Mechanical exoskeleton

Abstract

The present disclosure relates to the field of mechanical exoskeletons, and discloses a mechanical exoskeleton, comprising a back frame assembly, two lower limb assemblies and two hip assemblies, each hip assembly comprising a mounting rod, a sliding rod and a locking mechanism. The mounting rod is connected to the back frame assembly; the sliding rod is slidingly connected to the mounting rod, and the sliding rods of the two hip assemblies are respectively connected to the two lower limb assemblies; the locking mechanism locks the sliding rod to the mounting rod, and when the locking mechanism is unlocked, the sliding rod can slide relative to the mounting rod, and the sliding direction of the sliding rod and the forward direction of the mechanical exoskeleton form an included angle a, and the included angle a is an acute angle. When the hip width and the waist thickness of the mechanical exoskeleton need to be adjusted, the locking mechanism is unlocked, the sliding rod slides a distance x relative to the mounting rod, during which the sliding rod moves x*cos a and the sliding rod moves x*cos(90°-a), and the locking mechanism locks the sliding rod to the mounting rod, thereby conveniently adjusting the hip width of the mechanical exoskeleton while synchronously adjusting the waist thickness of the mechanical exoskeleton.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of mechanical exoskeletons, and in particular, to a mechanical exoskeleton. BACKGROUND

[0002] A mechanical exoskeleton, also known as a powered exoskeleton, is a machine device composed of a frame of metal, carbon fiber, etc. and can be worn by a person. This equipment can provide additional energy for limb movement. Other names: reinforced clothing, power suit, power armor or powered armor, exoframe, hardsuit or exosuit, etc.

[0003] When wearing a mechanical exoskeleton, the hip width and waist thickness of the mechanical exoskeleton need to be adjusted. At present, the operation process of adjusting the hip width and waist thickness of the mechanical exoskeleton is relatively complex. SUMMARY

[0004] The embodiments of the present disclosure aim to provide a mechanical exoskeleton to solve the technical problem of the complex operation process of adjusting the hip width and waist thickness of the mechanical exoskeleton in the prior art.

[0005] The embodiments of the present disclosure solve the technical problem by adopting the following technical solution: a mechanical exoskeleton is provided, which includes a back frame assembly, two lower limb assemblies, and two hip assemblies. Each hip assembly includes a mounting rod connected to the back frame assembly, a sliding rod slidingly connected to the mounting rod, the sliding rods of the two hip assemblies being connected to the two lower limb assemblies, respectively, and a locking mechanism for locking the sliding rod to the mounting rod. When the locking mechanism is unlocked, the sliding rod can slide relative to the mounting rod, and the sliding direction of the sliding rod forms an acute angle a with the forward direction of the mechanical exoskeleton.

[0006] In some embodiments, one of the mounting rod and the sliding rod is an outer tube, and the other of the mounting rod and the sliding rod is an inner rod; the outer tube is sleeved outside the inner rod.

[0007] In some embodiments, the mounting rod includes a first mounting rod segment and a second mounting rod segment; the first mounting rod segment is connected to the back frame assembly, the second mounting rod segment is connected to the first mounting rod segment, and the second mounting rod segment is slidingly sleeved on the sliding rod; the length direction of the second mounting rod segment is parallel to the sliding direction of the sliding rod.

[0008] In some embodiments, the sliding rod comprises a first sliding rod segment and a second sliding rod segment; the length direction of the first sliding rod segment is parallel to the sliding direction of the mounting rod, the second mounting rod segment is sleeved inside the first sliding rod segment, and the second sliding rod segments of the two hip assemblies are respectively connected to the two lower limb assemblies; the length direction of the second sliding rod segment is parallel to a vertical plane.

[0009] In some embodiments, the sliding rod further comprises a third sliding rod segment; the third sliding rod segment is arranged between the first sliding rod segment and the second sliding rod segment, the included angle between the length direction of the third sliding rod segment and the length direction of the first sliding rod segment is obtuse, and the included angle between the length direction of the third sliding rod segment and the length direction of the second sliding rod segment is obtuse.

[0010] In some embodiments, the length direction of the first sliding rod segment, the length direction of the second sliding rod segment, and the length direction of the third sliding rod segment are on the same plane.

[0011] In some embodiments, the position of the first sliding rod segment is higher than the position of the second sliding rod segment.

[0012] In some embodiments, the outer tube comprises a tube body and two fixing pieces; the two fixing pieces are arranged inside the tube body, the inner rod is inserted into the tube body and arranged between the two fixing pieces.

[0013] In some embodiments, the inner rod comprises two first plane portions, each of the fixing pieces comprises a second plane portion; the two first plane portions are respectively in contact with the second plane portions of the two fixing pieces, and the first plane portions and the second plane portions are parallel to a vertical plane.

[0014] In some embodiments, the locking mechanism is movably arranged in the outer tube, two or more positioning holes are arranged on the inner rod, the two or more positioning holes are arranged along the sliding direction of the sliding rod, the locking mechanism can be inserted into one of the positioning holes, and the locking mechanism can move away from the inner rod along the insertion direction thereof until the locking mechanism exits the one of the positioning holes.

[0015] In some embodiments, a sliding groove is arranged on the inner rod, the length direction of the sliding groove is parallel to the length direction of the sliding rod, the sliding groove has a groove wall facing the locking mechanism, the two or more positioning holes are arranged on the groove wall, the locking mechanism passes through the sliding groove, and the locking mechanism can move away from the inner rod along the insertion direction thereof until the locking mechanism exits the sliding groove.

[0016] In some embodiments, the inner rod further comprises a positioning ball; two or more positioning grooves are formed on the inner rod, the two or more positioning grooves are arranged along the sliding direction of the sliding rod, and the ball head of the positioning ball can extend into one of the positioning grooves.

[0017] In some embodiments, the mounting rod is hinged to the back frame, each of the hip assemblies is rotatable relative to the back frame assembly, and the rotation axis around which each of the hip assemblies rotates relative to the back frame assembly is parallel to the forward direction of the mechanical exoskeleton.

[0018] In some embodiments, the included angle a is in the range of 55-65°.

[0019] Compared with the prior art, in the mechanical exoskeleton provided in the embodiments of the present disclosure, by setting the sliding direction of the sliding rod to be an included angle a with the forward direction of the mechanical exoskeleton, the included angle a is an acute angle, when it is necessary to increase the hip width and the waist thickness of the mechanical exoskeleton, the locking mechanism is unlocked, the sliding rod slides relative to the mounting rod by a distance x in a direction away from the mounting rod, during which the sliding rod moves forward by x·cosa, at the same time, the sliding rod moves away from the hip of the human body by x·cos(90°-a), and the locking mechanism locks the sliding rod to the mounting rod. When it is necessary to reduce the hip width and the waist thickness of the mechanical exoskeleton, the sliding rod slides relative to the mounting rod by a distance x in a direction close to the mounting rod, the sliding rod moves backward by x·cosa, and the sliding rod moves away from the hip of the human body by x·cos(90°-a). Thus, the hip width of the mechanical exoskeleton is adjusted while the waist thickness of the mechanical exoskeleton is synchronously adjusted, the hip width and the waist thickness of the mechanical exoskeleton do not need to be adjusted respectively, and the operation process is relatively convenient. BRIEF DESCRIPTION OF DRAWINGS

[0020] One or more embodiments are illustrated by way of example in the figures that are part of this disclosure and which are illustrative, but not restrictive, of the embodiments, wherein elements having the same reference numbers designate corresponding elements and wherein the figures do not limit the scope of the embodiments unless otherwise specified. The figures in the drawings are not necessarily to scale, the emphasis instead being placed upon clearly illustrating the principles of the embodiments.

[0021] Figure 1 is a use state diagram of a mechanical exoskeleton at present;

[0022] Figure 2 is a structural schematic diagram of a mechanical exoskeleton provided in one of the embodiments of the present disclosure;

[0023] Figures 3 to 5 is Figure 2 is a use state diagram of a mechanical exoskeleton;

[0024] Figure 6 is Figure 2Structure diagram of part structure of the mechanical exoskeleton shown;

[0025] Figure 7 is Figure 6 Sectional view diagram at A-A shown;

[0026] Figure 8 is Figure 6 Sectional view diagram at B-B shown;

[0027] Figure 9 is Figure 8 Enlarged view at I shown;

[0028] Figure 10 is Figure 9 Sectional view diagram at C-C shown. DETAILED DESCRIPTION

[0029] For the purpose of promoting the understanding of the present disclosure, the present disclosure will be described in further detail below with reference to the drawings and specific embodiments. It should be noted that when an element is described as being "connected" to another element, it can be directly on the other element or one or more intervening elements can be present therebetween. The terms "upper", "lower", "left", "right", "top", "bottom", "top", "bottom", and the like as used in this specification refer to the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first", "second", and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0030] Unless otherwise defined, all technical and scientific terms used in the specification are the same as those commonly understood by those skilled in the art to which the present disclosure belongs. The terms used in the specification of the present disclosure are only for the purpose of describing the specific embodiments and are not intended to limit the present disclosure.

[0031] Referring to Figure 1 Different body types have different hip width sizes, and different body types also have different waist thicknesses. Therefore, in the current mechanical exoskeleton, two sets of adjustment mechanisms are usually configured, one set of adjustment mechanism is used to adjust the hip width of the mechanical exoskeleton, and the other set of adjustment mechanism is used to adjust the waist thickness of the mechanical exoskeleton. When adjusting the hip width and waist thickness of the mechanical exoskeleton, the two sets of adjustment mechanisms need to be operated respectively, and the operation process is relatively cumbersome.

[0032] Generally speaking, the larger the hip width of the human body, the larger the waist thickness of the human body. Based on this, referring to Figures 2 to 5The mechanical exoskeleton 100 can adjust the thickness of the waist and back synchronously while adjusting the hip width, so as to adapt to different body shapes.

[0033] The mechanical exoskeleton 100 comprises a back frame assembly 10, two lower limb assemblies 20 and two hip assemblies 30. The two hip assemblies 30 are connected to the back frame assembly 10, and the two lower limb assemblies 20 are respectively connected to the two hip assemblies 30.

[0034] The back frame assembly 10 comprises a back frame 12, a support plate 14 and two shoulder straps. The shoulder straps and the support plate 14 are respectively arranged on two opposite sides of the back frame 12.

[0035] The back frame 12 is generally in the shape of a plate or a flat frame, and can have a slight curvature to fit the shoulder and back of a human body. The back frame 12 comprises front and rear surfaces facing opposite directions. The back frame 12 is hollow, which is beneficial to reduce the weight of the back frame 12 and reduce the burden on the wearer.

[0036] The two shoulder straps are arranged on the front surface of the back frame 12, and are used together to fix the back frame 12 to the shoulder and back of a human body. When a human body wears the mechanical exoskeleton 100, the front surface of the back frame 12 faces the shoulder and back of the human body, and the rear surface of the back frame 12 faces away from the shoulder and back of the human body. A soft pad can be covered on the front surface of the back frame 12, which is beneficial to improve the comfort of wearing.

[0037] The upper ends of the two shoulder straps are connected to the top of the back frame 12, and the lower ends of the two shoulder straps are respectively connected to the two hip assemblies 30.

[0038] In some embodiments, the back frame assembly 10 can further comprise a chest strap. The chest strap is connected between the two shoulder straps, and can better fix the back frame 12 to the shoulder and back of a human body and provide effective support.

[0039] In some embodiments, the back frame assembly 10 can further comprise a waist strap. The waist strap is arranged on the front surface of the back frame 12 and close to the lower end of the back frame 12, and is used to fix the lower part of the back frame 12 to the waist and back of a human body.

[0040] The support plate 14 is arranged on the rear surface of the back frame 12. The support plate 14 is substantially perpendicular to the back frame 12, and is used to support the weight.

[0041] In some embodiments, the support plate 14 is hinged to the back frame 12, and the rotation axis around which the support plate 14 rotates relative to the back frame 12 is substantially parallel to the lower edge of the back frame 12. When the support plate 14 does not support the weight, the support plate 14 can be rotated upward to be fitted with the rear surface of the back frame 12, which is beneficial to storage, aesthetics and not easy to be accidentally collided.

[0042] The back frame assembly 10 further comprises two fixed shafts 16. The two fixed shafts 16 are both protruded from the back surface of the back frame 12 and are both close to the lower end of the back frame 12. The center line of each fixed shaft 16 is substantially perpendicular to the back frame 12. The two fixed shafts 16 are respectively close to the two vertical edges of the back frame 12. The two fixed shafts 16 are respectively used for connecting the two hip assemblies 30.

[0043] Each lower limb assembly 20 comprises a thigh support 22, a lower leg support 24 and a foot support 26. The thigh support 22 is used for fixing to the thigh of the human body. The thigh supports 22 of the two lower limb assemblies 20 are respectively rotationally connected to the two hip assemblies 30, corresponding to the hip joints of the human body. The lower leg support 24 is used for fixing to the lower leg of the human body. The lower leg support 24 is rotationally connected to the thigh support 22, corresponding to the knee joint of the human body. The foot support 26 is used for fixing to the foot of the human body. The foot support 26 is rotationally connected to the lower leg support 24, corresponding to the ankle joint of the human body.

[0044] The thigh support 22 can comprise a thigh pad and a thigh strap. The thigh pad has an arc suitable for the thigh of the human body, for fitting the surface of the thigh of the human body. The thigh strap is used for fixing the thigh pad to the thigh of the human body. The lower leg support 24 can comprise a lower leg pad and a lower leg strap. The lower leg pad has an arc suitable for the lower leg of the human body, for fitting the surface of the lower leg of the human body. The lower leg strap is used for fixing the lower leg pad to the lower leg of the human body.

[0045] Please refer to Figures 6 to 10 Each hip assembly 30 comprises a mounting rod 32, a sliding rod 34 and a locking mechanism 36. The mounting rod 32 is connected to the back frame assembly 10. The sliding rod 34 is slidingly connected to the mounting rod 32. The two lower limb assemblies 20 are respectively connected to the sliding rods 34 of the two hip assemblies 30. The locking mechanism 36 locks the sliding rod 34 to the mounting rod 32, so that the sliding rod 34 and the mounting rod 32 are fixed. When the locking mechanism 36 is unlocked, the sliding rod 34 can slide relative to the mounting rod 32. The sliding direction S of the sliding rod 34 and the forward direction F of the mechanical exoskeleton 100 form an included angle a. The included angle a is an acute angle.

[0046] In order to adapt to different body types of individuals and achieve better wearing effect, the value range of the included angle a can be limited to 55°-65°. Among them, by analyzing the hip width and waist thickness data of different body types, it is concluded that the optimal value of a is close to 59°.

[0047] It should be noted that the forward direction F of the mechanical exoskeleton 100 is the direction towards which the front surface of the back frame 12 faces when the human body normally wears the mechanical exoskeleton 100 and is in a standing state.

[0048] When the human body wears the mechanical exoskeleton 100, the mounting rod 32 extends from the waist of the human body to the crotch of the human body, and the sliding rod 34 is located at the crotch of the human body. When it is necessary to increase the width of the crotch and the thickness of the waist of the mechanical exoskeleton 100, the locking mechanism 36 is unlocked, the sliding rod 34 slides relative to the mounting rod 32 by a distance x away from the mounting rod 32, during which the sliding rod 34 moves forward by x*cos a, and at the same time, the sliding rod 34 moves away from the crotch of the human body by x*cos(90°-a), and the locking mechanism 36 locks the sliding rod 34 to the mounting rod. When it is necessary to reduce the width of the crotch and the thickness of the waist of the mechanical exoskeleton 100, the sliding rod 34 slides relative to the mounting rod 32 by a distance x towards the mounting rod 32, the sliding rod 34 moves backward by x*cos a, and the sliding rod 34 moves away from the crotch of the human body by x*cos(90°-a). Thus, the width of the crotch of the mechanical exoskeleton 100 is adjusted while the thickness of the waist of the mechanical exoskeleton 100 is simultaneously adjusted.

[0049] The sliding rod 34 is a pipe, the mounting rod 32 is sleeved in the sliding rod 34, and the inner wall of the sliding rod 34 can guide the sliding of the mounting rod 32, so that the sliding rod 34 and the mounting rod 32 are connected in a sliding manner.

[0050] It can be understood that the sliding connection mode of the mounting rod 32 and the sliding rod 34 is not limited to that the mounting rod 32 is sleeved in the sliding rod 34. According to actual needs, a sliding rail can be arranged on the mounting rod 32, the length direction of the sliding rail is consistent with the length direction of the mounting rod 32, and a sliding block matched with the sliding rail is arranged on the sliding rod 34. The sliding block and the sliding rail can also achieve the sliding connection of the sliding rod 34 and the mounting rod 32.

[0051] It can be understood that according to actual needs, the mounting rod 32 can also be arranged as a pipe, the mounting rod 32 is sleeved outside the sliding rod 34, and the inner wall of the mounting rod 32 can guide the sliding of the sliding rod 34, so that the sliding rod 34 and the mounting rod 32 are connected in a sliding manner. In summary, as long as the following conditions are met:

[0052] One of the mounting rod 32 and the sliding rod 34 is an outer pipe, and the other of the mounting rod 32 and the sliding rod 34 is an inner rod. The outer pipe is sleeved outside the inner rod. The inner wall of the outer pipe can guide the sliding of the inner rod, so that the outer pipe and the inner rod are connected in a sliding manner.

[0053] The locking mechanism 36 is movably arranged in the outer pipe and inserted into the inner rod, so as to lock the sliding rod 34 to the mounting rod 32. The locking mechanism 36 can move away from the inner rod along the insertion direction thereof, so as to unlock the locking mechanism 36. After being unlocked, the locking mechanism 36 can move towards the inner rod along the insertion direction thereof, so as to be inserted into the inner rod.

[0054] It can be understood that the locking mechanism 36 locks the sliding rod 34 to the mounting rod 32 in the way of inserting into the inner rod, and according to actual needs, the locking mechanism 36 can also press the inner rod to the inner wall of the outer tube, so as to lock the sliding rod 34 to the mounting rod 32. When it is needed to be unlocked, the locking mechanism 36 is away from the inner rod to release the inner rod, at this time, the locking mechanism 36 is unlocked.

[0055] The mounting rod 32 includes a first mounting rod segment 320 and a second mounting rod segment 322. The first mounting rod segment 320 is connected to the back frame assembly 10, and the second mounting rod segment 322 is sleeved on the sliding rod 34.

[0056] It should be noted that the so-called second mounting rod segment 322 is sleeved on the sliding rod 34. When the mounting rod 32 is the inner rod and the sliding rod 34 is the outer tube, the second mounting rod segment 322 is sleeved inside the sliding rod 34, and when the mounting rod 32 is the outer rod and the sliding rod 34 is the inner rod, the second mounting rod segment 322 is sleeved outside the sliding rod 34.

[0057] The length direction of the first mounting rod segment 320 is substantially perpendicular to the forward direction S of the mechanical exoskeleton 100.

[0058] An axle hole is formed on the first mounting rod segment 320. The center lines of the axle holes on the two hip assemblies coincide with the center lines of the two fixed shafts, respectively, and the axle holes on the two hip assemblies are matched with the fixed shafts, respectively, to realize the articulation of the first mounting rod segment 320 with the back frame assembly 10, respectively. The two hip assemblies 30 can rotate around the center lines of the two fixed shafts 16, respectively, to drive the two lower limb assemblies 20 to rotate together, respectively, and match the action of the inner and outer swing of the human thigh.

[0059] The length direction of the second mounting rod segment 322 is parallel to the sliding direction of the sliding rod 34.

[0060] When the human body wears the mechanical exoskeleton 100, the first mounting rod segment 320 is located at the waist and back of the human body, and the second mounting rod segment 322 is located at the crotch of the human body.

[0061] The inner rod is in a flat rod structure, including two first outer curved surface portions 3210 and two first flat surface portions 3212. The two first curved surface portions 3210 are oppositely oriented. The two first flat surface portions 3212 are oppositely oriented and are arranged between the two first outer curved surface portions 3210. The first flat surface portions 3212 are parallel to a vertical plane, which is parallel to the forward direction F. The two first flat surface portions 3212 and the two first outer curved surface portions 3210 are used to fit the outer tube to guide the outer tube to slide relative to the inner rod. By fitting the first flat surface portions of the inner rod with the outer tube, the outer tube can be guided to slide relative to the inner rod and prevented from rotating relative to the inner rod. In addition, since the first flat surface portions 3212 are parallel to the vertical plane, the ability of the inner rod to resist vertical bending moment can be improved, and the load bearing performance of the inner rod is better and less likely to be bent by weight.

[0062] It can be understood that, according to actual needs, there can be only one first flat surface portion 3212 and one first outer curved surface portion 3210 respectively.

[0063] The distance between the two first outer curved surface portions 3210 is greater than the distance between the two first flat surface portions 3212, that is, the vertical dimension of the inner rod is greater than the horizontal dimension. In this way, the vertical dimension of the inner rod can be increased and the horizontal dimension of the inner rod can be reduced under the premise that the weight and volume of the inner rod remain unchanged, so as to improve the ability of the inner rod to resist vertical bending moment.

[0064] Two or more positioning holes 324 are formed in the inner rod, the two or more positioning holes 324 are arranged along the sliding direction S of the sliding rod 34, and the locking mechanism 36 is inserted into a certain positioning hole 324 along the insertion direction thereof. The locking mechanism 36 can move away from the inner rod along the insertion direction thereof until the locking mechanism 36 is withdrawn from the positioning hole 324, so as to unlock the locking mechanism 36.

[0065] By arranging two or more positioning holes 324, the locking mechanism 36 can be inserted into different positioning holes 324, so as to form a gear adjustment function, which is beneficial to ensure that the sliding degrees of the sliding rods 322 of the two hip assemblies 30 are consistent.

[0066] When the hip width and the waist thickness of the mechanical exoskeleton 100 need to be adjusted, the locking mechanism 36 is withdrawn from the current positioning hole 324, the sliding rod 34 slides relative to the mounting rod 32 until the locking mechanism 36 is aligned with other positioning holes 324 before or after the positioning hole 324, and then the locking mechanism 36 is inserted into the new positioning hole 324.

[0067] A sliding groove 326 is formed in the inner rod, the length direction of the sliding groove 326 is parallel to the sliding direction S of the sliding rod 34, and the locking mechanism 36 passes through the sliding groove 326. When the sliding rod 34 slides relative to the mounting rod 32, the locking mechanism 36 moves along the sliding groove 326, and the sliding groove 326 has a guiding effect and can guide the sliding rod 34 to slide.

[0068] The sliding groove 326 has a groove wall facing the locking mechanism 36. Two or more positioning holes 324 are formed in the groove wall.

[0069] Two or more positioning grooves 328 are formed in the inner rod. The two or more positioning grooves 328 are arranged along the sliding direction S of the sliding rod 34, and a portion of the outer rod extends into one of the positioning grooves 328, and the portion of the outer rod can elastically expand and contract. During the sliding of the sliding rod 34 relative to the mounting rod 32, the portion of the outer rod can extend into one of the positioning grooves 328, and the sliding rod 34 can be stopped at the current position to prompt the user that the locking mechanism 36 has been aligned with the positioning hole 324. The user can directly insert the locking mechanism 36 into the positioning hole 324 without alignment, which is more convenient.

[0070] The surface where the positioning grooves 328 are located can be opposite to the surface where the positioning holes 324 are located. According to actual needs, the surface where the positioning grooves 328 are located can also be adjacent to the surface where the positioning holes 324 are located, or the positioning grooves 328 and the positioning holes 324 can be formed in the same surface.

[0071] Each positioning groove 328 is substantially hemispherical.

[0072] The sliding rod 34 includes a first sliding rod segment 340, a second sliding rod segment 342, and a third sliding rod segment 344. The third sliding rod segment 344 is arranged between the first sliding rod segment 340 and the second sliding rod segment 342. The second mounting rod segment 322 is sleeved on the first sliding rod segment 340, and the second sliding rod segments 342 of the two hip assembly 30 are respectively connected to the two lower limb assemblies 20.

[0073] It should be noted that the so-called second mounting rod segment 322 sleeved on the first sliding rod segment 340 refers to that when the mounting rod 32 is an inner rod and the sliding rod 34 is an outer tube, the second mounting rod 322 is sleeved inside the first sliding rod segment 340, and when the mounting rod 32 is an outer tube and the sliding rod 34 is an inner rod, the second mounting rod 322 is sleeved outside the first sliding rod segment 340.

[0074] The length direction of the first slide bar segment 340, the length direction of the second slide bar segment 342 and the length direction of the third slide bar segment 344 are all in the same plane, the angle between the length direction of the first slide bar segment 340 and the length direction of the third slide bar segment 344 is an obtuse angle, and the angle between the length direction of the second slide bar segment 342 and the length direction of the third slide bar segment 344 is an obtuse angle. The length direction of the second slide bar segment 342 is substantially parallel to a vertical plane which is parallel to the forward direction S of the mechanical exoskeleton 100. When the human body wears the mechanical exoskeleton 100, the first slide bar segment 340, the second slide bar segment 342 and the third slide bar segment 344 can be made to substantially fit the hip curve of the human body, and the second slide bar segment 342 is substantially parallel to the side surface of the human body. The higher the fitting degree of the slide bar 34 with the human body, the lower the degree of protruding from the human body, and the smaller the influence on the human body movement, and the better the wearing comfort. In addition, the higher the fitting degree of the slide bar 34 with the human body, the larger the contact area between the human body surface and the slide bar 34, and the more the human body participates in bearing the slide bar 34, which can improve the overall bearing performance of the slide bar 34, and the force transmitted by the slide bar to the human body is more uniform, and it is less likely to cause local fatigue of the human body.

[0075] The position of the first slide bar segment 340 is higher than the position of the second slide bar segment 342, so that the slide bars 34 of the two hip assemblies 30 are substantially in a figure-eight shape.

[0076] It can be understood that according to actual needs, the third slide bar segment 342 can be omitted, for example, the first slide bar segment 340 is directly connected to the second slide bar segment 342.

[0077] The outer tube includes a tube body 341 and two fixed sheets 343. The two fixed sheets 343 are both fixed in the tube body 341, and the inner rod is inserted into the tube body 341 and arranged between the two fixed sheets 343. Each fixed sheet 343 can be fixed to the tube body 341 by a screw.

[0078] It can be understood that according to actual needs, the tube body 341 and the two fixed sheets 343 can be omitted, and instead, the outer tube includes a tube piece which is an integral tube material, the cross section of the inner hole of the tube piece is substantially in a waist shape or a track shape, and the hole wall of the inner hole of the tube piece forms two second plane portions 3432.

[0079] A first mounting hole 3410 is formed on the tube wall of the tube body 341, and the first mounting hole 3410 is used for mounting the locking mechanism 36.

[0080] Each fixing piece 343 comprises a second outer curved surface part 3430 and a second planar part 3432. The orientation of the second outer curved surface part 3430 is opposite to the orientation of the second planar part 3432, and the two straight edges of the second outer curved surface part 3430 coincide with the two straight edges of the second planar part 3432. The two first outer curved surface parts 3210 of the inner rod are fitted to the inner wall of the tube body 341, the two second outer curved surface parts 3430 of the two fixing pieces 343 are fitted to the inner wall of the tube body 341, and the two first outer curved surface parts 3210 of the inner rod and the two second outer curved surface parts 3430 of the two fixing pieces 343 substantially enclose a complete outer cylindrical surface. The two first planar parts 3212 of the inner rod are respectively fitted to the two second planar parts 3432 of the two fixing pieces 343, which has a limiting effect and can limit the rotation of the sliding rod 34 relative to the mounting rod 32 and transmit a larger torque, thereby ensuring the load capacity of the mechanical exoskeleton 100.

[0081] The first planar part 3212 is fitted to the second planar part 3432, that is, the second planar part 3432 is parallel to a vertical plane, and the vertical plane is parallel to the forward direction F. By making the second planar part 3432 parallel to the vertical plane, the first planar part 3212 is fitted to the second planar part 3432 to guide the sliding of the outer tube relative to the inner rod and prevent the rotation of the outer tube relative to the inner rod. In addition, since the second planar part 3432 is parallel to the vertical plane, the ability of the outer tube to resist vertical bending moments can be improved, and the load bearing performance of the outer tube is better and is not easily bent by weight.

[0082] It can be understood that the number of fixing pieces 343 can be only one according to actual needs.

[0083] Among the two fixing pieces 343, one fixing piece 343 is close to the locking mechanism 36, and the other fixing piece 343 is away from the locking mechanism 36. A second mounting hole 3434 is formed in the fixing piece 343 close to the locking mechanism 36. The second mounting hole 3434 is aligned with the first mounting hole 3410, and the second mounting hole 3434 is used for mounting the locking mechanism 36. The second mounting hole 3434 is a threaded hole, and the center line thereof coincides with the insertion direction of the locking mechanism 36.

[0084] A glass bead mounting hole 3436 is formed in the other fixing piece 343 away from the locking mechanism 36. The glass bead mounting hole 3436 can be a threaded hole.

[0085] The outer tube further comprises a positioning glass bead 345. The positioning glass bead 345 can be a standard glass bead. The shell of the positioning glass bead 345 is accommodated and fixed in the glass bead mounting hole 3436, and an external thread structure is arranged on the outer surface of the shell of the positioning glass bead 345 and is screwed with the glass bead mounting hole 3436.

[0086] The ball head of the positioning glass bead 345 extends out of the shell of the positioning glass bead 345 to extend into the positioning recess 328. At the moment when the sliding rod 34 starts to slide, the inner rod presses the ball head of the positioning glass bead 345, the ball head of the positioning glass bead 345 compresses the spring of the positioning glass bead 345, the ball head of the positioning glass bead 345 is retracted into the shell of the positioning glass bead 345 to make the ball head of the positioning glass bead 345 exit the positioning recess 328. When the sliding rod 34 slides to a position where the positioning recess 328 is aligned with the ball head of the positioning glass bead 345, the spring of the positioning glass bead 345 restores to push the ball head of the positioning glass bead 345 out of the shell of the positioning glass bead 345 to make the ball head of the positioning glass bead 345 extend into the positioning recess 328.

[0087] The locking mechanism 36 comprises a handle 360 and a screw rod 362. The handle 360 is arranged on the outer wall of the tube body 341, and the handle 360 is fixed to the screw rod 362. The rotation axis of the screw rod 362 coincides with the insertion direction of the locking mechanism 36, and the screw rod 362 sequentially passes through the first mounting hole 3410, the second mounting hole 3434 and the sliding groove 326 and is inserted into the positioning hole 324. The screw rod 362 is screwed with the second mounting hole 3434 to realize the screwing of the locking mechanism 36 with the outer tube. It can be understood that according to actual needs, the first mounting hole 3410 can also be arranged as a threaded hole, and the screw rod 362 is screwed with the first mounting hole 3410.

[0088] The user can loosen the screw rod 362 through the handle 360 to move the screw rod 362 away from the inner rod until the screw rod 362 exits the positioning hole 324, so as to unlock the locking mechanism 36. When the screw rod 362 exits the positioning hole and does not exit the sliding groove 326, the two ends of the sliding groove 326 have a limiting effect, so that the sliding rod 34 can slide relative to the mounting rod 32, but the inner rod cannot be completely pulled out of the outer tube. When the screw rod 362 exits the sliding groove 326, the sliding rod 34 can slide relative to the mounting rod 32, and the inner rod can be completely pulled out of the outer tube.

[0089] Compared with the prior art, in the mechanical exoskeleton 100 provided in the embodiments of the present disclosure, by setting the sliding direction S of the sliding rod 34 to be at an angle a with the forward direction F of the mechanical exoskeleton 100, when it is required to increase the hip width and the waist thickness of the mechanical exoskeleton 100, the locking mechanism 36 is unlocked, the sliding rod 34 slides relative to the mounting rod 32 by a distance x in a direction away from the mounting rod 32, during which the sliding rod 34 moves forward by x*cos a, and at the same time, the sliding rod 34 moves away from the hip of the human body by x*cos(90°-a), and the locking mechanism 36 locks the sliding rod 34 to the mounting rod. When it is required to reduce the hip width and the waist thickness of the mechanical exoskeleton 100, the sliding rod 34 slides relative to the mounting rod 32 by a distance x in a direction close to the mounting rod 32, the sliding rod 34 moves backward by x*cos a, and the sliding rod 34 moves away from the hip of the human body by x*cos(90°-a). Thus, the hip width of the mechanical exoskeleton 100 is adjusted while the waist thickness of the mechanical exoskeleton 100 is synchronously adjusted, and it is not required to separately adjust the hip width and the waist thickness of the mechanical exoskeleton 100, and the operation process is relatively convenient.

[0090] In addition, by configuring the first flat portion 3212 on the inner rod and the second flat portion on the outer tube, the first flat portion 3212 is attached to the second flat portion 3432, the outer tube is guided to slide relative to the inner rod, and the outer tube is prevented from rotating relative to the inner rod. On this basis, since the first flat portion 3212 and the second flat portion 3432 are parallel to the vertical plane, the inner rod and the outer tube have good resistance to vertical bending moment and good load bearing performance and are not easily bent by weight.

[0091] In addition, the length direction of the first sliding rod segment 340, the length direction of the second sliding rod segment 342, and the length direction of the third sliding rod segment 344 are all in the same plane, the angle between the length direction of the first sliding rod segment 340 and the length direction of the third sliding rod segment 344 is an obtuse angle, and the angle between the length direction of the second sliding rod segment 342 and the length direction of the third sliding rod segment 344 is an obtuse angle. The length direction of the second sliding rod segment 342 is substantially parallel to a vertical plane that is parallel to the forward direction S of the mechanical exoskeleton 100. When the human body wears the mechanical exoskeleton 100, the first sliding rod segment 340, the second sliding rod segment 342, and the third sliding rod segment 344 can be substantially attached to the hip curve of the human body, and the second sliding rod segment 342 is substantially parallel to the side surface of the human body. The sliding rod 34 is more attached to the human body, the higher the degree of attachment of the sliding rod 34 to the human body, the lower the degree of protrusion of the sliding rod 34 from the human body, and the smaller the influence on the movement of the human body, and the better the wearing comfort. In addition, the higher the degree of attachment of the sliding rod 34 to the human body, the larger the contact area between the surface of the human body and the sliding rod 34, the more the human body participates in bearing the sliding rod 34, the load bearing performance of the sliding rod 34 as a whole can be improved, the force transmitted by the sliding rod 34 to the human body is more uniform, and the human body is less likely to be locally fatigued.

[0092] In addition, by arranging two or more positioning holes 324 on the groove wall of the sliding groove 326, the locking and unlocking functions of the locking member 36 can be realized according to the different degrees of the locking member 36 approaching the inner rod, and whether the inner rod can be completely pulled out from the outer tube can be controlled.

[0093] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present disclosure, but not to limit them; under the idea of the present disclosure, the technical features in the above examples or different examples can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present disclosure as described above. In order to be brief, they are not provided in details; although the present disclosure has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: the technical solutions recorded in the foregoing examples can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A mechanical exoskeleton, characterized by, The mechanical exoskeleton comprises a back frame assembly, two lower limb assemblies and two hip assemblies, each of the hip assemblies comprises: a mounting rod connected to the back frame assembly; a sliding rod slidingly connected to the mounting rod, the sliding rods of the two hip assemblies are respectively connected to the two lower limb assemblies; and a locking mechanism for locking the sliding rod to the mounting rod, when the locking mechanism is unlocked, the sliding rod can slide relative to the mounting rod, the sliding direction of the sliding rod forms an angle a with the forward direction of the mechanical exoskeleton, and the angle a is an acute angle. The mounting rod is hinged to the back frame assembly, and each of the hip assemblies can rotate relative to the back frame assembly to drive the two lower limb assemblies to rotate and match the inner and outer swing movements of the thighs of the human body.

2. The mechanical exoskeleton according to claim 1, characterized in that, One of the mounting rod and the sliding rod is an outer tube, and the other of the mounting rod and the sliding rod is an inner rod. The outer tube is sleeved outside the inner rod.

3. The mechanical exoskeleton of claim 2, wherein, The mounting rod comprises a first mounting rod segment and a second mounting rod segment. The first mounting rod segment is connected to the back frame assembly, the second mounting rod segment is connected to the first mounting rod segment, and the second mounting rod segment is slidingly sleeved on the sliding rod. The length direction of the second mounting rod segment is parallel to the sliding direction of the sliding rod.

4. The mechanical exoskeleton according to claim 3, characterized in that, The sliding rod comprises a first sliding rod segment and a second sliding rod segment. The length direction of the first sliding rod segment is parallel to the sliding direction of the mounting rod, the second mounting rod segment is sleeved inside the first sliding rod segment, and the second sliding rod segments of the two hip assemblies are respectively connected to the two lower limb assemblies. The length direction of the second sliding rod segment is parallel to a vertical plane.

5. The mechanical exoskeleton according to claim 4, characterized in that, The sliding rod further comprises a third sliding rod segment. The third sliding rod segment is arranged between the first sliding rod segment and the second sliding rod segment, the angle between the length direction of the third sliding rod segment and the length direction of the first sliding rod segment is an obtuse angle, and the angle between the length direction of the third sliding rod segment and the length direction of the second sliding rod segment is an obtuse angle.

6. The mechanical exoskeleton of claim 5, wherein, The length direction of the first sliding rod segment, the length direction of the second sliding rod segment and the length direction of the third sliding rod segment are on the same plane.

7. The mechanical exoskeleton of claim 6, wherein, The position of the first sliding rod segment is higher than the position of the second sliding rod segment.

8. The mechanical exoskeleton of claim 2, wherein, The outer tube comprises a tube body and two fixing sheets. The two fixing sheets are arranged inside the tube body, and the inner rod is inserted into the tube body and arranged between the two fixing sheets.

9. The mechanical exoskeleton of claim 8, wherein, The inner rod comprises two first plane portions, each of the fixing sheets comprises a second plane portion, the two first plane portions are respectively in contact with the second plane portions of the two fixing sheets, and the first plane portions and the second plane portions are parallel to a vertical plane.

10. The mechanical exoskeleton of claim 2, wherein, The locking mechanism is movably arranged on the outer tube, two or more positioning holes are formed on the inner rod, the two or more positioning holes are arranged along the sliding direction of the sliding rod, the locking mechanism can be inserted into one of the positioning holes, and the locking mechanism can move away from the inner rod along the insertion direction thereof until the locking mechanism exits the one positioning hole.

11. The mechanical exoskeleton of claim 10, wherein, A sliding slot is formed on the inner rod, the length direction of the sliding slot is parallel to the length direction of the sliding rod, the sliding slot has a slot wall facing the locking mechanism, the two or more positioning holes are formed on the slot wall, the locking mechanism passes through the sliding slot, and the locking mechanism can be away from the inner rod along the insertion direction thereof until the locking mechanism exits the sliding slot.

12. The mechanical exoskeleton of claim 10, wherein, The inner rod further comprises a positioning bead. Two or more positioning grooves are formed on the inner rod, the two or more positioning grooves are arranged along the sliding direction of the sliding rod, and the ball head of the positioning bead can be inserted into one of the positioning grooves.

13. The mechanical exoskeleton according to any one of claims 1 to 12, characterized in that, The rotation axes around which the hip assemblies rotate relative to the back frame assembly are parallel to the front direction of the mechanical exoskeleton.

14. The mechanical exoskeleton according to any one of claims 1 to 12, characterized in that, The included angle a is in the range of 55-65°.

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