Power-assisted exoskeleton

Abstract

The invention provides a power-assisted exoskeleton. The power-assisted exoskeleton comprises a bracket unit, a driving unit, a waist transmission unit, a back power-assisted unit and two leg power-assisted units, the bracket unit is suitable for being fixed on a human body; the driving unit comprises a first rotating shaft; the waist transmission unit is arranged on the bracket unit and comprises a second rotating shaft which is in reverse transmission connection with the first rotating shaft; the back power assisting unit is in circumferential limiting connection with the second rotating shaft; the two leg assisting units are connected with the first rotating shaft in a circumferential limiting manner; when the driving unit operates, the first rotating shaft rotates in the clockwise direction and drives the second rotating shaft to rotate in the anticlockwise direction, so that the back assisting unit is driven to rotate in the anticlockwise direction to apply pulling force to the back of the human body, and the leg assisting unit is driven to rotate in the clockwise direction to apply pressure to the legs of the human body. Under the dual effects of pulling force applied to the back and pressure applied to the legs, a person can be assisted to bend down to lift a heavy object, and the weight of the waist of the human body can be remarkably reduced.

Description

Technical Field

[0001] The present application relates to the technical field of exoskeleton robots, and in particular to a power-assisted exoskeleton. Background Art

[0002] Lifting heavy objects and other weight-bearing activities can easily cause cumulative muscle damage and pain in the lower back muscles. Currently, the use of waist-assisted exoskeletons can provide support to the lower back, thereby reducing the load on the waist and the damage caused by lifting heavy objects.

[0003] However, the current wearable waist-assisted exoskeletons have limited effectiveness. The main problem is that these technologies only consider providing support for the waist, without considering the coordinated movements of the back, legs, and other parts of the body during weight-bearing and straightening. This results in a limited support effect. Furthermore, they fail to consider the compatibility of waist-assisted exoskeletons with the human body, and some waist-assisted exoskeletons can affect a person's normal walking and bending. Furthermore, the power and transmission structures of current waist-assisted exoskeletons are complex, and the devices are heavy, placing a certain burden on the body. Summary of the Invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present application is to propose a power-assisted exoskeleton that aims to solve the problem of insufficient coordination of power assistance provided by waist-assisted exoskeletons to various parts of the human body and improve the power-assisted effect.

[0005] The present application proposes a power-assisted exoskeleton, which includes a support unit, a drive unit, a waist transmission unit, a back power-assisted unit and two leg power-assisted units; the support unit is suitable for being fixed on a human body; the drive unit is arranged on the support unit, and the drive unit includes a first rotating shaft, which extends in a direction parallel to the coronal axis of the human body; the waist transmission unit is arranged on the support unit, and the waist transmission unit includes a second rotating shaft, which is reversely driven and connected to the first rotating shaft; the back power-assisted unit is circumferentially limitedly connected to the second rotating shaft to be suitable for rotating with the second rotating shaft; part of the back power-assisted unit is suitable for being connected to the back of the human body; the two leg power-assisted units are both circumferentially limitedly connected to the first rotating shaft to be suitable for rotating with the first rotating shaft; part of each leg power-assisted unit is suitable for being connected to the front side of the human body's legs; when the drive unit is running, the first rotating shaft rotates in a clockwise direction and drives the second rotating shaft to rotate in a counterclockwise direction; the back power-assisted unit rotates counterclockwise with the second rotating shaft and applies tension to the back of the human body; the leg power-assisted units rotate clockwise with the first rotating shaft and apply pressure to the human body's legs.

[0006] According to the power-assisted exoskeleton of the present application, under the dual effects of applying tension to the back and pressure to the legs, it assists people in bending over to lift heavy objects, which can significantly reduce the weight on the human waist and avoid cumulative muscle damage and pain in the waist; it can enhance the load-bearing capacity of the waist, improve the wearer's load-bearing capacity, and increase the effective working time.

[0007] According to some embodiments of the present application, the driving unit also includes a first bearing seat, a pneumatic tendon, and a waist rocker arm; the first bearing seat is arranged on the bracket unit, and the first rotating shaft is rotatably arranged on the first bearing seat; one end of the pneumatic tendon is connected to the bracket unit; one end of the waist rocker arm is rotatably connected to the other end of the pneumatic tendon, and the other end of the waist rocker arm is circumferentially limitedly connected to the first rotating shaft; wherein the pneumatic tendon drives the waist rocker arm to rotate clockwise when inflated, and drives the first rotating shaft to rotate clockwise.

[0008] According to some embodiments of the present application, a first key is arranged between the waist rocker arm and the first rotating shaft, the first rotating shaft is formed with a first key slot that cooperates with the first key, and the waist rocker arm is formed with a second key slot that cooperates with the first key; wherein a first gap is formed between the first key and the first key slot and / or the second key slot along the circumference of the first rotating shaft; after the first rotating shaft rotates through the first gap relative to the waist rocker arm, the first key is limitedly matched with the first key slot and the second key slot to be suitable for the circumferentially limited connection between the waist rocker arm and the first rotating shaft.

[0009] According to some embodiments of the present application, the waist transmission unit also includes a second bearing seat, a first gear and a second gear; the second bearing seat is arranged on the bracket unit, and the second rotating shaft is rotatably arranged on the second bearing seat; the first gear is circumferentially limited and connected to the first rotating shaft, the second gear is circumferentially limited and connected to the second rotating shaft, and the first gear is meshingly connected to the second gear.

[0010] According to some embodiments of the present application, the drive unit is constructed into two groups, and the two first rotating shafts are respectively connected to a leg power-assisting unit; the waist transmission unit is arranged between the two groups of drive units; the waist transmission unit includes two second bearing seats, and the two ends of the second rotating shaft are respectively rotatably connected to the two second bearing seats, and the two ends of the second rotating shaft are respectively connected to the two first rotating shafts in reverse transmission.

[0011] According to some embodiments of the present application, the back power assist unit includes a back plate and a back rocker arm; the back plate is suitable for connecting to the back of the human body; one end of the back rocker arm is circumferentially limitedly connected to the second rotating shaft, and the other end of the back rocker arm is rotatably connected to the back plate; when the second rotating shaft rotates counterclockwise, it drives the back rocker arm to rotate counterclockwise and drives the back plate to move, so as to apply tension to the back of the human body.

[0012] According to some embodiments of the present application, a second key is arranged between the back rocker arm and the second rotating shaft, the second rotating shaft is formed with a third key slot that cooperates with the second key, and the back rocker arm is formed with a fourth key slot that cooperates with the second key; wherein the second key and the third key slot and / or the fourth key slot form a second gap along the circumference of the second rotating shaft; after the back rocker arm rotates through the second gap relative to the second rotating shaft, the second key is limitedly matched with the third key slot and the fourth key slot to adapt to the circumferential limited connection between the back rocker arm and the second rotating shaft.

[0013] According to some embodiments of the present application, the leg power assist unit includes a leg baffle and a leg swing arm assembly; the leg baffle is suitable for connecting to the front side of the human leg; one end of the leg swing arm assembly is circumferentially limitedly connected to the first rotating shaft, and the other end of the leg swing arm assembly is connected to the leg baffle; when the first rotating shaft rotates clockwise, it drives the leg swing arm assembly to rotate clockwise and drives the leg baffle to move.

[0014] According to some embodiments of the present application, the leg swing arm assembly includes a first leg swing arm, a second leg swing arm and a connecting sleeve; one end of the first leg swing arm is circumferentially limitedly connected to the first rotating shaft; the other end of the first leg swing arm is formed with at least one first connection part; one end of the second leg swing arm is formed with at least one second connection part; the other end of the second leg swing arm is formed with a plurality of third connection parts spaced apart along the coronal axis direction of the human body; one end of the connecting sleeve is sleeved with the other end of the first leg swing arm, and the other end of the connecting sleeve is sleeved with one end of the second leg swing arm; the connecting sleeve is formed with a plurality of fourth connection parts spaced apart along the sagittal axis direction of the human body; wherein the first connection part is cooperated with any one of the fourth connection parts, and the second connection part is cooperated with any one of the fourth connection parts, so as to be suitable for adjusting the relative position of the leg baffle in the sagittal axis direction of the human body; the leg baffle is cooperated with any one of the third connection parts, so as to be suitable for adjusting the relative position of the leg baffle in the coronal axis direction of the human body.

[0015] According to some embodiments of the present application, the bracket unit includes a bracket body, at least two hip fixation components and a limiter, and the bracket body is provided with a drive unit and a waist transmission unit; the two hip fixation components are movably arranged on both sides of the bracket body along the coronal axis direction of the human body; the limiter is suitable for selectively limiting the relative movement of the hip fixation components and the bracket body.

[0016] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 is a schematic structural diagram of a power-assisted exoskeleton according to some embodiments of the present application;

[0019] Figure 2 is a schematic structural diagram of a driving unit and a support unit according to some embodiments of the present application;

[0020] Figure 3 is a schematic structural diagram of a waist transmission unit and a first rotating shaft according to some embodiments of the present application;

[0021] Figure 4 is a schematic structural diagram of a back power assist unit according to some embodiments of the present application;

[0022] Figure 5 is a schematic structural diagram of a leg power-assisting unit according to some embodiments of the present application;

[0023] Figure 6 It is a schematic structural diagram of a bracket unit according to some embodiments of the present application.

[0024] Reference numerals:

[0025] Bracket unit 10; bracket body 11; waist bracket 111; back bracket 112; hip fixing assembly 12; slide rail 13;

[0026] Drive unit 20; first rotating shaft 21; first shaft section 211; second shaft section 212; third shaft section 213; seventh connecting portion 214; pneumatic muscle 22; waist swing rod 23; first bearing seat 24; first key 25; first keyway 26; third key 27; fifth keyway 28; connecting lug 29;

[0027] Waist transmission unit 30; second bearing seat 31; second rotating shaft 32; first gear 33; second gear 34; second key 35; third keyway 36;

[0028] Back power assist unit 40; back plate 41; back swing bar 42; weight reduction slot 43; double earring joint 44;

[0029] Leg power assist unit 50; third bearing seat 51; leg baffle 52; first leg swing link 53; second leg swing link 54; connecting sleeve shaft 55; first connecting portion 531; second connecting portion 541; third connecting portion 542; fifth connecting portion 521; sixth connecting portion 532; connecting boss 522;

[0030] Strap slot 60. DETAILED DESCRIPTION

[0031] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0032] Reference below Figures 1-6 A power-assisted exoskeleton according to an embodiment of the present application is described.

[0033] The present application proposes a power-assisted exoskeleton, which includes a support unit 10, a drive unit 20, a waist transmission unit 30, a back power-assisted unit 40 and two leg power-assisted units 50; the support unit 10 is suitable for being fixed on a human body; the drive unit 20 is arranged on the support unit 10, and the drive unit 20 includes a first rotating shaft 21, and the first rotating shaft 21 is extended in a direction parallel to the coronal axis of the human body; the waist transmission unit 30 is arranged on the support unit 10, and the waist transmission unit 30 includes a second rotating shaft 32, and the second rotating shaft 32 is reversely driven and connected to the first rotating shaft 21; the back power-assisted unit 40 is circumferentially limited and connected to the second rotating shaft 32 , so as to be suitable for rotating with the second rotating shaft 32; part of the back power-assisting unit 40 is suitable for connecting with the back of the human body; the two leg power-assisting units 50 are both circumferentially limitedly connected with the first rotating shaft 21, so as to be suitable for rotating with the first rotating shaft 21; part of each leg power-assisting unit 50 is suitable for connecting with the front side of the human leg; wherein when the driving unit 20 is running, the first rotating shaft 21 rotates in a clockwise direction, and drives the second rotating shaft 32 to rotate in a counterclockwise direction; the back power-assisting unit 40 rotates counterclockwise with the second rotating shaft 32, and applies tension to the back of the human body; the leg power-assisting unit 50 rotates clockwise with the first rotating shaft 21, and applies pressure to the human leg.

[0034] According to the power-assisted exoskeleton of the present application, the bracket unit 10 is fixed on the human body to realize the wearing of the power-assisted exoskeleton, part of the back power-assisted unit 40 is connected to the back of the human body, and part of the leg power-assisted unit 50 is connected to the front of the human body's legs. When the driving unit 20 is in operation, the first rotating shaft 21 rotates clockwise, on the one hand, driving the leg power-assisted unit 50 to rotate clockwise; on the other hand, driving the second rotating shaft 32 to rotate counterclockwise, and synchronously driving the back power-assisted unit 40 to rotate counterclockwise through the waist transmission unit 30. When the leg power-assisted unit 50 rotates clockwise, it applies a downward pressure force to the human body's legs, driving the legs to rotate clockwise backward relative to the torso, assisting the human body's legs to stand upright; when the back power-assisted unit 40 rotates counterclockwise, it applies a backward pulling force to the human body's back, pulling the back to rotate counterclockwise backward relative to the waist, assisting the back to stand upright. The present application combines back power-assisted and leg power-assisted to assist the human body to stand up from the load when bending over and bending the knees to pick up heavy objects, thereby reducing the burden on the human body's muscles. The coronal axis direction of the human body refers to the left-right extension direction of the human body, and the clockwise rotation direction refers to the rotation direction of the first rotation axis 21 when observing from the right side of the human body.

[0035] The power-assisted exoskeleton of this application, with the dual assistance of back tension and leg pressure, assists a person in bending over and lifting heavy objects, significantly reducing the weight on the waist and preventing cumulative muscle damage and pain in the waist. It also enhances the waist's load-bearing capacity, improving the wearer's load-bearing capacity and increasing effective working time. This application can be widely used in a variety of scenarios, including emergency rescue, forest firefighting, load-bearing marches, outdoor work, production line assembly, industrial logistics, and elderly care.

[0036] According to some embodiments of the present application, the driving unit 20 further includes a first bearing seat 24, a pneumatic muscle 22, and a waist swing rod 23; the first bearing seat 24 is arranged on the bracket unit 10, and the first rotating shaft 21 is rotatably arranged on the first bearing seat 24; one end of the pneumatic muscle 22 is connected to the bracket unit 10; one end of the waist swing rod 23 is rotatably connected to the other end of the pneumatic muscle 22, and the other end of the waist swing rod 23 is circumferentially limitedly connected to the first rotating shaft 21; wherein the pneumatic muscle 22 drives the waist swing rod 23 to rotate clockwise when inflated, and drives the first rotating shaft 21 to rotate clockwise. Figure 2 As shown, in this embodiment, the first bearing seat 24 is used to mount the first rotating shaft 21, and the pneumatic tendon 22 and the waist swing rod 23 play the main driving role. When the pneumatic tendon 22 is inflated, the pneumatic tendon 22 contracts under the action of air pressure, driving the waist swing rod 23 to rotate clockwise. Figure 2In the direction A shown, the waist swing arm 23 drives the first rotating shaft 21 to rotate clockwise. The first rotating shaft 21 synchronously transmits power to the leg power-assisting unit 50 and the second rotating shaft 32, and further to the back power-assisting unit 40, thereby applying auxiliary force to the human body and reducing the burden on the human muscles. This embodiment uses the pneumatic tendon 22 as the main power component, which is easy to operate and has a lightweight structure.

[0037] According to some embodiments of the present application, a first key 25 is arranged between the waist rocker arm 23 and the first rotating shaft 21, the first rotating shaft 21 is formed with a first key groove 26 that cooperates with the first key 25, and the waist rocker arm 23 is formed with a second key groove that cooperates with the first key 25; wherein a first gap is formed between the first key 25 and the first key groove 26 and / or the second key groove along the circumference of the first rotating shaft 21; after the first rotating shaft 21 rotates through the first gap relative to the waist rocker arm 23, the first key 25 is limitedly matched with the first key groove 26 and the second key groove, so as to be suitable for the circumferential limited connection between the waist rocker arm 23 and the first rotating shaft 21.

[0038] It should be noted that the first gap in this application refers to the gap between the first key 25 and the first keyway 26 and / or the second keyway when the wearer is in a normal upright position and the drive unit 20 is not in operation. In this embodiment, the provision of the first gap allows for free relative rotation between the first rotation axis 21 and the waist swing link 23 within a certain angle, thereby enabling the wearer to walk and move normally while wearing the power-assisted exoskeleton of this application without bearing any weight. Specifically, because the waist swing link 23 is constrained by the pneumatic tendon 22 and cannot rotate freely, when the wearer is walking normally, lifting their legs will cause the leg power-assisting unit 50 to rotate counterclockwise, thereby causing the first rotation axis 21 to rotate counterclockwise. At this time, the first rotation axis 21 rotates relative to the waist swing link 23 within the range of the first gap and does not cause the waist swing link 23 to rotate counterclockwise. Therefore, the drive unit 20 does not restrict the leg power-assisting unit 50 within a certain range, without affecting the wearer's normal walking.

[0039] Furthermore, when the wearer squats and bends to carry a heavy object, their hip joints rotate, causing the leg assist unit 50 to rotate significantly counterclockwise in response to the wearer's body shape, driving relative rotation between the first rotation axis 21 and the waist swing link 23. The first rotation axis 21 rotates counterclockwise relative to the waist swing link 23 through the allowable range of the first gap, achieving circumferential limit engagement. At this point, the waist swing link 23 can transmit the clockwise rotational force to the first rotation axis 21, causing the first rotation axis 21 to drive the leg assist unit 50 and the back assist unit 40, thereby assisting the wearer in standing up from the weighted position.

[0040] In some embodiments, the first rotational axis 21 includes a first shaft segment 211, a second shaft segment 212, and a third shaft segment 213. The diameters of the first shaft segment 211, the second shaft segment 212, and the third shaft segment 213 can be set differently to accommodate different structural components. The second shaft segment 212 is coupled to the waist swing link 23 and is provided with a first keyway 26.

[0041] According to some embodiments of the present application, the waist transmission unit 30 further includes a second bearing seat 31, a first gear 33 and a second gear 34; the second bearing seat 31 is provided on the bracket unit 10, and the second rotating shaft 32 is rotatably provided on the second bearing seat 31; the first gear 33 is circumferentially limitedly connected to the first rotating shaft 21, the second gear 34 is circumferentially limitedly connected to the second rotating shaft 32, and the first gear 33 is meshed with the second gear 34. Figure 3 As shown, in this embodiment, the second bearing seat 31 is used to install the second rotating shaft 32, and the first gear 33 and the second gear 34 play the role of reverse transmission of the first rotating shaft 21 and the second rotating shaft 32. Specifically, when the first rotating shaft 21 rotates in the clockwise direction, it drives the first gear 33 to rotate clockwise. Figure 3 A direction shown; thereby driving the second gear 34 to rotate counterclockwise, counterclockwise direction as shown Figure 3 In the direction B shown, the second gear 34 drives the second rotating shaft 32 to rotate counterclockwise. In this embodiment, by providing the second rotating shaft 32 and the first rotating shaft 21, and by meshing the first and second gears 33 and 34, the transmission force can be varied and the force acting on the back-assisting unit 40 can be adjusted. Furthermore, the number of teeth on the second gear 34 is greater than that on the first gear 33, thereby increasing the transmission force from the first rotating shaft 21 to the second rotating shaft 32 and enhancing the back-assisting effect.

[0042] In some embodiments, a third key 27 is disposed between the first rotating shaft 21 and the first gear 33. A fifth keyway 28 is formed on the first rotating shaft 21 to engage with the third key 27. A sixth keyway is formed on the inner circumference of the first gear 33 to engage with the third key 27. The keyway cooperates to achieve a circumferentially constrained connection between the first gear 33 and the first rotating shaft 21, thereby transmitting rotational power. Specifically, the first gear 33 is circumferentially constrained to the first shaft segment 211. Furthermore, the second rotating shaft 32 and the second gear 34 can also achieve a circumferentially constrained connection via a keyway to transmit rotational power.

[0043] According to some embodiments of the present application, the drive unit 20 is constructed as two groups, and the two first rotating shafts 21 are respectively connected to a leg power-assisting unit 50; the waist transmission unit 30 is arranged between the two groups of drive units 20; the waist transmission unit 30 includes two second bearing seats 31, and the two ends of the second rotating shaft 32 are respectively rotatably connected to the two second bearing seats 31, and the two ends of the second rotating shaft 32 are respectively connected to the two first rotating shafts 21 in reverse transmission. Figure 1-3 As shown, in this embodiment, the waist transmission unit 30 is connected to two sets of drive units 20. The two sets of drive units 20 operate synchronously, driving the first rotating shaft 21 and driving the second rotating shaft 32. The provision of two sets of drive units 20 in this embodiment improves drive reliability while reducing the driving burden of a single set of drive units 20. It also improves the symmetry of the overall structure of the power-assisted exoskeleton and ensures symmetry in the forces acting on the human body.

[0044] Furthermore, the two groups of driving units 20 are respectively connected to the two groups of leg power-assisting units 50, and the two first rotating shafts 21 respectively drive the two leg power-assisting units 50. The two leg power-assisting units 50 act on the left leg and the right leg of the human body respectively, exerting force to urge the left leg and the right leg to stand upright.

[0045] In some embodiments, the support unit 10 includes a waist support 111 and two back supports 112, and the two back supports 112 are spaced apart and arranged above the waist support 111. Figure 1 As shown, the two sets of drive units 20 are respectively connected to the two back supports 112. Specifically, one end of the pneumatic tendon 22 is connected to the back support 112 through the connecting lug 29, and the other end is rotatably connected to the waist swing rod 23 through the connecting lug 29.

[0046] According to some embodiments of the present application, the back assist unit 40 includes a back plate 41 and a back swing rod 42; the back plate 41 is adapted to be connected to the back of the human body; one end of the back swing rod 42 is circumferentially limitedly connected to the second rotation shaft 32, and the other end of the back swing rod 42 is rotatably connected to the back plate 41; when the second rotation shaft 32 rotates counterclockwise, the back swing rod 42 is driven to rotate counterclockwise, and the back plate 41 is driven to move, thereby applying tension to the back of the human body. Figure 4As shown, in this embodiment, a back plate 41 is provided to connect to the human back, and a back swing arm 42 connects the second rotating shaft 32 and the back plate 41 to achieve a transmission effect. When the drive unit 20 drives the second rotating shaft 32 to rotate counterclockwise, the second rotating shaft 32 drives the back swing arm 42 to rotate counterclockwise, driving the back plate 41 to apply a backward pulling force to the human back, thereby assisting in back straightening. In some embodiments, the back plate 41 is provided with a double clevis joint 44. One end of the back swing arm 42 is rotatably connected to the double clevis joint 44 via a rotating shaft, allowing the back plate 41 to rotate relative to the back swing arm 42 to adapt to the curvature of the back and maintain a close fit. The double clevis joint 44 can be fixed to the back plate 41 via screws. Furthermore, in some embodiments, the back plate 41 and the back swing arm 42 can also be connected via a universal joint, allowing the back plate 41 to rotate at any angle relative to the back swing arm 42, thereby improving the flexibility and adaptability of the back plate 41.

[0047] In some embodiments, the back rocker arm 42 is formed with a weight-reducing groove 43. By providing the weight-reducing groove 43, the structural weight can be reduced while ensuring the structural strength and size, thereby reducing the burden on the human body.

[0048] In some embodiments, the back panel 41 is formed with a plurality of strap grooves 60 , and the back panel 41 is fixed to the back of the human body by means of straps, buckles and other structures, and is ensured to be in close contact with the back at all times.

[0049] According to some embodiments of the present application, a second key 35 is arranged between the back rocker arm 42 and the second rotating shaft 32, the second rotating shaft 32 is formed with a third key groove 36 that cooperates with the second key 35, and the back rocker arm 42 is formed with a fourth key groove that cooperates with the second key 35; wherein the second key 35 and the third key groove 36 and / or the fourth key groove form a second gap along the circumference of the second rotating shaft 32; after the back rocker arm 42 rotates relative to the second rotating shaft 32 through the second gap, the second key 35 is limitedly cooperated with the third key groove 36 and the fourth key groove to adapt to the circumferential limited connection between the back rocker arm 42 and the second rotating shaft 32.

[0050] It should be noted that the second gap in this application refers to the gap between the second key 35 and the third key slot 36 and / or the fourth key slot when the wearer is in a normal upright position and the drive unit 20 is not in operation. In this embodiment, by providing the second gap, the second rotation axis 32 and the back swing arm 42 are allowed to freely rotate relative to each other within a certain angle, thereby allowing the wearer to bend normally while wearing the power-assisted exoskeleton of this application when standing up without carrying any weight. Specifically, because the second rotation axis 32 cannot rotate freely due to the restriction of the first rotation axis 21; when the wearer bends normally, the back bending will drive the back power-assisting unit 40 to rotate clockwise. At this time, the back swing arm 42 rotates relative to the second rotation axis 32 within the range of the second gap and will not drive the second rotation axis 32 to rotate clockwise. Therefore, the drive unit 20 will not restrict the back power-assisting unit 40 within a certain range, and will not affect the wearer's normal bending.

[0051] Furthermore, when the wearer squats and bends down to carry heavy objects, the wearer's back bends, and the back power-assisting unit 40 rotates significantly clockwise as the body shape changes, and the back rocker arm 42 rotates clockwise relative to the second rotating shaft 32 through the allowable range of the second gap to achieve circumferential limit cooperation; at this time, the second rotating shaft 32 can transmit the power of counterclockwise rotation to the back rocker arm 42, thereby driving the back power-assisting unit 40 to move, assisting the human body to stand up with the load.

[0052] In some embodiments, due to the presence of the second gap, when the wearer walks normally, the leg power-assisting unit 50 drives the first rotation axis 21 to rotate counterclockwise, while the first rotation axis 21 drives the second rotation axis 32 to rotate clockwise. The second rotation axis 32 rotates relative to the back swing link 42 within the range of the second gap, without transmitting rotational force to the back swing link. In other words, in this embodiment, when the wearer walks normally, the movement of the leg power-assisting unit 50 does not affect the back power-assisting unit 40, and both power-assisting units have a certain degree of freedom.

[0053] According to some embodiments of the present application, the leg assist unit 50 includes a leg baffle 52 and a leg swing rod assembly; the leg baffle 52 is adapted to be connected to the front side of the human leg; one end of the leg swing rod assembly is circumferentially limitedly connected to the first rotating shaft 21, and the other end of the leg swing rod assembly is connected to the leg baffle 52; wherein when the first rotating shaft 21 rotates clockwise, the leg swing rod assembly is driven to rotate clockwise and the leg baffle 52 is driven to move. Figure 1 、 Figure 5As shown, in this embodiment, a leg baffle 52 is provided to connect to the human leg, and a leg swing arm assembly is connected to the first rotating shaft 21 and the leg baffle 52, thereby achieving a transmission effect. When the first rotating shaft 21 rotates clockwise, the leg swing arm assembly is synchronously driven to rotate clockwise, and the leg swing arm assembly drives the leg baffle 52 to move accordingly, exerting a backward force on the human leg, forcing the leg to move backward relative to the waist, thereby assisting the human leg in standing upright.

[0054] Since the driving unit 20 is disposed at the rear side of the human body and the leg baffle 52 is disposed at the front side of the human leg, the leg swing arm assembly is formed with multiple sections of bends that adapt to the human body shape.

[0055] In some embodiments, strap grooves 60 are formed on both sides of the leg baffle 52. The leg baffle 52 can be fixed to the human leg by setting structures such as straps and buckles, and the leg baffle 52 can always be kept in contact with the front side of the leg.

[0056] According to some embodiments of the present application, the leg swing rod assembly includes a first leg swing rod 53, a second leg swing rod 54 and a connecting sleeve 55; one end of the first leg swing rod 53 is circumferentially limitedly connected to the first rotating shaft 21; the other end of the first leg swing rod 53 is formed with at least one first connecting portion 531; one end of the second leg swing rod 54 is formed with at least one second connecting portion 541; the other end of the second leg swing rod 54 is formed with a plurality of third connecting portions 542 spaced apart along the coronal axis of the human body; one end of the connecting sleeve 55 is connected to the first leg swing rod 53 The other end of the connecting sleeve 55 is sleeved with one end of the second leg swing link 54. The connecting sleeve 55 is formed with a plurality of fourth connecting portions spaced apart along the sagittal axis of the human body. The first connecting portion 531 is coupled to any one of the fourth connecting portions, and the second connecting portion 541 is coupled to any one of the fourth connecting portions to adjust the relative position of the leg baffle 52 in the sagittal axis of the human body. The leg baffle 52 is coupled to any one of the third connecting portions 542 to adjust the relative position of the leg baffle 52 in the coronal axis of the human body. The sagittal axis of the human body refers to the front-back extension direction of the human body.

[0057] like Figure 1 、 Figure 5As shown, in this embodiment, the selective coupling of the first connecting portion 531 with the fourth connecting portion, and the selective coupling of the second connecting portion 541 with the fourth connecting portion, allows adjustment of the length of the connection between the connecting sleeve 55 and the first and second leg swing arms 53 and 54, thereby changing the relative position of the second leg swing arm 54 and the support unit 10, thereby adjusting the relative position of the leg baffle 52 in the sagittal direction of the human body. The selective coupling of the leg baffle 52 with any one of the third connecting portions 542 allows adjustment of the relative position of the leg baffle 52 in the coronal direction of the human body. Furthermore, the leg baffle 52 is formed with a connecting boss 522, through which the second leg swing arm 54 extends in the coronal direction of the human body to connect with the leg baffle 52. The connecting boss 522 is formed with a fifth connecting portion 521, which selectively couples with any one of the third connecting portions 542. The position of the leg baffle 52 relative to the bracket unit 10 of this embodiment is adjustable, so that it can adapt to different human body sizes and expand the scope of application.

[0058] Furthermore, the first connecting portion 531, the second connecting portion 541, the third connecting portion 542, the fourth connecting portion, and the fifth connecting portion 521 can all be configured as threaded holes or other mating holes, with corresponding mating holes connected via fasteners such as bolts or screws. In this embodiment, the first leg swing link 53, the second leg swing link 54, and the connecting sleeve 55 are locked in relative position via mating holes and fasteners, resulting in high structural stability. This allows the leg assist unit 50 to achieve stable transmission while maintaining adjustability and high adaptability, providing stable assistance to a person standing up while carrying a load.

[0059] In some embodiments, the first rotation axis 21 is fixedly connected to the first leg swing arm 53 by a fastener. Figure 5 As shown, a sixth connection portion 532 is formed at one end of the first leg rocker 53, and a seventh connection portion 214 is formed on the first rotating shaft 21. The seventh connection portion 214 and the sixth connection portion 532 are constructed as matching holes such as threaded holes, and are fixedly connected by fasteners such as screws and bolts to achieve a circumferential limited connection between the first rotating shaft 21 and the first leg rocker 53 and transmit rotational power.

[0060] Furthermore, the drive unit 20 further includes a third bearing seat 51, such as Figure 1 As shown, the first rotating shaft 21 is rotatably connected to the third bearing seat 51, which can improve the stability of the transmission between the first rotating shaft 21 and the leg power assist unit 50. Specifically, the third bearing seat is rotatably connected to the third shaft segment 213 of the first rotating shaft 21, and the seventh connecting portion 214 is formed on the third shaft segment 213.

[0061] According to some embodiments of the present application, the support unit 10 includes a support body 11, at least two hip fixation components 12, and a limiter. The support body is provided with a drive unit 20 and a waist transmission unit 30. The two hip fixation components 12 are movably provided on both sides of the support body 11 along the coronal axis of the human body. The limiter is adapted to selectively limit the relative movement of the hip fixation components 12 and the support body 11. Figure 1 、 Figure 6 As shown, in this embodiment, the support body 11 includes the aforementioned waist support 111 and back support 112. The hip fixation assembly 12 is suitable for being worn on the human hip and is fixedly connected to the human body via structures such as straps to improve the wearability of the power-assisted exoskeleton. The two hip fixation assemblies 12 can move relative to the support body along the human coronal axis, allowing for adjustment of the spacing between the two hip fixation assemblies 12 to accommodate wearers of varying body shapes and improve the adaptability of the power-assisted exoskeleton. Furthermore, the waist support 111 is formed with a plurality of threaded holes, and the hip fixation assembly 12 is formed with at least one threaded hole. A retainer connects any pair of corresponding threaded holes in the waist support 111 and the hip fixation assembly 12 to secure the hip fixation assembly 12 to the waist support 111. In some embodiments, the support body 11 and the hip fixation assembly 12 are formed with strap slots. Straps are passed through any two or more of the strap slots. The support unit 10 is secured to the human body via straps and buckles.

[0062] Furthermore, the support unit 10 includes a slide rail 13, which is fixed to the waist support 111. The hip fixation assembly 12 is slidably connected to the slide rail 13, thereby enabling relative movement with the waist support 111 along the body's coronal axis. The slide rail 13 can limit the range of movement of the hip fixation assembly 12, facilitate the adjustment process of the hip fixation assembly 12, and improve the stability of the structure.

[0063] In some embodiments, a plurality of mounting holes for mounting and fixing the driving unit 20 , the waist transmission unit 30 and the back power assist unit 40 are formed on the bracket body 11 .

[0064] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0065] In the description of this application, "first feature" and "second feature" may include one or more such features.

[0066] In the description of this application, “plurality” means two or more.

[0067] In the description of the present application, a first feature being “on” or “under” a second feature may include the first and second features being in direct contact with each other, or the first and second features being in contact with each other not directly but via another feature therebetween.

[0068] In the description of this application, “above”, “above” and “on” a first feature of a second feature include the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0069] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the illustrative use of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0070] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A power-assisted exoskeleton, characterized in that: include: a bracket unit, wherein the bracket unit is suitable for being fixed on a human body; A driving unit, the driving unit being disposed on the support unit, the driving unit comprising a first rotating shaft, the first rotating shaft extending in a direction parallel to the coronal axis of the human body; A waist transmission unit, the waist transmission unit is arranged on the bracket unit, and the waist transmission unit includes a second rotating shaft, and the second rotating shaft is connected to the first rotating shaft in reverse transmission; a back power-assisting unit, the back power-assisting unit being circumferentially limitedly connected to the second rotating shaft so as to be adapted to rotate along with the second rotating shaft; The portion of the back power-assisting unit is suitable for connection with the back of a human body; Two leg power-assisting units, both of which are circumferentially limitedly connected to the first rotating shaft so as to be adapted to rotate along with the first rotating shaft; The portion of each leg power-assisting unit is adapted to be connected to the front side of a human leg; in When the driving unit is running, the first rotating shaft rotates in a clockwise direction and drives the second rotating shaft to rotate in a counterclockwise direction; the back power-assisting unit rotates counterclockwise with the second rotating shaft and applies a pulling force to the back of the human body; the leg power-assisting unit rotates clockwise with the first rotating shaft and applies pressure to the legs of the human body.

2. The power-assisted exoskeleton according to claim 1, characterized in that: The driving unit further includes: a first bearing seat, wherein the first bearing seat is disposed on the bracket unit, and the first rotating shaft is rotatably disposed on the first bearing seat; a pneumatic muscle, one end of which is connected to the support unit; A waist swing rod, one end of which is rotatably connected to the other end of the pneumatic tendon, and the other end of which is circumferentially limitedly connected to the first rotating shaft; When the pneumatic muscle is inflated, it drives the waist swing arm to rotate clockwise, and drives the first rotating shaft to rotate clockwise.

3. The power-assisted exoskeleton according to claim 2, characterized in that: A first key is provided between the waist swing lever and the first rotating shaft, a first key groove is formed on the first rotating shaft to cooperate with the first key, and a second key groove is formed on the waist swing lever to cooperate with the first key; in A first gap is formed between the first key and the first keyway and / or the second keyway along the circumference of the first rotating shaft; after the first rotating shaft rotates through the first gap relative to the waist rocker arm, the first key is limitedly engaged with the first keyway and the second keyway to adapt to the circumferential limited connection between the waist rocker arm and the first rotating shaft.

4. The power-assisted exoskeleton according to claim 1, characterized in that: The waist transmission unit also includes: a second bearing seat, the second bearing seat being disposed on the bracket unit, and the second rotating shaft being rotatably disposed on the second bearing seat; A first gear and a second gear, the first gear is circumferentially limitedly connected to the first rotating shaft, the second gear is circumferentially limitedly connected to the second rotating shaft, and the first gear is meshed with the second gear.

5. The power-assisted exoskeleton according to claim 4, characterized in that: The driving unit is constructed in two groups, and the two first rotating shafts are respectively connected to one of the leg power-assisting units; The waist transmission unit is arranged between the two groups of the driving units; the waist transmission unit includes two second bearing seats, the two ends of the second rotating shaft are rotatably connected to the two second bearing seats, and the two ends of the second rotating shaft are reversely connected to the two first rotating shafts.

6. The power-assisted exoskeleton according to claim 4, characterized in that: The back power-assisting unit comprises: A back plate adapted to be connected to the back of a human body; A back swing rod, one end of which is circumferentially limitedly connected to the second rotating shaft, and the other end of which is rotatably connected to the back plate; When the second rotating shaft rotates in the counterclockwise direction, it drives the back swing arm to rotate in the counterclockwise direction, and drives the back plate to move, so as to apply a pulling force to the back of the human body.

7. The power-assisted exoskeleton according to claim 6, characterized in that: A second key is provided between the back swing arm and the second rotating shaft, a third key slot is formed on the second rotating shaft to cooperate with the second key, and a fourth key slot is formed on the back swing arm to cooperate with the second key; in The second key and the third keyway and / or the fourth keyway form a second gap along the circumference of the second rotating shaft; after the back rocker arm rotates through the second gap relative to the second rotating shaft, the second key is limitedly engaged with the third keyway and the fourth keyway to adapt to the circumferential limit connection between the back rocker arm and the second rotating shaft.

8. The power-assisted exoskeleton according to claim 1, characterized in that: The leg power-assisting unit comprises: A leg baffle adapted to be connected to the front side of a human leg; A leg swing rod assembly, one end of which is circumferentially limitedly connected to the first rotating shaft, and the other end of which is connected to the leg baffle; When the first rotating shaft rotates clockwise, it drives the leg swing arm assembly to rotate clockwise and drives the leg baffle to move.

9. The power-assisted exoskeleton according to claim 8, characterized in that: The leg swing arm assembly includes: A first leg swing link, one end of which is circumferentially limitedly connected to the first rotating shaft; and at least one first connecting portion is formed at the other end of the first leg swing link; A second leg swing rod, wherein one end of the second leg swing rod is formed with at least one second connection portion; the other end of the second leg swing rod is formed with a plurality of third connection portions spaced apart along the coronal axis of the human body; A connecting sleeve shaft, one end of which is sleeved with the other end of the first leg swing rod, and the other end of which is sleeved with one end of the second leg swing rod; the connecting sleeve shaft is formed with a plurality of fourth connecting parts spaced apart along the sagittal axis of the human body; wherein The first connecting portion is cooperatively connected with any one of the fourth connecting portions, and the second connecting portion is cooperatively connected with any one of the fourth connecting portions, so as to be suitable for adjusting the relative position of the leg baffle in the direction of the sagittal axis of the human body; The leg baffle is cooperatively connected with any one of the third connecting parts to be suitable for adjusting the relative position of the leg baffle in the direction of the human body's coronal axis.

10. The power-assisted exoskeleton according to claim 1, characterized in that: The bracket unit includes: A support body, on which the driving unit and the waist transmission unit are provided; At least two hip fixation assemblies, the two hip fixation assemblies being movably disposed on both sides of the support body along the coronal axis of the human body; A limiting member is adapted to selectively limit relative movement between the hip fixing assembly and the support body.

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