A hip exoskeleton

Abstract

The present invention is a hip joint exoskeleton, and discloses an exoskeleton, characterized in that it comprises a hip mechanism, wherein the hip mechanism comprises a left hip and a right hip, and the left hip and the right hip each respectively comprise at least three single-axis mechanisms to collaboratively realize isomorphic movement of the hip mechanism and the human hip.

Description

[0001] Priority application

[0002] This application claims priority to Chinese invention patent application No. 201811433860.9 “A kind of exoskeleton” filed on November 28, 2018 and Chinese invention patent application No. 201910639370.2 “A kind of waist exoskeleton” filed on July 19, 2019, and the above priority invention patent applications are incorporated by reference in their entirety. Technical Field

[0003] The present invention relates to an exoskeleton load-assisting system, and in particular to a wearable exoskeleton capable of achieving isomorphic movements with the waist of a wearer. Background Art

[0004] Although logistics and material handling can be carried out by various means of transportation such as land, sea and air, human transportation is still an important and irreplaceable means of transportation. For example, during geological disaster rescue, when materials are most needed, they may only be transported by manpower due to road damage and other reasons.

[0005] 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 backpack is used, the long-term load-bearing capacity can be increased to 30-50kg. However, because backpacks and backpacks 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, the auxiliary load-bearing capacity of backpacks and backpacks is limited.

[0006] In addition, the human body often needs to carry goods by hugging in front of the chest, carrying on the shoulders, or lifting in the hands. 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 severe discomfort in the local limbs, and then reaching the limit of fatigue. For example, if you carry a 10kg plastic bag by hand, in less than a few minutes, the fingers that pull the bag will suffer from local ischemia due to severe tightening and compression, and you need to change hands or rest before you can continue to carry it. In addition, some items may not be suitable for hugging, lifting, or taking, which requires the upper limbs of the human body to exert additional and greater sustained force to lift the object off the ground for transportation, which is also an important reason for the low efficiency of transportation. For example, when a person carries a heavy box in front of him, the fingers will show obvious ischemia due to local pressure. At the same time, because the fingers have to remain bent to resist the downward movement of the box, the forearm muscles continue to exert force to keep the fingers bent, causing the forearm to feel sore immediately after carrying the heavy box for a while.

[0007] An exoskeleton is a mechanical device worn on the outside of the human body that can adapt to the movement of human limbs, assist the body in bearing loads and / or the body's own weight, and efficiently transfer the load and / or the body's gravity to the ground through its mechanical structure, and even assist the body in moving its limbs. Therefore, it has broad application prospects in disaster relief, individual load-bearing, firefighting, outdoor hiking, logistics and transportation, and other fields.

[0008] However, existing exoskeleton mechanisms often have difficulty in closely fitting the wearer's body movements, especially in achieving isomorphic movements with the wearer's waist, resulting in a poor user experience, with the user feeling constrained or held by an inflexible, rigid mechanical structure. Therefore, how to improve the user experience and enable exoskeleton equipment, especially hip joint exoskeleton, to achieve smooth and harmonious isomorphic movements with the human hip joint is a technical problem that the present invention attempts to solve. Summary of the invention

[0009] The purpose of the present invention is to overcome the above-mentioned defects. The present invention provides an exoskeleton, characterized in that it includes a hip mechanism, wherein the hip mechanism includes a left hip and a right hip, and the left hip and the right hip each include at least three single-axis mechanisms to collaboratively realize the isomorphic movement of the hip mechanism and the human hip.

[0010] Furthermore, the at least three single-axis mechanisms include a sagittal axis mechanism, a frontal axis mechanism and a vertical axis mechanism; the sagittal axis mechanism rotates around the sagittal axis of the exoskeleton, and the sagittal axis of the exoskeleton is parallel to the sagittal axis of the human thigh; the frontal axis mechanism rotates around the frontal axis of the exoskeleton, and the frontal axis of the exoskeleton is parallel to the frontal axis of the human thigh; the vertical axis mechanism rotates around the vertical axis of the exoskeleton, and the vertical axis of the exoskeleton coincides with or is parallel to the vertical axis of the human thigh.

[0011] Furthermore, the sagittal axis mechanism is directly connected to the vertical axis mechanism and moves in coordination.

[0012] Furthermore, the sagittal axis mechanism and the vertical axis mechanism are directly connected by a quick release method.

[0013] Furthermore, the frontal axis mechanism is directly connected to the sagittal axis mechanism or the vertical axis mechanism and moves in coordination.

[0014] Furthermore, the frontal axis mechanism is directly connected to the sagittal axis mechanism or the vertical axis mechanism by quick release.

[0015] Furthermore, the at least three single-axis mechanisms are respectively provided with a damping mechanism and / or a rebound mechanism.

[0016] Furthermore, the damping mechanism includes a damping force adjustment mechanism; and the rebound mechanism includes a rebound force adjustment mechanism.

[0017] Furthermore, the hip mechanism also includes a hip base; the sagittal axis mechanism includes a sagittal axis mounting base; the frontal axis mechanism includes a frontal axis mounting base; the vertical axis mechanism includes at least one motion track; wherein the frontal axis mounting base is arranged on the at least one motion track and can move on the at least one motion track along the length direction of the at least one motion track; one side of the sagittal axis mounting base is arranged in the hip base, and one side is connected to the at least one motion track.

[0018] Furthermore, the at least one motion track includes a sliding rail mechanism and a pulley mechanism that are slidably connected; wherein, one end of the sliding rail mechanism is connected to the sagittal axis mounting base, and the frontal axis mounting base is fixed on the pulley mechanism, and the pulley mechanism can slide on the sliding rail mechanism along the length direction of the sliding rail mechanism, so that the frontal axis mounting base can rotate around the vertical axis mechanism around the vertical axis of the exoskeleton on the sliding rail mechanism under the drive of the pulley mechanism.

[0019] Furthermore, a hip base adjustment device is provided in the hip base to adjust the length of the hip base.

[0020] Furthermore, the sagittal axis mounting base and the slide rail mechanism are connected in a quick-release connection manner.

[0021] Furthermore, a damping mechanism and / or a rebound mechanism is arranged in the sagittal axis mounting base and / or the frontal axis mounting base.

[0022] Furthermore, a rotation damping mechanism and / or a bidirectional rebound mechanism is arranged in the pulley mechanism and / or the frontal shaft mounting base.

[0023] Furthermore, the motion track includes a telescopic rod mechanism, one end of which is mounted on the sagittal axis mounting base, and the other end is fixedly connected to the frontal axis mounting base; when the telescopic rod is contracted or extended, it drives the frontal axis mounting base to rotate around the vertical axis of the exoskeleton.

[0024] Further, it is characterized in that the telescopic rod mechanism includes an inner rail, an inner steel ball sleeve, a middle rail, an outer steel ball sleeve, an outer rail and a flexible porous outer cover which are sequentially socketed, wherein a plurality of inner steel balls are evenly arranged on the inner steel ball sleeve, so that the inner steel balls can slide along the inner rail, and the middle rail can slide along the inner steel ball sleeve; a plurality of outer steel balls are evenly arranged on the outer steel ball sleeve, so that the outer steel balls can slide along the middle rail, and the outer rail can slide along the outer steel ball sleeve.

[0025] Furthermore, the hip mechanism includes a hip base, and the left hip and the right hip of the hip mechanism are hinged on the left and right sides of the hip base respectively, and the left hip and the right hip can rotate in a horizontal plane; the vertical axis mechanism includes a motion track composed of multiple section slide rails connected in sequence end to end, and a variable curvature pulley mechanism; the head end of the multiple section slide rail is rotationally connected to the hip base, and the tail end thereof is connected to the multiple section slide rail on the other side; the variable curvature pulley mechanism is installed on the multiple section slide rail and slides on the motion track; one end of the sagittal axis mechanism is installed on the variable curvature pulley mechanism, and the other end is connected to the frontal axis mounting base of the frontal axis mechanism; the sagittal axis mechanism adopts a guide rod displacement mechanism to realize rotation around the sagittal axis of the exoskeleton.

[0026] Furthermore, the variable curvature pulley mechanism includes a variable curvature main pulley and variable curvature side pulleys respectively hinged on both sides of the variable curvature main pulley, and the variable curvature main pulley and the variable curvature side pulley are installed on the moving track in a manner that they can slide relative to the multi-section slide rail.

[0027] Furthermore, a stopper or a limiting groove for limiting the rotation angle of the variable curvature side pulley relative to the variable curvature main pulley is provided at the hinged portion of the variable curvature main pulley with the side variable curvature pulley.

[0028] Furthermore, the guide rod displacement mechanism includes a guide rod, a rocker arm, a piston cylinder, and a base fixed on the variable curvature main pulley, wherein one end of the guide rod is hinged to the middle part of the base, and the other end is fixedly connected to the piston head in the piston cylinder; one end of the rocker arm is hinged to the bottom of the base, and the other end is hinged to the cylinder head of the piston cylinder; the bottom of the piston cylinder is fixedly connected to the frontal shaft mounting base.

[0029] Furthermore, the hip mechanism also includes a flexible waist belt, and the multi-section slide rail is attached to the outer side of the flexible waist belt along the length direction of the flexible waist belt.

[0030] Further, it is characterized in that the hip mechanism also includes a hip width adjustment member arranged on the hip base, the hip adjustment member is located between the left hip and the right hip, and the hip width adjustment member drives the left hip and the right hip to move horizontally relative to each other or horizontally away from each other on the hip base.

[0031] The present invention provides a waist exoskeleton device, which is characterized in that it includes a waist slide rail, a waist pulley, and a waist elastic mechanism; the waist pulley can slide along the waist slide rail; the waist elastic mechanism is placed on the waist slide rail and connected to the waist pulley, providing elastic energy storage when the waist pulley slides along the waist slide rail.

[0032] Furthermore, the waist slide rail is composed of a plurality of waist slide rail pieces that can be folded relative to each other.

[0033] Furthermore, the waist elastic mechanism is a torsion spring, a tension spring, a compression spring or a gas push rod.

[0034] Further, the waist slide rail includes a left waist slide rail and a right waist slide rail; the waist pulley includes a left waist pulley and a right waist pulley; the waist elastic mechanism includes a left waist elastic mechanism and a right waist elastic mechanism; the left waist elastic mechanism is placed on the left waist slide rail and connected to the left waist pulley, providing elastic energy storage when the left waist pulley slides along the left waist slide rail; the right waist elastic mechanism is placed on the right waist slide rail and connected to the right waist pulley, providing elastic energy storage when the right waist pulley slides along the right waist slide rail.

[0035] Furthermore, the waist pulley is connected to the hip joint sagittal axis mechanism, and the hip joint sagittal axis mechanism is connected to the lower limb exoskeleton device, and allows the lower limb exoskeleton device to flip to the left and right sides of the human body.

[0036] Furthermore, a lateral rotation elastic energy storage device is provided in the hip joint sagittal axis mechanism.

[0037] Furthermore, the lateral rotation elastic energy storage device is a torsion spring, a tension spring, a compression spring or a gas push rod.

[0038] Furthermore, the waist pulley is connected to the hip joint frontal axis mechanism, and the hip joint frontal axis mechanism is connected to the lower limb exoskeleton device, and allows the lower limb exoskeleton device to flip forward and backward toward the human body.

[0039] Furthermore, a forward and backward rotation elastic energy storage device is provided in the frontal axis mechanism of the hip joint.

[0040] Furthermore, the forward and backward rotation elastic energy storage device is a torsion spring, a tension spring, a compression spring or a gas push rod.

[0041] It must be emphasized that in actual use, the three single-axis mechanisms used in the present invention work in coordination. For example, when the exoskeleton wearer abducts the thigh and lifts the leg upward, the sagittal axis mechanism, the frontal axis mechanism and the vertical axis mechanism work simultaneously to achieve isomorphic motion with the wearer.

[0042] Compared with the prior art, the present invention has at least the following beneficial technical advantages:

[0043] Existing exoskeleton mechanisms can usually only achieve a single axis collinearity, such as the collinearity of the frontal axis, the collinearity of the sagittal axis, or the collinearity of the vertical axis of the waist / thigh of the human body, but cannot achieve the collinearity of the three axes of the exoskeleton with the three corresponding axes of the human body at the same time, that is, it is difficult to fully achieve the isomorphic movement of the hip joint of the exoskeleton and the hip joint of the human body. The hip mechanism of the exoskeleton of the present invention can closely fit the movement of the human body, without invading the wearer's body, so that the movement trajectory of the exoskeleton is roughly the same as the hip movement of the wearer, that is, the isomorphic movement of the hip joint is better achieved.

[0044] At the same time, the exoskeleton has a high degree of fit with the human body during exercise, so that when carrying heavy objects, the exoskeleton can more efficiently transfer the weight to the ground through the exoskeleton, which can improve the load-bearing effect of the exoskeleton to a certain extent.

[0045] In addition, by setting at least three single-axis mechanisms, different damping forces and rebound forces can be set at different axis mechanisms according to the actual application scenario and the actual physical condition of the wearer, so that the exoskeleton device can be more personalized and more flexible to meet different needs during actual use. Personalized and adjustable damping force and rebound force are very important for the exoskeleton wearer, which prevents the wearer from moving too fast or with too large an amplitude, making the wearer's movement controllable, stable, and smooth, and avoiding accidents when turning quickly or sharply.

[0046] In addition, by connecting the sagittal axis mechanism, the frontal axis mechanism and the vertical axis mechanism in a quick-release manner, the exoskeleton mechanism can be flexibly disassembled, allowing the wearer to put on and take off more conveniently. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic diagram of the structure of an embodiment of an exoskeleton in the prior art;

[0048] Figure 2a It is a structural schematic diagram of an embodiment of a hip mechanism of an exoskeleton of the present invention;

[0049] Figure 2b To reflect Figure 2a Schematic diagram showing the three axes of the mid-hip mechanism corresponding to the vertical axis, frontal axis and sagittal axis of the wearer;

[0050] Figure 2c To reflect Figure 2a Schematic diagram of the sagittal axis of the mid-hip mechanism mating with the sagittal axis mounting base, and the frontal axis mating with the frontal axis mounting base;

[0051] Figure 2d and Figure 2eRespectively reflect Figure 2b Schematic diagram of left and right hip abduction and adduction movements;

[0052] Figure 2f To reflect Figure 2a Schematic diagram of the mid-hip mechanism;

[0053] Figure 2g A schematic diagram showing a hip width adjustment member on a hip base;

[0054] Figure 3a To reflect Figure 2b A cross-sectional view of a quick-release shaft connection mechanism formed by a mid-sagittal shaft and a sagittal shaft mounting base;

[0055] Figure 3b and Figure 3c Both Figure 2b Exploded view of the mid-sagittal axis mounting base;

[0056] Figure 4a for Figure 2b A cross-sectional view of a quick-release shaft connection mechanism formed by a frontal shaft of a mid-hip mechanism and a frontal shaft mounting base;

[0057] Figure 4b , Figure 4c and Figure 4d Both Figure 4a An exploded view of the mounting base of the mid-frontal shaft;

[0058] Figure 4e To reflect Figure 4a Assembly diagram of the bidirectional rebound mechanism in the central frontal shaft mounting base;

[0059] Figure 5a , Figure 5b and Figure 5c for Figure 2b A schematic diagram of an embodiment of an adjustable damping mechanism in a sagittal axis mounting base of a mid-hip mechanism;

[0060] Figure 6a and Figure 6b Both Figure 2b An exploded schematic diagram of an embodiment of the middle pulley mechanism;

[0061] Figure 6c and Figure 6d Both Figure 2b A cross-sectional view of an embodiment of the middle pulley mechanism;

[0062] Figure 6e , Figure 6f and Figure 6g Both are schematic diagrams reflecting the coordination between the bidirectional rebound mechanism in the pulley mounting seat and the meshing gear of the slide rail;

[0063] Figure 7a is a structural schematic diagram of a second embodiment of a hip mechanism of an exoskeleton of the present invention;

[0064] Figure 7b To reflect Figure 7a Schematic diagram of the second embodiment of the hip mechanism during the isomorphic movement of the thigh abduction;

[0065] Figure 7c To reflect Figure 7a Schematic diagram of the second embodiment of the hip mechanism during isomorphic movement of the thigh external rotation;

[0066] Figure 7d To reflect Figure 7a Schematic diagram of the second embodiment of the hip mechanism during the isomorphic movement of the thigh adduction;

[0067] Figure 7e To reflect Figure 7a Schematic diagram of the second embodiment of the hip mechanism during thigh flexion isomorphic motion;

[0068] Figure 7f To reflect Figure 7a Schematic diagram of the second embodiment of the hip mechanism during the isomorphic movement of the thigh extension;

[0069] Figure 8a for Figure 7a Exploded diagram of the mid-hip mechanism;

[0070] Figure 8b for Figure 7a Schematic diagram of the mid-hip mechanism (top view);

[0071] Figure 8c for Figure 7a Schematic diagram of the mid-hip mechanism (top view, right hip mechanism anatomy);

[0072] Figure 8d for Figure 7a Schematic diagram of the mid-hip mechanism (anatomical diagram of the right hip mechanism);

[0073] Figure 8e for Figure 7a Schematic diagram of the mid-hip mechanism worn on the human hip;

[0074] Figure 9a is a schematic structural diagram of a third embodiment of a hip mechanism of an exoskeleton of the present invention;

[0075] Figure 9b To reflect Figure 9a Schematic diagram of a medium variable curvature pulley mechanism moving a certain distance along a multi-section slide rail;

[0076] Fig.9c for Figure 9a Exploded diagram of the mid-hip mechanism;

[0077] Figure 9d To reflect Figure 9a Schematic diagram of the coordination between the medium variable curvature pulley mechanism and the multi-section slide rail;

[0078] Fig.9e To reflect Figure 9a A top view of the structure;

[0079] Figure 9f To reflect Figure 9a A schematic diagram of the third embodiment of the hip mechanism during isomorphic thigh abduction movement;

[0080] Figure 9g To reflect Figure 9a Schematic diagram of the third embodiment of the hip mechanism during the isomorphic movement of the thigh adduction;

[0081] Figure 9h To reflect Figure 9a Schematic diagram of the third embodiment of the hip mechanism during the isomorphic movement of the left leg extension and the right leg flexion and abduction;

[0082] Fig.10a To reflect Figure 9d Schematic diagram of the assembly of horizontal rollers and vertical rollers in the medium variable curvature pulley mechanism;

[0083] Fig.10b To reflect Figure 9d An exploded schematic diagram of an embodiment of a medium variable curvature pulley mechanism;

[0084] Fig.11a To reflect Figure 9d A schematic diagram of the structure of the middle guide rod displacement mechanism cooperating with the variable curvature pulley mechanism;

[0085] Fig.11b for Fig.11a Exploded diagram of the middle guide rod displacement mechanism;

[0086] Fig.11c and Fig.11d Respectively reflect Fig.11a Schematic diagram of the distance change between the top of the guide rod and the head of the piston cylinder when the middle guide rod displacement mechanism is extended and retracted;

[0087] Fig.12 It is an exploded schematic diagram of an embodiment of a hip base with adjustable width in a hip mechanism of an exoskeleton of the present invention;

[0088] Fig.13 It is an exploded schematic diagram of another embodiment of a hip base with adjustable width in a hip mechanism of an exoskeleton of the present invention;

[0089] Fig.14aA schematic diagram (front view) of a whole-body exoskeleton structure including an embodiment of a waist exoskeleton device of the present invention;

[0090] Fig.14b A schematic diagram (perspective view) of an exoskeleton structure including an embodiment of a waist exoskeleton device of the present invention;

[0091] FIG14c is a schematic diagram (perspective view) of an exoskeleton structure including an embodiment of a waist exoskeleton device of the present invention;

[0092] Fig.15a This is a schematic structural diagram of an embodiment of a waist exoskeleton device of the present invention (front view);

[0093] Fig.15b This is a schematic structural diagram of a waist exoskeleton device embodiment of the present invention (rear view);

[0094] Fig.16a This is a schematic structural diagram of a waist exoskeleton device embodiment of the present invention (left view).

[0095] Fig.16b This is a schematic structural diagram of a waist exoskeleton device embodiment of the present invention (right view).

[0096] Fig.17a The figure is a schematic structural diagram of a waist exoskeleton device embodiment of the present invention (bottom view).

[0097] Fig.17b The figure is a schematic structural diagram (top view) of a waist exoskeleton device embodiment of the present invention.

[0098] Fig.18a This is an exploded view of the structure and components of a waist exoskeleton device embodiment of the present invention.

[0099] Fig.18b This is an exploded view of the structure and components of a waist exoskeleton device embodiment of the present invention.

[0100] Fig.19 This is a schematic diagram of the structure of the waist elastic mechanism in an embodiment of a waist exoskeleton device of the present invention.

[0101] Fig.20a This is a schematic diagram of the structure of the waist slide rail mechanism in an embodiment of a waist exoskeleton device of the present invention.

[0102] Fig.20b This is a schematic diagram of the structure of the waist slide rail mechanism in an embodiment of a waist exoskeleton device of the present invention.

[0103] Fig.20c This is a schematic diagram of the structure of the waist slide rail mechanism in an embodiment of a waist exoskeleton device of the present invention.

[0104] Fig.21a The figure is a partial structural diagram of a waist exoskeleton device embodiment of the present invention.

[0105] Figure 21b The figure is a partial structural diagram of a waist exoskeleton device embodiment of the present invention.

[0106] Fig.21c The figure is a partial structural diagram of a waist exoskeleton device embodiment of the present invention.

[0107] The numbers in the above figure are summarized as follows: hip mechanism 41; hip base 410; sagittal axis mounting base 411; left hip 412 and right hip 413; frontal axis mounting base 414; motion track 415; thigh link 416; hip width adjustment member 417; dial 417-1; lead screw 417-2; pulley mechanism 4151; slide rail mechanism 4152; left slider 4101 and right slider 4102; track 4103; vertical latch 4104; sagittal axis I1; frontal axis I2;

[0108] Square tenon quick release connector 544; first ball 545; quick release button 531; quick release button mounting hole 552; first ball locking groove 532; square tenon quick release hole 533; spline quick release head 541; first ball groove 534; second ball locking groove 546; spline quick release hole 537; second ball groove 538; damping mechanism 55; damping box inner cover 550; damping box outer cover 551; damping liquid guide groove 553; damping liquid fluctuation block 554; damping liquid injection hole 555; damping liquid overflow groove 556; fixed wedge 557; adjustment knob 558; adjustable wedge surface 559; damper dial 5510; disk body 5511; damping liquid toggle block 5512; rebound mechanism 56 ; torsion spring 560; housing 530 of quick-release end; outer ear 5601; outer ear groove 5301 of torsion spring; inner ear hole 5302 of torsion spring; quick-release sleeve 539; inner ear 5602; rebound sleeve 565; bidirectional rebound mounting base 561; forward rebound turbine 562a and reverse rebound turbine 562b; forward rebound worm 564a and reverse rebound worm 564b; forward rebound torsion spring 563a and reverse rebound torsion spring 563b; outer ear 5601; outer ear jack 5621; inner ear 5602; left inner ear slide 5651a and right inner ear slide 5651b; forward rebound block 5611a and reverse rebound block 5611b; forward rebound sleeve block 5653 and reverse rebound sleeve block 5654;

[0109] Pulley mechanism 4151; slide rail mechanism 4152; pulley mounting seat 4151-1; top cover 4151-11; rotating slot 4151-12; slide rail meshing roller 4151-10; slide rail meshing gear 4151-3; slotted shaft 4151-31; roller pin 4151-101; pin hole 4151-13; slide rail meshing gear mounting slot 4151-14; damping box mounting slot 4151-15; slide rail thread Hole 4151-2; rotary damping mechanism 4151-4; rotary damping box 4151-41 and damping fluid paddle 4151-42; bidirectional rebound mechanism 4151-5; external spring fixing plate 4151-51, internal spring fixing plate 4151-52, external rebound adjustment gear 4151-53, internal rebound adjustment gear 4151-54, internal rebound adjustment button 4151-55, external rebound adjustment button 4151-56 1-56, an outer winding rebound spring 4151-57 and an inner winding rebound spring 4151-5; an outer winding spring fixing plate gear 4151-511; an outer winding spring positioning groove 4151-512; an inner winding spring fixing plate gear 4151-521; an inner winding spring positioning groove 4151-522; an outer winding rebound spring 4151-57 and an inner winding rebound spring 4151-58; outer ears 4151-571, 4151-581; rebound Inner ears 4151-572 and 4151-582 of the spring; rotating shaft 4151-50 of the adjusting gear; mounting chamber 4151-16 of the rebound adjusting mechanism; mounting base 4151-551 of the knob; knob body 4151-552; sleeve 4151-553; rotating bayonet 4151-554; inner rebound adjusting button return spring 4151-59 and outer rebound adjusting button return spring 4151-510;

[0110] Motion track 415; inner track 4153, inner steel ball sleeve 4154, middle track 4155, outer steel ball sleeve 4156, outer track 4157 and flexible porous outer cover 4158;

[0111] Multi-section slide rail 4121; variable curvature pulley mechanism 4122; guide rod displacement mechanism 4123; buckle male head M and buckle female head F; variable curvature main pulley 4122-1; side pulley 4122-2; horizontal roller 4122-3; vertical roller 4122-4; side wall 4122-11; side pulley articulated seat 4122-12; guide rod 4123-1, rocker 4123-2, Sagittal axis 4123-3, piston cylinder 4123-4 and base 4123-5; main pulley side wall 4122-2; guide rod pin hole 4123-51 and rocker pin hole 4123-52; piston head 4123-41; guide rod sleeve 4123-11; flexible waist belt 415-1; fixing protrusion 4121-1; waist bandage 415-11; back sponge 415-12;

[0112] Waist exoskeleton device 100; waist slide rail 200; waist pulley 202; waist elastic mechanism 210; waist ring groove 204; groove 209; waist pulley connecting block 212; screw / screw 216; waist elastic mechanism connecting piece 214; baffle 218; back support device 102; lower limb exoskeleton device 105; thigh elastic energy storage device 104; knee joint exoskeleton device 106; calf exoskeleton support piece 108; foot exoskeleton device 110; back support plate Platform 103; contact part 207; space 208; waist slide rail 211; hip joint rotation connection part 300; hip joint sagittal axis mechanism 304; hip joint frontal axis mechanism 310; lateral rotation elastic energy storage device 302; front and rear rotation elastic energy storage device 306; lateral rotation axis 307; lateral rotation axis track 303; right male part 308 of hip joint frontal axis mechanism; right female part 309 of hip joint frontal axis mechanism; lower limb connection part 311; first joint 312; second joint 313. DETAILED DESCRIPTION

[0113] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In all drawings, similar elements or parts are generally identified by similar figure marks. In the drawings, each element or part is not necessarily drawn according to the actual scale. It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, in the present invention, the description of "first", "second", etc. is only used for description purposes, and cannot be understood as indicating or implying its relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0114] In addition, the various embodiments of the present invention can be combined to derive other technical solutions, solve more technical problems, and produce more technical effects. Therefore, the description of each embodiment in this article can be mutually verified, explained, illustrated, combined, combined, and integrated. However, the description of each embodiment in this article may involve some identical or similar words. If these identical or similar words conflict or contradict in understanding and meaning, then the understanding and meaning of these words in the description part of the embodiment to which they belong shall prevail. For example, in different embodiments, words such as "base", "connector", "moving track", "slide rail", and "pulley" may appear. Then the "base" in Example 1 shall be based on its understanding and meaning in Example 1, and the "base" in Example 2 shall be based on its understanding and meaning in Example 2.

[0115] In addition, herein, the suffixes such as "mechanism", "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "mechanism", "module", "component" or "unit" can be used in a mixed manner.

[0116] Definition of terms

[0117] "Isomorphic motion": Isomorphic motion in this article means that in order to fit the human body's movement more closely, the movement law of the waist / hip mechanism of the exoskeleton should be as similar as possible to the movement of the human hip joint. That is, since the human hip joint is a spatial ball joint that can rotate independently around the three degrees of freedom of the human sagittal axis, frontal axis and vertical axis, the waist / hip of the exoskeleton should also be able to rotate independently around the three degrees of freedom of the human sagittal axis, frontal axis and vertical axis.

[0118] In order to closely follow the human body's movements, the movement trajectory of the exoskeleton should be as similar as possible to that of the human body. However, since the exoskeleton mechanical structure is worn outside the human body and cannot invade the internal structure of the human body, the hip mechanism of the existing exoskeleton can usually only achieve a single axis collinearity ("collinearity" means that the axes coincide or are parallel), such as the collinearity of the frontal axis, the collinearity of the sagittal axis, or the collinearity of the vertical axis of the human thigh, but it cannot achieve the above three axes of the exoskeleton to be collinear with the corresponding three axes of the human body at the same time, that is, it is difficult to fully achieve isomorphic movement with the human hip joint (for example, Figure 1 Based on this, an embodiment of the present invention provides an exoskeleton for performing isomorphic movements with the wearer's waist without invading the wearer's body. Specifically, the exoskeleton includes a hip mechanism, and the hip mechanism 41 adopts a three-single-axis mechanism to cooperate and realize isomorphic movements of the exoskeleton hip joint and the human hip joint.

[0119] "Sagittal axis mechanism": The sagittal axis mechanism in this article refers to an exoskeleton mechanism that can move isomorphically with the sagittal axis of the human hip joint or thigh (i.e., the adduction and abduction of the human hip joint or thigh). The sagittal axis mechanism can be set on the back of the human body (for example, the position of the sagittal axis mounting base 411 in the first embodiment and the sagittal axis mounting base 411 in the second embodiment), or it can be set on the outside of the human thigh (for example, in the third embodiment, the sagittal axis mechanism adopts the structure of the guide rod displacement mechanism 4123; in the sixth embodiment, the sagittal axis mechanism adopts the hip joint sagittal axis mechanism 304).

[0120] "Frontal axis mechanism": the frontal axis mechanism in this article refers to an exoskeleton mechanism that can move isomorphically with the frontal axis of the human hip joint or thigh (i.e., the flexion and extension of the human hip joint or thigh). The frontal axis mechanism can be arranged on the outside of the human thigh, and can be directly connected to the motion track included in the vertical axis mechanism (for example, 414 in the first and second embodiments), or it can be arranged at the lower end of the sagittal axis mechanism, and indirectly connected to the motion track included in the vertical axis mechanism through the sagittal axis mechanism (for example, 414 in the third embodiment and 310 in the sixth embodiment).

[0121] "Vertical axis mechanism": The frontal axis mechanism in this article refers to an exoskeleton mechanism that can move isomorphically with the frontal axis of the human hip joint or thigh (i.e., the human hip joint or thigh is rotating, including internal rotation and external rotation). In some embodiments of the present invention, the "vertical axis mechanism" includes at least one motion track / slideway.

[0122] Example 1 Sliding rail type three-single-axis quick-release waist device with rebound damping

[0123] See also Figure 2a-2e In this embodiment, the hip mechanism 41 includes a hip base 410, sagittal axis mounting bases 411 respectively arranged on the left and right sides of the hip base 410, and the hip mechanism 41 also includes a left hip 412 and a right hip 413, and the left hip 412 and the right hip 413 are respectively mounted on the sagittal axis mounting bases 411 on the left and right sides through the corresponding sagittal axes, and the sagittal axes of the left hip 412 and the right hip 413 are respectively collinear with the sagittal axes of the left and right thighs of the human body (that is, the sagittal axes coincide or are parallel), so that the lower limb thigh part of the exoskeleton can be abducted (see Figure 2d ) or adduction movement (see Figure 2e ).

[0124] See also Figure 2b and Figure 2cIn a specific embodiment, the left hip 412 and the right hip 413 each include a frontal axis mounting base 414 (i.e., a frontal axis mechanism), and a motion track 415 providing a motion path for the frontal axis mounting base 414 (specifically, the motion track is in the shape of an arc, or other shapes that can fit the human hip / waist shape), wherein the central axes of the motion tracks 415 on the left and right sides coincide with the vertical axes of the left hip and right hip of the human body, respectively (i.e., the respective motion tracks of the left hip 412 and the right hip 413 of the hip mechanism 41 coincide with the vertical axes of the left thigh and the right thigh of the human body, respectively); and the frontal axis mounting base 414 is disposed on the motion track 415, and can move on the motion track 415 along the length direction of the motion track 415, so that the frontal axis mounting base 414 can rotate around the vertical axis of the human thigh, thereby realizing the internal rotation or external rotation of the thigh part of the lower limb. Specifically, the motion track 415 includes a pulley mechanism 4151 and a slide rail mechanism 4152 that are slidably connected, wherein the central axis of the slide rail mechanism 4152 coincides with the vertical axis of the human thigh on the same side (for example, the central axis of the slide rail mechanism 4152 of the left hip 412 coincides with the vertical axis of the human left thigh), and one end of the slide rail mechanism 4152 is mounted on the sagittal axis mounting base 411 through the sagittal axis I1, and the other end is a free end, and the above-mentioned frontal axis mounting base 414 is fixed on the pulley mechanism 4151, and the pulley mechanism 4151 can slide on the slide rail mechanism 4152 along the length direction of the slide rail mechanism 4152, so that the frontal axis mounting base 414 is driven by the pulley mechanism 4151 to rotate around the central axis of the slide rail mechanism 4152, that is, the vertical axis of the human thigh, thereby realizing the internal rotation or external rotation of the thigh part of the lower limb in the exoskeleton.

[0125] See also Figure 2b and Figure 2c In this embodiment, the sagittal axis mounting base 411 and the left hip 412 / right hip 413 are connected by a quick-release shaft connection (i.e., the shaft of the sagittal axis mounting base 411 and the left hip 412 / right hip 413, i.e., the sagittal axis, constitutes a quick-release shaft connection mechanism), so that the sagittal shaft I1 is locked in the sagittal axis mounting base 411 and can rotate relative to the sagittal axis mounting base 411. When the exoskeleton needs to be quickly disassembled, the sagittal shaft is unlocked from the sagittal axis mounting base 411 by directly pressing or rotating the corresponding auxiliary component, so that it can be quickly disassembled from the sagittal axis mounting base 411.

[0126] See also Figure 3aIn a specific embodiment, the sagittal rotation axis I1 at one end of the left hip 412 / right hip 413 adopts a square tenon quick-release connector 544, and a quick-release button 531 is arranged inside the square tenon quick-release connector 544, and a first ball 545 is arranged at the end of the square tenon quick-release connector 544, and a first ball groove 534 is also arranged at the end of the quick-release button 531, and when the quick-release button 531 is pressed, the first ball groove 534 moves below the first ball 545, so that the first ball 545 falls into the first ball groove 534, so that the square tenon quick-release connector 544 can be inserted into or slide out of the square tenon quick-release hole 533 arranged in the frontal axis mounting base 414, and the square tenon quick-release connector 544 can achieve a stable connection after insertion without pressing the quick-release button 531. Furthermore, a first ball locking groove 532 is provided at the end of the square tenon quick release hole 533, so that when the square tenon quick release connector 544, i.e. the sagittal axis I1, is inserted into the square tenon quick release hole 533 and the first ball 545 moves to the position of the first ball locking groove 532, due to the action of the return spring of the quick release button 531, the square tenon quick release connector 544 pushes the first ball 545 into the first ball locking groove 532, thereby locking the left hip 412 / right hip 413 and the sagittal axis mounting base 411 in the single-degree-of-freedom rotation axis. When quick release is required, the quick release button 531 is pressed to make the first ball 545 fall into the first ball groove 534 on the square tenon quick release connector 544 or the quick release button, and then the square tenon quick release connector 544, i.e., the sagittal axis I1 is pulled out. At this time, the square tenon quick release connector 544 can be directly pulled out without pressing the button.

[0127] Similarly, see Figure 2b , 2c4a, in a specific embodiment, the frontal shaft mounting base 414 and the thigh connecting rod 416 can also be connected by a quick-release shaft connection (i.e., the shaft of the thigh connecting rod, i.e., the frontal shaft I2, and the frontal shaft mounting base form a quick-release shaft connection mechanism), so that one end of the thigh connecting rod 416 is rotatably connected to the frontal shaft mounting base 414 through the frontal shaft I2. Specifically, a spline quick-release hole 537 and a quick-release button 531 are provided in the frontal shaft mounting base 414, the quick-release button 531 is provided with a return spring, and a second ball groove 538 is provided on the inner wall, and the frontal shaft I2 at one end of the thigh connecting rod 416 adopts a spline quick-release head 541, and a second ball locking groove 546 is provided at its end. When the spline quick-release head 541 is inserted into the spline quick-release hole 537, at the same time, the quick-release button 531 is pressed to compress the return spring, thereby exposing the second ball groove. 538, so that the spline quick release head 541 pushes the second ball into the second ball groove 538; when the spline quick release head 541 has been completely inserted into the spline quick release hole 537, the quick release button 531 is released, so that it is pushed out toward the outside of the end cover under the action of the return spring, and the second ball groove 538 on the inner side of the quick release button 531 slides out of the position corresponding to the second ball, and the second ball is forced to push into the corresponding second ball locking groove 546 on the spline quick release head, thereby preventing the spline quick release head 541 from falling off by itself.

[0128] Further, see Figure 3a and Figure 4a A corresponding damping mechanism 55 may also be provided in the quick-release shaft connection mechanism of this embodiment, that is, a damping mechanism 55 is provided in the sagittal axis mounting base 411 and / or the frontal axis mounting base 414 to produce a buffering effect.

[0129] See also Figure 3b and Figure 3c Specifically, a damping mechanism 55 is provided at one end of the sagittal axis mounting base 411 near the insertion hole of the quick release connector 544 (i.e., the sagittal axis I1), and includes a damping box inner cover 550 and a damping box outer cover 551 that cooperate with each other, wherein quick release button mounting holes that cooperate with the quick release button 531 are provided on the damping box outer cover 551 and in the middle of the damping box inner cover 550, and a damping liquid guide groove 553 is provided along the circumference of the quick release button mounting hole 552 on the side of the damping box inner cover 550 facing the quick release button 531, and a damping liquid fluctuation block 554 is provided on the side of the damping box outer cover 551 facing away from the quick release button 531 corresponding to the direction of the damping liquid guide groove 553, and damping liquid injection holes 555 are evenly provided on the damping box outer cover 551 / damping box inner cover 550 along the circumference of the quick release button mounting hole 552.

[0130] Of course, in some embodiments, the damping mechanism 55 may also be a damping mechanism with adjustable damping. Figure 5a , Figure 5b and Figure 5c A quick-release button mounting hole matching the quick-release button is provided on the damping box outer cover 551 and in the middle of the damping box inner cover 550, and a damping liquid guide groove 553 is provided in the damping box inner cover 550, and a damping liquid overflow groove 556 is provided on the top of the damping liquid guide groove 553, and two upper and lower fixed wedge openings 557 are provided above the damping liquid overflow groove 556, and a damping adjustment knob 558 is provided between the two fixed wedge openings 557, and an adjustable wedge surface 559 is provided on the adjustment knob 558 in a manner that it can move left and right relative to the adjustment knob 558, so that the gap between the adjustable wedge surface 559 and the fixed wedge opening 557 constitutes an adjustable flow passage A for the damping liquid, see Figure 5c , the distance that the adjustable wedge surface 559 moves left and right can be adjusted by rotating the adjusting knob 558, thereby changing the size of the adjustable flow passage A; and the damping liquid overflow groove 556 constitutes the flow fixed passage B of the damping liquid, see Figure 5c , that is, the flow rate of the damping fluid flowing through it is not adjustable; in addition, the damping mechanism 55 also includes a damper dial 5510 disposed between the damping box inner cover 550 and the damping box outer cover 551, and the damper dial 5510 includes a disc body 5511 and a damping fluid dial block 5512 disposed on the disc ladder 5511. In some embodiments, the damping fluid used in the damping mechanism 55 is silicone oil (a linear polysiloxane product that remains in a liquid state at room temperature). In some specific embodiments of the present invention, when creating the joints of the exoskeleton, materials that have damping properties themselves (for example, rubber, damping composite materials, damping coatings, etc.) can also be used to improve the damping properties of each joint of the exoskeleton.

[0131] Furthermore, in this embodiment, a rebound mechanism 56 is installed in both the sagittal axis mounting base 411 and the frontal axis mounting base 414. Specifically, see 4a, a single rebound mechanism 56 is provided in the sagittal axis mounting base 411, and a double rebound mechanism is provided in the frontal axis mounting base 414.

[0132] See also Figure 3b and Figure 3c The single rebound mechanism in the sagittal axis mounting base 411 is a torsion spring 560, and a torsion spring outer ear groove 5301 for accommodating the outer ear 5601 of the torsion spring 560 is provided in the shell 530 of the quick-release end head, and a torsion spring inner ear hole 5302 is provided on the quick-release sleeve 539 in the quick-release end head, and the inner ear 5602 of the torsion spring 560 is positioned in the torsion spring inner ear hole 5302, and a quick-release hole is also provided on the sleeve to cooperate with a quick-release connector, such as a square tenon.

[0133] See also Figure 4b , Figure 4c , Figure 4d and Figure 4eThe double rebound mechanism in the frontal shaft mounting base 414 includes a two-way rebound mounting base 561 for mounting a rebound shaft sleeve 565, a forward rebound turbine 562a and a reverse rebound turbine 562b are mounted on the left and right sides of the two-way rebound mounting base 561, and a forward rebound worm 564a and a reverse rebound worm 564b are mounted on the top, which are matched with the forward rebound turbine 562a and the reverse rebound turbine 562b respectively. The two-way rebound mechanism also includes a forward rebound torsion spring 563a and a reverse rebound torsion spring 563b, wherein the forward rebound torsion spring 563a and the reverse rebound torsion spring 563b are respectively mounted in the axial holes of the forward rebound turbine 562a and the reverse rebound turbine 562b, and the outer ears 5601 of the forward rebound torsion spring 563a and the reverse rebound torsion spring 563b can be respectively inserted into the forward rebound torsion spring 563a and the reverse rebound torsion spring 563b. In the external ear jack 5621 on the rebound turbine 562a and the reverse rebound turbine 562b (further, the forward rebound turbine 562a and the reverse rebound turbine 562b are provided with a plurality of external ear jacks 5621 along the circumferential direction for pre-adjusting the preload force of the rebound torsion spring as needed), the inner ear 5602 of the forward rebound torsion spring 563a and the reverse rebound torsion spring 563b can be respectively inserted into the inner ear grooves 5651a and 5651b on the left and right sides of the rebound sleeve 565, and the two-way rebound mounting base 561 is also respectively provided with a forward rebound block 5611a and a reverse rebound block 5611b, and the inner ear grooves 5651a and 5651b on the left and right sides of the rebound sleeve 565 are respectively provided with corresponding forward rebound sleeve blocks 5653 and reverse rebound sleeve blocks 5654. When the quick-release connector (i.e., the frontal shaft I2) is installed in the rebound sleeve 565 and the sleeve 565 is driven to rotate clockwise, the forward rebound sleeve stopper 5653 on the rebound sleeve 565 will drive the inner ear 5602 of the forward rebound torsion spring 563a in the two-way rebound device to rotate with it, thereby generating a reverse torque; while the reverse rebound torsion spring 563b is blocked by the reverse rebound stopper 5611b on the two-way rebound mounting base 561, and its reverse torque will not be transmitted to the quick-release connector sleeve (such as a spline sleeve) in the rebound sleeve 565 through the rebound sleeve 565. Similarly, when the quick-release connector (i.e., the frontal shaft I2) drives the quick-release connector sleeve to rotate counterclockwise, the reverse rebound block 5611b pushes the reverse rebound torsion spring 563b to rotate, thereby causing the reverse rebound torsion spring 563b to deform. On the contrary, the reverse torque generated to the sleeve will increase with the increase of the rotation degree; at this time, the inner ear 5602 of the forward rebound torsion spring 563a is blocked by the forward rebound block 5611a, and therefore, the forward rebound worm 564a can be rotated to make the forward rebound turbine 562a rotate clockwise, thereby increasing the initial stress of the rebound torsion spring.To summarize, in this embodiment, by setting the forward and reverse rebound turbines 562a, 562b and the forward and reverse rebound worm gears 564a, 564b as the initial stress adjustment mechanism of the bidirectional rebound mechanism, the initial stress of the forward and reverse rebound torsion springs can be adjusted respectively, so that the bidirectional rebound mechanism has the effect of bidirectional differential rebound characteristics, thereby increasing the adjustability and adaptability of the exoskeleton mechanism, and can be adjusted according to the physical characteristics of different users and different application scenarios.

[0134] In some embodiments, see Figure 2a and Figure 2b The slide rail mechanism 4152 is an arc-shaped slide rail with teeth on the inner side. Of course, the slide rail mechanism 4152 can also be in other shapes that can fit the human hip / waist shape.

[0135] In this embodiment, see Figure 6a , Figure 6b , Figure 6c , Figure 6d and Figure 6e The pulley mechanism 4151 includes a pulley mounting seat 4151-1, and rail engaging rollers 4151-10 respectively arranged at the top and bottom of the pulley mounting seat 4151-1 and engaging with the rail (which is fixed in the pulley mounting seat 4151-1 of the pulley mechanism 4151 through a roller pin 4151-101, specifically, Figure 6b Corresponding pin holes 4151-13 can be provided on the top and bottom of the side wall of the pulley mounting seat 4151-1 for fixing the roller pin 4151-101); and a slide rail meshing gear 4151-3 (specifically, see Figure 6c and Figure 6d , by providing a slide rail meshing gear installation groove 4151-14 in the pulley mounting seat 4151-1, that is, installing the slide rail meshing gear 4151-3 in the installation groove 4151-14). Wherein, the pulley mounting seat 4151-1 is provided with a slide rail through hole 4151-2 penetrating the pulley mounting seat 4151-1, that is, the pulley mounting seat 4151-1 is installed on the slide rail mechanism 4152 through the slide rail through hole 4151-2, so that the pulley mounting seat 4151-1 can be driven by an external force to move back and forth along the slide rail 4152 to achieve the internal rotation or external rotation movement of the thigh connecting rod.

[0136] Furthermore, in this embodiment, a rotation damping mechanism 4151-4 and a bidirectional rebound mechanism 4151-5 are also provided in the pulley mounting seat 4151-1. Figure 6a , Figure 6b , Figure 6c , Figure 6dThe rotary damping mechanism 4151-4 includes a (spline-shaped) rotary damping box 4151-41 and a damping fluid paddle 4151-42 that cooperate with each other. Figure 6c The rotary damping box 4151-41 is installed by providing a corresponding spline-shaped damping box installation groove 4151-15 at the bottom of the pulley mounting seat 4151-1, below the slide rail meshing gear installation groove 4151-14, so that when it is installed in the damping box installation groove 4151-15, the rotary damping box 4151-41 is located directly below the slide rail meshing gear 4151-3, and due to the rotary damping liquid paddle 4151 -42 is coaxially arranged with the slide rail meshing gear 4151-3 and is located at the bottom of the slide rail meshing gear 4151-3. When the slide rail meshing gear 4151-3 is installed in the corresponding mounting groove in the pulley mounting seat 4151-1, the rotary damping liquid paddle 4151-42 at the bottom of the slide rail meshing gear 4151-3 is automatically inserted into the rotary damping box 4151-41 in the damping box mounting groove 4151-15 and cooperates therewith, see Figure 6e and Figure 6f .

[0137] See also Figure 6a , Figure 6b , Figure 6c , Figure 6d The bidirectional rebound mechanism 4151-5 includes: an outward-turning spring fixing plate 4151-51, an inward-turning spring fixing plate 4151-52, an outward-turning rebound adjustment gear 4151-53, an inward-turning rebound adjustment gear 4151-54, an inward-turning rebound adjustment button 4151-55, an outward-turning rebound adjustment button 4151-56, an outward-turning rebound spring 4151-57 and an inward-turning rebound spring 4151-58.

[0138] Among them, the inner rotating spring fixing plate 4151-52 and the outer rotating spring fixing plate 4151-51 are both coaxially arranged with the slide rail meshing gear 4151-3 (and installed in the above-mentioned slide rail meshing gear installation groove 4151-14, of course, a corresponding accommodating cavity for accommodating the spring fixing plate can also be correspondingly provided on the top cover), and the three are arranged in sequence from top to bottom (specifically, a shaft through-hole can be provided at the central axis of the outer rotating spring fixing plate 4151-51 and the inner rotating spring fixing plate 4151-52 respectively, so that the straight groove shaft 4151-31 of the slide rail meshing gear 4151-3 located at the bottom passes through the shaft through-holes on the outer rotating spring fixing plate 4151-51 and the inner rotating spring fixing plate 4151-52 in sequence and is rotatably connected to the top cover 4151-11 of the pulley mounting seat).

[0139] Among them, the inner winding mainspring fixing plate 4151-52 and the outer winding mainspring fixing plate 4151-51 both include an outer winding mainspring fixing plate gear 4151-511 and an inner winding mainspring fixing plate gear 4151-521 for combining with the corresponding outer winding / inward winding rebound adjusting gear, and in order to fix the outer winding mainspring fixing plate 4151-511 above the slide rail meshing gear 4151-3 and rotate coaxially therewith, a boss is correspondingly arranged on the slide rail meshing gear 4151-3, and a receiving groove tightly matched with the boss is arranged at the bottom of the outer winding mainspring fixing plate gear 4151-511, and at the same time, a raised outer winding mainspring positioning groove 4151-512 is arranged on the top of the outer winding mainspring fixing plate gear 4151-511, and the inner winding mainspring fixing plate gear 4151-521 is provided with a protruding outer winding mainspring positioning groove 4151-512. The bottom is provided with a receiving groove which is tightly matched with the positioning groove 4151-512 of the outer winding spring, and of course, the top is also provided with a protruding positioning groove 4151-522 of the inner winding spring, so that when the outer winding rebound spring and the inner winding rebound spring are respectively placed in the corresponding positioning grooves (i.e., the positioning of the outer winding spring and the positioning of the inner winding spring), the outer ears 4151-571 and 4151-581 of the rebound spring (i.e., the outer winding rebound spring 4151-57 and the inner winding rebound spring 4151-58) are fixedly connected with the spring fixing outer ear grooves provided in the positioning grooves (the positioning groove 4151-512 and the positioning groove 4151-522 of the outer winding spring), and the inner ears 4151-572 and 4151-582 of the rebound spring are matched with the grooves on the slotted shaft which runs through the receiving groove and the positioning groove;

[0140] Among them, the inward rebound adjusting gear 4151-54 and the outward rebound adjusting gear 4151-53 are respectively meshed with the inward spring fixing disk 4151-52 and the outward spring fixing disk 4151-51, and one end of the rotating shaft 4151-50 of the adjusting gear (i.e., the inward rebound adjusting gear 4151-54 and the outward rebound adjusting gear 4151-53) is cylindrical and installed in the mounting shaft positioning hole located at the bottom of the rebound adjustment mechanism mounting chamber 4151-16, and the end that cooperates with the adjusting button (i.e., the inward rebound adjusting button 4151-55 or the outward rebound adjusting button 4151-56) is cross-shaped, that is, the adjusting gear is fixed in the pulley mounting seat 4151-1 through one cylindrical end, and cooperates with the adjusting button through the other cross-shaped end.

[0141] Among them, the inward rebound adjustment button 4151-55 and the outward rebound adjustment button 4151-56 are installed on the top of the pulley mounting seat 4151-1 in a rotationally connected manner, and are respectively located on both sides of the coaxially arranged outward spring fixing plate 4151-51 and the inward spring fixing plate 4151-52 (specifically, by opening corresponding rebound adjustment mechanism installation chambers 4151-16 on the left and right sides of the slide rail meshing gear installation groove 4151-14 in the pulley mounting seat 4151-1). Specifically, the adjustment button (i.e., the inward rebound adjustment button 4151-55 or the outward rebound adjustment button 4151-56) includes a cylindrical knob mounting base 4151-551 which can be mounted in the knob mounting groove on the pulley mounting seat top cover 4151-11 (the size of the knob mounting base of the outward rebound adjustment button 4151-55 is larger than the size of the knob mounting base of the inward rebound adjustment button 4151-56), and a knob body 4151-552 distributed on both sides (i.e., the top and the bottom) of the knob mounting base 4151-551 (the top end of which cooperates with the rotation slot 4151-12 on the pulley mounting seat top cover 4151-11) and a sleeve 4151-553 that cooperates with the rotating shaft 4151-50 of the above-mentioned adjustment gear, wherein the knob body 4151-551 1-552 is cylindrical and has a hexagonal hole inside. On the wall of the cylinder, near the knob mounting base 4151-551, there are four rotating pins 4151-554 (which can be 1, 2 or 3, or more than 4) evenly distributed along the circumference, which match the rotating slot 4151-12 on the top cover 4151-11 of the pulley mounting seat; and the sleeve 4151-553 has a cross-shaped inner hole inside that matches the cross shaft of the adjusting gear, so that the adjusting gear matches the adjusting button through the cross shaft and the sleeve, and a knob reset spring is also arranged between the adjusting gear and the knob mounting base 4151-551 of the adjusting button, namely the inner rebound adjusting button reset spring 4151-59 and the outer rebound adjusting button reset spring 4151-510.

[0142] Embodiment 2: Telescopic rod type quick-release waist device with flexible structure rebound

[0143] The present invention also provides another exoskeleton, which includes a hip mechanism 41. The hip mechanism 41 is also the same as the above-mentioned embodiment 1, including a hip base 410, and a left hip 412 and a right hip 413 installed on the left and right sides of the hip base through a sagittal axis mounting base 411, and the sagittal axes of the left hip 412 and the right hip 413 are respectively colinear (i.e., coincident or parallel) with the sagittal axes of the left and right thighs of the human body, so that the lower limb thigh part of the exoskeleton can achieve abduction or adduction movement, and the left hip 412 The right hip 413 also includes a frontal axis mounting base 414 and a motion track 415 that provides a motion route for the frontal axis mounting base 414. The difference is that the motion track 415 in this embodiment is a telescopic rod mechanism whose central axis coincides with the vertical axis of the human body, one end of which is mounted on the above-mentioned sagittal axis mounting base 411 through the sagittal axis, and the other end is fixedly connected to the frontal axis mounting base 414, so that when the telescopic rod contracts, the frontal axis mounting base 414 is driven to rotate around the central axis of the telescopic rod.

[0144] Referring to Figures 7 and 8, in a specific embodiment, the telescopic rod includes an inner track 4153, an inner steel ball sleeve 4154, a middle track 4155, an outer steel ball sleeve 4156, an outer track 4157 and a flexible porous outer cover 4158 which are sequentially socketed, wherein a plurality of inner steel balls are evenly arranged on the inner steel ball sleeve 4154, so that the inner steel balls can slide along the inner track 4153, and the middle track 4155 can slide along the inner steel ball sleeve 4154; a plurality of outer steel balls are evenly arranged on the outer steel ball sleeve 4156, so that the outer steel balls can slide along the middle track 4155, and the outer track 4157 can slide along the outer steel ball sleeve 4156.

[0145] Embodiment 3 Multi-section slide rail guide rod displacement three-axis waist device

[0146] The present invention also provides another exoskeleton, which includes a hip mechanism 41. The structure of the hip mechanism 41 is also the same as that of the first embodiment, including a hip base 410, and a left hip 412 and a right hip 413 installed on the left and right sides of the hip base 410. However, the difference is that in this embodiment, no sagittal axis mounting base is provided on the left and right sides of the hip base 410. The left hip 412 and the right hip 413 are respectively hinged on the left and right sides of the hip base 410, and can rotate in a horizontal plane with the central axis of the human body or the vertical axis of the human body as the rotation axis, see Figure 9a and Figure 9b .

[0147] In one specific embodiment, see Fig.9cThe left hip part 412 and the right hip part 413 both include a motion track composed of a multi-section slide rail 4121 connected end to end in sequence, a variable curvature pulley mechanism 4122, and a guide rod displacement mechanism 4123, and the frontal axis mounting base 414 is mounted on the guide rod displacement mechanism 4123; wherein, the central axis of the motion track formed by the multi-section slide rail 4121 connected end to end coincides with the vertical axis of the human body, and the head end of the multi-section slide rail 4121 connected end to end is hinged to the hip base 410, and the tail end thereof is connected to the tail end of the multi-section slide rail 4121 on the other side (specifically, the frontal axis mounting base 414 can be respectively A male snap-on head M and a female snap-on head F are provided at the tail ends on both sides, so that the tail ends on both sides are connected by the snap-on connection between the male snap-on head M and the female snap-on head F, and the snap-on length between the female snap-on head F and the male snap-on head M can also be adjusted to adjust the size of the motion track), and the variable curvature pulley mechanism 4122 is installed on the multi-section slide rail 4121, and slides on the multi-section slide rail 4121 with the multi-section slide rail 4121, that is, the central axis of the motion track, as the rotating axis, so that the frontal shaft mounting base 414 can move along the multi-section slide rail 4121 driven by the variable curvature pulley mechanism 4122.

[0148] See also Fig.10a and Fig.10bIn this embodiment, the variable curvature pulley mechanism 4122 includes a variable curvature main pulley 4122-1, two side pulleys 4122-2, four horizontal rollers 4122-3 (of course, 1, 2, 3 or more horizontal rollers can be set for each corresponding side pulley), and four vertical rollers 4122-4 (of course, 1, 2, 3 or more vertical rollers can be set for each corresponding side pulley). The variable curvature main pulley 4122-1 includes a side wall 4122-11 attached to the slide rail, and a side pulley articulated seat 4122-12 arranged on the upper and lower sides of the side wall 4122-11, and the cross-section of the side pulley articulated seat 4122-12 is L-shaped (that is, the top side pulley articulated seat 4122-12 is inverted L-shape), so that when the two side pulley articulated seats 4122-12 are separated When the side wall 4122-11 is fixed on the upper and lower sides, the side wall is attached to the outer side of the multi-section slide rail 4121, and the long side of the L-shaped side pulley hinge seat 4122-12 is attached to the inner side of the multi-section slide rail 4121, and corresponding horizontal roller installation chambers are respectively arranged on the top and bottom of the side wall and the long sides of the two side pulley hinge seats, so that the variable curvature main pulley 4122-1 can slide along the slide rail; accordingly, vertical roller installation chambers are respectively arranged on the top and bottom of the side pulley 4122-2, so that the side pulley can also slide along the slide rail, and the vertical roller 4122-4 will adjust the direction of the side pulley according to the change of the curvature of the slide rail, so that the pulley mechanism can adapt to the influence of the change of the curvature of the multi-section slide rail. Such a structural design can make the hip joint exoskeleton more flexibly adapt to wearers of different body shapes. Furthermore, a stopper or a limit groove can be directly set at the hinge of the side pulley articulation seat and the side pulley to limit the angle at which the side pulley 4122-2 can rotate relative to the main pulley 4122-1, so that its rotation range can be controlled.

[0149] See also Fig.11a , 11b and Fig.11c In this embodiment, the guide rod displacement mechanism 4123 includes a guide rod 4123-1, a rocker 4123-2, a sagittal axis 4123-3, a piston cylinder 4123-4 and a base 4123-5, wherein the base 4123-5 is fixed to the outer side of the main pulley side wall 4122-1, and the middle and bottom thereof are respectively provided with a guide rod latch hole 4123-51 and a rocker latch hole 4123-52, one end of the guide rod 4123-1 passes through the piston head in the piston cylinder 4123-4 and is fixedly connected (specifically, see Fig.11bOne end of the guide rod 4123-1 passes through the cylinder cover of the piston cylinder and extends into the piston cylinder to be fixedly connected with the piston head 4123-41), and the other end is rotatably connected with the sagittal axis 4123-3 through the guide rod sleeve 4123-11, and the sagittal axis 4123-3 is horizontally fixed on the base 4123-5 through the guide rod pin hole 4123-51 and can rotate relative to the base 4123-5, and the cylinder head of the piston cylinder 4123-4 is also provided with a hinge hole, and the two ends of the rocker 4123-2 are respectively hinged to the bottom of the base 4123-5 and the cylinder head of the piston cylinder 4123-4 through the pin, the rocker pin hole 4123-52 and the hinge hole of the cylinder head; and the bottom of the piston cylinder 4123-4 is fixed with a frontal axis mounting base 414.

[0150] In this embodiment, since the two ends of the rocker 4123-2 are respectively hinged to the bottom of the base 4123-5 and the cylinder head of the piston cylinder 4123-4, the base 4123-5, the guide rod 4123-1, the piston cylinder 4123-4, and the rocker 4123-2 form a guide rod slider mechanism, and the base 4123-5 fixed on the variable curvature main pulley 4122-1 is the frame of the four-bar mechanism, so that when the piston and the guide rod rotate with the thigh, the distance H from the cylinder head of the piston cylinder 4123-4 to the top of the guide rod 4123-1 gradually changes, see Fig.11a , Fig.11c and Fig.11d That is, when the thigh moves outward, the distance between the cylinder head of the piston cylinder 4123-4 and the top of the guide rod 4123-1 gradually shortens; and when the thigh moves inward, the distance between the cylinder head of the piston cylinder 4123-4 and the top of the guide rod 4123-1 gradually increases until the limit position, see Fig.11d At this time, the axis of the guide rod 4123-1 is in line with the line connecting the two hinge holes of the rocker 4123-2. In this extreme position state, if the thigh continues to turn inward, the distance between the piston cylinder 4123-4 and the top of the guide rod 4123-1 will be reduced.

[0151] Furthermore, in this embodiment, a portion of damping liquid (for example, silicone damping liquid) can be introduced into the piston chamber of the piston cylinder 4123-4. Since there are fine holes on the piston head 4123-41, the chambers at the upper and lower ends of the piston head can be connected. However, since the hole diameter is very small, when the piston head 4123-41 moves up and down in the chamber, the damping liquid will slowly pass through the perforation of the piston head 4123-41. On the other hand, since the cross-sectional area of ​​the guide rod 4123-1 is close to the cross-sectional area of ​​the chamber of the piston cylinder 4123-4, when the guide rod 4123-1 penetrates into the piston cylinder 4123-4, the piston cylinder 4123-4 The remaining free space in 123-4 (including damping fluid and air) is much smaller than the total free volume when the guide rod 4123-1 is entirely outside the piston cylinder 4123-4. That is to say, when the guide rod 4123-1 is pressed into the piston cylinder 4123-4, the total volume of the gas-liquid mixture (a mixture of air and silicone oil) in the piston cylinder 4123-4 is compressed, and the pressure increases, thereby providing a reverse thrust to the guide rod 4123-1. In addition, the small hole on the piston head 4123-41 enables the guide rod 4123-1 to have an obvious damping force when being inserted or removed, making the movement of the exoskeleton mechanism more stable and smooth under the action of resistance.

[0152] Further, see Fig.9c In order to improve the comfort of the wearer, the hip mechanism of this embodiment also includes a flexible waist belt 415-1, and the multi-section slide rail 4121 is attached to the outer side of the flexible waist belt 415-1 along the length direction of the flexible waist belt 415-1. Specifically, a fixing protrusion 4121-1 can be set on the inner side of the multi-section slide rail 4121, so that when the multi-section slide rails 4121 on both sides are connected by the buckle female head F and the buckle male head M, the fixing protrusion 4121-1 is pressed tightly against the flexible waist, thereby fixing the hip mechanism to the waist of the wearer. Furthermore, a waist bandage 415-11 for adjusting the waist can be set at both ends of the flexible waist belt 415-1, and a back sponge pad 415-12 is set at the position corresponding to the hip base 410.

[0153] Embodiment 4

[0154] The present invention also provides another exoskeleton, which includes a hip mechanism similar to any one of the above-mentioned embodiments one to three, which will not be described in detail here. The difference is that the hip mechanism of the exoskeleton of this embodiment also includes a hip width adjustment member 417 arranged on the hip base 410, that is, the left hip 412 and the right hip 413 are driven to move horizontally relative to each other or horizontally opposite to each other on the hip base 410 through the hip width adjustment member, so as to adjust the distance between the left hip 412 and the right hip 412, so that the hip mechanism 41 can adapt to wearers with different waist circumferences.

[0155] In one specific embodiment, see Fig.12The hip width adjustment member 417 is a dial 417-1, and a lead screw 417-2 with positive and negative threads is respectively provided on both sides of the dial 417-1. The frontal axis mounting bases 414 on the left and right sides are respectively threadedly connected to the two ends of the lead screw 417-2, and the left hip 412 and the right hip 413 are respectively rotatably connected to the frontal axis through corresponding rotating shafts. When the dial 417-1 in the middle of the lead screw 417-2 is turned, the lead screw drives the left hip 412 and the right hip 413 to move horizontally relative to each other on the hip base 410, thereby reducing the hip width, or moving horizontally away from each other, thereby increasing the hip width, thereby adapting to wearers with different hip / waist widths.

[0156] Of course, in this embodiment, an I-shaped hip base can also be directly used, and then a plurality of width adjustment holes are opened on the left and right sides of the hip base respectively, and one end of the left hip and the right hip are respectively matched with the width adjustment holes on the left and right sides of the hip base through corresponding rotating shafts, so as to be rotatably connected with the hip base, and then the width adjustment of the hip is achieved by matching the left hip and the right hip with the width adjustment holes at different positions.

[0157] Embodiment 5

[0158] The present invention also provides another exoskeleton, which includes any one of the hip mechanisms in the above embodiments 1 to 3, which will not be described in detail here. The difference is that, see Fig.13 In this embodiment, the hip base 410 can also be directly implemented by two left and right sliders 4101 and 4102 that can slide against each other in the horizontal direction (the left slider is connected to one end of the left hip 412, and the right slider is connected to one end of the right hip 413). The left slider 4101 is provided with two upper and lower parallel tracks 4103 in the horizontal direction. Correspondingly, the right slider 4102 is provided with two upper and lower bosses that are mutually flat in the horizontal direction, that is, the width of the hip mechanism is adjusted by controlling the distance between the boss and the track 4103. Furthermore, a plurality of vertical latch teeth 4104 are provided between the upper and lower tracks 4103 and between the upper and lower bosses, so that the length of the connection between the hip mechanism and the back-supporting mechanism can be adjusted by controlling the height of the engagement of the latch teeth between the left slider 4101 and the right slider 4102 to adapt to different human body structures.

[0159] Embodiment 6

[0160] In some embodiments, the present invention also provides a waist exoskeleton device 100, characterized in that it includes a waist slide rail 200, a waist pulley 202, and a waist elastic mechanism 210; the waist pulley 202 can slide along the waist slide rail 200; the waist elastic mechanism 210 is placed on the waist slide rail and connected to the waist pulley 202, providing elastic energy storage during the sliding of the waist pulley 202 along the waist slide rail 200.

[0161] In the prior art, in order to allow the exoskeleton to better unload the load-bearing burden through the waist exoskeleton to the lower limb exoskeleton and then to the ground, the waist exoskeleton is connected to the lower limb exoskeleton (such as the thigh exoskeleton), and it is often impossible to separate and rotate them separately, which limits the freedom of relative rotation between the waist and thigh of the human body. In the present invention, the degree of freedom of left and right rotation of the waist is increased by changing the connection mode between the waist and the lower limb exoskeleton to a pulley and slide rail mode (i.e., rotation around the vertical axis of the human body, such as internal rotation and external rotation), and the amplitude of the waist rotation is limited and controlled by an elastic energy storage device, ensuring the smooth transmission of the negative gravity from top to bottom, without affecting the overall load-bearing effect of the exoskeleton.

[0162] In some embodiments, the waist rail 200 is provided with a waist groove 204 for the waist elastic mechanism 210 to slide, providing a damping force to control and stabilize the movement of the exoskeleton wearer - the groove portion is marked as 209. The waist elastic mechanism 210 is placed in the groove 209 in the waist groove 204.

[0163] In some embodiments, the waist slide rail 200 is further provided with a waist pulley connection block 212, and the waist pulley connection block 212 can be fixedly connected to the corresponding waist elastic mechanism connection piece 214 on the waist pulley 202 by means of a fixing piece such as a screw / screw 216. In some embodiments, tension springs are provided on both sides of the waist pulley connection block 212. When the waist pulley 202 slides relative to the waist slide rail 200 (for example, when a person stands and turns his waist, the waist pulley 202 is pulled by the lower limb exoskeleton and cannot move, while the waist slide rail 200 follows the movement of the human waist and moves along the aa' direction ( Fig.21a ), i.e., rotation around the vertical axis of the human body, for example, internal rotation and external rotation), the tension springs on both sides of the waist pulley connecting block 212 are stretched on one side and squeezed on the other side, which brings damping to the waist rotation, so that the human body cannot rotate the waist too quickly or with a large amplitude. This increases the flexibility of the waist rotation, but it is controllable, stable, and smooth, avoiding accidents during rapid or large rotations. Please note that the waist elastic mechanism 210 can not only adopt the tension spring mechanism shown in the accompanying drawings, but in fact, it can also use air push rods or damping fluids to produce damping.

[0164] In some embodiments, a baffle 218 is provided at the end of the waist-encircling groove 204 to fix and seal the waist elastic mechanism 210 in the groove 209 of the waist-encircling groove 204 .

[0165] In some embodiments, the waist exoskeleton device 100 of the present invention is combined with a back support device 102, a lower limb exoskeleton device 105 (for example, a fiberglass sheet, a metal sheet, a metal rod), a thigh elastic energy storage device 104 (for example, a torsion spring, a tension spring, a compression spring or a gas push rod), a knee joint exoskeleton device 106 (for example, an eccentric wheel structure), a calf exoskeleton support 108, and a foot exoskeleton device 110.

[0166] In addition, a carrying platform 103 can be provided on the waist exoskeleton device 100 according to actual needs (for example, the weight and shape of the required weight to be carried). The structure of the carrying platform can be designed and changed according to actual conditions. For example, as shown in FIG3 , the contact portion 207 between the carrying platform 103 and the waist track 200 can be designed as an L-shaped structure, and the long side of the L-shaped structure is shorter than the waist track 200. Therefore, when the carrying platform 103 is opened (i.e., in an open state that can carry a heavy object), a space 208 will be formed between the contact portion 207 of the long side of the L-shaped structure and the waist track 200. The user can push the carrying platform 103 with force to allow the carrying platform to be firmly stuck on the waist exoskeleton device through a latch mechanism. This can increase the stability and firmness of the carrying platform 103 when it is opened to bear weight.

[0167] In some embodiments, the waist rail 200 is composed of multiple sections of waist rail pieces 211 that can be folded relative to each other. The waist rail 200 is designed as a multi-section structure to meet different human needs when the human body wears the waist exoskeleton device - for example, due to the different thickness of the waist, the bending degree and curvature of the waist rail 200 around the waist will naturally vary. The multi-section structure makes the waist rail 200 easier to bend and better adapt to different waist thicknesses.

[0168] In some embodiments, the waist elastic mechanism 210 is a torsion spring, a tension spring, a compression spring or a gas push rod.

[0169] In some embodiments, the waist slide rail 200 includes a left waist slide rail and a right waist slide rail; the waist pulley 202 includes a left waist pulley and a right waist pulley; the waist elastic mechanism 210 includes a left waist elastic mechanism and a right waist elastic mechanism; the left waist elastic mechanism 210 is placed on the left waist slide rail 200 and connected to the left waist pulley 202, and provides elastic energy storage when the left waist pulley 202 slides along the left waist slide rail 200; the right waist elastic mechanism 210 is placed on the right waist slide rail 200 and connected to the right waist pulley 202, and provides elastic energy storage when the right waist pulley 202 slides along the right waist slide rail 200. In some embodiments, the waist elastic mechanisms 210 on the left and right sides are connected by a waist middle connection block, and the left and right sides can be operated independently or as a whole.

[0170] In some embodiments, the lumbar pulley 202 is connected to a hip joint rotation connection part 300, and the hip joint rotation connection part 300 includes a hip joint sagittal axis mechanism 304 and a hip joint frontal axis mechanism 310.

[0171] In some embodiments, the waist pulley 202 is connected to the hip joint sagittal axis mechanism 304, and the hip joint sagittal axis mechanism 304 is connected to the lower limb exoskeleton device 105, and allows the lower limb exoskeleton device 105 to have the freedom to flip to the left and right sides of the human body (i.e., along the bb' direction ( Fig.21a ), abduction and adduction of the human hip joint / thigh).

[0172] In some embodiments, a lateral rotation elastic energy storage device 302 is provided in the hip joint sagittal axis mechanism 304 .

[0173] In some embodiments, the lateral rotation elastic energy storage device 302 is a torsion spring, a tension spring, a compression spring or a gas push rod.

[0174] In some embodiments, the waist pulley 202 is connected to the hip joint frontal axis mechanism 310, and the hip joint frontal axis mechanism 310 is connected to the lower limb exoskeleton device 105, and allows the lower limb exoskeleton device 105 to flip forward and backward toward the human body (i.e., along the cc' direction ( Fig.21c ), flexion and extension of the human hip joint / thigh).

[0175] In some embodiments, the hip joint frontal axis mechanism 310 is provided with an elastic energy storage device 306 for forward and backward rotation.

[0176] In some embodiments, the forward and backward rotation elastic energy storage device 306 is a torsion spring, a tension spring, a compression spring or a gas push rod.

[0177] In some embodiments, the right male and female parts 308 and 309 of the hip joint frontal axis mechanism 310 are combined together, and a front-back rotation elastic energy storage device (torsion spring) 306 is placed therein. The torsion spring is placed in the lower limb connection part 311. A first joint 312 is provided on 308, and a second joint 313 is provided on 309. The first joint 312 and the second joint 313 can be combined together, and a lateral rotation shaft 307 is provided therein. The lateral rotation elastic energy storage device 302 is connected to the lateral rotation shaft 307, so that the lateral rotation shaft 307 can also move along the lateral rotation shaft track 303 during the human body's front-back leg lifting, side-leg lifting and other actions. This allows the human body to not only have the degree of freedom to rotate around the lateral rotation shaft 307 to the left and right sides during the leg lifting process, but also have the degree of freedom to move along the lateral rotation shaft track 303 (i.e., along the dd' direction), and the movement along this degree of freedom is damped (generated by the tension spring 302). This ensures that while increasing the degree of freedom, the stability and controllability of the movement are ensured.

[0178] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0179] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that it is still possible to modify the technical solutions described in the aforementioned embodiments, or to replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention. For example, the frontal axis mechanism 414 in embodiments one, two and three can be the structure of the hip joint frontal axis mechanism 310 in embodiment six. The motion track (vertical axis mechanism) in embodiments one and three can also adopt the structure of the waist slide rail in embodiment six.

Claims

1. An exoskeleton, characterized in that: The exoskeleton comprises a hip mechanism, wherein the hip mechanism comprises a left hip and a right hip, wherein the left hip and the right hip each respectively comprise at least three uniaxial mechanisms for collaboratively realizing isomorphic motion between the hip mechanism and the human hip, wherein the at least three uniaxial mechanisms comprise a sagittal axis mechanism, a frontal axis mechanism and a vertical axis mechanism; the sagittal axis mechanism rotates around the sagittal axis of the exoskeleton, and the sagittal axis of the exoskeleton is parallel to the sagittal axis of the human thigh; the frontal axis mechanism rotates around the frontal axis of the exoskeleton, and the frontal axis of the exoskeleton is parallel to the frontal axis of the human thigh; the vertical axis mechanism rotates around the vertical axis of the exoskeleton, and the vertical axis of the exoskeleton coincides with or is parallel to the vertical axis of the human thigh; The hip mechanism also includes a hip base; the sagittal axis mechanism includes a sagittal axis mounting base; the frontal axis mechanism includes a frontal axis mounting base; the vertical axis mechanism includes at least one motion track; wherein, The frontal axis mounting base is arranged on the at least one motion track and can move on the at least one motion track along the length direction of the at least one motion track; one side of the sagittal axis mounting base is arranged in the hip base, and one side is connected to the at least one motion track; The at least one motion track comprises a sliding rail mechanism and a pulley mechanism that are slidably connected; wherein one end of the sliding rail mechanism is connected to the sagittal axis mounting base, and the frontal axis mounting base is fixed to the pulley mechanism, and the pulley mechanism can slide on the sliding rail mechanism along the length direction of the sliding rail mechanism, so that the frontal axis mounting base is driven by the pulley mechanism to rotate around the vertical axis mechanism around the vertical axis of the exoskeleton on the sliding rail mechanism; Among them, the slide rail mechanism has a toothed slide rail on the inner side; and the pulley mechanism includes a pulley mounting seat, and slide rail engaging rollers respectively arranged at the top and bottom of the pulley mounting seat and meshing with the slide rail, and a slide rail engaging gear arranged in the pulley mounting seat and meshing with the inner side teeth of the slide rail. The pulley mounting seat is installed on the slide rail mechanism, so that under the drive of an external force, the pulley mounting seat can be driven to move back and forth along the slide rail to realize the inward or outward rotation of the thigh connecting rod.

2. The exoskeleton according to claim 1, characterized in that The sagittal axis mechanism is directly connected to the vertical axis mechanism and moves in coordination with it.

3. The exoskeleton according to claim 2, characterized in that The sagittal axis mechanism is directly connected to the vertical axis mechanism by a quick release method.

4. The exoskeleton according to claim 1, characterized in that The frontal axis mechanism is directly connected to the sagittal axis mechanism or the vertical axis mechanism and moves in coordination.

5. The exoskeleton according to claim 4, characterized in that The frontal axis mechanism is directly connected to the sagittal axis mechanism or the vertical axis mechanism by a quick release method.

6. The exoskeleton of claim 1, wherein: The at least three single-axis mechanisms are respectively provided with a damping mechanism and / or a rebound mechanism.

7. The exoskeleton according to claim 6, characterized in that The damping mechanism includes a damping force adjusting mechanism; the rebound mechanism includes a rebound force adjusting mechanism.

8. The exoskeleton of claim 1, wherein: A hip base adjustment device is arranged inside the hip base to adjust the length of the hip base.

9. The exoskeleton of claim 1, wherein: The sagittal axis mounting base is connected to the slide rail mechanism in a quick-release connection manner.

10. The exoskeleton of claim 1, wherein: A damping mechanism and / or a rebound mechanism is arranged in the sagittal axis mounting base; and / or a rotation damping mechanism and / or a bidirectional rebound mechanism is arranged in the pulley mechanism and / or the frontal axis mounting base.

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