A deformable leg exoskeleton

Abstract

This invention discloses a deformable leg exoskeleton, comprising: two sets of first and second legs, and a first and second strap assembly respectively disposed on the first and second legs; a lumbar support structure is provided at the end of the second leg away from the first leg; it also includes a meshing transmission assembly disposed at the opposite ends of each set of first and second legs, and a wheel assembly disposed at their opposite ends, with each wheel assembly, the first leg, and the second leg together forming a rectangular bone frame. Through structural design, this invention allows the exoskeleton to adjust its posture in real time according to the movement of the hip and knee joints, thereby providing auxiliary support after changes in standing and sitting postures, helping the wearer to better complete the corresponding movements, and simultaneously realizing an auxiliary bone structure integrating walking, exercise, and rest.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, specifically a deformable leg exoskeleton. Background Technology

[0002] Exoskeletons, as a type of assistive device, can enable the human body to perform corresponding operations after being worn on the body, and have been widely used in fields such as military reconnaissance, mining, and postoperative rehabilitation.

[0003] However, after wearing it for a long time, the body's fatigue point will increase. If the wearer does not get a rest for a long time, it will undoubtedly increase the burden on the wearer. For example, in cities with congested traffic, people stand for a long time whether they are taking the subway or a bus. If a leg exoskeleton that does not affect the normal operation of the limbs can be designed, while also providing a rest function to relieve the wearer's fatigue, similar to an invisible chair, then a deformable leg exoskeleton is being designed. Summary of the Invention

[0004] The purpose of this invention is to provide a deformable leg exoskeleton that can adjust its posture in real time to follow the movement of the hip and knee joints of the human body, thereby providing assistance and support after the human body changes its standing and sitting postures, so as to help the wearer complete the corresponding movements better. At the same time, it realizes an assistive skeletal structure that integrates walking, exercise and rest.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a deformable leg exoskeleton, comprising: two sets of first legs and second legs, and a first strap assembly and a second strap assembly respectively disposed on the first legs and the second legs, wherein the first strap assembly and the second strap assembly are used for binding and fixing the lower leg and the thigh respectively; a waist support structure is provided at the end of the second leg away from the first leg, wherein the waist support structure is used for binding and supporting the waist; it also includes a meshing transmission assembly disposed at the opposite ends of each set of first legs and second legs, and a wheel assembly disposed at their opposite ends, wherein each set of wheel assemblies together with the first legs and the second legs constitutes a rectangular bone frame for switching between standing and sitting leg postures; the waist support structure is also provided with a body posture sensing mechanism for adaptively adjusting the posture switching of the exoskeleton.

[0006] Preferably, each first strap assembly includes a connector fixed to the inner side of the first leg, and a first strap body disposed on the connector, and also includes a first mounting groove opened at the end of the first strap body away from the connector; the inner side of the second leg is also fixed with a first limiting strip, and a mounting hole opened at one end of the first limiting strip, wherein a first bolt is disposed inside the mounting hole, and when the first bolt passes through the mounting hole and enters the first threaded groove opened inside the first mounting groove, it is used for limiting and locking the first strap body and the first limiting strip.

[0007] Preferably, each set of meshing transmission components includes a mounting member, and two connecting shafts rotatably mounted on the mounting member, wherein the two connecting shafts are fixedly connected to the first leg and the second leg for rotation of the opposite ends of the first leg and the second leg; and transmission teeth that mesh with each other and are respectively fixed on the connecting shafts, and also includes a first drive motor fixed on the outside of the first leg, wherein the output shaft of the first drive motor passes through a first through hole opened on the first leg and is fixedly connected to the connecting shaft where the transmission teeth are located; and a mounting rod rotatably connected to the opposite surfaces of the two mounting members, wherein two sets of second strap assemblies are disposed on the mounting rod and placed between the two second legs.

[0008] Preferably, each set of second strap assemblies includes a support member disposed on the mounting rod and extending between the two second legs, and a second strap body and a mounting base respectively fixed on both sides of the support member, with the second strap body and the mounting base distributed internally and externally; it also includes a limiting groove formed on the mounting base, the inner wall of the limiting groove being provided with a plurality of insertion holes; and an insertion post fixed to the end of the second strap body away from the support member, and the insertion post can be longitudinally inserted into the limiting groove through the front opening of the limiting groove and inserted into its corresponding insertion hole, thereby driving the end of the second strap body to pass through the side opening of the limiting groove; it also includes a DC motor disposed on the waist support structure, the output shaft of the DC motor being fixed to a take-up roller; and a transmission belt fixed to the take-up roller, with the end of the transmission belt away from the take-up roller being fixed to the rear side of the mounting base, so that when the DC motor is running, the tightness of the hip support can be adjusted by winding the transmission belt.

[0009] Preferably, the lumbar support structure includes two sets of mounting columns, each set of mounting columns being fixed to the opposite side of the end of each second leg away from the first leg, and a second drive motor fixed on each set of inner mounting columns, with the output shaft of the second drive motor passing through the mounting column and a second through hole on the second leg and fixed to a third leg; it also includes a cushion fixed to the top of the two third legs, the cushion being provided with a third strap assembly for binding the waist; the third strap assembly includes two third strap bodies provided on the cushion, and a second mounting groove and a second limiting strip respectively provided at opposite ends of the two third strap bodies, the second limiting strip being slidable inside the second mounting groove; it also includes a second bolt rotatably connected to the second limiting strip, and when the second bolt spirals into the second threaded groove inside the second mounting groove, it is used for limiting and locking the two third strap bodies.

[0010] Preferably, the two take-up rollers are further fixed to their opposite faces by mounting rollers and support rollers fixed to the mounting rollers.

[0011] Preferably, each wheel assembly includes two first support rods, which are rotatably connected to two mounting posts, and a first mounting shaft rotatably connected to the ends of the two first support rods away from the mounting posts. A rear wheel is fixed in the middle of the first mounting shaft, and two second support rods are rotatably connected to the first support rods at both ends. The assembly also includes a second mounting shaft disposed at the ends of the two second support rods away from the first mounting shaft, and the second mounting shaft is rotatably connected to the ends of the first legs away from the second legs. An auxiliary wheel assembly is disposed on the second mounting shaft to facilitate the switching between single-wheel and double-wheel configurations of the rectangular skeletal frame.

[0012] Preferably, the auxiliary wheel assembly includes third support rods rotatably mounted at both ends of the second mounting shaft, each third support rod having a first sliding groove and a first slider slidably mounted inside the first sliding groove, and the opposing surfaces of the two first sliders being rotatably connected to the third mounting shaft, with a front wheel fixed in the middle of the third mounting shaft; it also includes a transmission rod assembly disposed between each set of third support rods and the second support rod, for driving the lifting and lowering of the front wheel.

[0013] Preferably, each transmission rod assembly includes a first pin fixed to the side of the first slider away from the third mounting shaft, and a first transmission rod rotatable on the first pin. A second pin is also fixed to the third support rod, and a second transmission rod is rotatably connected to the second pin. The assembly also includes a second groove formed on the second support rod, in which a second slider is slidably mounted, and a third pin fixed to the second slider. The ends of the first and second transmission rods away from the third support rod are rotatably connected to the third pin. When the second slider moves, this drives the third support rod to deflect, thereby raising and lowering the front wheel. The assembly also includes an electric telescopic rod fixed inside the second groove, with its output end fixed to the second slider.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] 1. This invention uses a meshing transmission component set at the opposite ends of the first and second legs, and a waist support structure set at the end of the second leg away from the first leg. Under the action of the body posture sensing mechanism, the exoskeleton is adjusted in real time to follow the movement of the human knee and hip joints to adjust its posture. This enables the exoskeleton to provide assistance after the human body changes its standing and sitting postures, so as to help the wearer complete the corresponding movements better. At the same time, it realizes an assistive skeletal structure that integrates walking, exercise and rest.

[0016] 2. As another embodiment of the present invention, when the wearer is standing, the meshing transmission component and the waist support structure are adaptively adjusted. At the same time, the rectangular bone structure switches posture, and the rear wheel 4 disengages from the bottom surface to facilitate the wearer's movement in an upright position. When the wearer sits down, the rear wheel 4 is supported by the first support rod 16, the second support rod 17, and other structures, so that the wearer can walk, move, and rest in a single-wheel supported sitting position. Furthermore, through the structural characteristics of the auxiliary wheel component, the rectangular bone structure can be further switched to a wheelchair state, so that the rectangular bone structure can switch from single-wheel support to double-wheel support, thereby expanding the wearer's lower limb support and mobility needs. Attached Figure Description

[0017] Figure 1 This is a first-view three-dimensional structural diagram of the present invention;

[0018] Figure 2 This is a first-view perspective stereoscopic diagram of the present invention;

[0019] Figure 3 This is a first-view perspective stereoscopic diagram of the present invention;

[0020] Figure 4 This is a front view structural diagram of the present invention;

[0021] Figure 5 This is a top view of the structure of the present invention;

[0022] Figure 6 This is a schematic diagram of the sitting posture of the present invention;

[0023] Figure 7 This is a schematic diagram of the standing posture of the present invention;

[0024] Figure 8 for Figure 1 A partially enlarged structural diagram.

[0025] In the diagram: 1. First leg; 2. Second leg; 3. Transmission gear; 4. First movable wheel; 5. First drive motor; 6. Mounting component; 7. Mounting rod; 8. Connecting component; 9. First strap body; 10. First limiting strip; 11. First bolt; 12. First mounting groove; 13. Second sliding groove; 14. Mounting column; 15. Third leg; 16. First support rod; 17. Second support rod; 18. Electric telescopic rod; 19. First mounting shaft; 20. Second slider; 21. Second transmission rod; 22. First transmission... 23. Moving rod; 24. Third support rod; 25. Second pin; 26. First slider; 27. First slide groove; 28. First pin; 39. Cushion; 30. Third strap body; 31. Second mounting groove; 32. Second limit bar; 33. Second bolt; 34. Second drive motor; 35. DC motor; 36. Support rod; 37. Take-up roller; 38. Transmission belt; 39. Second strap body; 40. Support member; 41. Mounting seat; 42. Insert post; 43. Limit groove; 44. Front wheel; 45. Mounting roller. Detailed Implementation

[0026] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. The various embodiments of this invention are described in detail below with reference to the accompanying drawings.

[0027] Example 1

[0028] Please see Figures 1 to 8 The present invention preferably provides the following technical solution: a deformable leg exoskeleton, comprising: two sets of first legs 1 and second legs 2, and a first strap assembly and a second strap assembly respectively disposed on the first legs 1 and the second legs 2, wherein the first strap assembly and the second strap assembly are used for binding and fixing the lower leg and the thigh respectively; a waist support structure is disposed at the end of the second leg 2 away from the first legs 1, wherein the waist support structure is used for binding and supporting the waist; it also includes a meshing transmission assembly disposed at the opposite ends of each set of first legs 1 and second legs 2 and a wheel assembly disposed at their opposite ends, wherein each set of wheel assemblies together with the first legs 1 and the second legs 2 constitutes a rectangular bone frame for switching between standing and sitting leg postures; a body posture sensing mechanism is also disposed on the waist support structure for adaptively adjusting the posture switching of the exoskeleton.

[0029] The body posture sensing mechanism installed here is a mature existing technology. Through this body posture sensing mechanism, the force between the human and the machine is made close to zero, so that when the exoskeleton assists the wearer in completing the corresponding work, the resistance felt by the wearer from the exoskeleton is minimized. For details, please refer to the Chinese patent on the coordinated movement of the exoskeleton and the human body in the multi-sensor exoskeleton assistance system (202111527419.9). The principle will not be elaborated here.

[0030] In this embodiment, as Figure 1 As shown, the wheel assembly, together with the first leg 1 and the second leg 2, forms a rectangular skeletal frame. The rectangular skeletal frames on both sides correspond to the lower limbs. This, along with the meshing transmission components located at the opposite ends of the first leg 1 and the second leg 2, and the lumbar support structure located at the end of the second leg 2 away from the first leg 1, simulates the angle changes of the human knee and hip joints. Under the action of the body posture sensing mechanism, the exoskeleton adjusts its posture in real time to follow the human body's movements, thus providing assistive support after changes in standing and sitting postures. This helps the wearer complete the corresponding movements better, achieving an assistive skeletal structure that integrates walking, exercise, and rest. The specific standing and sitting postures are as follows... Figure 7 , Figure 6 As shown.

[0031] Furthermore, each first strap assembly includes a connector 8 fixed to the inner side of the first leg 1, and a first strap body 9 disposed on the connector 8, and also includes a first mounting groove 12 opened at the end of the first strap body 9 away from the connector 8; the inner side of the second leg 2 is also fixed with a first limiting strip 10, and a mounting hole opened at one end of the first limiting strip 10. A first bolt 11 is disposed inside the mounting hole. When the first bolt 11 passes through the mounting hole and enters the first threaded groove opened inside the first mounting groove 12, it is used for limiting and locking the first strap body 9 and the first limiting strip 10.

[0032] like Figure 1 As shown, the first strap assembly includes a connector 8 and a first limiting strip 10 respectively fixed to the inner side of the first leg 1. The position between the first strap body 9 fixed on the connector 8 and the first limiting strip 10 is adjustable so as to adjust the tightness according to the wearer's calf circumference.

[0033] Furthermore, each set of meshing transmission components includes a mounting piece 6, and two connecting shafts rotatably mounted on the mounting piece 6, with the two connecting shafts fixedly connected to the first leg 1 and the second leg 2 for rotation of the opposite ends of the first leg 1 and the second leg 2; and transmission teeth 3 that mesh with each other and are respectively fixed on the connecting shafts, and also includes a first drive motor 5 fixed to the outside of the first leg 1, with the output shaft of the first drive motor 5 passing through a first through hole opened on the first leg 1 and fixedly connected to the connecting shaft where the transmission teeth 3 are located; and a mounting rod 7 rotatably connected to the opposite faces of the two mounting pieces 6, with two sets of second strap assemblies disposed on the mounting rod 7 and placed between the two second legs 2.

[0034] like Figure 1 , 8 As shown, since the output shaft of the first drive motor 5 passes through the first through hole on the first leg 1 and is fixedly connected to the connecting shaft where the transmission gear 3 is located, when the first drive motor 5 runs, it can drive the two meshing transmission gears 3 to rotate, which makes the first leg 1 and the second leg 2 run in opposite directions. This design is to simulate the flexion and extension movement of the human knee joint in order to adaptively adjust the angle between the first leg 1 and the second leg 2.

[0035] Furthermore, each set of second strap assemblies includes a support member 40 disposed on the mounting rod 7 and extending between the two second legs 2, and a second strap body 39 and a mounting base 41 respectively fixed on both sides of the support member 40, with the second strap body 39 and the mounting base 41 being distributed internally and externally; it also includes a limiting groove 43 formed on the mounting base 41, the inner wall of the limiting groove 43 being provided with a plurality of insertion holes; and an insertion post 42 fixed to the end of the second strap body 39 away from the support member 40, and the insertion post 42 can pass through the limiting groove 41. The front opening is longitudinally inserted into the limiting groove 43 and connected to the corresponding insertion hole, thereby driving the end of the second strap body 39 to pass through the side opening of the limiting groove 43; it also includes a DC motor 35 set on the waist support structure, the output shaft of the DC motor 35 is fixed with a take-up roller 37; and a transmission belt 38 fixed on the take-up roller 37, and the end of the transmission belt 38 away from the take-up roller 37 is fixed to the rear side of the mounting base 41. When the DC motor 35 is running, the tightness of the hip support is adjusted by winding the transmission belt 38.

[0036] At this location, a support member 40 is provided, such as Figure 4 , 6As shown in Figure 8, the support member 40 is designed to support the wearer's buttocks and thighs. The front of the support member 40 is connected to the mounting rod 7, and the rear of the support member 40 is connected to the transmission belt 38 on the take-up roller 37 via the mounting seat 41. The transmission belt 38 can be wound up, and the winding degree of the transmission belt 38 can be adjusted according to the size of the wearer's buttocks. It is worth noting that the dimensions shown in the attached drawings may not match the actual dimensions, but the drawings are only for structural illustration. In addition, the second strap body 39 fixed on the support member 40 has its end away from the support member 40 fixed to the insertion post 42. The insertion post 42 can be inserted longitudinally into the limiting groove 43 through the front opening of the limiting groove 43 and connected to the corresponding insertion hole. This design is to adapt to the wearer's thigh circumference and is easy to operate. The limiting groove 43 on the mounting seat 41 has a structure with openings on both the front and sides. The front opening facilitates the insertion of the insertion post 42, while the side opening facilitates the passage of the second strap body 39. The diameter of the side opening is narrower than that of the insertion post 42, so the insertion post 42 cannot pass through.

[0037] Furthermore, the lumbar support structure includes two sets of mounting posts 14, each set of mounting posts 14 being fixed to the opposite side of the end of each second leg 2 away from the first leg 1, and a second drive motor 34 fixed on each set of inner mounting posts 14, with the output shaft of the second drive motor 34 passing through the mounting posts 14 and the second through hole opened on the second leg 2 and fixed to a third leg 15; it also includes a cushion 28 fixed to the top of the two third legs 15, with a third strap assembly on the cushion 28 for binding the waist; the third strap assembly includes two third strap bodies 30 disposed on the cushion 28, and a second mounting groove 31 and a second limiting strip 32 respectively disposed at opposite ends of the two third strap bodies 30, with the second limiting strip 32 being able to slide inside the second mounting groove 31; it also includes a second bolt 33 rotatably connected to the second limiting strip 32, and when the second bolt 33 spirals into the second threaded groove opened inside the second mounting groove 31, it is used for limiting and locking the two third strap bodies 30.

[0038] As a specific implementation of the body posture sensing mechanism, it can adjust the angle between the first leg 1, the second leg 2, and the third leg 15 by controlling the first drive motor 5 on the meshing transmission assembly and the second drive motor 34 on the waist support structure, thereby switching the lower limb posture in real time following the movement of the human hip and knee joints.

[0039] Therefore, when the wearer puts on the exoskeleton through the first, second, and third strap components, and switches between standing and sitting positions, the rectangular bone structure can be adjusted in real time. Figure 7 When in use, it can assist the wearer in walking and exercising without affecting flexibility;

[0040] And in Figure 6When in this state, the wearer sits back, and the rectangular skeleton support can switch to a wheel-type running structure, allowing the wearer to switch from upright walking to seated wheel-type walking. Furthermore, through the structural characteristics of the wheel components, the rectangular skeleton support can be further switched to a wheel support structure, that is, the rear of the rectangular skeleton support is supported by wheels, and the front is supported by both feet, which further facilitates the wearer to change walking, exercise, and rest modes.

[0041] Furthermore, mounting rollers 45 and support rollers 36 are fixed to the opposite faces of the two take-up rollers 37.

[0042] It is worth noting that, for example Figure 5 As shown, the protrusions of the support roller 36 are of different sizes. Therefore, when the DC motor 35 is running to wind and unwind the transmission belt 38, the support roller 36 adjusts its position synchronously. This adjustment is to improve the wearer's comfort.

[0043] Example 2

[0044] In another embodiment of the present invention, each wheel assembly includes two first support rods 16, which are rotatably connected to two mounting posts 14, and a first mounting shaft 19 rotatably connected to the end of the two first support rods 16 away from the mounting posts 14. A rear wheel 4 is fixed in the middle of the first mounting shaft 19, and two second support rods 17 are rotatably connected through the first support rods 16 at both ends. The assembly also includes a second mounting shaft disposed at the end of the two second support rods 17 away from the first mounting shaft 19, and the second mounting shaft is rotatably connected to the end of the first support leg 1 away from the second support leg 2. An auxiliary wheel assembly is disposed on the second mounting shaft to facilitate the switching between single-wheel and double-wheel configurations of the rectangular skeleton frame.

[0045] Here, one end of each of the two second support rods 17 is connected to the rear wheel 4 via the first mounting shaft 19, and the other end is connected to the bottom end of the first support leg 1 via the second mounting shaft. Therefore, when the wearer changes position from standing to sitting, the rear wheel 4 is adjusted to ensure it is in contact with the bottom surface. Figure 6 , 7 As shown, when the wearer is standing, combined with Figure 7 As shown, in this state, the meshing transmission components and waist support structure are adaptively adjusted. At the same time, the rectangular skeletal structure switches postures, and the rear wheel 4 disengages from the bottom surface to facilitate the wearer's movement in an upright position.

[0046] When the wearer sits down, the rear wheel 4 touches the ground through the support of the first support rod 16, the second support rod 17 and other structures, so that the wearer can walk, exercise and rest in a seated position with single-wheel support.

[0047] Furthermore, by utilizing the structural characteristics of the auxiliary wheel assembly, the rectangular skeletal structure can be further transformed into a wheelchair configuration, such as... Figure 6 The rectangular skeletal structure is configured to switch from single-wheel support to double-wheel support, thereby expanding the wearer's lower limb support and mobility needs. Here, the single wheel and double wheel can be switched at will without any order.

[0048] Furthermore, the auxiliary wheel assembly includes third support rods 23 rotatably mounted at both ends of the second mounting shaft, each third support rod 23 having a first groove 26 and a first slider 25 slidably mounted inside the first groove 26, and the opposing surfaces of the two first sliders 25 are rotatably connected to the third mounting shaft, with the front wheel 44 fixed in the middle of the third mounting shaft; it also includes a transmission rod assembly disposed between each set of third support rods 23 and the second support rod 17, for driving the lifting and lowering of the front wheel 44.

[0049] In that place, such as Figure 1 , 6 As shown in Figure 7, the auxiliary wheel assembly includes two third support rods 23 and a first slider 25 slidably installed inside the first slide groove 26 of each third support rod 23. The front wheel 44 is fixed on the third mounting shaft arranged on the opposite side of the two first sliders 25. A transmission rod assembly is arranged between the second support rods 17 on the corresponding side of each third support rod 23 for adjusting the raising and lowering of the front wheel 44, thereby realizing the storage and use of the front wheel 44. This can be adjusted according to the wearer's needs.

[0050] Furthermore, each transmission rod assembly includes a first pin 27 fixed to the side of the first slider 25 away from the third mounting shaft, and a first transmission rod 22 rotatably mounted on the first pin 27. A second pin 24 is also fixed to the third support rod 23, and a second transmission rod 21 is rotatably connected to the second pin 24. It also includes a second slide groove 13 opened on the second support rod 17, in which a second slider 20 is slidably mounted, and a third pin fixed to the second slider 20. The ends of the first transmission rod 22 and the second transmission rod 21 away from the third support rod 23 are rotatably connected to the third pin. When the second slider 20 moves, it drives the third support rod 23 to deflect, thereby raising and lowering the front wheel 44. It also includes an electric telescopic rod 18 fixed inside the second slide groove 13, and the output end of the electric telescopic rod 18 is fixed to the second slider 20.

[0051] In that place, such as Figure 1 , 6As shown in Figure 7, the second slider 20, which is slidably mounted inside the second support rod 17, is rotatably connected to the first transmission rod 22 and the second transmission rod 21 via the third pin. The first transmission rod 22 and the second transmission rod 21 are rotatably connected to the first slider 25 and the third support rod 23 via the first pin 27 and the second pin 24, respectively. Therefore, when the second slider 20 slides, the third support rod 23 is deflected by the action of the first transmission rod 22 and the second transmission rod 21. That is, when the electric telescopic rod 18 retracts, the second slider 20 moves towards the rear wheel 4, and the third support rod 23 deflects clockwise towards the second support rod 17 to realize the lifting and retraction process of the front wheel 44.

[0052] When the electric telescopic rod 18 extends, the second slider 20 moves towards the front wheel 44, and the front wheel 44 is lowered to realize the process of lowering the front wheel 44 for use.

[0053] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" 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. Detachable installation can take many forms, such as through a combination of plug-in and snap-fit ​​connections, or through bolted connections, etc.

[0054] The foregoing, in conjunction with embodiments and accompanying drawings, has clearly and completely described the concept, specific structure, and resulting technical effects of the present invention, so as to fully understand the purpose, features, and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention. Furthermore, all connections / linkages mentioned herein do not simply refer to direct contact between components, but rather to the possibility of forming a better connection structure by adding or reducing connecting accessories, depending on the specific implementation.

[0055] The above embodiments, which describe the specific features of the present invention, are only used to further illustrate the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-essential improvements and adjustments made to the present invention by those skilled in the art based on the above description of the invention shall fall within the scope of protection of the present invention.

Claims

1. A deformable leg exoskeleton, characterized in that, include: Two sets of first legs (1) and second legs (2), and a first strap assembly and a second strap assembly respectively set on the first legs (1) and the second legs (2), and the first strap assembly and the second strap assembly are used for binding and fixing the lower leg and the thigh respectively; a waist support structure is provided at the end of the second leg (2) away from the first leg (1), and the waist support structure is used for binding and supporting the waist; it also includes a meshing transmission assembly set at the opposite end of each set of first legs (1) and second legs (2) and a wheel assembly set at their opposite ends, and each set of wheel assemblies together with the first legs (1) and the second legs (2) constitutes a rectangular skeleton frame for switching between standing and sitting leg postures; the waist support structure is also provided with a body posture sensing mechanism for adaptively adjusting the posture switching of the exoskeleton; Each wheel assembly includes two first support rods (16), which are rotatably connected to two mounting posts (14) respectively, and a first mounting shaft (19) rotatably connected to the end of the two first support rods (16) away from the mounting posts (14). A rear wheel (4) is fixed in the middle of the first mounting shaft (19), and two second support rods (17) are rotatably connected through the first support rods (16) at both ends. It also includes a second mounting shaft at the end of the two second support rods (17) away from the first mounting shaft (19), and the second mounting shaft is rotatably connected to the end of the first leg (1) away from the second leg (2). It also includes an auxiliary wheel assembly on the second mounting shaft, which facilitates the switching between single wheel and double wheel configurations of the rectangular skeleton frame. The auxiliary wheel assembly includes third support rods (23) rotatably mounted at both ends of the second mounting shaft. Each third support rod (23) has a first groove (26) and a first slider (25) slidably mounted inside the first groove (26). The opposing surfaces of the two first sliders (25) are rotatably connected to the third mounting shaft. A front wheel (44) is fixed in the middle of the third mounting shaft. The assembly also includes a transmission rod assembly disposed between each set of third support rods (23) and the second support rod (17) for driving the lifting and lowering of the front wheel (44). Each set of transmission rod assemblies includes a first pin (27) fixed on the side of the first slider (25) away from the third mounting shaft, and a first transmission rod (22) disposed on the first pin (27) and rotatable. A second pin (24) is also fixed on the third support rod (23), and a second transmission rod (21) is rotatably connected to the second pin (24). It also includes a second slide groove (13) opened on the second support rod (17), a second slider (20) is slidably installed inside the second slide groove (13), and a third pin fixed on the second slider (20). The ends of the first transmission rod (22) and the second transmission rod (21) away from the third support rod (23) are rotatably connected to the third pin. When the second slider (20) moves, it is used to drive the third support rod (23) to deflect, so as to realize the lifting and lowering of the front wheel (44). It also includes an electric telescopic rod (18) fixed inside the second slide groove (13), and the output end of the electric telescopic rod (18) is fixed to the second slider (20).

2. The deformable leg exoskeleton according to claim 1, characterized in that: Each first strap assembly includes a connector (8) fixed inside the first leg (1) and a first strap body (9) disposed on the connector (8), and also includes a first mounting groove (12) opened at the end of the first strap body (9) away from the connector (8); the second leg (2) is also fixed with a first limiting strip (10) and a mounting hole opened at one end of the first limiting strip (10), and a first bolt (11) is provided inside the mounting hole. When the first bolt (11) passes through the mounting hole and enters the first threaded groove opened inside the first mounting groove (12), it is used for limiting and locking the first strap body (9) and the first limiting strip (10).

3. The deformable leg exoskeleton according to claim 1, characterized in that: Each set of meshing transmission components includes a mounting piece (6), and two connecting shafts rotatably mounted on the mounting piece (6), and the two connecting shafts are fixedly connected to the first leg (1) and the second leg (2) for rotation of the opposite ends of the first leg (1) and the second leg (2); and transmission teeth (3) that mesh with each other and are respectively fixed on the connecting shafts, and also includes a first drive motor (5) fixed on the outside of the first leg (1), and the output shaft of the first drive motor (5) passes through the first through hole opened on the first leg (1) and is fixedly connected to the connecting shaft where the transmission teeth (3) are located; and a mounting rod (7) rotatably connected to the opposite surfaces of the two mounting pieces (6), and two sets of second strap assemblies are arranged on the mounting rod (7) and placed between the two second legs (2).

4. The deformable leg exoskeleton according to claim 3, characterized in that: Each set of the second strap assembly includes a support member (40) disposed on the mounting rod (7) and extending between the two second legs (2), and a second strap body (39) and a mounting base (41) respectively fixed on both sides of the support member (40), with the second strap body (39) and the mounting base (41) distributed in an inner and outer manner; it also includes a limiting groove (43) opened on the mounting base (41), the inner wall of the limiting groove (43) being provided with a plurality of insertion holes; and a post (42) fixed at the end of the second strap body (39) away from the support member (40), and the post (42) can be limited by the limiting groove (41). The front opening of the groove (43) is longitudinally inserted into the corresponding insertion hole inside the limiting groove (43), thereby driving the end of the second strap body (39) to pass through the side opening of the limiting groove (43); it also includes a DC motor (35) set on the waist support structure, the output shaft of the DC motor (35) is fixed with a take-up roller (37); and a transmission belt (38) fixed on the take-up roller (37), and the end of the transmission belt (38) away from the take-up roller (37) is fixed to the rear side of the mounting base (41). When the DC motor (35) is running, the tightness of the hip support is adjusted by winding the transmission belt (38).

5. The deformable leg exoskeleton according to claim 1, characterized in that: The lumbar support structure includes two sets of mounting columns (14), each set of mounting columns (14) being fixed to the opposite side of the end of each second leg (2) away from the first leg (1), and a second drive motor (34) fixed on each set of mounting columns (14) located on the inner side. The output shaft of the second drive motor (34) passes through the mounting column (14) and the second through hole opened on the second leg (2) and is fixed to a third leg (15). It also includes a cushion (28) fixed to the top of the two third legs (15), and the cushion (28) is provided with a third strap assembly for binding. The third strap assembly includes two third strap bodies (30) disposed on the cushion (28), and a second mounting groove (31) and a second limiting strip (32) respectively disposed at opposite ends of the two third strap bodies (30), and the second limiting strip (32) can slide inside the second mounting groove (31); it also includes a second bolt (33) rotatably connected to the second limiting strip (32), and when the second bolt (33) spirally enters the second threaded groove opened inside the second mounting groove (31), it is used for limiting and locking the two third strap bodies (30).

6. The deformable leg exoskeleton according to claim 4, characterized in that: The two take-up rollers (37) are also fixed to the opposite sides of the mounting rollers (45) and the support rollers (36) are fixed to the mounting rollers (45).

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