Variable power mechanical exoskeleton

Abstract

The application discloses a variable power mechanical exoskeleton, which comprises an exoskeleton component, a reversible seat and a longitudinal arm suspension, wherein the exoskeleton component comprises a hip joint rotating component, an upper body component and a lower limb exoskeleton component; the upper body component is connected with the upper end of the lower limb exoskeleton component through the hip joint rotating component; the lower end of the lower limb exoskeleton component is provided with an auxiliary guide wheel; the upper body component is connected with a connecting plate; the reversible seat and the longitudinal arm suspension are connected with the upper body component through the connecting plate; the hip joint rotating component drives the lower limb exoskeleton component to rotate around the rotating center of the hip joint rotating component; and the longitudinal arm suspension is rotationally connected with the connecting plate. The exoskeleton can realize walking mode and high-mobility mode movement, and can quickly switch between the two modes, thereby enhancing the adaptability of personnel in complex and changeable industrial production and disaster areas, enhancing the working capacity of the personnel, reducing the casualty rate of the personnel and improving the working efficiency of the personnel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of exoskeleton, in particular to a variable power mechanical exoskeleton. BACKGROUND

[0002] In contemporary society, many jobs need to adapt to the change of terrain and strong load capacity. Such as industrial production, construction work, earthquake relief, medical rescue and other work, but in the process of work, personnel casualties, low work efficiency and other situations still exist. Exoskeleton technology is a comprehensive technology that integrates sensing, control, information, fusion and mobile computing to provide a wearable mechanical mechanism for operators. In recent years, due to the limited capacity of the human body, many jobs cannot be carried out or are difficult to carry out. When industrial production and construction work, engineers and workers have difficulty in picking up tools, and the distance between machines and equipment is far; when earthquake relief and medical rescue, large vehicles cannot pass, and supplies and medical supplies cannot be sent to the disaster area, etc. Problems are difficult to solve.

[0003] In view of the above problems, the present application provides a variable power mechanical exoskeleton, which enhances the ability of the human body while enhancing the mobility of the personnel. The high mobility mode and walking mode make the personnel have stronger adaptability to the terrain. In a large factory, it can be used as an auxiliary device for engineers and workers. In earthquake relief and medical rescue, it can adapt to complex and variable terrain and transport more supplies, which is of great significance to China's industrial production and rescue operations. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a variable power mechanical exoskeleton to solve the above-mentioned defects in the prior art, to realize walking mode and high mobility mode movement, and to quickly switch between the two modes, to enhance the adaptability of personnel in complex and variable industrial production and disaster areas, to enhance the working capacity of personnel and to reduce the casualty rate of personnel and to improve the working efficiency of personnel.

[0005] The technical solution adopted by the present application to solve the above technical problems is:

[0006] A variable power mechanical exoskeleton, comprising an exoskeleton component, a reversible seat and a longitudinal arm suspension, the exoskeleton component comprising a hip joint rotating component, an upper body component and a lower limb exoskeleton component, the upper body component being connected to the upper end of the lower limb exoskeleton component through the hip joint rotating component, the lower end of the lower limb exoskeleton component being provided with an auxiliary guide wheel, the upper body component being connected with a connecting plate, the reversible seat and the longitudinal arm suspension being connected with the upper body component through the connecting plate, the hip joint rotating component driving the lower limb exoskeleton component to rotate around the rotation center of the hip joint rotating component, and the longitudinal arm suspension being rotationally connected with the connecting plate.

[0007] According to the technical scheme, the upper body part is a tactical vest or a back plate, the connecting plate is arranged on the back of the tactical vest or the back plate; when the powered mechanical exoskeleton is in the walking mode, the longitudinal arm suspension is turned up to the back of the tactical vest or the back plate; when the powered mechanical exoskeleton is in the high-mobility mode, the longitudinal arm suspension is turned down, and the longitudinal arm suspension is located on the lower side of the tactical vest or the back plate.

[0008] According to the technical scheme, the longitudinal arm suspension is rotationally connected with the connecting plate through the rotating shaft, the locking device is arranged between the longitudinal arm suspension and the connecting plate, the longitudinal arm suspension can be connected and locked with the connecting plate through the locking device, and the rotating shaft or the longitudinal arm suspension is connected with the turning handle or the turning mechanism; the longitudinal arm suspension is turned through the rotating of the turning handle or the turning mechanism.

[0009] The locking device comprises a clamping groove, a clamping buckle and a quick bolt, the clamping groove is arranged on the connecting plate, the clamping buckle is arranged on the rotating shaft, and the rotating shaft is fixedly connected with the longitudinal arm suspension; when the powered mechanical exoskeleton is in the walking mode, the longitudinal arm suspension is turned up to the back of the connecting plate through the rotating shaft, the longitudinal arm suspension can be connected and locked with the connecting plate through the locking device, and the quick bolt is sequentially inserted into the clamping buckle and the clamping groove; the relative position of the connecting plate and the longitudinal arm suspension is kept stable through the friction and the torque between the clamping buckle and the clamping groove.

[0010] According to the technical scheme, the turning handle is a telescopic handle, and the lower limb exoskeleton is provided with a locking interface; when the telescopic handle drives the longitudinal arm suspension to turn down to the lower side, the telescopic handle is elongated and is clamped with the locking interface on the lower limb exoskeleton; so as to lock the turning position of the longitudinal arm suspension.

[0011] According to the technical scheme, the longitudinal arm suspension comprises two single longitudinal arm suspensions arranged side by side in parallel; the single longitudinal arm suspension comprises a hub motor driving assembly, a wheel and a longitudinal arm, one end of the longitudinal arm is rotationally connected with the connecting plate through a rotating shaft, the other end is connected with a wheel shaft, and a damping spring and / or a shock absorber are connected between the longitudinal arm and the wheel shaft; the hub motor driving assembly is arranged at the lower end of the longitudinal arm and connected with the wheel, and the wheel is provided with a brake.

[0012] According to the technical scheme, the quick release locking mechanism is arranged between the longitudinal arm suspension and the connecting plate, the quick bolt mechanism comprises a bolt, a sleeve and a spring, the bolt is arranged in the sleeve, and the bolt and the sleeve are arranged on the rotating shaft of the longitudinal arm suspension and the connecting plate respectively; the spring is arranged between the bolt and the sleeve; the spring between the bolt and the sleeve can provide locking force to fix the bolt in the sleeve, and when the bolt is pulled out of the sleeve, the quick release of the longitudinal arm suspension and the connecting plate can be realized.

[0013] According to the technical scheme, the hip joint rotating part comprises a hip joint motor and a rotating shaft, the lower end of the upper body part is connected with the upper end of the lower limb exoskeleton part through the rotating shaft, and the output end of the hip joint motor is connected with the rotating shaft; the hip joint motor drives the rotating shaft to rotate, and drives the lower limb exoskeleton part to rotate around the rotating shaft.

[0014] According to the technical scheme, the lower limb exoskeleton part comprises two thigh frames, two shank frames and two foot end parts, the upper ends of the two thigh frames are connected with the two sides of the upper body part through the rotating shaft of the hip joint rotating part respectively, the lower ends of the two thigh frames are hingedly connected with the upper ends of the two shank frames respectively, the two foot end parts are arranged on the lower ends of the two shank frames through the universal joint or the spherical hinge respectively, and the rear side of the foot end part is provided with an auxiliary guide wheel.

[0015] The auxiliary guide wheel is arranged on the rear side of the foot end part, and the auxiliary guide wheel is a universal wheel; in the high mobility mode, the foot end part is away from the ground, the auxiliary guide wheel is in contact with the ground, and the auxiliary guide wheel is driven to rotate through the lateral swing of the foot end part, so that the traveling direction is controlled; the lateral rotation of the foot end part is controlled to realize the rotation of the auxiliary guide wheel, so that the body turning in the high mobility mode is realized.

[0016] The lower end of the shank frame is provided with a lock catch mechanism, the auxiliary guide wheel is hingedly connected with the foot end part through a wheel frame, the lock catch mechanism adopts a spring lock catch structure, and comprises a lock catch, a connector, a spring clamp, a spring and an operating rod; the lock catch part and the connector part are matched with each other, the lock catch and the connector are arranged on the shank frame and the wheel frame respectively, the spring clamp is connected with the lock catch and the connector respectively, the spring is arranged on the spring clamp, and the operating rod is connected with the spring clamp; the spring clamp can tightly connect the lock catch mechanism and the spring, and the operating rod controls the locking and unlocking of the lock catch mechanism through a manual mode; when the lock catch mechanism is opened, the wheel frame of the auxiliary guide wheel is separated from the shank frame, the auxiliary guide wheel is in contact with the ground by the foot end part, and then the shank part is rotated by the vertical force on the ground; a sliding groove is arranged transversely on the shank frame, the lock catch is arranged on the sliding groove, the wheel frame of the auxiliary guide wheel is connected and locked with the shank frame through the lock catch in the walking state, the auxiliary guide wheel and the wheel frame can move along the sliding groove transversely when the foot end part turns to walk, so that the auxiliary guide wheel is prevented from falling downward in the walking process, and the horizontal rotation of the foot end part is not hindered.

[0017] According to the technical scheme, the shank frame is a U-shaped structure, and forms a U-shaped frame.

[0018] The thigh frame and the shank frame are respectively provided with a thigh guard plate and a shank guard plate, and the foot end part is provided with a foot guard plate; the thigh guard plate is a double-layer structure, and forms a double-layer thigh guard plate; the shank guard plate is a leg-covering shank guard plate; and the foot guard plate is a shoe-covering foot guard plate.

[0019] According to the technical scheme, the knee joint locking mechanism is arranged between the shank frame and the thigh frame, and the knee joint locking mechanism adopts a clutch structure, including a friction plate, a friction wheel and a toggle switch, the friction plate and the friction wheel are arranged on the shank frame and the thigh frame respectively, the toggle switch is connected with the friction wheel, and the locking effect is realized through the friction force between the friction plate and the friction wheel; when it is needed to switch to the walking mode, the knee joint locking mechanism is in the open state, the friction plate and the friction wheel are manually separated through the toggle switch, so that the thigh frame and the shank frame of the exoskeleton are in the articulated state; when it is needed to switch to the running mode, the knee joint locking mechanism is in the locked state, the friction plate and the friction wheel are tightly pressed together through the toggle switch, so that the friction force is generated between the friction plate and the friction wheel, the relative sliding between the friction plate and the friction wheel is limited, and the angle between the thigh frame and the shank frame is kept unchanged, so that the locking of the knee joint is realized.

[0020] When the variable power mechanical exoskeleton is in the high-mobility mode, the trailing arm suspension is turned down, the auxiliary guide wheels of the lower limb exoskeleton and the wheels of the trailing arm suspension are in contact with the ground, the foot end part is not directly in contact with the ground, the auxiliary guide wheels are in contact with the ground, the lower limb exoskeleton part and the tactical vest or back plate of the upper body part are in a sitting posture position, the angle therebetween is about 90°, the knee joint locking mechanism is in the locked state, the locking mechanism is in the open state, the angle between the shank frame and the thigh frame is kept unchanged in the locked state, and high-speed running through the wheels is facilitated; when the variable power mechanical exoskeleton is in the walking mode, the trailing arm suspension is turned up, the wheels of the trailing arm suspension are away from the ground and are connected and locked with the connecting plate through the locking device, the auxiliary guide wheels are also not in contact with the ground, the bottom of the foot end part is directly in contact with the ground, the lower limb exoskeleton part and the tactical vest or back plate of the upper body part are in a standing posture position, the knee joint locking mechanism is in the open state, the locking mechanism is in the locked state, the foot end part, the shank frame and the thigh frame are in the articulated state, and can be relatively rotated with each other, and walking is facilitated.

[0021] The present application has the following beneficial effects:

[0022] 1. The present application is distinguished from the traditional powered exoskeleton or passive exoskeleton, the present application makes personnel work not only has the passive exoskeleton load capacity enhancement, also can be adjusted according to the terrain and gait of the different hip joint motor power control motor speed and torque, thereby adaptively provide the power to the human body, such as: when walking uphill, can improve the motor power level, so that the exoskeleton more easily withstand gravity and terrain changes; while walking downhill, can reduce the motor power level, to avoid excessive damping and damage of the exoskeleton; can realize walking mode and high mobility mode movement, and can quickly switch between the two modes, enhance the adaptability of personnel in complex and changeable industrial production, disaster area, enhance the work capacity of personnel so as to reduce the casualty rate of personnel, improve the work efficiency of personnel.

[0023] 2. The present application is distinguished from the traditional operation mobility is not strong, added portable turnover mechanism, with wheel hub drive system, by changing the wearable intelligent mechanical carrier to high mobility mode, to achieve the effect of fast mobility, so as to realize the specific operation. BRIEF DESCRIPTION OF DRAWINGS

[0024] Fig. 1 is the structure diagram of the variable power mechanical exoskeleton in the walking mode of the embodiment of the present application;

[0025] Fig. 2 is the structure diagram of the variable power mechanical exoskeleton in the high mobility mode of the embodiment of the present application;

[0026] In the figure, 1 is a tactical vest, 2 is a lower limb exoskeleton, 3 is a hip joint motor, 4 is an auxiliary guide wheel, 5 is a connecting plate, 6 is a reversible seat, 7 is a telescopic handle, 8 is a quick release locking mechanism, 9 is a single longitudinal arm suspension, 10 is a wheel hub motor drive assembly, 11 is a brake, 12 is a U-shaped frame, and 13 is a locking interface. DETAILED DESCRIPTION

[0027] The present application will be described in detail below in combination with the drawings and examples.

[0028] REFERENCE Figs. 1-2As shown, the variable power mechanical exoskeleton provided by the present application in one embodiment includes an exoskeleton component, a reversible seat 6 and a longitudinal arm suspension 9, the exoskeleton component includes a hip joint rotating component, an upper body component and a lower limb exoskeleton component, the upper body component is connected with the upper end of the lower limb exoskeleton component through the hip joint rotating component, the lower end of the lower limb exoskeleton component is provided with an auxiliary guide wheel, the upper body component is connected with a connecting plate, the reversible seat 6 and the longitudinal arm suspension 9 are connected with the upper body component through the connecting plate, the hip joint rotating component drives the lower limb exoskeleton component to rotate relative to the tactical vest or back plate of the upper body component around the rotation center of the hip joint rotating component, so as to change the angle between the upper body component and the lower limb exoskeleton component, and the longitudinal arm suspension 9 is rotationally connected with the connecting plate.

[0029] Further, the upper body component is a tactical vest or back plate, and the connecting plate is arranged on the back of the tactical vest or back plate; when the power mechanical exoskeleton is in a walking mode, the longitudinal arm suspension 9 is flipped upward to the back of the tactical vest or back plate, and when the power mechanical exoskeleton is in a high mobility mode, the longitudinal arm suspension 9 is flipped downward, and the longitudinal arm suspension is located on the lower side of the tactical vest or back plate.

[0030] Further, the interfaces on both sides of the tactical vest 1 correspond to the interfaces on both sides of the hip joint at the upper end of the lower limb exoskeleton 2, and each pair of interfaces is connected through a rotating shaft, so as to ensure the freedom of the power lower limb exoskeleton in the sagittal plane of the hip joint.

[0031] Further, the longitudinal arm suspension 9 is rotationally connected with the connecting plate through a rotating shaft, locking devices are arranged between the longitudinal arm suspension and the connecting plate, the longitudinal arm suspension can be connected and locked with the connecting plate through the locking devices, and a flipping handle or a flipping mechanism is connected on the rotating shaft or the longitudinal arm suspension, and the longitudinal arm suspension is flipped by rotating the flipping handle or the flipping mechanism.

[0032] The locking devices include a clamping groove, a clamping buckle and a quick latch, the clamping groove is arranged on the connecting plate, the clamping buckle is arranged on the rotating shaft, and the rotating shaft is fixedly connected with the longitudinal arm suspension; when in the walking mode, the longitudinal arm suspension is flipped behind the connecting plate through the rotating shaft, the longitudinal arm suspension is connected and fixed with the connecting plate through the locking devices, and the quick latch passes through the clamping buckle and the clamping groove in sequence; the relative position of the connecting plate and the longitudinal arm suspension is kept stable by the friction and torque between the clamping buckle and the clamping groove.

[0033] Further, the flipping handle is a telescopic handle, and a locking interface is arranged on the lower limb exoskeleton; when the telescopic handle drives the longitudinal arm suspension to flip downward to the lower side, the telescopic handle is elongated and clamped with the locking interface on the lower limb exoskeleton; so as to lock the flipping position of the longitudinal arm suspension.

[0034] Further, the turnover mechanism is a turnover motor or a turnover telescopic cylinder, the turnover motor or the turnover telescopic cylinder is connected with the rotating shaft, the longitudinal arm type suspension is turned over through the rotating shaft, the turnover motor or the turnover telescopic cylinder is inactivated, mechanical locking of the rotating shaft is realized, and the turnover position of the longitudinal arm type suspension is locked.

[0035] Further, the telescopic handle is arranged outside the single longitudinal arm type suspension 9, is fixedly connected with the single longitudinal arm type suspension to form an included angle, and can rotate with the single longitudinal arm type suspension; a user can operate the telescopic handle to overturn the single longitudinal arm type suspension and the wheel hub motor driving assembly 10 downward, stretch the telescopic handle, and connect the telescopic handle with the locking interface outside the mechanical exoskeleton thigh guard to make the driving assembly and the mechanical exoskeleton form a stable force transmission structure.

[0036] Further, the longitudinal arm type suspension includes two single longitudinal arm type suspensions arranged side by side in parallel; the single longitudinal arm type suspension includes a wheel hub motor driving assembly, a wheel, and a longitudinal arm, one end of the longitudinal arm is rotationally connected with a connecting plate through a rotating shaft, the other end is connected with a wheel shaft, a damping spring and / or a shock absorber are connected between the longitudinal arm and the wheel shaft, the damping spring is sleeved outside the longitudinal arm, the wheel hub motor driving assembly is arranged at a lower end of the longitudinal arm and connected with the wheel, and a brake is arranged on the wheel.

[0037] Further, the single longitudinal arm type suspension further includes a protective shell, the protective shell is sleeved outside the longitudinal arm and the damping spring and / or the shock absorber, and the protective shell of the suspension is an integrated shell, which protects the working environment of the suspension and prevents damage.

[0038] The wheel hub motor driving assembly 10 is installed below the two single longitudinal arm independent suspensions 9, the brake is integrated in the wheel and installed inside the wheel hub motor driving assembly.

[0039] Further, the rotating shaft of the longitudinal arm of the longitudinal arm type suspension is provided with a quick release locking mechanism 8 between the connecting plate; the quick release locking mechanism can realize quick assembly and disassembly between the longitudinal arm type suspension and the connecting plate; the quick release locking mechanism 8 is arranged on both sides of the connecting plate 5, the single longitudinal arm type suspension 9 is arranged outside the quick release locking mechanism 8, and the rotating shaft is used to connect them so that they can rotate in a plane.

[0040] The quick release bolt mechanism includes a bolt, a sleeve, and a spring, the bolt is arranged in the sleeve, the bolt and the sleeve are arranged on the rotating shaft and the connecting plate of the longitudinal arm type suspension respectively, and the spring is arranged between the bolt and the sleeve; the spring between the bolt and the sleeve can provide locking force to fix the bolt in the sleeve, and when the bolt is pulled out of the sleeve, quick disassembly between the longitudinal arm type suspension and the connecting plate is realized.

[0041] The single longitudinal arm type suspension 9 is arranged outside the quick release locking mechanism 8, and the rotating shaft is used to connect them so that they can rotate in a plane.

[0042] Further, the hip joint rotating part comprises a hip joint motor and a rotating shaft, the lower end of the upper body part is connected with the upper end of the lower limb exoskeleton part through the rotating shaft, and the output end of the hip joint motor is connected with the rotating shaft; the hip joint motor drives the rotating shaft to rotate, and drives the lower limb exoskeleton part to rotate around the rotating shaft; the angle between the upper body part, the reversible seat and the lower limb exoskeleton part is changed, so that the power mechanical exoskeleton is switched between the walking mode and the high-mobility mode.

[0043] Further, the lower limb exoskeleton part comprises two thigh frames, two shank frames and two foot end parts, the upper ends of the two thigh frames are respectively connected with the two sides of the upper body part through the rotating shaft of the hip joint rotating part, the lower ends of the two thigh frames are respectively hingedly connected with the upper ends of the two shank frames, the two foot end parts are respectively arranged on the lower ends of the two shank frames through universal joints or spherical hinges, and auxiliary guide wheels are arranged on the foot end parts or the shank frames.

[0044] The auxiliary guide wheels are arranged on the rear sides of the foot end parts, and the auxiliary guide wheels are universal wheels; in the high-mobility mode, the foot end parts are away from the ground, the auxiliary guide wheels are in contact with the ground, and the auxiliary guide wheels are guided to rotate through the lateral swinging of the foot end parts; the lateral rotation of the foot end parts is controlled to realize the rotation of the auxiliary guide wheels, so that the body turning in the high-mobility mode is realized.

[0045] The lower end of the shank frame is provided with a lock mechanism, the auxiliary guide wheel is hingedly connected with the foot end part through a wheel frame, the lock mechanism adopts a spring lock structure, and comprises a lock, a connector, a spring clamp, a spring and an operating rod; the lock part and the connector part are matched with each other, the lock and the connector are respectively arranged on the shank frame and the wheel frame, the spring clamp is connected with the lock and the connector respectively, the spring is arranged on the spring clamp, and the operating rod is connected with the spring clamp; the spring clamp can tightly connect the lock mechanism and the spring, and the operating rod controls the locking and unlocking of the lock mechanism in a manual mode; when the lock mechanism is opened, the wheel frame of the auxiliary guide wheel is separated from the shank frame, the auxiliary guide wheel is brought into contact with the ground by the foot, and then the shank part is rotated by the vertical force on the ground. A sliding groove is arranged transversely on the shank frame, the lock is arranged on the sliding groove, the wheel frame of the auxiliary guide wheel is locked and connected with the shank frame through the lock in the walking state, the auxiliary guide wheel and the wheel frame can move along the sliding groove transversely when the foot end part turns to walk, so that the auxiliary guide wheel is prevented from falling downward in the walking process, and the horizontal rotation of the foot end part is not hindered.

[0046] Further, the number of the hip joint motors and the rotating shafts is two, and two sets of hip joint rotating parts are arranged on the two sides of the upper body part and correspond to the two thigh frames respectively. The hip joint motor is fixed to the outside of the hip joint of the double-layer thigh guard, provides active assistance in the sagittal plane of the hip joint, and designs the horizontal plane and the coronal plane of the hip joint, the knee joint and the ankle joint as passive joints, so that the walking assisting effect is achieved.

[0047] Further, the auxiliary guide wheel is arranged at the rear side of the calf support, and the auxiliary guide wheel 4 is fixed to the middle part of the horizontal rod of the U-shaped support and can rotate quickly through bearing connection.

[0048] Further, the calf support is in U-shaped structure, forming the U-shaped support 12.

[0049] The thigh support and the calf support are respectively provided with thigh guards and calf guards, and the foot end is provided with a foot guard, the thigh guard is in double-layer structure, forming double-layer thigh guards, the calf guard is in leg-covering type, and the foot guard is in shoe-covering type, the upper side and the lower side of the double-layer thigh guard and the upper side of the leg-covering type calf guard are all in arc shape; the leg-covering type calf guard is fixed to the middle part of the double-layer thigh guard, the two arcs at the connecting part are concentric, and the leg-covering type calf guard is connected through a rotating shaft, so as to ensure the freedom of the autonomous adaptive powered lower extremity exoskeleton in the sagittal plane of the knee joint.

[0050] The ankle joint of each foot of the lower extremity exoskeleton 2 is respectively provided with an interface on both sides, and the interfaces correspond to the interfaces on both sides of a U-shaped support 12 respectively, and the U-shaped support is connected through a rotating shaft, so that the U-shaped support can rotate around the rotating shaft.

[0051] The double-layer thigh guard is provided with a locking interface 13 on the outer side, and can form a locking structure with the telescopic handle 7.

[0052] Further, the knee joint locking mechanism is arranged between the calf support and the thigh support; when the variable powered mechanical exoskeleton is in high-mobility mode, the knee joint locking mechanism is in locking state, so that the angle between the calf support and the thigh support is in locking state, thereby facilitating high-speed driving through wheels; when the variable powered mechanical exoskeleton is in walking mode, the knee joint locking mechanism is in opening state, so that the foot end, the calf support and the thigh support are in hinged state, and can rotate relative to each other, thereby facilitating walking.

[0053] The convertible seat 6, the telescopic handle 7, the quick-release locking mechanism 8, the single-long-arm suspension 9, the wheel hub motor drive 10 assembly and the brake 11 form a portable convertible structure.

[0054] Portable flip structure part, connecting plate 5 is arranged at the waistband of tactical vest 1, and the flip seat 6 is installed below the connecting plate in the middle position and is connected by a rotating shaft and can be flipped below the hips of the human body to form support for the human body. The quick-release locking mechanism 8 is arranged on both sides of the connecting plate 5 and can be quickly disassembled. If the portable flip structure is damaged, the user can remove the quick-release locking mechanism to reduce the load. The telescopic handle 7 is arranged outside the single longitudinal arm suspension 9 and is fixed to the single longitudinal arm suspension to form an included angle of about 90°-12° (the optimal angle can be selected as 100°) and can rotate together with the single longitudinal arm suspension. The user can operate the handle to flip the single longitudinal arm suspension and the hub motor drive assembly 10 downward, stretch the handle and lock the interface outside the mechanical exoskeleton thigh guard to connect the drive assembly and the mechanical exoskeleton to form a stable force transmission structure.

[0055] The above merely describes the preferred embodiments of the present application and cannot limit the scope of the present application. Any equivalent changes made within the scope of the patent application of the present application are still within the protection scope of the present application.

Claims

1. A variable form powered exoskeleton characterized by, The application relates to a power mechanical exoskeleton, which comprises an exoskeleton component, a reversible seat and a longitudinal arm suspension, the exoskeleton component comprises a hip joint rotating component, an upper body component and a lower limb exoskeleton component, the upper body component is connected with the upper end of the lower limb exoskeleton component through the hip joint rotating component, the lower end of the lower limb exoskeleton component is provided with an auxiliary guide wheel, the upper body component is connected with a connecting plate, the reversible seat and the longitudinal arm suspension are connected with the upper body component through the connecting plate, the hip joint rotating component drives the lower limb exoskeleton component to rotate around the rotating center of the hip joint rotating component, and the longitudinal arm suspension is rotationally connected with the connecting plate.

2. The variable-type power machine exoskeleton according to claim 1, characterized by, The upper body component is a tactical vest or a back plate, and the connecting plate is arranged on the back of the tactical vest or the back plate; when the power mechanical exoskeleton is in a walking mode, the longitudinal arm suspension is turned upward to the back of the tactical vest or the back plate; and when the power mechanical exoskeleton is in a high mobility mode, the longitudinal arm suspension is turned downward, and the longitudinal arm suspension is located on the lower side of the tactical vest or the back plate.

3. The variable-type powered mechanical exoskeleton according to claim 1, characterized by, The longitudinal arm suspension is rotationally connected with the connecting plate through a rotating shaft, locking devices are arranged between the longitudinal arm suspension and the connecting plate, the longitudinal arm suspension can be connected and locked with the connecting plate through the locking devices, a turning handle or a turning mechanism is connected on the rotating shaft or the longitudinal arm suspension, and the longitudinal arm suspension is turned through the rotating turning handle or the rotating turning mechanism.

4. The variable-type power machine exoskeleton of claim 3, wherein, The turning handle is a telescopic handle, and the lower limb exoskeleton is provided with a locking interface; when the telescopic handle drives the longitudinal arm suspension to turn downward to the lower side position, the telescopic handle is elongated and is clamped with the locking interface on the lower limb exoskeleton; so that the turning position of the longitudinal arm suspension is locked.

5. The variable form power machine exoskeleton of claim 3, wherein, The longitudinal arm suspension comprises two single longitudinal arm suspensions which are arranged side by side in parallel; the single longitudinal arm suspension comprises a hub motor driving assembly, a wheel and a longitudinal arm, one end of the longitudinal arm is rotationally connected with the connecting plate through a rotating shaft, the other end is connected with a wheel shaft, damping springs and / or dampers are connected between the longitudinal arm and the wheel shaft, the hub motor driving assembly is arranged at the lower end of the longitudinal arm and is connected with the wheel, and the wheel is provided with a brake.

6. The variable-type power machine exoskeleton of claim 3, wherein, Quick release locking mechanisms are arranged between the longitudinal arm suspension and the connecting plate.

7. The variable form power machine exoskeleton of claim 1, wherein, The hip joint rotating component comprises a hip joint motor and a rotating shaft, the lower end of the upper body component is connected with the upper end of the lower limb exoskeleton component through the rotating shaft, and the output end of the hip joint motor is connected with the rotating shaft; the hip joint motor drives the rotating shaft to rotate and drives the lower limb exoskeleton component to rotate around the rotating shaft.

8. The variable morphing exoskeleton for power machines of any of claims 1-7, wherein, The lower limb exoskeleton component comprises two thigh frames, two calf frames and two foot end parts, the upper ends of the two thigh frames are connected with the two sides of the upper body component through the rotating shaft of the hip joint rotating component respectively, the lower ends of the two thigh frames are hingedly connected with the upper ends of the two calf frames respectively, the two foot end parts are arranged on the lower ends of the two calf frames through universal joints or spherical hinges respectively, and the foot end parts are provided with auxiliary guide wheels. The auxiliary guide wheels are arranged on the rear sides of the foot end parts, the auxiliary guide wheels are universal wheels, in the high mobility mode, the foot end parts are away from the ground, the auxiliary guide wheels are in contact with the ground, and the auxiliary guide wheels are turned through the transverse swinging of the foot end parts.

9. The variable form power machine exoskeleton of claim 8, wherein, The lower leg frame is in a U-shaped structure to form a U-shaped frame; the upper leg frame and the lower leg frame are respectively provided with an upper leg guard plate and a lower leg guard plate, and the foot end is provided with a foot guard plate; the upper leg guard plate is in a double-layer structure to form a double-layer upper leg guard plate; the lower leg guard plate is a wrap-around type lower leg guard plate; and the foot guard plate is a shoe cover type foot guard plate; the upper side, the lower side of the double-layer upper leg guard plate and the upper side of the wrap-around type lower leg guard plate are all in a circular arc shape.

10. The variable form power machine exoskeleton of claim 9, wherein, The knee joint locking mechanism is arranged between the lower leg frame and the upper leg frame; when it is needed to switch to the walking mode, the knee joint locking mechanism is opened, and the upper leg frame and the lower leg frame of the exoskeleton are in a hinged state; when it is needed to switch to the running mode, the knee joint locking mechanism is locked, so that the angle between the upper leg frame and the lower leg frame remains unchanged, and the locking of the knee joint is realized.

Images