Load auxiliary supporting passive exoskeleton device

Abstract

The invention discloses a load auxiliary supporting passive exoskeleton device which comprises a back frame unit, a waist unit and a leg unit. The waist unit is rotationally connected with the bottom of the back frame unit, the leg units are symmetrically arranged on the waist unit, each leg unit comprises a thigh mechanism, a shank mechanism and a foot mechanism which are rotationally connected in sequence from top to bottom, and the top ends of the thigh mechanisms are rotationally connected with the waist unit. According to the scheme, the anthropomorphic structural design is adopted, the lower limbs of the human body can be simulated to do various movements, and the loaded weight is conducted to the ground through the exoskeleton structure, so that the stress of the human body in the load-bearing walking process is reduced; meanwhile, elastic elements on the feet are used for absorbing and releasing energy to assist the human body in walking, the walking energy utilization rate is increased, and the walking energy consumption of the human body is reduced; the structure is simple, an electric control system is not needed, the weight is light, and the reliability and the wearing performance are high.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of exoskeletons, and particularly relates to a load-assisted supporting passive exoskeleton device. BACKGROUND

[0002] The wearable human exoskeleton system is a wearable intelligent equipment on the human body, which assists or replaces the human body to bear weight by synchronously following the human body movement, breaks through the human physical limit, and greatly improves the load-carrying capacity of the human body. At present, the system is mainly applied to human lower limb rehabilitation training and assisting human body to bear weight, and can be widely applied and popularized in many fields such as rescue, disability assistance and rehabilitation medical treatment. So far, although some progress has been made in the research on similar wearable exoskeleton assistance systems, the active exoskeleton structure is complex, which contains complex electronic, control and driving systems, and there is still a long way to go to be practical. The passive exoskeleton structure is mainly mechanical system, which has high reliability and relatively simple system, and is more and more concerned.

[0003] For example, Chinese Patent No. 202110836544.1 discloses a passive lower limb exoskeleton with load conduction and walking energy saving; the elastic elements arranged at the knee and ankle joints collect the energy that should be wasted in the natural movement of the human body, and release it at the appropriate time, thereby reducing the energy consumption of the human body during walking. However, the knee and ankle joints of the exoskeleton are in the form of single hinge, which does not conform to the characteristics of human joint movement, and is easy to cause movement mismatch, making the wearing uncomfortable. For example, Chinese Patent No. 202010663258.5 discloses a passive exoskeleton robot for enhancing the load carrying capacity of the human body, which adopts hinge form for the knee joint and has no power assisting element, and the load supporting effect is poor, and the overall space occupation is large. In addition, the assisting principles of the above two Chinese patents are to assist through elastic elements. In the movement process, the elastic elements are deformed by the human body to store energy, and then the energy is released by the elastic elements to assist the movement of the exoskeleton. This process requires the human body to do work for the exoskeleton, resulting in excessive energy consumption in the human body movement process, which is not worth the loss. SUMMARY

[0004] In view of the above problems, the purpose of the present application is to provide a load-assisted support passive exoskeleton device, which on the one hand solves the problem that the current exoskeleton knee joint structure does not conform to the bionics form, utilizes a guide sliding rotating structure to form a bionic exoskeleton knee joint structure with a variable motion center, is more in line with the human knee joint movement form, and improves the man-machine matching effect, and at the same time, utilizes the deformation of the support state foot mechanism to pull the cable system to make the knee joint friction plate clamped, provides a support torque for the knee joint, provides assistance for the load force transmission to the ground, and reduces the burden of the wearer; on the other hand, through the spring of the foot mechanism, the gravitational potential energy collected when the human body lands is collected, at the same time, linkage is provided for the knee joint friction mechanism, and when the human foot leaves the ground, the stored energy is released, assisting the human body to transition from the support phase to the swing phase, saving the energy consumption of the human body.

[0005] The specific technical scheme for achieving the purpose of the present application is as follows:

[0006] A load-assisted support passive exoskeleton device, comprising a back frame unit, a waist unit and a leg unit;

[0007] The waist unit is rotatably connected to the bottom of the back frame unit, and the leg unit is symmetrically arranged on the waist unit.

[0008] The leg unit comprises, from top to bottom, a thigh mechanism, a calf mechanism and a foot mechanism, wherein the top end of the thigh mechanism is rotatably connected to the waist unit.

[0009] Further, the back frame unit comprises a back plate, a tray and a back frame connecting pin.

[0010] The back plate is provided with a boss with a through hole, one end of the tray is provided with a through hole, and the back frame connecting pin passes through the through hole of the end of the tray and the boss with the through hole on the back plate in sequence, so that the back plate and the tray are rotatably connected.

[0011] The lower end of the back plate is provided with a through hole.

[0012] Further, the waist unit comprises a waist-back connecting piece, a lock nut, a lock screw, a hip joint end cover, a hip joint bearing and a hip joint connecting pin.

[0013] The waist-back connecting piece is correspondingly connected to the through hole of the back plate through the through hole, and is fixedly connected through the cooperation of the lock nut and the lock screw.

[0014] The waist-back connecting piece is provided with a stepped through hole on both sides, the hip joint bearing is arranged in the stepped through hole, the hip joint bearing and the hip joint connecting pin are connected, and the hip joint connecting pin penetrates the thigh mechanism.

[0015] The hip joint end cover is arranged outside the stepped through hole of the waist-back connecting piece.

[0016] Further, the thigh mechanism comprises a thigh bearing, a thigh upper rod and a thigh lower rod;

[0017] The thigh upper rod has a through hole at its top end, and the thigh bearing is arranged in the through hole and connected with the waist unit.

[0018] The thigh upper rod has a rectangular slot at its bottom, and thigh clamping pieces are arranged at both sides of the bottom end, and the thigh clamping pieces are respectively provided with a countersunk hole and a threaded hole.

[0019] The thigh lower rod comprises a top-end cuboid and a bottom-end U-shaped arc body, the top-end cuboid of the thigh lower rod is inserted into the rectangular slot at the bottom of the thigh upper rod and clamped and fixed with the thigh clamping pieces through screws, and the U-shaped arc body of the thigh lower rod is placed in the inside of the calf mechanism and rotationally connected with the calf mechanism.

[0020] Further, the calf mechanism comprises a calf upper rod, a calf lower rod, an ankle joint bearing and an ankle support rod.

[0021] The calf upper rod is connected with the thigh mechanism on one side and is provided with a rectangular slot on the other side, and a calf clamping piece is arranged on the side surface, and the calf clamping piece is respectively provided with a countersunk hole and a threaded hole, and the top end of the calf lower rod is inserted into the rectangular slot of the calf upper rod and clamped and fixed with the calf clamping piece through screws.

[0022] The calf upper rod has a rectangular slot at the bottom of the calf rectangular body, and two calf clamping pieces are arranged on the side surface of the bottom end, and the calf clamping pieces are respectively provided with a countersunk hole and a threaded hole.

[0023] The calf lower rod is provided with the ankle joint bearing, and the ankle joint bearing is connected with the foot mechanism through the ankle support rod.

[0024] Further, the calf mechanism further comprises a knee joint friction piece, a knee joint pin, a knee joint sliding bearing, a knee joint leaf spring, a knee joint end cover, a knee joint cable and a knee joint cable tube.

[0025] The calf upper rod comprises a knee joint mounting seat and a calf rectangular body.

[0026] The knee joint mounting seat is provided with an upper knee boss and a lower knee double boss, and threaded through holes are arranged on the bosses, and a slot is arranged on the upper knee boss, and a waist hole is arranged below the slot.

[0027] The knee joint mounting seat is provided with a wedge-shaped slot and a wire slot between the upper knee boss and the lower knee double boss, a circular stepped hole is arranged at the bottom end of the knee joint mounting seat, a rectangular slot is arranged at the bottom of the calf rectangular body, calf clamping pieces are arranged on the side surface of the bottom end, and the calf clamping pieces are respectively provided with a countersunk hole and a threaded hole.

[0028] The knee joint mounting seat is provided with a plurality of knee joint sliding bearings, the two ends of the knee joint pin are respectively arranged in the waist hole of the knee joint mounting seat and the knee joint end cover, one of the knee joint sliding bearings is arranged in the middle of the knee joint pin, the bottom surface of the knee joint leaf spring is in sliding contact with the knee joint sliding bearing, the top surface is inserted into the slot of the knee boss, and the other two knee joint sliding bearings are arranged on the double knee bosses below the knee joint;

[0029] The lower thigh rod U-shaped arc body is arranged between the plurality of knee joint sliding bearings, and the knee joint end cover and the knee joint sliding bearing are connected through the knee joint pin.

[0030] The knee joint friction plate is arranged in the wedge-shaped slot of the knee joint mounting seat and the knee joint end cover, can slide in the wedge-shaped slot, the lower end of the knee joint friction plate is provided with a through hole, one end of the knee joint cable is connected with the knee joint friction plate through the through hole, the knee joint cable is connected with the knee joint cable shell, and the knee joint cable shell penetrates the upper calf rod and is connected with the foot mechanism.

[0031] Further, the knee joint end cover is provided with a knee boss and double knee bosses, the bosses are provided with counterbores, and the knee boss is provided with a slot.

[0032] The knee joint end cover is provided with a wedge-shaped slot and a wire slot between the knee boss and the double knee bosses.

[0033] Further, the foot mechanism comprises a foot first plate, a foot second plate, a heel plate, two foot spring first rods, a foot pin, a foot inner first pin, two foot springs, a foot inner second pin, a foot spring second rod, a foot forefoot pin and a foot forefoot plate.

[0034] The rear end of the foot first plate is provided with a boss with a through hole, one end of the foot second plate is provided with a through hole, one end of the foot spring first rod is provided with a through hole, and the foot inner first pin sequentially penetrates the through hole of the foot first plate, the through hole of the foot second plate and the through hole arranged at one end of the foot spring first rod, so that the foot first plate, the foot second plate and the two foot spring first rods are rotationally connected.

[0035] The rear upper end of the heel plate is provided with a boss with a through hole, the other end of the foot second plate is provided with a through hole, and the foot second plate and the heel plate are rotationally connected through the foot pin.

[0036] The bottom surface of the heel plate is provided with a counterbore through hole, and the heel plate is fixedly connected with the lower leg mechanism through a screw; the middle of the foot spring first rod is a cylindrical boss, the other end is a cylinder, and a deep hole is formed in the inside, the foot spring is sleeved in the cylinder, and one end is in contact with the cylindrical boss.

[0037] The second rod of the foot spring is provided with a cylindrical boss in the middle and a cylindrical body at one end, which is inserted into the deep hole of the first rod of the foot spring, and the other end of the foot spring is in contact with the cylindrical boss of the second rod of the foot spring;

[0038] The rear end of the forefoot plate is provided with a through hole, the other end of the second rod of the foot spring is provided with a through hole, and the front end of the heel plate is provided with a through hole.

[0039] The middle part of the forefoot plate is provided with a through hole, and the front end of the first plate of the foot is provided with a through hole.

[0040] The end of the heel pin is provided with a cylindrical stepped hole, the lower end of the knee joint cable tube shell is fixed in the large hole end of the cylindrical stepped hole of the heel pin, the knee joint cable passes through the small hole end of the cylindrical stepped hole of the heel pin, and the tail end is fixed in the end hole of the forefoot pin.

[0041] Compared with the prior art, the beneficial effects of the present application are that:

[0042] (1) The scheme of the present application well utilizes the characteristics of supporting the human body's own knee joint to support the load and freely moving the knee joint in the swing phase to the structural design of the present application.

[0043] (2) The knee joint structure in the scheme of the present application has the bionic characteristics of variable motion center, can better match the knee joint movement of the wearer, and the foot mechanism can store the gravitational potential energy in the human movement process through the designed polygonal linkage mechanism form.

[0044] (3) The hip and knee joints in the scheme of the present application are designed with limiting structures, which can prevent the overflexion and extension of the joints, so that the wearer can use it safely.

[0045] (4) The scheme of the present application includes a back frame mechanism, which can place the load on the tray and transmit the load to the ground through the structure of the passive exoskeleton, thereby reducing the negative effects of the load on the human body.

[0046] (5) The components of the present invention have a simple structure and are made of high-strength, lightweight profiles, which are easy to process and assemble, reducing the overall cost of the device. At the same time, the parts have hollowed-out parts, which increases the aesthetics and can effectively reduce the weight of the device, reducing the burden on the wearer during exercise. Moreover, all components are mechanical structures with high reliability and long service life. They can help soldiers, firefighters, couriers and other personnel who need to carry heavy loads to support the load and reduce fatigue. They have a wide range of applications and can be used in different occasions, with broad prospects.

[0047] The present invention will be further described below with reference to specific embodiments. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the overall structure of the load-assisted passive exoskeleton device of the present invention.

[0049] Figure 2 This is an exploded view of the back frame mechanism of the present invention.

[0050] Figure 3 This is an exploded view of the waist mechanism of the present invention.

[0051] Figure 4 This is an exploded view of the thigh mechanism of the present invention.

[0052] Figure 5 This is an exploded view of the lower leg mechanism of the present invention.

[0053] Figure 6 This is a schematic diagram of a partial connection between the thigh mechanism and the calf mechanism of the present invention.

[0054] Figure 7 This is a schematic diagram of the lower leg support bar of the present invention.

[0055] Figure 8 This is a schematic diagram of the knee joint end cap of the present invention.

[0056] Figure 9 This is a schematic diagram of a partial connection between the thigh mechanism and the calf mechanism of the present invention.

[0057] Figure 10 This is an exploded view of the foot mechanism of the present invention.

[0058] Figure 11 This is a schematic diagram of the unfolded foot mechanism of the present invention.

[0059] Figure 12 This is a schematic diagram of the compression of the foot mechanism of the present invention.

[0060] Figure 13 This is a schematic diagram of the release of the knee joint friction pad of the present invention.

[0061] Figure 14 This is a schematic diagram of the engagement of the knee joint friction pad of the present invention. Detailed Implementation

[0062] Example

[0063] To clearly describe the technical solution and effects achieved by the present invention, the technical solution of the present invention will be clearly explained below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can realize the invention without creative effort. The structure shown in the drawings is not the entirety of the actual structure but only a part of the actual structure. It should be noted that all other embodiments made by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the protection scope of the present invention.

[0064] The following examples are merely illustrative of the invention, and the scope of the invention is not limited to the examples provided. Therefore, any non-essential modifications made by those skilled in the art to the embodiments described above, applied to other embodiments, are still within the scope of protection of this invention. Furthermore, experimental methods not specified in the following examples should be performed according to conventional or manufacturer-recommended conditions. Unless otherwise specified, expressions in the text are used for distinguishing purposes only and have no other meaning.

[0065] Combination Figure 1 A load-assisted passive exoskeleton device includes a back frame unit 1, a waist unit 2, and a leg unit.

[0066] The waist unit 2 is rotatably connected to the bottom of the back frame unit 1, and the leg units are symmetrically arranged on the waist unit 2.

[0067] The leg unit includes a thigh mechanism 3, a calf mechanism 4, and a foot mechanism 5 that are rotatably connected from top to bottom, wherein the top of the thigh mechanism 3 is rotatably connected to the waist unit 2.

[0068] Combination Figure 2 The back frame unit 1 includes a back plate 101, a tray 102, and a back frame connecting pin 103;

[0069] The back plate 101 has a boss with a through hole on its back side, and the tray 102 has a circular through hole at one end. The back frame connecting pin 103 passes through the through hole at the end of the tray 102 and the boss with a through hole on the back plate 101 in sequence, so that the back plate 101 and the tray 102 are rotatably connected.

[0070] A circular through hole is provided at the lower end of the back plate 101.

[0071] The back panel 101 can be used to hang loads and also houses fabric shoulder straps and a waist belt for connection with the wearer's upper body. The tray 102 can hold loads and can be folded up when not in use to reduce the space occupied by the invention.

[0072] Combination Figure 3 The waist unit 2 includes a waist and back connector 201, a locking nut 202, a locking screw 203, four hip joint end caps 204, four hip joint bearings 205, and two hip joint connecting pins 206.

[0073] The waist and back connector 201 is connected to the lower circular through hole of the back plate 101 through the circular through hole in the middle, and is fixed by the locking nut 202 and the locking screw 203. The locking nut 202 passes through the circular through hole at the lower end of the back plate 101 and the middle circular through hole of the waist and back connector 201 in sequence, and is fastened to the locking screw 203, so that the back plate 101 and the waist and back connector 201 are rotatably connected.

[0074] The lumbar and back connector 201 has circular stepped through holes on both sides, and the hip joint bearing 205 is disposed in the circular stepped through holes. The left and right ends of the lumbar and back connector 201 are both provided with fan-shaped grooves, and the top of the thigh mechanism 3 is placed in the fan-shaped grooves.

[0075] The hip joint bearing 205 and the hip joint connecting pin 206 are connected, and the hip joint connecting pin 206 also passes through and connects the thigh mechanism 3. The hip joint connecting pin 206 passes through the through hole in the middle of the hip joint bearing 205, the circular stepped through hole on the waist and back connector 201 and the through hole at the top of the thigh mechanism 3, so that the thigh mechanism 3 and the waist and back connector 201 are rotatably connected.

[0076] The stepped through hole of the lumbar and back connector 201 is covered by a hip joint end cap 204, which is fixed to the lumbar and back connector 201 by screws, and encapsulates the hip joint bearing 205 and the hip joint connecting pin 206 inside the lumbar and back connector 201.

[0077] By connecting the waist mechanism 2 and the back frame mechanism 1 with locking nuts and screws, the back frame mechanism 1 can rotate left and right relative to the waist mechanism 2, which can simulate the left and right swaying motion of the human waist. The size of the waist and back connector 201 can be customized according to the width of the wearer's waist, or it can adopt a small, medium and large size similar to clothing, and design three standard small, medium and large sizes to meet the needs of wearers with different waist sizes.

[0078] Combination Figure 4 The thigh mechanism 3 includes a thigh bearing 301, an upper thigh rod 302, and a lower thigh rod 303;

[0079] The upper thigh rod 302 has a through hole at its top end, and the thigh bearing 301 is disposed in the through hole and connected to the waist unit 2; the upper thigh rod 302 is rotatably connected to the waist mechanism 2 through the thigh bearing 301.

[0080] The bottom of the upper thigh bar 302 has a rectangular groove, and thigh clamping plates are respectively provided on both sides of the bottom end. The thigh clamping plates are respectively provided with countersunk holes and threaded holes.

[0081] The lower thigh bar 303 includes a cuboid at the top and a U-shaped arc at the bottom. The cuboid at the top of the lower thigh bar 303 is inserted into the rectangular groove at the bottom of the upper thigh bar 302 and is clamped and fixed to the thigh clamping plate by screws. The U-shaped arc of the lower thigh bar 303 is placed inside the calf mechanism 4 and is rotatably connected to the calf mechanism 4.

[0082] The upper thigh bar 302 is inserted into the fan-shaped groove of the lumbar and back connector 201. This fan-shaped groove can be designed according to the rotation angle range of the hip joint, thereby ensuring that the upper thigh bar 302 rotates within a certain range relative to the lumbar and back connector 201 without exceeding the safe operating limit, thus ensuring the wearer's safety. Meanwhile, the depth to which the lower thigh bar 303 is inserted into the upper thigh bar 302 can be adjusted according to the wearer's height, thus accommodating wearers with different thigh lengths.

[0083] Combination Figure 5 The lower leg mechanism 4 includes an upper lower leg rod 401, a lower lower leg rod 409, an ankle joint bearing 410, and an ankle support rod 411;

[0084] The lower leg rod 401 and the thigh mechanism 3 are connected on one side for setting the knee joint, and the other side has a rectangular groove and a lower leg clamping plate. The lower leg clamping plate has countersunk holes and threaded holes respectively. The top of the lower leg rod 409 is inserted into the rectangular groove of the lower leg rod 401 and clamped and fixed with the lower leg clamping plate by screws.

[0085] The lower leg upper rod 401 has a rectangular groove at the bottom of the lower leg rectangular body, and two lower leg clamping plates are provided on the side of the bottom end. The two lower leg clamping plates have countersunk holes and threaded holes respectively.

[0086] An ankle joint bearing 410 is provided on the lower leg rod 409, and the ankle joint bearing 410 is connected to the foot mechanism 5 through the ankle support rod 411.

[0087] The lower leg mechanism 4 also includes a knee joint friction plate 402, a knee joint pin 403, a knee joint sliding bearing 404, a knee joint leaf spring 405, a knee joint end cap 406, a knee joint cable 407, and a knee joint cable tube shell 408.

[0088] The lower leg upper bar 401 includes a knee joint mounting seat and a lower leg rectangular body;

[0089] Combination Figure 6 to Figure 7 The knee joint mounting base is provided with an upper knee boss and a lower knee double boss. Each of the bosses is provided with a threaded through hole. A slot is provided on the upper knee boss, and a waist hole is opened below the slot.

[0090] The knee joint mounting seat has a wedge-shaped groove and a wire placement groove between the upper knee protrusion and the lower knee double protrusion. The bottom of the knee joint mounting seat has a circular stepped hole. The bottom of the lower leg rectangular body has a rectangular groove. The lower leg clamping plate is provided on the side of the bottom end. The lower leg clamping plate has a countersunk hole and a threaded hole respectively.

[0091] The knee joint end cap 406 is provided with an upper knee protrusion and a lower knee double protrusion. Each of the protrusions is provided with a countersunk hole. A slot is provided on the upper knee protrusion, and a waist hole is opened below the slot.

[0092] A wedge-shaped groove and a thread placement groove are provided between the upper knee protrusion and the lower knee double protrusion of the knee joint end cap 406, such as... Figure 8 As shown.

[0093] Multiple knee joint sliding bearings 404 are provided at the knee joint mounting seat. The two ends of the knee joint pin 403 are respectively placed in the waist holes of the knee joint mounting seat and the knee joint end cap 406. One of the knee joint sliding bearings 404 is located in the middle of the knee joint pin 403. The bottom surface of the knee joint leaf spring 405 slides in contact with the knee joint sliding bearing 404, and the top surface is inserted into the slot of the upper knee boss. The other two knee joint sliding bearings 404 are installed on the lower knee double boss.

[0094] The U-shaped arc-shaped lower thigh rod 303 is positioned between multiple knee joint sliding bearings 404. The knee joint leaf spring 405 provides a thrust, causing the knee joint pin 403 to slide away from the knee joint leaf spring 405 within the waist hole of the knee joint mounting seat and the knee joint end cap 406. This allows the inner end face of the U-shaped arc-shaped lower thigh rod 303 to slide in contact with the knee joint sliding bearing 404 on the knee joint pin 403, and the outer end face to slide in contact with the knee joint sliding bearing 404 on the double protrusion below the knee. This ensures that the thigh mechanism 3 can slide within this space without disengaging from the knee joint sliding bearing 404. The knee joint end cap 406 and the knee joint sliding bearing 404 are connected by the knee joint pin 403.

[0095] The knee joint friction pads 402 are respectively placed in the wedge-shaped grooves of the knee joint mounting base and the knee joint end cap 406, and can slide within the wedge-shaped grooves. A through hole is provided at the lower end of the knee joint friction pads 402, and one end of the knee joint cable 407 is fastened to the knee joint friction pads 402 through this through hole. The knee joint cable 407 is connected to the knee joint cable housing 408, which passes through the lower leg upper rod 401 and is then connected to the foot mechanism 5.

[0096] The lower leg bar 409 is inserted into the rectangular groove of the lower leg upper bar 401, and is clamped and fixed to the lower leg clamping plate by screws. The lower leg bar 409 has a tube groove on its side, which can be used to fix part of the knee joint cable shell 408. The lower leg bar 409 has a threaded hole at its bottom, through which the threaded end of the ankle joint bearing 410 is fixedly connected to the lower leg bar 409. The ankle joint bearing 410 also has a threaded hole at its bottom, and the top of the ankle support rod 411 is a threaded rod, which is fixedly connected to the ankle joint bearing 410. The ankle support rod 411 also has a threaded hole at its bottom, which is fixedly connected to the foot mechanism 5 by screws. The depth to which the lower leg bar 409 is inserted into the lower leg upper bar 401 can be adjusted according to the wearer's height, thus accommodating wearers with different lower leg lengths.

[0097] Figure 9 This is a schematic diagram of the connection between the thigh mechanism 3 and the lower leg mechanism 4 of the present invention. The U-shaped arc body at the bottom of the thigh lower rod 303 is arranged in the space formed by the three knee joint sliding bearings 404. When the lower leg mechanism 4 moves relative to the thigh mechanism 3, it will move along the U-shaped arc body at the bottom of the thigh lower rod 303. By reasonably designing the shape and size of the U-shaped arc body, the knee joint on the lower leg mechanism 3 of the present invention can have the ability to change the center of motion, and its movement trajectory is more in line with the movement of the human knee joint, so that the present invention can better adapt to the wearer's movement and reduce movement interference. In addition, there is a triangular protrusion at the lower left end and an arc-shaped groove at the upper right end of the U-shaped arc body at the bottom of the thigh lower rod 303. The protrusion and groove can limit the range of motion of the lower leg mechanism 4, thereby ensuring the safety of the wearer.

[0098] Combination Figure 10 The foot mechanism 5 includes a first foot plate 501, a second foot plate 502, a heel plate 503, two first foot spring rods 504, a heel pin 505, a first inner foot pin 506, two foot springs 507, a second inner foot pin 508, a second foot spring rod 509, a forefoot pin 510, and a forefoot plate 511.

[0099] The first foot plate 501 has a boss with a through hole at its rear end, the second foot plate 502 has a through hole at one end, the first foot spring rod 504 has a through hole at one end, and the first foot pin 506 passes through the through hole of the first foot plate 501, the through hole of the second foot plate 502, and the through hole at one end of the first foot spring rod 504 in sequence, so that the first foot plate 501, the second foot plate 502, and the two first foot spring rods 504 are rotatably connected.

[0100] The upper rear end of the heel plate 503 is provided with a boss with a through hole, and the other end of the second foot plate 502 is provided with a through hole. The second foot plate 502 and the heel plate 503 are rotatably connected by the heel pin 505.

[0101] The heel plate 503 has a countersunk through hole on its bottom surface, which is fixedly connected to the lower leg mechanism 4 by screws; the first rod 504 of the foot spring has a cylindrical boss in the middle and a cylinder at the other end, with a deep hole inside, and the foot spring 507 is fitted into the cylinder, with one end in contact with the cylindrical boss.

[0102] The second rod 509 of the foot spring has a cylindrical boss in the middle and a cylinder at one end. The cylinder is inserted into the deep hole of the first rod 504 of the foot spring, and the other end of the foot spring 507 is in contact with the cylindrical boss of the second rod 509 of the foot spring.

[0103] The forefoot plate 511 has a through hole at its rear end, the second foot spring rod 509 has a through hole at its other end, and the heel plate 503 has a through hole at its front end. The second pin 508 inside the foot passes through these through holes in sequence, so that the forefoot plate 511, the second foot spring rod 506 and the heel plate 503 are rotatably connected.

[0104] A through hole is provided in the middle of the forefoot plate 511 and a through hole is provided at the front end of the first foot plate 501. The forefoot pin 510 passes through these through holes in sequence, so that the forefoot plate 511 and the first foot plate 501 are rotatably connected.

[0105] One end of the heel pin 505 is provided with a cylindrical stepped hole. The lower end of the knee joint cable shell 408 is fixed in the large hole end of the cylindrical stepped hole of the heel pin 505. The knee joint cable 407 passes through the small hole end of the cylindrical stepped hole of the heel pin 505 and is fixed at the end of the round hole of the forefoot pin 510.

[0106] Figure 11 This is a schematic diagram of the unfolded foot mechanism 5 of the present invention. Figure 12 This is a compression schematic diagram of the foot mechanism 5 of the present invention. According to the structural composition of the foot mechanism 5, the first foot plate 501, the second foot plate 502, the heel plate 503, the forefoot plate 511 and their connecting pins, the heel pin 505, the first inner foot pin 506, the second inner foot pin 508, and the forefoot pin 510, together form a quadrilateral structure. Among them, the first foot spring rod 504, the foot spring 507 and the second foot spring rod 509 form an extendable and compressible mechanism arranged on one diagonal of the quadrilateral structure of the foot mechanism 5, that is, between the first inner foot pin 506 and the second inner foot pin 508. The knee joint cable 407 is arranged on the other diagonal, that is, between the heel pin 505 and the forefoot pin 510. When the wearer wears this invention, the foot mechanism 5 is connected to the wearer's foot via straps. When the wearer and foot mechanism 5 are not in contact with the ground, the foot mechanism 5 naturally unfolds under the action of the foot spring 507. Figure 8 As shown in the diagram; when the wearer steps on the ground, under the influence of gravity, the first foot plate 501 moves downward, compressing the foot spring 507, storing gravitational potential energy, and causing the foot mechanism to move downward. Figure 11The shape transformation is shown; when the wearer is about to lift their foot off the ground, the foot spring 507 releases energy, causing the first foot plate 501 to unfold upwards, thereby assisting the wearer in lifting their foot and saving energy; at the same time, the mechanism of the foot spring 507 can also effectively reduce the impact side effects of the ground when the human body lands, and improve the service life of the exoskeleton.

[0107] Figure 13 This is a schematic diagram of the release of the knee joint friction pad of the present invention. Figure 14 This is a schematic diagram of the engagement of the knee joint friction plate of the present invention. Figure 11 and Figure 12 When the foot mechanism 5 is compressed, that is, when the wearer's foot contacts the ground, the distance between the heel pin 505 and the forefoot pin 510 increases, and the knee joint cable 407 extends within the foot mechanism 5, thereby allowing the knee joint cable 407 to... Figure 12 As the internal space shortens, the knee joint friction plate 402 is pulled downwards. Influenced by the wedge-shaped grooves inside the calf upper rod 401 and the knee joint end cap 406, the knee joint friction plate 402 is squeezed inwards as it moves downwards, causing it to press tightly against both sides of the thigh lower rod 303, creating friction. This generates a certain frictional torque between the calf mechanism 4 and the thigh mechanism 5, restricting their free movement and forming a more stable support rod. This allows the wearer and the foot mechanism 5 of this invention to transmit the load to the ground through the structure of this invention when in contact with the ground and forming the support phase. When the wearer's foot leaves the ground and enters the swing phase, the foot mechanism 5 unfolds. At this time, the length of the knee joint cable 407 within the foot mechanism 5 shortens, while the length of the knee joint cable 407 within the knee joint becomes longer, no longer squeezing the thigh lower rod 303. Figure 13 As shown, this allows the thigh mechanism 3 and the calf mechanism 4 to form a biomimetic motion trajectory similar to that of the wearer, without restricting the wearer's free swing.

[0108] As described above, the load-assisted passive exoskeleton device has a biomimetic knee joint structure with the ability to change the center of motion during rotation, which can better match the wearer's movement. At the same time, the knee joint and foot mechanism work together to provide good auxiliary support in the support phase and do not restrict the wearer's free movement in the swing phase. In addition, the elastic element in the foot mechanism can provide a certain amount of energy conversion for the wearer, reducing the energy loss during the wearer's load-bearing movement.

[0109] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A load-assisted passive exoskeleton device, characterized in that, It includes a back frame unit (1), a waist unit (2), and a leg unit; The waist unit (2) is rotatably connected to the bottom of the back frame unit (1), and the leg units are symmetrically arranged on the waist unit (2). The leg unit includes a thigh mechanism (3), a calf mechanism (4), and a foot mechanism (5) that are rotatably connected from top to bottom, wherein the top of the thigh mechanism (3) is rotatably connected to the waist unit (2).

2. The load-assisted passive exoskeleton device according to claim 1, characterized in that, The back frame unit (1) includes a back plate (101), a tray (102), and a back frame connecting pin (103). The back plate (101) is provided with a boss with a through hole, and the tray (102) is provided with a through hole at one end. The back frame connecting pin (103) passes through the through hole at the end of the tray (102) and the boss with a through hole on the back plate (101) in sequence, so that the back plate (101) and the tray (102) are rotatably connected. A through hole is provided at the lower end of the back plate (101).

3. The load-assisted passive exoskeleton device according to claim 2, characterized in that, The waist unit (2) includes a waist-back connector (201), a locking nut (202), a locking screw (203), a hip joint end cap (204), a hip joint bearing (205), and a hip joint connecting pin (206). The waist and back connector (201) corresponds to the through hole at the lower end of the back plate (101) through the through hole, and is fixedly connected by the locking nut (202) and the locking screw (203); The waist and back connector (201) is provided with stepped through holes on both sides, and the hip joint bearing (205) is provided in the stepped through hole. The hip joint bearing (205) is connected to the hip joint connecting pin (206), and the hip joint connecting pin (206) also passes through and connects to the thigh mechanism (3). The stepped through hole of the lumbar connector (201) is covered with a hip joint end cap (204).

4. The load-assisted passive exoskeleton device according to claim 1, characterized in that, The thigh mechanism (3) includes a thigh bearing (301), an upper thigh rod (302), and a lower thigh rod (303). The top of the thigh rod (302) has a through hole, and the thigh bearing (301) is disposed in the through hole and connected to the waist unit (2); The bottom of the upper thigh bar (302) has a rectangular groove, and thigh clamping plates are respectively provided on both sides of the bottom end. The thigh clamping plates are respectively provided with countersunk holes and threaded holes. The lower thigh bar (303) includes a top cuboid and a bottom U-shaped arc. The top cuboid of the lower thigh bar (303) is inserted into the rectangular groove at the bottom of the upper thigh bar (302) and is clamped and fixed to the thigh clamping plate by screws. The U-shaped arc of the lower thigh bar (303) is placed inside the calf mechanism (4) and is rotatably connected to the calf mechanism (4).

5. The load-assisted passive exoskeleton device according to claim 4, characterized in that, The lower leg mechanism (4) includes an upper lower leg rod (401), a lower lower leg rod (409), an ankle joint bearing (410), and an ankle support rod (411). The lower leg rod (401) and the thigh mechanism (3) are connected on one side for setting the knee joint, and a rectangular groove is opened on the other side. The lower leg clamping plate is provided on the side. The lower leg clamping plate is provided with countersunk holes and threaded holes respectively. The top of the lower leg rod (409) is inserted into the rectangular groove of the lower leg rod (401) and clamped and fixed with the lower leg clamping plate by screws. The lower leg upper rod (401) has a rectangular groove at the bottom of the lower leg rectangular body, and two lower leg clamping plates are provided on the side of the bottom end. The two lower leg clamping plates are respectively provided with countersunk holes and threaded holes. An ankle joint bearing (410) is provided on the lower leg rod (409), and the ankle joint bearing (410) is connected to the foot mechanism (5) through the ankle support rod (411).

6. The load-assisted passive exoskeleton device according to claim 5, characterized in that, The lower leg mechanism (4) also includes a knee joint friction plate (402), a knee joint pin (403), a knee joint sliding bearing (404), a knee joint leaf spring (405), a knee joint end cap (406), a knee joint cable (407), and a knee joint cable housing (408). The lower leg upper bar (401) includes a knee joint mounting seat and a lower leg rectangular body; The knee joint mounting base is provided with an upper knee boss and a lower knee double boss. Each of the bosses is provided with a threaded through hole. A slot is provided on the upper knee boss, and a waist hole is opened below the slot. The knee joint mounting seat has a wedge-shaped groove and a wire placement groove between the upper knee protrusion and the lower knee double protrusion. The bottom of the knee joint mounting seat has a circular stepped hole. The bottom of the lower leg rectangular body has a rectangular groove. The lower leg clamping plate is provided on the side of the bottom end. The lower leg clamping plate has a countersunk hole and a threaded hole respectively. Multiple knee joint sliding bearings (404) are provided at the knee joint mounting seat. The two ends of the knee joint pin (403) are respectively placed in the waist holes of the knee joint mounting seat and the knee joint end cap (406). One of the knee joint sliding bearings (404) is located in the middle of the knee joint pin (403). The bottom surface of the knee joint leaf spring (405) slides in contact with the knee joint sliding bearing (404), and the top surface is inserted into the slot of the upper knee boss. The other two knee joint sliding bearings (404) are installed on the lower knee double boss. The U-shaped arc of the lower thigh rod (303) is disposed between multiple knee joint sliding bearings (404), and the knee joint end cap (406) and the knee joint sliding bearings (404) are connected by knee joint pins (403). The knee joint friction pads (402) are respectively placed in the wedge-shaped grooves of the knee joint mounting seat and the knee joint end cap (406), and can slide in the wedge-shaped grooves. The lower end of the knee joint friction pads (402) has a through hole, and one end of the knee joint cable (407) is fastened to the knee joint friction pads (402) through the through hole. The knee joint cable (407) is connected to the knee joint cable shell (408), and the knee joint cable shell (408) passes through the lower leg upper rod (401) and is connected to the foot mechanism (5).

7. The load-assisted passive exoskeleton device according to claim 6, characterized in that, The knee joint end cap (406) is provided with an upper knee protrusion and a lower knee double protrusion. Each of the protrusions is provided with a countersunk hole. The upper knee protrusion is provided with a slot, and a waist hole is opened below the slot. The knee joint end cap (406) has a wedge-shaped groove and a wire placement groove between the upper knee protrusion and the lower knee double protrusion.

8. The load-assisted passive exoskeleton device according to claim 6, characterized in that, The foot mechanism (5) includes a first foot plate (501), a second foot plate (502), a heel plate (503), two first foot spring rods (504), a heel pin (505), a first inner foot pin (506), two foot springs (507), a second inner foot pin (508), a second foot spring rod (509), a forefoot pin (510), and a forefoot plate (511). The first foot plate (501) has a boss with a through hole at its rear end, the second foot plate (502) has a through hole at one end, the first foot spring rod (504) has a through hole at one end, and the first foot pin (506) passes through the through hole of the first foot plate (501), the through hole of the second foot plate (502), and the through hole at one end of the first foot spring rod (504) in sequence, so that the first foot plate (501), the second foot plate (502), and the two first foot spring rods (504) are rotatably connected. The upper rear end of the heel plate (503) is provided with a boss with a through hole, and the other end of the second foot plate (502) is provided with a through hole, and the second foot plate (502) and the heel plate (503) are rotatably connected by a heel pin (505). The bottom surface of the heel plate (503) has a countersunk through hole, which is fixedly connected to the lower leg mechanism (4) by screws; the first rod (504) of the foot spring has a cylindrical boss in the middle and a cylinder at the other end, with a deep hole inside. The foot spring (507) is fitted into the cylinder, with one end in contact with the cylindrical boss. The second rod of the foot spring (509) has a cylindrical boss in the middle and a cylinder at one end. The cylinder is inserted into the deep hole of the first rod of the foot spring (504). The other end of the foot spring (507) is in contact with the cylindrical boss of the second rod of the foot spring (509). The forefoot plate (511) has a through hole at the rear end, the second foot spring rod (509) has a through hole at the other end, and the heel plate (503) has a through hole at the front end. The second pin (508) inside the foot passes through these through holes in sequence, so that the forefoot plate (511), the second foot spring rod (506) and the heel plate (503) are rotatably connected. A through hole is provided in the middle of the forefoot plate (511), and a through hole is provided at the front end of the first foot plate (501). The forefoot pin (510) passes through these through holes in sequence, so that the forefoot plate (511) and the first foot plate (501) are rotatably connected. One end of the heel pin (505) is provided with a cylindrical stepped hole. The lower end of the knee joint cable shell (408) is fixed in the large hole end of the cylindrical stepped hole of the heel pin (505). The knee joint cable (407) passes through the small hole end of the cylindrical stepped hole of the heel pin (505) and the end is fixed in the end round hole of the forefoot pin (510).

Images