Exoskeleton back frame structure and exoskeleton system

Abstract

The application discloses an exoskeleton back frame structure and an exoskeleton system, and relates to the technical field of mechanical joints. The exoskeleton back frame structure comprises a back plate body and a tail plate. The tail plate is connected with the back plate body to form a waist-wearing space on the front side of the exoskeleton back frame structure. The first plate part and the second plate part are inclinedly arranged between the tail plate and the back plate body, so that the front side of the tail plate can better match the waist or the waist-hip position of the human body, the stress area between the tail plate and the waist-hip position of the wearer is increased, the force transmission uniformity between the back frame and the wearer is improved, the pressure intensity of the load on the waist of the wearer is reduced, the problem of stress concentration on the waist-hip is solved, the comfort of the wearer wearing the mechanical exoskeleton is improved, the load-carrying capacity of the wearer is improved, and the risk of injury of the wearer is reduced.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of mechanical joints, and in particular to an exoskeleton back frame structure and an exoskeleton system. BACKGROUND

[0002] A mechanical exoskeleton is a kind of machine device that can be worn on the human body. The mechanical exoskeleton is mainly used to assist the wearer to move the limbs, and has been widely used in the fields of medicine, construction, military, etc.

[0003] The back frame system of the mechanical exoskeleton mainly plays a role of bearing the load, and is the component with the largest contact area and interaction force with the human body in the whole exoskeleton system. Whether the structural strength and fit design of the back frame system are reasonable directly affects the load bearing capacity and the wearing comfort of the mechanical exoskeleton. The back plate is the core part of the back frame system, and the back plate extends from the upper back of the wearer to the position close to the hips of the human body and abuts between the back, waist and upper hips of the human body. The back plate is equipped with a waist belt and a waist belt, and in the wearing state, the two are the wearing parts with the largest interaction force with the human body. When bearing the load, 30%-50% of the force is indirectly transmitted to the wearer through the back frame, so the structure is the basis of the exoskeleton wearing fit, comfort and uniform force transmission.

[0004] However, the existing mechanical exoskeleton back frame generally only adopts a frame structure or a straight plate structure. Since there is a human body curve between the waist and the hips of the human body, which is similar to a smooth transition step, the back plate cannot form a good fit with the back of the wearer. The lower end of the back plate is located in the smooth transition section between the waist and the hips of the wearer. Therefore, in the load bearing state of the mechanical exoskeleton, the moment generated by the gravity of the load on the back frame system will be concentrated at the lower end of the back plate. The proximity of the center of gravity will increase the partial gravity value on the waist and hips of the wearer, which is equivalent to increasing the force value of the gravity of the load transmitted to the waist of the human body. The force transmission between the back plate and the back, waist and upper hips of the wearer is uneven, and stress concentration occurs at the waist and hips, which makes the wearer's waist more prone to fatigue damage and reduces the load bearing capacity and wearing comfort of the wearer wearing the mechanical exoskeleton. SUMMARY

[0005] The purpose of the embodiments of the present disclosure is to provide an exoskeleton back frame structure, improve the fit degree of the back frame and the wearer, and solve the problems of uneven force transmission between the back plate and the waist and back of the wearer, stress concentration in the waist, fatigue damage, and reduced load bearing capacity in the prior art.

[0006] To achieve the above purpose, the present disclosure adopts the following technical solutions:

[0007] In a first aspect, an exoskeleton back frame structure is provided, comprising:

[0008] a back plate body;

[0009] a tail plate connected with the back plate body to form a waist-wearing space on the front side of the exoskeleton back frame structure;

[0010] the tail plate is formed with a first plate portion on one side close to the back plate body, the back plate body is formed with a second plate portion on one side close to the tail plate, and the front side of the first plate portion is arranged to be inclined to the rear side of the exoskeleton back frame structure from the side close to the second plate portion to the side away from the second plate portion.

[0011] As an optional embodiment, the included angle between the front side of the first plate portion and the vertical plane in the projection direction of the left side or the right side of the exoskeleton back frame structure is θ1, and θ1 is 2°-15°.

[0012] As an optional embodiment, the middle part of the front side of the tail plate is recessed in the direction away from the waist-wearing space in the vertical projection direction.

[0013] As an optional embodiment, the front side of the tail plate is an arc surface.

[0014] As an optional embodiment, the middle part of the front side of the back plate body is recessed in the direction away from the waist-wearing space in the left side or right side projection direction.

[0015] As an optional embodiment, the middle part of the front side of the back plate body is recessed in the direction away from the waist-wearing space in the vertical projection direction.

[0016] As an optional embodiment, a reinforcing rib is arranged on the back plate body, and the reinforcing rib is arranged along the center line of the back plate body.

[0017] As an optional embodiment, the reinforcing rib is protruded on the front side of the back plate body.

[0018] As an optional embodiment, a weight-reducing groove is recessed on the back side of the back plate body corresponding to the reinforcing rib.

[0019] As an optional embodiment, hanging plates are arranged on the left and right sides of the tail plate respectively, and first hanging portions are arranged on the hanging plates correspondingly.

[0020] The two hanging plates are arranged to extend away from each other respectively, so that the distance between the two hanging plates is greater than the width of the back plate body.

[0021] As an optional embodiment, a plurality of groups of second hanging portions are arranged on the back plate body along the extension direction of the center line of the back plate body.

[0022] As an optional implementation, the left and right sides of the second plate part are respectively provided with an avoiding gap which is folded towards the center line direction of the back plate body.

[0023] In a second aspect, an exoskeleton system is provided, comprising:

[0024] The exoskeleton back frame structure as described above is included.

[0025] As an optional implementation, the exoskeleton back frame structure further comprises:

[0026] A hip joint module is arranged on the tail plate and is used to provide a hip wearing space;

[0027] A thigh assembly is used to provide a thigh wearing space, and the thigh assembly is movably connected with the hip joint module to provide a movement freedom of the hip joint, so that the thigh assembly can reciprocate between an upright position and a movement position.

[0028] The center line of the thigh assembly in the length direction is a first center line, the projection of the front side of the first plate part on the left side or the right side of the exoskeleton back frame structure in the projection direction is a projection line, and the included angle between the projection line and the first center line is θ1 when the thigh assembly is in the upright position, and θ1 is 2°-15°.

[0029] The exoskeleton back frame structure has the following beneficial effects: the back frame structure is divided into a back plate body and a tail plate, the tail plate is connected with the back plate body to form a waist and back wearing space on the front side of the exoskeleton back frame structure, in the wearing state, the back of the wearer is located on the front side of the back plate body, and the waist of the wearer is located on the front side of the tail plate.

[0030] The tail plate and the back plate body are connected through the first plate part and the second plate part, the front side of the first plate part is arranged to be inclined to the rear side of the exoskeleton back frame structure from the side close to the second plate part to the side away from the second plate part, so that the tail plate as a whole is inclined away from the wearer, and thus the front side of the tail plate can better fit the waist or waist-hip position of the human body, the stress area between the tail plate and the waist-hip position of the wearer is increased, the uniformity of force transmission between the back frame and the wearer is improved, the pressure of the load on the waist of the wearer is reduced, the problem of stress concentration on the waist-hip is solved, the comfort of the wearer wearing the mechanical exoskeleton is improved, the load-carrying capacity of the wearer is improved, and the risk of injury of the wearer is reduced. At the same time, the inclined arrangement of the tail plate is beneficial to placing the load close to the back frame structure, avoiding additional reverse moment caused by the rear movement of the load, and further improving the wearing comfort. BRIEF DESCRIPTION OF DRAWINGS

[0031] The present disclosure will be further described in detail below according to the drawings and examples.

[0032] Figure 1 Force analysis schematic diagram of the overall structure of the exoskeleton system according to an embodiment of the present disclosure;

[0033] Figure 2 One of the isometric views of the exoskeleton back frame structure according to an embodiment of the present disclosure;

[0034] Figure 3 The second isometric view of the exoskeleton back frame structure according to an embodiment of the present disclosure;

[0035] Figure 4 The side view of the exoskeleton back frame according to an embodiment of the present disclosure;

[0036] Figure 5 A-A direction sectional view of Figure 4

[0037] Figure 6 A-A direction sectional view of Figure 4

[0038] Figure 7 The front view of the exoskeleton back frame structure according to an embodiment of the present disclosure;

[0039] Figure 8 B-B direction sectional view of Figure 7

[0040] In the figure: 10, exoskeleton back frame structure; 11, back plate body; 111, second plate part; 112, reinforcing rib; 113, weight reduction groove; 114, second hanging part; 115, position avoiding notch; 12, tail plate; 121, first plate part; 122, hanging plate; 1221, first hanging part; 123, projection line; 20, hip joint module; 30, leg module; 31, thigh assembly; 311, first center line; 32, calf assembly; 40, shoe assembly. DETAILED DESCRIPTION

[0041] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure are described in further detail below. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present disclosure.

[0042] ​​​In the description of this disclosure, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0043] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0044] This embodiment provides an exoskeleton back brace structure 10, designed to improve the wearer's comfort while wearing the exoskeleton system, thereby enhancing the wearer's load-bearing capacity and reducing their risk of injury. (Reference) Figure 1 This is a schematic diagram of the overall structure of the exoskeleton system described in this embodiment, showing the wearing state. The exoskeleton back frame structure 10 is the component with the largest contact area and interaction force with the wearer in the exoskeleton system, and is used to provide wearing space for the wearer's waist, back and even upper buttocks.

[0045] The exoskeleton back frame structure 10 of this embodiment can be applied to both active and passive exoskeleton systems. Specifically for passive exoskeletons, the inventors of this application, through long-term research, have discovered that workers in scenarios such as logistics handling, construction handling, automobile assembly, aircraft assembly, fire rescue, sanitation, and military operations need to carry heavy loads. Part of the weight of the load is transferred to the wearer's back and waist via the exoskeleton back frame structure 10 located at the back and waist, while another part is transferred to the hip joint module 20 and leg module 30 via the exoskeleton back frame structure 10. Located between the leg module 30 and the hip joint module 20, it provides the wearer with freedom of movement in hip flexion / extension, external rotation / internal rotation, and abduction / adduction. When the wearer is standing, the exoskeleton system follows the wearer, remaining in an upright or near-upright position. In this state, such as... Figure 1As shown, it is a schematic diagram of the wearing state of the existing exoskeleton system, and in the projection direction of the right side of the exoskeleton system, the wearer's back is loaded with a heavy object, for example, due to the active connection of the exoskeleton back frame structure 10 with the hip joint module 20 and the leg module 30, part of the gravity G1 of the heavy object will exert a force F1 on the leg module 30, and the F1 force will be transmitted to the knee joint of the leg module 30, thereby generating a torque T1 around the knee joint of the thigh assembly 31 relative to the calf assembly 32 and in the direction of the back of the human body, and at the same time, another part of the gravity G2 of the heavy object will also exert a force F2 on the exoskeleton back frame structure 10, and the center of the heavy object is close to the side of the exoskeleton back frame structure 10 close to the hip joint module 20, which will generate a torque T2 around the thigh assembly 31 in the direction of the back of the human body, thereby forming a concentrated stress at the waist and upper hip of the wearer, causing great burden on the waist and hip of the wearer, and in order to reduce the burden on the waist and hip, the wearer must exert a force on the thigh assembly 31 through the wearing assembly on the thigh assembly 31 to form a torque T3 opposite to the torque T1, and exert a force on the shoulder strap worn on the shoulder of the wearer on the exoskeleton back frame structure 10, so that the shoulder strap pulls the upper part of the exoskeleton back frame structure 10 and the heavy object, thereby generating a torque T4 opposite to T2, thereby balancing the torque T1 and T2 to maintain the body balance in the standing state, resulting in increased burden on the waist, shoulder and leg of the wearer. For this reason, the present application provides the following embodiments.

[0046] Reference Figure 1 , the exoskeleton system described in this embodiment is in a standing state, i.e. the schematic diagram of the thigh assembly 31 in the subsequent description is in a standing position, before the scheme is described in detail, it should be noted that in this embodiment, for each component in the exoskeleton back frame structure 10, in the wearing state of the wearer, the side of each component close to the wearer is the front side of each component, i.e. the direction indicated by the arrow "front" in the drawing; the side of each component away from the leg of the wearer is the back side of each component, i.e. the direction indicated by the arrow "back" in the drawing.

[0047] The upright state, the upright position and the standing state of the embodiment refer to that the legs of the wearer are in the straightened state, and in the ideal state, the directions in which the legs of the wearer extend are substantially coincident with the direction of gravity, and the upper body of the wearer is also in the vertical state, and in the ideal state, the angle between the exoskeleton back frame structure 10 worn on the upper body of the wearer and the thigh assembly 31 bound to the thigh of the wearer is 180° or close to 180°. It can be understood that according to the standing habits of different wearers, the angle between the thigh and the upper body of the wearer in the standing state is not necessarily completely 180°, and therefore, the embodiment does not specifically limit the angle between the first center line 311 of the thigh assembly 31 in the upright position and the projection line 123 of the front side of the first plate portion 121, and specifically, the angle between the first center line 311 and the projection line 123 of the front side of the first plate portion 121 in the upright position is greater than the angle between the first center line 311 and the projection line 123 of the front side of the first plate portion 121 in the motion position. The embodiment exemplarily illustrates that the angle between the first center line 311 in the upright position and the projection line 123 of the front side of the first plate portion 121 is 180°.

[0048] In order to adapt to the body structure of most wearers, the exoskeleton system generally includes a left leg module and a right leg module, and the left leg module and the right leg module respectively provide wearing spaces for the legs of the wearer. In the wearing state, the left leg module and the right leg module are respectively worn on the left leg and the right leg of the wearer. Specifically, the left leg module and the right leg module respectively include a thigh assembly 31 and a calf assembly 32, and the thigh assembly 31 and the calf assembly 32 respectively provide wearing spaces for the thighs and the calves of the wearer. In the wearing state, the thigh assembly 31 is respectively worn on the left thigh and the right thigh of the wearer, and the calf assembly 32 is respectively worn on the left calf and the right calf of the wearer. In theory, the thigh assembly 31 and the calf assembly 32 respectively extend along the length directions of the thighs and the calves of the wearer, and in the ideal state, the lengths of the thigh assembly 31 and the calf assembly 32 respectively correspond to the lengths of the thighs and the calves of the wearer. The ends of the thigh assembly 31 and the calf assembly 32 close to each other are connected through the hinge connection or the knee joint assembly, so as to provide the freedom of movement for the knee joint of the wearer, and also enable the gravity of the exoskeleton system and the gravity of the load to be transmitted to the calf assembly 32 through the thigh assembly 31, so as to provide certain support for the wearer.

[0049] Reference Figure 1The exoskeleton system of the embodiment takes a passive exoskeleton as an example. Generally, the passive exoskeleton includes an exoskeleton back frame structure 10, a hip joint module 20, a leg module 30, and a shoe assembly 40. In order to enable the exoskeleton system to be worn on the human body and assist the movement of the limbs of the wearer, the components of each part are provided with a wearing assembly. The wearing assembly provides a wearing space for the corresponding limbs of the wearer. The wearing assembly is generally a flexible wearing belt that is adapted to different limb sizes and lines. The specific structure is not described in detail here.

[0050] In order to adapt to the body structure of most wearers, the leg module 30 generally includes two groups, namely a left leg module and a right leg module. The left leg module and the right leg module respectively provide wearing spaces for the legs of the wearer. In the wearing state, the left leg module and the right leg module are respectively worn on the left leg and the right leg of the wearer. Specifically, the left leg module and the right leg module each include a thigh assembly 31 and a calf assembly 32. The thigh assembly 31 and the calf assembly 32 respectively provide wearing spaces for the thighs and the calves of the wearer. In the wearing state, the thigh assembly 31 is respectively worn on the left thigh and the right thigh of the wearer, and the calf assembly 32 is respectively worn on the left calf and the right calf of the wearer. In theory, the thigh assembly 31 and the calf assembly 32 respectively extend along the length direction of the thigh and the calf of the wearer. In the ideal state, the length of the thigh assembly 31 and the length of the calf assembly 32 respectively correspond to the length of the thigh and the length of the calf of the wearer. The end of the thigh assembly 31 and the end of the calf assembly 32 that are close to each other are connected through a hinge or a knee joint assembly, thereby providing a freedom degree for the knee joint of the wearer and enabling the gravity of the exoskeleton system and the gravity of the load to be transmitted to the calf assembly 32 through the thigh assembly 31, thereby providing a certain support for the wearer.

[0051] It can be understood that the exoskeleton back frame structure 10 is used to fix the mechanical exoskeleton to the waist and back of the wearer. Generally, it extends from the upper back of the wearer to the waist or the upper hip of the wearer and has the function of bearing the load. The exoskeleton back frame structure 10 of the embodiment has a certain rigidity. The definition of the rigid back frame is that, in the state of the load of the exoskeleton system, the bending deformation amount of the exoskeleton back frame structure 10 is small with the increase of the load, the change amount of the gravity center position of the load after the bending deformation is small, and the force value borne by the waist of the human body is basically constant. If the rigidity of the exoskeleton back frame structure 10 is poor, the flexible exoskeleton back frame structure 10 is prone to bending deformation under the same load condition. The deformation is in the direction close to the back of the human body. At this time, the gravity center of the load is closer to the waist of the human body. The proximity of the gravity center increases the force value of the load equivalent to the gravity transmitted to the waist of the human body, thereby causing the waist of the human body to be more prone to fatigue damage problems.

[0052] The first side of the hip joint module 20 is fixedly connected to the exoskeleton back frame structure 10, and the second side of the hip joint module 20 is movably connected to the leg module 30. Generally, in order to adapt to the structure of the human hip joint, the hip joint module 20 usually has two or more degrees of freedom of movement, thereby providing the human hip joint with degrees of freedom of movement. The leg module 30 includes, as described in this embodiment, a thigh component 31 that is bound to the thigh and a lower leg component 32 that is bound to the lower leg. One end of the thigh component 31 is rotatably connected to the hip joint module 20, providing the human thigh, or hip joint, with degrees of freedom. The other end of the thigh component 31 is movably connected to the lower leg component 32, thereby providing the human knee joint with degrees of rotational freedom. The footwear component 40 provides a fixed space for the wearer's foot. Generally, the footwear component 40 includes a base plate for fixing the wearer's footwear and a wearable component surrounding the base plate. However, in another configuration, the footwear component 40 includes the footwear itself, allowing the wearer to directly insert their foot into the footwear that comes with the exoskeleton system, thus completing the wearing of the footwear component 40. The footwear component 40 is movably connected to the lower leg component 32 to form an ankle joint component, providing the wearer with freedom of movement in the ankle joint.

[0053] like Figures 2-5 The diagram shown is a schematic representation of the overall structure of the exoskeleton back frame structure 10 described in this embodiment. It includes a back plate body 11 and a tail plate 12. The tail plate 12 is connected to the back plate body 11 to form a waist and back wearing space on the front side of the exoskeleton back frame structure 10. It can be understood that the back plate body 11 and the tail plate 12 in this embodiment can be components formed by different processes, such as sheet metal parts, profile parts, injection molded parts, and casting parts. Their materials can be one or more combinations of metal, plastic, carbon materials, etc. This embodiment does not make specific limitations on this. In the application state, the back plate body 11 provides the wearer's back wearing space. Shoulder straps can be tied to the back plate body 11, and the two ends of the shoulder straps can be connected to the back plate body 11 and the tail plate 12 respectively, thereby wrapping around the wearer's shoulders. The tail plate 12 provides the wearer's waist or hip area. A waist belt can be tied to the tail plate 12 and cooperate with the tail plate 12 to wrap around the wearer's waist, thereby allowing the wearer to form a high degree of fit and improving the ergonomics between the exoskeleton system and the wearer.

[0054] For ease of understanding, this embodiment divides the exoskeleton back frame structure 10 into two parts: the back plate body 11 and the tail plate 12. In fact, the back plate body 11 and the tail plate 12 can be a single integral structure, or they can be two independently processed components that are then assembled into one.

[0055] Specifically, the tail plate 12 is formed with a first plate portion 121 near one side of the back plate body 11, the back plate body 11 is formed with a second plate portion 111 near one side of the tail plate 12, and the back plate body 11 and the tail plate 12 are connected through the first plate portion 121 and the second plate portion 111. In this embodiment, the back plate body 11 and the tail plate 12 are integrally formed, so there is actually no clear boundary between the back plate body 11 and the tail plate 12. This embodiment only distinguishes between the back plate body 11 and the tail plate 12 for the convenience of understanding the scheme. It can be understood that the back plate body 11 is used to provide a wearing space for the back of the wearer, and the tail plate 12 is used to provide a wearing space for the waist and upper hips of the wearer. In the wearing state of the exoskeleton system, the back plate body 11 is located at the tail of the wearer, and the back plate body 11 extends from the upper back of the wearer downward to a position near the waist of the wearer. The tail plate 12 is located at the back waist of the wearer and extends from the side of the waist of the wearer near the back to the lower side of the waist or the upper hips of the wearer. Therefore, the connection between the first plate portion 121 and the second plate portion 111 is preferably located between the back and the waist of the wearer. Ideally, the connection between the first plate portion 121 and the second plate portion 111 is located at a position where the curve between the end of the back and the waist of the wearer changes. Since the human body curves away from the coronal plane from the waist to the hips, the curve between the waist and the hips forms an angle with the back curve. Here, the front side of the first plate portion 121 is inclined outward from the back side of the exoskeleton back frame structure 10 from the side near the second plate portion 111 to the side away from the second plate portion 111. In the wearing state, the front side of the back plate body 11 and the front side of the tail plate 12 are both located near the side of the wearer, which is the main contact surface of the exoskeleton back frame structure 10 and the wearer. Through the above arrangement, the waist of the wearer or the waist and hips of the wearer can have better fit with the tail plate 12. It can be understood that in the projection direction of the left side or the right side of the exoskeleton back frame structure 10, the direction in which the front side of the first plate portion 121 and the front side of the tail plate 12 extend can be consistent. In this way, the direction in which the front side of the tail plate 12 extends is consistent with the direction in which the waist and hips of the human body extend relative to the coronal plane, thereby increasing the contact area between the front side of the tail plate 12 and the waist or the waist and upper hips of the wearer. By increasing the contact area between the wearer and the tail plate 12, the pressure on the waist and hips of the wearer under the weight of the exoskeleton back frame structure 10 can be reduced, the stress concentration problem of the torque T2 at the waist and hips of the wearer can be alleviated, the uniformity of force transmission between the exoskeleton back frame structure 10 and the wearer is improved, the weight feeling of the wearer is reduced, the weight-carrying capacity of the wearer is improved, the comfort of the wearer wearing the exoskeleton system is improved, the wearing time of the exoskeleton system is prolonged, and the risk of injury of the wearer under the weight is reduced.

[0056] In the above-mentioned tail plate 12 structure, after the front side of the first plate portion 121 extends obliquely from the side close to the second plate portion 111 to the side away from the second plate portion 111 in the direction away from the wearer's coronal plane, the front side of the subsequent tail plate 12 can be a plane, or a curved surface, or other irregular structure, which is not limited in the present embodiment. The front side of the tail plate 12 can only have the technical effect of improving the fit with the wearer's waist and hip extension line.

[0057] In addition, the back plate body 11 and the tail plate 12 of the present embodiment can be a plate structure, and the thickness of each part of the back plate body 11 and the tail plate 12 can be consistent or close to consistent. In this way, the extension direction of the back side of the back plate body 11 and the tail plate 12 is basically consistent with the extension direction of the front side thereof, so as to achieve the effect of making the exoskeleton back frame structure 10 as light and thin as possible. In this way, the load placed on the back side of the exoskeleton back frame structure 10 can be closer to the wearer himself, thereby reducing the torque formed by the gravity of the load on the exoskeleton system.

[0058] For ease of understanding, the present embodiment is illustrated in the state that the exoskeleton back frame structure 10 is placed along the vertical direction. In the projection direction of the left side or the right side of the exoskeleton back frame structure 10, the included angle between the front side of the first plate portion 121 and the vertical plane is θ1, and θ1 is 2°-15°. By setting the inclination angle of the first plate portion 121 as θ1, the front side of the tail plate 12 can be adapted to wearers of different body types. The range of 2°-15° can ensure that the tail plate 12 has a higher fit with wearers of different waist and hip curves. In the wearing state, the wearer's waist, or the waist and upper hip, will exert a certain reaction force on the tail plate 12, thereby offsetting the pressure exerted on the wearer's waist and hip by the load through the tail plate 12. Therefore, by setting an appropriate angle, the front side of the tail plate 12 can be more closely fitted to the wearer's body.

[0059] More specifically, in the exoskeleton system, the thigh assembly 31 can reciprocate between an upright position and a movement position. The center line of the thigh assembly 31 in the length direction is a first center line 311, and the first center line 311 is a straight line. In the projection direction of the left side or the right side of the exoskeleton back frame structure 10, the projection of the front side of the first plate portion 121 is a projection line 123. When the thigh assembly 31 is in the upright position, the included angle between the projection line 123 and the first center line 311 is θ1, and θ1 is 2°-15°.

[0060] Optionally, in order to improve the universality of the exoskeleton back frame structure 10, the back plate body 11 and the tail plate 12 can be provided as an adjustable structure. The relative angle between the back plate body 11 and the tail plate 12 can be changed through the adjusting structure, so that wearers with different waist and hip curve angles can adjust according to their own body structure.

[0061] AsFigures 7-8 As shown, in order to further improve the fit between the exoskeleton back frame structure 10 and the wearer, the middle part of the front side of the tail plate 12 is recessed away from the waist and back wearing space in the vertical projection direction. It can be understood that the left and right sides of the tail plate 12 are closer to the waist and back wearing space than the middle part. In the wearing state, the left and right sides of the tail plate 12 are closer to the coronal plane of the wearer than the middle part. The left and right sides of the tail plate 12 and the middle part are around the back of the waist or the waist and upper hip of the wearer. The left and right sides of the tail plate 12 can be around the left and right sides of the waist of the wearer, thereby further improving the contact area of the tail plate 12 with the waist or the waist and upper hip of the wearer. The structure is also closer to the structure of the waist and hip of the human body, which can further improve the wearing comfort and load-carrying capacity of the wearer.

[0062] In this embodiment, the front side of the tail plate 12 is an arc surface. Specifically, in the vertical projection direction of the tail plate 12, the front side of the tail plate 12 is an arc line. The transition surface of the circular arc can make the front side of the tail plate 12 more conformable to the body of the wearer, and can also avoid the front side of the tail plate 12 forming a stepped structure or other irregular shape to cause discomfort to the waist and hip of the wearer.

[0063] Similarly, in order to improve the fit between the wearer's back and the back plate body 11, the middle part of the front side of the back plate body 11 is recessed away from the waist and back wearing space in the left or right projection direction. It can be understood that the upper and lower sides of the back plate body 11 are closer to the waist and back wearing space than the middle part. In the wearing state, the upper and lower sides of the back plate body 11 are closer to the coronal plane of the wearer than the middle part. The relative structure of the upper and lower sides and the middle part of the back plate body 11 is more in line with the lines of the human back. The upper side of the back plate body 11 is at the upper back of the wearer, and the lower side of the back plate body 11 is at the lower back of the wearer. Since the position of the upper back and the position of the lower back of the human body are generally closer to the coronal plane than the middle part of the back of the human body, the upper and lower parts of the back plate body 11 can extend along the lines of the back of the wearer, better fit the back of the wearer, and make the force transmission between the back plate body 11 and the wearer more uniform. It can further improve the wearing comfort and load-carrying capacity of the wearer.

[0064] As Figures 5-6As shown, further, the middle part of the front side of the back plate body 11 is recessed in the vertical projection direction away from the waist and back wearing space. It can be understood that the left and right sides of the back plate body 11 are closer to the waist and back wearing space than the middle part, and in the wearing state, the left and right sides of the back plate body 11 are closer to the wearer's coronal plane than the middle part, further improving the contact area of the front side of the back plate body 11 with the wearer's back, and the structure is also closer to the structure of the human back, which can further improve the wearing comfort and load-carrying capacity of the wearer. However, since the left and right sides of the back plate body 11 need to provide a space for the wearer's hands, the width of the back plate body 11 should not be too large.

[0065] Of course, in order to adapt to the human body structure, the front side of the back plate body 11 can also be arc-shaped.

[0066] In this embodiment, since the exoskeleton back frame structure 10 is designed to be lightweight, the back plate body 11 and the tail plate 12 are both plate-shaped structures, therefore, in order to ensure the structural strength of the exoskeleton back frame structure 10, a reinforcing rib 112 is arranged on the back plate body 11, and the reinforcing rib 112 extends along the center line of the back plate body 11.

[0067] Since the human back has erector spinae on both sides, the presence of the erector spinae will form a concave structure at the spine of the human back, therefore, in order to improve the fit of the human back and the exoskeleton back frame structure 10, the reinforcing rib 112 can be protrudingly arranged on the front side of the back plate body 11, so that in the wearing state, the reinforcing rib 112 is located at the above-mentioned concave structure, further fitting the human back structure.

[0068] As described above, in order to further improve the lightweight degree of the exoskeleton back frame structure 10, the back side of the back plate body 11 is recessed with a weight reduction groove 113 corresponding to the reinforcing rib 112. In this embodiment, since the exoskeleton back frame structure 10 is a plate-shaped structure, it can be manufactured by integral molding, therefore, in the process of processing the exoskeleton back frame structure 10, the overall thickness of the reinforcing rib 112 can also be arranged in a state consistent with the thickness of the back plate body 11, thereby forming the above-mentioned weight reduction groove 113 on the back side of the back plate body 11, to a certain extent, reducing the overall weight of the exoskeleton back frame structure 10.

[0069] As shown in the drawings, Figures 2-3 In an embodiment, the left and right sides of the tail plate 12 are respectively provided with a hanging plate 122, and the first hanging part 1221 is arranged on the hanging plate 122, which is used to hang the waist belt for binding the waist of the wearer, and is used to bind one end of the shoulder strap.

[0070] The two hanging plates 122 are respectively arranged to extend in directions away from each other, that is, the hanging plate 122 located on the left side of the tail plate 12 extends in the direction of the left side of the exoskeleton back frame structure 10, and the hanging plate 122 located on the right side of the tail plate 12 extends in the direction of the right side of the exoskeleton back frame structure 10, so that the distance between the two hanging plates 122 is greater than the width of the back plate body 11. In the wearing state of the exoskeleton system, there is a certain gap between each first hanging part 1221 and the waist of the wearer on the corresponding side, so that the shoulder strap extending downward from the shoulder of the wearer will maintain a certain distance between the side close to the hanging plate 122 and the corresponding side of the wearer after being fixed to the first hanging part 1221, avoiding interference between the shoulder strap and the wearer, and improving the wearing comfort of the wearer.

[0071] In order to improve the versatility of the exoskeleton back frame structure 10, a plurality of groups of second hanging parts 114 are arranged on the back plate body 11 in the direction of the center line and are spaced apart, and the second hanging parts 114 are used to hang the end of the shoulder strap close to the upper back of the human body. Specifically, in the wearing state of the exoskeleton system, one end of the shoulder strap extends out of the back plate body 11, and after passing through the shoulders of the wearer on both sides, extends in the direction of the hanging plate 122, so as to cooperate with the exoskeleton back frame structure 10 to fix the wearer and the exoskeleton back frame structure 10. The wearer can select the second hanging part 114 at different positions according to his own comfort and body adaptability, so that the pressure of the shoulder strap on the shoulder of the wearer is relatively reduced.

[0072] The first hanging part 1221 and the second hanging part 114 can be a through hole to pass the shoulder strap and the waist strap through the corresponding through hole, or can be a buckle to form a buckle cooperation by arranging corresponding buckles on the shoulder strap and the waist strap. In this embodiment, no specific limitation is made.

[0073] At the same time, in order to provide a space for the movement of the hands of the wearer, the left and right sides of the second plate part 111 are respectively provided with an avoidance gap 115 which is folded towards the center line of the back plate body 11. The avoidance gap 115 is specifically formed between the upper part of the back plate body 11 and the hanging plate 122. When the wearer's upper arm is stretched and the lower arm is flexed forward, the avoidance gap 115 can provide a backward stretching space for the elbow of the wearer, avoiding interference with the elbow of the wearer, and being beneficial to the work of the wearer.

[0074] By implementing the above technical solutions, the fitting degree between the waist of the wearer or the waist and the upper hip of the wearer and the exoskeleton back frame structure 10 can be improved, the fitting area of the tail plate 12 and the waist or the waist and the hip of the wearer can be improved, so that the gravity of the load can be uniformly transmitted to the waist or the waist and the hip of the wearer, the pressure of the load on the corresponding parts of the wearer can be reduced, the stress concentration at the waist or the waist and the hip can be solved, the load-carrying capacity of the wearer can be improved, and the problem of easy injury can be solved.

[0075] In the description of the present disclosure, it should be understood that the terms "upper", "lower", "left", "right", and the like, are used only to facilitate the description and simplify the operation, 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", are only used to distinguish in the description, and have no special meaning.

[0076] In the description of the present disclosure, the description referring to the terms "an embodiment", "an example", and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example.

[0077] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

[0078] The technical principles of the present disclosure are described above in conjunction with specific embodiments. These descriptions are only for the purpose of explaining the principles of the present disclosure, and cannot be interpreted in any way as a limitation on the scope of protection of the present disclosure. Based on the explanation here, those skilled in the art do not need to make creative efforts to conceive other specific embodiments of the present disclosure, which will fall within the scope of protection of the present disclosure.

Claims

1. An exoskeleton back frame structure, characterized by, For carrying a load, the load is located at the back side of an exoskeleton back frame structure, comprising: a back plate body (11); a tail plate (12) connected with the back plate body (11) to form a waist-wearing space at the front side of the exoskeleton back frame structure (10); a first plate part (121) is formed at one side of the tail plate (12) close to the back plate body (11), and a second plate part (111) is formed at one side of the back plate body (11) close to the tail plate (12), and the front side of the first plate part (121) is arranged to be inclined to the back side of the exoskeleton back frame structure (10) from the side close to the second plate part (111) to the side away from the second plate part (111); in the application state, the two ends of the shoulder strap are connected with the back plate body (11) and the tail plate (12) respectively, and a plurality of groups of second hanging parts (114) are arranged on the back plate body (11) along the extension direction of the center line thereof and are used for hanging one end of the shoulder strap; the back plate body (11) and the tail plate (12) are both plate structures, a reinforcing rib (112) is arranged on the back plate body (11) and extends along the center line of the back plate body (11), the reinforcing rib (112) is protruded on the front side of the back plate body (11), and the reinforcing rib (112) can correspond to the concave groove structure of the human back.

2. The exoskeleton back brace structure of claim 1, wherein, In the projection direction of the left side or the right side of the exoskeleton back frame structure (10), the included angle between the front side of the first plate part (121) and the vertical plane is θ1, and θ1 is 2°-15°.

3. The exoskeleton back frame structure according to claim 1 or 2, characterized in that, In the vertical projection direction, the middle part of the front side of the tail plate (12) is recessed away from the waist-wearing space.

4. The exoskeleton back frame structure of claim 3, wherein, The front side of the tail plate (12) is an arc surface.

5. The exoskeleton back brace structure of claim 1, wherein, In the left side or right side projection direction, the middle part of the front side of the back plate body (11) is recessed away from the waist-wearing space.

6. The exoskeleton back brace structure of claim 1 or 5, wherein, In the vertical projection direction, the middle part of the front side of the back plate body (11) is recessed away from the waist-wearing space.

7. The exoskeleton back brace structure of claim 1, wherein, A load-reducing groove (113) is recessed on the back side of the back plate body (11) corresponding to the reinforcing rib (112).

8. The exoskeleton back brace structure of claim 1, wherein, The left and right sides of the tail plate (12) are respectively provided with hanging plates (122), and first hanging parts (1221) are correspondingly arranged on the hanging plates (122); the two hanging plates (122) are respectively arranged to extend away from each other, so that the distance between the two hanging plates (122) is greater than the width of the back plate body (11).

9. The exoskeleton back brace structure of claim 1, wherein, The left and right sides of the second plate part (111) are respectively provided with position-avoiding notches (115) which are folded towards the center line of the back plate body (11).

10. An exoskeleton system, characterized by comprising the exoskeleton back frame structure (10) as claimed in any one of claims 1-9.

11. The exoskeleton system of claim 10, wherein, further comprising a hip joint module (20) arranged on the tail plate (12) and used for providing a hip-wearing space; A thigh assembly (31) is used for providing a thigh wearing space, and is movably connected with the hip joint module (20) to provide a movement freedom of the hip joint, so that the thigh assembly (31) can reciprocate between an upright position and a movement position. A center line of the thigh assembly (31) in a length direction is a first center line (311), the first center line (311) is a straight line, a projection of a front side of the first plate part (121) is a projection line (123) in a projection direction of the exoskeleton back frame structure (10) on the left side or the right side, and an included angle between the projection line (123) and the first center line (311) is θ1 when the thigh assembly (31) is in the upright position, θ1 is 2°-15°.

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