Mechanical load-bearing exoskeleton system based on ground reaction force self-triggering

Abstract

This application belongs to the field of wearable robot technology, specifically providing a mechanical load-bearing exoskeleton system based on ground reaction force self-triggering. The exoskeleton system includes an upper body mechanism, a thigh mechanism, a knee joint mechanism, a lower leg mechanism, and a foot mechanism. The knee joint mechanism includes a knee joint support, a locking component, and a transmission assembly. When the foot mechanism touches the ground and the sole of the foot is compressed and deformed by the ground reaction force, the thigh mechanism slides downward relative to the knee joint support. The transmission assembly drives the locking component to slide towards the thigh mechanism and connect with it, thereby locking the knee joint mechanism. The compression deformation of the sole of the foot caused by the ground reaction force is used as a trigger signal to automatically trigger the locking of the knee joint mechanism. The knee joint mechanism can lock at any reasonable angle, so that when the wearer is going up or down slopes, climbing stairs, or bending their knees for cover, the exoskeleton system can still effectively assist the human body in bearing the load by locking the knee joint mechanism.

Description

Technical Field

[0001] This application belongs to the field of wearable robot technology, specifically relating to a mechanical load-bearing exoskeleton system based on ground reaction force self-triggering. Background Technology

[0002] As a wearable robotic device, the single-soldier load-bearing exoskeleton is mainly used in scenarios such as military marches, field exploration, logistics handling, and disaster relief. It can assist the wearer in bearing the load on their back, reducing the stress on the human skeleton and muscles, thereby reducing metabolic consumption and fatigue damage caused by prolonged heavy-duty walking. Depending on the power source, exoskeletons can be divided into active and passive exoskeletons. Passive exoskeletons do not require external power and typically use springs, dampers, or mechanical locking structures to achieve gravity compensation or load transfer. Existing passive exoskeletons using mechanical locking structures usually trigger knee joint locking based on the knee joint angle, and generally require the knee joint to be fully extended to lock, allowing the exoskeleton to support the load. However, when the wearer is going up or down slopes, climbing stairs, or bending their knees to provide cover, the knee joint is in a flexed state, at which point the knee joint cannot lock, and the exoskeleton cannot assist the wearer in bearing the load on their back. Summary of the Invention

[0003] The purpose of this application is to provide a mechanical load-bearing exoskeleton system based on ground reaction force self-triggering, which aims to solve the technical problem in the prior art that passive exoskeletons using mechanical locking structures cannot lock when the knee joint is in a flexed state, and the exoskeleton cannot assist the wearer in bearing the load on their back.

[0004] To achieve the above objectives, the technical solution adopted in this application is: a mechanical load-bearing exoskeleton system based on ground reaction force self-triggering, comprising an upper body mechanism, a thigh mechanism, a knee joint mechanism, a lower leg mechanism, and a foot mechanism connected sequentially from top to bottom. The upper body mechanism is worn on the upper body of the human body and is used to bear heavy loads. The foot mechanism is worn on the feet of the human body. The knee joint mechanism includes a knee joint bracket, a locking element, a reset elastic element, and a transmission assembly. The knee joint bracket is fixedly connected to the lower leg mechanism. The thigh mechanism is rotatably connected to the knee joint bracket and slidably connected in the vertical direction. The locking element is slidably connected to the knee joint bracket. The reset elastic element is connected to the locking element. Between the knee joint support and the thigh mechanism, the transmission component connects the thigh mechanism and the locking component. When the foot mechanism touches the ground and the sole of the foot is compressed and deformed by the ground reaction force, the thigh mechanism slides downward relative to the knee joint support. Through the transmission component, the locking component slides relative to the knee joint support towards the thigh mechanism, so that the locking component connects with the thigh mechanism, thereby switching the knee joint mechanism to a locked state where flexion is restricted. When the foot mechanism leaves the ground, the reset elastic element causes the locking component to slide relative to the knee joint support away from the thigh mechanism to separate from the thigh mechanism, thereby switching the knee joint mechanism to an unlocked state where flexion and extension are free.

[0005] Furthermore, the transmission component is a displacement amplification component, which can convert the small input displacement of the thigh mechanism relative to the knee joint support into a larger output displacement of the locking component relative to the knee joint support.

[0006] Furthermore, the thigh mechanism has a ratchet, and the locking element has a pawl; When the thigh mechanism slides downward relative to the knee joint support, the displacement amplification component drives the locking part to move towards the ratchet relative to the knee joint support, so that the pawl engages with the ratchet, thereby switching the knee joint mechanism to the locked state. When the foot mechanism leaves the ground, the reset elastic element causes the locking element to slide away from the ratchet relative to the knee joint support, causing the pawl to separate from the ratchet, thereby switching the knee joint mechanism to the unlocked state.

[0007] Furthermore, the knee joint mechanism also includes a pre-tensioning elastic element, and the displacement amplification assembly is connected to the locking element through the pre-tensioning elastic element.

[0008] Furthermore, the displacement amplification component includes a first link, which is rotatably connected to the knee joint bracket. The first link has a first connection point and a second connection point. The first connection point is connected to the thigh mechanism, and the second connection point is connected to a locking member. When the thigh mechanism slides downward relative to the knee joint bracket, it drives the first link to rotate. The first link then drives the locking member to slide relative to the knee joint bracket towards the thigh mechanism. The distance between the second connection point and the rotation fulcrum of the first link is greater than the distance between the first connection point and the rotation fulcrum of the first link.

[0009] Furthermore, the displacement amplification assembly also includes a first slider, a second slider, a second link, and a third link. The first slider is slidably connected to the knee joint bracket in the vertical direction, and the thigh mechanism is connected to the first slider. The second slider is slidably connected to the knee joint bracket in a straight line, and the locking member is connected to the second slider. One end of the second link is rotatably connected to the first connection point, and the other end of the second link is rotatably connected to the thigh mechanism through the first slider. One end of the third link is rotatably connected to the second connection point, and the other end of the third link is rotatably connected to the locking member through the second slider. When the thigh mechanism slides downward relative to the knee joint support, it drives the first sliding member to slide downward relative to the knee joint support. The first sliding member then drives the second sliding member to slide linearly relative to the knee joint support towards the thigh mechanism through the second link, the first link, and the third link. The second sliding member then drives the locking member to slide linearly relative to the knee joint support towards the thigh mechanism.

[0010] Furthermore, there is a first eccentricity between the guide center line of the first slider and the rotation fulcrum of the first connecting rod, and a second eccentricity between the guide center line of the second slider and the rotation fulcrum of the first connecting rod.

[0011] Furthermore, the knee joint support is provided with a first slide and a second slide. The first slide extends in a straight line in the vertical direction, and the second slide extends in a straight line. A first sliding member extends into the first slide and slides in cooperation with the first slide, and a second sliding member extends into the second slide and slides in cooperation with the second slide.

[0012] Furthermore, the pivot point of the first link is located at one end of the first link, the second connection point is located at the other end of the first link, the first connection point is located between the pivot point of the first link and the second connection point, and the distance between the first connection point and the pivot point of the first link is less than the distance between the first connection point and the second connection point.

[0013] Furthermore, the upper body mechanism includes a backpack assembly and a hip joint assembly. The backpack assembly is worn on the back or chest of the body and is used to load heavy objects. The hip joint assembly is located between the backpack assembly and the thigh mechanism. Both the backpack assembly and the thigh mechanism are rotatably connected to the hip joint assembly.

[0014] Compared with the prior art, the beneficial effects of the mechanical load-bearing exoskeleton system based on ground reaction force self-triggering provided in this application are as follows: When the foot mechanism touches the ground and the sole of the human foot is compressed and deformed by the ground reaction force, the part above the sole of the human foot will move downward due to the compression and deformation of the sole. The upper body mechanism worn on the upper body will also move downward and press the weight onto the thigh mechanism, causing the thigh mechanism to slide downward relative to the knee joint support. The thigh mechanism drives the locking part to slide relative to the knee joint support towards the thigh mechanism through the transmission component, so that the locking part connects with the thigh mechanism, thereby causing the knee joint mechanism to switch to the locked state. In the locked state, the knee joint mechanism is restricted from flexion, that is, the angle of the knee joint mechanism (the angle between the thigh mechanism and the lower leg mechanism) is restricted to a smaller size, thereby forming a rigid support to transfer the load of the upper body mechanism to the thigh mechanism, lower leg mechanism, foot mechanism and the ground in sequence, assisting the human body in bearing the back load. When the foot mechanism leaves the ground, i.e., when the body lifts the foot, the reset elastic element causes the locking element to slide away from the thigh mechanism relative to the knee joint support, thus separating it from the thigh mechanism. This allows the knee joint mechanism to switch to the unlocked state. In the unlocked state, the knee joint mechanism can flex and extend freely, meaning the angle of the knee joint mechanism can be reduced or increased. The thigh and lower leg mechanisms can rotate freely, allowing the body's legs to swing freely. The knee joint mechanism is automatically locked by using the compression deformation caused by the ground reaction force on the sole of the foot as a trigger signal, rather than by the angle of the knee joint mechanism. This allows the knee joint mechanism to lock at any reasonable angle. Therefore, when the body is going up or down slopes, climbing stairs, or bending the knee for cover, the exoskeleton system can still effectively assist the body in bearing the load on the back by locking the knee joint mechanism. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 An illustration of the mechanical load-bearing exoskeleton system based on ground reaction force self-triggering provided in the embodiments of this application, worn on a person; Figure 2 A schematic diagram of the structure of the mechanical load-bearing exoskeleton system based on ground reaction force self-triggering provided in the embodiments of this application; Figure 3 for Figure 2 The diagram shows a partial view of the knee joint mechanism of a mechanical weight-bearing exoskeleton system that is self-triggered by ground reaction force. Figure 4 for Figure 3 The diagram shows the structure of the knee joint mechanism after concealing the knee joint support and fixation post. Figure 1 ; Figure 5 for Figure 3 A simplified diagram of the displacement amplification component shown. Figure 6 for Figure 3 The diagram shows the structure of the knee joint mechanism after concealing the knee joint support and fixation post. Figure 2 ; Figure 7 for Figure 3 The diagram shows the structural schematic of the knee joint support of the knee joint mechanism. Figure 8 for Figure 2 The diagram shows a partial view of the upper body structure of a mechanical load-bearing exoskeleton system that is self-triggered by ground reaction force. Figure 9 for Figure 2 The diagram shows a partial view of the thigh mechanism of a mechanical load-bearing exoskeleton system that is self-triggered by ground reaction force. Figure 10 for Figure 2 The diagram shows a partial view of the lower leg mechanism of a mechanical load-bearing exoskeleton system that is self-triggered by ground reaction force.

[0017] 10. Upper body mechanism; 11. Backpack assembly; 111. Backpack; 112. Shoulder straps; 113. Waist belt; 114. Back support; 1141. Vertical plate; 1142. Horizontal plate; 12. Hip joint assembly; 121. First support; 1211. First adjustment hole; 122. Second support; 123. Third support; 124. First connecting shaft; 20. Thigh mechanism; 21. First thigh rod; 211. Second adjustment hole; 22. Second thigh rod; 23. Second connecting shaft; 24. Thigh binding component; 25. Ratchet; 26. Thigh rod assembly; 30. Knee joint mechanism; 31. Knee joint support; 311. First slide rail; 312. Second slide rail; 313. Fourth slide rail; 314. Fifth slide rail; 32. Locking element; 321. Pawl; 322. Third slide rail; 34. Transmission assembly; 341. First connecting rod; 342. Second connecting rod; 343. Third connecting rod; 344. Fourth connecting rod; 345. First sliding member; 346. Second sliding member; 35. Preloaded elastic member; 36. Fixed column; 37. First pivot; 38. Second pivot; 39. Third pivot; 40. Lower leg mechanism; 41. First lower leg rod; 42. Second lower leg rod; 42.1. Third adjusting hole; 43. Third connecting shaft; 44. Lower leg binding component; 45. Ball bearing; 50. Foot structure. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0019] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0020] 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 one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0021] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0022] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, this application embodiment provides a mechanical load-bearing exoskeleton system based on ground reaction force self-triggering, including an upper body mechanism 10, a thigh mechanism 20, a knee joint mechanism 30, a lower leg mechanism 40, and a foot mechanism 50 connected sequentially from top to bottom. The upper body mechanism 10 is worn on the upper body of the human body and is used to bear heavy objects. The foot mechanism 50 is worn on the feet of the human body. The knee joint mechanism 30 includes a knee joint bracket 31, a locking member 32, a reset elastic member, and a transmission assembly 34. The knee joint bracket 31 is fixedly connected to the lower leg mechanism 40. The thigh mechanism 20 is rotatably connected to the knee joint bracket 31 and slidably connected in the vertical direction. The locking member 32 is slidably connected to the knee joint bracket 31. The reset elastic member is connected to the locking member 32 and the knee joint bracket 40. Between the frame 31, the transmission component 34 connects the thigh mechanism 20 and the locking member 32; when the foot mechanism 50 touches the ground and the sole of the human foot is compressed and deformed by the ground reaction force, the thigh mechanism 20 slides downward relative to the knee joint support 31, and the transmission component 34 drives the locking member 32 to slide relative to the knee joint support 31 towards the thigh mechanism 20, so that the locking member 32 is connected to the thigh mechanism 20, thereby switching the knee joint mechanism 30 to the locked state where flexion is restricted; when the foot mechanism 50 leaves the ground, the reset elastic member causes the locking member 32 to slide relative to the knee joint support 31 away from the thigh mechanism 20 to separate from the thigh mechanism 20, thereby switching the knee joint mechanism 30 to the unlocked state where it can be freely flexed and extended.

[0023] When the foot mechanism 50 touches the ground and the sole of the human foot is compressed and deformed by the ground reaction force, the part of the human body above the sole of the foot will move downward due to the compression and deformation of the sole of the foot. The upper body mechanism 10 worn on the upper body will also move downward and press the weight onto the thigh mechanism 20, causing the thigh mechanism 20 to move downward relative to the knee joint bracket 31. The thigh mechanism 20 drives the locking member 32 to slide relative to the knee joint bracket 31 towards the thigh mechanism 20 through the transmission component 34, so that the locking member 32 connects with the thigh mechanism 20, thereby switching the knee joint mechanism 30 to the locked state. In the locked state, the knee joint mechanism 30 is restricted from flexion, that is, the angle of the knee joint mechanism 30 (the angle between the thigh mechanism 20 and the lower leg mechanism 40) is restricted to a smaller size, thereby forming a rigid support to transfer the load of the upper body mechanism 10 to the thigh mechanism 20, the lower leg mechanism 40, the foot mechanism 50 and the ground in sequence, assisting the human body in bearing the back load. When the foot mechanism 50 leaves the ground, that is, when the human body lifts the foot, the reset elastic member causes the locking member 32 to slide away from the thigh mechanism 20 relative to the knee joint bracket 31, thereby separating from the thigh mechanism 20. This allows the knee joint mechanism 30 to switch to the unlocked state. In the unlocked state, the knee joint mechanism 30 can be flexed and extended freely, that is, the angle of the knee joint mechanism 30 can be reduced or increased. The thigh mechanism 20 and the lower leg mechanism 40 can rotate freely, and the human leg can swing freely. The knee joint mechanism 30 is automatically locked by using the compression deformation caused by the ground reaction force on the sole of the foot as a trigger signal, rather than by triggering the locking of the knee joint mechanism 30 based on its angle. This allows the knee joint mechanism 30 to lock at any reasonable angle. That is, the knee joint mechanism 30 can lock not only in a fully extended state (the angle between the thigh mechanism 20 and the lower leg mechanism 40 is 180°) but also in a flexed state (the angle between the thigh mechanism 20 and the lower leg mechanism 40 is less than 180°). Thus, when the human body is going up or down slopes, climbing stairs, or bending the knee for cover, the exoskeleton system can still effectively assist the human body in bearing the back load by locking the knee joint mechanism 30. This solves the technical problem of traditional passive exoskeletons where the knee joint cannot lock in a flexed state, causing the exoskeleton to be unable to assist the human body in bearing the back load. When the reset elastic element causes the locking element 32 to slide away from the thigh mechanism 20 relative to the knee joint bracket 31, the locking element 32 will drive the thigh mechanism 20 to slide upward relative to the knee joint bracket 31 through the transmission component 34.

[0024] Traditional passive exoskeletons using mechanical locking structures trigger knee joint locking based on the angle of the knee joint. This makes it difficult to accurately distinguish between the support phase (the stage where the lower limb contacts the ground and bears weight, starting with heel strike and ending with toe lift) and the swing phase (the stage where the lower limb leaves the ground and moves forward, starting with toe lift and ending with heel strike on the same side). This can lead to the exoskeleton's knee joint unexpectedly locking when the leg needs to swing, such as when crossing an obstacle, resulting in a "human-machine conflict" phenomenon that interferes with normal walking. However, the exoskeleton system provided in this application triggers the knee joint mechanism 30 to lock when the foot mechanism 50 touches the ground and the sole of the foot is compressed and deformed by the ground reaction force. When the foot mechanism 50 leaves the ground, i.e., when the person lifts their foot, the knee joint mechanism 30 is triggered to unlock. This accurately distinguishes between the support and swing phases, and the knee joint mechanism 30 switches rapidly between locked and unlocked states with low latency, effectively avoiding the "human-machine conflict" phenomenon and ensuring normal walking.

[0025] It should be noted that the "sole of the human foot" mentioned above includes the soft tissue of the sole of the foot. When the human body is wearing shoes and the sole of the shoes has a certain degree of elasticity and can be compressed and deformed, the "sole of the human foot" also includes the sole of the shoes.

[0026] The mechanical load-bearing exoskeleton system based on ground reaction force self-triggering provided in this application embodiment is a passive exoskeleton. Compared with active exoskeletons, it has lower energy consumption and higher all-weather reliability. It eliminates batteries, motors, sensors and controllers and adopts a pure mechanical structure, which not only brings unlimited endurance, but also can resist the effects of water immersion, sand and dust, high and low temperatures and electromagnetic pulses, greatly improving its survivability and reliability in complex outdoor environments.

[0027] Specifically, there are two thigh mechanisms 20, two knee joint mechanisms 30, two calf mechanisms 40, and two foot mechanisms 50. The two thigh mechanisms 20 are connected to the two calf mechanisms 40 through the two knee joint mechanisms 30, and the two calf mechanisms 40 are connected to the two foot mechanisms 50. The two thigh mechanisms 20 are respectively used to set up for the left and right thighs of the human body, the two knee joint mechanisms 30 are respectively used to set up for the left and right knee joints of the human body, the two calf mechanisms 40 are respectively used to set up for the left and right calves of the human body, and the two foot mechanisms 50 are respectively used to wear on the left and right feet of the human body.

[0028] In some embodiments of this application, such as Figure 3As shown, the transmission component 34 is a displacement amplification component. This component converts the small input displacement of the thigh mechanism 20 relative to the knee joint support 31 into a larger output displacement of the locking member 32 relative to the knee joint support 31. When a person stands normally, the compressive deformation of the foot caused by the ground reaction force is extremely small, typically 3-5 mm. Consequently, the displacement of the thigh mechanism 20 relative to the knee joint support 31 is also minimal. A conventional transmission mechanism between the thigh mechanism 20 and the locking member 32 would be insufficient to ensure that the locking member 32 has sufficient stroke to connect with the thigh mechanism 20, thus affecting the reliability of the locking mechanism. In this embodiment, the transmission component 34 between the thigh mechanism 20 and the locking member 32 is designed as a displacement amplification component. The displacement amplification component can transform the small input displacement of the thigh mechanism 20 relative to the knee joint bracket 31 into a larger output displacement of the locking member 32 relative to the knee joint bracket 31, so that the locking member 32 has sufficient stroke to connect with the thigh mechanism 20, realizing "micro-motion triggering and deep locking", ensuring the reliability of the knee joint mechanism 30 locking, thereby ensuring that the exoskeleton system can effectively assist the human body in bearing the back load.

[0029] In some embodiments of this application, such as Figure 4As shown, the thigh mechanism 20 has a ratchet 25, and the locking member 32 has a pawl 321. When the thigh mechanism 20 slides downward relative to the knee joint support 31, the displacement amplification component drives the locking member 32 to move relative to the knee joint support 31 towards the ratchet 25, so that the pawl 321 engages with the ratchet 25, thereby switching the knee joint mechanism 30 to the locked state. When the foot mechanism 50 leaves the ground, the reset elastic member causes the locking member 32 to slide relative to the knee joint support 31 away from the ratchet 25, so that the pawl 321 separates from the ratchet 25, and the knee joint mechanism 30 switches to the unlocked state. When the foot mechanism 50 touches the ground and the sole of the foot is compressed and deformed by the ground reaction force, the thigh mechanism 20 slides downward relative to the knee joint support 31. Through the displacement amplification component, the locking member 32 slides relative to the knee joint support 31 towards the ratchet 25, causing the pawl 321 of the locking member 32 to engage with the ratchet 25, forming a one-way lock. This switches the knee joint mechanism 30 to the locked state. The ratchet 25, engaged with the pawl 321, is restricted from rotating in one direction, thus limiting the flexion of the knee joint mechanism 30, while being allowed to rotate in the other direction, thus allowing the knee joint mechanism 30 to extend. This allows the knee joint mechanism 30 to remain locked during extension, supporting the load of the upper body mechanism 10. The displacement amplification component ensures that the pawl 321 has sufficient travel to deeply engage with the ratchet 25, achieving "micro-motion triggering, deep locking," thereby ensuring the reliability of the knee joint mechanism 30's locking. When the foot mechanism 50 is off the ground, the reset elastic element causes the locking element 32 to slide away from the ratchet 25 relative to the knee joint bracket 31, so that the pawl 321 is separated from the ratchet 25, the ratchet 25 can rotate in both directions, the knee joint mechanism 30 switches to the unlocked state, and can be flexed and extended freely.

[0030] In some embodiments of this application, such as Figure 4As shown, the knee joint mechanism 30 also includes a pre-tensioning elastic element 35, and the displacement amplification component is connected to the locking element 32 through the pre-tensioning elastic element 35. The displacement amplification component, through the pre-tensioning elastic element 35, drives the locking element 32 to slide relative to the knee joint support 31 towards the ratchet 25, causing the pawl 321 to engage with the ratchet 25. The pre-tensioning elastic element 35 can undergo elastic deformation under force, applying pressure to the locking element 32, causing the pawl 321 to firmly abut against the ratchet 25 and remain engaged. When the ratchet 25 rotates in the unlocked direction, it can overcome the elastic force of the pre-tensioning elastic element 35 and push the locking element 32 away. When the pawl 321 transitions from one groove to another on the ratchet 25, the pre-tensioning elastic element 35 can push the pawl 321 back into the groove of the ratchet 25, thereby achieving one-way locking of the ratchet 25. When the displacement amplification component drives the locking component 32 to move closer to the ratchet 25 via the pre-tensioning elastic element 35, the pawl 321 may not be able to smoothly engage with the teeth of the ratchet 25 due to an unsuitable angle of the ratchet 25, resulting in a collision. In this case, the pre-tensioning elastic element 35 acts as a buffer, absorbing the collision energy and preventing a rigid collision between the pawl 321 and the ratchet 25. This protects both the pawl 321 and the ratchet 25, effectively extending their service life. The user can fine-tune the angle of the ratchet 25 to ensure the pawl 321 successfully engages with the teeth of the ratchet 25. The pre-tensioning elastic element 35 shown in the figure is a compression spring; in other embodiments, a torsion spring, rubber band, etc., may also be used.

[0031] In some embodiments of this application, combined with Figure 4 and Figure 5As shown, the displacement amplification assembly includes a first link 341, which is rotatably connected to the knee joint bracket 31. The first link 341 has a first connection point A and a second connection point B. The thigh mechanism 20 (via the second link 342) is connected to the first connection point A, and the second connection point B (via the third link 343) is connected to the locking member 32. When the thigh mechanism 20 slides downward relative to the knee joint bracket 31, it drives the first link 341 to rotate. The first link 341 then drives the locking member 32 to slide relative to the knee joint bracket 31 towards the thigh mechanism 20. The distance r2 between the second connection point B and the rotation fulcrum C of the first link 341 is greater than the distance r1 between the first connection point A and the rotation fulcrum C of the first link 341. It is understandable that the first link 341 is equivalent to a lever. When the lever rotates by a certain angle, the displacement of the point on the lever that is farther away from the fulcrum of rotation is greater. Using this principle, a first connection point A and a second connection point B are selected on the first link 341. The first connection point A is connected to the thigh mechanism 20, and the second connection point B is connected to the locking member 32. When the thigh mechanism 20 slides downward relative to the knee joint bracket 31, it drives the first link 341 to rotate. The first link 341 then drives the locking member 32 to slide relative to the knee joint bracket 31 towards the thigh mechanism 20. The distance between the first connection point A and the fulcrum C of the first link 341 is r1, and the distance between the second connection point B and the fulcrum C of the first link 341 is r2. It is designed that r2>r1. When the first link 341 rotates by a certain angle, the displacement of the second connection point B is greater than the displacement of the first connection point A, thereby playing a displacement amplification role and transforming the small input displacement of the thigh mechanism 20 relative to the knee joint bracket 31 into a large output displacement of the locking member 32 relative to the knee joint bracket 31.

[0032] Of course, the displacement amplification component can also be other structures, such as a gear and rack structure. Specifically, the displacement amplification component can include a first rack, a first gear, a second gear, and a second rack. The first rack is connected to the thigh mechanism 20, the first gear meshes with the first rack, the second gear is coaxially fixed with the first gear, the diameter d2 of the second gear is greater than the diameter d1 of the first gear, the second rack meshes with the second gear, and the second rack is connected to the locking member 32. When the thigh mechanism 20 slides relative to the knee joint bracket 31 in the up-down direction, it drives the first rack to move linearly. The first rack then drives the first gear to rotate. The second gear rotates synchronously with the first gear, and the second gear drives the second rack to move linearly. The second rack then drives the locking member 32 to slide relative to the knee joint bracket 31. Since the diameter d2 of the second gear is greater than the diameter d1 of the first gear, the displacement of the second rack is greater than the displacement of the first rack, thereby playing a displacement amplification role and converting the small input displacement of the thigh mechanism 20 relative to the knee joint bracket 31 into a large output displacement of the pawl 321 relative to the knee joint bracket 31.

[0033] In some embodiments of this application, such as Figure 5 As shown, the rotation fulcrum C of the first link 341 is located at one end of the first link 341, the second connection point B is located at the other end of the first link 341, and the first connection point A is located between the rotation fulcrum C and the second connection point B of the first link 341. Furthermore, the distance r1 between the first connection point A and the rotation fulcrum C of the first link 341 is less than the distance between the first connection point A and the second connection point B. By setting the rotation fulcrum C of the first link 341 at one end and the second connection point B at the other end, with the first connection point A and the second connection point B located on the same side of the rotation fulcrum C, the first link 341 is essentially a cantilever lever on the same side. Compared to a lever with opposite sides, where the first connection point A and the second connection point B are located on opposite sides of the rotation fulcrum C, a greater displacement amplification factor can be obtained with a fixed length of the first link 341. This results in a greater stroke for the locking member 32, thereby improving the locking reliability of the knee joint mechanism 30. By making the distance r1 between the first connection point A and the rotation fulcrum C of the first link 341 smaller than the distance between the first connection point A and the second connection point B, that is, by setting the first connection point A close to the rotation fulcrum C of the first link 341, a larger displacement amplification factor can be obtained.

[0034] In some embodiments of the application, combined with Figure 4 and Figure 5As shown, the displacement amplification assembly also includes a first slider 345, a second slider 346, a second connecting rod 342, and a third connecting rod 343. The first slider 345 is slidably connected to the knee joint bracket 31 in the vertical direction, and the thigh mechanism 20 is connected to the first slider 345. The second slider 346 is slidably connected to the knee joint bracket 31 in a straight line, and the locking member 32 is connected to the second slider 346. One end of the second connecting rod 342 is rotatably connected to the first connection point A, and the other end of the second connecting rod 342 is rotatably connected to the thigh mechanism 20 through the first slider 345. One end of the third connecting rod 343 is connected to the first connection point A. The two connection points B are rotatably connected, and the other end of the third link 343 is rotatably connected to the locking member 32 through the second sliding member 346. When the thigh mechanism 20 slides downward relative to the knee joint bracket 31, it drives the first sliding member 345 to slide relative to the knee joint bracket 31. The first sliding member 345 then drives the second sliding member 346 to slide linearly relative to the knee joint bracket 31 towards the thigh mechanism 20 through the second link 342, the first link 341 and the third link 343. The second sliding member 346 then drives the locking member 32 to slide linearly relative to the knee joint bracket 31 towards the thigh mechanism 20. By setting a second link 342 between the first sliding member 345 and the first connecting point A of the first link 341, one end of the second link 342 is rotatably connected to the first connecting point A, and the other end of the second link 342 is rotatably connected to the thigh mechanism 20 through the first sliding member 345. Thus, when the thigh mechanism 20 drives the first sliding member 345 to perform linear motion relative to the knee joint support 31, the first sliding member 345 can drive the first link 341 to perform rotational motion through the second link 342, achieving the conversion between linear and rotational motion. By setting a third link 343 between the second connecting point B of the first link 341 and the second sliding member 346, one end of the third link 343 is rotatably connected to the second connecting point B, and the other end of the third link 343 is rotatably connected to the locking member 32 through the second sliding member 346. Thus, when the first link 341 performs rotational motion, the first link 341 can drive the second sliding member 346 to perform linear motion through the third link 343, achieving the conversion between rotational and linear motion. By allowing the second sliding member 346 and the locking member 32 to slide in a straight line, the pawl 321 can easily engage with the ratchet 25 by inserting itself into the tooth groove of the ratchet 25.

[0035] In some embodiments of this application, such as Figure 5As shown, there is a first eccentricity e1 between the guide center line of the first slider 345 and the rotation fulcrum C of the first connecting rod 341, and a second eccentricity e2 between the guide center line of the second slider 346 and the rotation fulcrum C of the first connecting rod 341. Specifically, the guide center line of the first slider 345 refers to the straight line along which the first slider 345 moves linearly, and the guide center line of the second slider 346 refers to the straight line along which the second slider 346 moves linearly. By setting the first eccentricity e1 between the guide center line of the first slider 345 and the rotation fulcrum C of the first connecting rod 341, the first slider 345, the second connecting rod 342, and the first connecting rod 341 form an offset crank-slider mechanism. The first slider 345 is equivalent to the slider in the offset crank-slider mechanism, the second connecting rod 342 is equivalent to the connecting rod in the offset crank-slider mechanism, and the first connecting rod 341 is equivalent to the crank in the offset crank-slider mechanism. By setting a second eccentricity e2 between the guide center line of the second slider 346 and the rotation fulcrum C of the first connecting rod 341, the second slider 346, the third connecting rod 343, and the first connecting rod 341 form another set of offset crank-slider mechanisms. The second slider 346 is equivalent to the slider in the offset crank-slider mechanism, the third connecting rod 343 is equivalent to the connecting rod in the offset crank-slider mechanism, and the first connecting rod 341 is equivalent to the crank in the offset crank-slider mechanism. By setting two sets of offset crank-slider mechanisms, the displacement y of the second slider 346 and the displacement x of the first slider 345 can have a non-linear functional relationship. That is, when the displacement x of the first slider 345 increases at a constant speed, the displacement y of the second slider 346 increases at a variable speed. When the displacement x of the first slider 345 is constant, by accelerating the movement of the second slider 346, the second slider 346 can obtain a larger displacement, which in turn allows the locking member 32 to obtain a larger displacement to connect with the thigh mechanism 20, thereby improving the locking reliability. Specifically, during the process of the second sliding member 346 driving the locking member 32 to move towards the ratchet 25 of the thigh mechanism 20, the speed of the second sliding member 346 can be designed to increase first and then decrease, so as to obtain a large displacement in the early stage and reduce the impact when the pawl 321 collides with the ratchet 25 in the later stage.

[0036] Assuming the length of the second link 342 is l1, the relationship between the rotation angle θ of the first link 341 and the displacement x of the first sliding member 345 is as follows:

[0037] Assuming the length of the third link 343 is l2, the relationship between the rotation angle θ of the first link 341 and the displacement y of the second slider 346 is as follows:

[0038] The relationship between the displacement y of the second slider 346 and the displacement x of the first slider 345 is as follows:

[0039] For example, if we take l1=30mm, l2=30mm, e1=10mm, e2=33mm, r1=10mm, r2=40mm, when x=3mm, y≈14mm.

[0040] In some embodiments of this application, combined with Figure 3 and 7 As shown, the knee joint support 31 is provided with a first slide rail 311 and a second slide rail 312. The first slide rail 311 extends linearly in the vertical direction, and the second slide rail 312 extends linearly. A first sliding member 345 extends into the first slide rail 311 and slides in cooperation with it, and a second sliding member 346 extends into the second slide rail 312 and slides in cooperation with it. By providing the first slide rail 311 in the knee joint support 31, extending linearly in the vertical direction, and allowing the first sliding member 345 to slide in cooperation with it, the first sliding member 345 can be guided to move stably in the vertical direction. By providing the second slide rail 312 in the knee joint support 31, extending linearly, and allowing the second sliding member 346 to slide in cooperation with it, the second sliding member 346 can be guided to move stably in the linear direction. Specifically, the first sliding member 345 can be cylindrical. The thigh mechanism 20 is fixedly connected to the first sliding member 345. The end of the second connecting rod 342 away from the first connection point A is rotatably sleeved on the first sliding member 345. The first sliding member 345 can not only slide along the length of the first slide rail 311, but also rotate within the first slide rail 311, thereby realizing the rotational connection and the sliding connection in the vertical direction between the thigh mechanism 20 and the knee joint bracket 31. Specifically, the ratchet 25 of the thigh mechanism 20 is fixedly sleeved on the first sliding member 345.

[0041] In some embodiments of this application, combined with Figure 4 and Figure 6As shown, the displacement amplification assembly also includes a fourth link 344. The end of the third link 343 away from the second connection point B is rotatably connected to the fourth link 344 via a second sliding member 346. The fourth link 344 is connected to the locking member 32 via a pre-tightening elastic member 35. The locking member 32 is provided with a third slide rail 322, which is strip-shaped and its length direction is consistent with the length direction of the second slide rail 312. The second sliding member 346 also extends into the third slide rail 322 and slides in cooperation with it. The third link 343 and the fourth link 344 are rotatably connected via the second sliding member 346, so that when the third link 343 rotates, it can drive the fourth link 344 to slide along the length direction of the second slide rail 312 via the second sliding member 346. The fourth link 344 then drives the locking member 32 to slide along the length direction of the second slide rail 312 via the pre-tightening elastic member 35. By creating a third slide rail 322 in the locking member 32, with the length direction of the third slide rail 322 aligned with the length direction of the second slide rail 312, the second sliding member 346 extends into the third slide rail 322 and slides within it, thus achieving a sliding connection between the locking member 32 and the fourth connecting rod 344, providing space for the expansion and contraction of the pre-tensioned elastic member 35. Specifically, there can be two second sliding members 346, each cylindrical in shape. The fourth connecting rod 344 has two through holes, through which the two second sliding members 346 pass. The two second rotating shafts 38 extend into both the third slide rail 322 and the second slide rail 312, thereby restricting the rotation of the fourth connecting rod 344 and the locking member 32 relative to the knee joint bracket 31, ensuring stable linear movement of the fourth connecting rod 344 and the locking member 32. The fourth link 344 is rotatably connected to the third link 343 via the second slider 346, which can include the following three situations: First, the fourth link 344 is rotatably connected to the second slider 346, and the third link 343 is fixedly connected to the second slider 346; Second, the fourth link 344 is fixedly connected to the second slider 346, and the third link 343 is rotatably connected to the second slider 346; Third, both the fourth link 344 and the third link 343 are rotatably connected to the second slider 346.

[0042] The reset elastic element can be a spring, torsion spring, rubber band, etc. For example, the reset elastic element is a rubber band. The rubber band passes around the knee joint bracket 31, and the two ends of the rubber band are respectively connected to the fourth link 344 and the second sliding member 346. When the fourth link 344 drives the locking member 32 to move relative to the knee joint bracket 31 towards the ratchet 25, the rubber band is stretched. When the foot mechanism 50 leaves the ground, the rubber band returns to its original state and pulls the locking member 32 to move relative to the knee joint bracket 31 away from the ratchet 25, so that the pawl 321 disengages from the ratchet 25. When the locking member 32 moves away from the ratchet 25, it drives the thigh mechanism 20 to move upward relative to the knee joint bracket 31 through the displacement amplification component.

[0043] In some embodiments of this application, such as Figure 4 and Figure 6 As shown, the first connecting rod 341 is rotatably connected to the knee joint bracket 31 via the first rotating shaft 37, which serves as the rotation fulcrum C of the first connecting rod 341. The rotatable connection between the first connecting rod 341 and the knee joint bracket 31 via the first rotating shaft 37 includes three scenarios: 1) the first connecting rod 341 is rotatably connected to the first rotating shaft 37, while the knee joint bracket 31 is fixedly connected to the first rotating shaft 37; 2) the first connecting rod 341 is fixedly connected to the first rotating shaft 37, while the knee joint bracket 31 is rotatably connected to the first rotating shaft 37; 3) both the first connecting rod 341 and the knee joint bracket 31 are rotatably connected to the first rotating shaft 37. Specifically, the first connecting rod 341 has a first limiting hole, and the knee joint bracket 31 has a second limiting hole. The sizes of both the first and second limiting holes are adapted to the size of the first rotating shaft 37. The first rotating shaft 37 passes through the first and second limiting holes, allowing the first connecting rod 341 to rotate relative to the knee joint bracket 31 around the axis of the first rotating shaft 37.

[0044] In some embodiments of this application, such as Figure 4 and Figure 6 As shown, the end of the second link 342 away from the first rotating shaft 37 is rotatably connected to the first connection point A of the first link 341 via the second rotating shaft 38. The rotatable connection between the second link 342 and the first link 341 via the second rotating shaft 38 includes the following three cases: First, the second link 342 is rotatably connected to the second rotating shaft 38, while the first link 341 is fixedly connected to the second rotating shaft 38; second, the second link 342 is fixedly connected to the second rotating shaft 38, while the first link 341 is rotatably connected to the second rotating shaft 38; third, both the second link 342 and the first link 341 are rotatably connected to the second rotating shaft 38. Specifically, the second link 342 is provided with a third limiting hole at the end away from the first rotating shaft 37, and the first connection point A of the first link 341 is provided with a fourth limiting hole. The size of the third limiting hole and the fourth limiting hole are both adapted to the size of the second rotating shaft 38. The second rotating shaft 38 passes through the third limiting hole and the fourth limiting hole so that the first link 341 and the second link 342 can rotate relative to each other around the axis of the second rotating shaft 38.

[0045] In some embodiments of this application, such as Figure 4 and Figure 6As shown, the end of the third link 343 away from the second sliding member 346 is rotatably connected to the second connection point B of the first link 341 via the third rotating shaft 39. The rotatable connection between the third link 343 and the first link 341 via the third rotating shaft 39 includes the following three cases: First, the third link 343 is rotatably connected to the third rotating shaft 39, while the first link 341 is fixedly connected to the third rotating shaft 39; second, the third link 343 is fixedly connected to the third rotating shaft 39, while the first link 341 is rotatably connected to the third rotating shaft 39; third, both the third link 343 and the first link 341 are rotatably connected to the third rotating shaft 39. Specifically, the third link 343 is provided with a fifth limiting hole at the end away from the second sliding member 346, and the second connection point B of the first link 341 is provided with a sixth limiting hole. The size of the fifth limiting hole and the sixth limiting hole are both adapted to the size of the third rotating shaft 39. The third rotating shaft 39 passes through the fifth limiting hole and the sixth limiting hole so that the third link 343 and the first link 341 can rotate relative to each other around the axis of the third rotating shaft 39.

[0046] In some embodiments of this application, such as Figure 6 As shown, there are two first links 341, two second links 342, and two fourth links 344. The two second links 342 are arranged with a gap between them. The ratchet 25 is located between the two second links 342. The first sliding member 345 connects the ratchet 25 and the two second links 342 together. The two first links 341 are located between the two second links 342 and are arranged with a gap between them. The second rotating shaft 38 connects the two first links 341 and the two second links 342 together. The third link 343 is located between the two first links 341. The third rotating shaft 39 connects the third link 343 and the two first links 341 together. The two fourth links 344 are located on opposite sides of the third link 343 and are arranged with a gap between them. The second sliding member 346 connects the two fourth links 344 and the two third links 343 together. This design can improve the structural strength and ensure the structural compactness.

[0047] In some embodiments of this application, combined with Figure 3 and Figure 7 As shown, the knee joint support 31 is also provided with a fourth slide rail 313 and a fifth slide rail 314. Both the fourth slide rail 313 and the fifth slide rail 314 are arc-shaped. The second rotating shaft 38 extends into the fourth slide rail 313 and is slidably connected to the fourth slide rail 313. The third rotating shaft 39 extends into the fifth slide rail 314 and is slidably connected to the fifth slide rail 314. This can guide the movement of the second rotating shaft 38 and the third rotating shaft 39, thereby making the first link 341, the second link 342 and the third link 343 more stable and smooth during movement.

[0048] In some embodiments of this application, such as Figure 3As shown, there are two knee joint supports 31, which are arranged at intervals relative to each other, forming a storage space between them. The ratchet 25, locking member 32, first link 341, second link 342, third link 343, fourth link 344 and pre-tensioning elastic member 35 are all located in the storage space. The thigh mechanism 20 includes a thigh rod assembly 26, which is located on the side of the knee joint support 31 facing away from the storage space. The first slide 311 is a waist-shaped hole that passes through the knee joint support 31. The first sliding member 345 passes through the waist-shaped hole. One end of the first sliding member 345 is fixedly connected to one end of the thigh rod assembly 26, and the other end of the first sliding member 345 is fixedly connected to the ratchet 25. The end of the thigh rod assembly 26 away from the first sliding member 345 is connected to the upper body mechanism 10. By setting up two knee joint supports 31, a storage space is formed between them, which houses small parts such as the ratchet 25, locking member 32, first link 341, second link 342, third link 343, fourth link 344, and preload elastic member 35. This not only improves the aesthetic appearance of the exoskeleton system but also protects these small parts from direct impacts from external objects, thus improving the reliability and service life of the knee joint mechanism 30. By placing the thigh rod assembly 26 on the side of the knee joint support 31 facing away from the storage space, movement interference between the thigh rod assembly 26 and the parts in the storage space is avoided. This also allows for a more compact distribution of parts within the storage space, reducing the overall size of the knee joint mechanism 30. By designing the first slide rail 311 with an oblong hole penetrating the knee joint bracket 31, the first sliding member 345 can pass through the oblong hole, with one end extending into the storage space and connecting to the ratchet 25, and the other end extending out of the storage space and connecting to the thigh rod assembly 26. This connects the thigh rod assembly 26 and the ratchet 25 together, allowing the thigh rod assembly 26, ratchet 25, and the first sliding member 345 to rotate and move up and down synchronously. Specifically, the knee joint bracket 31 can be a plate-like structure. One knee joint bracket 31 can be fixedly connected to the lower leg mechanism 40 by screws, and two knee joint brackets 31 are connected by several fixing posts 36. The knee joint bracket 31 and the fixing posts 36 can be fixedly connected by screws.

[0049] In some embodiments of this application, such as Figure 2 As shown, the upper body mechanism 10 includes a backpack assembly 11 and a hip joint assembly 12. The backpack assembly 11 is worn on the back or chest of a person and is used to carry heavy objects. The hip joint assembly 12 is located between the backpack assembly 11 and the thigh mechanism 20. Both the backpack assembly 11 and the thigh mechanism 20 are rotatably connected to the hip joint assembly 12 to allow for normal movement of the wearer's hips and legs.

[0050] In some embodiments of this application, such as Figure 2 As shown, the backpack assembly 11 includes a backpack 111, shoulder straps 112 and waist belt 113. The shoulder straps 112 are connected to the backpack 111 and are worn on the shoulders of the human body. The waist belt 113 is connected to the backpack 111 and is worn on the waist of the human body. The backpack 111 can be placed on the back of the human body or on the chest of the human body.

[0051] Furthermore, the backpack assembly 11 also includes a back support 114, with the backpack 111 positioned on one side of the back support 114. Both ends of the waist belt 113 are connected to the side of the back support 114 facing away from the backpack 111. Two shoulder straps 112 are provided, with both ends connected to the waist belt 113 and the side of the back support 114 facing away from the backpack 111, respectively. Specifically, the back support 114 includes a vertical plate 1141 and a horizontal plate 1142. The vertical plate 1141 is vertically positioned, and the horizontal plate 1142 is connected to and horizontally positioned. The backpack 111 is positioned on one side of the vertical plate 1141 and above the horizontal plate 1142. The waist belt 113 and shoulder straps 112 are connected to the side of the vertical plate 1141 facing away from the backpack 111. The vertical plate 1141 and the horizontal plate 1142 can be fixedly connected using angle iron.

[0052] In some embodiments of this application, such as Figure 8 As shown, there are two hip joint components 12, each including a first support 121, a second support 122, and a third support 123. The backpack component 11, the first support 121, the second support 122, and the third support 123 are rotatably connected in sequence. The third support 123 is fixedly connected to the thigh mechanism 20. The rotation axes of the first support 121, the second support 122, and the third support 123 are mutually perpendicular, thus including three orthogonally arranged revolute joints. These joints provide three degrees of freedom for hip flexion / extension, adduction / abduction, and internal / external rotation, respectively, to accommodate the natural range of motion of the human hip. Specifically, when the thigh mechanism 20 is perpendicular to the ground, the rotation axis of the first support 121 is in the front-back direction, the rotation axis of the second support 122 is in the left-right direction, and the rotation axis of the third support 123 is in the up-down direction.

[0053] In some embodiments of this application, such as Figure 8As shown, the first support 121 is provided with a plurality of first adjustment holes 1211, which are spaced apart along the length of the first support 121. The backpack assembly 11 is provided with a first fixing hole. The hip joint assembly 12 further includes a first connecting shaft 124, which is detachably passed through the first fixing hole and any one of the first adjustment holes 1211, so that the first support 121 can rotate relative to the backpack assembly 11. The axis of rotation of the first support 121 is the axis of the first connecting shaft 124. By allowing the first connecting shaft 124 to pass through different first adjustment holes 1211, the distance between the two hip joint assemblies 12 can be adjusted to accommodate the hip width of different people. Specifically, the first fixing hole is provided on the vertical plate 1141 of the back support 114 of the backpack assembly 11.

[0054] In some embodiments of this application, such as Figure 9 As shown, the thigh mechanism 20's thigh rod assembly 26 includes a first thigh rod 21 and a second thigh rod 22. One end of the first thigh rod 21 is rotatably connected to the hip joint assembly 12, and one end of the second thigh rod 22 is fixedly connected to a ratchet 25. The first thigh rod 21 and the second thigh rod 22 are slidably connected to adjust the overall length of the thigh mechanism 20 to accommodate the thigh lengths of different individuals. Specifically, one of the first thigh rod 21 and the second thigh rod 22 is provided with multiple second adjustment holes 211, and the other of the first thigh rod 21 and the second thigh rod 22 is provided with a second fixing hole. The thigh mechanism 20 also includes a second connecting shaft 23, which is detachably passed through the second fixing hole and any one of the second adjustment holes 211. By allowing the second connecting shaft 23 to pass through different second adjustment holes 211, the relative positional relationship between the first thigh rod 21 and the second thigh rod 22 can be changed, thereby adjusting the length of the thigh mechanism 20.

[0055] Furthermore, the thigh mechanism 20 also includes a thigh binding member 24 disposed on the first thigh rod 21 and / or the second thigh rod 22, the thigh binding member 24 being used to bind to the thigh of a human body.

[0056] In some embodiments of this application, such as Figure 10As shown, the calf mechanism 40 includes a first calf rod 41 and a second calf rod 42. One end of the first calf rod 41 is connected to the second thigh rod 22 via a knee joint mechanism 30, and one end of the second calf rod 42 is rotatably connected to the foot mechanism 50. The first calf rod 41 and the second calf rod 42 are slidably connected to adjust the overall length of the calf mechanism 40 to accommodate the calf lengths of different individuals. Specifically, one of the first calf rod 41 and the second calf rod 42 is provided with multiple third adjustment holes 421, and the other of the first calf rod 41 and the second calf rod 42 is provided with a third fixing hole. The calf mechanism 40 also includes a third connecting shaft 43, which is detachably passed through the third fixing hole and any one of the third adjustment holes 421. By allowing the third connecting shaft 43 to pass through different third adjustment holes 421, the relative positional relationship between the first calf rod 41 and the second calf rod 42 can be changed, thereby adjusting the length of the calf mechanism 40.

[0057] Furthermore, the lower leg mechanism 40 also includes a lower leg binding member 44 disposed on the first lower leg rod 41 and / or the second lower leg rod 42, the lower leg binding member 44 being used to bind to the lower leg of the human body.

[0058] In some embodiments of this application, the lower leg mechanism 40 and the foot mechanism 50 are universally connected, providing three degrees of rotational freedom to ensure that the wearer's foot remains in contact with the ground when walking on rough terrain, avoiding ankle sprains caused by force line misalignment. Specifically, as Figure 10 As shown, the lower leg mechanism 40 and the foot mechanism 50 can be universally connected through ball bearing 45.

[0059] It should be noted that the above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A mechanical load-bearing exoskeleton system based on ground reaction force self-triggering, characterized in that, The device includes an upper body mechanism, a thigh mechanism, a knee joint mechanism, a lower leg mechanism, and a foot mechanism connected sequentially from top to bottom. The upper body mechanism is worn on the upper body of the human body and is used to bear heavy objects. The foot mechanism is worn on the feet of the human body. The knee joint mechanism includes a knee joint bracket, a locking element, a return elastic element, and a transmission assembly. The knee joint bracket is fixedly connected to the lower leg mechanism. The thigh mechanism is rotatably connected to the knee joint bracket and slidably connected in the vertical direction. The locking element is slidably connected to the knee joint bracket. The return elastic element is connected between the locking element and the knee joint bracket. The transmission assembly is connected between the thigh mechanism and the locking element. When the foot mechanism touches the ground and the sole of the foot is compressed and deformed by the ground reaction force, the thigh mechanism slides downward relative to the knee joint support. The transmission component drives the locking member to slide relative to the knee joint support towards the thigh mechanism, so that the locking member connects with the thigh mechanism, thereby switching the knee joint mechanism to a locked state where flexion is restricted. When the foot mechanism leaves the ground, the reset elastic member causes the locking member to slide relative to the knee joint support away from the thigh mechanism to separate from the thigh mechanism, thereby switching the knee joint mechanism to an unlocked state where flexion and extension are free.

2. The mechanical load-bearing exoskeleton system based on ground reaction force self-triggering according to claim 1, characterized in that: The transmission component is a displacement amplification component, which can convert the small input displacement of the thigh mechanism relative to the knee joint bracket into a large output displacement of the locking member relative to the knee joint bracket.

3. The mechanical load-bearing exoskeleton system based on ground reaction force self-triggering according to claim 2, characterized in that: The thigh mechanism has a ratchet, and the locking member has a pawl; When the thigh mechanism slides downward relative to the knee joint bracket, the displacement amplification component drives the locking member to move relative to the knee joint bracket toward the ratchet, so that the pawl engages with the ratchet, thereby switching the knee joint mechanism to the locked state; When the foot mechanism is off the ground, the reset elastic member causes the locking member to slide away from the ratchet relative to the knee joint bracket, causing the pawl to separate from the ratchet, thereby switching the knee joint mechanism to the unlocked state.

4. The mechanical load-bearing exoskeleton system based on ground reaction force self-triggering according to claim 3, characterized in that: The knee joint mechanism also includes a pre-tightening elastic element, and the displacement amplification component is connected to the locking element through the pre-tightening elastic element.

5. The mechanical load-bearing exoskeleton system based on ground reaction force self-triggering according to claim 2, characterized in that: The displacement amplification component includes a first link rotatably connected to the knee joint bracket. The first link has a first connection point and a second connection point. The first connection point is connected to the thigh mechanism, and the second connection point is connected to the locking member. When the thigh mechanism slides downward relative to the knee joint bracket, it drives the first link to rotate. The first link then drives the locking member to slide relative to the knee joint bracket towards the thigh mechanism. The distance between the second connection point and the rotation fulcrum of the first link is greater than the distance between the first connection point and the rotation fulcrum of the first link.

6. The mechanical load-bearing exoskeleton system based on ground reaction force self-triggering according to claim 5, characterized in that: The displacement amplification assembly further includes a first slider, a second slider, a second connecting rod, and a third connecting rod. The first slider is slidably connected to the knee joint bracket in a vertical direction. The thigh mechanism is connected to the first slider. The second slider is slidably connected to the knee joint bracket in a straight line. The locking member is connected to the second slider. One end of the second connecting rod is rotatably connected to the first connection point. The other end of the second connecting rod is rotatably connected to the thigh mechanism through the first slider. One end of the third connecting rod is rotatably connected to the second connection point. The other end of the third connecting rod is rotatably connected to the locking member through the second slider. When the thigh mechanism slides downward relative to the knee joint bracket, it causes the first sliding member to slide downward relative to the knee joint bracket. The first sliding member then drives the second sliding member to slide linearly relative to the knee joint bracket toward the thigh mechanism via the second link, the first link, and the third link. The second sliding member then drives the locking member to slide linearly relative to the knee joint bracket toward the thigh mechanism.

7. The mechanical load-bearing exoskeleton system based on ground reaction force self-triggering according to claim 6, characterized in that: There is a first eccentricity between the guide center line of the first slider and the rotation fulcrum of the first connecting rod, and there is a second eccentricity between the guide center line of the second slider and the rotation fulcrum of the first connecting rod.

8. The mechanical load-bearing exoskeleton system based on ground reaction force self-triggering according to claim 6, characterized in that: The knee joint support is provided with a first slide and a second slide. The first slide extends in a straight line in the vertical direction, and the second slide extends in a straight line. The first sliding member extends into the first slide and slides in cooperation with the first slide, and the second sliding member extends into the second slide and slides in cooperation with the second slide.

9. The mechanical load-bearing exoskeleton system based on ground reaction force self-triggering according to claim 5, characterized in that: The pivot point of the first link is located at one end of the first link, the second connection point is located at the other end of the first link, the first connection point is located between the pivot point of the first link and the second connection point, and the distance between the first connection point and the pivot point of the first link is less than the distance between the first connection point and the second connection point.

10. The mechanical load-bearing exoskeleton system based on ground reaction force self-triggering according to any one of claims 1-9, characterized in that: The upper body mechanism includes a backpack assembly and a hip joint assembly. The backpack assembly is worn on the back or chest of a person and is used to load heavy objects. The hip joint assembly is located between the backpack assembly and the thigh mechanism. Both the backpack assembly and the thigh mechanism are rotatably connected to the hip joint assembly.

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