Exoskeleton device and robot with same

Abstract

The invention discloses an exoskeleton device and a robot with the exoskeleton device, the exoskeleton device comprises a waist module and a plurality of limb modules, and at least one of the plurality of limb modules is connected to the waist module. The waist module is connected with at least one of the limb modules, so that when the exoskeleton device is arranged outside a user, the limb modules can be selectively connected for use according to requirements, when the exoskeleton device is arranged outside the user, the use requirements can be met, the exoskeleton device is simplified, and meanwhile the use efficiency of the exoskeleton device is improved. And the satisfaction degree of using the exoskeleton device by the user can be improved, and the use experience of the user is improved. In addition, in the specific using process, the thigh binding and the shank binding can also achieve modular design so as to be connected to different positions, and therefore the using requirements of different heights can be met.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and in particular to an exoskeleton device and a robot having the same. Background Technology

[0002] In the current technology, most assistive exoskeletons on the market are designed around a single joint or a single upper limb. There are no full-body assistive exoskeletons with a modular design, meaning that wearers can choose to wear the corresponding joints according to their own needs, such as the hip joint, knee joint, ankle joint, and upper limb, in any combination. Furthermore, the relative positions of different joints of the exoskeleton can be adjusted to accommodate users of different heights while rigidly connecting and sharing the force. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, one object of this invention is to provide an exoskeleton device that employs a modular design, allowing users to connect and use different modules as needed during use, thereby improving the applicability of the exoskeleton device. Furthermore, in specific use, the thigh and calf bindings can also be modularly designed to be connected at different positions to meet the usage needs of users of different heights.

[0004] Another object of the present invention is to provide a robot having an exoskeleton device as shown above.

[0005] An exoskeleton device according to an embodiment of the present invention includes: a waist module and limb modules, wherein there are multiple limb modules, and at least one of the multiple limb modules is connected to the waist module.

[0006] According to embodiments of the exoskeleton device of the present invention, by connecting the waist module to at least one of a plurality of limb modules, the exoskeleton device, when deployed outside the user's body, allows for selective connection of limb modules as needed. This enables the exoskeleton device to meet the user's usage requirements when deployed outside the body, simplifying the exoskeleton device while improving user satisfaction and enhancing the user experience. Furthermore, in practical use, the thigh and calf bindings can also be modularly designed to connect at different positions to meet the usage needs of users of different heights.

[0007] In some embodiments, the waist module includes: a fixing plate; a limiting member disposed on the fixing plate; and a quick-release member, the quick-release member including a first quick-release member and a second quick-release member, the first quick-release member being disposed on the back side of the fixing plate, the quick-release member being used to connect the limb module to the fixing plate.

[0008] In some embodiments, the waist module is adapted to include a waist fixation plate, a limiting member, and a quick-release member. The waist fixation plate is adapted to provide a load-bearing function to support the connection and arrangement of other structures. Specifically, it is adapted to connect the limiting member and the quick-release member. The limiting member is adapted to provide a restraining function so that the waist module can be properly arranged on the waist to support the connection and assembly of other limb modules. The waist fixation plate is also connected to the quick-release member, which is adapted to provide a quick assembly and disassembly function to connect limb modules. This allows the limb modules to be connected to the waist module relatively easily and reliably, enabling the exoskeleton device to selectively connect different limb modules for use as needed, thereby improving the applicability of the exoskeleton device.

[0009] In some embodiments, the limiting member includes: a limiting strap connected to the fixed plate, wherein the two free ends of the limiting strap are disposed opposite to each other; two first limiting buckles, each located at one of the free ends of the limiting strap, the two first buckles being inserted into each other, the limiting buckles being used to adjust the limiting position of the limiting strap; and multiple second limiting buckles, the multiple second limiting buckles being vertically spaced and connected to the limiting strap, the length of the second limiting buckles being adjustable to adjust the limiting position of the second limiting buckles.

[0010] In some embodiments, during the assembly of the limiting component, it is suitable to include a limiting strap, a first limiting buckle, and a second limiting buckle. The limiting strap is suitable to wrap around the outside of the waist, so that the waist module can be positioned on the user's waist as needed during use. A first limiting buckle is provided at the free end of the limiting strap, and the first limiting buckles are interlocked to each other to restrict the user's waist. A second limiting buckle is also connected to the limiting strap, and the second limiting buckle is vertically positioned so that it can limit the user from another direction. This improves the usability of the limiting component by restricting the user's waist, allowing the exoskeleton device to be positioned and used as designed, thereby enhancing the performance of the exoskeleton device.

[0011] In some embodiments, the quick-release component includes: a base detachably connected to the fixing plate, the base having a slot and a receiving portion, the receiving portion having a slot on its inner side; a button disposed in the receiving portion, the button having a protrusion that selectively engages with the slot; a spring abutting against the inner peripheral wall of the receiving portion, the free end of the spring abutting against the button; a quick-release end cap constrained on the base; a flange portion disposed on the side of the quick-release end cap away from the button, one end of the flange having a bolt; a flange end cap rotatably connected to the flange portion; a gimbal rotatably connected to the flange portion; and a connecting bushing connected to the gimbal.

[0012] In some embodiments, the quick-release element is adapted to include a base, a button, a spring, a quick-release end cap, a flange, a flange end cap, a gimbal, and a connecting bushing. The base is disposed on the waist fixing plate to enhance the connection and restrict the connection assembly of the quick-release element. A button is adapted to be connected to the base, and since the button has a latching protrusion that can selectively engage with a slot on the base, the quick-release element is adapted to lock and restrict in the engaged state. When it is necessary to unlock the quick-release element, it is adapted to unlock the quick-release element by pressing the button to disengage the latching protrusion from the slot.

[0013] In the use of quick-release components, springs are also suitable for being arranged. The springs drive the latch to engage in the slot, thereby improving the reliability of the quick-release component's engagement. A flange is also suitable for being installed on the base, with one end connected to a gimbal. This allows the rotational force of the flange to be transmitted to the gimbal, which is then connected to a connecting sleeve. The connecting sleeve is suitable for reciprocating motion, allowing for multiple degrees of freedom of rotation during movement, thus improving the performance of the quick-release component.

[0014] Furthermore, a quick-release end cap is provided on the base, and a flange end cap is provided on the outside of the flange portion, allowing the quick-release end cap to be adapted to cover the machine base, while the flange end cap is adapted to cover the flange portion. In this way, the above-mentioned structure can be used to cover the quick-release parts during use, thereby improving the reliability of the quick-release parts.

[0015] In some embodiments, the second quick-release member is connected to at least two of the plurality of cylindrical slots. The second quick-release member includes a hand-held operating part and a return spring. One end of the hand-held operating part is provided with a cylindrical plug. The output end of the return spring is disposed in contact with the cylindrical plug. The return spring is used to restrict the cylindrical plug from being connected to the cylindrical slot.

[0016] In some embodiments, multiple cylindrical slots are provided on the hip or knee joint assist rod. When the hip or knee joint assist rod needs to be connected to a thigh or calf strap, the hand-held operating part is adapted to compress, allowing the cylindrical plug to move along the hip or knee joint assist rod. After moving to a designated position, the cylindrical plug is adapted to move and be confined within the cylindrical slot, thereby achieving a fixed connection of the second quick-release piece. The cylindrical plug is adapted to be connected to a return spring. When the cylindrical plug is confined within the cylindrical slot, the return spring provides a driving action to improve the reliability of the cylindrical plug's confinement within the slot, thereby improving the reliability of the exoskeleton device.

[0017] In some embodiments, the limb module includes an upper limb module and a lower limb module, the upper limb module being connected to the upper side of the waist module and the lower limb module being connected to the lower side of the waist module.

[0018] In some embodiments, the limb module may include an upper limb module and a lower limb module during its construction. The waist module may be selectively connected to either the upper limb module or the lower limb module as needed, thereby improving the applicability of the exoskeleton device during its construction and making the user experience more comfortable.

[0019] In some embodiments, the upper limb module includes: an upper limb fixing plate disposed on the upper side of the waist module; an upper limb restraint connected to the upper limb fixing plate, with a second limiting buckle connected to the upper limb restraint; a support rod connected to the connecting bushing, with the other end of the support rod detachably connected to the upper limb fixing plate; and an arm assist rod rotatably connected to the back side of the upper limb fixing plate, with an arm limiting portion on the arm assist rod for restricting the arm.

[0020] In some embodiments, the upper limb module is adapted to include an upper limb fixation plate, an upper limb restraint, a support rod, and an arm assist rod. The upper limb fixation plate is adapted to provide a load-bearing function to support and connect the user's upper limb. The upper limb restraint is adapted to be connected to the upper limb fixation plate and is adapted to connect and restrict the upper limb. The support rod is also adapted to be connected to the upper limb fixation plate, with the other end of the support rod connected to a connecting bushing to realize the assembly connection between the upper limb module and the waist belt module. During the assisted use of the upper limb module, the assistive effect is adapted to be applied to the arm through the arm assist rod, so that the output performance of the exoskeleton device can meet the user's needs.

[0021] In some embodiments, the lower limb module includes: a hip joint module, the hip joint module including: a hip joint fixation plate, the hip joint fixation plate being connected to the lumbar fixation plate; a hip joint fixation part, the limiting binding having a fixation groove, the hip joint fixation part passing through the fixation groove; two hip joint buckles, the two hip joint buckles being located at the free end of the hip joint fixation part and being inserted into each other; a hip joint adjustment part, the hip joint adjustment part being connected to the hip joint fixation plate; and a hip joint adjustment rod, the hip joint adjustment rod being connected to the hip joint. The adjustment section includes a hip joint adjustment part for adjusting the extension length of the hip joint adjustment rod; a hip joint adjustment component disposed on the hip joint fixing plate for controlling the hip joint adjustment rod; a hip joint mounting plate connected to the free end of the hip joint adjustment rod; a hip joint adjustment motor disposed on the hip joint mounting plate; a hip joint support rod connected to the hip joint adjustment motor; and a thigh binding movably mounted on the hip joint support rod via a second quick-release component.

[0022] In some embodiments, the lower limb module connected to the waist module is adapted to include a hip joint module, a knee joint module, and an ankle joint module, so that the exoskeleton device can connect to different modules for corresponding assistance use, allowing users to selectively connect different modules according to their needs to meet their usage requirements and improve the user experience.

[0023] For example, the lower limb module is suitable for connection to a hip joint module, which includes: a hip joint fixation plate, a hip joint fixation part, a hip joint buckle, a hip joint adjustment part, a hip joint adjustment rod, a hip joint adjustment component, a hip joint mounting plate, a hip joint adjustment motor, a hip joint support rod, and a thigh restraint. The hip joint fixation plate is suitable for connection with a lumbar fixation plate to achieve the assembly connection of the hip joint module on the lumbar module. Specifically, the hip joint fixation plate is suitable for providing load-bearing support for other structures. When the hip joint module is further fixed to the lumbar fixation plate, the hip joint fixation part is also suitable for use, allowing the hip joint fixation part to pass through the fixing groove on the restraint to further fix the structure of the hip joint module. A hip joint buckle is also provided at the free end of the hip joint fixation part, and two hip joint buckles are interlocked to further restrict the hip joint fixation part on the user's hip joint. Furthermore, a hip joint adjustment unit is suitable for being installed on the hip joint fixation plate. This unit provides a position for the arrangement of the hip joint adjustment rod, allowing the adjustment unit to adjust the extension position of the rod and thus adjust the position of the hip joint module to improve user satisfaction. A hip joint mounting plate is suitable for connecting to the free end of the hip joint adjustment unit. This mounting plate provides a mounting position for the hip joint adjustment motor, allowing it to be positioned appropriately and adjusted under the control of the adjustment unit to meet usage requirements. Additionally, a hip joint support rod is connected below the hip joint adjustment motor. The end of the support rod is equipped with a thigh strap for securing it to the user's thigh, allowing the support rod to be mounted on the hip joint and improving the user experience of the exoskeleton device.

[0024] In some embodiments, the lower limb module includes: a knee joint module, the knee joint module including: a knee joint support rod, the knee joint support rod passing through the thigh strap and connected to the hip joint adjustment rod; a knee joint adjustment motor, the knee joint adjustment motor being connected to the knee joint support rod; a knee joint assist rod, the knee joint assist rod being connected to the knee joint adjustment motor; and a calf strap, the calf strap being connected to the free end of the knee joint assist rod via a second quick-release piece.

[0025] In some embodiments, the lower limb module is also adapted to include a knee joint module, which is adapted to be positioned at the user's knee joint so that the exoskeleton device can control and assist the user's knee joint as needed. Specifically, the knee joint module is adapted to include: a knee joint support rod, a knee joint adjustment motor, a knee joint assist rod, and a lower leg strap. The knee joint support rod provides a connection to the lumbar module, and simultaneously connects to the hip joint module for use as needed. Restricting the knee joint support rod to the thigh strap allows it to be used alongside the hip joint module, thereby improving the user comfort of the exoskeleton device. Furthermore, the end of the knee joint support rod is equipped with a knee joint adjustment motor. This motor is designed to provide control as needed to drive the knee joint assist rod, allowing it to assist the user's knee joint in movement. The calf strap, located at the end of the knee joint assist rod, securely fastens the calf strap to the lower leg, ensuring that the assistive effect of the knee joint module is effectively applied to the user's lower leg to drive its movement. This enhances the user experience of the exoskeleton device.

[0026] In some embodiments, the lower limb module includes: an ankle joint module, the ankle joint module including: an ankle joint support rod, the ankle joint support rod being movably connected to the knee joint assist rod; and an ankle joint bearing portion, the ankle joint bearing portion being disposed at the free end of the knee joint assist rod.

[0027] In some embodiments, the exoskeleton device may also include an ankle joint module to allow the assistive effect to be transmitted to the ankle joint to meet the user's needs and improve the user experience. Specifically, the ankle joint module includes an ankle joint support rod and an ankle joint support portion. The ankle joint support rod is adapted to connect to the ankle joint support portion so that the support portion can support the user's foot as designed to meet the assistive needs of the exoskeleton device and improve the user's experience of using the exoskeleton device.

[0028] The robot according to an embodiment of the present invention includes the exoskeleton device as described above.

[0029] According to the robot of the present invention, since the robot is equipped with the exoskeleton device as shown above, by connecting the waist module to at least one of the multiple limb modules, the exoskeleton device can selectively connect to the limb modules for use as needed when deployed outside the user's body. This allows the exoskeleton device to meet the user's usage needs when deployed outside the user's body, simplifies the exoskeleton device, and improves the user's satisfaction with using the exoskeleton device, thereby enhancing the user's experience.

[0030] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0031] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure 12 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure 13 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure 14 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention; Figure label: Exoskeleton device 10, Waist module 100, waist fixing plate 110, limiting component 120, limiting binding 121, first limiting buckle 122, second limiting buckle 123, quick release component 130, base 131, button 132, spring 133, quick release end cap 134, flange 135, flange end cap 136, gimbal 137, connecting bushing 138, fixing groove 139, first quick release component 141, second quick release component 142. Limb module 200, upper limb module 210, upper limb fixation plate 211, upper limb binding 212, support rod 213, arm assist rod 214, lower limb module 220, hip joint module 231, knee joint module 232, ankle joint module 233, hip joint fixation plate 240, hip joint fixation part 241, hip joint buckle 242, hip joint adjustment part 243, hip joint adjustment rod 244, hip joint adjustment component 245, hip joint mounting plate 246, hip joint adjustment motor 247, hip joint support rod 248, thigh binding 249, knee joint support rod 251, knee joint adjustment motor 252, knee joint assist rod 253, lower leg binding 254, ankle joint support rod 261, ankle joint bearing part 262. Thigh binding module 309, knee joint thigh rod mounting groove 308, lower leg binding module 403, hand-held operating part 405, semi-circular boss 406, semi-circular groove 407, rectangular groove 408, rectangular boss 409, cylindrical groove 410, cylindrical plug 411, return spring 412. Detailed Implementation

[0032] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0033] The following is for reference. Figures 1-14 An exoskeleton device 10 according to an embodiment of the present invention includes: a waist module 100 and limb modules 200, wherein there are multiple limb modules 200, and at least one of the multiple limb modules 200 is connected to the waist module 100.

[0034] It should be noted that the exoskeleton device 10 is suitable for placement on the outside of the human body so that the exoskeleton device 10 can be restricted to the outside of the human body. In this way, during human movement, the exoskeleton device 10 can provide assistance to meet the auxiliary movement needs of the human body.

[0035] In this application, the exoskeleton device 10 is adapted to include a waist module 100 and a limb module 200. During user use, the exoskeleton device 10 is adapted to be connected to the outside via the waist module 100, and the limb module 200 is adapted to be connected to the waist module 100. The construction process of the limb module 200 is adapted to include multiple different limb modules 200. During the use of the exoskeleton device 10, the waist module 100 is adapted to be connected to at least one limb module 200 to meet the usage requirements, so that the exoskeleton device 10 is arranged on the outside of the user to assist the user's movement.

[0036] According to the embodiments of the present invention, the exoskeleton device 10 connects the waist module 100 to at least one of a plurality of limb modules 200, so that when the exoskeleton device 10 is deployed outside the user's body, the limb modules 200 can be selectively connected for use as needed. This allows the exoskeleton device 10 to meet the user's usage needs when deployed outside the user's body, simplifies the exoskeleton device 10, and improves the user's satisfaction with using the exoskeleton device 10, thereby enhancing the user's experience.

[0037] In some embodiments, the waist module 100 includes: a waist fixing plate 110, a limiting member 120, and a quick-release member 130; the limiting member 120 is disposed on the waist fixing plate 110; the quick-release member 130 includes a first quick-release member 141 and a second quick-release member 142, the first quick-release member 141 is disposed on the back side of the waist fixing plate 110, and the quick-release member 130 is used to connect to the limb module 200 fixing plate.

[0038] Understandably, the waist module 100 is suitable to include a waist fixation plate 110, a limiting member 120, and a quick-release member 130. The waist fixation plate 110 is suitable to provide a load-bearing function to support the connection and arrangement of other structures. Specifically, it is suitable to connect the limiting member 120 and the quick-release member 130. The limiting member 120 is suitable to provide a restraining function so that the waist module 100 can be properly arranged on the waist to support the connection and assembly of other limb modules 200. The quick-release member 130 is also connected to the waist fixation plate 110. The quick-release member 130 is suitable to provide a quick assembly and disassembly function to connect the limb modules 200, so that the limb modules 200 can be connected to the waist module 100 in a relatively simple and reliable manner. This allows the exoskeleton device 10 to selectively connect different limb modules 200 for use as needed, thereby improving the applicability of the exoskeleton device 10.

[0039] In some embodiments, the limiting member 120 includes: a limiting binding 121, a first limiting buckle 122, and a second limiting buckle 123. The limiting binding 121 is connected to a fixed plate, and the two free ends of the limiting binding 121 are arranged opposite to each other. There are two first limiting buckles 122, both of which are located at the free ends of the limiting binding 121. The two first buckles are inserted into each other, and the limiting buckles are used to adjust the limiting position of the limiting binding 121. There are multiple second limiting buckles 123, which are vertically spaced and connected to the limiting binding 121. The length of the second limiting buckle 123 is adjustable to adjust the limiting position of the second limiting buckle 123.

[0040] In other words, during the assembly of the limiting member 120, it is suitable to include a limiting strap 121, a first limiting buckle 122, and a second limiting buckle 123. The limiting strap 121 is suitable to wrap around the outside of the waist, so that the waist module 100 can be arranged on the user's waist as needed during use. The free end of the limiting strap 121 is provided with a first limiting buckle 122, which is inserted into each other to restrict the user's waist. The limiting strap 121 is also connected to a second limiting buckle 123, which is set vertically so that it can restrict the user from another direction. This gives the limiting member 120 better performance in restricting the user's waist, allowing the exoskeleton device 10 to be arranged and used as designed, thereby improving the performance of the exoskeleton device 10.

[0041] In some embodiments, the first quick-release component 141 includes: a base 131, a button 132, a spring 133, a quick-release end cap 134, a flange portion 135, a flange end cap 136, a gimbal 137, and a connecting bushing 138. The base 131 is detachably connected to the waist-mounted component and has a slot and a receiving portion. The receiving portion has a slot on its inner side. The button 132 is disposed in the receiving portion and has a protrusion that selectively engages with the slot. The spring 133 abuts against the inner peripheral wall of the receiving portion, and the free end of the spring 133 abuts against the button 132. The quick-release end cap 134 is restricted on the base 131. The flange portion 135 is disposed on the side of the quick-release end cap 134 away from the button 132, and one end of the flange has a bolt. The flange end cap 136 is rotatably connected to the flange portion 135. The gimbal 137 is rotatably connected to the flange portion 135. The connecting bushing 138 is connected to the gimbal 137.

[0042] In other words, the first quick-release component 141 is adapted to include a base 131, a button 132, a spring 133, a quick-release end cap 134, a flange 135, a flange end cap 136, a gimbal 137, and a connecting bushing 138. The base 131 is mounted on the waist fixing plate 110 to enhance the connection and restrict the connection assembly of the first quick-release component 141. The button 132 is adapted to be connected to the base. Since the button 132 has a latching protrusion that can selectively engage with a slot on the base 131, the first quick-release component 141 is adapted to lock and restrict it in the engaged state. When it is necessary to unlock the first quick-release component 141, it is adapted to unlock the first quick-release component 141 by pressing the button 132 to disengage the latching protrusion from the slot.

[0043] In the use of the first quick-release component 141, a spring 133 is also suitable for being arranged. The spring 133 is suitable for driving the latch to engage in the slot, thereby improving the reliability of the engagement of the first quick-release component 141. A flange 135 is also suitable for being provided on the base 131. One end of the flange 135 is connected to a gimbal 137, so that when the flange 135 is suitable for rotation, the rotation effect can be transmitted to the gimbal 137. A connecting bushing 138 is also connected to the gimbal 137. The connecting bushing 138 is suitable for reciprocating motion, so that the connecting bushing 138 can be rotated with multiple degrees of freedom during the movement, thereby improving the performance of the first quick-release component 141.

[0044] Furthermore, a quick-release end cap 134 is provided on the base 131, and a flange end cap 136 is provided on the outside of the flange portion 135, so that the quick-release end cap 134 is adapted to cover the base 131, and the flange end cap 136 is adapted to cover the flange portion 135. In this way, the above-mentioned structure can be used to cover the first quick-release component 141 during use, thereby improving the reliability of the first quick-release component 141.

[0045] In some embodiments, the second quick-release member 142 is connected to at least two of the plurality of cylindrical slots 410. The second quick-release member 142 includes a hand-held operating part 405 and a return spring 412. One end of the hand-held operating part 405 is provided with a cylindrical plug 411. The output end of the return spring 412 is disposed in contact with the cylindrical plug 411. The return spring 412 is used to restrict the cylindrical plug 411 from being connected to the cylindrical slot 410.

[0046] It should be noted that the second quick-release piece 142 is suitable for connection to the thigh strap 249 or the calf strap 254, allowing the thigh strap 249 or the calf strap 254 to achieve a modular design. Specifically, the second quick-release piece 142 is connected to the connecting end of the thigh strap 249 or the calf strap 254 to achieve an adaptive setting of the second quick-release piece 142 on the corresponding hip joint assist rod or knee joint assist rod. In this way, during the use of the exoskeleton device, the position of the thigh strap 249 or the calf strap 254 can be adjusted through the second quick-release piece 142 to achieve adaptive adjustments for people of different heights.

[0047] Specifically, multiple cylindrical grooves 410 are provided on the hip or knee joint assist rod. When the hip or knee joint assist rod needs to be connected to the thigh strap 249 or calf strap 254, the handheld operating part 405 is adapted to be compressed so that the cylindrical plug 411 can move along the hip or knee joint assist rod. After moving to the designated position, the cylindrical plug 411 is adapted to move and be confined within the cylindrical groove 410 to achieve the fixed connection of the second quick-release piece 142. The cylindrical plug 411 is adapted to be connected to a return spring 412. When the cylindrical plug 411 is connected and confined within the cylindrical groove 410, the return spring 412 provides a driving action to improve the confinement reliability of the cylindrical plug 411 within the cylindrical groove 410, thereby improving the reliability of the exoskeleton device 10.

[0048] In some embodiments, the limb module 200 includes an upper limb module 210 and a lower limb module 220. The upper limb module 210 is connected to the upper side of the waist module 100, and the lower limb module 220 is connected to the lower side of the waist module 100. Thus, during the configuration of the limb module 200, it is suitable to include both the upper limb module 210 and the lower limb module 220. The upper limb module 210 or the lower limb module 220 can be selectively connected to the waist module 100 as needed, thereby improving the applicability of the exoskeleton device 10 during construction and making the user experience more comfortable.

[0049] In some embodiments, the upper limb module 210 includes: an upper limb fixing plate 211, an upper limb binding 212, a support rod 213, and an arm assist rod 214. The upper limb fixing plate 211 is disposed on the upper side of the waist module 100; the upper limb binding 212 is connected to the upper limb fixing plate 211, and the second limiting buckle 123 is connected to the upper limb binding 212; the support rod 213 is connected to the connecting bushing 138, and the other end of the support rod 213 is detachably connected to the upper limb fixing plate 211; the arm assist rod 214 is rotatably connected to the back side of the upper limb fixing plate 211, and the arm assist rod 214 is provided with an arm limiting part, which is used to limit the arm.

[0050] In other words, the upper limb module 210 is adapted to include an upper limb fixation plate 211, an upper limb restraint 212, a support rod 213, and an arm assist rod 214. The upper limb fixation plate 211 is adapted to provide a load-bearing function to support and connect the user's upper limb. The upper limb restraint 212 is adapted to be connected to the upper limb fixation plate 211, and the upper limb restraint 212 is adapted to connect and restrict the upper limb. The support rod 213 is also adapted to be connected to the upper limb fixation plate 211, and the other end of the support rod 213 is also connected to a connecting bushing to realize the assembly connection between the upper limb module 210 and the waist belt module. During the use of the upper limb module 210 for assistance, the assistance is adapted to be applied to the arm through the arm assist rod 214, so that the output performance of the exoskeleton device 10 can meet the user's needs.

[0051] In some embodiments, the lower limb module 220 includes a hip joint module 231, which includes a hip joint fixation plate 240, a hip joint fixation part 241, a hip joint buckle 242, a hip joint adjustment part 243, a hip joint adjustment rod 244, a hip joint adjustment component 245, a hip joint mounting plate 246, a hip joint adjustment motor 247, a hip joint support rod 248, and a thigh binding 249. The hip joint fixation plate 240 is connected to the lumbar fixation plate 110. The limiting binding 121 is provided with a fixing groove 139, and the hip joint fixation part 241 passes through the fixing groove 139. There are two hip joint buckles 242, and the two hip joint buckles 242 are located at the free end of the hip joint fixation part 241. The snap fasteners 242 are interlocked; the hip joint adjustment part 243 is connected to the hip joint fixation plate 240; the hip joint adjustment rod 244 is connected to the hip joint adjustment part 243, and the hip joint adjustment part 243 is used to adjust the extension length of the hip joint adjustment rod 244; the hip joint adjustment component 245 is provided on the hip joint fixation plate 240, and the hip joint adjustment component 245 is used to control the hip joint adjustment rod 244; the hip joint mounting plate 246 is connected to the free end of the hip joint adjustment rod 244; the hip joint adjustment motor 247 is provided on the hip joint mounting plate 246; the hip joint support rod 248 is connected to the hip joint adjustment motor 247; the thigh binding 249 is movably provided on the hip joint support rod 248 through the second quick release piece 142.

[0052] It is understood that the lower limb module 220 connected to the waist module 100 is suitable to include: hip joint module 231, knee joint module 232 and ankle joint module 233, so that the exoskeleton device 10 can connect to different modules for corresponding assistance use, so that users can selectively connect different modules according to their needs to meet their usage needs and improve the user experience.

[0053] For example, the lower limb module 220 is adapted to be connected to the hip joint module 231, which includes: a hip joint fixation plate 240, a hip joint fixation part 241, a hip joint buckle 242, a hip joint adjustment part 243, a hip joint adjustment rod 244, a hip joint adjustment component 245, a hip joint mounting plate 246, a hip joint adjustment motor 247, a hip joint support rod 248, and a thigh binding 249. The hip joint fixation plate 240 is adapted to be connected to the lumbar fixation plate 110 to realize the assembly connection of the hip joint module 231 on the lumbar module 100. Specifically, the hip joint fixation plate 240 is adapted to provide a load-bearing function to support other structures. When the hip joint module 231 is further fixed on the lumbar fixation plate 110, the hip joint fixation part 241 is also adapted to be used so that the hip joint fixation part 241 passes through the fixing groove 139 on the limiting binding 121 to further fix the structure of the hip joint module 231. At the free end of the hip joint fixation part 241, a hip joint buckle 242 is provided. Two hip joint buckles 242 are inserted into each other to further restrict the hip joint fixation part 241 on the user's hip joint. A hip joint adjustment part 243 is also suitable for being provided on the hip joint fixation plate 240. The hip joint adjustment part 243 is suitable for providing a position for the arrangement of the hip joint adjustment rod 244, allowing the hip joint adjustment part 243 to adjust the extension position of the hip joint adjustment rod 244, thereby adjusting the position of the hip joint module 231 and improving user satisfaction with the hip joint module 231. At the free end of the hip joint adjuster 245, a hip joint mounting plate 246 is suitable for being connected. The hip joint mounting plate 246 is suitable for providing a mounting position for the hip joint adjustment motor 247, allowing the hip joint adjustment motor 247 to be positioned appropriately and adjusted under the control of the hip joint adjuster 245 to meet usage requirements. In addition, a hip joint support rod 248 is connected to the hip joint adjustment motor 247. The end of the hip joint support rod 248 is provided with a thigh strap 249, which is tied to the user's thigh so that the hip joint support rod 248 can be installed and designed to be placed on the hip joint, thereby improving the user's experience of using the exoskeleton device 10.

[0054] In some embodiments, the lower limb module 220 includes a knee joint module 232, which includes a knee joint support rod 251, a knee joint adjustment motor 252, a knee joint assist rod 253, and a calf strap 254. The knee joint support rod 251 passes through the thigh strap 249 and is connected to the hip joint adjustment rod 244. The knee joint adjustment motor 252 is connected to the knee joint support rod 251. The knee joint assist rod 253 is connected to the knee joint adjustment motor 252. The calf strap 254 is connected to the free end of the knee joint assist rod 253 via a second quick-release piece 142.

[0055] Similarly, the lower limb module 220 is also adapted to include a knee joint module 232, which is adapted to be positioned at the user's knee joint so that the exoskeleton device 10 can control and assist the user's knee joint as needed. Specifically, the knee joint module 232 is adapted to include: a knee joint support rod 251, a knee joint adjustment motor 252, a knee joint assist rod 253, and a calf strap 254. The knee joint support rod 251 provides a connection to the waist module 100. At the same time, the knee joint support rod 251 is connected to the hip joint module 231 for use as needed. By restricting the knee joint support rod 251 to the thigh strap 249, the knee joint support rod 251 can be used in conjunction with the hip joint module 231 to improve the user comfort of the exoskeleton device 10. Furthermore, the end of the knee joint support rod 251 is also equipped with a knee joint adjustment motor 252. The knee joint adjustment motor 252 is adapted to provide control according to needs to drive the knee joint assist rod 253, so that the knee joint assist rod 253 can drive the user's knee joint to move with assistance. Since the lower leg strap is set at the end of the knee joint assist rod 253, by binding the lower leg strap well to the lower leg, the assisting effect of the knee joint module 232 can be better applied to the user's lower leg to drive the lower leg to move, so as to better realize the transmission of the driving force to the lower leg, thereby improving the user experience of the exoskeleton device 10.

[0056] In some embodiments, the lower limb module 220 includes an ankle joint module 233, which includes an ankle joint support rod 261 and an ankle joint support portion. The ankle joint support rod 261 is movably connected to the knee joint assist rod 253; the ankle joint support portion is located at the free end of the knee joint assist rod 253. Thus, the exoskeleton device 10 is also suitable to include the ankle joint module 233 during use, so that the assistive effect can be transmitted to the ankle joint to meet the user's needs and improve the user experience. Specifically, the ankle joint module 233 includes an ankle joint support rod 261 and an ankle joint support portion. The ankle joint support rod 261 is adapted to connect to the ankle joint support portion, so that the support portion can support the user's foot as designed to meet the assistive needs of the exoskeleton device 10, thereby improving the user's experience of using the exoskeleton device 10.

[0057] The robot according to an embodiment of the present invention includes the exoskeleton device 10 as described above.

[0058] Specifically, the robot is suitable for a modular full-body assistive exoskeleton. The overall diagram of the modular full-body assistive exoskeleton is proposed, which is divided into 5 modules: upper limb assistive module, waist belt module, hip joint assistive module, knee joint assistive module, and ankle joint module.

[0059] The waist belt module is the central connection between the upper and lower limbs. Through the waist belt module, the upper limbs can be connected to the hip joint or the knee joint. Each joint can also be worn independently and their relative positions can be adjusted, thus achieving the effect that each joint can be worn independently yet in combination and the size can be adjusted.

[0060] The waist belt module mainly consists of a waist strap, a waist belt fixing part, a waist belt buckle, anti-slip connecting buckles, and a two-degree-of-freedom quick-release mechanism. When wearing it, the waist strap is placed around the waist, and the waist belt buckle is adjusted and tightened to secure the waist belt module tightly. The two-degree-of-freedom quick-release mechanism connects to the waist support rod of the upper limb section, providing the upper limb assist module with two degrees of freedom around the waist. The anti-slip connecting buckles can be in the form of an adjustable connector with an anti-slip cover, as shown in the diagram; a buckle is preferable for length adjustment and quick release. Adjusting the length of the waist support rod and the lengths of the four anti-slip connecting buckles at the front and back allows the upper limb module to be adapted to users of different heights.

[0061] The quick-release mechanism mainly consists of a support rod bushing, a gimbal, a flange bearing outer ring pressure plate, a flange bearing, bolts, a quick-release end cover, a spring, a button, and a quick-release base.

[0062] The support rod bushing is connected to the waist support rod. The flange bearing is installed on the quick-release end cover. The outer ring of the bearing is pressed and fixed by the flange bearing outer ring pressure plate. One end of the inner ring of the bearing abuts against the gimbal, and the other end abuts against the bolt. The bolt is threadedly connected to the gimbal. Thus, the quick-release end cover has two degrees of freedom: one achieved by the flange bearing and another achieved by the rotating shaft on the gimbal.

[0063] One end of the spring rests against the button, and the other end rests against the quick-release base. When the quick-release end cover separates from the quick-release base, the spring applies a force to push the button against the quick-release base. At this time, align the fixing groove on the quick-release end cover with the fixing protrusion on the quick-release base, and push the quick-release end cover toward the quick-release base. The inclined surface on the quick-release end cover contacts the inclined surface on the button. Continue pushing to compress the button and retract the spring until the hook part on the button enters the fixing groove part on the quick-release end cover. The spring applies a force to push the button to lock the fixing groove, thus fixing the quick-release end cover onto the quick-release base, completing the installation process. To remove it, press the button and pull out the quick-release end cover.

[0064] By setting two two-degree-of-freedom quick-release mechanisms and four anti-slip connecting buckles at the waist, a quick-release connection between the waist belt module and the upper limb assist module can be achieved.

[0065] The hip joint assist module mainly consists of a Velcro hook, a waist belt, a slider, a hip belt buckle, a connecting rod, a hip joint motor mounting plate, a drive motor, a knee joint thigh bar mounting slot, a hip joint thigh bar, and a thigh binding module. The slider moves on a slide rail, the connecting rod is rotatably connected to the slider, and the hip joint motor mounting plate is rotatably connected to the connecting rod, thus adapting to users with different hip sizes and aligning the drive motor's rotation center with the user's hip joint. The drive motor drives the hip joint thigh bar, and the thigh binding module binds the user's thigh to provide assistance.

[0066] The diagram illustrates the connection between the hip joint assist module and the waist belt module. The waist belt passes through the waist belt fixing part on the waist belt module. After adjusting the binding length of the hip joint waist belt buckle, it is tightened to secure the hip joint assist module to the waist belt module. At the same time, the hook and loop fasteners on the hip joint assist module adhere to the loop fasteners on the waist belt module, thus achieving the connection between the hip joint assist module and the waist belt module. The control unit is then installed on any lower back, and the assist level can be adjusted using the assist level adjustment button.

[0067] The waist belt is fastened by passing it through the waist belt fixing part on the waist belt module and fastening the waist belt buckle. At the same time, the hook side of the hip joint assist module is attached to the hook side of the waist belt module, thus realizing the quick-release connection between the waist belt module and the upper hip joint assist module.

[0068] The knee joint assist module mainly consists of a knee joint thigh bar, a drive motor, a knee joint lower leg bar, a lower leg binding module, and a lower leg binding.

[0069] A schematic diagram showing the connection between the knee joint module 232 and the hip joint module 231 is provided. The hip joint support rod 248 passes through the knee joint thigh rod mounting slot 308 on the thigh binding module 309. The hip joint support rod 248 can slide and be fixed within the slot. Simultaneously, the knee joint support rod 251 can also slide and be fixed relative to the thigh binding module 309 in its corresponding slot. After fixing the knee joint support rod 251 and the knee joint assist rod 253 in a suitable position, adjust and tighten the binding length of the anti-slip connecting buckle 205 for secondary fixation. Then, tighten the thigh binding to firmly fix both the hip joint and the knee joint assist module to the outside of the thigh. One end of the anti-slip connecting buckle is fixed to the knee joint support rod 251 and the other end is fixed to the connecting rod 305. Alternatively, one end can be fixed to the knee joint support rod 251 and the other end can be fixed to the waist binding 202.

[0070] In this way, the connection and relative position adjustment of the knee and hip joint exoskeleton are realized. The sliding fixation scheme of the knee joint support rod 251 and the thigh binding module 309 is consistent with the adjustment scheme of the calf binding module 403 and the knee joint support rod 251 described below.

[0071] The diagram illustrates the installation of the calf binding module 403 and the knee joint support rod 251. The knee joint support rod 251 passes through the mounting slot on the calf binding module. A rectangular groove 408 is provided on one side of the knee joint calf rod 402, and equidistant cylindrical grooves 410 are provided at the bottom of the rectangular groove 408. A semi-circular groove 407 is provided on the other side of the knee joint support rod 251. The calf binding module 403 also has corresponding semi-circular bosses 406 and rectangular bosses 409. The bosses and grooves cooperate to prevent relative rotation between the calf binding module 403 and the knee joint support rod 251, ensuring structural stability and effective assistance. The calf binding module 403 also has a handheld operating part 405.

[0072] A cross-sectional view showing the installation between the knee joint support rod 251 and the calf binding module 403. The calf binding module 403 has two cylindrical through slots inside, the axis of which is parallel to the axis of the cylindrical slot 410 on the knee joint support rod 251. A cylindrical plug 411 is provided at one end of the handheld operating part 405, which moves along the axis of the cylindrical through slot. The outer diameter of the cylindrical plug 411 is the same as the inner diameter of the cylindrical slot 410. A return spring 412 is provided between the calf binding module 403 and the handheld operating part 405. One end of the return spring 412 abuts against the handheld operating part 405, and the other end abuts against the cylindrical part of the calf binding module 403. To adjust the relative position of the calf binding module 403 and the knee joint support rod 251 on the side of the through groove, pull the hand-held operating part 405 to move it away from the knee joint support rod 251. At this time, the return spring 412 is compressed, causing the cylindrical plug 411 to leave the cylindrical groove 410. At this time, the knee joint support rod 251 and the calf binding module 403 can slide relative to each other. After moving to find the appropriate position of the two cylindrical grooves 410, release the hand-held operating part 405 so that the cylindrical plug 411 is embedded in the cylindrical groove 410, thus fixing the knee joint support rod 251 and the calf binding module 403. Then tighten the calf binding 404 to complete the adjustment.

[0073] The principle of the relative position adjustment scheme between the knee joint module 232, hip joint module 231 and thigh binding module 309, and the principle of the adjustment scheme between the ankle joint module 233 and knee joint module 232 are the same as the principle of the adjustment between the knee joint support rod 251 and calf binding module 403.

[0074] According to the robot of the present invention, since the robot is equipped with the exoskeleton device as shown above, by connecting the waist module to at least one of the multiple limb modules, the exoskeleton device can selectively connect to the limb modules for use as needed when deployed outside the user's body. This allows the exoskeleton device to meet the user's usage needs when deployed outside the user's body, simplifies the exoskeleton device, and improves the user's satisfaction with using the exoskeleton device, thereby enhancing the user's experience.

[0075] Other configurations and operations of the robot according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0076] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0077] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An exoskeleton device, characterized in that, include: Waist module; The limb module is a plurality of limb modules, at least one of which is connected to the waist module.

2. The exoskeleton device according to claim 1, characterized in that, The waist module includes: Fixing plate; A limiting member is disposed on the fixing plate; The quick-release component includes a first quick-release component and a second quick-release component. The first quick-release component is disposed on the back side of the fixing plate, and the quick-release component is used to connect the limb module to the fixing plate.

3. The exoskeleton device according to claim 2, characterized in that, The limiting component includes: A limiting restraint is connected to the fixed plate, and the two free ends of the limiting restraint are arranged opposite to each other. The first limiting buckle consists of two buckles, each located at the free end of the limiting binding. The two buckles are inserted into each other. The limiting buckles are used to adjust the limiting position of the limiting binding. The second limiting buckle, there are multiple second limiting buckles, and the multiple second limiting buckles are vertically spaced and connected to the limiting binding. The length of the second limiting buckle is adjustable to adjust the limiting situation of the second limiting buckle.

4. The exoskeleton device according to claim 3, characterized in that, The first quick-release component includes: A base, which is detachably connected to the fixing plate, is provided with a slot and a receiving part, and the inner side of the receiving part is provided with a slot. A button is provided in the receiving part, and the button has a latching protrusion that selectively engages with the slot. A spring, which abuts against the inner peripheral wall of the receiving portion, and the free end of the spring is disposed in contact with the button; A quick-release end cap, the quick-release end cap being secured to the base; A flange portion is located on the side of the quick-release end cover opposite to the button, and a bolt is provided at one end of the flange; A flange end cover, which is rotatably connected to the flange portion; The gimbal is rotatably connected to the flange. A connecting bushing is attached to the gimbal.

5. The exoskeleton device according to claim 3, characterized in that, The second quick-release element is connected to at least two of the plurality of cylindrical slots, the second quick-release element comprising: A handheld operating unit, one end of which is provided with a cylindrical plug; A return spring is provided, the output end of which is disposed in contact with the cylindrical plug, and the return spring is used to restrict the cylindrical plug from being connected within the cylindrical groove.

6. The exoskeleton device according to claim 3, characterized in that, The limb module includes an upper limb module and a lower limb module. The upper limb module is connected to the upper side of the waist module, and the lower limb module is connected to the lower side of the waist module.

7. The exoskeleton device according to claim 6, characterized in that, The upper limb module includes: An upper limb fixation plate is disposed on the upper side of the waist module; Upper limb restraint, the upper limb restraint is connected to the upper limb fixing plate, and the second limiting buckle is connected to the upper limb restraint; A support rod is provided, which is connected to the connecting bushing, and the other end of the support rod is detachably connected to the upper limb fixing plate. An arm assist rod is rotatably connected to the back of the upper limb fixation plate, and an arm limiting part is provided on the arm assist rod to restrict the arm.

8. The exoskeleton device according to claim 6, characterized in that, The lower limb module includes: a hip joint module, the hip joint module including: A hip joint fixation plate, which is connected to the lumbar fixation plate; The hip joint fixation part has a fixing groove on the limiting binding, and the hip joint fixation part passes through the fixing groove; Two hip joint buckles are provided at the free end of the hip joint fixing part and are inserted into each other. A hip joint adjustment unit, which is connected to the hip joint fixation plate; A hip joint adjustment rod is connected to the hip joint adjustment part, and the hip joint adjustment part is used to adjust the extension length of the hip joint adjustment rod; A hip joint adjuster is disposed on the hip joint fixation plate and is used to control the hip joint adjustment rod. A hip joint mounting plate, the hip joint mounting plate being connected to the free end of the hip joint adjusting rod; A hip joint adjustment motor is mounted on the hip joint mounting plate; A hip joint support rod, wherein the hip joint support rod is connected to the hip joint adjustment motor via a transmission; Thigh binding, wherein the thigh binding is movably mounted on the hip joint support rod via the second quick-release member.

9. The exoskeleton device according to claim 6, characterized in that, The lower limb module includes: a knee joint module, the knee joint module including: A knee joint support rod, which passes through the thigh strap and is connected to the hip joint adjustment rod; A knee joint adjustment motor, which is connected to the knee joint support rod; A knee joint assist rod, which is connected to the knee joint adjustment motor; The calf strap is connected to the knee joint assist rod via the second quick-release component.

10. A robot, characterized in that, Includes the exoskeleton device as described in any one of claims 1-9.

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