exoskeleton

Abstract

The application provides an exoskeleton, comprising a back support assembly, a hip joint support assembly, a knee joint support assembly, an ankle joint support assembly and a metamorphic assembly. The back support assembly is used for supporting the back of a user, the hip joint support assembly is connected with the back support assembly and is used for supporting the hip of the user, and the hip joint support assembly can move with the hip. The knee joint support assembly is connected with the hip joint support assembly and is used for supporting the knee of the user, and the knee joint support assembly can move with the knee. The ankle joint support assembly is connected with the ankle joint support assembly and is used for supporting the ankle joint of the user, and the ankle joint support assembly can move with the ankle joint. The metamorphic assembly is connected with the hip joint support assembly and the knee joint support assembly, the metamorphic assembly is in a first state, the metamorphic assembly can rotate and synchronously move with the knee joint support assembly, the metamorphic assembly is in a second state, and the metamorphic assembly can stretch and support the hip joint support assembly.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical care equipment, and in particular relates to an exoskeleton. BACKGROUND

[0002] In recent years, with the increasingly serious population aging, the number of the elderly with poor flexibility of lower limbs joints or even disability caused by functional decline is increasing. Patients with impaired lower limb function not only need surgery and drug treatment, but also need reasonable rehabilitation training, which will help such patients improve limb movement function, improve joint muscle tissue, and ultimately help patients recover the ability to walk.

[0003] During the recovery process of the patient, if the family or caregiver is not around, the patient has difficulty exercising by himself, which brings great inconvenience to the recovery process. SUMMARY

[0004] The present application aims to solve one of the technical problems existing in the prior art or related art.

[0005] Therefore, the present application provides an exoskeleton, which comprises: a back support assembly for supporting the back of a user; a hip joint support assembly connected with the back support assembly for supporting the hip of the user, the hip joint support assembly being capable of moving with the hip; a knee joint support assembly connected with the hip joint support assembly for supporting the knee of the user, the knee joint support assembly being capable of moving with the knee; an ankle joint support assembly connected with the ankle joint support assembly for supporting the ankle joint of the user, the ankle joint support assembly being capable of moving with the ankle joint; a variable cell assembly connected with the hip joint support assembly and the knee joint support assembly, the variable cell assembly being in a first state, the variable cell assembly being capable of rotating and moving synchronously with the knee joint support assembly, the variable cell assembly being in a second state, the variable cell assembly being capable of stretching and supporting the hip joint support assembly.

[0006] In addition, the exoskeleton according to the above technical solution of the present application can also have the following additional technical features:

[0007] In the above technical solution, the back support assembly comprises: a backrest for supporting the back of the user; a back cushion for supporting the waist of the user; a hip-back connecting piece, the backrest and the back cushion being connected with the hip-back connecting piece, the hip-back connecting piece being connected with the hip joint support assembly.

[0008] In any of the above technical solutions, the hip joint supporting assembly comprises: a hip joint static platform connected with the hip back connecting piece; a first driving piece, a first end of the first driving piece being rotationally connected with the hip joint static platform; a hip joint dynamic platform, a second end of the first driving piece being rotationally connected with the hip joint dynamic platform, the first driving piece being used for pushing or pulling the hip joint dynamic platform; and a first restraining piece, a first end of the first restraining piece being rotationally connected with the hip joint static platform, a second end of the first restraining piece being fixedly connected with the hip joint dynamic platform.

[0009] In any of the above technical solutions, the hip joint static platform and the hip joint dynamic platform are in an arc shape.

[0010] In any of the above technical solutions, the knee joint supporting assembly comprises: a mounting rod, a first end of the mounting rod being connected with the hip joint supporting assembly; a knee joint cover, a second end of the mounting rod being connected with the knee joint cover; a second driving piece, the second driving piece being connected with the mounting rod; a leg supporting piece, the leg supporting piece being connected with the second driving piece, the second driving piece being used for driving the leg supporting piece to rotate relative to the knee joint cover; a leg connecting rod, the leg connecting rod being connected with the leg supporting piece, the leg connecting rod being used for being connected with the ankle joint supporting assembly; and a leg fixing piece, the leg fixing piece being connected with the leg connecting rod, the leg fixing piece being used for supporting the leg of a user.

[0011] In any of the above technical solutions, the second driving piece comprises: a motor, the motor being connected with the mounting rod; a first bevel gear, the first bevel gear being connected with an output shaft of the motor; a rotating shaft, the rotating shaft being rotationally connected with the knee joint cover, the leg supporting piece being connected with the rotating shaft; and a second bevel gear, the second bevel gear being connected with the rotating shaft, the second bevel gear being engaged with the first bevel gear.

[0012] In any of the above technical solutions, the ankle joint supporting assembly comprises: an ankle joint connecting piece, the ankle joint connecting piece being connected with the leg connecting rod; an ankle joint static platform, the ankle joint static platform being connected with the ankle joint connecting piece; a third driving piece, a first end of the third driving piece being rotationally connected with the ankle joint static platform; an ankle joint dynamic platform, a second end of the third driving piece being rotationally connected with the ankle joint dynamic platform; and a second restraining piece, a first end of the second restraining piece being rotationally connected with the ankle joint static platform, a second end of the second restraining piece being rotationally connected with the ankle joint dynamic platform.

[0013] In any of the above technical solutions, the metamorphic assembly comprises: a first connecting rod assembly, a first end of the first connecting rod assembly being connected with the hip joint supporting assembly; a second connecting rod assembly, a first end of the second connecting rod assembly being connected with the knee joint supporting assembly, a second end of the first connecting rod assembly being connected with a second end of the second connecting rod assembly, the second connecting rod assembly being able to stretch and contract; and a locking piece, the locking piece being connected with the first connecting rod assembly and the second connecting rod assembly, when the locking piece locks the first connecting rod assembly and the second connecting rod assembly, the locking piece limits relative rotation of the first connecting rod assembly and the second connecting rod assembly, when the locking piece releases the locking of the first connecting rod assembly and the second connecting rod assembly, the first connecting rod assembly and the second connecting rod assembly rotate synchronously with the knee joint supporting assembly.

[0014] In any of the above technical solutions, the locking member comprises: a mounting plate; a pin shaft connected to the mounting plate, the pin shaft being provided with a mounting hole, and the pin shaft being capable of being inserted into the mounting hole; a first limiting rod connected to the mounting plate, the first connecting rod assembly being provided with a first shaft hole and a first connecting hole; and a second limiting rod connected to the mounting plate, the second connecting rod assembly being provided with a second shaft hole and a second connecting hole; wherein, in the first state, the pin shaft is inserted into the first shaft hole, the second shaft hole and the mounting hole, the first limiting rod is separated from the first connecting hole, and the second limiting rod is separated from the second connecting hole; and in the second state, the pin shaft is separated from the mounting hole, the first limiting rod is inserted into the first connecting hole, and the second limiting rod is inserted into the second connecting hole.

[0015] Additional aspects and advantages of the application will be apparent from the following description of the application, which proceeds with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and / or additional aspects and advantages of the application will become apparent and be readily understood by considering the following detailed description, including the accompanying drawings, in which:

[0017] Figure 1 A structural schematic diagram of an exoskeleton in an embodiment of the application is shown;

[0018] Figure 2 An enlarged view of A in FIG. 1 is shown; Figure 1

[0019] Figure 3 An enlarged view of B in FIG. 1 is shown; Figure 1

[0020] Figure 4 A structural schematic diagram of an exoskeleton in an embodiment of the application is shown;

[0021] Figure 5 An enlarged view of C in FIG. 2 is shown; Figure 4

[0022] Figure 6 An enlarged view of D in FIG. 2 is shown; Figure 4

[0023] Figure 7 A structural schematic diagram of an exoskeleton in an embodiment of the application is shown;

[0024] Figure 8 An enlarged view of E in FIG. 3 is shown; Figure 7

[0025] Figure 9 A schematic diagram of an exoskeleton in a squatting state in an embodiment of the application is shown;

[0026] Figure 10 ​​​​​Fig. 2 shows a schematic view of the exoskeleton in a squatting state according to an embodiment of the present application.

[0027] Reference signs:

[0028] 100 back support assembly, 110 backrest, 120 back cushion, 130 hip back connecting piece, 200 hip joint support assembly, 210 hip joint static platform, 220 first driving piece, 230 hip joint dynamic platform, 240 first constraint piece, 300 knee joint support assembly, 310 mounting rod, 320 knee joint cover, 330 second driving piece, 332 first bevel gear, 333 rotating shaft, 334 second bevel gear, 340 leg support piece, 350 leg connecting rod, 360 leg fixing piece, 400 ankle joint support assembly, 410 ankle joint connecting piece, 420 ankle joint static platform, 430 third driving piece, 440 ankle joint dynamic platform, 450 second constraint piece, 500 metamorphic assembly, 510 first connecting rod assembly, 511 first connecting hole, 512 first shaft hole, 520 second connecting rod assembly, 521 first rod body, 522 second rod body, 523 spring, 524 second connecting hole, 530 locking piece, 531 mounting plate, 532 pin shaft, 533 first limiting rod, 534 second limiting rod, 610 angular contact ball bearing, 620 thin-wall bearing, 630 fine cross shaft of cardan pair, 640 rotating shaft of cardan pair. DETAILED DESCRIPTION

[0029] In order to enable persons skilled in the art to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0030] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can be practiced in other ways different from those described herein, therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0031] The following description refers to the accompanying drawings that show embodiments of the present application. Figures 1 to 10 The exoskeleton according to some embodiments of the present application is described.

[0032] In conjunction with Figure 1 and Figure 4As shown, in the embodiment of the present application, an exoskeleton is provided, comprising: a back support assembly 100, a hip joint support assembly 200, a knee joint support assembly 300, an ankle joint support assembly 400 and a metamorphic assembly 500. The back support assembly 100 is used to support the back of the user, the hip joint support assembly 200 is connected with the back support assembly 100 and is used to support the hip of the user, and the hip joint support assembly 200 can move with the hip. The knee joint support assembly 300 is connected with the hip joint support assembly 200 and is used to support the knee of the user, and the knee joint support assembly 300 can move with the knee. The ankle joint support assembly 400 is connected with the ankle joint support assembly 400 and is used to support the ankle joint of the user, and the ankle joint support assembly 400 can move with the ankle joint. The metamorphic assembly 500 is connected with the hip joint support assembly 200 and the knee joint support assembly 300, the metamorphic assembly 500 is in a first state, the metamorphic assembly 500 can rotate and move synchronously with the knee joint support assembly 300, the metamorphic assembly 500 is in a second state, the metamorphic assembly 500 can stretch and support the hip joint support assembly 200.

[0033] When the user wears the exoskeleton, the back of the user is in contact with the back support assembly 100, so the back of the user can be effectively supported. The hip joint support assembly 200 is connected with the back support assembly 100, and during the movement of the hip joint of the user, the hip joint support assembly 200 moves synchronously with the hip joint, so the hip joint support assembly 200 can always support the hip joint. The knee joint support assembly 300 is connected with the hip joint support assembly 200, and during the movement of the knee joint of the user, the knee joint support assembly 300 moves synchronously with the knee joint, so the knee joint support assembly 300 can always support the knee joint of the user. The ankle joint support assembly 400 is connected with the knee joint support assembly 300, and during the movement of the ankle joint of the user, the ankle joint support assembly 400 moves synchronously with the knee joint, so the ankle joint support assembly 400 can always support the ankle joint of the user.

[0034] When the user performs rehabilitation training, the back support assembly 100, the hip joint support assembly 200, the knee joint support assembly 300 and the ankle joint support assembly 400 can move cooperatively with the user, so that the user can perform rehabilitation training by himself under the support of the exoskeleton even if family members or caregivers are not around, thereby improving the convenience and autonomy of the user during the rehabilitation process.

[0035] Since the back supporting assembly 100, the hip joint supporting assembly 200, the knee joint supporting assembly 300 and the ankle joint supporting assembly 400 can cooperate with the user, the back supporting assembly 100, the hip joint supporting assembly 200, the knee joint supporting assembly 300 and the ankle joint supporting assembly 400 can effectively support the back, the hip joint, the knee joint and the ankle joint of the user when the user is in different postures, and the safety in the recovery process is improved.

[0036] The metamorphic assembly 500 is located between the hip joint supporting assembly 200 and the knee joint supporting assembly 300, and the metamorphic assembly 500 can be switched between a first state and a second state, and the first state and the second state are suitable for different use scenarios.

[0037] Specifically, when the metamorphic assembly 500 is in the first state, part of the structure in the metamorphic assembly 500 can rotate relative to each other, so that the metamorphic assembly 500 moves synchronously with the knee joint supporting assembly 300, and in this use scenario, the exoskeleton is suitable for the state of human body walking, and the metamorphic assembly 500 can support the knee joint assembly to ensure the stability of the knee joint assembly when it is stressed. When the metamorphic assembly 500 is in the second state, the metamorphic assembly 500 cannot rotate, and at this time the metamorphic assembly 500 can perform telescopic movement. The metamorphic assembly 500 can support the hip joint supporting assembly 200, and in this use scenario, the exoskeleton is suitable for the state of human body squatting. As can be seen, the exoskeleton can deform for different working environments, so that it can realize the functions of assisting human body walking and squatting, improve the functionality of the exoskeleton, and be beneficial to assisting the user to improve the recovery effect.

[0038] As shown in FIG. 1, Figure 1 In the above embodiment, the back supporting assembly 100 includes a backrest 110, a back cushion 120 and a hip-back connecting piece 130, the backrest 110 is used to support the back of the user, the back cushion 120 is used to support the waist of the user, the backrest 110 and the back cushion 120 are connected with the hip-back connecting piece 130, and the hip-back connecting piece 130 is connected with the hip joint supporting assembly 200.

[0039] The hip-back connecting piece 130 is connected with the hip joint supporting assembly 200, so that the hip-back connecting piece 130 is not easy to shake. The backrest 110 and the back cushion 120 are both installed on the hip-back connecting piece 130, so that the backrest 110 and the back cushion 120 are not easy to shake. When the user wears the exoskeleton, the backrest 110 supports the back of the user, and the back cushion 120 supports the waist of the user. Since the back and the waist of the user are effectively supported, the back and the waist of the user are not easy to be sprained during the practice of walking and squatting, so that the use safety of the user can be improved.

[0040] Exemplarily, the backrest 110 and the back cushion 120 are locked to the hip-back connecting member 130 by screws, or the backrest 110 and the back cushion 120 are fixed to the hip-back connecting member 130 by welding.

[0041] In combination Figure 1 and Figure 9 As shown in any of the above embodiments, the hip joint support assembly 200 comprises a hip joint static platform 210, a first driving member 220, a hip joint dynamic platform 230, and a first constraint member 240. The hip joint static platform 210 is connected to the hip-back connecting member 130, the first end of the first driving member 220 is rotationally connected to the hip joint static platform 210, the hip joint dynamic platform 230 is rotationally connected to the second end of the first driving member 220, and the first driving member 220 is configured to push or pull the hip joint dynamic platform 230. The first end of the first constraint member 240 is rotationally connected to the hip joint static platform 210, and the second end of the first constraint member 240 is fixedly connected to the hip joint dynamic platform 230.

[0042] The hip joint static platform 210 is connected to the hip-back connecting member 130, the first driving member 220 is located between the hip joint static platform 210 and the hip joint dynamic platform 230, and the two ends of the first driving member 220 are rotationally connected to the hip joint static platform 210 and the hip joint dynamic platform 230, respectively. The first driving member 220 is configured to push or pull the hip joint dynamic platform 230, so that the hip joint dynamic platform 230 can move relative to the hip joint static platform 210. The two ends of the first constraint member 240 are connected to the hip joint static platform 210 and the hip joint dynamic platform 230, respectively, and the first constraint member 240 is rotationally connected to the hip joint static platform 210. Under the constraint of the first constraint member 240, the hip joint dynamic platform 230 can only rotate relative to the hip joint static platform 210.

[0043] When the hip joint of the user moves, the hip joint dynamic platform 230 moves together with the hip joint under the driving of the first driving member 220, so that the hip joint static platform 210 and the hip joint dynamic platform 230 can stably support the hip of the user, and improve the safety of the user during the recovery process.

[0044] Exemplarily, the first driving member 220 is an electric push rod.

[0045] Exemplarily, the hip joint static platform 210 is locked to the hip-back connecting member 130 by screws, or the hip joint static platform 210 is fixed to the hip-back connecting member 130 by welding. The first end of the first driving member 220 is connected to the hip joint static platform 210 through a universal joint cross shaft 630, and the second end of the first driving member 220 is connected to the hip joint dynamic platform 230 through a universal shaft. The first end of the first constraint member 240 is connected to the hip joint static platform 210 through a cross shaft, and the second end of the first constraint member 240 is welded to the hip joint dynamic platform 230.

[0046] As Figure 9 shown in any of the above embodiments, the hip joint static platform 210 and the hip joint dynamic platform 230 are arc-shaped structures.

[0047] The hip joint static platform 210 and the hip joint dynamic platform 230 need to support the user's hip joint. The hip joint static platform 210 and the hip joint dynamic platform 230 are processed into arc-shaped structures, so that the hip joint static platform 210 and the hip joint dynamic platform 230 can form a wrap around the user's hip joint, increase the contact area of the hip joint static platform 210 and the hip joint dynamic platform 230 with the hip joint, and thus facilitate to improve the support stability of the hip joint.

[0048] As Figure 1 , Figure 2 , Figure 6 and Figure 9 shown in any of the above embodiments, the knee joint support assembly 300 includes a mounting rod 310, a knee joint cover 320, a second driving member 330, a leg support 340, a leg connecting rod 350, and a leg fixing member 360. The first end of the mounting rod 310 is connected with the hip joint support assembly 200, and the second end of the mounting rod 310 is connected with the knee joint cover 320. The second driving member 330 is connected with the mounting rod 310, and the leg support 340 is connected with the second driving member 330. The second driving member 330 is used to drive the leg support 340 to rotate relative to the knee joint cover 320. The leg connecting rod 350 is connected with the leg support 340, and is used to be connected with the ankle joint support assembly 400. The leg fixing member 360 is connected with the leg connecting rod 350, and is used to support the user's leg.

[0049] The first end of the mounting rod 310 is mounted on the hip joint dynamic platform 230, and the second end of the mounting rod 310 is connected with the knee joint cover 320. The second driving member 330 can drive the leg support 340 to rotate relative to the knee joint cover 320, so that the knee joint support assembly 300 can cooperate with the user's knee joint. In the case that the leg support 340 rotates relative to the knee joint cover 320, the leg fixing member 360 can support the user's leg. In the case that the leg is supported, the leg fixing member 360 can share part of the pressure of the knee joint, thereby reducing the stress degree of the knee joint, and further playing a protective role on the user's knee joint.

[0050] Exemplarily, the first end of the mounting rod 310 is locked on the hip joint moving platform 230 by screws, or is fixed on the hip joint moving platform 230 by welding. The knee joint cover 320 is locked on the mounting rod 310 by screws, or is fixed on the mounting rod 310 by welding. The connection between the leg connecting rod 350 and the leg support 340, and the connection between the leg fixing member 360 and the leg connecting rod 350 are the same as above, and will not be described here again.

[0051] In a possible application, the leg fixing member 360 is in a U-shaped structure, so as to wrap the user's leg.

[0052] In combination with Figure 4 , Figure 6 , Figure 7 and Figure 8 , in any of the above embodiments, the second driving member 330 comprises a motor, a first bevel gear 332, a rotating shaft 333 and a second bevel gear 334. The motor is connected with the mounting rod 310, the first bevel gear 332 is connected with the output shaft of the motor, the rotating shaft 333 is rotationally connected with the knee joint cover 320, the leg support 340 is connected with the rotating shaft 333, the second bevel gear 334 is connected with the rotating shaft 333, and the second bevel gear 334 is engaged with the first bevel gear 332.

[0053] The motor is mounted on the mounting rod 310, and is used to drive the first bevel gear 332 to rotate. The first bevel gear 332 and the second bevel gear 334 are engaged, so that the first bevel gear 332 can drive the second bevel gear 334 to rotate. The second bevel gear 334 is sleeved on the rotating shaft 333, and the second bevel gear 334 rotates synchronously with the rotating shaft 333, so that the rotating shaft 333 rotates with the second bevel gear 334 when the second bevel gear 334 rotates. The leg support 340 is connected with the rotating shaft 333, and the leg support 340 can rotate with the rotating shaft 333.

[0054] When the user's knee needs to be bent, the leg support 340 can rotate relative to the knee joint cover 320 under the driving of the motor, so that the knee joint support assembly 300 moves synchronously with the knee joint, and the user's knee joint can be stably supported.

[0055] In a possible application, the mounting rod 310 is in a hollow structure, and the motor is mounted in the mounting rod 310, so as to reduce the occupied space of the second driving member 330.

[0056] In a possible application, the output shaft of the motor is connected with the first bevel gear 332 through an angular contact ball bearing 610, and the second bevel gear 334 is connected with the rotating shaft 333 through a thin-wall bearing 620.

[0057] In combination withFigure 1 and Figure 3 As shown in any of the above embodiments, the ankle joint support assembly 400 comprises an ankle joint connecting member 410, an ankle joint static platform 420, a third driving member 430, an ankle joint dynamic platform 440 and a second constraint member 450. The ankle joint connecting member 410 is connected with the leg connecting rod 350, and the ankle joint static platform 420 is connected with the ankle joint connecting member 410. The first end of the third driving member 430 is rotatably connected with the ankle joint static platform 420, and the ankle joint dynamic platform 440 is rotatably connected with the second end of the third driving member 430. The first end of the second constraint member 450 is rotatably connected with the ankle joint static platform 420, and the second end of the second constraint member 450 is rotatably connected with the ankle joint dynamic platform 440.

[0058] The ankle joint connecting member 410 is used to connect the leg connecting rod 350 and the ankle joint static platform 420, the third driving member 430 is located between the ankle joint static platform 420 and the ankle joint dynamic platform 440, and the two ends of the third driving member 430 are rotatably connected with the ankle joint static platform 420 and the ankle joint dynamic platform 440, respectively. The third driving member 430 can push or pull the ankle joint dynamic platform 440, so that the ankle joint dynamic platform 440 can move relative to the ankle joint static platform 420. The two ends of the second constraint member 450 are connected with the ankle joint static platform 420 and the ankle joint dynamic platform 440, respectively, and the second constraint member 450 is rotatably connected with the ankle joint static platform 420. Under the limitation of the second constraint member 450, the ankle joint dynamic platform 440 can only rotate relative to the ankle joint static platform 420.

[0059] When the user's ankle joint moves, the ankle joint dynamic platform 440 moves together with the ankle joint under the driving of the third driving member 430, so that the ankle joint static platform 420 and the ankle joint dynamic platform 440 can stably support the user's ankle joint, improving the safety of the user during the recovery process.

[0060] Exemplarily, the third driving member 430 is an electric push rod.

[0061] Exemplarily, the first constraint member 240 and the second constraint member 450 are constraint branch chains.

[0062] Exemplarily, the ankle joint connecting member 410 serves as an intermediate component, and can connect the leg connecting rod 350 and the ankle joint static platform 420 through locking or welding.

[0063] The first end of the third driving member 430 is connected with the ankle joint static platform 420 through a universal joint 640, and the second end of the third driving member 430 is connected with the ankle joint dynamic platform 440 through a universal shaft.

[0064] In one possible application, the static ankle platform 420 has a ring-shaped structure, through which the user's foot can pass, providing stable support for the ankle joint. The dynamic ankle platform 440 has a flat plate structure, which fits stably against the user's foot.

[0065] Combination Figure 1 , Figure 2 , Figure 5 , Figure 9 and Figure 10 As shown, in any of the above embodiments, the variable-cell assembly 500 includes: a first link assembly 510, a second link assembly 520, and a locking member 530. A first end of the first link assembly 510 is connected to the hip joint support assembly 200, a first end of the second link assembly 520 is connected to the knee joint support assembly 300, and a second end of the first link assembly 510 is connected to the second end of the second link assembly 520. The second link assembly 520 is telescopic. The locking member 530 is connected to the first link assembly 510 and the second link assembly 520. When the locking member 530 locks the first link assembly 510 and the second link assembly 520, it restricts the relative rotation of the first link assembly 510 and the second link assembly 520. When the locking member 530 releases the lock on the first link assembly 510 and the second link assembly 520, the first link assembly 510 and the second link assembly 520 rotate synchronously with the knee joint support assembly 300.

[0066] The first link assembly 510 and the second link assembly 520 are rotatably connected. When the variable cell assembly 500 is in the first state, the locking member 530 does not lock the first link assembly 510 and the second link assembly 520. At this time, the second link assembly 520 can rotate relative to the first link assembly 510, and the variable cell assembly 500 is concentrically arranged with the knee joint support assembly 300, so that the first link assembly 510 and the second link assembly 520 can rotate synchronously with the knee joint support assembly 300.

[0067] When the locking member 530 locks the first link assembly 510 and the second link assembly 520, the second link assembly 520 cannot rotate relative to the first link assembly 510. When the user squats, the second link assembly 520 can extend and retract, thereby supporting the hip joint support assembly 200 and improving the stability of the hip joint support assembly 200 in supporting the user.

[0068] Combination Figure 5 , Figure 9 and Figure 10As shown in any of the above embodiments, the locking member 530 comprises a mounting plate 531, a pin shaft 532, a first limiting rod 533 and a second limiting rod 534. The pin shaft 532 is connected with the mounting plate 531, and the rotating shaft 333 is provided with a mounting hole, and the pin shaft 532 can be inserted into the mounting hole. The first limiting rod 533 and the second limiting rod 534 are connected with the mounting plate 531, and the first connecting hole 511 and the first shaft hole 512 are arranged on the first connecting rod assembly 510, and the second connecting hole 524 and the second shaft hole are arranged on the second connecting rod assembly 520. In the first state, the pin shaft 532 is inserted into the first shaft hole 512, the second shaft hole and the mounting hole, the first limiting rod 533 is separated from the first connecting hole 511, and the second limiting rod 534 is separated from the second connecting hole 524, and in the second state, the pin shaft 532 is separated from the mounting hole, the first limiting rod 533 is inserted into the first connecting hole 511, and the second limiting rod 534 is inserted into the second connecting hole 524.

[0069] When the user has the demand of walking exercise, the pin shaft 532 can be sequentially inserted through the first shaft hole 512, the second shaft hole and the mounting hole, so that the metamorphic assembly 500 can rotate synchronously with the knee joint support assembly 300. When the user has the demand of squatting exercise, the pin shaft 532 can be separated from the mounting hole, and at this time the metamorphic assembly 500 no longer rotates synchronously with the knee joint support assembly 300. The first limiting rod 533 is inserted into the first connecting hole 511, and the second limiting rod 534 is inserted into the second connecting hole 524, and since the relative positions of the first limiting rod 533 and the second limiting rod 534 are not easy to change, the rotation of the second connecting rod assembly 520 relative to the first connecting rod assembly 510 can be limited. At this time, the second connecting rod assembly 520 can be compressed when subjected to force, thereby playing a buffering supporting role for the squatting process of the user.

[0070] In a possible application, the second connecting rod assembly 520 comprises a first rod body 521 and a second rod body 522, the first rod body 521 is sleeved on the second rod body 522, a spring 523 is arranged between the first rod body 521 and the second rod body 522, and the first rod body 521 can slide relative to the second rod body 522 and compress the spring 523.

[0071] In the embodiments of the present application, the exoskeleton has the advantages of good stability and high transmission efficiency, and by virtue of the metamorphic assembly 500, the structure can be converted for different working environments, so that the exoskeleton can realize the functions of assisting human walking and squatting, and has good medical rehabilitation function.

[0072] The hip joint, the knee joint and the ankle joint are all driven by motors, which have the advantages of high integration, high precision, easy control and easy installation compared with pneumatic and hydraulic driving, and can also reduce the structure volume and the overall type of the exoskeleton, so that the exoskeleton is more convenient in daily use.

[0073] The exoskeleton is designed as a single degree of freedom rotation series direct drive structure, so that the patient obtains better use feeling, the transmission of bevel gear has good motion stability, the transmission system layout is more flexible, the transmission efficiency is more efficient, and higher reduction ratio can be obtained under the same volume.

[0074] The exoskeleton can complete 10 degrees of freedom motion in space, and can realize hip joint flexion / extension, abduction / adduction, knee joint flexion / extension, and ankle joint flexion / extension, inversion / everting series-parallel hybrid lower limb exoskeleton.

[0075] In the present application, the term "a plurality of" refers to two or more, unless otherwise explicitly limited. The terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, "connecting" can be fixed connection, or detachable connection, or integral connection; "connecting" can be direct connection, or indirect connection through intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0076] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0077] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An exoskeleton, characterized in that, include: Back support components are used to support the user's back; A hip joint support assembly, connected to the back support assembly, is used to support the user's hips, and the hip joint support assembly can move with the hips; A knee support assembly, connected to the hip support assembly, is used to support the user's knee and is capable of moving with the knee. An ankle support assembly, connected to the ankle support assembly, is used to support the user's ankle joint, and the ankle support assembly can move with the ankle joint; A variable-cell assembly, connected to the hip joint support assembly and the knee joint support assembly, is in a first state where it is rotatable and moves synchronously with the knee joint support assembly; and in a second state, it is extendable and retractable to support the hip joint support assembly. The variable cell component includes: A first link assembly, the first end of which is connected to the hip joint support assembly; The second link assembly has a first end connected to the knee joint support assembly, and a second end connected to the second end of the first link assembly. The second link assembly is telescopic. A locking element, connected to the first and second linkage assemblies, locks the first and second linkage assemblies, restricting their relative rotation. When the locking element releases the lock on the first and second linkage assemblies, they rotate synchronously with the knee joint support assembly. The locking element includes: Mounting plate; A pin is connected to the mounting plate. The rotating shaft of the knee joint support assembly is provided with a mounting hole, and the pin can be inserted into the mounting hole. The first limiting rod is connected to the mounting plate, and the first connecting rod assembly is provided with a first shaft hole and a first connecting hole; The second limiting rod is connected to the mounting plate, and the second connecting rod assembly is provided with a second shaft hole and a second connecting hole; In the first state, the pin is inserted into the first shaft hole, the second shaft hole, and the mounting hole, and the first limiting rod is separated from the first connecting hole and the second limiting rod is separated from the second connecting hole. In the second state, the pin is separated from the mounting hole, the first limiting rod is inserted into the first connecting hole, and the second limiting rod is inserted into the second connecting hole.

2. The exoskeleton according to claim 1, characterized in that, The back support assembly includes: A backrest is used to support the user's back. A backrest cushion is used to support the user's lower back. A hip-back connector, wherein the backrest and the cushion are connected to the hip-back connector, and the hip-back connector is connected to the hip joint support assembly.

3. The exoskeleton according to claim 2, characterized in that, The hip joint support assembly includes: A static platform for the hip joint is connected to the hip-back connector; A first driving component, the first end of which is rotatably connected to the static platform of the hip joint; A hip joint moving platform is rotatably connected to the second end of the first driving member, and the first driving member is used to push or pull the hip joint moving platform. A first restraint member, the first end of which is rotatably connected to the static platform of the hip joint, and the second end of which is fixedly connected to the dynamic platform of the hip joint.

4. The exoskeleton according to claim 3, characterized in that, The static platform of the hip joint and the dynamic platform of the hip joint are arc-shaped structures.

5. The exoskeleton according to any one of claims 1 to 4, characterized in that, The knee joint support assembly includes: Mounting rod, the first end of which is connected to the hip joint support assembly; A knee cap, wherein the second end of the mounting rod is connected to the knee cap; The second driving component is connected to the mounting rod; A leg support is connected to the second drive member, which is used to drive the leg support to rotate relative to the knee cap. A leg connecting rod is connected to the leg support member, and the leg connecting rod is used to connect to the ankle joint support assembly; A leg support, connected to the leg connecting rod, is used to support the user's legs.

6. The exoskeleton according to claim 5, characterized in that, The second driving element includes: The motor is connected to the mounting rod; The first bevel gear is connected to the output shaft of the motor; A pivot is rotatably connected to the knee joint cover, and the leg support is connected to the pivot. The second bevel gear is connected to the rotating shaft and meshes with the first bevel gear.

7. The exoskeleton according to claim 6, characterized in that, The ankle support assembly includes: Ankle joint connector, connected to the leg connecting rod; Ankle joint static platform, and ankle joint connector; The third driving component, the first end of which is rotatably connected to the ankle joint static platform; An ankle joint motion platform is rotatably connected to the second end of the third driving component; The second restraint member has a first end that is rotatably connected to the static platform of the ankle joint, and a second end that is rotatably connected to the dynamic platform of the ankle joint.

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