeleton includes a waist exoskeleton body 4 worn on the human body and a waist assisting mechanism 2. The waist assisting mechanism 2 is fixed on the waist exoskeleton body 4, and can be used in conjunction with the upper limb exoskeleton 1 and the lower limb exoskeleton 3. The lower limb exoskeleton is further divided into a calf exoskeleton 31 and a foot exoskeleton 32. Of course, the present invention can also work in conjunction with the back exoskeleton 5.

[0088] like Fig.13 , 14 As shown, in order to adapt to wearers of various body shapes, an adjustment device for adjusting the wearing position of the waist exoskeleton is also included. The adjustment device includes a spacing adjustment plate 100 and a spacing adjustment rod 101 arranged along the wearer's spine; the spacing adjustment rod 101 is provided with a plurality of adjustment holes arranged along its axial direction, and the waist exoskeleton is provided with a positioning fastener 102 that cooperates with the adjustment holes for positioning. The spacing adjustment plate is fixed to the back exoskeleton.

[0089] In order to facilitate wearing and provide wearing comfort, it also includes a flexible shoulder strap 103 connected to the back exoskeleton 5; it also includes a fixing belt 104, one end of which is connected to the flexible shoulder strap 103 and the other end is connected to the waist exoskeleton, and is used to fix the back exoskeleton 5 and the waist exoskeleton on the human body.

[0090] The waist exoskeleton and the upper limb exoskeleton 1 are respectively introduced in detail below.

[0091] like Figure 3 to Figure 6 As shown, the waist exoskeleton provided by the present invention comprises a waist exoskeleton body 4 worn on a human body and a waist assisting mechanism 2. The waist assisting mechanism 2 is fixed on the waist exoskeleton body 4.

[0092] Specifically, the waist assist mechanism 2 includes a waist elastic energy storage mechanism 21 worn on the human body and a force transmission component 22; the force transmission component 22 connects the waist elastic energy storage mechanism 21 and the wearer's limbs, so that when the wearer's limb joints are bent, the force transmission component 22 drives the waist elastic energy storage mechanism 21 to store energy, and when the wearer's waist is stretched, the waist elastic energy storage mechanism 21 releases elastic potential energy to assist the wearer's waist.

[0093] For example, the waist elastic energy storage mechanism 21 is fixed to the wearer's torso, and the force transmission component 22 is connected to the elastic energy storage mechanism 21 and the wearer's lower limbs at the waist. When the wearer bends, squats, or bends his joints during walking, the force transmission component 22 can drive the waist elastic energy storage mechanism 21 to store energy, so that when the wearer's waist and leg joints are stretched, the elastic potential energy stored in the waist elastic energy storage mechanism 21 is released to assist the wearer's waist.

[0094] The waist assist mechanism 2 provided by the present invention can also work in conjunction with other exoskeletons, such as the upper limb exoskeleton 1 and the lower limb exoskeleton 3, and preferably also in conjunction with the waist exoskeleton body 4. However, it does not exclude the use of the waist assist mechanism alone to directly connect with the human body trunk and limbs to generate assist.

[0095] like Figures 3-4 As shown, specifically, the waist elastic energy storage mechanism 21 includes an elastic energy storage component 211 and a movable pulley group 213; the force transmission member 22 is a pull line, the pull line passes through the movable pulley group 213, and when the pull line pulls the movable pulley group 213 to move, the movable pulley group 213 acts on the elastic energy storage component 211 so that the elastic energy storage component 211 stores energy. It can also be other forms of force transmission members 22 such as a rigid pull rod that directly drives the elastic energy storage component 211 to store energy, but the present invention prefers the above-mentioned pull line and movable pulley group 213.

[0096] The movable pulley block 213 has the characteristics of labor saving but longer force application distance, and both characteristics are well applied in the present invention. In the process of bending joint driving elastic energy storage component 211 to store energy, firstly, the movable pulley block 213 can save energy, so that the force used when driving the elastic energy storage component 211 to store energy is much smaller than the power assistance generated by the elastic potential energy released by the elastic energy storage component 211, which achieves real labor saving and makes the power assistance behavior more meaningful. Secondly, what the wearer actually needs most when lifting a heavy object is the power assistance to lift the heavy object off the ground for a moment. Although pulling the cable is a long process, on the other hand, the elastic potential energy accumulated by the elastic energy storage component 211 can be fully released in a short distance, which is consistent with the explosive force required when lifting the heavy object. At the same time, the shorter release distance can also make the whole device more miniaturized.

[0097] The elastic energy storage component 211 is various, as long as it can accumulate elastic potential energy through deformation, including compression springs, tension springs, rubber bands, etc. It is foreseeable that when the elastic energy storage component 211 is a compression spring, the pull line pulls the movable pulley group 213 to drive the compression spring to compress and store energy. When the elastic energy storage component 211 is a tension spring, the pull line pulls the movable pulley group 213 to drive the tension spring to stretch and store energy.

[0098] In order to enable the pull line to be pulled to drive the movable pulley set 213 to compress the compression spring or stretch the tension spring to store energy when the waist or legs are bent, the waist assist mechanism 2 also includes a fixed pulley set 215, and the pull line passes around the fixed pulley set 215; the fixed pulley set 215 and the movable pulley set 213 are respectively arranged at both ends of the elastic energy storage component 211 and are located in the expansion and contraction direction of the elastic energy storage component 211, and the movement direction of the movable pulley set 213 is consistent with the expansion and contraction direction of the elastic energy storage component 211. For example, when the elastic energy storage component 211 is a compression spring and it is consistent with the direction of the wearer's spine, the movable pulley set 213 and the fixed pulley set 215 are respectively arranged in the upper and lower directions of the compression spring, and when the movable pulley set 213 approaches the fixed pulley set 215, the compression spring is compressed and stored.

[0099] In addition, the number of fixed pulleys and movable pulleys in the fixed pulley group 215 and the movable pulley group 213 described in the present invention is ≥1. Preferably, the number of movable pulleys in the movable pulley group 213 is one more than the number of fixed pulleys in the fixed pulley group 215, so that the fixed pulley is opposite to the gap between the two movable pulleys.

[0100] In order to allow the movable pulley group 213 to move along a predetermined route, the present invention further includes a guide column 217 arranged along the extension and contraction direction of the elastic energy storage component 211, and the movable pulley group 213 is installed on the guide column 217 and can slide along the guide column 217. It also includes a movable pulley seat 214 that can slide along the guide column 217, and the movable pulley is arranged on the movable pulley seat 214; when the wearer's limb joints bend and drive the pull line to pull the movable pulley group 213, the movable pulley seat 214 can drive the elastic energy storage component 211 to store energy.

[0101] The present invention further provides a buffer component 212, which generates resistance when the elastic energy storage component 211 releases elastic potential energy. In addition, the elastic energy storage components 211 are an even number, symmetrically arranged on both sides of the buffer component 212, so that the forces on both sides are balanced.

[0102] For wearing comfort, the elastic energy storage mechanism 21 is fixed to the waist of the wearer by means of a waist mounting plate 23, and can also be fixed to the waist exoskeleton body 4 worn by the wearer by means of the waist mounting plate 23.

[0103] The present invention is further provided with a housing 219 in which the elastic energy storage mechanism 21 is installed. A limiting plate 218 for limiting the movable pulley block 211 is provided in the housing, and is used to limit the maximum stroke of the movable pulley block 213 .

[0104] In the embodiment 1 of the waist assist mechanism 2, the elastic energy storage component 211 is a compression spring, and the compression springs are two arranged side by side. The buffer component 212 is a gas spring, and the two compression springs are arranged on the left and right sides of the gas spring. The movable pulley group 213 and the fixed pulley group 215 are arranged above and below the compression spring. The release speed of the gas spring is much lower than that of the compression spring, which can provide a certain resistance to the compression spring and ensure the smooth release of the compression spring, avoiding the impact of the instantaneous explosive force on the wearer's waist.

[0105] The guide posts 217 are two parallel posts, which are in the same direction as the compression spring. The movable pulley seat 213 is arranged on the guide posts 217 and can move up and down along the guide posts 217 to drive the compression spring to compress and store energy. The specific structure of the movable pulley seat 214 is as follows: Figure 5 As shown, it includes a movable pulley seat housing 2411, an upper cover 2412, and a lower cover 2413. The movable pulley group 213 in this embodiment includes a first movable pulley 2131, a first movable pulley 2132, and a first movable pulley 2133 which are rotatably connected to the movable pulley seat housing 2141 through a pin 2144. In addition, it also includes a linear bearing 2144 arranged on the movable pulley seat housing 2141, which is used to cooperate with the guide column 217 for movement. The buffer component 212 gas spring is connected to the lower cover 2143.

[0106] The fixed pulley assembly includes a first fixed pulley 2151 and a second fixed pulley 2152 , which are rotatably connected to the fixed pulley seat 216 .

[0107] In addition, in this embodiment, the shell 219 is composed of a front shell 219a and a back shell 219b. Since the pull wire in this embodiment is a flat belt such as a braided belt, an opening is opened on the shell 219 for the two ends of the pull wire to pass through; the opening is provided with a guide assembly 210 for arranging and stretching the pull wire. The guide assembly 210 includes two left and right guide mounting seats 2101, and a guide rod 2102 is provided between the two guide mounting seats 2101. The spacing between the two guide mounting seats 2101 is consistent with or slightly larger than the width of the belt-shaped pull wire, and the height of the guide rod 2102 is consistent with or slightly larger than the thickness of the pull wire, so that the pull wire can be prevented from curling.

[0108] In this embodiment, the elastic energy storage mechanism 21 is fixed to the waist exoskeleton body 4 worn by the wearer by means of a waist mounting plate 23. The pull line has connection points with the calf exoskeleton 31 and the foot exoskeleton 32 in the lower limb exoskeleton 3. Specifically, the structural design of the waist mounting plate 23 conforms to the ergonomic arc. The waist mounting plate 23 and the back cover 219b can be detachably connected by means of fixing parts such as screws, or can be detachably connected by means of snap fit or the like.

[0109] Example 2

[0110] Example 2 Figure 6As shown, different from the first embodiment, the movable pulley group 213 in this embodiment includes two movable pulleys, namely a first movable pulley 2131 and a second movable pulley 2132, while the fixed pulley group 215 has only one fixed pulley. In addition, the movable pulley is wrapped with a pulley protection cover 2134, and the fixed pulley seat 216 is provided with a bearing seat 2161.

[0111] In this embodiment, the pull wire is in the form of a wire such as a steel wire, so the housing 219 is provided with openings for the two ends of the pull wire to pass through; the openings are connected to a wire tube 221 for the pull wire to pass through, and the wire tube 221 can effectively prevent the pull wire from getting tangled. The housing 219 is provided with a wire tube frame 222 for fixing the wire tube 221.

[0112] Attached Figures 7 to 9 It shows how the elastic energy storage component 211 is driven and stored by the bending of the joints when the wearer bends or walks, and the arrow indicates the direction of movement.

[0113] like Figures 10-12 As shown, the upper limb exoskeleton 1 in the present invention includes an upper limb elastic energy storage mechanism 11 and a force transmission component 12 worn on a human body; the force transmission component 12 connects the upper limb elastic energy storage mechanism 11 and the wearer's upper limb, so that when the wearer stretches the upper limb joints (especially the elbow joints), the force transmission component 12 drives the upper limb elastic energy storage mechanism 11 to store energy, and when the wearer's upper limb joints are bent, the upper limb elastic energy storage mechanism 11 releases elastic potential energy to assist the wearer's upper limb.

[0114] Specifically, the upper limb elastic energy storage mechanism 11 includes an elastic energy storage component, and in this embodiment, the force transmission component 12 is a pull wire; the pull wire can pull the elastic energy storage component to contract and store energy, and when the elastic energy storage component is relaxed, it can drive the pull wire to assist the upper limb. In addition, in this embodiment, the elastic energy storage component is a coil spring 114, and the pull wire is wound on the winch 112 and linked with the coil spring 114 by the winch 112, so as to pull the coil spring 114 to contract and store energy or be pulled by the coil spring 114 to assist the upper limb. It is foreseeable that the elastic energy storage component of the upper limb elastic energy storage mechanism 11 can also be other elastic components other than the coil spring 114, such as tension springs, compression springs, rubber bands, etc., but for this embodiment, the coil spring 114 is smaller in volume whether it is relaxed or contracted, which makes it easier to achieve miniaturization of the device.

[0115] In addition, the upper limb elastic energy storage mechanism 11 also includes a mounting seat, the capstan 112 is rotatably mounted in the mounting seat by means of a spline shaft 113; the coil spring 114 is sleeved on the spline shaft 113, the outer end of which is connected to the mounting seat, and the inner end of which is connected to the spline shaft 113. The mounting seat includes a seat body 115 and an outer cover 111, which can accommodate components such as the capstan 112 and the coil spring 114.

[0116] Since the force transmission component 12 in this embodiment uses a pull wire, in order to facilitate the setting of the pull wire, it is necessary to bypass the wearer's shoulders. However, when the pull wire is pulled, it will produce a certain friction on the wearer's shoulders and affect the comfort. In order to solve this problem, this embodiment also includes a shoulder wearable part 15 worn on the human shoulder. In this embodiment, the shoulder wearable part 15 is located above the flexible shoulder strap 103. The pull wire bypasses the shoulder wearable part 15 and is connected to the upper limb of the human body. In order to guide the pull wire, it also includes a wire tube 14, one end of which is fixed on the opening of the mounting seat for the pull wire to pass through, and the other end is fixed on the shoulder wearable part 15; the pull wire passes through the wire tube 14. In order to ensure that the pull wire is pulled smoothly, it also includes a pull wire guiding device arranged on the shoulder wearable part 15, and the pull wire guiding device includes two upper and lower rollers 151 for clamping the pull wire, and the roller 151 is rotatably connected to the rotating shaft 152.

[0117] The pull wire can be directly connected to the upper limb of the human body to achieve the effect of assisting, but preferably, for the comfort of wearing, the pull wire is connected to the hand wearable piece 13 worn on the human hand. The connection between the pull wire and the hand wearable piece 13 is a quick-release structure, such as the buckle 171 and the buckle 172 respectively provided on the hand wearable piece 13 and the end of the pull wire. In the present embodiment, the hand wearable piece 13 is a glove. Of course, the present invention does not limit other forms of hand wearable pieces, as long as they can be linked with the wearer's forearm or hand to drive the pull wire to drive the elastic energy storage mechanism when the joint is extended.

[0118] It can be foreseen that the hand-worn piece 13, the pull cord, and the upper limb elastic energy storage mechanism 11 in the present invention are preferably two pieces to match the two upper limbs of the wearer.

[0119] For the convenience of wearing, the upper limb exoskeleton 1 further includes a back mounting plate 16, and the mounting seat is fixed to the back of the human body or the back exoskeleton 5 worn by the human body by means of the back mounting plate 16. Specifically, a mounting hole is provided on the back mounting plate 16, and the mounting seat is fixed in the mounting hole. The back mounting plate 16 is arranged behind the spacing adjustment plate 100, so the spacing adjustment plate 100 is narrowed at the position of the mounting seat, which is convenient for the arrangement of the mounting seat.

[0120] In order to make the purpose, technical solution and advantages of the present invention more clear, different figure marks and expressions are used in the subsequent embodiments (Examples 3.1-3.3) to further explain and illustrate the technical solution of the present invention.

[0121] Example 3.1

[0122] See also Fig.15An exemplary embodiment of the present invention comprises an exoskeleton comprising: an upper limb assist mechanism P1 and a waist assist mechanism P4 connected to each other, wherein the upper limb assist mechanism P1 can be worn on the back of the wearer (or the back exoskeleton P2 worn by the wearer, see Fig.16 and Fig.17 ) is used to provide assistance to the upper limbs of the wearer. The waist assistance mechanism P4 can be worn on the wearer's waist (or the waist exoskeleton P3 worn by the wearer, see Fig.16 and Fig.17 ) and can be connected to the wearer's lower limbs (or the lower limb exoskeleton P6 worn by the wearer, see Fig.16 and Fig.17 ) is used to provide assistance to the wearer's waist.

[0123] The exoskeleton of this exemplary embodiment can provide assistance to the wearer's upper limbs through the upper limb assist mechanism P1 when the wearer is carrying or exercising with his upper limbs, and can provide protection and assistance to the waist through the waist assist mechanism P4; and because the upper limb assist mechanism is installed on the back support mechanism, and the back support mechanism is also connected to the waist assist mechanism (or, the upper limb assist mechanism is directly connected to the waist assist mechanism), therefore, when the wearer is carrying weight or exercising, especially when the upper limbs and waist need to exert force at the same time, the upper limb assist mechanism and the waist assist mechanism can provide corresponding assistance to the wearer at the same time, which greatly reduces the wearer's labor intensity, thereby improving work efficiency and user experience.

[0124] In some embodiments, the back exoskeleton P2 includes: a flexible board made of a flexible material that can adapt to the movement of the wearer's back or spine. Specifically, corresponding shoulder straps and binding belts can be provided on both sides of the flexible board, so that the wearer can wear the flexible board through the binding belts and shoulder straps. Of course, the flexible board can also be connected to the shoulder exoskeleton P5 (or shoulder joint) and waist exoskeleton P3 (or waist joint / hip joint) of the exoskeleton, so that when the wearer wears the exoskeleton, the flexible board automatically fits the wearer's back.

[0125] In some embodiments, see Fig.18 The upper limb assisting mechanism P1 includes: a front negative assisting mechanism P11 for carrying heavy objects, a first force transmission component P12 for transmitting assisting force to the front negative assisting mechanism P11, and a first energy storage mechanism P13 for providing assisting force to the first force transmission component P12; wherein, the free end of the first force transmission component P12 is connected to the front negative assisting mechanism P11, and the fixed end thereof is connected to the first energy storage mechanism P13; when the front negative assisting mechanism P11 carries heavy objects, the first energy storage mechanism P13 provides assisting force to the front negative assisting mechanism P11 through the first force transmission component P12.

[0126] In some embodiments, the front negative power assist mechanism P11 includes a flexible component that can adapt to the finger movements of the wearer's left and right hands (such as bending, etc.), such as two gloves made of flexible material, and it can be connected to the first force transmission member P12 by a quick release method that can be quickly disassembled. For example, a quick release member (such as a buckle P138) can be set on the flexible component, and a quick release seat (such as a buckle seat P139) can be set at the free end of the first force transmission member P12, see Fig.18 .

[0127] Of course, in other embodiments, the front negative power assist mechanism P11 may also adopt other structures, such as two manipulators that can be used to carry heavy objects. Specifically, the manipulator includes a palm support pad that can be attached to the palm of the wearer, a finger support pad that can be attached to the wearer's fingers, and a wearable component, wherein one end of the palm support pad is connected to the upper limb power assist mechanism P3, and the other end is hinged to the finger support pad, and the wearable component is arranged on the palm support pad. Furthermore, the back of the finger support pad is also provided with a clamping portion for clamping between fingers.

[0128] In some embodiments, the first force transmission member P12 may be formed of two pull wires, such as steel wires or ropes.

[0129] In some embodiments, see Fig.18 The first energy storage mechanism P13 includes: a first mounting plate P133, a cable reel P131 for winding the cable (i.e., the first force transmission member P12), and a first elastic member P132 for providing assistance to the cable, wherein the free end of the cable is connected to the above-mentioned front negative power mechanism P11 by quick release, and the connecting end of the cable is fixed in the cable groove of the cable reel P131, and the cable reel P131 is mounted on the first mounting plate P133 in a manner that it can rotate relative to the first mounting plate P133 (specifically, by fixing a first mounting seat P134 on the first mounting plate P133, and then through the first rotating shaft P135 can install the cable reel P131 in the first mounting seat P134), and the first elastic member P132 is installed coaxially with the cable reel P131 (specifically, the first elastic member P132 is close to the inner wall of the first mounting seat P134); when the pull wire is pulled out from the cable reel P131, the cable reel P131 rotates and drives the first elastic member P132 (such as a coil spring) to rotate coaxially, at this time, the first elastic member P132 stores energy; when the front negative power assist mechanism P11 is loaded with heavy objects, the first elastic member P132 releases energy and provides assistance to the front negative power assist mechanism P11 through the pull wire.

[0130] In one specific embodiment, see Fig.19, two winding drums P131 are symmetrically arranged on the first mounting plate P133, for example, by symmetrically arranging two first mounting seats P134 on both sides of the first mounting plate P133, and then the two winding drums P131 and the two coil springs P132 are respectively placed in the first mounting seats P134 through the corresponding first rotating shafts P135. In specific implementation, the first mounting plate P133 is first worn on the wearer's back (for greater comfort, the first mounting plate P133 can be first arranged on a flexible plate that can fit the wearer's back, or on the back exoskeleton P2 worn by the wearer), and then the two first mounting seats P134 are symmetrically installed on the first mounting plate P133; then the first rotating shaft P135 is installed in the first mounting seat P134, and the coil spring (i.e., the first elastic member) is installed on the first rotating shaft P135 (specifically, the inner ear of the coil spring is inserted into the inner ear mounting groove on the first rotating shaft P135, and the outer ear is installed in the outer ear mounting groove in the first mounting seat P134). The cable drum P131 wound with the pulling wire is then installed on the first rotating shaft P135 (specifically, the connecting end of the pulling wire is provided with a fixed end head, and accordingly, the wire groove of the cable drum P131 is provided with an end head groove that can cooperate with the fixed end head, and the fixed end head is installed in the end head groove, and then the pulling wire is wound in the wire groove; the first rotating shaft P135 is provided with a spline that can cooperate with the cable drum P131), and finally the cable drum P131 and the winding spring are sealed in the first mounting seat P134 through the cable winding end cover P136, so that the free end of the pulling wire can pass through and be connected to the above-mentioned front negative power assist mechanism P11, see Fig. 20 and Fig.21 .

[0131] Usually, the free end of the pull line can be passed around the wearer's shoulder and placed in front of the wearer, and then connected to the front negative power assist mechanism P11. However, in order to avoid the pull line causing certain wear or discomfort to the wearer's shoulder, and at the same time, to better provide corresponding power assist to the front negative power assist mechanism P11, see Fig.15 The exoskeleton of this exemplary embodiment also includes: a wearer's shoulder (or shoulder exoskeleton / shoulder joint P5, see Fig.16 and Fig.17 ) of the shoulder support mechanism P15 and the shoulder wire tube P14, wherein the two ends of the shoulder wire tube P14 respectively abut against the wire tube end groove on the first mounting seat P134 in the upper limb assist mechanism, and the wire tube end groove on the shoulder support mechanism P15, see Fig.17 .

[0132] In some embodiments, see Fig.18 The shoulder support mechanism P15 comprises: a second mounting seat P151, two axle pins P153 (arranged longitudinally in parallel and parallel to each other, see Fig. 22 and Fig.23 ), and a roller P152 mounted on the axle pin P153, and the free end of the first force transmission member P12 passes through between the two rollers P152 and is connected to the front negative power mechanism (that is, the pull wire is clamped between the two rollers P152, so that when the pull wire is pulled out or retracted, the roller P152 rotates counterclockwise or clockwise with the axle pin P153 as the rotation axis), see Fig. 22 .

[0133] Among them, the second mounting seat P151 can be installed on the shoulder exoskeleton of the exoskeleton (or shoulder joint, or directly worn on the wearer's shoulder), and one end of the shoulder wire tube P14 abuts against the above-mentioned first mounting seat P134 (specifically, a wire tube end groove that can match with one end of the shoulder wire tube P14 can be set on the first mounting seat P134), and the other end abuts against the second mounting seat P151 (specifically, a wire tube end groove that can match with the other end of the shoulder wire tube can be set on the second mounting seat P151), and the second mounting seat P151 is installed on the shoulder exoskeleton (or shoulder joint) P5, see Fig.23 .

[0134] In some embodiments, the shoulder exoskeleton (or shoulder joint) P5 includes: a flexible shoulder strap P51 that can fit the wearer's shoulder, and a fixing member P52 (such as a binding belt) for fixing the flexible shoulder strap P51 to the wearer's shoulder, wherein one end of the flexible shoulder strap P51 is fixedly connected to the back exoskeleton P2 (or the above-mentioned flexible plate), and the other end is connected to one end of the fixing member P52 (specifically, connected in a detachable manner, or fixedly connected), and the other end of the fixing member P52 is connected to the waist exoskeleton P3 located at the wearer's waist or worn on the waist. Of course, the other end of the fixing member P52 can also be directly connected to the above-mentioned back exoskeleton P2, or the other ends of the left and right fixing members P52 are connected.

[0135] In some embodiments, see Fig.15 The waist assist mechanism P4 includes: a second energy storage mechanism for providing assisting force to the second force transmission member P41, and a second force transmission member P41 installed in the second energy storage mechanism for transmitting assisting force, wherein one end of the second force transmission member P41 can be connected to one lower limb of the wearer (such as the left leg or the lower limb exoskeleton 6 worn on the left leg), and the other end passes through the second energy storage mechanism P42 to be connected to the other lower limb of the wearer (such as the right leg or the lower limb exoskeleton P6 worn on the right leg), that is, the two free ends of the second force transmission member P41 pass through the second energy storage mechanism and can be directly connected to the lower limb of the wearer, or the lower limb exoskeleton P6 worn on the lower limb, see Fig.16 and Fig.17In a specific implementation, when the wearer bends down and the second force transmission member P41 is pulled out from the second energy storage mechanism, the second force transmission member P41 compresses the second energy storage mechanism P42, so that the second energy storage mechanism P42 stores energy; and when the wearer's waist is straightened, the second energy storage mechanism P42 releases energy and provides assistance to the waist through the second force transmission member P41.

[0136] In some embodiments, see Fig.24 The second energy storage mechanism P42 specifically includes: a fixed pulley P421, two movable pulleys P422, a mounting back plate P423 and two second elastic members P424, wherein the fixed pulley P422 is fixed to the bottom of the mounting back plate P423 (specifically, a bearing seat P4231 and a third mounting seat P4232 for mounting the fixed pulley P421 are provided at the bottom of the mounting back plate P423, see Fig.25 and Fig.26 ), two movable pulleys P422 are mounted on the top of the mounting back plate P423 (specifically, a limit baffle P4230 is provided on the top of the mounting back plate P423 for limiting the stroke of the movable pulley P422, two stroke shafts P4233 are provided between the limit baffle P4230 and the bearing seat P4231, a pulley mounting seat P4234 is mounted on the top of the stroke shaft P4233 in a manner that can slide axially along the stroke shaft P4233, and the two movable pulleys P422 are respectively mounted on both sides of the pulley mounting seat P4234 in a manner that can rotate relative to the pulley mounting seat P4234, see Fig.25 and Fig.26 ), and the movable pulley P422 can slide relative to the mounting back plate P423 toward the fixed pulley P421, and the second elastic member P424 is installed between the movable pulley P422 and the fixed pulley P421 (specifically, the second elastic member P424 is a spring, which is sleeved on the aforementioned stroke shaft P4233, and its two ends respectively abut against the top of the bearing seat P4231 and the inner side of the pulley mounting seat P4234, see Fig.26 ; When the movable pulley P422 slides toward the fixed pulley P421, the pulley mounting seat P4234 compresses the spring, causing the spring to store energy).

[0137] Of course, in this embodiment, the number of the pulleys and fixed pulleys can be adjusted according to actual needs. In this exemplary embodiment, by providing a fixed pulley and two movable pulleys, and winding the second force transmission member between the three pulleys, and at the same time, providing two second elastic members between the movable pulley and the fixed pulley, it is possible to provide a strong assist to the waist of the wearer when the wearer bends over to move things, and reduce the obstruction to the gait of the human body when the wearer walks on stairs or on a flat road, thereby ensuring that the wearer can walk or climb stairs normally. For example, when the wearer's waist bends at an angle of 90° or close to 90°, the two free ends of the second force transmission member each apply a pulling force F0 to the movable pulley group (that is, the pulling force received by the movable pulley group is 2F0), so that the two movable pulleys slide toward the fixed pulley to compress the second elastic member. At this time, the second elastic member (such as a spring) is compressed to a length of L1 and the force storage intensity is F1; and when the wearer goes up the stairs, or lifts one leg 90° or close to 90°, one free end of the second force transmission member moves and gives the movable pulley group a pulling force F0, so that the two movable pulleys move toward the fixed pulley. At this time, the compressed length of the second elastic member is only 0.25L, and accordingly, its energy storage is much smaller.

[0138] In a specific implementation, when the waist exoskeleton P3 is made of a flexible material, the mounting back plate P423 can be fixed on the waist exoskeleton P3 via a back plate fixing member P4237. Fig.16 and Fig. 27 , the back of the mounting back plate P423 and the back plate fixing member P4237 cooperate to clamp the waist exoskeleton P3, so that the waist assist mechanism is installed on the waist exoskeleton P3. Of course, the waist assist mechanism can also be directly fixed to the waist of the wearer by means of a binding belt or the like.

[0139] Furthermore, the waist assist mechanism P4 also includes pulley protection covers P4235 arranged on both sides of the pulley mounting seat P4234, and protection end covers P4236 that can be buckled with the mounting back plate P423.

[0140] Further, see Fig.24 The waist assist mechanism P4 further includes: a waist wire tube P43 for guiding the second force transmission member P41 (such as a pull wire). Specifically, the fixed end of the waist wire tube P43 is fixed to the mounting back plate P423 through a wire tube fixing member P431. For example, a fixing groove that can be matched with the wire tube fixing member P431 is provided in the mounting back plate P423. When the wire tube fixing member P431 is matched with the fixing groove, the fixed end of the waist wire tube P43 can be fixed to the waist back plate P423.

[0141] Further, see Fig.28The bottom of the mounting back plate P423 is provided with an arc-shaped guide groove P4238 corresponding to the position of the waist wire tube P43, and the width of the arc-shaped guide groove P4238 gradually widens along the extension direction of the waist wire tube P43. By providing the arc-shaped guide groove P4238 to guide the waist wire tube P43, the waist wire tube P43 can be prevented from being forcibly bent, thereby reducing the service life of the waist wire tube P43 or the second force transmission member.

[0142] When the wearer stretches out his hand, the first force transmission member is pulled out and drives the cable reel to rotate. Accordingly, the coil spring (i.e., the first elastic member) coaxially rotating with the cable reel is tightened and stores energy; when the wearer retracts his arm, the coil spring releases energy and transmits the assist force to the front negative assist mechanism through the first force transmission member.

[0143] When the wearer bends forward, under the action of the tension on the wearer's back, the mounting back plate P423 tilts forward along with the wearer's back, and due to the action of the mounting back plate P423, the wearer's spine can remain in a straight state. At the same time, the forward tilt of the mounting strap P423 causes the second force transmission member to drive the two movable pulleys P422 to slide along the stroke axis P4233 toward the fixed pulley P421, thereby causing the pulley mounting seat P4234 to compress the second elastic member P424. At this time, the second elastic member P424 stores energy, that is, the second energy storage mechanism stores energy; and when the wearer's waist is in the process of straightening, the second elastic member P424 releases energy, that is, under the action of the restoring force of the second elastic member, the movable pulley P422 slides on the stroke axis P4233 in a direction away from the fixed pulley P421, thereby transmitting the assist force to the wearer's back through the mounting back plate P423.

[0144] When the wearer squats, since the two free ends of the second force transmission member are connected to the wearer's lower limbs or lower limb exoskeleton, the second force transmission member drives the two movable pulleys P422 to slide on the stroke shaft P4233 toward the fixed pulley P421, so that the pulley mounting seat P4234 compresses the second elastic member P424 on the stroke shaft P4233 between the two movable pulleys P422, that is, the second elastic member P424 stores energy. When the wearer stands up or the legs recover, the second elastic member P424 releases energy, and under the action of the restoring force of the second elastic member P424, the pulley mounting seat P4234 slides on the stroke shaft P4233 away from the fixed pulley P421, and drives the two movable pulleys P422 to move in the direction away from the fixed pulley P421, while contracting the second force transmission member P41.

[0145] In some embodiments, a length adjustment mechanism is provided between the mounting back plate P423 and the flexible plate, that is, the waist assist mechanism P4 and the upper limb assist mechanism P1, for adjusting the distance between the two (the distance may refer to the length of the gap between the two, or the length of the overlapping portion of the two) to adapt to different back lengths of different wearers. Fig. 20 and Fig.21 The length adjustment mechanism includes an adjustment link P10, whose fixed end is fixedly connected to the waist assist mechanism P4, and whose free end is connected to the upper limb assist mechanism P1 in a manner that it can move along the length direction relative to the upper limb assist mechanism P1 (the flexible plate in the middle). Of course, if the wearer is already wearing a back exoskeleton, the waist assist mechanism can also be connected to the back exoskeleton through the adjustment link P10.

[0146] For specific implementation, see Fig. 20 and Fig.25 One end of the adjustment link P10 is fixedly connected to the mounting back plate P423, and the other end is connected to the back exoskeleton or the above-mentioned flexible plate (specifically, an adjustment member mounting plate P137 can be set on the above-mentioned flexible plate, and one end of the adjustment link P10 (for example, the end close to the adjustment member mounting plate P137) is provided with a plurality of adjustment holes P101 along its length direction. Accordingly, a positioning fastener P102 that can cooperate with the adjustment hole P101 is provided on the back exoskeleton or the flexible plate (the adjustment member mounting plate P137 on the back exoskeleton), so that the position of the positioning fastener P102 on the adjustment link P10 can be adjusted, that is, the spacing between the mounting back plate and the back support mechanism can be adjusted by adjusting the positioning fastener P102 and the adjustment hole P101.

[0147] Example 3.2

[0148] Generally, when a wearer wears an exoskeleton to carry loads or exercise, the wearer's upper limbs are required to exert force. Therefore, in order to protect the wearer's upper limbs and provide a certain amount of assistance to the upper limbs, the present invention provides an exoskeleton, see Fig.18 The present invention provides an exoskeleton for assisting carrying, which includes: an upper limb assisting mechanism P1, specifically, the upper limb assisting mechanism P1 includes: a front negative assisting mechanism P11, a first force transmission component P12 for transmitting assisting force to the front negative assisting mechanism P11, and a first energy storage mechanism P13 for providing assisting force, wherein the fixed end of the first force transmission component P12 is connected to the first energy storage mechanism P13, and the free end is connected to the front negative assisting mechanism P11; when the front negative assisting mechanism P11 carries a heavy object, the first energy storage mechanism P13 provides assisting force to the front negative assisting mechanism P11 through the first force transmission component P12.

[0149] In some embodiments, the front negative force mechanism P11 can be worn directly on the wearer's hand, for example, the front negative force mechanism P11 includes a glove made of a flexible material, or a manipulator, etc. Of course, the front negative force mechanism P11 can also be tied to the wearer's arm or wrist.

[0150] In other embodiments, the front negative power assist mechanism P11 may also adopt other structures, such as two manipulators that can be used to carry heavy objects. Specifically, the manipulator includes a palm support pad that can be attached to the palm of the wearer, a finger support pad that can be attached to the wearer's fingers, and a wearable component, wherein one end of the palm support pad is connected to the upper limb power assist mechanism P3, and the other end is hinged to the finger support pad, and the wearable component is arranged on the palm support pad. Furthermore, the back of the finger support pad is also provided with a clamping portion for clamping between fingers.

[0151] In some embodiments, the first force transmission member P12 may be a pull wire, such as a steel wire or a rope.

[0152] In some embodiments, see Fig.18 The first energy storage mechanism P13 includes: at least one winding drum P131 for winding the first force transmission member P12, at least one first mounting seat P134 for mounting the winding drum P131, and a first elastic member P132 mounted in the winding drum P131, wherein the winding drum P131 can be mounted in the first mounting seat P134 in a manner of rotation relative to the first mounting seat P134, and the first elastic member P132 is coaxially mounted with the winding drum P131; specifically, the winding drum P131 and the first elastic member P132 are coaxially mounted in the first mounting seat P134 through a first rotating shaft P135. When the first force transmission member P12 is pulled out, the winding drum P131 drives the first elastic member P132 to rotate, so that the first elastic member P132 stores energy; when the front negative power mechanism P11 is loaded with a heavy object, the first elastic member P132 releases energy and provides power to the front negative power mechanism P11 through the first force transmission member P12.

[0153] In a specific embodiment, two first mounting seats P134 are symmetrically arranged on the first mounting plate P133, and then two winding reels P131 are rotatably installed in the first mounting seats P134 through a first rotating shaft P135 respectively, and two coil springs (i.e., the first elastic member P132) are coaxially installed in the first mounting seat with the winding reel P131 (specifically, the inner ear is inserted into the inner ear mounting groove on the first rotating shaft P135, and the outer ear is installed in the outer ear mounting groove in the first mounting seat P134), and the tightening direction of the coil spring is the same as the pulling direction of the pull wire, that is, when the pull wire is pulled out from the winding reel P131, the coil spring is tightened and stores energy.

[0154] In some specific embodiments, a quick-release seat P139, such as a female buckle, can be provided at the free end of the pull wire, and a quick-release part P138, such as a male buckle, can be provided on the front negative power assist mechanism P11, or the pull wire can be connected to the front negative power assist mechanism in a quick-release manner.

[0155] Furthermore, the exoskeleton of this exemplary embodiment further comprises: a shoulder support mechanism P15 wearable on the wearer's shoulder (or mounted on the shoulder exoskeleton P5), and a shoulder wire tube P14 for guiding the first force transmission member P12 (such as a pull wire), wherein the two ends of the shoulder wire tube P14 respectively abut against the wire tube end slot in the upper limb assist mechanism and the wire tube end slot on the shoulder support mechanism P15, see Fig.17 .

[0156] In some embodiments, see Fig.18 The shoulder support mechanism P15 comprises: a second mounting seat P151, two axle pins P153 mounted in the second mounting seat P151 (the two axle pins are arranged in parallel longitudinally and parallel to each other, see Fig. 22 and Fig.23 ), and a roller P152 mounted on the axle pin P153; wherein the second mounting seat P151 can be mounted on the wearer's shoulder, or on the worn shoulder exoskeleton (or shoulder joint) P5, and one end of the shoulder wire tube P15 abuts against the above-mentioned first mounting seat P134 (specifically, a wire tube end groove that can cooperate with one end of the shoulder wire tube P14 can be provided on the first mounting seat P134), and the other end abuts against the second mounting seat P151 (specifically, a wire tube end groove that can cooperate with the other end of the shoulder wire tube can be provided on the second mounting seat P151); and the free end of the first force transmission member P12 passes through between the two rollers P152 and is connected to the front negative power assist mechanism (that is, the pull wire is clamped between the two rollers P152, so that when the pull wire is pulled out or retracted, the roller P152 rotates counterclockwise or clockwise with the axle pin P153 as the rotating axis), see Fig. 22 .

[0157] Example 3.3

[0158] Generally, when the wearer wears an exoskeleton to carry loads or exercise, the wearer's back is usually bent. For example, when the wearer needs to pick up a heavy object, he usually needs to lean forward or bend his waist. When the wearer picks up a heavy object, the wearer's waist will lean forward or backward to a certain extent during the carrying process. Therefore, in order to protect the wearer's waist muscles and provide a certain amount of assistance to the wearer's waist, the present invention provides an exoskeleton, see Fig.24The exoskeleton of another exemplary embodiment of the present invention includes: a waist assist mechanism P4, which is used to provide assistance to and protect the waist of the wearer when the wearer bends over.

[0159] In some embodiments, the waist assist mechanism P4 includes: a second force transmission component P41 (such as a pull wire) that can be installed on the wearer's waist (or on a waist exoskeleton worn by the wearer) and used to transmit assisting force, and a second energy storage mechanism P42 for providing assisting force to the second force transmission component P41, wherein the second force transmission component P41 is installed in the second energy storage mechanism P42, and its two free ends pass through the second energy storage mechanism P42 and can be respectively connected to the lower limb exoskeleton P6 worn by the wearer; when the wearer bends over and the second force transmission component P41 is pulled out, the second force transmission component P41 compresses the second energy storage mechanism P42, so that the second energy storage mechanism P42 stores energy; and in the process of the wearer's waist gradually returning to the straight position, the second energy storage mechanism P42 releases energy and provides assisting force to the waist through the second force transmission component P41.

[0160] In some embodiments, the second energy storage mechanism P42 specifically includes: a fixed pulley P421, two movable pulleys P422, a mounting back plate P423 and at least one elastic member P424, wherein the fixed pulley P421 is fixed to the bottom of the mounting back plate P423 (specifically, a bearing seat P4231 is provided at the bottom of the mounting back plate P423, and a third mounting seat P4232 for mounting the fixed pulley P421, see Fig.25 and Fig.26 ), the movable pulley P422 is installed on the top of the mounting back plate P423 (specifically, a limit baffle P4230 is provided on the top of the mounting back plate P423 for limiting the stroke of the movable pulley P422, at least one stroke shaft P4233 is provided between the limit baffle P4230 and the bearing seat P4231, and a pulley mounting seat P4234 is installed on the top of the stroke shaft P4233 in a manner that can slide axially along the stroke shaft P4233, and two movable pulleys P422 are respectively installed on both sides of the pulley mounting seat P4234 in a manner that can rotate relative to the pulley mounting seat, see Fig.25 and Fig.26 ), and the movable pulley P421 can slide relative to the mounting back plate P423 toward the fixed pulley, and the second elastic member P424 is installed between the movable pulley P422 and the fixed pulley P421 (specifically, the second elastic member P424 is a spring, which is sleeved on the aforementioned stroke shaft P4233, and its two ends respectively abut against the top of the bearing seat P4231 and the inner side of the pulley mounting seat P4234, see Fig.26 ; When the movable pulley P422 slides toward the fixed pulley P421, the pulley mounting seat P4234 compresses the spring, causing the spring to store energy).

[0161] Furthermore, the waist assist mechanism also includes pulley protection covers P4235 arranged on both sides of the pulley mounting seat P4234, and protection end covers P4236 that can be buckled with the mounting back plate P423.

[0162] Further, see Fig.24 The waist assist mechanism 4 further includes: a waist wire tube P43 for guiding the second force transmission member P41. Specifically, the fixed end of the waist wire tube P43 is fixed to the mounting back plate P423 through a wire tube fixing member P431. For example, a fixing groove that can be matched with the wire tube fixing member P431 is provided in the mounting back plate P423. When the wire tube fixing member P431 is matched with the fixing groove, the fixed end of the waist wire tube P43 can be fixed to the mounting back plate P423.

[0163] Further, see Fig.28 The bottom of the mounting back plate P423 is provided with an arc-shaped guide groove P4238 corresponding to the position of the waist wire tube P43, and the width of the arc-shaped guide groove P4238 gradually widens along the extension direction of the waist wire tube P43. By providing the arc-shaped guide groove P4238 to guide the waist wire tube P43, the waist wire tube P43 can be prevented from being forcibly bent, thereby reducing the service life of the waist wire tube P43 or the second force transmission member.

[0164] In a specific embodiment, a fixed pulley P421 and two movable pulleys P422 are provided, wherein a free end of the second force transmission member P41 first passes around one of the movable pulleys P422, then passes around the fixed pulley P421, and finally passes around the other movable pulley P422, and the two free ends of the second force transmission member P41 pass out from the peripheral direction of the fixed pulley P421 to be connected to the wearer's lower limbs or the lower limb exoskeleton worn by the wearer. Accordingly, two travel shafts are provided, and there are also two second elastic members.

[0165] When the wearer squats or lifts his legs, since the two free ends of the second force transmission member are connected to the wearer's lower limbs or lower limb exoskeleton, the second force transmission member drives the two movable pulleys P422 to slide on the stroke shaft P4233 toward the fixed pulley P421, so that the pulley mounting seat P4234 compresses the second elastic member P424 on the stroke shaft P4233 between the two movable pulleys P422, that is, the second elastic member P424 stores energy. When the wearer stands up or the legs recover, the second elastic member P424 releases energy, and under the action of the restoring force of the second elastic member P424, the pulley mounting seat P4234 slides on the stroke shaft P4233 away from the fixed pulley P421, and drives the two movable pulleys P422 to move in the direction away from the fixed pulley P421, while contracting the second force transmission member P41.

[0166] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention, and the protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An exoskeleton device that can assist in carrying, characterized in that include: A waist exoskeleton for assisting the waist and an upper limb assisting exoskeleton; and a dorsal exoskeleton; The upper limb power-assisting exoskeleton comprises an upper limb elastic energy storage mechanism and a first force transmission component worn on a human body; the first force transmission component is connected to the upper limb elastic energy storage mechanism and the wearer's upper limb, so that when the wearer stretches the upper limb joint, the first force transmission component drives the upper limb elastic energy storage mechanism to store energy, and when the wearer's upper limb joint is bent, the upper limb elastic energy storage mechanism releases elastic potential energy to assist the wearer's upper limb; Wherein, the upper limb elastic energy storage mechanism includes an elastic energy storage component, and the first force transmission component is a first pull wire; the first pull wire can pull the elastic energy storage component to contract and store energy, and when the elastic energy storage component relaxes, it can drive the first pull wire to assist the upper limb; The elastic energy storage component is a coil spring, and the first pull wire is wound on a winch and linked with the coil spring by the winch, thereby pulling the coil spring to contract and store energy or being pulled by the coil spring to assist the upper limbs; The upper limb assisting exoskeleton further comprises a shoulder wearable part worn on the human body's shoulder, wherein the first pull wire passes through the shoulder wearable part and is connected to the human body's upper limb; further comprises a pull wire guide device arranged on the shoulder wearable part, wherein the pull wire guide device comprises two pins arranged longitudinally in parallel and parallel to each other, and two upper and lower rollers for clamping the first pull wire are respectively mounted on the rotating shaft; The upper limb power-assisting exoskeleton further includes a hand-worn piece worn on a human hand, and the first force transmission component is connected to the hand-worn piece; The upper limb power-assisted exoskeleton further comprises a back mounting plate, the upper limb elastic energy storage mechanism comprises a mounting seat, the capstan is rotatably mounted in the mounting seat by means of a spline shaft, and the mounting seat of the elastic energy storage component in the upper limb elastic energy storage mechanism is fixed to the back exoskeleton via the back mounting plate, so that the mounting seat is fixed to the back of the human body; The waist exoskeleton includes a waist exoskeleton body and a waist assisting mechanism, wherein the waist assisting mechanism includes a waist elastic energy storage mechanism worn on a human body and a second force transmission component; the second force transmission component connects the waist elastic energy storage mechanism and the wearer's limbs, so that when the wearer's limb joints are bent, the second force transmission component drives the waist elastic energy storage mechanism to store energy, and when the wearer's waist is stretched, the waist elastic energy storage mechanism releases elastic potential energy to assist the wearer's waist; The waist elastic energy storage mechanism includes an elastic energy storage component and a movable pulley group; the second force transmission component is a second pull wire, the second pull wire passes around the movable pulley group, and when the second pull wire pulls the movable pulley group to displace, the movable pulley group acts on the elastic energy storage component to make the elastic energy storage component store energy, wherein the elastic energy storage component is a compression spring or a tension spring, and when the elastic energy storage component is a compression spring, the second pull wire pulls the movable pulley group to store energy when the compression spring is compressed; and when the elastic energy storage component is a tension spring, the second pull wire pulls the movable pulley group to store energy when the tension spring is stretched; The waist exoskeleton further includes a buffer component, which generates resistance when the elastic energy storage component releases elastic potential energy.

2. The exoskeleton device for assisting transportation according to claim 1, characterized in that: Also includes an adjustment device for adjusting the wearing position of the waist exoskeleton; and / or, It also includes a flexible shoulder strap connected to the back exoskeleton; and a fixing belt, one end of which is connected to the flexible shoulder strap and the other end is connected to the waist exoskeleton, and is used to fix the back exoskeleton and the waist exoskeleton on the human body.

3. The exoskeleton device for assisting transportation according to claim 2, characterized in that: The adjustment device includes a spacing adjustment plate and a spacing adjustment rod arranged along the wearer's spine; the spacing adjustment rod is provided with a plurality of adjustment holes arranged along its axial direction, and the waist exoskeleton is provided with positioning fasteners that cooperate with the adjustment holes for positioning connection.

4. The exoskeleton device for assisting transportation according to claim 3, characterized in that: It also includes a fixed pulley group, and the second pull wire passes around the fixed pulley group; the fixed pulley group and the movable pulley group are arranged at both ends of the elastic energy storage component and are located in the extension and contraction direction of the elastic energy storage component, and the movement direction of the movable pulley group is consistent with the extension and contraction direction of the elastic energy storage component, wherein the number of movable pulleys in the movable pulley group is one more than the fixed pulley in the fixed pulley group, so that the fixed pulley is opposite to the gap between the two movable pulleys.

5. The exoskeleton device for assisting transportation according to claim 3, characterized in that: It also includes a guide column arranged along the extension and contraction direction of the elastic energy storage component, and the movable pulley group is installed on the guide column and can slide along the guide column; The exoskeleton device also includes a movable pulley seat that can slide along the guide column, and the movable pulley is arranged on the movable pulley seat; when the wearer's limb joint bends and drives the second pull wire to pull the movable pulley group, the movable pulley seat can drive the elastic energy storage component to store energy.

6. The exoskeleton device for assisting transportation according to claim 4, characterized in that: The buffer component is a gas spring; and / or, The elastic energy storage components are an even number and are symmetrically arranged on both sides of the buffer component.

7. The exoskeleton device for assisting transportation according to claim 3, characterized in that: The waist elastic energy storage mechanism is fixed on the torso of the wearer, and the two ends of the second pull line are respectively connected with the left and right lower limbs of the wearer after the second pull line passes around the movable pulley group.

8. The exoskeleton device for assisting transportation according to claim 7, characterized in that: The waist elastic energy storage mechanism is fixed to the waist of the wearer, the second pull line is connected to the wearer's calf and / or foot, and the two ends of the second pull line are respectively connected to the left and right lower limb exoskeletons worn by the wearer; and / or, The waist elastic energy storage mechanism is fixed to the waist of the wearer by means of a waist mounting plate; and / or, The waist mounting plate is fixed on the waist exoskeleton body worn by the wearer.

9. The exoskeleton device for assisting transportation according to claim 6, characterized in that: It also includes a shell, the waist elastic energy storage mechanism is installed in the shell, wherein a limit plate for limiting the movable pulley set is arranged in the shell; wherein the second pull line is in the shape of a belt; the shell is provided with an opening for the two ends of the second pull line to pass through; the opening is provided with a guide assembly for arranging and stretching the second pull line; And / or, the second pull wire is in a thread shape; the shell is provided with openings for the two ends of the second pull wire to pass through; the opening is connected to a wire tube for the second pull wire to pass through.

10. The exoskeleton device for assisting transportation according to claim 9, characterized in that: The guide assembly comprises two left and right guide mounting seats, and a guide rod is arranged between the two guide mounting seats; and / or, A wire pipe rack for fixing the wire pipe is arranged in the shell.

11. The exoskeleton device for assisting transportation according to claim 1, characterized in that: The coil spring is sleeved on the spline shaft, the outer end of the coil spring is connected to the mounting seat, and the inner end of the coil spring is connected to the spline shaft.

12. The exoskeleton device for assisting transportation according to claim 1, characterized in that: It also includes a wire tube, one end of which is fixed to an opening of the mounting seat for the first pull wire to pass through, and the other end is fixed to the shoulder wearable piece; the first pull wire passes through the wire tube.

13. The exoskeleton device for assisting transportation according to claim 1, characterized in that: The hand wearable item is a glove, and the glove is detachably connected to the first force transmission component.

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