An exoskeleton leg component and an exoskeleton

Abstract

This invention relates to the field of exoskeleton technology, and discloses an exoskeleton leg assembly and exoskeleton. The exoskeleton leg assembly includes a first leg rod, a second leg rod, a locking member, a support rod, and a rocker arm. The support rod and the rocker arm are located on the same side of the first leg rod. The support rod has locking connection portions and rotating portions spaced apart along its length. The rotating portions are rotatably connected to one end of the rocker arm, and the other end of the rocker arm is rotatably connected to the end of the first leg rod near the second leg rod. At least one of the rotating portion and the rocker arm can abut against the second leg rod as the first leg rod rotates. The area where the rotating portion and the rocker arm abut against the second leg rod is called the abutment portion. The locking member is located on the first leg rod and has multiple connecting slots. The locking connection portion can move in and out of the corresponding connecting slot as the support rod rotates to adjust the distance between the abutment portion and the second leg rod. In summary, the exoskeleton of this invention facilitates adjustment and switching of postures, and can effectively improve work efficiency.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and in particular to an exoskeleton leg component and an exoskeleton. Background Technology

[0002] In the field of aviation equipment maintenance, especially in ground maintenance of passenger aircraft, the working space is narrow and limited. Workers need to frequently switch between squatting and kneeling positions to complete delicate assembly and maintenance, and often need to maintain a bent-knee support position for a long time. This type of work mode can easily cause continuous fatigue of the lower limb muscles, reduce work efficiency and accuracy, and also increase the risk of lower limb joint strain and muscle strain.

[0003] To address this issue, a utility model patent with application number 202422751149.5 proposes an exoskeleton knee joint component and exoskeleton device. When wearing the device, the worker can operate its clamping mechanism to lock the angle of the first and second leg components, thereby supporting the worker's legs, reducing fatigue during work, and enabling the worker to work for longer periods. However, to achieve posture locking, the worker needs to actively bend over and flex their knees to reach and operate the locking mechanism, and the operation process is cumbersome, making posture locking and switching time-consuming and laborious, and difficult to meet the needs of efficient operation. Summary of the Invention

[0004] The purpose of this invention is to provide an exoskeleton leg component and exoskeleton to solve the technical problem that the operation process of locking the exoskeleton device by the operator is cumbersome and laborious, resulting in time-consuming and laborious posture locking and switching, which makes it difficult to meet the needs of efficient operation.

[0005] To achieve the above objectives, the present invention provides an exoskeleton leg assembly, including a first leg rod, a second leg rod, a locking member, a support rod, and a rocker arm, wherein the first leg rod is disposed corresponding to the thigh region, the second leg rod is disposed corresponding to the calf region, and the first leg rod is rotatably connected to the second leg rod. The support rod and the rocker arm are located on the same side of the first leg. The support rod has locking connection portions and rotating portions spaced apart along its length. The rotating portion is rotatably connected to one end of the rocker arm, and the other end of the rocker arm is rotatably connected to the end of the first leg near the second leg. At least one of the rotating portion and the rocker arm can abut against the second leg as the first leg rotates, thereby limiting the rotation amplitude of the first leg in a first direction. The area where the rotating part and the rocker arm abut against the second leg is the abutting part. The locking member is provided on the first leg and has multiple connecting slots. The locking connecting part can move in and out of the corresponding connecting slot as the support rod rotates, so as to adjust the position of the locking connecting part along the length direction of the first leg, thereby adjusting the distance between the abutting part and the second leg.

[0006] Optionally, a plurality of the connecting slots are arranged along the length direction of the first leg, and the connecting slots are located on the side of the locking member away from the first leg; it also includes a first elastic rope, the first elastic rope being connected to the support rod and the rocker arm, so as to apply a pulling force to the support rod toward the first leg, so that the locking connection part is inserted into the corresponding connecting slot.

[0007] Optionally, the end of the first leg near the second leg is designated as the first end, and the groove wall of the connecting groove away from the first end is provided with a blocking part. The blocking part is used to prevent the locking connecting part from moving away from the first end to the adjacent connecting groove. The groove wall of the connecting groove near the second leg is provided with a sliding notch, and the locking connecting part can slide towards the adjacent connecting groove along the direction near the first end through the sliding notch. The elastic rope can also apply a pulling force to the support rod in the direction away from the first end.

[0008] Optionally, it also includes a locking pin, wherein the locking member has a connecting groove on the side away from the first leg, the connecting groove extends along the length direction of the first leg and connects to each of the connecting grooves, the connecting groove is located between the two ends of the connecting groove, the locking connection part extends into the connecting groove, the locking connection part has a connecting hole that runs through in the left and right direction, the locking pin passes through the connecting hole and its two ends are located in the connecting groove.

[0009] Optionally, the strut includes a first segment and a second segment connected together. The locking connection is located on the first segment and on the side away from the second segment. The rotating part is located on the second segment and on the side away from the first segment. The extension directions of the first segment and the second segment intersect, and the connection between the first segment and the second segment protrudes in a direction away from the first leg.

[0010] Optionally, the rocker arm is an arc-shaped structure protruding towards the first leg. The rocker arm has an abutment groove on its side near the first leg. The abutment groove is adapted to the outer side of the first leg and can abut against the first leg to limit the rotation range of the first leg in the second direction.

[0011] Optionally, it also includes a first link and a second link, wherein one end of the first leg is provided with a first rod portion and a second rod portion, and one end of the second leg is provided with a third rod portion and a fourth rod portion; The extension axes of the first link and the extension axes of the second link intersect on the same plane in the left-right direction. The two ends of the first link are rotatably connected to the first rod portion and the fourth rod portion, respectively. The two ends of the second link are rotatably connected to the second rod portion and the third rod portion, respectively, so that the first leg is rotatably connected to the second leg.

[0012] Optionally, the first rod portion is arranged on the side of the second rod portion facing the support rod, and the rocker arm is rotatably connected to the first rod portion.

[0013] Optionally, it also includes a first leg fixing part, a second leg fixing part, and a foot fixing part. The first leg fixing part is disposed on the first leg rod and is used to connect and support the thigh. The second leg fixing part is disposed on the second leg rod and is used to connect and support the lower leg. The foot fixing part is rotatably connected to the end of the second leg rod away from the first leg rod and is used to connect to the foot.

[0014] This application also relates to an exoskeleton, including the aforementioned exoskeleton leg components and a waist component for connecting to the waist. The number of exoskeleton leg components is at least two, and the two exoskeleton leg components are arranged opposite each other and located below the waist component. The exoskeleton leg components also include a second elastic rope and a third elastic rope. The two ends of the second elastic rope are respectively connected to a side of the waist component in the left-right direction and the first leg rod. The two ends of the third elastic rope are respectively connected to the rear side of the waist component and the support rod. The projections of the extension axes of the third elastic ropes of the two exoskeleton leg components onto the same plane in the front-back direction intersect.

[0015] Compared with the prior art, the exoskeleton leg component and exoskeleton of this invention have the following advantages: In the exoskeleton leg assembly of the present invention, a first leg bar and a second leg bar are respectively positioned corresponding to the user's thigh and calf regions, and are rotatably connected. When the user performs actions such as bending the knee, squatting, and kneeling, causing a change in the angle between the thigh and calf, the angle between the first leg bar and the second leg bar also changes accordingly. The support rod is provided with a locking connection part and a rotating part spaced apart along its length. The locking connection part is connected to a locking member on the first leg bar, and the rotating part is connected to the first leg bar, so that at least one of the support rod and the rocker arm has an abutting part away from the first leg bar and used to abut against the second leg bar. When the first leg bar rotates to a certain extent in a first direction, the abutting part abuts against the second leg bar to prevent the first leg bar from continuing to rotate in the first direction, so that the angle between the first leg bar and the second leg bar can maintain this specific angle. This allows the first leg fixing part, installed on the first leg bar and used to connect and support the thigh, to support the user's thigh at this angle, and the second leg fixing part, installed on the second leg bar and used to connect and support the calf, to... The support rod is designed to support the user's lower leg at this angle. Furthermore, the support rod is rotatably connected to a rocker arm, which is in turn rotatably connected to the first leg. A locking connection is connected to any of the connecting slots of the locking member. Rotation of the support rod allows adjustment of the connecting slot to which the locking connection is connected, thereby adjusting the position of the locking connection along the length of the first leg and thus the distance between the abutment and the second leg. This allows the abutment to abut against the second leg earlier or later, controlling the rotation amplitude of the first leg in the first direction. Therefore, by adjusting the position of the locking connection, the user can adjust the leg assembly to support their legs in different postures (bent knee, squatting, and kneeling, etc.), reducing worker fatigue and allowing them to work longer. Furthermore, the locking member is located on the first leg, allowing the user to adjust it simply by extending their arm to their thigh, without needing to bend over or bend their knee. Additionally, the abutment prevents the first leg from rotating in the first direction, allowing the user to easily return from a bent-knee position to a straight-knee position without needing to unlock it, which is very convenient. In summary, the exoskeleton of this invention allows users to adjust the locking angle simply by extending their arms to their thighs, and it can easily return from a bent-knee position to a straight-knee position at any time, making it very convenient to use and effectively improving work efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the leg assembly of the present invention.

[0017] Figure 2 This is a front view of the leg assembly of the present invention.

[0018] Figure 3 This is a side view of the leg assembly of the present invention.

[0019] Figure 4 for Figure 3 A magnified view of part A in the middle.

[0020] Figure 5 for Figure 4 Sectional view of section B.

[0021] Figure 6 for Figure 4 Sectional view of section C.

[0022] Figure 7 A schematic diagram illustrating a user wearing the leg component of this invention to maintain a squatting posture.

[0023] Figure 8 A schematic diagram showing a user wearing the leg component of this invention to maintain a bent-knee posture.

[0024] Figure 9 A schematic diagram showing a user wearing the leg component of this invention to maintain a kneeling posture.

[0025] Figure 10 A schematic diagram of a user wearing the exoskeleton of this invention.

[0026] Reference numerals: 1. Leg assembly; 101. First leg rod; 1011. First elastic connecting part; 1012. First rod part; 1013. Second rod part; 1014. First end; 102. Second leg rod; 1021. Third rod part; 1022. Fourth rod part; 103. Locking member; 1031. Connecting groove; 1032. Blocking part; 1033. Sliding notch; 1034. Communicating groove; 104. Support rod; 1041. Locking connecting part; 10411. Connecting hole; 1042. Rotating part; 1043. Second elastic 1. Connecting part; 1044, First rod segment; 1045, Second rod segment; 105, Rocker arm; 1051, Abutment groove; 106, Abutment part; 107, First elastic rope; 108, Locking pin; 109, First connecting rod; 110, Second connecting rod; 111, First leg fixing part; 1111, First support plate; 1112, First strap; 112, Second leg fixing part; 1121, Second support plate; 1122, Second strap; 113, Foot fixing part; 114, Second elastic rope; 115, Third elastic rope; 2. Waist assembly. Detailed Implementation

[0027] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0028] In the description of this invention, it should be understood that the terms "top", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0030] In this embodiment of the invention, when the first direction is clockwise and the second direction is counterclockwise, and vice versa, the front-back, left-right, and up-down directions are all perpendicular to each other. Furthermore, the definition of perpendicularity in the specification should be understood as perpendicular if it fluctuates by 10% within 90 degrees; that is, the angle between the defined front-back, left-right, and up-down directions should be understood as perpendicular if it is between 80 and 90 degrees. Furthermore, the person's front is facing forward, the person's back is facing backward, the person's left side faces left, the person's right side faces right, the person's head faces upward, and the person's feet face downward.

[0031] like Figures 1 to 9As shown, an exoskeleton leg assembly 1 includes a first leg rod 101, a second leg rod 102, a locking member 103, a support rod 104, and a rocker arm 105. The first leg rod 101 is positioned corresponding to the thigh region, and the second leg rod 102 is positioned corresponding to the calf region. The first leg rod 101 is rotatably connected to the second leg rod 102. The support rod 104 and the rocker arm 105 are located on the same side of the first leg rod 101. The support rod 104 has locking connection portions 1041 and rotating portions 1042 spaced apart along its length. The rotating portion 1042 is rotatably connected to one end of the rocker arm 105, and the other end of the rocker arm 105 is rotatably connected to the end of the first leg rod 101 near the second leg rod 102. At least one of the rotating part 1042 and the rocker arm 105 can abut against the second leg arm 102 as the first leg arm 101 rotates, thereby limiting the rotation amplitude of the first leg arm 101 in a first direction; and, with the area where the rotating part 1042 and the rocker arm 105 abut against the second leg arm 102 as the abutting part 106, the locking member 103 is provided on the first leg arm 101 and is provided with a plurality of connecting grooves 1031, and the locking connecting part 1041 can move in and out of the corresponding connecting groove 1031 as the support rod 104 rotates, so as to adjust the position of the locking connecting part 1041 along the length direction of the first leg arm 101, thereby adjusting the distance between the abutting part 106 and the second leg arm 102.

[0032] In the above technical solution, the first leg bar 101 and the second leg bar 102 are respectively positioned to correspond to the user's thigh and calf areas, and are rotatably connected. When the user performs actions such as bending their knees, squatting, or kneeling, causing a change in the angle between their thigh and calf, the angle between the first leg bar 101 and the second leg bar 102 will also change accordingly. The support rod 104 is provided with a locking connection part 1041 and a rotating part 1042 spaced apart along its length. The locking connection part 1041 is connected to a locking member 103 on the first leg bar 101, and the rotating part 1042 is connected to the first leg bar 101, so that the support rod 104... At least one of the lever 104 and the rocker arm 105 has an abutment portion 106 located away from the first leg lever 101 and for abutting against the second leg lever 102. When the first leg lever 101 rotates to a certain extent in the first direction, the abutment portion 106 abuts against the second leg lever 102 to prevent the first leg lever 101 from continuing to rotate in the first direction, so that the included angle between the first leg lever 101 and the second leg lever 102 can be maintained at this specific angle. This allows the first leg fixing part 111, which is installed on the first leg lever 101 and is used to connect and support the thigh, to support the user's thigh at this angle, and the second leg, which is installed on the second leg lever 102 and is used to connect and support the lower leg, to support the user's lower leg. The fixing part 112 can support the user's lower leg at this angle. Furthermore, the support rod 104 is rotatably connected to the rocker arm 105, which is rotatably connected to the first leg rod 101. The locking connection part 1041 is connected to any one of the connecting slots 1031 of the locking member 103. Rotation of the support rod 104 can adjust the connecting slot 1031 to which the locking connection part 1041 is connected, thereby adjusting the position of the locking connection part 1041 along the length direction of the first leg rod 101, and thus adjusting the distance between the abutment part 106 and the second leg rod 102. This allows the abutment part 106 to abut against the second leg rod 102 earlier or later, controlling the first leg rod 101 along the first direction. The user can adjust the position of the locking connection 1041 to allow the leg assembly 1 to support the user's legs in different postures (bent knee, squatting, and kneeling, etc.), thus reducing fatigue during work and enabling workers to work longer. Furthermore, the locking member 103 is located on the first leg bar 101, allowing the user to adjust it simply by extending their hand to their thigh, without needing to bend over or bend their knee. Additionally, the abutment part 106 prevents the first leg bar 101 from rotating in the first direction, allowing the user to easily return from a bent knee posture to a straight knee posture without needing to unlock it, which is very convenient. In summary, the exoskeleton of this invention allows the user to adjust the locking angle simply by extending their hand to their thigh, and allows them to easily return from a bent knee posture to a straight knee posture, making it very convenient to use and effectively improving work efficiency.

[0033] Furthermore, within the adjustable range of the locking connection 1041, the smaller the distance between the connection point of the first leg bar 101 and the second leg bar 102 and the locking connection 1041, the larger the distance between the abutment part 106 and the second leg bar 102. When the first leg bar and the second leg bar are locked together, the larger the angle α between the first bars is. The larger the distance between the connection point of the first leg bar 101 and the second leg bar 102 and the locking connection 1041, the smaller the distance between the abutment part 106 and the second leg bar 102. When the first leg bar and the second leg bar are locked together, the smaller the angle α between the first bars is. The angle α between the first bars can be 30°, 90° and 120°, corresponding to the kneeling posture, squatting posture and bent knee posture, respectively.

[0034] As an example of this embodiment, a plurality of connecting grooves 1031 are arranged along the length direction of the first leg rod 101, and the connecting grooves 1031 are located on the side of the locking member 103 away from the first leg rod 101; it also includes a first elastic rope 107, the first elastic rope 107 being connected to the support rod 104 and the rocker arm 105, so as to apply a pulling force to the support rod 104 toward the first leg rod 101, so that the locking connection part 1041 is inserted into the corresponding connecting groove 1031.

[0035] The first elastic rope 107 applies tension to the locking connection 1041 through its elasticity, pressing the locking connection 1041 into the connecting groove 1031 to prevent it from falling out of the connecting groove 1031. The locking connection 1041 can rotate in the connecting groove 1031. The groove wall of the connecting groove 1031 prevents the locking connection 1041 from moving directly to the adjacent connecting groove 1031 along the length direction of the first leg 101. The user can adjust the connection by pulling the support rod 104 or the locking connection 1041 in the first direction and then inserting it into other connecting grooves 1031. The operation is very convenient.

[0036] Specifically, the first leg bar 101 is provided with a first elastic connection part 1011, which is located on the side away from the second leg bar 102. The support rod 104 is provided with a second elastic connection part 1043, which is located on the side away from the rocker arm 105. The two ends of the elastic rope are respectively connected to the first elastic connection part 1011 and the second elastic connection part 1043.

[0037] As an example of this embodiment, the end of the first leg 101 near the second leg 102 is designated as a first end 1014. The connecting groove 1031 has a blocking part 1032 on its groove wall away from the first end 1014. The blocking part 1032 is used to prevent the locking connecting part 1041 from moving away from the first end 1014 to the adjacent connecting groove 1031. The connecting groove 1031 has a sliding notch 1033 on its groove wall near the second leg 102. The locking connecting part 1041 can slide towards the adjacent connecting groove 1031 in the direction near the first end 1014 through the sliding notch 1033. The first elastic rope 107 can also apply a pulling force to the support rod 104 in the direction away from the first end 1014.

[0038] The first elastic rope 107 can also apply tension to the support rod, so that the locking connection part 1041 is pressed against the side of the connecting groove 1031 where the blocking part 1032 is set. The blocking part 1032 is used to prevent the locking connection part 1041 from sliding out along the groove wall of the connecting groove 1031, so as to prevent the locking connection part 1041 from sliding away from the first end 1014 to the next connecting groove 1031, thereby preventing the risk of sudden locking failure leading to support failure. The sliding notch 1033 is used to facilitate the user to pull the locking connection part 1041. The user can pull it towards the first end 1014 and slide it to the next connecting groove 1031, so as to gradually increase the angle between the first leg and the second leg and gradually change the posture.

[0039] Specifically, the distance between the ends of the first elastic rope 107 and the first leg bar 101 connected to the second leg bar 102 gradually decreases from the first elastic connection 1011 to the second elastic connection 1043. The first elastic connection 1011 can be located on the side of the locking member 103 away from the first leg bar 101, and the second elastic connection 1043 can be located on the side of the locking connection 1041 away from the first leg bar 101.

[0040] As an example of this embodiment, it also includes a locking pin 108. The locking member 103 has a connecting groove 1034 on its side away from the first leg 101. The connecting groove 1034 extends along the length direction of the first leg 101 and connects to each of the connecting grooves 1031. The connecting groove 1034 is located between the two ends of the connecting groove 1031. The locking connecting part 1041 extends into the connecting groove 1034. The locking connecting part 1041 has a connecting hole 10411 that extends in the left-right direction. The locking pin 108 passes through the connecting hole 10411, and its two ends are located in the connecting groove 1031.

[0041] The locking connection 1041 is inserted into the connecting groove 1034 between the two ends of the connecting groove 1031, so that the two ends of the locking pin 108 passing through the connecting hole 10411 are located in the connecting groove 1031 to achieve a rotatable connection. The connecting groove 1034 has a guiding effect on the locking connection 1041, preventing the locking connection 1041 from shifting in the left and right directions and ensuring the uniformity of the force.

[0042] As an example of this embodiment, the support rod 104 includes a first rod segment 1044 and a second rod segment 1045 connected to each other. The locking connection part 1041 is provided on the first rod segment 1044 and located on the side away from the second rod segment 1045. The rotating part 1042 is provided on the second rod segment 1045 and located on the side away from the first rod segment 1044. The extension direction of the first rod segment 1044 and the extension direction of the second rod segment 1045 intersect, and the connection between the first rod segment and the second rod segment protrudes in a direction away from the first leg.

[0043] The structure at the connection between the first rod segment 1044 and the second rod segment 1045 is such that the extension direction of the first rod segment 1044 and the extension direction of the first leg rod 101 have a large angle in most cases, so as to avoid friction and collision between the support rod 104 and the locking member 103.

[0044] In addition, the angle between the extension direction of the first segment 1044 and the extension direction of the second segment 1045 is 150°.

[0045] As an example of this embodiment, the rocker arm 105 is an arc-shaped structure that protrudes toward the first leg 101. The rocker arm 105 has an abutment groove 1051 on its side near the first leg 101. The abutment groove 1051 is adapted to the outer side of the first leg and can abut against the first leg 101 to limit the rotation amplitude of the first leg 101 in the second direction.

[0046] The arc-shaped structure of the rocker arm 105 is used to prevent other parts of the rocker arm 105 from contacting the second leg bar 102 before the designated contact part 106 contacts the second leg bar 102, thus preventing premature locking. The rocker arm 105 is provided with a contact groove 1051 to avoid the first leg bar 101, so as to prevent the rocker arm 105 from contacting the first leg bar 101 before the first leg bar 101 rotates to the point that its axis is collinear with the axis of the second leg bar 102, which would prevent the user from straightening their knees.

[0047] As an example of this embodiment, it also includes a first connecting rod 109 and a second connecting rod 110. One end of the first leg 101 is provided with a first rod portion 1012 and a second rod portion 1013, and one end of the second leg 102 is provided with a third rod portion 1021 and a fourth rod portion 1022. The extension axis of the first connecting rod 109 and the extension axis of the second connecting rod 110 intersect on the same plane in the left-right direction. The two ends of the first connecting rod 109 are respectively rotatably connected to the first rod portion 1012 and the fourth rod portion 1022, and the two ends of the second connecting rod 110 are respectively rotatably connected to the second rod portion 1013 and the third rod portion 1021, so that the first leg 101 is rotatably connected to the second leg 102.

[0048] The first leg bar 101 and the second leg bar 102 are rotatably connected by a cross-link structure to conform to the physiological movement of the human knee joint in non-fixed-point rotation, thereby reducing discomfort and misalignment force.

[0049] As an example of this embodiment, the first rod portion 1012 is arranged on the side of the second rod portion 1013 facing the support rod 104, and the rocker arm 105 is rotatably connected to the first rod portion 1012, so that the rocker arm 105 is set away from the rotation center of the first leg 101 and the second leg 102, thereby reducing the risk of interference between the rocker arm 105 and the first leg 101, as well as between the rocker arm 105 and the second leg 102.

[0050] As an example of this embodiment, it also includes a first leg fixing part 111, a second leg fixing part 112, and a foot fixing part 113. The first leg fixing part 111 is disposed on the first leg rod 101 and is used to connect and support the thigh. The second leg fixing part 112 is disposed on the second leg rod 102 and is used to connect and support the lower leg. The foot fixing part 113 is rotatably connected to the end of the second leg rod 102 away from the first leg rod 101 and is used to connect to the foot.

[0051] The first leg fixing part 111 may include a first support plate 1111 and a first strap 1112. The first support plate 1111 has an L-shaped or U-shaped structure and can fit against the back side and the side along the left and right direction of the thigh. The first leg rod 101 is fixedly connected to the outer side of the first support plate 1111 along the left and right direction. The two ends of the first strap 1112 are connected to the first support plate 1111. The first strap 1112 and the first support plate 1111 form a first through hole, through which the thigh can pass and be tightened by the elasticity of the first strap 1112. The second leg fixing part 112 may cover... The device includes a second support plate 1121 and a second strap 1122. The second support plate 1121 is a semi-circular ring and can fit against the back side of the thigh and the side along the left and right direction. The second leg bar 102 is fixedly connected to the outer side of the second support plate 1121 along the left and right direction. The two ends of the second strap 1122 are connected to the second support plate 1121. The second strap 1122 and the second support plate 1121 form a second through hole, through which the thigh can pass and be tightened by the elasticity of the second strap 1122. The foot fixing part 113 is a shoe cover-like component, which can be worn on the feet of the worker.

[0052] Reference Figure 10 This embodiment also relates to an exoskeleton, including the aforementioned exoskeleton leg assembly 1 and a waist assembly 2 for connecting the waist. The number of exoskeleton leg assemblies 1 is at least two, and the two exoskeleton leg assemblies 1 are arranged opposite each other and located below the waist assembly 2. The exoskeleton leg assembly 1 also includes a second elastic rope 114 and a third elastic rope 115. The two ends of the second elastic rope 114 are respectively connected to one side of the waist assembly 2 in the left-right direction and the first leg rod 101. The two ends of the third elastic rope 115 are respectively connected to the rear side of the waist assembly 2 and the support rod 104. The projections of the extension axes of the third elastic ropes 115 of the two exoskeleton leg assemblies 1 on the same plane in the front-back direction intersect.

[0053] The two opposing leg components 1 are respectively set to correspond to the two legs of a person. The waist component 2 is put on the waist of the person and tightened. It is connected to the leg components 1 through the second elastic rope 114 and the third elastic rope 115 to improve the stability and reliability of the position of the leg components 1 and prevent the leg components 1 from being displaced to a large extent during use.

[0054] As an example of this embodiment, detachable connection and detachable setting refer to the fact that two components can be repeatedly and multiple times disassembled and assembled without damage or serious deformation, including but not limited to fixing by connectors and fixing by snap-fit ​​connection.

[0055] As an example of this embodiment, adjustable connection and adjustable setting means that the two connected components can adjust their relative positional relationship before fixing. Moreover, the aforementioned adjustment and fixing process can be repeated, including but not limited to connection through elongated holes and connectors, and connection through sliding connection plus detachable connection.

[0056] As an example of this embodiment, a rotatable connection or rotatable setting refers to the fact that two connected components can rotate, including but not limited to connections through bearings or connections through clearance fits.

[0057] As one example of this embodiment, the connectors include, but are not limited to, fasteners, straps, ropes, pneumatic connectors, hydraulic connectors, flanges, Velcro, and buttons.

[0058] In summary, the embodiments of the present invention provide a leg component 1 and an exoskeleton, the technical effects of which are as follows: In the exoskeleton leg assembly of the present invention, a first leg bar 101 and a second leg bar 102 are respectively provided corresponding to the user's thigh and calf regions, and the first leg bar 101 and the second leg bar 102 are rotatably connected. When the user performs actions such as bending the knee, squatting, and kneeling, causing the angle between the thigh and calf to change, the angle between the first leg bar 101 and the second leg bar 102 will also change accordingly. The support rod 104 is provided with a locking connection part 1041 and a rotating part 1042 spaced apart along its length. The locking connection part 1041 is connected to the locking member 103 on the first leg bar 101, and the rotating part 1042 is connected to the first leg bar 101. At least one of the support rod 104 and rocker arm 105 has an abutment portion 106 located away from the first leg rod 101 and used to abut against the second leg rod 102. When the first leg rod 101 rotates to a certain extent in the first direction, the abutment portion 106 abuts against the second leg rod 102 to prevent the first leg rod 101 from continuing to rotate in the first direction, so that the included angle between the first leg rod 101 and the second leg rod 102 can be maintained at this specific angle. This allows the first leg fixing part 111, which is installed on the first leg rod 101 and is used to connect and support the thigh, to support the user's thigh at this angle, and the first leg fixing part 111, which is installed on the second leg rod 102 and is used to connect and support the lower leg, to support the user's thigh at this angle. The leg fixing part 112 can support the user's lower legs at this angle. Furthermore, the support rod 104 is rotatably connected to the rocker arm 105, which is rotatably connected to the first leg rod 101. The locking connection part 1041 is connected to any one of the connecting slots 1031 of the locking member 103. Rotation of the support rod 104 can adjust the connecting slot 1031 to which the locking connection part 1041 is connected, thereby adjusting the position of the locking connection part 1041 along the length direction of the first leg rod 101, and thus adjusting the distance between the abutment part 106 and the second leg rod 102. This allows the abutment part 106 to abut against the second leg rod 102 earlier or later, controlling the distance between the first leg rod 101 and the first leg rod 102 along the first leg rod 101. The user can adjust the position of the locking connection 1041 to allow the leg assembly 1 to support the user's legs in different postures (bent knee, squatting, and kneeling, etc.), thus reducing fatigue and enabling workers to work longer. Furthermore, the locking member 103 is located on the first leg bar 101, allowing the user to adjust it simply by extending their hand to their thigh, without needing to bend over or bend their knee. Additionally, the abutment part 106 prevents the first leg bar 101 from rotating in the first direction, allowing the user to easily return from a bent knee posture to a straight knee posture without needing to unlock it, which is very convenient. In summary, the exoskeleton of this invention allows the user to adjust the locking angle simply by extending their hand to their thigh, and allows them to easily return from a bent knee posture to a straight knee posture, making it very convenient and effectively improving work efficiency.

[0059] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. An exoskeleton leg assembly (1), characterized in that, It includes a first leg bar (101), a second leg bar (102), a locking member (103), a support rod (104), and a rocker arm (105). The first leg bar (101) is set in the thigh area, the second leg bar (102) is set in the calf area, and the first leg bar (101) is rotatably connected to the second leg bar (102). The support rod (104) and the rocker arm (105) are located on the same side of the first leg (101). The support rod (104) is provided with locking connection portions (1041) and rotating portions (1042) spaced apart along its length. The rotating portion (1042) is rotatably connected to one end of the rocker arm (105), and the other end of the rocker arm (105) is rotatably connected to the end of the first leg (101) near the second leg (102). At least one of the rotating portion (1042) and the rocker arm (105) can abut against the second leg (102) as the first leg (101) rotates, thereby limiting the rotation amplitude of the first leg (101) in the first direction. The area where the rotating part (1042) and the rocker arm (105) abut against the second leg (102) is called the abutting part (106). The locking member (103) is provided on the first leg (101) and has multiple connecting grooves (1031). The locking connecting part (1041) can move in and out of the corresponding connecting groove (1031) as the support rod (104) rotates, so as to adjust the position of the locking connecting part (1041) along the length direction of the first leg (101), thereby adjusting the distance between the abutting part (106) and the second leg (102).

2. The exoskeleton leg assembly (1) according to claim 1, characterized in that, Multiple connecting slots (1031) are arranged along the length direction of the first leg (101), and the connecting slots (1031) are located on the side of the locking member (103) away from the first leg (101); it also includes a first elastic rope (107), which is connected to the support rod (104) and the rocker arm (105) to apply a pulling force to the support rod (104) toward the first leg (101), so that the locking connection part (1041) is inserted into the corresponding connecting slot (1031).

3. The exoskeleton leg assembly (1) according to claim 2, characterized in that, The end of the first leg (101) near the second leg (102) is designated as the first end (1014). The connecting groove (1031) has a blocking part (1032) on the groove wall away from the first end (1014). The blocking part (1032) is used to prevent the locking connecting part (1041) from moving away from the first end (1014) to the adjacent connecting groove (1031). The connecting groove (1031) has a sliding notch (1033) on the groove wall near the second leg (102). The locking connecting part (1041) can slide towards the adjacent connecting groove (1031) in the direction near the first end (1014) through the sliding notch (1033). The first elastic rope (107) can also apply a pulling force to the support rod (104) in the direction away from the first end (1014).

4. The exoskeleton leg assembly (1) according to claim 2, characterized in that, It also includes a locking pin (108), and the locking member (103) has a connecting groove (1034) on the side away from the first leg (101). The connecting groove (1034) extends along the length direction of the first leg (101) and connects to each of the connecting grooves (1031). The connecting groove (1034) is located between the two ends of the connecting groove (1031). The locking connection part (1041) extends into the connecting groove (1034). The locking connection part (1041) has a connecting hole (10411) that runs through in the left and right direction. The locking pin (108) passes through the connecting hole (10411) and its two ends are located in the connecting groove (1031).

5. The exoskeleton leg assembly (1) according to claim 1, characterized in that, The support rod (104) includes a first rod segment (1044) and a second rod segment (1045) connected together. The locking connection part (1041) is provided on the first rod segment (1044) and located on the side away from the second rod segment (1045). The rotating part (1042) is provided on the second rod segment (1045) and located on the side away from the first rod segment (1044). The extension direction of the first rod segment (1044) and the extension direction of the second rod segment (1045) intersect, and the connection between the first rod segment and the second rod segment protrudes in a direction away from the first leg.

6. The exoskeleton leg assembly (1) according to claim 1, characterized in that, The rocker arm (105) is an arc-shaped structure that protrudes toward the first leg (101). The rocker arm (105) has an abutment groove (1051) on its side near the first leg (101). The abutment groove (1051) is adapted to the outer side of the first leg and can abut against the first leg (101) to limit the rotation amplitude of the first leg (101) in the second direction.

7. The exoskeleton leg assembly (1) according to claim 1, characterized in that, It also includes a first link (109) and a second link (110), one end of the first leg (101) is provided with a first rod part (1012) and a second rod part (1013), and one end of the second leg (102) is provided with a third rod part (1021) and a fourth rod part (1022). The extension axis of the first connecting rod (109) and the extension axis of the second connecting rod (110) are intersected by projections on the same plane in the left-right direction. The two ends of the first connecting rod (109) are rotatably connected to the first rod part (1012) and the fourth rod part (1022), respectively. The two ends of the second connecting rod (110) are rotatably connected to the second rod part (1013) and the third rod part (1021), respectively, so that the first leg rod (101) is rotatably connected to the second leg rod (102).

8. The exoskeleton leg assembly (1) according to claim 7, characterized in that, The first rod portion (1012) is arranged on the side of the second rod portion (1013) facing the support rod (104), and the rocker arm (105) is rotatably connected to the first rod portion (1012).

9. The exoskeleton leg assembly (1) according to claim 1, characterized in that, It also includes a first leg fixing part (111), a second leg fixing part (112), and a foot fixing part (113). The first leg fixing part (111) is disposed on the first leg rod (101) and is used to connect and support the thigh. The second leg fixing part (112) is disposed on the second leg rod (102) and is used to connect and support the lower leg. The foot fixing part (113) is rotatably connected to the end of the second leg rod (102) away from the first leg rod (101) and is used to connect to the foot.

10. An exoskeleton, characterized in that, The exoskeleton includes an exoskeleton leg assembly (1) as described in any one of claims 1 to 9, and a waist assembly (2) for connecting to the waist. The number of exoskeleton leg assemblies (1) is at least two, and the two exoskeleton leg assemblies (1) are arranged opposite each other and located below the waist assembly (2). The exoskeleton leg assembly (1) further includes a second elastic rope (114) and a third elastic rope (115). The two ends of the second elastic rope (114) are respectively connected to one side of the waist assembly (2) in the left-right direction and the first leg bar (101). The two ends of the third elastic rope (115) are respectively connected to the rear side of the waist assembly (2) and the support bar (104). The projections of the extension axes of the third elastic ropes (115) of the two exoskeleton leg assemblies (1) on the same plane in the front-back direction intersect.

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