Exoskeleton device

Abstract

The present application mainly relates to an exoskeleton device, comprising a back assembly, a leg assembly and a foot assembly, one end of the leg assembly is detachably connected with the back assembly, and / or the other end of the leg assembly is detachably connected with the foot assembly. The exoskeleton device provided by the present application sets each limb assembly to be detachably connected, that is, modular design, so as to allow the user to wear the single module of the exoskeleton device first, such as wearing the back assembly, the leg assembly and the foot assembly respectively, and then connecting each module, instead of directly wearing the whole exoskeleton device, so that the whole exoskeleton device does not need to be moved during wearing, or the user does not need to be transferred into the exoskeleton device, which can greatly reduce the labor input and be beneficial to reducing the wearing time, especially for the user who carries out rehabilitation training, of course, the portability of the exoskeleton device can be increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation equipment, in particular to an exoskeleton device. BACKGROUND

[0002] As a medical instrument, the exoskeleton device can be worn by a user to assist the user to enhance the corresponding movement function, for example, to assist the crowd with weak legs and feet to walk, and again for example, to assist the patient to carry out rehabilitation training. However, the exoskeleton device in the related art is often designed as a whole, that is, it cannot be disassembled, resulting in the user needing to move the entire exoskeleton device during the wearing process, which is time-consuming and labor-intensive, and the time and energy for actual use, such as rehabilitation training, are greatly discounted, and of course the portability is poor. SUMMARY

[0003] The exoskeleton device provided by the present application comprises a back assembly, a leg assembly and a foot assembly, one end of the leg assembly is detachably connected with the back assembly, and / or the other end of the leg assembly is detachably connected with the foot assembly.

[0004] The exoskeleton device provided by the present application sets each limb assembly to be detachably connected, that is, modular design, so as to allow the user to wear a single module of the exoskeleton device first during the wearing process of the exoskeleton device, for example, to wear the back assembly, the leg assembly and the foot assembly respectively, and then to connect each module, instead of directly wearing the entire exoskeleton device, so that it is not necessary to move the entire exoskeleton device during the wearing process, or it is not necessary to transfer the user into the exoskeleton device, which can greatly reduce the labor input and be conducive to reducing the wearing time, especially for the user who carries out rehabilitation training, and of course the portability of the exoskeleton device can be increased. BRIEF DESCRIPTION OF DRAWINGS

[0005] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0006] Figure 1 is a structural schematic diagram of an embodiment of the exoskeleton device provided by the present application;

[0007] Figure 2 is an exploded structural schematic diagram of an embodiment of the back assembly provided by the present application;

[0008] Figure 3 is an exploded structural schematic diagram of an embodiment of the hip joint structure provided by the present application;

[0009] Figure 4 is Figure 3 Figure 2 is an exploded view of an embodiment of a first hip joint assembly in the context of the present application;

[0010] Figure 5 is Figure 3 Figure 3 is an exploded view of another embodiment of a first hip joint assembly in the context of the present application;

[0011] Figure 6 is Figure 3 Figure 4 is an exploded view of an embodiment of a second hip joint assembly in the context of the present application;

[0012] Figure 7 is Figure 3 Figure 5 is an exploded view of an embodiment of a hip width adjustment assembly in the context of the present application;

[0013] Figure 8 is Figure 7 Figure 6 is a structural view of various states of a hip width adjustment assembly in the context of the present application;

[0014] Figure 9 is an exploded view of an embodiment of a thigh assembly provided in the context of the present application;

[0015] Figure 10 is an exploded view of an embodiment of a calf assembly provided in the context of the present application;

[0016] Figure 11 is an exploded view of an embodiment of an ankle joint structure provided in the context of the present application;

[0017] Figure 12 is an exploded view of an embodiment of a foot assembly provided in the context of the present application. DETAILED DESCRIPTION

[0018] The present application will be further described with reference to the drawings and embodiments. It is expressly noted that the following embodiments are merely meant to illustrate the present application and do not limit the scope of the present application. Similarly, the following embodiments are only some of the embodiments of the present application and all other embodiments obtained by a person of ordinary skill in the art without making inventive efforts are within the scope of the present application.

[0019] Reference to an "embodiment" in the present application means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. It is explicitly and implicitly understood by a person of ordinary skill in the art that an embodiment described in the present application can be combined with other embodiments.

[0020] In connection with Figure 1, the exoskeleton device 10 can include a back assembly 11, a leg assembly 12, and a foot assembly 13. One end of the leg assembly 12 can be articulated with the back assembly 11 to allow the user's leg to move relative to the upper body in a worn state, and the other end of the leg assembly 12 can be articulated with the foot assembly 13 to allow the user's foot to move relative to the leg in a worn state. Among them, in order to realize complex limb movement, one end of the leg assembly 12 can be further connected with the back assembly 11 through a hip joint structure 14, and the other end of the leg assembly 12 can be further connected with the foot assembly 13 through an ankle joint structure 15. For example: the hip joint structure 14 is arranged to assist at least one of the flexion / extension movement, adduction / abduction movement, and internal rotation / external rotation movement of the user's hip joint in a worn state, and the ankle joint structure 15 is arranged to assist at least one of the plantar flexion / dorsal flexion movement and internal rotation / external rotation movement of the user's ankle joint in a worn state.

[0021] Further, the leg assembly 12 and the back assembly 11 are detachably connected, for example, through a pin between the two; and / or, the leg assembly 12 and the foot assembly 13 are detachably connected, for example, through another pin between the two. Among them, the aforementioned pin is inserted to maintain the connection relationship, and pulled out to release the connection relationship. In other words, the exoskeleton device 10 can be modularly designed to allow the user to wear individual modules of the exoskeleton device 10 first, such as the back assembly 11, the leg assembly 12, and the foot assembly 13, etc., and then connect the modules, rather than directly wearing the entire exoskeleton device 10, during the wearing process of the exoskeleton device 10. In this way, the user does not need to move the entire exoskeleton device 10 during the wearing process of the exoskeleton device 10, which can greatly reduce the labor input and be beneficial to reduce the wearing time, especially for users undergoing rehabilitation training. In addition, the portability of the exoskeleton device 10 can also be increased.

[0022] It should be noted that the user can wear each module of the exoskeleton device 10 according to actual needs to reduce the feeling of weight in the case of meeting the needs. For example, if the user only needs to assist the hip joint, the user can only wear the back assembly 11, the leg assembly 12 and the hip joint structure 14; if the user only needs to assist the ankle joint, the user can only wear the foot assembly 13, the leg assembly 12 and the ankle joint structure 15. Of course, if the user only needs to assist the knee joint, the user can only wear the leg assembly 12; accordingly, the leg assembly 12 can include a thigh assembly 121, a lower leg assembly 122 and a knee joint structure 123 connecting the thigh assembly 121 and the lower leg assembly 122, and the knee joint structure 123 can be arranged to assist the user's knee joint to flex / extend in the wearing state. Wherein, when the user only assists the hip joint, the leg assembly 12 can refer to the thigh assembly 121; and when the user only assists the ankle joint, the leg assembly 12 can refer to the lower leg assembly 122. Further, in order to facilitate the description, for the lower limbs where the hip joint, the ankle joint and the knee joint are located, the present application does not distinguish whether the left / right limb wears the exoskeleton device 10 or whether the left / right limb wears the exoskeleton device 10, and the user can make a corresponding choice according to actual needs, which is not limited herein.

[0023] Based on the above description, the present application takes the hip joint structure 14 itself as an example to be detachable, and the foot assembly 13 and the ankle joint structure 15 are detachably connected.

[0024] In combination Figure 2 , the back assembly 11 can include a back plate 111, a backpack body 112, a battery pack 113 and a control panel 114. Wherein, the back plate 111 can be arranged in an arc shape to be in good contact with the user's back in the wearing state, thereby increasing the comfort of wearing. The backpack body 112 can be connected with the back plate 111, and the two can further cooperate to form a storage compartment for storing the battery pack 113. Further, the battery pack 113 is mainly used to power the exoskeleton device 10, for example, to drive the electrodes mentioned later. The control panel 114 can be arranged as a tablet computer, which is mainly used to facilitate the user / medical staff to control the exoskeleton device 10, for example, to select a corresponding training course for the user who is undergoing rehabilitation training.

[0025] It should be noted that the back assembly 11 can also include a handle 115 connected with the backpack body 112, and the handle 115 can be arranged on opposite sides of the backpack body 112 to facilitate the user to apply a force to the back assembly 11, thereby facilitating the carrying of the exoskeleton device 10. Of course, the handle 115 can also be arranged on the back plate 111.

[0026] Further, the back assembly 11 can further comprise a buckle assembly 116, which can be arranged on the backpack body 112 to form a lock after the battery pack 113 is loaded into the above-mentioned accommodating cavity, thereby avoiding the battery pack 113 from falling out. Wherein, the locking / unlocking direction (for example, the direction indicated by arrow A in Figure 2 FIG. 6) of the buckle assembly 116 and the loading / unloading direction (for example, the direction indicated by arrow B in Figure 2 FIG. 6) of the battery pack 113 can be perpendicular to each other.

[0027] Further, in combination with Figure 2 , the back assembly 11 can further comprise a back binding structure 117, which can be arranged to allow the back plate 111 to be close to the back of the user in the wearing state. As an example, the back binding structure 117 can comprise shoulder straps 1171 and waist straps 1172 connected with the back plate 111 respectively. Wherein, the shoulder straps 1171 can be arranged to pass around the shoulders of the user in the wearing state, the waist straps 1172 can be arranged to pass around the abdomen of the user in the wearing state, and an adjusting buckle can be further arranged on each of the shoulder straps 1171 and the waist straps 1172 to adjust the length. Further, the shoulder straps 1171 can be arranged in two groups to pass around the left / right shoulders of the user in the wearing state respectively; accordingly, a chest strap 1173 can be further arranged to connect between the two groups of shoulder straps 1171 to constrain the two groups of shoulder straps 1171, thereby increasing the binding effect of the back binding structure 117. Wherein, a pair of insertion buckles can be arranged on the chest strap 1173 and the waist strap 1172 respectively to facilitate wearing.

[0028] As is known, in the fields of medicine, anatomy, etc., three basic sections of the sagittal plane, the coronal plane and the horizontal plane, and three basic axes of the sagittal axis, the coronal axis and the vertical axis can be defined for the human body. Wherein, the sagittal plane refers to a section perpendicular to the ground made along the front-back direction of the body, which divides the human body into left and right parts; the coronal plane refers to a section perpendicular to the ground made along the left-right direction of the body, which divides the human body into front and back parts; the horizontal plane refers to a section parallel to the ground made along the up-down direction of the body, which divides the human body into upper and lower parts. Accordingly, the sagittal axis refers to an axis perpendicular to the coronal plane along the front-back direction of the body, the coronal axis refers to an axis perpendicular to the sagittal plane along the left-right direction of the body, and the vertical axis refers to an axis perpendicular to the horizontal plane along the up-down direction of the body.

[0029] In combination with Figure 3 and Figure 1, the hip joint structure 14 can include a first hip joint assembly 141 and a second hip joint assembly 142 connected with the first hip joint assembly 141, and both can be arranged in a movable connection to assist the hip joint of the user. The first hip joint assembly 141 can be connected with the leg assembly 12 and extend along the vertical axis of the human body in the wearing state, and the second hip joint assembly 142 can be connected with the back assembly 11 and extend around the vertical axis of the human body in the wearing state.

[0030] In some embodiments, the first hip joint assembly 141 can be arranged to assist the hip joint of the user in any one of the internal rotation / external rotation movement and the flexion / extension movement in the wearing state, and the second hip joint assembly 142 can be arranged to assist the hip joint of the user in the adduction / abduction movement in the wearing state. Of course, in other embodiments, the second hip joint assembly 142 can also be used only to realize the connection between the first hip joint assembly 141 and the back assembly 11 (such as the back plate 111), and not to assist the hip joint of the user in the adduction / abduction movement. Similarly, the first hip joint assembly 141 can also be arranged only to assist the hip joint of the user in the internal rotation / external rotation movement in the wearing state, and the third hip joint assembly 143 movably connected therewith can assist the hip joint of the user in the flexion / extension movement. In this application, the first hip joint assembly 141 is arranged to assist the hip joint of the user in the internal rotation / external rotation movement, the second hip joint assembly 142 is arranged to assist the hip joint of the user in the adduction / abduction movement, and the third hip joint assembly 143 is arranged to assist the hip joint of the user in the flexion / extension movement in the wearing state are taken as examples for illustrative description. In this way, through the three hip joint assemblies associated with each other, the hip joint of the user is maximized to allow the exoskeleton device 10 to better assist the hip joint of the user in the corresponding limb movement.

[0031] Further, in the wearing state, the first hip joint assembly 141 and the third hip joint assembly 143 can be mainly located on the lateral side of the user's body, such as the left side and / or the right side of the body, and the second hip joint assembly 142 can extend from the lateral side of the user's body to the back side of the body. Similarly, in the wearing state, the leg assembly 12 can also be mainly located on the lateral side of the user's body, such as the left side and / or the right side of the body, and the back assembly 11 can be mainly located on the back side of the user's body. Based on this, the second hip joint assembly 142 is detachably connected with the first hip joint assembly 141, such as the hip corner piece 1421 is detachably connected with the hip internal / external rotation seat 1411, that is, the hip joint structure 14 itself is arranged to be detachable. At this time, the first hip joint assembly 141 and the third hip joint assembly 143 can form a structural whole with the leg assembly 12, and the second hip joint assembly 142 and the hip width adjustment assembly 144 mentioned later can form a structural whole with the back assembly 11, that is, the above-mentioned modularization.

[0032] In some embodiments, the exoskeleton device 10 can further comprise a first locking structure 16, which can be configured to switch between a locked state and an unlocked state. In the locked state, the first locking structure 16 maintains the connection between the second hip joint assembly 142 and the first hip joint assembly 141 to ensure the reliability of the exoskeleton device 10; in the unlocked state, the first locking structure 16 allows the second hip joint assembly 142 to be separated from the first hip joint assembly 141 to facilitate the disassembly of the exoskeleton device 10. For example, the first locking structure 16 is configured as a snap buckle, one of the male buckle and the female buckle is connected with the first hip joint assembly 141, and the other is connected with the second hip joint assembly 142. Of course, in other embodiments, the first locking structure 16 can also be a separate structural member, such as a latch, which is independent of the first hip joint assembly 141 and the second hip joint assembly 142.

[0033] In combination Figure 4 Or Figure 5 The first hip joint assembly 141 can comprise a hip internal-external rotation seat 1411 and a hip internal-external rotation shaft 1412, which is configured to rotate relative to the hip internal-external rotation seat 1411 to allow the hip joint of the user to perform internal-external rotation movement in the wearing state. The axial direction of the hip internal-external rotation shaft 1412 can be parallel to the vertical axis of the human body. Further, one of the hip internal-external rotation seat 1411 and the hip internal-external rotation shaft 1412 can be connected with the second hip joint assembly 142, and the other can be connected with the third hip joint assembly 143. In this application, the hip internal-external rotation seat 1411 is connected with the second hip joint assembly 142, and the hip internal-external rotation shaft 1412 is connected with the third hip joint assembly 143, which is taken as an example for illustrative description.

[0034] Further, the first hip joint assembly 141 can further comprise a correction structure 1413, which can be configured to provide a counteracting force during the rotation of the hip internal-external rotation shaft 1412 relative to the hip internal-external rotation seat 1411, so as to restore the hip internal-external rotation shaft 1412 to zero position relative to the hip internal-external rotation seat 1411, thereby assisting the user to correct the gait of walking. The size of the counteracting force required by the correction structure 1413 can be reasonably designed according to the actual needs, which is not limited herein.

[0035] It should be noted that the above "zero position" can refer to the position of the hip internal-external rotation shaft 1412 relative to the hip internal-external rotation seat 1411 when the user wears the exoskeleton device 10 and walks along the front direction (which can be defined as "normal walking"). Obviously, during normal walking, if the hip internal-external rotation shaft 1412 deviates from the zero position relative to the hip internal-external rotation seat 1411, it may not only cause the user's gait error, but also cause the user's center of gravity to be unstable. Based on this, the correction structure 1413 provides a reverse force during this process, which can not only make the user aware of the gait error, but also assist the user in correction, thereby better assisting the user's hip joint.

[0036] In some embodiments, in combination with Figure 4 The correction structure 1413 can include a torsional spring 14131, which can be sleeved on the hip internal-external rotation shaft 1412. One end of the torsional spring 14131 is connected with the hip internal-external rotation shaft 1412, and the other end is connected with the hip internal-external rotation seat 1411, so as to allow the torsional spring 14131 to provide a reverse force during the rotation of the hip internal-external rotation shaft 1412 relative to the hip internal-external rotation seat 1411, thereby forcing the hip internal-external rotation shaft 1412 to return to the zero position relative to the hip internal-external rotation seat 1411. Based on this, when the torsional spring 14131 is in a natural state, the hip internal-external rotation shaft 1412 can be exactly at the zero position relative to the hip internal-external rotation seat 1411.

[0037] Further, the hip internal-external rotation seat 1411 can be provided with a limiting groove 14111 along the circumferential direction thereof; correspondingly, the correction structure 1413 can further include a limiting pin 14132, one end of which is connected with the hip internal-external rotation shaft 1412, and the other end extends into the limiting groove 14111. In this way, by cooperation between the limiting pin 14132 and the limiting groove 14111, the rotation of the hip internal-external rotation shaft 1412 relative to the hip internal-external rotation seat 1411 is limited within a certain angle range, which can not only avoid the user from falling down due to the hip internal-external rotation shaft 1412 deviating from the zero position relative to the hip internal-external rotation seat 1411 too much, but also avoid the torsional spring 14131 from being disabled.

[0038] In combination with Figure 4, the hip internal-external rotation shaft 1412 can be divided into a first rotation shaft segment 14121, a second rotation shaft segment 14122 and a third rotation shaft segment 14123 along its axis, the diameter of the first rotation shaft segment 14121 is greater than that of the second rotation shaft segment 14122 and the third rotation shaft segment 14123. At this time, the first rotation shaft segment 14121 can be connected with the third hip joint assembly 143, the hip internal-external rotation shaft 1412 can rotate relative to the hip internal-external rotation seat 1411 through the second rotation shaft segment 14122, and the third rotation shaft segment 14123 can be connected with the limiting pin 14132. Correspondingly, the torsional spring 14131 can also be sleeved on the third rotation shaft segment 14123 and connected therewith. Further, the third rotation shaft segment 14123 can also be provided with a bearing end cover.

[0039] Further, a bearing 1414, such as a sliding bearing, a rolling bearing, an angular contact ball bearing, etc., can also be arranged between the second rotation shaft segment 14122 and the hip internal-external rotation seat 1411 to reduce wear. Correspondingly, a bearing 1414, such as a sliding bearing, a rolling bearing, an angular contact ball bearing, etc., can also be arranged between the third rotation shaft segment 14123 and the hip internal-external rotation seat 1411 to avoid the hip internal-external rotation shaft 1412 deviating from its axis during rotation due to excessive length. At this time, the torsional spring 14131 and the limiting pin 14132 can be located between the two bearings 1414 to maximize the distance between the two bearings 1414.

[0040] In other embodiments, in combination with Figure 5 , the correction structure 1413 can include a motor 14133 and a detection member 14134, the housing of the motor 14133 can be connected with the hip internal-external rotation seat 1411, and the output shaft of the motor 14133 can be connected with the hip internal-external rotation shaft 1412. Of course, a speed reducer can also be arranged between the output shaft of the motor 14133 and the hip internal-external rotation shaft 1412 to facilitate the regulation of the rotation speed of the hip internal-external rotation shaft 1412 relative to the hip internal-external rotation seat 1411. The detection member 14134 can be arranged to detect the offset of the hip internal-external rotation shaft 1412 relative to the hip internal-external rotation seat 1411 based on the above-mentioned zero position, and the motor 14133 can drive the hip internal-external rotation shaft 1412 to rotate in the opposite direction relative to the hip internal-external rotation seat 1411 according to the aforementioned offset to restore to the zero position. Compared with the torsional spring 14131, the motor 14133 provides a counteractive force that is easier to control in size, and the detection member 14134 has higher sensitivity and stronger initiative, which is beneficial to the exoskeleton device 10 to meet different needs of different users. Moreover, compared with the torsional spring 14131, the motor 14133 can also provide assistance during the internal-external rotation movement of the user. Further, the detection member 14134 can be a torque sensor to detect the torque of the hip internal-external rotation shaft 1412 relative to the hip internal-external rotation seat 1411, or other sensors such as an acceleration sensor, an angular displacement sensor, etc.

[0041] Similarly, in combination with Figure 5 , the hip internal-external rotation shaft 1412 can be divided into a first rotation shaft segment 14121, a second rotation shaft segment 14122 and a third rotation shaft segment 14123 along its axis, the diameter of the first rotation shaft segment 14121 is greater than the larger one of the second rotation shaft segment 14122 and the third rotation shaft segment 14123. At this time, the first rotation shaft segment 14121 can be connected with the output shaft of the motor 14133, the hip internal-external rotation shaft 1412 can be rotated relative to the hip internal-external rotation seat 1411 through the second rotation shaft segment 14122, and the third rotation shaft segment 14123 can be connected with the third hip joint assembly 143. Obviously, in terms of the assembly direction of the hip internal-external rotation shaft 1412 and the hip internal-external rotation seat 1411, Figure 5 , the assembly direction in the embodiment shown is exactly opposite to Figure 4 , the assembly direction in the embodiment shown. Further, a bearing 1414, such as a sliding bearing, a rolling bearing, an angular contact ball bearing, etc., can be further arranged between the second rotation shaft segment 14122 and the hip internal-external rotation seat 1411 to reduce wear.

[0042] The main difference between the embodiment shown in Figure 4 and the embodiment shown in Figure 5 is that, in the embodiment, in combination with Figure 4 , the first hip joint assembly 141 can further include an adapter 1415, and the third rotation shaft segment 14123 is embedded in the adapter 1415, so that the hip internal-external rotation shaft 1412 is connected with the third hip joint assembly 143 through the adapter 1415. In this way, not only can the connection area between the hip internal-external rotation shaft 1412 and the third hip joint assembly 143 be increased to ensure the reliability of the connection, but also the versatility of the third hip joint assembly 143 can be increased, that is, the third hip joint assembly 143 can be adapted to Figure 4 and Figure 5 two different first hip joint assemblies 141 without structural changes. Among them, the adapter 1415 can be a locking force ring.

[0043] Based on the above description, in combination with Figure 9 , the hip internal-external rotation shaft 1412 can be divided into a first rotation shaft segment 14121, a second rotation shaft segment 14122 and a third rotation shaft segment 14123 along its axis, the diameter of the first rotation shaft segment 14121 is greater than the larger one of the second rotation shaft segment 14122 and the third rotation shaft segment 14123. At this time, the first rotation shaft segment 14121 can be connected with the output shaft of the motor 14133, the hip internal-external rotation shaft 1412 can be rotated relative to the hip internal-external rotation seat 1411 through the second rotation shaft segment 14122, and the third rotation shaft segment 14123 can be connected with the third hip joint assembly 143. Obviously, in terms of the assembly direction of the hip internal-external rotation shaft 1412 and the hip internal-external rotation seat 1411, Figure 5 , the assembly direction in the embodiment shown is exactly opposite to Figure 4 , the assembly direction in the embodiment shown. Further, a bearing 1414, such as a sliding bearing, a rolling bearing, an angular contact ball bearing, etc., can be further arranged between the second rotation shaft segment 14122 and the hip internal-external rotation seat 1411 to reduce wear.The third hip joint assembly 143 can include a motor fixing base 1431, a hip joint motor 1432, and an electric installation plate 1433. The casing of the hip joint motor 1432 can be connected with the motor fixing base 1431, and the output shaft of the hip joint motor 1432 can be connected with the leg assembly 12 (specifically, the thigh assembly 121) to drive the leg assembly 12 to swing, thereby assisting the user's hip joint to perform flexion / extension movement in the wearing state. The electric installation plate 1433 can be connected with the thigh assembly 121 to facilitate the installation of the control board of the hip joint motor 1432. The output shaft of the hip joint motor 1432 and the thigh assembly 121 can be further provided with a speed reducer and a torque sensor. The former can be used to regulate the speed of the leg assembly 12 to swing, and the latter can be used to detect the rotating speed of the hip joint motor 1432. Figure 4 The motor fixing base 1431 can be connected with the hip medial-lateral rotation shaft 1412. In combination with Figure 5 The motor fixing base 1431 can also be connected with the adapter 1415, so as to realize the connection between the third hip joint assembly 143 and the first hip joint assembly 141.

[0044] In combination with Figure 6 and Figure 3 The second hip joint assembly 142 can be connected with the hip medial-lateral rotation base 1411 and can include a hip rotation corner piece 1421. The hip rotation corner piece 1421 can be arranged to extend from the lateral side of the user's body to the back side of the body in the wearing state, that is, to extend around the vertical axis of the human body. Based on this, the hip rotation corner piece 1421 can include a lateral part 14211 corresponding to the lateral side of the body and a back part 14212 corresponding to the back side of the body, and the back part 14212 is bent relative to the lateral part 14211. The lateral part 14211 is closer to the first hip joint assembly 141 and can be connected therewith, and the back part 14212 is closer to the back assembly 11 and can be connected therewith.

[0045] The second hip joint assembly 142 can further include a hip abduction pivot 1422 and a hip abduction bearing seat 1423, the hip abduction pivot 1422 is arranged to rotate relative to the hip abduction bearing seat 1423 to allow the user's hip joint to perform adduction / abduction movement in the wearing state. Wherein the axial direction of the hip abduction pivot 1422 can be parallel to the human body sagittal axis. Further, one of the hip abduction pivot 1422 and the hip abduction bearing seat 1423 can be connected with the rear side 14212, and the other can be connected with the back assembly 11 (for example, the back plate 111). Wherein, the hip abduction pivot 1422 is connected with the rear side 14212, and the hip abduction bearing seat 1423 is connected with the back assembly 11, which is exemplarily described in this application. At this time, a bearing 1424, such as a sliding bearing, a rolling bearing, an angular contact ball bearing, etc., can be further arranged between the hip abduction pivot 1422 and the hip abduction bearing seat 1423 to reduce wear. Of course, in other embodiments, the hip pivot 1421 and the back assembly 11 can also be connected through a linkage mechanism, which can also achieve the purpose of assisting the user's hip joint to perform adduction / abduction movement by the second hip joint assembly 142.

[0046] The second hip joint assembly 142 can further include a torsional spring 1425, which can be sleeved on the hip abduction pivot 1422. Wherein one end of the torsional spring 1425 is connected with the hip pivot 1421, and the other end is connected with the hip abduction bearing seat 1423, so as to allow the torsional spring 1425 to provide a reverse force during the rotation of the hip abduction pivot 1422 relative to the hip abduction bearing seat 1423, and then force the hip abduction pivot 1422 to return to the zero position relative to the hip abduction bearing seat 1423, so as to assist the user to correct the gait when walking. Based on this, when the torsional spring 1425 is in a natural state, the hip abduction pivot 1422 can be just at the zero position relative to the hip abduction bearing seat 1423. Further, a limit pin 1426 can be further arranged on the hip abduction bearing seat 1423, the limit pin 1426 extends into the limit groove of the hip pivot 1421, so as to limit the rotation of the hip abduction pivot 1422 relative to the hip abduction bearing seat 1423 within a certain angle range, which can not only avoid the user from falling down due to the hip abduction pivot 1422 deviating from the zero position too much relative to the hip abduction bearing seat 1423, but also avoid the torsional spring 1425 from being disabled. Of course, in other embodiments, similar to the first hip joint assembly 141, the torsional spring 1425 can also be replaced by a motor, which can also provide the reverse force required by the second hip joint assembly 142.

[0047] It should be noted that the above "zero position" can refer to the position of the hip abduction pivot shaft 1422 relative to the hip abduction bearing seat 1423 when the user wears the exoskeleton device 10 and walks straight ahead (which can be defined as "normal walking"). Obviously, during normal walking, if the hip abduction pivot shaft 1422 deviates from the zero position relative to the hip abduction bearing seat 1423, it can not only cause gait error of the user, but also cause instability of the user's center of gravity. Based on this, the torsional spring 1425 provides a counteracting force during this process, which can not only make the user aware of the gait error, but also assist the user in correcting it, thereby better assisting the user's hip joint.

[0048] Based on the above description, and in combination with Figures 3 to 6 The first locking structure 16 can include a first connector 161 and a first locking member 162. The first connector 161 can be connected with the hip abduction and adduction seat 1411, and the two can be an integrally formed structural member. The first connector 161 is connected with the hip pivot angle member 1421 in a first connection direction (e.g., parallel to the human body sagittal axis), and the first locking member 162 locks the first connector 161 and the hip pivot angle member 1421 in the opposite direction of the first connection direction. At this time, the first connector 161 can be inserted into the connection slot of the hip pivot angle member 1421, or the hip pivot angle member 1421 can be inserted into the connection slot of the first connector 161. The present application takes the former as an example for illustrative description. Correspondingly, the first locking member 162 can be a separate structural member, such as a latch, which can be inserted to achieve locking and pulled out to allow unlocking.

[0049] As an example, and in combination with Figure 6 and Figure 3The end of the lateral part 14211 away from the rear part 14212 can be provided with a first insertion slot 14213, and the first insertion plug 161 is inserted into the first insertion slot 14213 along a first insertion direction. The lateral part 14211 can include a first lateral part 14214 and a second lateral part 14215 arranged in a direction perpendicular to the first insertion direction, and at least one of the two is connected to the rear part 14212. At this time, the first lateral part 14214 and the second lateral part 14215 can form the first insertion slot 14213. In this application, the first lateral part 14214 and the second lateral part 14215 are arranged opposite to the human coronal axis, and the second lateral part 14215 is farther away from the user than the first lateral part 14214 in the wearing state. Further, the first locking member 162 can be inserted into the first lateral part 14214 and the second lateral part 14215. At this time, when the first locking member 162 is switched to the unlocked state, the first insertion plug 161 is allowed to be inserted into the first insertion slot 14213, and when the first locking member 162 is switched to the locked state, the first insertion plug 161 is clamped by the first lateral part 14214 and the second lateral part 14215.

[0050] In some embodiments, the first locking member 162 can include a screw rod 1621, a cam handle 1622, and a nut 1623. The screw rod 1621 is inserted into the first lateral part 14214 and the second lateral part 14215, the cam handle 1622 is located on the side of the second lateral part 14215 away from the first lateral part 14214 and is hinged to one end of the screw rod 1621, and the nut 1623 is located on the side of the first lateral part 14214 away from the second lateral part 14215 and is connected to the other end of the screw rod 1621. At this time, after the first insertion plug 161 is inserted into the first insertion slot 14213 along the first insertion direction, the free end of the cam handle 1622 away from the screw rod 1621 can be close to the second lateral part 14215 under the action of an external force, so that the first lateral part 14214 and the second lateral part 14215 are close to each other, thereby clamping the first insertion plug 161, that is, the locked state. Correspondingly, the free end of the cam handle 1622 away from the screw rod 1621 can also be away from the second lateral part 14215 under the action of a reverse external force, so that the first lateral part 14214 and the second lateral part 14215 are away from each other, thereby allowing the first insertion plug 161 to be pulled out of the first insertion slot 14213.

[0051] Further, the first locking member 162 can also include a cam pad 1624, which is sleeved on the screw rod 1621 and located between the cam handle 1622 and the second lateral part 14215 to reduce the wear of the cam handle 1622 and prolong the service life.

[0052] In some other embodiments, the cam handle 1622 can be replaced by a hand screw nut, which can be located on the side of the second lateral part 14215 facing away from the first lateral part 14214 and connected with the screw rod 1621. At this time, the user can also realize the approach or departure of the first lateral part 14214 and the second lateral part 14215 to each other by turning the hand screw nut, thereby realizing the switching between the locked state and the unlocked state.

[0053] It should be noted that the screw rod 1621 can not protrude from the first lateral part 14214, and the nut 1623 can also be hidden in the first lateral part 14214 to avoid scratching the user. Further, the end of the screw rod 1621 away from the cam handle 1622 can also be directly connected with the first lateral part 14214 without the nut 1623.

[0054] In combination with Figure 4 Or Figure 5 The first connector 161 can include two first connector arms 1611 extending in the same direction along the first connector direction, and the two first connector arms 1611 are spaced apart in a direction perpendicular to the first connector direction (for example, parallel to the vertical axis of the human body) and are respectively located on both sides of the first locking member 162 (for example, the screw rod 1621) during the insertion of the first connector 161 into the first connector slot 14213. In this way, it is beneficial to increase the uniformity of the stress distribution when the first lateral part 14214 and the second lateral part 14215 together clamp the first connector 161, thereby increasing the reliability of the connection between the first hip joint assembly 141 and the second hip joint assembly 142.

[0055] Based on the above detailed description, in combination with Figure 3 And Figure 1 The exoskeleton device 10 can include two groups of hip joint structures 14, which correspond to the left hip joint and the right hip joint of the user in the wearing state. Obviously, the distance between the left hip joint and the right hip joint of different users is different. Therefore, the hip joint structure 14 can further include a hip width adjustment assembly 144 to adjust the distance (which can be defined as "hip width") between the two groups of hip joint structures 14 in the exoskeleton device 10 on the coronal axis of the human body, so as to better adapt to the user. As an example, in combination with Figure 6 The hip width adjustment assembly 144 can connect the two groups of second hip joint assemblies 142 to approach or depart from each other on the coronal axis of the human body. At this time, the second hip joint assembly 142 can be connected with the back assembly 11 through the hip width adjustment assembly 144.

[0056] In combination with Figure 7The hip width adjustment assembly 144 can include a fixed base 1441, a guide rail base 1442, and guide sliders 1443. The fixed base 1441 can be connected to the back assembly 11 (e.g., the back plate 111); the guide rail base 1442 can be connected to the fixed base 1441 and provided with a guide groove; and the guide sliders 1443 can be connected to the hip abduction bearing seats 1423 and arranged to slide in the guide groove of the guide rail base 1442, so as to allow the hip abduction bearing seats 1423 of the two groups of second hip joint assemblies 142 to approach or move away from each other, thereby adjusting the hip width. Further, the number of guide sliders 1443 on each hip abduction bearing seat 1423 can be multiple, and can be divided into two groups. The two groups of guide sliders 1443 can be arranged on opposite sides of the hip abduction bearing seat 1423, respectively, so as to increase the reliability of the sliding of the hip abduction bearing seat 1423 relative to the guide rail base 1442.

[0057] The hip width adjustment assembly 144 can further include a rack 1444, a gear 1445, a ratchet structure 1446, and a knob structure 1447. The rack 1444 is connected to the hip abduction bearing seat 1423, and the gear 1445 is engaged with the rack 1444. The ratchet structure 1446 connects the gear 1445 and the knob structure 1447, and is arranged to allow a user to apply a torsion force to the knob structure 1447. The torsion force can further drive the gear 1445 to rotate through the ratchet structure 1446, and then drive the hip abduction bearing seat 1423 to slide relative to the guide rail base 1442 through the rack 1444. Accordingly, the number of racks 1444 can be two groups, and each can be connected to the hip abduction bearing seat 1423, so as to facilitate the synchronous driving of the two groups of guide sliders 1443 by the gear 1445 to approach or move away from each other. With the vertical axis of the human body as the reference, the two groups of racks 1444 can be arranged opposite to each other in the radial direction of the gear 1445. Further, bearings 1448, such as sliding bearings, rolling bearings, angular contact ball bearings, etc., can be arranged between one end of the gear 1445 and the fixed base 1441, and between the other end of the gear 1445 and the knob structure 1447, so as to increase the reliability and reduce the wear.

[0058] As an example, the ratchet structure 1446 can include a ratchet mounting disc 14461, a ratchet inner ring 14462, a ratchet tooth 14463, a positioning pin 14464, a push pin 14465 and a torsion spring 14466; the knob structure 1447 can include a rotating disc 14471 and an adjusting knob 14472. Among them, the ratchet mounting disc 14461 is sleeved on the gear 1445 and connected therewith; the ratchet inner ring 14462 is connected with the guide rail base 1442, the ratchet tooth 14463 is connected with the ratchet mounting disc 14461 through the positioning pin 14464 and allows the ratchet tooth 14463 to rotate relative to the ratchet mounting disc 14461; one end of the push pin 14465 is connected with the ratchet tooth 14463 and the other end extends into the guide groove of the rotating disc 14471 to allow the knob structure 1447 to push the ratchet tooth 14463 through the push pin 14465, thereby releasing the engagement between the ratchet tooth 14463 and the ratchet inner ring 14462; the torsion spring 14466 is sleeved on the positioning pin 14464, one end of which is connected with the ratchet mounting disc 14461 and the other end is connected with the ratchet tooth 14463 to maintain the engagement between the ratchet tooth 14463 and the ratchet inner ring 14462; the adjusting knob 14472 is connected with the rotating disc 14471 to facilitate the user to apply a torsion force to the hip width adjustment assembly 144.

[0059] Further, the ratchet tooth 14463, the positioning pin 14464, the push pin 14465, the torsion spring 14466 and the guide groove of the rotating disc 14471 can be correspondingly provided with two groups to increase the reliability of the ratchet structure 1446. Among them, the guide groove of the rotating disc 14471 can be arranged in a V shape to allow the rotating disc 14471 to release the engagement between the ratchet tooth 14463 and the ratchet inner ring 14462 when rotating clockwise or counterclockwise; accordingly, when the push pin 14465 is located at the lowest point of the guide groove of the rotating disc 14471, the torsion spring 14466 can be in a natural state.

[0060] The working principle and working process of the ratchet structure 1446 will be described below. Figure 8 The working principle and working process of the ratchet structure 1446 will be described below.

[0061] State (a): when the user does not apply a torsion force to the ratchet structure 1446 through the knob structure 1447, in combination with Figure 8 In combination with (a) and (c), the push pin 14465 can be located at the lowest point of the guide groove (e.g. arranged in a V shape) of the rotating disc 14471, and the torsion spring 14466 can also be in a natural state and maintain the engagement between the ratchet tooth 14463 and the ratchet inner ring 14462, thereby locking the ratchet mounting disc 14461 in the clockwise and counterclockwise directions, making it difficult for the gear 1445 to rotate, thereby maintaining the hip width, facilitating the user to use the exoskeleton device 10.

[0062] State (b): when the user applies a torsion to the ratchet structure 1446 in a direction through the knob structure 1447, the engagement between Figure 8 In states (b) and (d), the push pin 14465 can move along the guide groove of the rotating disc 14471 until the end of the guide groove, and force the torsion spring 14466 to elastically deform, so as to release the engagement between the ratchet teeth 14463 and the ratchet inner gear ring 14462; if the user continues to apply a torsion to the ratchet structure 1446 in the same direction through the knob structure 1447, the torsion can further drive the gear 1445 to rotate through the ratchet mounting disc 14461, and then drive the hip abduction bearing seat 1423 to slide relative to the guide rail base 1442 through the rack 1444, so as to adjust the hip width.

[0063] Correspondingly, when the user finishes adjusting the hip width, the user can cancel the above-mentioned torsion, and the torsion spring 14466 elastically recovers immediately, so that the push pin 14465 is reset to the lowest point of the guide groove of the rotating disc 14471, and the engagement between the ratchet teeth 14463 and the ratchet inner gear ring 14462 is maintained, and then the ratchet mounting disc 14461 is locked in the clockwise and counterclockwise directions, so that the gear 1445 is difficult to rotate, so as to maintain the hip width.

[0064] It should be noted that: if the rotation of the knob structure 1447 in the clockwise direction can adjust the hip width to be larger, the rotation of the knob structure 1447 in the counterclockwise direction can adjust the hip width to be smaller; conversely, if the rotation of the knob structure 1447 in the counterclockwise direction can adjust the hip width to be larger, the rotation of the knob structure 1447 in the clockwise direction can adjust the hip width to be smaller.

[0065] Based on the above detailed description, and in combination with Figure 3 and Figure 1In the embodiment shown in FIG. 1, the exoskeleton device 10 can include two sets of hip joint structures 14, which correspond to the left and right hip joints of the user in the wearing state, respectively. Correspondingly, the hip rotation pieces 1421 are mainly located on the back and sides of the user's body. Based on this, the exoskeleton device 10 can further include a hip binding structure 145 connected with the first hip joint assembly 141 and / or the third hip joint assembly 143, and further connected with the leg assembly 12, and extending around the vertical axis of the human body in the wearing state, and further binding from the front of the user's body. At this time, the hip binding structure 145 can form a structural whole with the first hip joint assembly 141 and the third hip joint assembly 143, so as to realize the above-mentioned detachability. When the hip joint structure 14 is not provided with the third hip joint assembly 143, the hip binding structure 145 can be connected with the hip internal-external rotation seat 1411; when the hip joint structure 14 is not provided with the first hip joint assembly 141, the hip binding structure 145 can be connected with the fixed base 1441; and when the hip joint structure 14 is provided with both the first hip joint assembly 141 and the third hip joint assembly 143, the hip binding structure 145 can be preferably connected with the fixed base 1441. In this way, the hip binding structure 145 and the hip rotation piece 1421 bind from the front and back of the user in the wearing state, which is conducive to resisting the tendency of the hip joint structure 14 to move relative to the user's body when assisting the user's hip joint to perform internal-external rotation movement and flexion-extension movement, and further increasing the binding effect of the exoskeleton device 10. As an exemplary, the hip binding structure 145 can include a hip belt 1451 and a plug-in buckle 1452, the male buckle and the female buckle of the plug-in buckle 1452 are connected with the hip belt 1451, so as to realize quick binding. Of course, an adjusting buckle can also be provided on the hip belt 1451, so that the length thereof can be adjusted.

[0066] In combination with Figure 9 The thigh assembly 121 can include a thigh fixed rod 1211, a thigh adjusting rod 1212, and a thigh adjusting structure 1213. The thigh fixed rod 1211 can be connected with the output shaft of the hip joint motor 1432. The thigh adjusting rod 1212 at least partially overlaps the thigh fixed rod 1211. The thigh adjusting structure 1213 can be switched between a tensioned state and a relaxed state. When the thigh adjusting structure 1213 is switched to the tensioned state, the relative fixation between the thigh adjusting rod 1212 and the thigh fixed rod 1211 is maintained. When the thigh adjusting structure 1213 is switched to the relaxed state, the thigh adjusting rod 1212 is allowed to move relative to the thigh fixed rod 1211, so as to adjust the length of the thigh assembly 121, and further enable the exoskeleton device 10 to adapt to more users. Further, the thigh fixed rod 1211 and the thigh adjusting rod 1212 are relatively arranged along the coronal axis of the human body in the embodiment described herein by way of example, and the thigh adjusting rod 1212 is further away from the user than the thigh fixed rod 1211 in the wearing state.

[0067] It should be noted that the side of the motor fixing seat 1431 facing the thigh fixing rod 1211 can be provided with a limiting protrusion, and the side of the thigh fixing rod 1211 facing the motor fixing seat 1431 can be provided with a limiting groove, and the limiting protrusion extends into the limiting groove to limit the swing of the leg assembly 12 within a certain angle range to avoid the user from falling down due to the too large swing angle of the leg assembly 12.

[0068] As an example, the thigh adjusting structure 1213 can include a locking cover 12131, a screw rod 12132, a cam handle 12133 and a nut 12134, the screw rod 12132 is arranged through the locking cover 12131 and the thigh fixing rod 1211, the thigh adjusting rod 1212 is clamped between the locking cover 12131 and the thigh fixing rod 1211, the cam handle 12133 is located on the side of the locking cover 12131 away from the thigh fixing rod 1211 and is hinged to one end of the screw rod 12132, and the nut 12134 is located on the side of the thigh fixing rod 1211 away from the thigh adjusting rod 1212 and is connected to the other end of the screw rod 12132. At this time, the free end of the cam handle 12133 away from the screw rod 12132 can be close to the locking cover 12131 under the action of an external force, so that the locking cover 12131 and the thigh fixing rod 1211 are close to each other, and then the locking cover 12131 and the thigh fixing rod 1211 clamp the thigh adjusting rod 1212 together, that is, the tension state. Correspondingly, the free end of the cam handle 12133 away from the screw rod 12132 can also be away from the locking cover 12131 under the action of a reverse external force, so that the locking cover 12131 and the thigh fixing rod 1211 are separated from each other, that is, the relaxation state, and then the thigh adjusting rod 1212 is allowed to move relative to the thigh fixing rod 1211.

[0069] Further, the thigh adjusting structure 1213 can further include a cam pad 12135, the cam pad 12135 is sleeved on the screw rod 12132 and located between the cam handle 12133 and the locking cover 12131 to reduce the wear of the cam handle 12133 and prolong the service life.

[0070] Further, the thigh adjusting structure 1213 can further include an elastic member 12136, such as a spring, the elastic member 12136 is elastically held between the locking cover 12131 and the thigh fixing rod 1211 to pop open the locking cover 12131 during the switching of the thigh adjusting structure 1213 to the relaxation state. Wherein, the elastic member 12136 can be provided in two groups and can be located on the opposite sides of the locking cover 12131 respectively to increase the uniformity of stress.

[0071] It should be noted that the screw 12132 can not protrude from the thigh fixing rod 1211, and the nut 12134 can be hidden in the thigh fixing rod 1211 to avoid scratching the user. Further, the end of the screw 12132 away from the cam handle 12133 can also be directly connected with the thigh fixing rod 1211 without the nut 12134. Of course, in other embodiments, the cam handle 12133 can be replaced by a hand-tightened nut, and the locking cover 12131 and the thigh fixing rod 1211 can also be brought close to or away from each other.

[0072] Further, the thigh assembly 121 can further include a thigh shell 1214 connected with the thigh fixing rod 1211, and the thigh shell 1214 can be arranged to shield the electrical installation plate 1433 and the thigh adjusting rod 1212, which is conducive to improving the appearance quality of the exoskeleton device 10.

[0073] In combination Figure 9 , the thigh assembly 121 can further include a thigh arc-shaped baffle 1215 connected with the thigh fixing rod 1211 and arranged to cover a part of the leg (specifically the thigh) of the user in the wearing state, and a thigh binding structure 1216 connected with the thigh arc-shaped baffle 1215 and arranged to cover another part of the leg (specifically the thigh) of the user in the wearing state, thereby achieving the binding of the exoskeleton device 10.

[0074] As an example, the thigh binding structure 1216 can include a strap 12161, a tether 12162 and a tie structure 12163, one end of the strap 12161 is connected with one end of the thigh arc-shaped baffle 1215, and the other end of the strap 12161 is detachably connected with the other end of the thigh arc-shaped baffle 1215, so as to facilitate quick binding. For example, the thigh binding structure 1216 further includes a first magnetic buckle 12164 and a second magnetic buckle 12165 which are magnetically adsorbed with each other, the first magnetic buckle 12164 is connected with the thigh arc-shaped baffle 1215, and the second magnetic buckle 12165 is connected with the strap 12161. Of course, in other embodiments, the first magnetic buckle 12164 and the second magnetic buckle 12165 are respectively replaced by a male buckle and a female buckle of a plug-in buckle. Further, the tether 12162 can extend from one end of the strap 12161 to the other end of the strap 12161, and can be wound on the tie structure 12163, and the tie structure 12163 is used to tighten the tether 12162, so as to allow the thigh binding structure 1216 to bind the exoskeleton device 10. Wherein, the tie structure 12163 can be a standard part made based on the BOA tie system, and the related structure is well known to those skilled in the art, and will not be described here. In this way, compared with the thigh binding of the related art using magic tape, the thigh binding structure 1216 provided by the present application can make the thigh binding effect better, for example, the covering feeling is stronger, the covering force is more uniform, and the tightness of the binding is self-adjusted.

[0075] In combination Figure 10 The calf assembly 122 can include a calf fixed rod 1221, a calf adjusting rod 1222 and a calf adjusting structure 1223, the calf fixed rod 1221 can be connected with the calf adjusting rod 1222, the calf adjusting rod 1222 at least partially overlaps with the calf fixed rod 1221, and the calf adjusting structure 1223 can be switched between a tension state and a relaxation state. Wherein, the calf adjusting structure 1223 maintains the relative fixation between the calf adjusting rod 1222 and the calf fixed rod 1221 when switched to the tension state, and the calf adjusting structure 1223 allows the calf adjusting rod 1222 to move relative to the calf fixed rod 1221 when switched to the relaxation state, so as to adjust the length of the calf assembly 122, and further make the exoskeleton device 10 be able to adapt to more users. Further, the calf fixed rod 1221 and the calf adjusting rod 1222 are relatively arranged along the coronal axis of the human body, and the calf adjusting rod 1222 is farther away from the user than the calf fixed rod 1221 in the wearing state, which is exemplarily described.

[0076] As an example, the calf adjusting structure 1223 can include a locking cover 12231, a screw rod 12232, a cam handle 12233 and a nut 12234, the screw rod 12232 is arranged through the locking cover 12231 and the calf fixing rod 1221, the calf adjusting rod 1222 is clamped between the locking cover 12231 and the calf fixing rod 1221, the cam handle 12233 is located on the side of the locking cover 12231 away from the calf fixing rod 1221 and is hinged to one end of the screw rod 12232, and the nut 12234 is located on the side of the calf fixing rod 1221 away from the calf adjusting rod 1222 and is connected to the other end of the screw rod 12232. At this time, the free end of the cam handle 12233 away from the screw rod 12232 can be close to the locking cover 12231 under the action of an external force, so that the locking cover 12231 and the calf fixing rod 1221 are close to each other, and then the locking cover 12231 and the calf fixing rod 1221 clamp the calf adjusting rod 1222 together, that is, the tension state. Correspondingly, the free end of the cam handle 12233 away from the screw rod 12232 can also be away from the locking cover 12231 under the action of a reverse external force, so that the locking cover 12231 and the calf fixing rod 1221 are separated from each other, that is, the relaxation state, and then the calf adjusting rod 1222 is allowed to move relative to the calf fixing rod 1221.

[0077] Further, the calf adjusting structure 1223 can also include a cam pad 12235, the cam pad 12235 is sleeved on the screw rod 12232 and located between the cam handle 12233 and the locking cover 12231, so as to reduce the wear of the cam handle 12233 and prolong the service life.

[0078] Further, the calf adjusting structure 1223 can also include an elastic member 12236, such as a spring, the elastic member 12236 is elastically held between the locking cover 12231 and the calf fixing rod 1221, so as to pop open the locking cover 12231 in the process of switching the calf adjusting structure 1223 to the relaxation state. Wherein, the elastic member 12236 can be provided in two groups and can be located on the opposite sides of the locking cover 12231 respectively, so as to increase the uniformity of stress.

[0079] It should be noted that the screw rod 12232 can not protrude from the calf fixing rod 1221, and the nut 12234 can be hidden in the calf fixing rod 1221, so as to avoid scratching the user. Further, the end of the screw rod 12232 away from the cam handle 12233 can also be directly connected with the calf fixing rod 1221 without the nut 12234. Of course, in other embodiments, the cam handle 12233 can be replaced by a hand-tightening nut, which can also achieve the close or away of the locking cover 12231 and the calf fixing rod 1221 from each other.

[0080] Further, the lower leg assembly 122 can further include a lower leg shell 1224 connected with the lower leg fixing rod 1221, the lower leg shell 1224 can be arranged to shield the lower leg adjusting rod 1222 and the electric installation plate 1232 mentioned later, which is conducive to improving the appearance quality of the exoskeleton device 10.

[0081] In combination Figure 10 The lower leg assembly 122 can further include a lower leg arc-shaped baffle 1225 connected with the lower leg fixing rod 1221 and arranged to cover a part of the leg (specifically the lower leg) of the user in the wearing state, and a lower leg binding structure 1226 connected with the lower leg arc-shaped baffle 1225 and arranged to cover another part of the leg (specifically the lower leg) of the user in the wearing state, thereby realizing the binding of the exoskeleton device 10.

[0082] As an example, the lower leg binding structure 1226 can include a strap 12261, a tether 12262, and a tie structure 12263, one end of the strap 12261 is connected with one end of the lower leg arc-shaped baffle 1225, and the other end of the strap 12261 is detachably connected with the other end of the lower leg arc-shaped baffle 1225, so as to facilitate quick binding. For example, the lower leg binding structure 1226 further includes a first magnetic buckle 12264 and a second magnetic buckle 12265 which are magnetically attracted to each other, the first magnetic buckle 12264 is connected with the lower leg arc-shaped baffle 1225, and the second magnetic buckle 12265 is connected with the strap 12261. Of course, in other embodiments, the first magnetic buckle 12264 and the second magnetic buckle 12265 are respectively replaced by a male buckle and a female buckle of a plug-in buckle. Further, the tether 12262 can extend from one end of the strap 12261 to the other end of the strap 12261 and can be wound on the tie structure 12263, the tie structure 12263 is used to tighten the tether 12262 to allow the lower leg binding structure 1226 to bind the exoskeleton device 10. Wherein, the tie structure 12263 can be a standard piece made based on the BOA tie system, and its related structure is well known to those skilled in the art, which will not be described here. In this way, compared with the related art which uses magic tape to bind the lower leg, the lower leg binding structure 1226 provided by the present application can make the binding effect of the lower leg better, for example, the covering feeling is stronger, the covering force is more uniform, and the tightness of the binding is self-adjusted.

[0083] Based on the above description, in combination Figure 9 and Figure 10 The thigh adjusting structure 1213 and the lower leg adjusting structure 1223 can be the same or similar, and the thigh binding structure 1216 and the lower leg binding structure 1226 can also be the same or similar, so as to reduce the types of materials and facilitate the assembly of the exoskeleton device 10.

[0084] In combination Figure 10The knee joint structure 123 can include a knee motor 1231 and an electrical installation plate 1232. The housing of the knee motor 1231 can be connected with the thigh adjusting rod 1212, and the output shaft of the knee motor 1231 can be connected with the shank fixing rod 1221 to drive the shank assembly 122 to swing relative to the thigh assembly 121, thereby assisting the user's knee joint to perform flexion / extension movement in the wearing state. The electrical installation plate 1232 can be connected with the shank fixing rod 1221 to facilitate the installation of the control board of the knee motor 1231. The output shaft of the knee motor 1231 and the shank fixing rod 1221 can be further provided with a speed reducer and a torque sensor. The former can be used to regulate the speed of the shank assembly 122 swinging, and the latter can be used to detect the rotational speed of the knee motor 1231. Further, the side of the thigh adjusting rod 1212 facing the shank fixing rod 1221 can be provided with a limiting protrusion, and the side of the shank fixing rod 1221 facing the thigh adjusting rod 1212 can be provided with a limiting groove. The limiting protrusion extends into the limiting groove to limit the swing of the shank assembly 122 relative to the thigh assembly 121 within a certain angle range, thereby avoiding the user from falling down due to the excessive swing angle of the shank assembly 122.

[0085] In combination Figure 11 The ankle joint structure 15 can include an ankle bearing seat 151 and an ankle rotating shaft 152. The ankle rotating shaft 152 can be arranged to rotate relative to the ankle bearing seat 151 to allow the user's hip joint to perform at least plantar flexion / dorsal extension movement in the wearing state. The axial direction of the ankle rotating shaft 152 can be parallel to the coronal axis of the human body. Further, one of the ankle bearing seat 151 and the ankle rotating shaft 152 can be connected with the leg assembly 12 (e.g., the shank adjusting rod 1222), and the other can be connected with the foot assembly 13. In this application, the ankle bearing seat 151 is connected with the foot assembly 13, and the ankle rotating shaft 152 is connected with the shank adjusting rod 1222 as an example. At this time, the ankle rotating shaft 152 and the ankle bearing seat 151 can be further provided with a bearing 153, such as a sliding bearing, a rolling bearing, an angular contact ball bearing, etc., to reduce wear.

[0086] The ankle joint structure 15 can further include a torsion spring 154, which can be sleeved on the ankle rotating shaft 152. One end of the torsion spring 154 is connected with the ankle bearing seat 151, and the other end is connected with the leg assembly 12 (for example, the lower leg adjusting rod 1222), so as to allow the torsion spring 154 to provide a reverse force during the rotation of the ankle rotating shaft 152 relative to the ankle bearing seat 151, thereby forcing the ankle rotating shaft 152 to return to the zero position relative to the ankle bearing seat 151, to assist the user in walking. Based on this, when the torsion spring 154 is in a natural state, the ankle rotating shaft 152 can be just at the zero position relative to the ankle bearing seat 151. Further, a limiting pin 155 can be arranged on the lower leg adjusting rod 1222, which extends into a limiting groove of the ankle bearing seat 151, so as to limit the rotation of the ankle bearing seat 151 relative to the ankle rotating shaft 152 within a certain angle range, so as to avoid the user from falling down due to the ankle bearing seat 151 deviating from the zero position relative to the ankle rotating shaft 152 too much, and also to avoid the torsion spring 154 from being disabled.

[0087] It should be noted that the above-mentioned "zero position" can refer to the position of the ankle rotating shaft 152 relative to the ankle bearing seat 151 when the user wears the exoskeleton device 10 and stands.

[0088] Further, the ankle joint structure 15 can further include an ankle bearing end cover 156 and an ankle shell 157. The ankle bearing end cover 156 is connected with one end of the ankle rotating shaft 152 away from the lower leg adjusting rod 1222, and the ankle shell 157 is arranged on the ankle bearing end cover 156 and connected with the ankle bearing seat 151, so as to shield the internal structure of the ankle joint structure 15, which is conducive to improving the appearance quality of the exoskeleton device 10.

[0089] In combination Figure 12 The foot assembly 13 can include a shoe sole 131, a stress plate 132 and a shoe sole rod 133. The shoe sole 131 can be arranged to support the user's foot in a wearing state, the stress plate 132 can be an integral structure with the shoe sole 131 and partially exposed on the shoe sole 131, and the shoe sole rod 133 is connected with the stress plate 132 and bent relative to the stress plate 132, so as to facilitate the connection between the shoe sole rod 133 and the ankle bearing seat 151, and further realize the connection between the foot assembly 13 and the ankle joint structure 15. Further, the shoe sole rod 133 can abut on the stress plate 132 along a second plug-in direction (for example, parallel to the vertical axis of the human body), so as to bear the weight of the user; and can also abut on the stress plate 132 along a direction perpendicular to the second plug-in direction (for example, parallel to the coronal axis of the human body), so as to facilitate the limiting during assembly. In other words, one end of the shoe sole rod 133 away from the ankle bearing seat 151 and one side of the shoe sole rod 133 towards the stress plate 132 can be arranged in a stepped structure. Of course, in other embodiments, the shoe sole rod 133 and the stress plate 132 can also be an integral structure.

[0090] Further, the foot assembly 13 can further include a wear-resistant pad 134 connected with the force-receiving plate 132, the wear-resistant pad 134 being located on a side of the force-receiving plate 132 away from the ankle bearing seat 151, so as to avoid abrasion of the force-receiving plate 132 and the sole rod 133.

[0091] In combination Figure 12 , the foot assembly 13 can further include a foot binding structure 135 connected with the sole 131 and configured to wrap around a foot of a user in a wearing state, so as to realize binding of the exoskeleton device 10.

[0092] For example, the foot binding structure 135 can include a strap 1351, a tether 1352 and a lacing structure 1353, one end of the strap 1351 being connected with one side of the sole 131, the other end of the strap 1351 being connected with the other side of the sole 131, the tether 1352 extending from the one end of the strap 1351 to the other end of the strap 1351 and being wound around the lacing structure 1353, and the lacing structure 1353 being used to tighten the tether 1352 to allow the foot binding structure 135 to bind the exoskeleton device 10. The lacing structure 1353 can be a standard part made based on a BOA lacing system, and the related structure is known to those skilled in the art and will not be described here. Thus, compared with the related art which uses a magic tape to bind a foot, the foot binding structure 135 provided by the present application can make the binding of the foot better, for example, more foot-following, stronger wrapping, more uniform wrapping force and self-adjustment of the tightness of the binding.

[0093] Based on the above description and in combination Figure 9 , Figure 10 and Figure 12 , at least one of the leg assembly 12 and the foot assembly 13 can be provided with a binding structure, the binding structure can include a strap, a tether and a lacing structure, the tether extending from one end of the strap to the other end of the strap and being wound around the lacing structure, and the lacing structure being used to tighten the tether to allow the binding structure to bind the exoskeleton device 10. Thus, compared with the related art which uses a magic tape to bind, the exoskeleton device 10 provided by the present application can make the binding better, for example, stronger wrapping, more uniform wrapping force and self-adjustment of the tightness of the binding.

[0094] Based on the above description, the exoskeleton device 10 can further include a second locking structure 17 which can be switched between a locked state and an unlocked state. When the second locking structure 17 is switched to the locked state, the connection between the foot assembly 13 and the ankle joint structure 15 is maintained to ensure the reliability of the exoskeleton device 10; when the second locking structure 17 is switched to the unlocked state, the foot assembly 13 and the ankle joint structure 15 are allowed to be separated to facilitate disassembly of the exoskeleton device 10. For example, the second locking structure 17 is provided as a snap buckle, one of the male buckle and the female buckle is connected with the foot assembly 13, and the other is connected with the ankle joint structure 15. Of course, in other embodiments, the second locking structure 17 can also be a separate structural member, such as a latch, which is independent of the foot assembly 13 and the ankle joint structure 15. Furthermore, it is convenient for users to replace the foot assembly 13 of different sizes according to actual needs, so that the exoskeleton device 10 can be adapted to more users and improve the comfort of wearing.

[0095] In combination with Figure 11 and Figure 12 , the second locking structure 17 can include a second connector 171 and a second locking member 172. The second connector 171 can be connected with the ankle bearing seat 151, and the two can be an integrally formed structural member. The second connector 171 is connected with the sole rod 133 in the second connection direction, and the second locking member 172 locks the second connector 171 and the sole rod 133 in the opposite direction of the second connection direction. At this time, the second connector 171 can be inserted into the connection slot of the sole rod 133, or the sole rod 133 can be inserted into the connection slot of the second connector 171. The former is exemplarily described in the present application. Accordingly, the second locking member 172 can be a separate structural member, such as a latch, which can be inserted to achieve locking and pulled out to allow unlocking.

[0096] As an example, the sole rod 133 is provided with a second connection slot 1331, and the second connector 171 is inserted into the second connection slot 1331 in the second connection direction. Further, the second locking member 172 can be connected with the ankle bearing seat 151 and can extend in the same direction as the second connector 171 in the second connection direction. The second locking member 172 can include a cantilever portion 1721 connected with the ankle bearing seat 151 and a protruding portion 1722 located at the end of the cantilever portion 1721 away from the ankle bearing seat 151. Based on this, the protruding portion 1722 can contact the inner wall of the sole rod 133 during the process of inserting the second locking member 172 and the second connector 171 into the second connection slot 1331, and force the second locking member 172 to elastically deform relative to the ankle bearing seat 151; then, when the second locking member 172 is switched to the locked state, it elastically recovers and makes the protruding portion 1722 abut the sole rod 133 in the opposite direction of the second connection direction.

[0097] Further, the second connector 171 can include two second connector arms 1711 extending in the same direction along the second connecting direction, the two second connector arms 1711 are spaced apart in a direction perpendicular to the second connecting direction (for example, parallel to the sagittal axis of the human body), and the protruding portion 1722 is at least partially located between the two second connector arms 1711 during the elastic deformation of the second locking member 172 relative to the ankle bearing seat 151. Wherein, the two second connector arms 1711 away from the ankle bearing seat 151 can be connected through a cross beam, that is, the second connector 171 can be in the shape of U. In this way, it is beneficial to increase the reliability of the plug-in connection between the second connector 171 and the sole bar 133.

[0098] It should be noted that the second locking structure 17 can adopt a locking principle and related structure similar to the first locking structure 16, and the first locking structure 16 can also adopt a locking principle and related structure similar to the second locking structure 17.

[0099] The above only describes some embodiments of the present application, and does not limit the protection scope of the present application, and any equivalent device or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An exoskeleton device, characterized in that, The exoskeleton device includes a back assembly, a leg assembly, and a foot assembly, with one end of the leg assembly detachably connected to the back assembly, and / or the other end of the leg assembly detachably connected to the foot assembly; The exoskeleton device further includes a hip joint structure and a first locking structure. The hip joint structure includes a first hip joint component and a second hip joint component. The first hip joint component is connected to the leg component and extends along the vertical axis of the human body when worn. The second hip joint component is connected to the back component and extends around the vertical axis of the human body when worn. The second hip joint component is detachably connected to the first hip joint component. The first locking structure is configured to switch between a locked state and an unlocked state. When the first locking structure is switched to the locked state, it maintains the connection between the second hip joint component and the first hip joint component. When the first locking structure is switched to the unlocked state, it allows the second hip joint component to be separated from the first hip joint component. The first hip joint assembly is configured to assist the user's hip joint in internal / external rotation movements when worn, and includes a hip internal / external rotation seat. The second hip joint assembly includes a hip rotator, which is configured to extend from the side of the user's body to the rear side when worn. The first locking structure includes a first connector and a first locking member. The first connector is connected to the hip internal / external rotation seat and is connected to the hip rotator along a first insertion direction. The first locking member locks the first connector and the hip rotator in the opposite direction of the first insertion direction.

2. The exoskeleton device according to claim 1, characterized in that, The hip swivel joint includes a lateral portion corresponding to the side of the body and a rear portion corresponding to the rear of the body. The rear portion is bent relative to the lateral portion. A first connector slot is provided at one end of the lateral portion away from the rear portion. The first connector is inserted into the first connector slot along the first insertion direction.

3. The exoskeleton device according to claim 2, characterized in that, The lateral portion includes a first lateral portion and a second lateral portion spaced apart in a direction perpendicular to the first insertion direction. The first locking member passes through the first lateral portion and the second lateral portion. When the first locking member is switched to the unlocked state, it allows the first connector to be inserted into the first slot. When the first locking member is switched to the locked state, it clamps the first connector together through the first lateral portion and the second lateral portion.

4. The exoskeleton device according to claim 3, characterized in that, The first locking member includes a screw and a cam handle. The screw passes through the first lateral portion and the second lateral portion and is connected to the first lateral portion. The cam handle is located on the side of the second lateral portion away from the first lateral portion and is hinged to one end of the screw. When the free end of the cam handle away from the screw approaches the second lateral portion under the action of an external force, the first lateral portion and the second lateral portion move closer to each other.

5. The exoskeleton device according to claim 3, characterized in that, The first connector includes two first connector arms extending in the same direction along the first connector direction. The two first connector arms are spaced apart in a direction perpendicular to the first connector direction and are located on both sides of the first locking member during the insertion of the first connector into the first connector slot.

6. The exoskeleton device according to claim 2, characterized in that, The second hip joint assembly also includes a hip abduction bearing seat and a hip abduction pivot. One of the hip abduction bearing seat and the hip abduction pivot is connected to the rear side and the other is connected to the back assembly. The hip abduction pivot is configured to rotate relative to the hip abduction bearing seat to assist the user's hip joint in adduction / abduction movements when worn.

7. The exoskeleton device according to any one of claims 1 to 6, characterized in that, The exoskeleton device further includes an ankle joint structure and a second locking structure. The leg assembly is connected to the foot assembly via the ankle joint structure. The foot assembly is detachably connected to the ankle joint structure. The second locking structure is configured to switch between a locked state and an unlocked state. When the second locking structure is switched to the locked state, it maintains the connection between the foot assembly and the ankle joint structure. When the second locking structure is switched to the unlocked state, it allows the foot assembly to be separated from the ankle joint structure.

8. The exoskeleton device according to claim 7, characterized in that, The ankle joint structure includes an ankle bearing seat, the foot assembly includes a sole rod, and the second locking structure includes a second connector and a second locking member. The second connector is connected to the ankle bearing seat and is connected to the sole rod in a second insertion direction. The second locking member locks the second connector and the sole rod in the opposite direction of the second insertion direction.

9. The exoskeleton device according to claim 8, characterized in that, The sole bar is provided with a second connector slot, and the second connector is inserted into the second connector slot along the second insertion direction.

10. The exoskeleton device according to claim 9, characterized in that, The second locking member is connected to the ankle bearing seat and extends in the same direction as the second connector along the second insertion direction. The second locking member includes a cantilever portion connected to the ankle bearing seat and a protrusion located at the end of the cantilever portion away from the ankle bearing seat. The protrusion contacts the inner wall of the sole bar during the process of the second locking member and the second connector being inserted into the second slot together, and forces the second locking member to elastically deform relative to the ankle bearing seat. When the second locking member switches to the locked state, it elastically recovers, and the protrusion abuts against the sole bar in the opposite direction of the second insertion direction.

11. The exoskeleton device according to claim 10, characterized in that, The second connector includes two second connector arms extending in the same direction along the second connector direction. The two second connector arms are spaced apart in a direction perpendicular to the second connector direction. The protrusion is at least partially located between the two second connector arms during the elastic deformation of the second locking member relative to the ankle bearing seat.

12. The exoskeleton device according to claim 1, characterized in that, The leg assembly includes a fixed rod, an adjusting rod, and an adjusting structure. The adjusting rod at least partially overlaps with the fixed rod. The adjusting structure is configured to switch between a tensioned state and a relaxed state. When the adjusting structure is switched to the tensioned state, it maintains relative fixation between the adjusting rod and the fixed rod. When the adjusting structure is switched to the relaxed state, it allows the adjusting rod to move relative to the fixed rod to adjust the length of the leg assembly.

13. The exoskeleton device according to claim 12, characterized in that, The adjusting structure includes a locking cover, a screw, and a cam handle. The screw passes through the locking cover and the fixing rod and is connected to the fixing rod. The adjusting rod is clamped between the locking cover and the fixing rod. The cam handle is located on the side of the locking cover away from the fixing rod and is hinged to one end of the screw. When the free end of the cam handle away from the screw approaches the locking cover under the action of external force, the locking cover and the fixing rod move closer to each other, thereby causing the locking cover and the fixing rod to clamp the adjusting rod together.

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