Connection structure and exoskeleton

Abstract

This invention discloses a connection structure and an exoskeleton, relating to the technical field of exoskeletons. The connection structure includes a swing arm, a sliding base assembly, a rotating base assembly, a rotating component, and a mounting part. The sliding base assembly is slidably connected to the swing arm, and the sliding direction of the sliding base is consistent with the length direction of the user's limb. The rotating component is mounted on the sliding base assembly or the rotating base assembly, so that the rotating base assembly is rotatably connected to the sliding base assembly, and the rotating base assembly rotates along the circumferential direction of the user's limb. The mounting part is connected to the rotating base, allowing the user to restrain their limb. The technical solution provided by this invention improves the rotational freedom of the mounting part and the connection structure under dynamic conditions, enhancing user comfort.

Description

Technical Field

[0001] This invention relates to the technical field of exoskeletons, and particularly to a connection structure and an exoskeleton. Background Technology

[0002] With the increasing aging population and growing demand for rehabilitation medicine, wearable exoskeletons are being used more and more widely in scenarios such as assisted walking, rehabilitation training, and support for heavy physical labor. As a key component of human-computer interaction, the connection structure between the exoskeleton and the limb directly affects the device's wearing comfort, motion compliance, and power transmission efficiency.

[0003] However, current mainstream exoskeleton systems only support sliding compensation in one direction, which cannot cope with the slight twisting of the limbs, muscle deformation, and dynamic displacement of the binding components that occur during actual gait. Especially when worn for extended periods, walking on complex terrain, or manually carrying heavy objects, the fixed posture of the leg wraps can easily cause localized pressure on the skin and soft tissues, leading to discomfort or even skin damage. In addition, when users perform non-planar movements such as turning, walking diagonally, or climbing stairs, the actual movement trajectory of the limbs includes a small rotational component around the long axis of the limb. Existing connection structures lack the ability to accommodate such rotational degrees of freedom, leading to problems such as human-machine incoordination, increased energy loss, and even loss of control. Summary of the Invention

[0004] The main objective of this invention is to propose a connection structure and exoskeleton that aims to improve the rotational freedom of the mounting part and the connection structure under dynamic conditions, thereby enhancing user comfort.

[0005] To achieve the above objectives, the connection structure proposed in this invention includes:

[0006] The swing arm; A sliding base assembly and a rotating base assembly, wherein the sliding base assembly is slidably connected to the swing arm, and the sliding direction of the sliding base is consistent with the length direction of the user's limb; A rotating assembly, mounted on the sliding base assembly or the rotating base assembly, such that the rotating base assembly is rotatably connected to the sliding base assembly, and the rotating base assembly rotates along the circumferential direction of the user's limb; and The mounting part is connected to the rotating base, and the user binds the user's limbs.

[0007] In one embodiment, one of the sliding base assembly and the rotating base assembly is provided with a rotating groove, and the rotating assembly is mounted on the other of the two assemblies. The rotating groove extends along the circumferential direction of the user's limb, and the rotating assembly is at least partially confined within the rotating groove, so that the rotating base assembly is rotatably connected to the sliding base assembly.

[0008] In one embodiment, the rotating groove is disposed on the sliding base assembly. The rotating assembly includes a rotating bearing and a first mounting rod. The first mounting rod is fixedly connected to the rotating base assembly. The inner ring of the rotating bearing is fixed to the first mounting rod, and the outer ring of the rotating bearing is confined within the rotating groove.

[0009] In one embodiment, the rotating groove is disposed on the sliding base assembly. The rotating assembly includes a universal ball and a ball base. The ball base is fixedly connected to the rotating base assembly, and the universal ball is connected to the ball base so that the universal ball rolls against the groove wall of the rotating groove.

[0010] In one embodiment, the rotating groove includes a first rotating groove and a second rotating groove, both confined within the sliding base assembly, with the first rotating groove and the second rotating groove respectively located near both ends of the sliding base assembly. The rotating assembly includes a first mounting rod, a ball bearing base, a rotating bearing, and a universal ball. The first mounting rod and the ball bearing base are both fixedly connected to the rotating base assembly. The inner ring of the rotating bearing is fixed to the first mounting rod, and the outer ring of the rotating bearing is confined within the first rotating groove. The universal ball is connected to the ball bearing base so that the universal ball rolls against the groove wall of the second rotating groove.

[0011] In one embodiment, the rotating bearing includes a plurality of first rotating bearings and a plurality of second rotating bearings. The groove wall of the rotating groove includes a first groove wall and a second groove wall. Both the first groove wall and the second groove wall extend along the circumferential direction of the limb and are spaced apart along the radial direction of the limb. The outer rings of the plurality of first rotating bearings abut against the first groove wall and are spaced apart from the second groove wall. The outer rings of the plurality of second rotating bearings abut against the second groove wall and are spaced apart from the first groove wall.

[0012] In one embodiment, the sliding base assembly includes a sliding base body, a first sliding base plate, and a second sliding base plate. The first sliding base plate and the second sliding base plate are detachably connected to the sliding base body and enclose each other to form the corresponding rotation groove; or the first sliding base plate, the second sliding base plate, and the sliding base body are integrally formed and enclose each other to form the corresponding rotation groove.

[0013] In one embodiment, the rotating base assembly includes a rotating base body, a first rotating base plate, and a second rotating base plate. The rotating assembly is mounted on the corresponding first rotating base plate and / or second rotating base plate. Both the first rotating base plate and the second rotating base plate are detachably connected to the rotating base body; or the rotating base body, the first rotating base plate, and the second rotating base plate are integrally formed.

[0014] In one embodiment, the connection structure further includes a sliding bearing and a third mounting rod. The inner ring of the sliding bearing is fixedly connected to the third mounting rod. One of the rocker arm and the sliding base assembly is provided with a sliding groove, and the other of the two is equipped with the third mounting rod. The sliding groove extends along the length direction of the limb. The sliding base assembly is slidably connected to the rocker arm through the cooperation of the sliding bearing and the sliding groove.

[0015] In one embodiment, the sliding bearing includes a plurality of first sliding bearings and a plurality of second sliding bearings, and the two sidewalls in the width direction of the sliding groove are a third groove wall and a fourth groove wall, respectively; the outer rings of the plurality of first sliding bearings abut against the third groove wall and are spaced apart from the fourth groove wall; the outer rings of the plurality of second sliding bearings abut against the fourth groove wall and are spaced apart from the third groove wall.

[0016] In one embodiment, the mounting portion is detachably connected to the rotating base assembly.

[0017] In one embodiment, the rotating base assembly is provided with a first mounting hole, and the mounting part is provided with a second mounting hole. The rotating base assembly is detachably connected to the mounting part through the cooperation of the first mounting hole, the second mounting hole, and a screw connector.

[0018] The present invention also proposes an exoskeleton, including the connection structure described above.

[0019] The connection structure in this invention includes a swing arm, a sliding base assembly, a rotating base assembly, a rotating component, and a mounting part. The mounting part is used to bind the user's limbs. It is mounted to the sliding base assembly via the rotating base assembly, which is slidably connected to the swing arm. This allows the user to slide the sliding base assembly on the swing arm during leg raises, thus assisting the user in effortless leg and arm raises. Furthermore, the rotating base assembly and the sliding base assembly are rotatably connected via the rotating component, enabling the mounting part to slide along the length of the limb and rotate circumferentially along the user's limb. This allows the mounting part to rotate relative to the swing arm in the circumferential direction when the user performs movements such as turning, walking diagonally, climbing stairs, or carrying goods, where the actual limb movement trajectory includes a small rotational component around the limb's long axis. The rotating component allows the mounting part to rotate relative to the swing arm in the circumferential direction, increasing the rotational freedom of the mounting part and connection structure in dynamic states. This reduces local pressure and damage to the user's skin and soft tissues, thereby improving user comfort. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 A schematic diagram of an embodiment of the connection structure provided by the present invention; Figure 2 for Figure 1 Schematic diagram of the rotating mechanism; Figure 3 for Figure 2 An exploded view from a one-way perspective; Figure 4 for Figure 1 Top view of the rotating component installed on the rotating base component; Figure 5 for Figure 2 An exploded view from another perspective; Figure 6 for Figure 2 A cross-sectional view from one perspective; Figure 7 for Figure 2 A structural diagram from another perspective; Figure 8 for Figure 1 A cross-sectional view from one perspective; Figure 9for Figure 1 A schematic diagram of the installation section.

[0022] Explanation of icon numbers: 10. Rocker arm; 11. Sliding groove; 20. Rotating mechanism; 21. Sliding base assembly; 21a. Sliding base body; 21b. First sliding base plate; 21c. Second sliding base plate; 210. Rotating groove; 211. First rotating groove; 211a. First groove wall; 211b. Second groove wall; 212. Second rotating groove; 22. Rotating base assembly; 22a. Rotating base body; 22b. First rotating base plate; 22c. Second rotating base plate; 221. First mounting hole; 231. Rotating bearing; 231a. First rotating bearing; 231b. Second rotating bearing; 232. First mounting rod; 233. Universal ball bearing; 234. Ball bearing base; 30. Mounting part; 31. Second mounting hole; 40. Sliding bearing; 41. First sliding bearing; 42. Second sliding bearing.

[0023] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0025] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0026] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0027] Reference Figures 1 to 3 The present invention proposes a connection structure, comprising: 10-inch swing arm; The sliding base assembly 21 and the rotating base assembly 22 are provided. The sliding base assembly 21 is slidably connected to the swing arm 10, and the sliding direction of the sliding base is consistent with the length direction of the user's limb. A rotating assembly, mounted on the sliding base assembly 21 or the rotating base assembly 22, such that the rotating base assembly 22 is rotatably connected to the sliding base assembly 21 via the rotating assembly, and the rotating base assembly 22 rotates along the circumferential direction of the user's limb; and Mounting part 30, which is connected to the rotating base, is used by the user to bind the user's limbs.

[0028] The connection structure in the technical solution of the present invention includes a swing arm 10, a sliding base assembly 21, a rotating base assembly 22, a rotating assembly, and a mounting part 30. The mounting part 30 is used to bind the user's limbs. The mounting part 30 is mounted on the sliding base assembly 21 through the rotating base assembly 22. The sliding base assembly 21 is slidably connected to the swing arm 10, so that when the user raises his leg, the mounting part 30 can drive the sliding base assembly 21 to slide on the swing arm 10, thereby enabling the connection structure to assist the user in lifting his leg with less effort. Furthermore, the rotating base assembly 22 and the sliding base assembly 21 are rotatably connected via the rotating assembly, allowing the mounting part 30 and the swing arm 10 to slide along the length of the limb and rotate circumferentially along the user's limb. This enables the mounting part 30 to rotate relative to the swing arm 10 in the circumferential direction of the limb when the user performs movements such as turning, walking diagonally, climbing stairs, or carrying goods, and the actual movement trajectory of the limb includes a small rotational component around the long axis of the limb. This increases the rotational freedom of the mounting part 30 and the connecting structure in dynamic states, thereby reducing local pressure and damage to the user's skin and soft tissue caused by the mounting part 30, and improving user comfort. The limbs include upper limbs (such as the arm) and lower limbs (such as the leg).

[0029] Specifically, one of the sliding base assembly 21 and the rotating base assembly 22 is provided with a rotating groove 210, and the other of the two is equipped with the rotating component. The rotating groove 210 extends along the circumferential direction of the user's limb, and the rotating component is at least partially confined within the rotating groove 210, so that the rotating base assembly 22 is rotatably connected to the sliding base assembly 21. First, the limiting effect of the rotating groove 210 on the rotating component ensures that the rotating base component 22 can only rotate along a predetermined trajectory (i.e., the circumferential direction of the limb), without any unexpected radial displacement or axial movement. This provides rotational freedom while ensuring the overall stability of the connection structure. Second, the rotating groove 210 has a simple structural design, achieving smooth circumferential rotation without the need for a complex transmission mechanism, reducing processing difficulty and manufacturing costs. Third, the design of the rotating groove 210 extending along the circumferential direction of the limb closely matches the natural movement trajectory of the human body. When the user's limbs rotate slightly around the long axis of the limb during dynamic processes such as walking and turning, the rotating component can adaptively slide or roll within the rotating groove 210, thereby achieving synchronous following of the limb movement with the rotating base component 22. This effectively avoids friction and pressure between the mounting part 30 and the limb skin caused by uncoordinated movement. In addition, this limiting groove fit structure facilitates assembly and maintenance, allowing operators to quickly complete the installation or replacement of the rotating component, improving the maintainability of the product.

[0030] In one embodiment, the rotating groove 210 is provided on the sliding base assembly 21, and the rotating assembly is connected to the rotating base assembly 22. In another embodiment, the rotating groove 210 is provided on the rotating base assembly 22, and the rotating assembly is connected to the sliding base assembly 21.

[0031] Reference Figure 3 and Figure 4 In one embodiment, the rotating groove 210 is provided on the sliding base assembly 21. The rotating assembly includes a rotating bearing 231 and a first mounting rod 232. The first mounting rod 232 is fixedly connected to the rotating base assembly 22. The inner ring of the rotating bearing 231 is fixed to the first mounting rod 232, and the outer ring of the rotating bearing 231 is limited to the rotating groove 210. First, by using a rotating bearing 231 as the rotating component, sliding friction can be converted into rolling friction, significantly reducing the rotational resistance between the rotating base assembly 22 and the sliding base assembly 21. This allows the user to rotate the mounting part 30 with almost no extra effort when their limbs twist, further improving the comfort and lightness of the garment. Second, the rotating bearing 231 has high load-bearing capacity and rotational accuracy, maintaining stable rotational performance even when the user's weight is applied to the mounting part 30, avoiding jamming or shaking caused by excessive load, and enhancing the reliability and safety of the connection structure. Third, the outer ring of the rotating bearing 231 forms a stable rolling contact with the inner wall of the rotating groove 210, resulting in minimal wear even after long-term use or under high-frequency reciprocating rotation conditions, extending the product's service life. In addition, the first mounting rod 232, as the fixing carrier of the bearing, can evenly transfer the force of the rotating base assembly 22 to the rotating bearing 231, avoiding stress concentration. At the same time, this modular design also facilitates the replacement of bearings of different specifications according to different load requirements, improving the product's adaptability and versatility.

[0032] Of course, in other embodiments, the rotating groove 210 may also be provided on the rotating base assembly 22, the first mounting rod 232 may be fixedly connected to the sliding base assembly 21, and the inner ring of the rotating bearing 231 may be fixed to the first mounting rod 232.

[0033] Reference Figure 5In the second embodiment, the rotating groove 210 is provided on the sliding base assembly 21. The rotating assembly includes a universal ball bearing 233 and a ball bearing base 234. The ball bearing base 234 is fixedly connected to the rotating base assembly 22, and the universal ball bearing 233 is connected to the ball bearing base 234 so that the universal ball bearing 233 is rotatably connected to the groove wall of the rotating groove 210. First, the omnidirectional ball bearing 233 can achieve multi-directional rolling within the rotating groove 210, which not only accommodates the main rotational degree of freedom of the rotating base assembly 22 along the limb circumference, but also compensates for minor offsets caused by installation errors or irregular limb movements to a certain extent, further enhancing the compliance of human-machine interaction. Second, the omnidirectional ball bearing 233 has a simple structure, low cost, and a small rolling contact area with extremely low frictional resistance, making the rotation of the rotating base assembly 22 more sensitive, especially suitable for wearable devices with high requirements for lightweight design. Third, the point or line contact between the omnidirectional ball bearing 233 and the groove wall of the rotating groove 210 means that even if there is a small amount of dust or foreign matter in the rotating groove 210, it will not easily affect the normal rolling of the ball bearing, and has strong environmental adaptability. In addition, compared with the rotating bearing 231 solution in Embodiment 1, the omnidirectional ball bearing 233 solution is more advantageous when the installation space is limited, and can be designed to be more compact, which helps to reduce the overall volume and weight of the connection structure, thereby reducing the burden on the user's limbs and improving the comfort of wearing for a long time.

[0034] Of course, in other embodiments, the rotating groove 210 may also be provided on the rotating base assembly 22, the first mounting rod 232 may be fixedly connected to the sliding base assembly 21, and the inner ring of the rotating bearing 231 may be fixed to the first mounting rod 232.

[0035] Reference Figures 3 to 6In embodiment three, the rotating groove 210 includes a first rotating groove 211 and a second rotating groove 212 both located within the sliding base assembly 21, and the first rotating groove 211 and the second rotating groove 212 are respectively disposed near both ends of the sliding base assembly 21. The rotating assembly includes a first mounting rod 232, a ball bearing base 234, a rotating bearing 231, and a universal ball bearing 233. The first mounting rod 232 and the ball bearing base 234 are both fixedly connected to the rotating base assembly 22. The inner ring of the rotating bearing 231 is fixed to the first mounting rod 232, and the outer ring of the rotating bearing 231 is located within the first rotating groove 211. The universal ball bearing 233 is connected to the ball bearing base 234 so that the universal ball bearing 233 is tumbled and connected to the groove wall of the second rotating groove 212. First, by setting universal ball bearings 233 at the second rotating groove 212 as the main load-bearing point, it can withstand a large axial load, ensuring the stability of the connection structure when supporting the user's weight. Simultaneously, setting a rotating bearing 231 at the first rotating groove 211 as a rotation guide point can reduce frictional resistance while providing rotational freedom. This "one-end load-bearing, one-end guide" combined design takes into account the dual advantages of high load-bearing capacity and low friction characteristics. Second, the first rotating groove 211 and the second rotating groove 212 are respectively set at both ends, thereby making the force on the rotating base assembly 22 on the sliding base assembly 21 more... The balanced design avoids the deflection torque that may be generated by single-point support, thereby improving the smoothness and accuracy of rotational motion. Furthermore, the differentiated design of the rotating bearing 231 and the universal ball bearing 233 can adaptively compensate for machining and assembly errors. For example, when there is a slight coaxiality deviation between the rotating grooves 210 at both ends, the floating characteristics of the universal ball bearing 233 can automatically adjust the contact state to avoid jamming or additional stress. In addition, this structure with support at both ends also enhances the torsional stiffness of the connection structure, so that the mounting part 30 can still maintain a stable posture when subjected to asymmetrical loads, improving the reliability and safety of human-machine interaction.

[0036] Of course, in other embodiments, the first rotating groove 211 and the second rotating groove 212 may also be provided on the rotating base assembly 22, the first mounting rod 232 is fixedly connected to the sliding base assembly 21, and the inner ring of the rotating bearing 231 is fixed to the first mounting rod 232.

[0037] Meanwhile, it is understood that in both Embodiment 1 and Embodiment 2, a first rotating groove 211 and a second rotating groove 212 may be provided on the sliding base assembly 21. In Embodiment 1, two sets of first mounting rods 232 and rotating bearings 231 may be provided simultaneously, and in Embodiment 2, two sets of ball bearing bases 234 and universal balls 233 may be provided simultaneously.

[0038] In one embodiment, the rotating bearing 231 includes a plurality of first rotating bearings 231a and a plurality of second rotating bearings 231b. The groove wall of the rotating groove 210 includes a first groove wall 211a and a second groove wall 211b. Both the first groove wall 211a and the second groove wall 211b extend along the circumferential direction of the limb and are spaced apart along the radial direction of the limb. The outer rings of the plurality of first rotating bearings 231a abut against the first groove wall 211a and are spaced apart from the second groove wall 211b. The outer rings of the plurality of second rotating bearings 231b abut against the second groove wall 211b and are spaced apart from the first groove wall 211a. By dividing the rotating bearings 231 into two groups and having them abut against the two opposite groove walls, a bidirectional constraint can be formed within the rotating groove 210, completely eliminating the radial clearance between the rotating assembly and the rotating groove 210. This ensures that the rotating base assembly 22 has no wobble margin when bearing loads in any direction, significantly improving the motion accuracy and rigidity of the connection structure. Secondly, this staggered abutment design allows multiple rotating bearings 231 to share the load, avoiding overload of a single bearing and extending the service life of the bearing assembly. Furthermore, when the rotating base assembly 22 rotates circumferentially along the limb, the two groups of bearings... Instead of rolling on the side walls, the bearings form a stable rolling support surface, maintaining a smooth rotation trajectory even at high speeds or with large load fluctuations, thus improving dynamic response performance. Furthermore, this double-row bearing layout can adaptively compensate for wear caused by long-term use; for example, when one side of the side wall experiences slight wear, the bearing on the other side can still maintain effective contact, thereby slowing down the overall performance decline. Finally, this design also provides redundant support for rotating components; even if individual bearings fail, the remaining bearings can still maintain basic functionality, enhancing product reliability and safety.

[0039] In one embodiment, the sliding base assembly 21 includes a sliding base body 21a, a first sliding base plate 21b, and a second sliding base plate 21c. The first sliding base plate 21b and the second sliding base plate 21c are detachably connected to the sliding base body 21a and enclose each other to form the corresponding rotating groove 210. First, the separate design of the first sliding base plate 21b and the second sliding base plate 21c being detachably connected to the sliding base body 21a makes the machining of the rotating groove 210 more convenient. Operators can perform precision machining or surface treatment on the groove wall in the open state, ensuring the dimensional accuracy and surface finish of the rotating groove 210, thereby improving the smoothness of the rotating component's movement. Second, the separate structure facilitates the installation and disassembly of the rotating component. For example, when maintaining or replacing the rotating bearing 231, the old bearing can be easily removed and the new part installed simply by removing the corresponding plate, without disassembling the entire connection structure, which greatly reduces the maintenance difficulty and labor costs. Furthermore, the detachable connection method also allows for the replacement of plates of different specifications or materials according to actual needs. For example, thicker plates can be replaced for users of different weights to enhance strength, or wear-resistant materials can be replaced for special environments, improving the product's customization capabilities.

[0040] In another embodiment, the first sliding base plate 21b, the second sliding base plate 21c, and the sliding base body 21a are integrally formed and enclose the corresponding rotation groove 210. The integrally formed first sliding base plate 21b, second sliding base plate 21c, and sliding base body 21a have higher structural integrity and strength, reduce the number of connecting parts, and avoid the problem of decreased accuracy due to loose fasteners, which is especially suitable for high load or high vibration conditions; in addition, the integral forming solution can simplify the assembly process, reduce manufacturing costs, and is suitable for large-scale mass production.

[0041] In one embodiment, the rotating base assembly 22 includes a rotating base body 22a, a first rotating base plate 22b, and a second rotating base plate 22c. The rotating assembly is mounted on the corresponding first rotating base plate 22b and / or second rotating base plate 22c. Both the first rotating base plate 22b and the second rotating base plate 22c are detachably connected to the rotating base body 22a. Firstly, the split design of the first rotating base plate 22b and the second rotating base plate 22c being detachably connected to the rotating base body 22a provides great flexibility for the installation of the rotating assembly. The rotating bearing 231 or the universal ball bearing 233 can be pre-installed on the corresponding plate as needed, and then the plate is assembled onto the rotating base body 22a. This modular assembly method improves production efficiency and reduces assembly difficulty. Secondly, the split structure allows for flexible adjustment of the layout of the rotating components. For example, for different leg types or different motion requirements, plates with rotating components of different specifications can be replaced to achieve rapid customization. Furthermore, when a rotating component is damaged, only the corresponding plate needs to be removed for repair or replacement, without scrapping the entire rotating base assembly 22, thereby significantly reducing maintenance costs.

[0042] In another embodiment, the rotating base body 22a, the first rotating base plate 22b, and the second rotating base plate 22c are integrally formed. This integral forming of the rotating base body 22a, the first rotating base plate 22b, and the second rotating base plate 22c provides higher structural strength and rigidity, avoiding the cumulative errors and loosening risks that may arise from connecting multiple components, and ensuring the positional accuracy of the rotating assembly during long-term use. Furthermore, the integral structure reduces the number of parts and connection interfaces, making the connection structure more compact, which helps to reduce overall weight and improve wearing comfort.

[0043] Reference Figure 7 and Figure 8Specifically, the connection structure further includes a sliding bearing 40 and a third mounting rod. The inner ring of the sliding bearing 40 is fixedly connected to the third mounting rod. A sliding groove 11 is provided on one of the swing rod 10 and the sliding base assembly 21, and the third mounting rod is installed on the other. The sliding groove 11 extends along the length of the limb. The sliding base assembly 21 is slidably connected to the swing rod 10 through the cooperation of the sliding bearing 40 and the sliding groove 11. Firstly, using the sliding bearing 40 as a sliding component converts sliding friction into rolling friction, significantly reducing the resistance of the sliding base assembly 21 when moving up and down along the swing rod 10. This allows the user to slide the connection structure with almost no extra effort when lifting their leg, thus more effectively achieving a labor-saving walking assistance effect. Secondly, the inner ring of the sliding bearing 40 is fixed to the third mounting rod, and the outer ring cooperates with the sliding groove 11. This structural design allows the bearing to withstand loads from multiple directions, ensuring freedom in the sliding direction while limiting unexpected lateral displacement, improving the smoothness of the sliding and the guiding accuracy. Furthermore, the design of the sliding groove 11 extending along the length of the limb is highly consistent with the trajectory of the human leg lifting movement. When the user walks, the sliding base assembly 21 can adaptively slide on the swing arm 10 with the flexion and extension of the limb, avoiding jamming or sticking caused by mismatch of movement trajectory. In addition, the rolling characteristics of the sliding bearing 40 can reduce energy loss during sliding, improve the overall energy efficiency of the exoskeleton system, and extend battery life. Finally, this sliding structure also has good wear resistance and long life characteristics, which can meet the needs of high-frequency reciprocating motion and reduce the maintenance frequency of the product.

[0044] Furthermore, the sliding bearing 40 includes multiple first sliding bearings 41 and multiple second sliding bearings 42. The two sidewalls of the sliding groove 11 in the width direction are respectively the third groove wall and the fourth groove wall. The outer rings of the multiple first sliding bearings 41 abut against the third groove wall and are spaced apart from the fourth groove wall. The outer rings of the multiple second sliding bearings 42 abut against the fourth groove wall and are spaced apart from the third groove wall. First, by dividing the sliding bearings 40 into two groups and abutting against the two opposite sidewalls in the width direction of the sliding groove 11, a bidirectional clamping effect can be formed in the sliding groove 11, completely eliminating the lateral gap between the sliding base assembly 21 and the swing rod 10. This ensures that the sliding base assembly 21 has no wobbling margin when bearing the lateral force generated by the limb swing, significantly improving the stability and guiding accuracy of the sliding motion. Second, this staggered arrangement allows multiple bearings to share the load from different directions, avoiding overload of a single bearing and extending the service life of the bearing assembly. Furthermore, when the sliding base assembly 21 slides up and down along the swing rod 10, the two groups of... The bearings roll on the two side groove walls, forming a stable rolling support surface. Even with high sliding speeds or large load fluctuations, they can maintain a smooth motion trajectory, improving dynamic response performance. In addition, this double-row bearing layout can adaptively compensate for wear of the sliding groove 11 caused by long-term use. For example, when one side groove wall shows slight wear, the bearing on the other side can still maintain effective contact, thereby delaying the decline in overall performance. Finally, this design also provides redundant support for the sliding components. Even if individual bearings fail, the remaining bearings can still maintain basic functions, thereby enhancing the reliability and safety of the product under complex operating conditions.

[0045] Reference Figures 1 to 3 , Figure 9In one embodiment, the mounting part 30 is detachably connected to the rotating base assembly 22. This detachable connection allows the mounting part 30 to be replaced according to the user's actual leg shape, size, or comfort preferences. For example, users with different leg thicknesses can replace the appropriate size straps or sleeves, ensuring a close fit between the mounting part 30 and the limb without pressure, thus enhancing personalized fit. Secondly, since the mounting part 30 is a component that directly contacts the user's skin, it is prone to sweat stains, dirt, or wear after prolonged use. The detachable design allows the user to easily remove the mounting part 30 for cleaning, disinfection, or replacement, ensuring hygiene and comfort. Furthermore, when the user needs to use the exoskeleton in different scenarios... For example, when switching from daily walking to rehabilitation training, different functional mounting parts 30 can be quickly replaced (such as a comfort type with cushioning pads or a monitoring type with pressure sensors), enhancing the product's versatility and adaptability to different scenarios. In addition, the detachable connection facilitates modular production and inventory management for manufacturers. Standardized rotating base components 22 and diverse mounting parts 30 can be produced separately and then assembled according to orders, reducing production costs and inventory pressure. Finally, this design also facilitates later maintenance. When mounting part 30 is damaged, only that part needs to be replaced, without the need for complete scrapping, saving users' usage costs.

[0046] Specifically, the rotating base assembly 22 is provided with a first mounting hole 221, and the mounting part 30 is provided with a second mounting hole 31. The rotating base assembly 22 is detachably connected to the mounting part 30 through the cooperation of the first mounting hole 221, the second mounting hole 31 and the screw connector. The connection via screws (such as screws and bolts) offers high connection strength and reliability, capable of withstanding dynamic loads generated during walking, running, and jumping, ensuring that the mounting part 30 and the rotating base assembly 22 will not accidentally loosen, thus guaranteeing safety. Secondly, the screw connection allows users to adjust the tightness of the connection as needed; for example, the preload can be adjusted appropriately while ensuring a secure connection, preventing deformation of the mounting part 30 or user discomfort due to excessive tightening. Furthermore, the mounting hole structure is simple, easy to manufacture, and inexpensive, making it suitable for mass production. In addition, the alignment of the first mounting hole 221 and the second mounting hole 31 enables precise positioning between the mounting part 30 and the rotating base assembly 22, ensuring that the mounting part 30 always maintains the correct installation posture and preventing uneven force distribution or movement interference due to misalignment. The screw connection also facilitates user operation, allowing for the assembly and disassembly of the mounting part 30 without special tools, enhancing the user experience.

[0047] The present invention also proposes an exoskeleton, which includes a connecting structure. The specific structure of the connecting structure is as described in the above embodiments. Since the exoskeleton in this application adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0048] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A connection structure, characterized in that, include: The swing arm; A sliding base assembly and a rotating base assembly, wherein the sliding base assembly is slidably connected to the swing arm, and the sliding direction of the sliding base is consistent with the length direction of the user's limb; A rotating assembly, mounted on the sliding base assembly or the rotating base assembly, such that the rotating base assembly is rotatably connected to the sliding base assembly, and the rotating base assembly rotates along the circumferential direction of the user's limb; and The mounting part is connected to the rotating base, and the user binds the user's limbs.

2. The connection structure as described in claim 1, characterized in that, One of the sliding base assembly and the rotating base assembly is provided with a rotating groove, and the other of the two is equipped with the rotating component. The rotating groove extends along the circumferential direction of the user's limb, and the rotating component is at least partially confined within the rotating groove so that the rotating base assembly is rotatably connected to the sliding base assembly.

3. The connection structure as described in claim 2, characterized in that, The rotating groove is disposed on the sliding base assembly. The rotating assembly includes a rotating bearing and a first mounting rod. The first mounting rod is fixedly connected to the rotating base assembly. The inner ring of the rotating bearing is fixed to the first mounting rod, and the outer ring of the rotating bearing is confined within the rotating groove.

4. The connection structure as described in claim 2, characterized in that, The rotating groove is disposed on the sliding base assembly. The rotating assembly includes a universal ball and a ball base. The ball base is fixedly connected to the rotating base assembly, and the universal ball is connected to the ball base so that the universal ball rolls against the groove wall of the rotating groove.

5. The connection structure as described in claim 2, characterized in that, The rotating groove includes a first rotating groove and a second rotating groove, both confined within the sliding base assembly. The first rotating groove and the second rotating groove are respectively located near both ends of the sliding base assembly. The rotating assembly includes a first mounting rod, a ball bearing base, a rotating bearing, and a universal ball. The first mounting rod and the ball bearing base are both fixedly connected to the rotating base assembly. The inner ring of the rotating bearing is fixed to the first mounting rod, and the outer ring of the rotating bearing is confined within the first rotating groove. The universal ball is connected to the ball bearing base so that the universal ball rolls against the groove wall of the second rotating groove.

6. The connection structure as described in claim 3 or 5, characterized in that, The rotating bearing includes a plurality of first rotating bearings and a plurality of second rotating bearings. The groove wall of the rotating groove includes a first groove wall and a second groove wall. Both the first groove wall and the second groove wall extend along the circumferential direction of the limb and are spaced apart along the radial direction of the limb. The outer rings of the plurality of first rotating bearings abut against the first groove wall and are spaced apart from the second groove wall. The outer rings of the plurality of second rotating bearings abut against the second groove wall and are spaced apart from the first groove wall.

7. The connection structure as described in any one of claims 3 to 5, characterized in that, The sliding base assembly includes a sliding base body, a first sliding base plate, and a second sliding base plate. Both the first and second sliding base plates are detachably connected to the sliding base body and enclose a corresponding rotating groove. The first sliding base plate, the second sliding base plate, and the sliding base body are integrally formed and enclosed to form the corresponding rotation groove.

8. The connection structure as described in any one of claims 3 to 5, characterized in that, The rotating base assembly includes a rotating base body, a first rotating base plate, and a second rotating base plate. The rotating assembly is mounted on the corresponding first rotating base plate and / or second rotating base plate. Both the first rotating base plate and the second rotating base plate are detachably connected to the rotating base body; or The rotating base body, the first rotating base plate, and the second rotating base plate are integrally formed.

9. The connection structure as described in claim 1, characterized in that, The connection structure further includes a sliding bearing and a third mounting rod. The inner ring of the sliding bearing is fixedly connected to the third mounting rod. One of the swing rod and the sliding base assembly is provided with a sliding groove, and the other is equipped with the third mounting rod. The sliding groove extends along the length of the limb. The sliding base assembly is slidably connected to the swing rod through the cooperation of the sliding bearing and the sliding groove.

10. The connection structure as described in claim 9, characterized in that, The sliding bearing includes a plurality of first sliding bearings and a plurality of second sliding bearings. The two sidewalls in the width direction of the sliding groove are a third groove wall and a fourth groove wall, respectively. The outer rings of the plurality of first sliding bearings abut against the third groove wall and are spaced apart from the fourth groove wall. The outer rings of the plurality of second sliding bearings abut against the fourth groove wall and are spaced apart from the third groove wall.

11. The connection structure as described in claim 1, characterized in that, The mounting part is detachably connected to the rotating base assembly.

12. The connection structure as described in claim 11, characterized in that, The rotating base assembly is provided with a first mounting hole, and the mounting part is provided with a second mounting hole. The rotating base assembly is detachably connected to the mounting part through the cooperation of the first mounting hole, the second mounting hole, and the screw connector.

13. An exoskeleton, characterized in that, Includes the connection structure as described in any one of claims 1 to 12.

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