Weight-bearing exoskeleton with adjustable force unloading

Abstract

The present invention discloses a load-bearing exoskeleton with adjustable unloading force, comprising a waist base fixedly supported on a back base on the waist base, a force unloading adjustment mechanism provided on the back base, the force unloading adjustment mechanism being used to adjust the auxiliary load-bearing size of the back base, the force unloading adjustment mechanism comprising a pressure plate shaft; a load-bearing assembly is provided on the left and right sides or / and the back side of the back base, the load-bearing assembly is fixedly connected to the pressure plate shaft, and has a height-direction guide structure between the load-bearing assembly and the back base; the lower limb skeleton supports the waist base through a hip joint assembly. The above scheme is adopted, mainly by providing a force unloading adjustment mechanism on the back base, to distribute the actual load force, that is, to adjust the respective load-bearing sizes of the exoskeleton and the human body, so that the wearer can make distribution adjustments as needed to find a better balance between walking flexibility and power-assisting effect.

Description

Technical Field

[0001] The invention belongs to the technical field of exoskeletons, and in particular relates to a load-bearing exoskeleton with adjustable force unloading. Background Art

[0002] Load-bearing exoskeletons are also known as wearable robots that allow normal people to carry loads and walk. The ever-expanding logistics industry is characterized by repetitive lifting, unloading, and transporting heavy objects between multiple locations. These tasks also require workers to constantly use their arm and waist strength to complete the work. This is not only prone to fatigue, but long-term use can also lead to complications such as frozen shoulder and lumbar disc herniation, posing many health risks to workers and affecting their future family life. Power-assisted exoskeletons can effectively help the wearer maintain a single posture for extended periods or assist in repeatedly switching between multiple postures. This not only significantly reduces the physical burden on the wearer, but also helps them complete tasks efficiently and accurately. As a result, they are being widely promoted in both military and civilian fields.

[0003] Among the existing load-bearing exoskeletons, one type adopts a split structure in which all parts have good freedom of movement in the structure, mainly to ensure wearing comfort and walking convenience. However, this also leads to poor force transmission performance, and the weight is still mainly borne by the human body, that is, the power assistance effect is poor. Another type adopts an integral structure. This type of exoskeleton has a good force unloading effect, but it will cause inconvenience in walking, especially the resistance in the joints is large. Therefore, how to balance the force unloading effect of the exoskeleton and the wearing and walking performance, and to achieve personalized adjustments for different audiences, has become one of the important issues currently restricting the development of exoskeleton technology. Summary of the Invention

[0004] In view of this, the present invention provides a load-bearing exoskeleton with adjustable force unloading to solve the problem in the prior art that the exoskeleton power-assisting structure is fixed and there is a contradiction between the power-assisting effect and the freedom of movement.

[0005] The technical solution is as follows:

[0006] A load-bearing exoskeleton with adjustable force unloading, the key of which is to include:

[0007] waist base;

[0008] The back base is fixedly supported on the waist base and is provided with a force unloading adjustment mechanism. The force unloading adjustment mechanism is used to adjust the auxiliary bearing size of the back base. The force unloading adjustment mechanism is movably arranged in the back base and can slide along the height direction of the back base. The force unloading adjustment mechanism includes a pressure plate shaft;

[0009] The weight-bearing assembly comprises at least a backpack frame provided on the back side of the back base, the backpack frame bears the force on the pressure plate shaft, and has a height-direction guide structure between the backpack frame and the back base and the waist base;

[0010] The lower limb skeleton supports the waist base through the hip joint assembly.

[0011] With the above solution, the load is transferred to the pressure plate shaft through the load-bearing component during use, and the downward gravity exerted on the pressure plate shaft is transferred to the back base through the force unloading adjustment mechanism. During this process, the load force can be distributed and adjusted through the force unloading adjustment mechanism, that is, the respective load-bearing sizes of the exoskeleton and the human body are adjusted so that they can adapt to more users and avoid the situation where the exoskeleton load is too large and the movement is not flexible, so that the exoskeleton has good power-assistance adaptability and good freedom of movement. In addition, the backpack can better ensure the floating stability during walking through the guide structure.

[0012] Preferably, the unloading adjustment mechanism includes an adjustment seat and an adjustment knob, the adjustment seat has a mounting cavity arranged along the height direction of the back base, the mounting cavity has a coaxially arranged unloading elastic member and a threaded bushing, the pressure plate shaft includes a relatively fixed disc portion and a shaft portion, the shaft portion passes downward through the unloading elastic member, the shaft portion is arranged along the height direction of the back base, and has an axial displacement guide structure that cooperates with the back base;

[0013] The load-bearing point at the lower end of the unloading elastic member is relatively fixed to the adjustment seat, and the upper end is against the disk portion, and the diameter of the disk portion is larger than the inner diameter of the threaded bushing;

[0014] The threaded bushing is threadably matched with the adjusting knob and is slidably arranged in the mounting cavity. The adjusting knob is rotatably arranged in the mounting cavity, and its axial position is fixed relative to the adjusting seat.

[0015] When adopting the above scheme, the threaded bushing is driven up and down by rotating the adjusting knob during adjustment, that is, the actual downward distance that the pressure plate shaft can go is changed. In this way, the pressure on the force-unloading elastic part is also changed, and the separation transmitted to the back base is also changed, thereby achieving the purpose of force-unloading adjustment. Generally speaking, when the threaded bushing moves upward, the distance between it and the disc is shortened, and the compression amount of the force-unloading elastic part is reduced, then the force unloading of the back base is smaller. When the threaded bushing is at the lowest position, the force unloading of the back base is the largest.

[0016] Preferably, a knob base is fixedly disposed within the mounting cavity, the knob base having a central hole extending along its axial direction, the force-releasing elastic member being located within the central hole, the lower end of the adjustment knob being rotatably connected to the knob base, a threaded bushing being located between the adjustment knob and the knob base, and the top of the adjustment knob protruding above the back base. This arrangement facilitates modular production and assembly of the force-releasing adjustment mechanism, improving assembly efficiency.

[0017] Preferably, the back base includes a vertically disposed guide shaft that slidably engages the adjustment seat. A return spring is disposed between the adjustment seat and the back base, exerting a push-pull force on the adjustment seat toward the top of the back base. This arrangement allows for further force relief through the adjustment seat's lifting and lowering in conjunction with the return spring. Furthermore, when the load is removed, the return spring and the auxiliary adjustment seat quickly return to their original position.

[0018] Preferably, a shoulder strap is provided between the waist base and the back base, with the upper end of the shoulder strap extending into the back base and fixedly connected to the adjustment base. With this solution, the upper end of the shoulder strap is fixed to the adjustment base. This allows the adjustment base to be lowered, further tightening the shoulder strap. This allows some of the pressure on the adjustment base to be transferred to the back base, with the remaining pressure then being transferred to the body by the shoulder strap, thereby enhancing the secondary force-relieving effect.

[0019] Preferably, the load-bearing assembly includes two upper limb assist pods symmetrically positioned on either side of the back base. These pods are equipped with assist belts via a reeling mechanism, extending from below the pods. This arrangement allows the assist belts to be pulled out and tied to the object being carried, making it particularly suitable for stretcher transport. The exoskeleton provides effective assistive measures and is convenient and reliable to operate.

[0020] Preferably, the backpack frame includes a weight-bearing backboard, each of which has a connection structure on both sides that cooperates with the upper limb assistance compartment. With this solution, the backpack frame is directly fixed to the upper limb assistance compartment, eliminating the need for an additional connection window for the pressure plate shaft on the back base, thereby reducing damage to the back base's strength.

[0021] Preferably, the weight-bearing backboard has buckles hingedly connected to the backboard on both sides, and the body of the upper limb assisting cabin has slots that cooperate with the buckles, and the buckles can rotate between being parallel to and perpendicular to the weight-bearing backboard;

[0022] The back of the weight-bearing backboard is provided with a weight-bearing flap at the bottom rear side. The weight-bearing flap is hinged to the weight-bearing backboard and can be flipped upward to fit the weight-bearing backboard. This solution facilitates quick installation of the backpack. In addition, the weight-bearing flap and the buckle can be rotated to fit the weight-bearing backboard. When folded, the whole body resembles a flat plate, making it easy to store and transport the backpack.

[0023] Preferably, a backboard guide rail is symmetrically disposed on the front lower end of the weight-bearing backboard, the backboard guide rail being arranged vertically, and a backboard roller is disposed on the back side of the lumbar base at a position corresponding to the backboard guide rail, and the backboard roller and the backboard guide rail are in rolling engagement. The above solution, through the rolling engagement of the backboard roller and the backboard guide rail, can reduce the side-to-side swaying of the backpack frame, and can also alleviate wear between the weight-bearing backboard and the lumbar base, thereby ensuring smooth floating and good stability of the backpack frame.

[0024] Preferably, the lower limb skeleton includes a thigh body and a calf body, wherein a knee joint cam rod is fixedly provided at the lower end of the thigh body, the knee joint cam rod is hingedly connected to the upper end of the calf body, and the knee joint cam rod has a cam portion, wherein the distance between the outer edge of the cam portion and the rotation center gradually increases along the length direction of the knee joint cam rod;

[0025] A guide roller is installed within the calf body, with a V-shaped groove that conforms to the outer edge of the cam. The guide roller is movably supported by a power-assisting elastic member on the calf body and abuts against the cam. The knee joint structure, constructed using this guide roller and knee cam lever, better ensures neutral calf bending during walking. Furthermore, the cam structure reduces the power-assisting effect during early, small bends and enhances the power-assisting effect during larger bends.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The load-bearing exoskeleton with adjustable force unloading provided by the present invention mainly distributes the actual load force by setting a force unloading adjustment mechanism on the back base, that is, adjusting the respective load-bearing sizes of the exoskeleton and the human body. In this way, the wearer can make distribution and adjustment as needed to find a better balance between walking flexibility and power assistance effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the back base structure (with a force-unloading adjustment mechanism);

[0030] Figure 3 for Figure 2 Schematic diagram of the internal structure;

[0031] Figure 4 for Figure 2 Cross-sectional view;

[0032] Figure 5 This is a schematic diagram of the back base structure (without the force unloading adjustment mechanism);

[0033] Figure 65 explosion diagrams;

[0034] Figure 7 for Figure 2 Side view;

[0035] Figure 8 Schematic diagram of the unloading force adjustment mechanism (minimum unloading force state);

[0036] Figure 9 for Figure 8 Cross-sectional view;

[0037] Figure 10 This is a diagram showing the coordination between the adjustment knob and the knob base;

[0038] Figure 11 This is a schematic diagram of the knob base structure;

[0039] Figure 12 Schematic diagram of the threaded bushing structure;

[0040] Figure 13 Schematic diagram of the backpack structure;

[0041] Figure 14 for Figure 13 Axonometric drawing of

[0042] Figure 15 This is a schematic diagram of the installation of the upper limb assistance cabin;

[0043] Figure 16 It is a schematic diagram of the connection between the load-bearing component and the unloading adjustment mechanism;

[0044] Figure 17 This is a schematic diagram of the internal structure of the upper limb assistance cabin;

[0045] Figure 18 Schematic diagram of the waist base structure;

[0046] Figure 19 This is a schematic diagram of the interior of the waist base;

[0047] Figure 20 To maintain the structural schematic;

[0048] Figure 21 for Figure 20 Axonometric drawing;

[0049] Figure 22 This is a schematic diagram of the waist tube locking piece structure and its installation;

[0050] Figure 23 Schematic diagram of the lower limb skeletal structure;

[0051] Figure 24 Schematic diagram of the hip joint structure;

[0052] Figure 25for Figure 24 Axonometric drawing;

[0053] Figure 26 for Figure 24 Cross-sectional view;

[0054] Figure 27 This is a schematic diagram of the connection between the thigh body and the calf body;

[0055] Figure 28 Schematic diagram of the knee joint structure;

[0056] Figure 29 for Figure 28 Cross-sectional view;

[0057] Figure 30 This is a schematic diagram of the cooperation between the knee joint cam rod and the guide roller;

[0058] Figure 31 Schematic diagram of the ankle joint structure;

[0059] Figure 32 Schematic diagram of the unloading force adjustment mechanism (maximum unloading force state). DETAILED DESCRIPTION

[0060] The present invention will be described in further detail below with reference to the accompanying drawings.

[0061] refer to Figures 1 to 32 The load-bearing exoskeleton with adjustable force unloading shown mainly includes a waist base 100, a back base 200, a weight-bearing component 400 and a lower limb skeleton 500, wherein the back base 200 is fixedly supported on the waist base 100, and a force unloading adjustment mechanism 300 is provided on the back base 200. The force unloading adjustment mechanism 300 is used to adjust the auxiliary force bearing size of the back base 200. The force unloading adjustment mechanism 300 mainly includes a pressure plate shaft 310, and the weight-bearing component 400 is arranged on the left and right sides or / and the back side of the back base 200, and is fixedly connected to the pressure plate shaft 310, bearing force through the pressure plate shaft 310, and has a height-direction guide structure between the back base 200, and the waist base 100 is supported on the lower limb skeleton 500 through the hip joint component 600.

[0062] Key References Figures 1 to 12In this application, the unloading adjustment mechanism 300 mainly includes an adjustment seat 320 and an adjustment knob 330. The back base 200 is a hollow structure. As shown in the figure, it is mainly surrounded by a base body 20a and a base back cover 20b, and forms an active cavity 230 for installing the adjustment seat 320. The adjustment seat 320 is located in the active cavity 230 and can move up and down along the active cavity 230. A guide structure is provided between the adjustment seat 320 and the active cavity 230. Specifically, the left and right ends of the adjustment seat 320 are corresponding to the active cavity 230. The positions (the up, down, left and right directions in this application are all based on the absolute positions during normal wear) are all provided with guide shafts 231, and the two ends of the adjustment seat 320 slide with the guide shafts 231. At the same time, a reset elastic member 322 is provided between the back base 200. The reset elastic member 322 is preferably a spring, which is sleeved on the guide shaft 231, and its upper and lower ends are respectively against the bottom walls of the adjustment seat 320 and the active cavity 230. In the initial state, the adjustment seat 320 is against the top of the active cavity 230 under the action of the reset elastic member 322.

[0063] The adjustment seat 320 has an installation cavity 321 arranged along the height direction of the back base 200, and the installation cavity 321 has a coaxially arranged force-releasing elastic member 390 and a threaded bushing 340. The pressure plate shaft 310 includes a relatively fixed disk portion 311 and a shaft portion 312. In this embodiment, the force-releasing elastic member 390 is also preferably a spring, and the shaft portion 312 passes downward through the force-releasing elastic member 390. The disk portion 311 is located above the force-releasing elastic member 390, and the shaft portion 312 is arranged along the height direction of the back base 200, and has an axial displacement guide structure that cooperates with the back base 200.

[0064] The load-bearing point at the lower end of the unloading elastic member 390 is relatively fixed to the adjustment seat 320, and the upper end is against the disk 311, and the diameter of the disk 311 is larger than the inner diameter of the threaded bushing 340 to ensure that when the unloading elastic member 390 is under pressure, the reaction force can be transmitted to the back base 200 through the adjustment seat 320, and finally bear the force through the lower limb bones 500.

[0065] The threaded bushing 340 is threadably matched with the adjusting knob 330 and is slidably arranged in the mounting cavity. The adjusting knob 330 is rotatably arranged in the mounting cavity 321, and its axial position is fixed relative to the adjusting seat 320. The height position of the threaded bushing 340 can be adjusted by rotating the adjusting knob 330, that is, the vertical distance between the adjustment disk 311 and the threaded bushing 340 can be adjusted.

[0066] During specific implementation, a knob base 350 is fixedly installed in the mounting cavity 321. The knob base 350 has a center hole 351 opened along its axial direction. The force-releasing elastic member 390 is located in the center hole 351. The lower end of the adjusting knob 330 is rotatably connected to the knob base 350. The threaded bushing 340 is located between the adjusting knob 330 and the knob base 350. The top of the adjusting knob 330 protrudes above the back base 200.

[0067] As shown in the figure, the knob base 350 has an integrally formed rotating ring groove 352, and a convex tooth 353 is provided on the side wall of the rotating ring groove 352. The lower end of the adjusting knob 330 is embedded in the rotating ring groove 352, and a thin-walled bearing 360 is provided on the upper side to limit its axial position without increasing the rotation resistance of the adjusting knob 330. The lower end of the adjusting knob 330 has a tactile buckle 331 on the circumferential outer side that cooperates with the convex tooth 353. In this way, there is an obvious tactile feel during the rotation of the adjusting knob 330, and it can also relatively avoid misoperation and change the position of the threaded bushing 340.

[0068] On the other hand, in order to ensure the linear movement of the threaded bushing 340, a guide rib 354 is provided along the axial direction on the outer wall of the knob base 350, and a guide groove 341 is provided on the inner wall of the threaded bushing 340 to cooperate with the guide rib 354. In this way, when the adjustment knob 330 is rotated, the threaded bushing 340 can only slide axially and will not follow the rotation. Of course, the guide rib 354 and the guide groove 341 can also be set interchangeably, which is within the scope of protection of this application.

[0069] A flanged bushing 370 is provided in the movable cavity 230 at a position opposite to the lower end of the center hole 351. The flanged bushing 370 is fixed relative to the back base 200. As shown in the figure, the flanged bushing 370 includes a sleeve portion 371 and a flange 372 integrally formed at the lower end of the sleeve portion 371. The back base 200 has an embedding groove 240 adapted to the flange 372. The sleeve portion 371 is vertically upward and extends into the center hole 351. When the adjustment seat 320 is raised or lowered, it is guided by the sleeve portion 371, and the lower end of the force-releasing elastic member 390 directly abuts against the upper end surface of the sleeve portion 371.

[0070] On the other hand, in order to further ensure the lifting stability of the pressure plate shaft 310, a graphite copper sleeve 380 is embedded in the sleeve portion 371. The shaft portion 312 of the pressure plate shaft 310 passes through the graphite copper sleeve 380. The shaft portion 312 contacts the graphite copper sleeve 380, which can also reduce friction damage and help extend the service life.

[0071] In the above embodiment, when there is no knob base 350 , the rotational installation of the adjustment knob 330 and the linear limiting structure of the threaded bushing 340 can be directly achieved by providing corresponding structures on the adjustment seat 320 .

[0072] A shoulder strap 210 is provided between the waist base 100 and the back base 200. The left and right sides of the top of the back base 200 are provided with shoulder strap through-holes 232 that penetrate the movable cavity 230. The upper end of the shoulder strap 210 extends into the movable cavity 230 through the shoulder strap through-holes 232 and is fixedly connected to the adjustment seat 320. In order to facilitate connection and fixation as well as processing of parts, a shoulder strap fixing frame 250 is provided on the adjustment seat 320, and the shoulder strap 210 is directly fixed to the shoulder strap fixing frame 250.

[0073] refer to Figures 13 to 17 In this application, the load-bearing component 400 mainly includes two upper limb assisting cabins 410 symmetrically arranged on both sides of the back base 200. The upper limb assisting cabin 410 is equipped with an assisting belt 411 through a winding mechanism. The assisting belt 411 passes through the bottom of the upper limb assisting cabin 410. As shown in the figure, the back base 200 is generally T-shaped, and has symmetrically arranged makeshift openings 260 on its left and right sides. The upper limb assisting cabin 410 is installed at the makeshift openings 260. A reel 413 is provided in the upper limb assisting cabin 410, and the assisting belt 411 is wound around the reel 413. The reel 413 is rotatably arranged in the upper limb assisting cabin 410 through an installation shaft. A coil spring 414 is provided on the installation shaft, and the inner and outer ends of the coil spring 414 act on the installation shaft and the reel 413 respectively. The assisting belt 411 is usually a webbing, and in order to facilitate the upper limb carrying assistance, its end is usually also preset with a loop knot.

[0074] The upper limb assist cabins 410 on the left and right sides are connected together through a weight-bearing adapter bracket 420. As shown in the figure, the weight-bearing adapter bracket 420 is arranged along the width direction of the back base 200, crosses the back base 200 and is fixedly connected to the shaft 312 of the pressure plate shaft 310. At the same time, side windows 270 are provided on both sides of the back base 200 for the weight-bearing adapter bracket 420 to pass through and can be raised and lowered and slid. In order to fully ensure the stability of the upper limb assist cabin 410, both ends of the weight-bearing adapter bracket 420 extend into the corresponding upper limb assist cabin 410 as its fixed frame, and also facilitate the modular installation of the upper limb assist cabin 410.

[0075] The upper limb assist cabin 410 is mainly used for carrying loads with both hands. On this basis, the present application also provides a back load-bearing structure. As shown in the figure, the load-bearing component 400 also includes a backpack 430. The backpack 430 includes a weight-bearing back plate 431. The backpack 430 can be directly fixedly connected to the internal pressure plate shaft 310. In this embodiment, in order to simplify the structure and facilitate disassembly and assembly, the left and right sides of the weight-bearing back plate 431 have a connection structure that cooperates with the upper limb assist cabin 410.

[0076] Specifically, there are buckles 432 hinged to the weight-bearing back plate 431 on both sides, and the cabin body of the upper limb assistance cabin 410 has a slot 412 that cooperates with the buckle 432. The slot 412 is arranged on the outside of the cabin body of the upper limb assistance cabin 410, and a corresponding buckle locking key 415 is provided.

[0077] The buckle 432 can rotate between being parallel to and perpendicular to the weight-bearing back plate 431. During implementation, the buckle 432 is limited to being rotated inwardly until it is in contact with the front side of the weight-bearing back plate 431. A weight-bearing flap 433 is provided on the rear side of the bottom of the weight-bearing back plate 431. The weight-bearing flap 433 is hinged to the weight-bearing back plate 431 and can be flipped upward to be in contact with the weight-bearing back plate 431. Using this type of backpack 430 structure, it can be better stored into a flat plate shape, which is convenient for stacking and transportation.

[0078] On the other hand, in order to improve the stability of the backpack frame 430 and prevent the backpack frame 430 from shaking left and right, a backboard guide rail 434 is symmetrically set on the front side of the lower end of the weight-bearing backboard 431. As shown in the figure, the backboard guide rail 434 is set vertically, and a backboard roller 435 is provided at the position of the backboard guide rail 434 on the back side of the lumbar base 100. Through the rolling cooperation of the backboard roller 435 and the backboard guide rail 434, the weight-bearing backboard 431 is restricted left and right, and at the same time, the floating friction generated by the spring during the movement of the weight-bearing backboard 431 can be reduced.

[0079] refer to Figures 18 to 22 The back base 200 is supported on the waist base 100 through the back support rod 220. The upper end of the back support rod 220 is fixedly connected to the back base 200 through a press-type positioning spring buckle, and the lower end is fixedly connected to the waist base 100. The vertical distance between the back base 200 and the waist base 100 can be adjusted as needed. The waist base 100 has two waist tubes 110 symmetrically arranged on the left and right, and a holding structure for maintaining and / or driving the two waist tubes 110 to move closer or farther away synchronously.

[0080] During specific implementation, the waist base 100 has a hollow structure, one end of the waist tube 110 extends into the waist base 100 and is fixedly connected to the waist tube adapter 120. As shown in the figure, a gear 130 is provided in the middle of the waist base 100, and the waist tube adapter 120 has a rack portion 121 that engages with the gear 130, and the rack portions 121 of the two waist tube adapters 120 are centrally symmetrically arranged relative to the rotation center of the gear 130. In this way, when the gear 130 rotates, it can drive the two waist tube adapters 120 to move closer or farther away synchronously, that is, drive the waist tube 110 to move closer or farther away.

[0081] The waist tube adapter 120 also includes a connecting head 122, which is riveted to the waist tube 110. At the same time, in order to ensure the stability of the waist tube 110 in terms of movement and improve its torsion resistance, at least two waist tube slide rails 160 are provided on the waist base 100 corresponding to each connecting head 122. The waist tube slide rails 160 are fixed along the left and right lengths of the waist base 100, and the connecting head 122 is slidably matched with the corresponding waist tube slide rails 160. In this embodiment, the waist tube slide rail 160 is rod-shaped, but it can also be other similar axial sliding matching structures.

[0082] In this embodiment, the waist tube 110 is manually adjusted, that is, actively pushing and pulling one of the waist tubes 110 can achieve synchronous adjustment of the other waist tube 110. For this purpose, a waist tube locking piece 140 is further provided on the waist base 100. As shown in the figure, the waist tube locking piece 140 includes a fixedly connected locking block 141 and an elastic button 142. The waist tube locking piece 140 is movably installed on the waist base 100 and can be raised and lowered along the waist base 100. A locking reset spring 143 is provided between the waist tube locking piece 140 and the waist base 100. The locking reset spring 143 applies an upward pulling force or pushing force to the waist tube locking piece 140 (when the waist tube locking piece 140 is set at the upper part, at this time The force is downward), in this embodiment, the locking reset spring 143 is a tension spring, which always applies an upward pulling force to the waist tube locking piece 140, and a protrusion 144 is provided on the locking block 141. The waist tube adapter 120 has a locking groove 123 arranged parallel to the rack portion 121, and the locking groove 123 is adapted to the protrusion 144. Under the action of the locking reset spring 143, the protrusion 144 of the locking block 141 is embedded in the locking groove 123. At this time, one of the waist tube adapters 120 is locked, and the relative positions of the two waist tubes 110 are fixed. If adjustment is required, the locking block 141 needs to be slid downward or upward through the elastic button 142, and the protrusion 144 can be withdrawn from the locking groove 123.

[0083] Of course, during implementation, a driving motor and a gear 130 can also be provided on the waist base 100 for transmission connection. The waist tube 110 can be quickly adjusted by the motor, which is easy and convenient, and the waist tube locking part 140 can also be omitted.

[0084] refer to Figures 23 to 31 In this embodiment, there are two lower limb bones 500, which are symmetrically arranged on the left and right sides of the waist base 100. They mainly include a thigh body 510 and a calf body 520. As shown in the figure, the thigh body 510 is connected to the outer end of the waist tube 110 through a hip joint assembly 600. The hip joint assembly 600 mainly includes a hip joint adapter 610 and a ball joint 620. The outer end of the waist tube 110 is connected to the hip joint adapter 610 through a press-type positioning spring buckle, and the extension length of the waist tube 110 can be adjusted as needed.

[0085] The ball joint 620 mainly includes a ball joint base 621 and a matching ball head 622. The bottom of the hip joint adapter 610 is hinged to the ball joint base 621, and its rotation plane is parallel to the vertical plane in the front-to-back direction of the entire exoskeleton. At the same time, a tension spring 640 is provided between the two. The tension direction of the tension spring 640 is coplanar with the rotation plane of the hip joint adapter 610. One end of the tension spring 640 is fixed to the tail end of the hip joint adapter 610, and the other end is fixed to the ball joint base 621, which has a certain rebound effect.

[0086] The ball head 622 is fixedly connected to the thigh body 510 through the thigh support rod 630, and the thigh support rod 630 and the thigh body 510 are also connected by a press-type positioning spring buckle to facilitate adjustment of the vertical distance between the hip joint and the thigh body 510. A ball socket pad 650 is set between the ball head 622 and the ball joint base 621 to reduce friction, ensure flexible rotation, and extend service life.

[0087] Key References Figures 17 to 30 In this embodiment, a knee joint cam rod 530 is fixed to the lower end of the thigh body 510, and the knee joint cam rod 530 is hinged to the upper end of the calf body 520. The knee joint cam rod 530 mainly includes an integrally formed plate-shaped fixing portion 532 and a cam portion 531. A guide roller 540 is provided in the calf body 520. The guide roller 540 has a V-shaped groove 541 that is adapted to the outer edge contour of the cam portion 531. The guide roller 540 is movably supported on the calf body 520 through the power-assisting elastic member 521 and is against the cam portion 531.

[0088] Specifically as shown in the figure, the plate-shaped fixing portion 532 is fixedly connected to the thigh body 510, the cam portion 531 is in the shape of an eccentric cam, and is rotatably connected to the calf body 520 through a rotating shaft. The rear side of the lower end of the thigh body 510 and the front side of the upper end of the calf body 520 have an overlapping part to limit the forward rotation of the calf body 520, and they form a structure similar to the human knee joint. In the initial state, the cam portion 531 faces the rear side of the lower limb skeleton 500, and the distance from the outer edge of the cam portion 531 to the rotation center gradually increases along the length direction of the knee joint cam rod 530.

[0089] The calf body 520 includes a vertically arranged knee joint fixing frame 522, and the guide roller 540 is arranged in the knee joint fixing frame 522 through a roller base 523. As shown in the figure, the knee joint fixing frame 522 has guide windows 524 opened along its length on both sides, and guide grooves 525 slidably engaged with the guide windows 524 on both sides of the roller base 523. The guide roller 540 is rotatably supported on the roller base 523. The roller base 523 has a guide rod 526. The power-assisting elastic member 521 is preferably a spring and is vertically supported in the knee joint fixing frame 522. The guide rod 526 extends into the power-assisting elastic member 521 to play a certain role in straightening it. When the calf body 520 rotates relative to the thigh body 510, when the rotation angle is small, the compression of the power-assisting elastic member 521 is small. When the rotation angle gradually increases, the compression of the power-assisting elastic member 521 will increase significantly. This structure can reduce unnecessary power assistance in the early stage and better assist the large-scale knee flexion.

[0090] The lower end of the calf body 520 is connected to the shoe cover 560 through the ankle joint 550. As shown in the figure, the ankle joint 550 mainly includes a calf support rod 551 and a support rod base 552 that are fixedly connected to each other. The shoe cover 560 has a support rod adapter 553 coaxially hinged with the support rod base 552. The support rod adapter 553 cooperates with the support rod base 552 to realize the rotation of the shoe cover 560 in the front and rear vertical planes. The upper end of the calf support rod 551 is connected to the calf body 520 by a press-type positioning spring buckle, and the vertical distance between the shoe cover 560 and the calf body 520 can be adjusted as needed.

[0091] In addition, in order to further improve the stability of the exoskeleton and the human body, a waist belt 150 is provided on the waist belt base 100, and the inner sides of the thigh body 510 and the calf body 520 both have an arc-shaped covering portion extending and bending inward.

[0092] refer to Figures 1 to 32 The load-bearing exoskeleton with adjustable force unloading shown can be assembled by fixing the force unloading adjustment mechanism 300 on the base body 20a, and fixing the assembled upper limb assist cabin 410 to the shaft 312 through the load-bearing adapter bracket 420, and fixing the shoulder strap 210 to the shoulder strap fixing frame 250. Finally, the base back cover 20b is closed, and the assembled back base 200 is fixedly connected to the assembled waist base 100 through the back support rod 220. The waist tube 110 is connected to the assembled lower limb skeleton 500 through the hip joint assembly 600, and finally, the backpack 430 can be installed as needed.

[0093] The initial state of the unloading force regulating mechanism 300 is as follows: Figure 4As shown, the pressure plate shaft 310 is in the highest position under the support of the unloading elastic member 390. When the load-bearing assembly 400 is loaded, the disc portion 311 compresses the unloading elastic member 390. When the adjusting knob 330 is rotated to make the threaded bushing 340 in the highest position, the vertical distance between the disc portion 311 and the threaded bushing 340 is the shortest, and the unloading elastic member 390 can be compressed to the minimum. At this time, the unloading adjustment mechanism 300 is as shown in FIG. Figure 8 As shown in the minimum unloading state, when the adjusting knob 330 is rotated to make the threaded bushing 340 at the lowest position, the vertical distance between the disk 311 and the threaded bushing 340 is the longest, and the unloading elastic member 390 can be compressed to the maximum. At this time, the unloading adjustment mechanism 300 is as shown in FIG. Figure 32 The device is shown in a maximum unloading state. To facilitate adjustment of the unloading force as needed, an indicator mark 332 is marked on the adjustment knob 330 in this embodiment.

[0094] When assistance is needed for upper limb carrying, the assisting belt 411 only needs to be pulled out, and other items can be directly tied to the backpack 430. The backpack 430 also has good stability when the person is walking.

[0095] Finally, it should be noted that the above description is only a preferred embodiment of the present invention. Under the guidance of the present invention, ordinary technicians in this field can make various similar expressions without violating the purpose and claims of the present invention. Such changes fall within the scope of protection of the present invention.

Claims

1. A load-bearing exoskeleton with adjustable unloading force, characterized in that: include: waist base (100); A back base (200) is fixedly supported on the waist base (100), and a force unloading adjustment mechanism (300) is provided on the back base. The force unloading adjustment mechanism (300) is used to adjust the auxiliary bearing size of the back base (200). The force unloading adjustment mechanism (300) is movably arranged in the back base (200) and can slide along the height direction of the back base (200). The force unloading adjustment mechanism (300) includes a pressure plate shaft (310); The weight-bearing assembly (400) comprises at least a backpack frame (430) disposed on the back side of the back base (200), wherein the backpack frame (430) bears force on the pressure plate shaft (310) and has a height-direction guide structure between the backpack frame (430) and the back base (200) and the waist base (100); The lower limb skeleton (500) supports the waist base (100) via the hip joint assembly (600); The unloading force adjustment mechanism (300) includes an adjustment seat (320) and an adjustment knob (330). The adjustment seat (320) includes a mounting cavity (321) arranged along the height direction of the back base (200). The mounting cavity (321) includes a coaxially arranged unloading elastic member (390) and a threaded bushing (340). The pressure plate shaft (310) includes a relatively fixed plate portion (311) and a shaft portion (312). The shaft portion (312) passes downward through the unloading elastic member (390). The shaft portion (312) is arranged along the height direction of the back base (200) and has an axial displacement guide structure that cooperates with the back base (200). The load-bearing point at the lower end of the unloading elastic member (390) is relatively fixed to the adjustment seat (320), and the upper end abuts against the disk portion (311), and the diameter of the disk portion (311) is larger than the inner diameter of the threaded bushing (340); The threaded bushing (340) is threadably engaged with the adjusting knob (330) and is slidably disposed in the mounting cavity. The adjusting knob (330) is rotatably disposed in the mounting cavity (321), and its axial position is fixed relative to the adjusting seat (320). A knob base (350) is fixedly provided in the mounting cavity (321), the knob base (350) having a central hole (351) opened along its axial direction, the force-releasing elastic member (390) is located in the central hole (351), the lower end of the adjusting knob (330) is rotatably connected to the knob base (350), the threaded bushing (340) is located between the adjusting knob (330) and the knob base (350), and the top of the adjusting knob (330) protrudes above the back base (200); A guide shaft (231) is vertically arranged in the back base (200) and slidably matched with the adjustment seat (320). A reset elastic member (322) is provided between the adjustment seat (320) and the back base (200). The reset elastic member (322) applies a push-pull force to the adjustment seat (320) toward the top of the back base (200).

2. The load-bearing exoskeleton with adjustable force release according to claim 1, characterized in that: A shoulder strap (210) is provided between the waist base (100) and the back base (200), and the upper end of the shoulder strap (210) extends into the back base (200) and is fixedly connected to the adjustment seat (320).

3. The load-bearing exoskeleton with adjustable force release according to claim 1 or 2, characterized in that: The weight-bearing component (400) comprises two upper limb assisting compartments (410) symmetrically arranged on both sides of the back base (200), and the upper limb assisting compartments (410) are equipped with assisting belts (411) via a reeling mechanism, and the assisting belts (411) pass through the bottom of the upper limb assisting compartments (410).

4. The load-bearing exoskeleton with adjustable force release according to claim 3, characterized in that: The carrying frame (430) includes a weight-bearing back plate (431), and both left and right sides of the weight-bearing back plate (431) have connection structures that cooperate with the upper limb power-assisting cabin (410).

5. The load-bearing exoskeleton with adjustable force release according to claim 4, characterized in that: The weight-bearing back plate (431) has buckles (432) hingedly connected to the back plate on both sides, and the body of the upper limb assisting cabin (410) has slots (412) that cooperate with the buckles (432), and the buckles (432) can rotate between being parallel to and perpendicular to the weight-bearing back plate (431); A weight-bearing flap (433) is provided on the rear side of the bottom of the weight-bearing back plate (431). The weight-bearing flap (433) and the weight-bearing back plate (431) are hinged to each other and can be flipped upward to fit the weight-bearing back plate (431).

6. The load-bearing exoskeleton with adjustable force release according to claim 4, characterized in that: A backboard guide rail (434) is symmetrically arranged on the front side of the lower end of the weight-bearing backboard (431), and the backboard guide rail (434) is arranged vertically. A backboard roller (435) is provided at a position corresponding to the backboard guide rail (434) on the back side of the waist base (100), and the backboard roller (435) is in rolling cooperation with the backboard guide rail (434).

7. The load-bearing exoskeleton with adjustable force release according to claim 1, characterized in that: The lower limb skeleton (500) comprises a thigh body (510) and a calf body (520), wherein a knee joint cam rod (530) is fixedly provided at the lower end of the thigh body (510), the knee joint cam rod (530) being hinged to the upper end of the calf body (520), and the knee joint cam rod (530) having a cam portion (531), wherein the distance between the outer edge of the cam portion (531) and the rotation center gradually increases along the length direction of the knee joint cam rod (530); A guide roller (540) is provided in the calf body (520), and the guide roller (540) has a V-shaped groove (541) adapted to the outer edge profile of the cam portion (531). The guide roller (540) is movably supported on the calf body (520) via the assist elastic member (521) and abuts against the cam portion (531).

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