Exoskeleton system

Abstract

The invention provides an exoskeleton system, and belongs to the technical field of exoskeletons. The exoskeleton system comprises an exoskeleton device and a backpack device. The exoskeleton device comprises a connecting assembly, a first driving rod and a second driving rod, wherein the connecting assembly comprises a main body structure and a waist connecting structure; the main structure is located behind the waist of the human body. The first driving rod and the second driving rod are connected with the main structure. The waist connecting structures are arranged on the main body structure at intervals; the knapsack device comprises a knapsack body and a waist seal, the knapsack body is carried on the back of the human body, the waist seal is bound on the waist of the human body, and the two waist seals at the side waist positions of the human body are detachably and rigidly connected with the corresponding waist connecting structures respectively. In the exoskeleton system, the exoskeleton device is not independently provided with a waistband, but is worn together with the knapsack with the waist seal, the problem of wearing position conflict between the exoskeleton device and the knapsack with the waist seal is avoided, and the wearing comfort and safety of the exoskeleton device can be guaranteed.

Description

[0001] This application is a divisional application of a Chinese patent application with the application number 202410883139.9 and the application title "Exoskeleton Device and Backpack System", which was filed on July 2, 2024. Technical Field

[0002] This application relates to the technical field of exoskeletons, and particularly to an exoskeleton system. Background Art

[0003] An exoskeleton device for assisting walking (or called a lower limb exoskeleton device) can provide assistance for the user to stand up and walk, and is usually applied to outdoor scenarios such as medical rehabilitation, industrial safety, and tourism. Such a device can play roles such as extending the walking time, enhancing the walking ability, and saving physical strength for the user.

[0004] In the related art, an exoskeleton device usually needs to be worn and fixed around the user's waist with a heavy belt. However, in sports scenarios such as tourism and hiking, users often need to wear a backpack with a waistband. The waistband of the backpack and the belt of the exoskeleton device have conflicting wearing positions, which will affect the normal wearing of the belt of the exoskeleton device, resulting in a decrease in the wearing comfort and safety of the exoskeleton device. Summary of the Invention

[0005] This application provides an exoskeleton system, which can solve the problems of conflicting wearing positions between the exoskeleton device and the backpack, and the decrease in wearing comfort and safety.

[0006] The technical solution is as follows:

[0007] An exoskeleton system, the exoskeleton system includes: an exoskeleton device and a backpack device;

[0008] The exoskeleton device includes: a connection component, a first driving rod, and a second driving rod, and the connection component includes a main body structure and at least two waist connection structures;

[0009] The main body structure is located behind the human waist, and both ends of the main body structure are respectively located on the left and right sides of the human hip joint. The first driving rod and the second driving rod are respectively connected to the main body structure;

[0010] The at least two waist connection structures are arranged at intervals on the main body structure;

[0011] The backpack device includes a backpack body and a waistband, and the waistband is connected to the lower part of the backpack body;

[0012] The backpack body is carried on the human back, the waistband is strapped around the human waist, and the waistbands at the positions of both human side waists are respectively rigidly and detachably connected to the corresponding waist connection structures.

[0013] In some embodiments, the connection assembly further includes at least two drivers;

[0014] The at least two drivers are respectively located on the main body structure, and at least one of the drivers is provided on each of the left and right sides of the human hip joint;

[0015] The position of each driver is respectively close to one of the waist connection structures.

[0016] In some embodiments, the waist connection structure is a rigid structural member;

[0017] The waist connection structure has a first end and a second end. The first end is correspondingly connected to the main body structure, and the second end is correspondingly connected to the waist belt. At least one of the first end and the second end is a detachable rigid connection mechanism.

[0018] In some embodiments, the first end is fixedly connected to the main body structure, and the second end is provided with a movable clamping opening which clamps and fixes the waist belt, so that the second end is detachably and rigidly connected to the waist belt.

[0019] In some embodiments, the waist connection structure includes a first part and a second part which are detachably and rigidly connected. The first part is fixedly connected to the main body structure, and the second part is fixedly connected to the waist belt.

[0020] In some embodiments, the number of the waist connection structures is two, and the two waist connection structures are symmetrically arranged on the main body structure.

[0021] In some embodiments, the connection assembly further includes at least one stabilizing structure. The at least one stabilizing structure is located between the two ends of the main body structure, and the at least one stabilizing structure is respectively connected to the main body structure and the waist belt.

[0022] In some embodiments, the number of the stabilizing structures is two, and the two stabilizing structures are arranged at intervals on the main body structure between the two waist connection structures.

[0023] In some embodiments, the exoskeleton device further includes an external power supply assembly which is located inside the backpack body.

[0024] In some embodiments, the backpack device further includes a shoulder strap which is connected to the upper part of the backpack body and is carried on the human shoulder;

[0025] The backpack body is internally provided with a rigid support structure which is respectively connected to the shoulder strap and the waist belt.

[0026] The beneficial effects brought by the technical solution provided in this application at least include:

[0027] For the exoskeleton system of this application, the main structure can be detachably and rigidly connected to the waistband of a backpack device worn on the human waist through at least two waist connection structures. Thus, the exoskeleton device can be detachably connected to the waistband by using the waist connection structures, and the exoskeleton device can be worn and fixed to the human waist by using the waistband. Without the need for the exoskeleton device to be separately equipped with a belt, the exoskeleton device can be worn simultaneously with a backpack with a waistband, and there will be no problem of conflict in the wearing positions between them. The wearing comfort and safety of the exoskeleton device can be ensured. Brief Description of the Drawings

[0028] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 It is a schematic structural diagram of the exoskeleton device provided by the embodiment of this application;

[0030] Figure 2 It is a schematic structural diagram of the exoskeleton device provided by the embodiment of this application from the first perspective;

[0031] Figure 3 It is a schematic structural diagram of the exoskeleton device provided by the embodiment of this application from the second perspective;

[0032] Figure 4 It is a connection schematic diagram of the waist connection structure provided by the embodiment of this application;

[0033] Figure 5 It is a connection schematic diagram of the waist connection structure provided by another embodiment of this application;

[0034] Figure 6 It is a connection schematic diagram of the waist connection structure provided by another embodiment of this application;

[0035] Figure 7 It is a connection schematic diagram of the waist connection structure provided by another embodiment of this application;

[0036] Figure 8 It is a schematic structural diagram of the exoskeleton device provided by another embodiment of this application from the first perspective;

[0037] Figure 9 It is a schematic structural diagram of the system provided by the embodiment of this application from the first perspective;

[0038] Figure 10 It is a schematic structural diagram of the exoskeleton system provided in the embodiment of the present application from a second perspective;

[0039] Figure 11 It is a connection schematic diagram of the stable structure in the exoskeleton system provided in the embodiment of the present application.

[0040] The reference numerals in the figure are respectively represented as:

[0041] 100, human waist; 1001, waist-worn item; 200, human hip joint; 300, human leg; 400, human back;

[0042] 1, connection component;

[0043] 11, main body structure; 1101, third end; 1102, fourth end; 12, driver; 13, waist connection structure; 1301, first end; 1302, second end; 131, movable clamping mouth; 1311, first clamping body; 1312, second clamping body; 132, first part; 133, second part; 134, quick screw; 14, stable structure; 15, power supply interface;

[0044] 2, first driving rod;

[0045] 201, fifth end; 202, sixth end;

[0046] 3, second driving rod;

[0047] 301, seventh end; 302, eighth end;

[0048] 4, external power supply component;

[0049] 41, battery unit; 42, power transmission cable;

[0050] 5, backpack device;

[0051] 51, backpack body; 52, waist belt; 53, shoulder strap. Detailed implementation manners

[0052] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all the implementation manners consistent with the present application. On the contrary, they are only examples of the devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0053] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the Figure 1 orientation or positional relationship shown, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0054] It should be understood that in the present application, "electrically connected" can be understood as physical contact and electrical conduction of components; it can also be understood as a form of connection between different components in a circuit structure through physical lines such as copper foils or wires of a printed circuit board (PCB) that can transmit electrical signals. "Communication connection" can refer to electrical signal transmission, including wireless communication connection and wired communication connection. Wireless communication connection does not require a physical medium and does not belong to the connection relationship that limits the product structure. "Connection" and "connected" can both refer to a mechanical connection relationship or a physical connection relationship, that is, A is connected to B or A is connected with B can mean that there are fastening components (such as screws, bolts, rivets, etc.) between A and B, or A and B are in contact with each other and it is difficult to separate A and B.

[0055] Unless otherwise defined, all technical terms used in the embodiments of the present application have the same meaning as commonly understood by those of ordinary skill in the art.

[0056] To make the purpose, technical solutions, and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the drawings.

[0057] On the one hand, as shown in combination with Figure 1 , Figure 2 and 3 , this embodiment provides an exoskeleton device, and the exoskeleton device includes: a connection component 1, a first driving rod 2, and a second driving rod 3.

[0058] The connection component 1 includes a main body structure 11, at least two drivers 12, and at least two waist connection structures 13; the at least two drivers 12 are respectively located on the main body structure 11, and the first driving rod 2 and the second driving rod 3 are respectively connected to the main body structure 11 through at least one driver 12.

[0059] The at least two waist connection structures 13 are arranged at intervals on the main body structure 11, and the at least two waist connection structures 13 are used to detachably connect the main body structure 11 to the waist wearing article 1001.

[0060] For the exoskeleton device of this embodiment, the main structure 11 can be detachably connected to the waist-wearing item 1001 worn on the human waist 100 through at least two waist connection structures 13. Thus, the exoskeleton device can be detachably connected to the waist-wearing item 1001 by using the waist connection structures 13, and the exoskeleton device can be worn and fixed to the human waist 100 by using the waist-wearing item 1001, without the need for the exoskeleton device to be separately equipped with a waistband. In addition, the exoskeleton device can be worn simultaneously with a backpack with a lumbar support, etc., and there will be no problem of conflict in the wearing positions between them, and the wearing comfort and safety of the exoskeleton device can be guaranteed.

[0061] In this embodiment, the waist-wearing item 1001 can be various items worn on the human waist 100. It can be a functional item, such as the lumbar support of a backpack, a lumbar protector, or it can be a decorative item, such as a waistband, etc. Any item that can be worn and fixed on the human waist 100 can be used as the waist-wearing item 1001 of the embodiment of the present application and is detachably connected to the main structure 11 by using the waist connection structure 13.

[0062] Among them, the detachable connection between the main structure 11 and the waist-wearing item 1001 means that the main structure 11 and the waist-wearing item 1001 can be separated and can also be reconnected. When it is necessary to wear the exoskeleton device and the waist-wearing item 1001 simultaneously, the main structure 11 and the waist-wearing item 1001 can be connected together. When it is not necessary to wear the exoskeleton device, the main structure 11 and the waist-wearing item 1001 can be separated and the waist-wearing item 1001 can be used alone.

[0063] The main structure 11 rigidly connects the first driving rod 2 and its corresponding driver 12, and the second driving rod 3 and its corresponding driver 12 together, which can balance the reaction forces of the two driving rods and can balance the postures of the two driving rods during the operation of the exoskeleton device, enabling the two driving rods to achieve gait coupling, so that the exoskeleton device can better simulate the gait of the user and improve the assistance effect of the exoskeleton device.

[0064] In some possible implementation manners, refer to Figure 2 and Figure 3As shown, when the exoskeleton device of this embodiment is in a worn state, the main structure 11 is located behind the human waist 100. The main structure 11 has a third end 1101 and a fourth end 1102. The third end 1101 and the fourth end 1102 respectively extend to the left and right sides of the human hip joint 200, and a driver 12 is respectively provided. The first driving rod 2 has a fifth end 201 and a sixth end 202. The fifth end 201 is rotatably connected to the driver 12 corresponding to the third end 1101, and the sixth end 202 is connected to the human leg 300 on the corresponding side. The second driving rod 3 has a seventh end 301 and an eighth end 302. The seventh end 301 is rotatably connected to the driver 12 corresponding to the fourth end 1102, and the eighth end 302 is connected to the human leg 300 on the corresponding side.

[0065] Exemplarily, taking the front of the human body as a reference, the first perspective of the exoskeleton device is the left perspective, and the second perspective of the exoskeleton device is the right perspective.

[0066] The third end 1101 is located on the left side of the human hip joint 200, and the first driving rod 2 is connected to the left leg of the human body. The fourth end 1102 is located on the right side of the human hip joint 200, and the second driving rod 3 is connected to the right leg of the human body.

[0067] The exoskeleton device of this embodiment is detachably connected to the waist wearing article 1001 by using the waist connection structure 13. The waist wearing article 1001 is worn and fixed on the human waist 100, and then the exoskeleton device is worn and fixed on the human waist 100. The first driving rod 2 and the second driving rod 3 are respectively connected to the left leg and the right leg of the human body. When the user's left leg moves, the driver 12 corresponding to the first driving rod 2 is activated, and the first driving rod 2 rotates around the fifth end 201. The sixth end 202 of the first driving rod 2 provides mechanical assistance to the user's left leg. When the user's right leg moves, the driver 12 corresponding to the second driving rod 3 is activated, and the second driving rod 3 rotates around the seventh end 301. The eighth end 302 of the second driving rod 3 provides mechanical assistance to the user's right leg.

[0068] Exemplarily, the axis of rotation of the driver 12 driving the first driving rod 2, that is, the axis around which the first driving rod 2 rotates around the fifth end 201, coincides with the axis of rotation of the human leg 300 connected to the sixth end 202 around the human hip joint 200; the axis of rotation of the driver 12 driving the second driving rod 3, that is, the axis around which the second driving rod 3 rotates around the seventh end 301, coincides with the axis of rotation of the human leg 300 connected to the eighth end 302 around the human hip joint 200. Thus, when the first driving rod 2 and the second driving rod 3 assist the human leg 300, the axis of the assisting torque coincides with the axis of rotation of the human leg 300, resulting in better assisting comfort and assisting effect.

[0069] In some other possible implementation manners, the number of the drivers 12 in the exoskeleton device may be two, or may be three, four, etc. The number of the drivers 12 may correspond one by one to the number of the driving rods (including the first driving rod 2 and the second driving rod 3), or the number of the drivers 12 may be greater than the number of the driving rods. Two or more drivers 12 may be used to drive one driving rod to rotate, so as to increase the rotational torque of the driving rod and improve the assistance effect of the exoskeleton device.

[0070] The number of the waist connection structures 13 in the exoskeleton device may be two, or may be three, four, etc. At least two waist connection structures 13 are arranged at intervals on the main body structure 11, and may be evenly spaced or unevenly spaced.

[0071] Combined Figure 4 As shown, in some embodiments, the waist connection structure 13 has a first end 1301 and a second end 1302. The first end 1301 is correspondingly connected to the main body structure 11, and the second end 1302 is correspondingly connected to the waist wearing article 1001. At least one of the first end 1301 and the second end 1302 is a detachable connection mechanism.

[0072] Through the above arrangement, by designing the first end 1301 or the second end 1302 of the waist connection structure 13 as a detachable connection mechanism, the detachable connection with the main body structure 11 or the waist wearing article 1001 can be realized. Exemplarily, the detachable connection mechanism includes but is not limited to a snap connection mechanism, a screw connection mechanism, a pin connection mechanism, etc.

[0073] Combined Figure 5 As shown, in some embodiments, the first end 1301 is fixedly connected to the main body structure 11, and the second end 1302 is provided with a movable clamping opening 131 for clamping and fixing the waist wearing article 1001, so that the second end 1302 is detachably connected to the waist wearing article 1001.

[0074] Through the above arrangement, the second end 1302 of the waist connection structure 13 can be detachably connected to the waist wearing article 1001 by using the movable clamping opening 131, which is convenient to operate, is beneficial to simplifying the operation steps of connecting and separating the exoskeleton device and the waist wearing article 1001, and improves the use convenience of the exoskeleton device.

[0075] In some possible implementation manners, referring to Figure 5As shown, the movable clamping opening 131 includes a first clamping body 1311 and a second clamping body 1312. The ends of the first clamping body 1311 and the second clamping body 1312 close to the first end 1301 are movably connected. The ends of the first clamping body 1311 and the second clamping body 1312 close to the second end 1302 can be opened and closed. After the waist-wearing article 1001 extends between the first clamping body 1311 and the second clamping body 1312, when the first clamping body 1311 and the second clamping body 1312 are closed, the waist-wearing article 1001 can be clamped.

[0076] Exemplarily, the position of the first clamping body 1311 is fixed, and the position of the second clamping body 1312 is movable. Among them, the movable connection method between the fixed clamping body and the movable clamping body can be a rotational connection or an elastic connection. For example, when the exoskeleton device needs to be connected to the waist-wearing article 1001, the first clamping body 1311 and the second clamping body 1312 are driven to open by an external force, and the waist-wearing article 1001 can enter between the first clamping body 1311 and the second clamping body 1312. After the external force is cancelled, the first clamping body 1311 and the second clamping body 1312 are closed, and the waist-wearing article 1001 can be clamped, thus realizing the connection between the exoskeleton device and the waist-wearing article 1001. When the exoskeleton device needs to be separated from the waist-wearing article 1001, the first clamping body 1311 and the second clamping body 1312 can also be driven to open, and the waist-wearing article 1001 can exit between the first clamping body 1311 and the second clamping body 1312, thus realizing the separation between the exoskeleton device and the waist-wearing article 1001.

[0077] Among them, when the first clamping body 1311 and the second clamping body 1312 are rotationally connected, a rotating shaft can pass through the first clamping body 1311 and the second clamping body 1312 at the same time, and a torsion spring member can also be arranged on the rotating shaft to provide an elastic clamping force for the first clamping body 1311 and the second clamping body 1312.

[0078] Using the movable clamping opening 131 of this embodiment, the connection position of the waist connection structure 13 on the waist-wearing article 1001 can also be adjusted arbitrarily, so that the rotating shafts of the two drivers 12 basically coincide with the axes of the left and right hip joints of the human body, thus having a better assisting effect.

[0079] Combined with Figure 6 As shown, in some embodiments, the waist connection structure 13 includes a first part 132 and a second part 133 that are detachably connected. The first part 132 is fixedly connected to the main body structure 11, and the second part 133 is used to fixedly connect the waist-wearing article 1001.

[0080] With the above arrangement, the first part 132 of the waist connection structure 13 is fixedly connected to the main body structure 11, and the second part 133 is fixedly connected to the waist-worn article 1001. When the first part 132 and the second part 133 are connected together, the connection between the exoskeleton device and the waist-worn article 1001 is achieved. When the first part 132 and the second part 133 are separated, the separation between the exoskeleton device and the waist-worn article 1001 is achieved. The operation is convenient, which is beneficial to simplifying the connection and separation operation steps of the exoskeleton device and the waist-worn article 1001, and improving the usability of the exoskeleton device.

[0081] In some possible implementation manners, one of the first part 132 and the second part 133 is a male fastener, and the other is a female fastener. The male fastener and the female fastener can achieve quick plugging and separation, which is beneficial to improving the usability of the exoskeleton device.

[0082] Combined with Figure 7 As shown, in some embodiments, the first end 1301 of the waist connection structure 13 can be connected to the main body structure 11 through a quick screw 134, and the second end 1302 of the waist connection structure 13 can also be correspondingly connected to the waist-worn article 1001 through the quick screw 134.

[0083] Combined with Figure 1 、 Figure 2 and 3 As shown, in some embodiments, the number of the waist connection structures 13 is two, and the two waist connection structures 13 are symmetrically arranged on the main body structure 11. Thus, the exoskeleton device of this embodiment can be detachably connected to the waist-worn article 1001 at two positions, and the two positions are symmetric with respect to the main body structure 11, which is beneficial to improving the gait coupling effect of the two driving rods at both ends of the main body structure 11.

[0084] In some possible implementation manners, both ends of the main body structure 11 are respectively located on the left and right sides of the human hip joint 200, and drivers 12 are respectively arranged at both ends of the main body structure 11. The drivers 12 are also located on the left and right sides of the human hip joint 200. At this time, the two waist connection structures 13 are also arranged on the left and right sides of the human hip joint 200, so that the positions of the waist connection structures 13 and the drivers 12 are as close as possible.

[0085] During the operation of the exoskeleton device, the main structure 11 will be subject to an upward reaction force generated by the driving rod and a downward supporting force generated by the waist connection structure 13. Since the above-mentioned reaction force and supporting force do not coincide and cannot be offset, inevitably, the main structure 11 will generate an overturning moment and will rotate around the position where the waist connection structure 13 is located. In order to minimize such rotation of the main structure 11 as much as possible, the positions of the waist connection structure 13 and the driver 12 can be arranged as close as possible, which is beneficial to reducing the distance between the reaction force and the supporting force, reducing the overturning moment of the main structure 11, and thus beneficial to the main structure 11 maintaining the working posture during the operation of the exoskeleton device and improving the assisting effect of the exoskeleton device.

[0086] Combined with Figure 1 , Figure 3 , Figure 4 and Figure 6 shown, in some embodiments, the connection assembly 1 further includes at least one stabilizing structure 14, and at least one stabilizing structure 14 is located between the two ends of the main structure 11 and is used to connect the main structure 11 and the waist wearing article 1001.

[0087] In order to further stabilize the posture of the main structure 11 during operation, at least one stabilizing structure 14 is also provided between the two ends of the main structure 11. The stabilizing structure 14 is connected between the main structure 11 and the waist wearing article 1001 and can assist the waist connection structure 13 in maintaining the posture of the main structure 11 and the exoskeleton device.

[0088] Exemplarily, the stabilizing structure 14 is located between the two waist connection structures 13, and the main structure 11 can be suspended below the waist wearing article 1001 to prevent the main structure 11 between the two waist connection structures 13 from moving up and down under the action of the reaction force. For example, taking Figure 3 as an example, when the second driving rod 3 operates, it will apply an upward reaction force to the main structure 11, and the acting point of the reaction force is located on the right side of the waist connection structure 13. At this time, the main structure 11 on the left side of the main structure 11 will tend to move downwards. The stabilizing structure 14 can connect the main structure 11 at this position to the waist wearing article 1001 and apply an upward pulling force to the main structure 11 at this position to offset the downward movement trend of the main structure 11 at this position.

[0089] Combined with Figure 3 , Figure 4 and 6 shown, in some embodiments, the number of the stabilizing structures 14 is two, and the two stabilizing structures 14 are arranged at intervals on the main structure 11 between the two waist connection structures 13.

[0090] Through the above arrangement, the main structure 11 is suspended below the waist wearing article 1001 through the two stabilizing structures 14, which can respectively offset the two reaction forces applied to the main structure 11 by the two driving rods.

[0091] Combination Figure 4 and Figure 8 As shown, in some embodiments, the exoskeleton device further includes an external power supply component 4 , which is located on the waist-worn article 1001 , and the external power supply component 4 is electrically connected to at least two drivers 12 .

[0092] Therefore, the exoskeleton device does not need a built-in battery. On the one hand, the volume and weight of the exoskeleton device can be reduced, reducing the burden of the exoskeleton device on the human waist 100. On the other hand, the battery capacity of the external power supply component 4 is no longer limited by the volume of the exoskeleton device, and a larger battery capacity can be configured, thereby improving the endurance of the exoskeleton device.

[0093] For example, Figure 8 As shown, when the waist-worn article 1001 is a belt-like article, the external power supply assembly 4 can be hung on the outside of the waist-worn article 1001, such as Figure 4 As shown, when the waist-worn article 1001 is a backpack-type article with a waist seal 52 , the external power supply component 4 can be built inside the waist-worn article 1001 .

[0094] In some possible implementations, reference Figure 4 and Figure 8 As shown, the external power supply component 4 includes a battery unit 41 and a power transmission cable 42, the connection component 1 is provided with a power supply interface 15, the battery unit 41 is electrically connected to the power supply interface 15 through the power transmission cable 42, and the battery unit 41 supplies power to at least two drivers 12 through the power transmission cable 42 and the power supply interface 15.

[0095] On the other hand, combined Figure 9 , Figure 10 and Figure 11 As shown, this embodiment provides an exoskeleton system, which includes the exoskeleton device of the present application and a backpack device 5.

[0096] The exoskeleton device includes: a connection component 1, a first drive rod 2 and a second drive rod 3. The connection component 1 includes a main structure 11, at least two drivers 12 and at least two waist connection structures 13; the main structure 11 is located behind the human waist 100, and the two ends of the main structure 11 are respectively located on the left and right sides of the human hip joint 200, the first drive rod 2 and the second drive rod 3 are respectively connected to the main structure 11; at least two waist connection structures 13 are arranged on the main structure 11 at intervals.

[0097] The backpack device 5 includes a backpack body 51 and a waist belt 52. The waist belt 52 is located at the lower part of the backpack body 51. The backpack body 51 is carried on the human back 400, and the waist belt 52 is strapped to the human waist 100. The waist belts 52 at the positions of the two human side waists are respectively detachably and rigidly connected to the corresponding waist connection structures 13. Thus, the exoskeleton device can be used simultaneously with the backpack device 5 without affecting the wearing comfort and safety of both.

[0098] In the exoskeleton system of the present application, the main body structure 11 can be detachably and rigidly connected to the waist belt 52 of the backpack device 5 worn on the human waist 100 through at least two waist connection structures 13. Thus, the exoskeleton device can be detachably connected to the waist belt 52 by using the waist connection structures 13, and the exoskeleton device can be worn and fixed to the human waist 100 by using the waist belt 52. The exoskeleton device itself does not need to be separately equipped with a waistband. The exoskeleton device can be worn simultaneously with a backpack with a waist belt 52, and there will be no problem of wearing position conflict between them. The wearing comfort and safety of the exoskeleton device can be guaranteed.

[0099] In some possible implementation manners, the waist connection structure 13 is a rigid structural member, so that the waist connection structure 13 can achieve the rigid connection between the main body structure 11 and the waist belt 52.

[0100] Combined Figure 9 and Figure 10 As shown, in some embodiments, the waist belt 52 exerts a downward acting force on the main body structure 11 through the corresponding waist connection structure 13, and approaches the upward acting forces exerted on the main body structure 11 by the first driving rod 2 and the second driving rod 3.

[0101] Through the above arrangement, the waist connection structures 13 are respectively located at both ends of the main body structure 11, and the two driving rods (including the first driving rod 2 and the second driving rod 3) are also respectively located at both ends of the main body structure 11. The positions of the waist connection structures 13 and the two driving rods are close to each other. During the boosting process, the upward acting force exerted on the main body structure 11 by the first driving rod 2 or the second driving rod 3 and the downward acting force exerted on the main body structure 11 by the waist connection structure 13 are close to each other, and the distance between the two acting forces is small. The overturning moment formed on the main body structure 11 is small. Thus, the exoskeleton device is easier to maintain its posture during the boosting process, which is beneficial to improving the boosting effect of the exoskeleton system.

[0102] Exemplarily, the stabilizing structure 14 is close to the connection position of the waist belt 52 and the backpack body 51. Or, the stabilizing structure 14 is located at the bottom of the backpack body 51.

[0103] In this embodiment, the backpack body 51 and the exoskeleton device are connected together by a waist belt 52. When the exoskeleton device works, the reaction forces generated by the two drive rods are first transmitted to the main body structure 11, and then the main body structure 11 transmits them to the waist belt 52 through the waist connection structure 13. The waist belt 52 applies a part of the reaction force to the human waist, and the other part of the reaction force is transmitted to the backpack body 51. When the backpack body 51 is in a loaded state, it is subject to a downward gravity, which offsets a part of the reaction force. Thus, connecting the backpack body 51 and the exoskeleton device together by the waist belt 52 can also achieve the effect of alleviating the burden on the human waist 100.

[0104] Exemplarily, a rigid support structure is built in the backpack body 51. The rigid support structure is connected to the waist belt 52 and the shoulder straps 53 of the backpack device 5. The waist belt 52 can transmit a part of the reaction force to the shoulder straps 53 through the rigid support structure, thereby achieving the effect of reducing the burden on the waist.

[0105] Combined Figure 9 and Figure 10 As shown, in some embodiments, the exoskeleton device includes an external power supply component 4. The external power supply component 4 is located in the backpack body 51 and is electrically connected to at least two drivers 12 through a power transmission cable 42.

[0106] Thus, in the exoskeleton system of this embodiment, the volume and mass of the exoskeleton device are relatively small, which is beneficial to reducing the burden on the human waist 100 by the exoskeleton device. The battery capacity of the external power supply component 4 is no longer limited by the volume of the exoskeleton device, and a larger battery capacity can be configured, thereby improving the endurance of the exoskeleton device.

[0107] It should be noted that, as used herein, "a plurality of" and "at least one" mean one or more, and "a plurality of" and "at least two" mean two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0108] In the description of this application, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

[0109] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0110] In the present application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include contact between the first and second features through additional features therebetween rather than direct contact. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is lower than that of the second feature.

[0111] In the description of this specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application.

[0112] The above are only examples of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present application shall be included within the protection scope of the present application.

Claims

1. An exoskeleton system, characterized in that, The exoskeleton system includes: an exoskeleton device and a backpack device (5); The exoskeleton device includes: a connection assembly (1), a first drive rod (2), and a second drive rod (3), and the connection assembly (1) includes a main body structure (11) and at least two waist connection structures (13); The main body structure (11) is located behind the human waist (100), and both ends of the main body structure (11) are respectively located on the left and right sides of the human hip joint (200), and the first drive rod (2) and the second drive rod (3) are respectively connected to the main body structure (11); The at least two waist connection structures (13) are arranged at intervals on the main body structure (11); The backpack device (5) includes a backpack body (51) and a waist belt (52), and the waist belt (52) is connected to the lower part of the backpack body (51); The backpack body (51) is carried on the human back (400), the waist belt (52) is strapped to the human waist (100), and the waist belts (52) at the positions of the two human side waists are respectively detachably and rigidly connected to the corresponding waist connection structures (13).

2. The exoskeleton system according to claim 1, characterized in that, The connection assembly (1) further includes at least two drivers (12); The at least two drivers (12) are respectively located on the main body structure (11), and at least one driver (12) is respectively provided on the left and right sides of the human hip joint (200); The position of each driver (12) is respectively close to one waist connection structure (13).

3. The exoskeleton system according to claim 1 or 2, characterized in that, The waist connection structure (13) is a rigid structural member; The waist connection structure (13) has a first end (1301) and a second end (1302), the first end (1301) is correspondingly connected to the main body structure (11), the second end (1302) is correspondingly connected to the waist belt (52), and at least one of the first end (1301) and the second end (1302) is a detachable rigid connection mechanism.

4. The exoskeleton system according to claim 3, characterized in that, The first end (1301) is fixedly connected to the main body structure (11), the second end (1302) is provided with a movable clamp (131), and the movable clamp (131) clamps and fixes the waist belt (52) so that the second end (1302) is detachably and rigidly connected to the waist belt (52).

5. The exoskeleton system according to claim 3, characterized in that, The waist connection structure (13) includes a first part (132) and a second part (133) that are detachably and rigidly connected, the first part (132) is fixedly connected to the main body structure (11), and the second part (133) is fixedly connected to the waist belt (52).

6. The exoskeleton system according to any one of claims 1 to 5, characterized in that, The number of the waist connection structures (13) is two, and the two waist connection structures (13) are symmetrically arranged on the main body structure (11).

7. The exoskeleton system according to any one of claims 1 to 6, characterized in that, The connection assembly (1) further includes at least one stabilizing structure (14), the at least one stabilizing structure (14) is located between the two ends of the main body structure (11), and the at least one stabilizing structure (14) is respectively connected to the main body structure (11) and the waist belt (52).

8. The exoskeleton system according to claim 7, characterized in that, The number of the stable structures (14) is two, and the two stable structures (14) are arranged at intervals on the main body structure (11) between the two waist connection structures (13).

9. The exoskeleton system according to any one of claims 1 to 8, characterized in that, The exoskeleton device further includes an external power supply component (4), and the external power supply component (4) is located in the backpack body (51).

10. The exoskeleton system according to any one of claims 1 to 9, characterized in that, The backpack device (5) further includes a shoulder strap (53), and the shoulder strap (53) is connected to the upper part of the backpack body (51), and the shoulder strap (53) is carried on the human shoulder; The backpack body (51) is internally provided with a rigid support structure, and the rigid support structure is respectively connected to the shoulder strap (53) and the waist belt (52).

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