Wearable Exoskeleton with Auxiliary Support Function

Abstract

The present invention discloses a wearable exoskeleton with an auxiliary support function, comprising: a thigh rod, a calf rod, and a knee joint self-locking structure. A thigh support fixing member is fixedly connected to the inner side of the thigh rod. The knee joint self-locking structure includes a thigh rod connecting rod, a calf rod connecting rod, a driving member, and a braking rod. The upper end of the thigh rod connecting rod is connected to the thigh rod, and the lower end is rotatably connected to the upper end of the calf rod connecting rod. The lower end of the calf rod connecting rod is connected to the upper end of the calf rod. The braking rod is movably installed on the thigh rod connecting rod and can lock / unlock the connection angle between the thigh rod connecting rod and the calf rod connecting rod under the drive of the driving member. This wearable exoskeleton with an auxiliary support function has a simple structure and is convenient to use. It can assist the user in maintaining a posture and provide auxiliary support to the user, effectively relieving the pressure on the user's knee joint and leg muscles.

Description

Technical Field

[0001] The present invention relates to the field of wearable exoskeletons, and particularly provides a wearable exoskeleton with an auxiliary support function. Background Art

[0002] In industrial production, the standing posture is the most suitable for people to work. However, the production workshop environment is extremely complex, and different assembly positions will have different working environments. Workers often need to work in a squatting or knee-bending state for a long time, which will cause leg muscle and / or knee joint injuries. In addition, many assembly environments are extremely narrow, making it difficult for people to rest and adjust in these environments. Long-term work will lead to physical fatigue, reduced work efficiency, and in severe cases, occupational musculoskeletal disorders will occur.

[0003] Therefore, providing an exoskeleton with lower limb auxiliary support, which can provide auxiliary support to the user's body in different postures, has become an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a wearable exoskeleton with an auxiliary support function to solve the problem that leg muscles and / or knee joints are damaged due to workers working in an unhealthy posture without auxiliary support.

[0005] The technical solution provided by the present invention is: a wearable exoskeleton with an auxiliary support function, including: a thigh rod, a calf rod, and a knee joint self-locking structure. Among them, a thigh support fixing member is fixedly connected to the inner side of the thigh rod. The knee joint self-locking structure includes a thigh rod connecting rod, a calf rod connecting rod, a driving member, and a brake rod. The upper end of the thigh rod connecting rod is connected to the thigh rod, and a cylindrical end is provided at the lower end. A mating member rotatably connected to the cylindrical end is fixedly provided at the upper end of the calf rod connecting rod. A tooth groove structure is provided on the mating member, and the tooth groove structure is spaced from the outer circumference of the cylindrical end. The brake rod is movably installed on the cylindrical end along the radial direction of the cylindrical end. Teeth corresponding to the tooth groove structure are provided at the lower end of the brake rod. The upper end of the brake rod is connected to the driving member. The lower end of the brake rod can extend out of the cylindrical end under the drive of the driving member and make the teeth fit into the tooth groove structure to realize the fixation of the thigh rod connecting rod and the calf rod connecting rod. A calf fixing member is fixedly connected to the inner side of the calf rod connecting rod. The lower end of the calf rod connecting rod is connected to the upper end of the calf rod.

[0006] Preferably, the thigh support fixing member includes a rear thigh support plate and a thigh strap. The rear thigh support plate is fixed to the thigh rod, and the thigh strap cooperates with the rear thigh support plate to fix the rear thigh support plate to the back side of the thigh. The calf fixing member includes a front calf baffle and a calf strap. The front calf baffle is fixed to the calf rod connecting rod, and the calf strap cooperates with the front calf baffle to fix the front calf baffle to the front side of the calf.

[0007] More preferably, the thigh rod is inserted into the thigh rod connecting rod and fixed by a first bolt. A plurality of screw holes that can cooperate with the first bolt are provided on the thigh rod and / or the thigh rod connecting rod. The calf rod is inserted into the calf rod connecting rod and fixed by a second bolt. A plurality of screw holes that can cooperate with the second bolt are provided on the calf rod and / or the calf rod connecting rod.

[0008] More preferably, a radial limiting groove is formed in the lower part of the cylindrical end head, a rectangular block that cooperates with the limiting groove is provided at the lower end of the brake rod, and the tooth teeth are arranged at the lower end of the rectangular block. When the lower end of the brake rod is retracted into the limiting groove under the drive of the driving member, the outer edges of the tooth teeth and the outer edge of the cylindrical end head are on the same arc surface.

[0009] More preferably, the fitting member includes a fitting plate, the fitting plate is fixedly connected to the inner side of the tooth groove structure, and the cylindrical end head is rotatably connected to the outer side of the fitting plate.

[0010] More preferably, the fitting member further includes a protective cover, and the protective cover is cooperatively connected to the outer side of the tooth groove structure.

[0011] More preferably, a through hole is provided in the middle of the fitting plate, a convex platform is provided on the inner side of the cylindrical end head, the convex platform is cooperatively inserted into the through hole in the middle of the fitting plate, and is fixedly connected to an end cover located on the inner side of the fitting plate by a bolt.

[0012] More preferably, the driving member is an electric push rod, and the electric push rod is fixed to the outer side of the thigh rod connecting rod.

[0013] More preferably, a speed sensor is installed on the calf rod, both the speed sensor and the driving member are connected to a controller, and the controller is used to control the working state of the driving member according to the speed detected by the speed sensor.

[0014] The wearable exoskeleton with an auxiliary support function provided by the present invention can engage or disengage the teeth at the lower end of the brake rod with the tooth groove structure at the upper end of the calf rod connecting member through a driving member, thereby realizing the locking or unlocking of the knee joint self-locking structure. The usage method of the wearable exoskeleton with an auxiliary support function is as follows: First, fix two such wearable exoskeletons with an auxiliary support function on the outer sides of the two legs respectively through the thigh support fixing member and the calf fixing member. The lower end of the calf rod abuts against the ground. When the user is ready to maintain a certain posture (such as squatting), the user can first adjust his / her posture and then lock the knee joint self-locking structure. At this time, the angle between the thigh and the calf is locked, and the thigh support fixing member can play an auxiliary support role, effectively relieving the pressure on the user's knee joint and leg muscles. When the user needs to change the posture, unlock the knee joint self-locking structure. At this time, the restriction between the thigh and the calf is released, and the user can freely change the posture or walk.

[0015] The wearable exoskeleton with an auxiliary support function provided by the present invention has a simple structure and is convenient to use. It can assist the user to maintain the posture and play an auxiliary support role, effectively relieving the pressure on the user's knee joint and leg muscles. Brief Description of the Drawings

[0016] The present invention will be further described in detail below in conjunction with the drawings and embodiments:

[0017] Figure 1 is a schematic structural diagram of the wearable exoskeleton with an auxiliary support function provided by the present invention;

[0018] Figure 2 is an exploded view of the knee joint self-locking structure;

[0019] Figure 3 is a schematic structural diagram of the brake rod. Detailed Embodiments

[0020] The present invention will be further explained below in conjunction with specific implementation schemes, but the present invention is not limited thereto.

[0021] Such as Figures 1 to 3As shown in the figure, the present invention provides a wearable exoskeleton with an auxiliary support function, including: a thigh rod 1, a calf rod 2, and a knee joint self-locking structure. Among them, a thigh support fixing member is fixedly connected to the inner side of the thigh rod 1. The knee joint self-locking structure includes a thigh rod connecting rod 31, a calf rod connecting rod 32, a driving member 33, and a braking rod 34. The upper end of the thigh rod connecting rod 31 is connected to the thigh rod 1, and a cylindrical end 311 is provided at the lower end. A fitting member rotatably connected to the cylindrical end 311 is fixedly provided at the upper end of the calf rod connecting rod 32. A tooth groove structure 3211 is provided on the fitting member, and the tooth groove structure 3211 is spaced from the outer circumference of the cylindrical end 311. The braking rod 34 is movably installed on the cylindrical end 311 along the radial direction of the cylindrical end 311. A tooth 341 corresponding to the tooth groove structure 3211 is provided at the lower end of the braking rod 34. The upper end of the braking rod 34 is connected to the driving member 33. The lower end of the braking rod 34 can extend out of the cylindrical end 311 under the drive of the driving member 33 and make the tooth 341 fit and insert into the tooth groove structure 3211 to realize the fixation of the thigh rod connecting rod 31 and the calf rod connecting rod 32. A calf fixing member is fixedly connected to the inner side of the calf rod connecting rod 32. The lower end of the calf rod connecting rod 32 is connected to the upper end of the calf rod 2.

[0022] For the wearable exoskeleton with an auxiliary support function, the teeth at the lower end of the braking rod can be engaged or separated from the tooth groove structure at the upper end of the calf rod connecting member through the driving member, so as to realize the locking or unlocking of the knee joint self-locking structure. The usage method of the wearable exoskeleton with an auxiliary support function is as follows: First, fix two such wearable exoskeletons with an auxiliary support function to the outer sides of the two legs respectively through the thigh support fixing member and the calf fixing member. The lower end of the calf rod abuts against the ground. When the user is ready to maintain a certain posture, such as squatting, the user can first adjust his own posture and then lock the knee joint self-locking structure. At this time, the angle between the thigh and the calf is locked, and the thigh support fixing member can play an auxiliary support role, effectively relieving the pressure on the user's knee joint and leg muscles. When the user needs to change the posture, unlock the knee joint self-locking structure. At this time, the restriction between the thigh and the calf is released, and the user can freely change the posture or walk.

[0023] As an improvement of the technical solution, such as Figure 1As shown, the thigh support fixing member includes a rear thigh support plate 111 and a thigh strap 112. The rear thigh support plate 111 is fixed to the thigh rod 1, and the thigh strap 112 cooperates with the rear thigh support plate 111 to fix the rear thigh support plate 12 to the back side of the thigh. The calf fixing member includes a front calf baffle 3221 and a calf strap 3222. The front calf baffle 3221 is fixed to the calf rod connecting rod 32, and the calf strap 3222 cooperates with the front calf baffle 3221 to fix the front calf baffle 3221 to the front side of the calf.

[0024] As an improvement of the technical solution, as Figures 1 to 3 shown, the thigh rod 1 is inserted into and fixed to the thigh rod connecting rod 31 by a first bolt. A plurality of screw holes that can cooperate with the first bolt are provided on the thigh rod 1 and / or the thigh rod connecting rod 31. The calf rod 2 is inserted into and fixed to the calf rod connecting rod 32 by a second bolt. A plurality of screw holes that can cooperate with the second bolt are provided on the calf rod 2 and / or the calf rod connecting rod 32. By cooperating the first bolt with different screw holes on the thigh rod and the thigh rod connecting rod, the length of the overall structure of the thigh rod and the thigh rod connecting rod can be adjusted. By cooperating the second bolt with different screw holes on the calf rod and the calf rod connecting rod, the length of the overall structure of the calf rod and the calf rod connecting rod can be adjusted, so as to adapt to users with different leg lengths.

[0025] As an improvement of the technical solution, as Figures 1 to 3 shown, a radial limiting groove 3111 is formed in the lower part of the cylindrical end 311. A rectangular block 342 that cooperates with the limiting groove 3111 is provided at the lower end of the brake rod 34. The tooth 341 is arranged at the lower end of the rectangular block 342. When the lower end of the brake rod 34 is retracted into the limiting groove 3111 under the drive of the driving member 33, the outer edge of the tooth 341 and the outer edge of the cylindrical end 311 are on the same arc surface.

[0026] As an improvement of the technical solution, as Figure 1 、 Figure 2 shown, the fitting member includes a fitting plate 3212. The fitting plate 3212 is fixedly connected to the inside of the tooth groove structure 3211. The cylindrical end 311 is rotatably connected to the outside of the fitting plate 3212.

[0027] As an improvement of the technical solution, as Figure 1 、 Figure 2 shown, the fitting member further includes a protective cover 3213. The protective cover 3213 is cooperatively connected to the outside of the tooth groove structure 3211 to protect the tooth groove structure. At the same time, it can further limit the axial movement of the cylindrical end.

[0028] As an improvement of the technical solution, as Figure 2 shown, a through hole is provided in the middle of the mating plate 3212, a boss is provided inside the cylindrical end 311, and the boss is fitted and inserted into the through hole in the middle of the mating plate 3212 and is fixedly connected to the end cover 3214 located inside the mating plate 3212 by bolts.

[0029] As an improvement of the technical solution, as Figure 1 、 Figure 2 shown, the driving member 33 is an electric push rod, and the electric push rod is fixed to the outside of the thigh rod connecting rod 31.

[0030] As an improvement of the technical solution, as Figure 1 shown, a speed sensor 21 is installed on the calf rod 2. Both the speed sensor 21 and the driving member 33 are connected to a controller. The controller is used to control the working state of the driving member 33 according to the speed detected by the speed sensor 21. Specifically, when the speed sensor detects speed, it indicates that the user's calf is moving. At this time, the controller unlocks the knee joint self-locking structure through the driving member. When the speed sensor detects that the speed is 0 and maintains for a set duration, it is considered that the user wants to maintain this posture. At this time, the controller locks the knee joint self-locking structure through the driving member to play an auxiliary supporting role for the user.

[0031] The specific embodiments of the present invention are written in a progressive manner, emphasizing the differences between each embodiment, and the similar parts can be referred to each other.

[0032] The embodiments of the present invention have been described in detail above with reference to the drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge scope of those of ordinary skill in the art.

Claims

1. A wearable exoskeleton with an auxiliary support function, characterized in that, Comprising: A thigh rod (1), a calf rod (2) and a knee joint self-locking structure. Among them, a thigh support fixing member is fixedly connected to the inner side of the thigh rod (1). The knee joint self-locking structure includes a thigh rod connecting rod (31), a calf rod connecting rod (32), a driving member (33) and a brake rod (34). The upper end of the thigh rod connecting rod (31) is connected to the thigh rod (1), and a cylindrical end (311) is provided at the lower end. A fitting member rotatably connected to the cylindrical end (311) is fixedly provided at the upper end of the calf rod connecting rod (32). A tooth groove structure (3211) is provided on the fitting member, and the tooth groove structure (3211) is spaced from the outer periphery of the cylindrical end (311). The brake rod (34) is movably installed on the cylindrical end (311) along the radial direction of the cylindrical end (311). A tooth (341) corresponding to the tooth groove structure (3211) is provided at the lower end of the brake rod (34). The upper end of the brake rod (34) is connected to the driving member (33). The lower end of the brake rod (34) can extend out of the cylindrical end (311) under the drive of the driving member (33) and make the tooth (341) fit and insert into the tooth groove structure (3211) to realize the fixation of the thigh rod connecting rod (31) and the calf rod connecting rod (32). A calf fixing member is fixedly connected to the inner side of the calf rod connecting rod (32). The lower end of the calf rod connecting rod (32) is connected to the upper end of the calf rod (2). The thigh support fixing member includes a thigh rear support plate (111) and a thigh strap (112). The thigh rear support plate (111) is fixed on the thigh rod (1). The thigh strap (112) cooperates with the thigh rear support plate (111) to be used for fixedly fitting the thigh rear support plate (111) on the rear side of the thigh. The calf fixing member includes a calf front baffle (3221) and a calf strap (3222). The calf front baffle (3221) is fixed on the calf rod connecting rod (32). The calf strap (3222) cooperates with the calf front baffle (3221) to be used for fixedly fitting the calf front baffle (3221) on the front side of the calf. The thigh rod (1) is inserted into the thigh rod connecting rod (31) and fixed by a first bolt. A plurality of screw holes that can cooperate with the first bolt are provided on the thigh rod (1) and / or the thigh rod connecting rod (31). The calf rod (2) is inserted into the calf rod connecting rod (32) and fixed by a second bolt. A plurality of screw holes that can cooperate with the second bolt are provided on the calf rod (2) and / or the calf rod connecting rod (32).

2. The wearable exoskeleton with an auxiliary support function according to claim 1, wherein: A radial limiting groove (3111) is formed in the lower part of the cylindrical end (311). A rectangular block (342) that mates with the limiting groove (3111) is provided at the lower end of the brake rod (34). The tooth (341) is provided at the lower end of the rectangular block (342). When the lower end of the brake rod (34) is retracted into the limiting groove (3111) under the drive of the driving member (33), the outer edge of the tooth (341) and the outer edge of the cylindrical end (311) are on the same arc surface.

3. The wearable exoskeleton with an auxiliary support function according to claim 1, characterized in that: The mating member includes a mating plate (3212). The mating plate (3212) is fixedly connected to the inner side of the tooth groove structure (3211). The cylindrical end (311) is rotatably connected to the outer side of the mating plate (3212).

4. The wearable exoskeleton with an auxiliary support function according to claim 3, characterized in that: The mating member further includes a protective cover (3213). The protective cover (3213) is matingly connected to the outer side of the tooth groove structure (3211).

5. The wearable exoskeleton with an auxiliary support function according to claim 3, wherein: A through hole is provided in the middle of the mating plate (3212). A boss is provided on the inner side of the cylindrical end (311). The boss is matingly inserted into the through hole in the middle of the mating plate (3212) and is fixedly connected to an end cover (3214) located on the inner side of the mating plate (3212) by bolts.

6. The wearable exoskeleton with an auxiliary support function according to claim 1, characterized in that: The driving member (33) is an electric push rod. The electric push rod is fixed to the outer side of the thigh rod connecting rod (31).

7. The wearable exoskeleton with an auxiliary support function according to claim 1, characterized in that: A speed sensor (21) is installed on the calf rod (2). Both the speed sensor (21) and the driving member (33) are connected to a controller. The controller is used to control the working state of the driving member (33) according to the speed detected by the speed sensor (21).

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