Arc-shaped close-fitting front-mounted power-assisted device with terminal U-shaped rotary telescopic leg rod

Abstract

This invention discloses an arc-shaped, close-fitting, front-mounted power assist device with a U-shaped retractable leg bar at the end, comprising a power base, a power module, a leg bar module, a leg shell module, and a waist belt module. The power module includes a motor and a reducer connected coaxially in series. The output shaft of the motor is drivenly connected to the input end of the reducer, and the rotor rotation axis of the motor extends along the coronal axis of the human body. In the sagittal plane of the human body, the output axis of the reducer is offset parallel to the rear side of the human body relative to the rotor rotation axis of the motor. The power base and the power module together form an inward arc-shaped structure with the concave surface facing the human body when viewed from a horizontal plane. The leg bar module includes a first bar and a second bar that are nested together. The second bar has a U-shaped rotating arm that rotates towards the first bar, and the end of the U-shaped rotating arm is drivenly connected to the leg shell module. This invention can solve the problems of poor fit of existing front-mounted power assist devices, large minimum length of sliding retractable leg bar modules, and poor human adaptation.

Description

Technical Field

[0001] This invention relates to the field of wearable exoskeleton technology, and in particular to an arc-shaped, close-fitting, front-mounted assistive device with U-shaped rotating telescopic leg poles at the ends. Background Technology

[0002] To enhance lower limb strength and endurance, wearable exoskeleton walking aids have emerged, helping people walk further, climb higher, and exercise more effectively. Among existing technologies, hip-joint assisted exoskeletons are a common solution for achieving walking assistance, and related mechanical designs have been disclosed in numerous publications.

[0003] Currently, mainstream hip-assisted exoskeletons typically have their power modules distributed near the hip joints on both sides of the body, connected by a rigid lumbar support. These devices are large, heavy, and poorly portable. A lightweight power module design also exists, featuring a front-mounted power module that is lightweight, compact, and foldable for storage. While this design is simple and lightweight, it suffers from several drawbacks: From a sagittal plane perspective, the power module protrudes from the abdomen, resulting in a significant offset between the power output axis and the hip joint axis, indicating high ergonomic eccentricity. During walking, the distance between the leg shell module fixed to the front of the thigh and the power module fixed to the abdomen on the same side changes significantly. Since the leg support length must match body size, its range of motion is limited. To meet long-distance travel, the minimum length of the leg support module is designed to be quite long, making it unsuitable for people of average or shorter stature. Furthermore, the poor fit of the front-mounted power module can lead to wearer fatigue due to outward shift of the center of gravity, reduced assist efficiency due to large parasitic torque, and movement restriction caused by the fixed leg support. Summary of the Invention

[0004] The purpose of this invention is to provide an arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, aiming to solve the problems of poor fit of existing front-mounted assistive devices, large minimum length of the sliding telescopic leg bar module, and poor human adaptability.

[0005] To solve the above-mentioned technical problems, the embodiments of the present invention adopt the following technical solutions: This invention provides an arc-shaped, close-fitting, front-mounted power assist device with U-shaped, retractable leg poles at the ends, comprising a power base, a power module, two sets of leg pole modules, two sets of leg shell modules, and a waist belt module. The power base is designed to fit snugly against the front abdominal region of the body. The power module is positioned off-center from the body's central axis at the outer end of the power base, corresponding to the outer side of the abdomen, near the hip joint. The two sets of leg pole modules are symmetrically arranged, each being a long strip extending along the length of the thigh. The two sets of leg shell modules are also symmetrically arranged, each with an arc-shaped, thin sheet structure adapted to the shape of the thigh. The waist belt module is worn around the waist, with both ends connected to the left and right ends of the power base or the corresponding power module. The upper end of each set of leg pole modules is connected to the output end of the corresponding power module, and the lower end is connected to the corresponding leg shell module. The power module includes a motor and a reducer connected in series on the same axis. The motor is located on the inner side, and the reducer is located on the outer side. The output shaft of the motor is connected to the input end of the reducer. The input end axis of the reducer is collinear with the rotor rotation axis of the motor. The rotor rotation axis of the motor extends along the coronal axis of the human body. In the sagittal plane of the human body, the output end axis of the reducer is offset parallel to the posterior side of the human body relative to the rotor rotation axis of the motor. The power base and the power module together form an inner arc-shaped structure with the concave surface facing the human body when viewed from a horizontal plane, which is adapted to the physiological curve of the human waist and abdomen. Each set of leg modules includes at least a first rod and a second rod that are nested together. The upper section of the second rod can slide relative to the lower section of the first rod along the axial direction. The lower section of the second rod has a U-shaped rotating arm that rotates in the direction of the first rod. The end of the U-shaped rotating arm is connected to the leg shell module in a transmission manner.

[0006] Furthermore, the reducer includes a fixed-axis offset reducer, the output axis of which is offset toward the human body relative to the input axis, the output end of the motor is connected to the input end of the fixed-axis offset reducer, and the output end of the fixed-axis offset reducer is connected to the upper end of the corresponding side leg bar module.

[0007] Furthermore, the reducer also includes a planetary reducer connected in series with the fixed-axis offset reducer. The input end of the planetary reducer is drivenly connected to the output end of the motor, and the output end of the planetary reducer is drivenly connected to the input end of the fixed-axis offset reducer.

[0008] Furthermore, from a horizontal top-down view, the overall outline of the motor and reducer is L-shaped, and the angle between the line connecting the inner side of the motor and reducer to the human face outline and the coronal plane of the human body is 20° to 60°.

[0009] Furthermore, the lower end of the first rod is provided with a first sliding engagement section, and the upper end of the second rod is provided with a second sliding engagement section, wherein the first sliding engagement section and the second sliding engagement section are in a rolling engagement.

[0010] Furthermore, the first sliding fit section is a sleeve, and the upper and lower inner walls of the sleeve are equipped with inner wall slides, and the inner wall slides of the sleeve are equipped with tail inner wall rollers. The second sliding engagement section is a strip-shaped rod with a concave interior. The upper and lower sides of the concave wall of the strip-shaped rod have rod raceways that cooperate with the rollers on the inner wall of the tail. The head of the second sliding engagement section has a head roller that rolls with the slideway on the inner wall of the sleeve. The first sliding engagement section and the second sliding engagement section are connected by the tail inner wall roller and the head roller.

[0011] Furthermore, the end of the U-shaped rotary arm is connected to the leg housing module, and the leg housing module can be snapped into the U-shaped rotary arm.

[0012] Furthermore, the leg housing module has a leg housing connecting protrusion, and the end of the U-shaped rotating arm is provided with a U-shaped arm mating hole that mates with the leg housing connecting protrusion. The leg housing connecting protrusion is provided with a protrusion locking position, and the U-shaped rotary arm is provided with a leg housing disassembly slide button that can move left and right. The side of the leg housing disassembly slide button near the leg housing connecting protrusion is provided with a leg housing clip, and the leg housing clip is compatible with the specifications of the protrusion locking position. The side of the leg housing disassembly slide button away from the leg housing connecting protrusion is provided with a clip spring.

[0013] Furthermore, the waist belt module is equipped with a power source, which is located on the back of the waist and electrically connected to the power module via a power cable to provide power to the power module.

[0014] Furthermore, the leg bar module is a rigid mechanism, and the power module drives the leg shell module to lift or press the human thigh through the leg bar module, thereby driving the human thigh to swing back and forth; the leg bar module is vertically provided with a retraction shaft for supporting the inward and outward movement of the leg bar module.

[0015] The arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar provided in this invention has the following advantages: 1. Compact and close-fitting, with good wearing stability and significantly reduced parasitic torque affecting wearability: By shortening the size of the power module in the coronal axis direction and designing the inner side of the power module to be inclined and close-fitting, it is accommodated in the area near the hip joint on both sides of the front abdomen, avoiding the protruding part of the abdomen. This design allows the power output axis to be offset towards the hip joint by more than 50mm, significantly shortening the human-machine eccentricity distance, thereby greatly reducing the requirements for the sliding distance of the leg bar module, making engineering implementation simpler and more reliable; 2. Better human adaptation, simple and reliable leg bar module structure, and stronger support for human movement flexibility: By adding a U-shaped rotating arm at the end of the leg bar module, its shortest retracted length is significantly shortened while ensuring the telescopic distance. This not only better adapts to people of medium and shorter height, but also more stably supports large-amplitude leg lifting, climbing, and other movements, significantly improving flexibility. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A side perspective view of a U-shaped rotating telescopic leg structure with multiple telescopic states provided by the present invention. Figure 2 A coronal perspective view of an arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, provided by the present invention; Figure 3 A sagittal perspective view of a wearable, front-mounted, arc-shaped, close-fitting assistive device with a U-shaped rotating telescopic leg bar at the end, provided by the present invention (stepping state). Figure 4 A perspective view of the horizontal cross-sectional structure of the waist of an arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, provided by the present invention (Example 1). Figure 5 A perspective view of the horizontal cross-sectional structure of the waist of an arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, provided by the present invention (Example 2). Figure 6 A perspective view of the horizontal cross-sectional structure of the waist of an arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, provided by the present invention (Example 3). Figure 7This invention provides a schematic diagram of a cross-sectional structure of a sliding joint section with a U-shaped rotating telescopic leg at the end; Figure 8 This is a schematic diagram of the connection and mating structure between the U-shaped rotary arm and the leg shell module provided by the present invention.

[0018] Explanation of the markings in the image: 1. Power base; 11. Base width; 2. Power module; 21. Motor; 211. Motor output shaft; 212. Motor output shaft; 213. Motor housing; 214. Stator shaft; 22. Reducer; 221. Reducer input shaft; 222. Reducer output shaft; 223. Planetary reducer; 2231. Planetary reducer input shaft; 2232. Planetary reducer output shaft; 224. Fixed-axis offset reducer; 2241. Fixed-axis offset reducer input shaft; 2242. Fixed-axis offset reducer output shaft; 23. Power output shaft; 24. Output arm; 25. Retraction shaft; 26. Internal contour line of the power module; 27. Width of a single-sided power module; 3. Leg rod module; 31. First rod body; 311. Upper end of the first rod body; 312. First sliding engagement section; 3121. Inner wall slide of the sleeve; 3122. Inner wall roller of the tail; 32. Second rod body; 321. Second sliding engagement section; 322. Rod body raceway; 323. Head roller; 324. U-shaped rotating arm; 3241. End of the U-shaped rotating arm; 3242. U-shaped arm mating hole; 3243. Leg shell disassembly button; 3244. Leg shell clip; 3245. Clip spring; 4. Leg shell module; 41. Leg shell body; 42. Leg shell connecting protrusion; 421. Protrusion locking position; 43. Leg belt; 5. Waist belt module; 51. Battery; 52. Power cable; 6. Human body; 61. Frontal abdominal region; 611. Central anterior abdominal region; 612. Lateral abdominal region, near the hip joint; 62. Waist; 63. Thigh; 64. Hip joint axis. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0021] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0022] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] See Figures 1 to 3 This invention provides an arc-shaped, close-fitting, front-mounted power assist device with a U-shaped rotating telescopic leg bar at the end, including a power base 1, a power module 2, a leg bar module 3, a leg shell module 4, and a waist belt module 5.

[0024] like Figures 2-4 , Figure 6 As shown, the power base 1 is a flat plate-like structure used to fit the front abdominal region 61 of the human body 6; the power module 2 is located off the central axis of the human body at the outer end of the power base 1 away from the center line, and is arranged on the outer side of the human abdomen, near the hip joint region 612. In practical applications, only one power module 2 can be provided, that is, located on one side of the human abdomen. Of course, one power module 2 can also be provided on each of the left and right sides of the human abdomen, so that the two power modules 2 are positioned opposite each other at the left and right ends of the power base 1; the two sets of leg rod modules 3 are symmetrically arranged, and each set of leg rod modules 3 is a long strip-like structure extending along the length of the human thigh 63; the two sets of leg shell modules 4 are symmetrically arranged. The leg shell module 4 is configured to include a leg shell body 41 and a leg strap 43. The leg shell body 41 is an arc-shaped thin sheet structure adapted to the shape of the front of the human thigh. The leg strap 43 is used to wrap around and fix the corresponding leg shell body 41 to the human thigh 63. The waist belt module 5 is worn around the waist 62 of the human body. The two ends of the waist belt module 5 are respectively connected to the left and right ends of the power base 1 or the corresponding power module 2, and are used to fix the power base 1 and the power module 2 fixed thereto to the front abdomen of the human body, that is, the front abdominal region 61. The upper end of each group of leg rod modules 3 (that is, the upper end 311 of the first rod 31 in the following text) is connected to the output end of the corresponding power module 2 (e.g., the upper end of the first rod 311 in the following text) and the output end of the corresponding power module 2 (e.g., the upper end of the first rod 311 in the following text) Figure 2The output arm 24) is connected to the transmission, and the lower end of each leg bar module 3 is connected to the corresponding leg shell module 4. The power module 2 can output rotational power, thereby driving the leg bar module 3 connected to it to swing, thus providing hip extension and hip flexion assistance when the wearer walks, climbs mountains, and runs, reducing the burden on the human body when walking and climbing mountains.

[0025] The aforementioned arc-shaped, close-fitting, front-mounted assistive device is positioned in the front abdominal region 61. Its advantages include a short distance between the power module 2 and the power base 1, resulting in a lightweight and compact device. However, its disadvantage is a significant misalignment between the power output axis 23 and the human hip joint axis 64 (hereinafter referred to as human-machine eccentricity). When the human walks, the distance between the leg shell module 4 fixed to the front of the thigh 63 and the power module 2 fixed to the front abdominal region 61 on the same side (i.e., the required extension length of the leg pole) varies considerably. The extension length of the leg pole is limited because it must match the size of the human body. To better address this issue, it is necessary to minimize human-machine eccentricity and maximize the extension length of the leg pole module 3 to compensate for the extension length requirements caused by human-machine eccentricity.

[0026] Therefore, in this embodiment, the power module 2 is configured such that: the power module 2 includes a motor 21 and a reducer 22 connected coaxially in series, the motor 21 is located on the inner side, and the reducer 22 is located on the outer side; the motor output shaft 211 of the motor 21 is connected to the input end of the reducer 22 (i.e., Figure 3 The reducer 22 is connected to the input shaft 221 of the motor 21. The input axis of the reducer 22 is collinear with the rotor rotation axis of the motor 21, which extends along the coronal axis of the human body. Furthermore, in the sagittal plane of the human body, the output axis of the reducer 22 (the output end of the reducer 22 is...) is... Figure 3 The output shaft 222 of the reducer is offset parallel to the rear side of the human body relative to the rotor rotation axis of the motor 21; The power base 1 and the power module 2 together form an inner arc-shaped structure with the concave surface facing the human body when viewed from a horizontal plane, which is adapted to the physiological curve of the human waist and abdomen. Each set of leg modules 3 includes at least a first rod 31 and a second rod 32 that are nested together. The upper section of the second rod 32 can slide relative to the lower section of the first rod 31 along its axial direction. The lower section of the second rod 32 has a U-shaped rotating arm 324 that rotates toward the first rod 31. The end of the U-shaped rotating arm 324 (i.e. Figure 1 The U-shaped rotating arm end 3241 is connected to the leg shell module 4 via a transmission.

[0027] Here, in order to minimize the human-machine eccentricity and adapt to users of different sizes as much as possible, the power module 2 needs to be housed in the area 612 near the hip joint on both sides of the front abdomen of the human body. From the perspective of looking down from the horizontal plane, the width 27 of the power module on one side needs to be less than 1 / 3 of the width 11 of the power base. The inner contour line 26 of the power module on the human side has an angle with the coronal axis of the human body that conforms to ergonomics, and its power output axis 23 is offset towards the human body side. To meet the above requirements, the power module 2 in this embodiment includes a motor 21 and a reducer 22 connected in series on the same axis. The motor 21 is located on the inner side, in the central area 611 of the front abdomen, and the reducer 22 is located on the outer side, on both sides of the front abdomen, near the hip joint area 612. The output shaft 211 of the motor is connected to the input shaft 221 of the reducer. The input shaft 221 of the reducer and the output shaft 211 of the motor are collinear, and the axis of the output shaft 211 of the motor extends along the coronal axis of the human body. To achieve a close fit to the body and minimize the human-machine eccentricity, the length of the power module 2 in the direction of the coronal axis does not exceed 1 / 3 of the waist width of the human body (the width of the base 11). The power module 2 is housed within the hip joint region 612 on both sides of the front abdomen of the human body, avoiding the protruding area of ​​the abdomen. In the sagittal plane of the human body, the output shaft 222 of the reducer is offset parallel to the rear side of the human body relative to the output shaft 211 of the motor, so as to minimize the human-machine eccentricity distance. From a horizontal top view, the power base 1 and the two sets of power modules 2 together form an inner concave arc-shaped structure facing the human body, which is adapted to the physiological curve of the front abdominal region 61. In this way, the front abdomen of the human body can be closely fitted, reducing shaking during operation, and the human-machine eccentricity distance can be reduced, thus reducing the extension distance requirement of the leg bar module 3.

[0028] like Figure 1 , Figure 3 As shown, due to the human-machine eccentricity, when the human walks (especially with large strides), in order to match the change in distance between the leg shell module 4 fixed on the human thigh 63 and the power module 2 fixed on the human waist 62 (e.g. Figure 3(The lengths of L4 and L5 are different). The leg module 3 includes a first rod 31 and a second rod 32 that are nested together. Specifically, the lower section of the first rod 31 has a first sliding engagement section 312, and the upper section of the second rod 32 has a second sliding engagement section 321. The first sliding engagement section 312 and the second sliding engagement section 321 can slide relative to each other along their axial direction. In reality, the ergonomic misalignment distance may reach 150mm or even more, requiring the extension distance of the leg module 3 to be 200mm or even more. This necessitates that the lengths of both the first sliding engagement section 312 and the second sliding engagement section 321 be excessively long, and the shortest retracted length of the leg module 3 would exceed the normal size requirements for some users of average height. To address this issue, a U-shaped rotating arm 324 is provided in the lower section of the second rod 32. The U-shaped rotating arm 324 folds back along the front of the thigh 63 towards the abdominal region 61, and its end is connected to the leg shell module 4. In this way, while keeping the lengths of the first sliding engagement section 312 and the second sliding engagement section 321 unchanged, the distance between the leg shell module 4 and the power module 2 on the same side is shortened. This significantly reduces the size of the leg rod module 3 when it is retracted to its shortest length, solving the size problem that prevents some users of average height from using it normally. It also maintains a large extension range of the leg rod module 3, avoiding the need for a more complex structure to accommodate the large sliding size of the leg rod module 3.

[0029] Figure 1 States A, B, and C in the diagram illustrate the interaction between the first sliding engagement segment 312 and the second sliding engagement segment 321 in the following states: the leg lever module 3 at its longest extension, the intermediate extension / retraction state, and the shortest extension / retraction state, respectively. As can be seen from the diagram, due to the presence of the U-shaped rotating arm, the length L1 of the leg lever module's extension / retraction is longer than the minimum shortening length L2 of the first sliding engagement segment 312 and the second sliding engagement segment 321. This allows the leg lever module 3 to have a shorter minimum length L2 and a longer maximum length L3, significantly improving its adaptability to human waist and leg sizes.

[0030] In a specific embodiment, the reducer 22 includes a fixed-axis offset reducer 224, the output axis of which is offset relative to the input axis toward the human body, and the output end of the motor 21 (i.e. Figure 4 The output shaft 211 of the motor (in the motor) and the input end of the fixed-axis bias reducer 224 (i.e., Figure 4 The input shaft 2241 of the fixed-axis offset reducer is connected to the transmission, and the output end of the fixed-axis offset reducer 224 (i.e., Figure 4The fixed-axis offset reducer output shaft 2242 is connected to the upper end of the corresponding side leg module 3; the reducer 22 also includes a planetary reducer 223 connected in series with the fixed-axis offset reducer 224, and the input end of the planetary reducer 223 (i.e., Figure 4 The input shaft 2231 of the planetary reducer is connected to the output end of the motor 21, and the output end of the planetary reducer 223 (i.e., Figure 4 The output shaft 2232 of the planetary reducer and the input shaft of the fixed-axis bias reducer 224 (i.e., Figure 4 The fixed-axis offset reducer input shaft 2241 is connected to the transmission.

[0031] To achieve the axial offset of the reducer output shaft 222 relative to the reducer input shaft 221, the reducer 22 can be equipped with a fixed-axis offset reducer 224, which is a commonly used parallel shaft reduction scheme with large and small gear meshing in the industry, so it will not be described in detail here. To achieve a larger reduction ratio, a planetary reducer 223 can be added between the fixed-axis offset reducer 224 and the motor 21. The planetary reducer input shaft 2231 of the planetary reducer 223 is drivenly connected to the motor output shaft 211, and the planetary reducer output shaft 2232 of the planetary reducer 223 is drivenly connected to the fixed-axis offset reducer input shaft 2241. Adding a planetary reducer 223 can increase the output torque of the power module 2, and adding the planetary reducer 223 does not change the offset distance of the power output shaft 23.

[0032] like Figure 4 As shown in Embodiment 1, a complete power module 2 is provided on each side of the power base 1. The motor 21 of the two power modules 2 is located on the inner side near the abdomen of the human body, and the reducer 22 is located on the outer side near the hip joints on both sides of the human body, and it protrudes into the human body. From a horizontal plane top view, the power base 1 and the two sets of power modules 2 together form an inner arc-shaped structure with the concave surface facing the human body. The outline of the motor 21 and the reducer 22 is L-shaped as a whole. The angle between the line connecting the inner side of the motor 21 and the reducer 22 to the outline of the human face and the coronal plane of the human body is 20° to 60°, which is compatible with the physiological curve of the anterior abdominal region 61.

[0033] like Figure 5As shown, in Embodiment 2, a complete power module 2 is installed on one side of the power base 1 (taking the left side as an example), while only a reducer 22 is installed on the right side. In the left power module 2, the motor 21 is located on the inner side near the abdomen, and the reducer 22 is located on the outer side near the left hip joint. The right reducer 22 is located on the outer side near the right hip joint, and its reducer input shaft 221 is connected to the motor housing 213 via a stator shaft 214. Compared with Embodiment 1, this embodiment eliminates one motor, resulting in a cost advantage, but it adds a stator shaft 214 that spans the abdomen, making its fit less snug than in Embodiment 1.

[0034] like Figure 6 As shown in Embodiment 3, in order to meet the needs of users with different waist sizes, the power base 1 can adopt different sizes and different curvatures to adapt to the physiological curves of the human waist and abdomen with different waist sizes; while the power module 2 can remain unchanged, which will reduce the number of parts for mass production and lower the engineering cost.

[0035] Combination Figure 1 and Figure 7 As shown, in a specific embodiment, the lower end of the first rod 31 is provided with a first sliding engagement section 312, and the upper end of the second rod 32 is provided with a second sliding engagement section 321. The first sliding engagement section 312 and the second sliding engagement section 321 are in a rolling engagement.

[0036] Specifically, the first sliding fit section 312 is a sleeve, and the upper and lower inner walls of the sleeve are provided with sleeve inner wall slides 3121, and the sleeve inner wall slides 3121 are provided with tail inner wall rollers 3122. The second sliding engagement section 321 is a strip-shaped rod with a concave interior. The upper and lower sides of the concave wall of the strip-shaped rod have rod raceways 322 that cooperate with the inner wall roller 3122 at the tail. The head of the second sliding engagement section 321 has a head roller 323 that rolls with the inner wall slideway 3121 of the sleeve. The first sliding engagement section 312 and the second sliding engagement section 321 are slidably connected by the tail inner wall roller 3122 and the head roller 323.

[0037] In this embodiment, the first sliding engagement section 312 and the second sliding engagement section 321 in the leg module 3 are connected by a rolling engagement to achieve a sliding connection, meeting the requirements of high-frequency sliding connection. The first sliding engagement section 312 is a sleeve with inner wall slides 3121 on the upper and lower inner walls. The end of the inner wall slides 3121 protrudes inward and has a tail inner wall roller 3122. The second sliding engagement section 321 is a strip-shaped rod with concave sides. Its cross-section is "I" shaped. The upper and lower sides of the concave walls have rod rollers 322, which cooperate with the tail inner wall roller 3122 protruding into the sleeve of the first sliding engagement section 312. The head has a head roller 323, which rolls in engagement with the inner wall slide rail 3121 of the sleeve. When the first sliding engagement section 312 and the second sliding engagement section 321 slide relative to each other, the head roller 323 rolls in engagement with the inner wall slide rail 3121 of the sleeve, and the tail inner wall roller 3122 rolls in engagement with the rod track 322, forming a force couple. This creates a reliable sliding connection between the first and second sliding engagement sections 312 and 321, which can withstand the swing torque from the power source. Figure 1 As shown, when the leg module 3 extends or retracts, the distance between the head roller 323 and the tail inner wall roller 3122 also changes. When the leg module 3 is extended to its longest length, the distance between the head roller 323 and the tail inner wall roller 3122 is the shortest.

[0038] Combination Figure 8 In one specific embodiment, the end of the U-shaped rotary arm 324 (marked as U-shaped rotary arm end 3241 in the figure) is connected to the leg housing module 4, and the leg housing module 4 can be snapped into the U-shaped rotary arm 324.

[0039] Specifically, the leg shell module 4 has a leg shell connecting protrusion 42, and the end of the U-shaped rotating arm 324 is provided with a U-shaped arm mating hole 3242 that mates with the leg shell connecting protrusion 42. The leg shell connecting protrusion 42 is provided with a protrusion locking position 421. The U-shaped rotating arm 324 is provided with a leg shell removal slide button 3243 that can move left and right. A leg shell clip 3244 is provided on the side of the leg shell removal slide button 3243 near the leg shell connecting protrusion 42, and the leg shell clip 3244 is compatible with the protrusion locking position 421. A clip spring 3245 is provided on the side of the leg shell removal slide button 3243 away from the leg shell connecting protrusion 42.

[0040] In this embodiment, the leg shell module 4 has a leg shell connecting protrusion 42, and the end 3241 of the U-shaped rotary arm has a U-shaped arm mating hole 3242 that mates with the leg shell connecting protrusion 42; the leg shell connecting protrusion 42 has a ring of smaller diameter locking positions called protrusion locking positions 421, and the U-shaped rotary arm 324 has a leg shell removal slide button 3243 that can move left and right. The leg shell removal slide button 3243 has a leg shell clip 3244, and the leg shell clip 3244 is held against the end 3241 of the U-shaped rotary arm by a clip spring 3245. By manipulating the left and right movement of the leg shell removal slide button 3243, the left and right movement of the leg shell clip 3244 can be controlled. When the leg housing connecting protrusion 42 is inserted into the U-shaped arm mating hole 3242, the leg housing clip 3244, under the elastic force of the clip spring 3245, will lock to the left into the protrusion locking position 421 on the leg housing connecting protrusion 42, thereby preventing the leg housing module 4 from disengaging from the leg rod module 3. When the leg housing disassembly button 3243 is slid to the right by hand, the leg housing clip 3244 will overcome the elastic force of the clip spring 3245 and move to the right, disengaging from the protrusion locking position 421. At this time, the leg housing module 4 can be separated from the leg rod module 3. In this way, through the above-mentioned post-hole mating method, the leg housing module 4 and the leg rod module 3 can be quickly connected and disassembled.

[0041] In one specific embodiment, the waist belt module 5 is provided with a power source (such as a battery 51), which is located on the back of the waist and is electrically connected to the power module 2 through a power cable 52 to provide power to the power module 2.

[0042] In this embodiment, the two ends of the waist belt module 5 are connected to the power base 1 or the power module 2 on it to form a wearable wraparound structure, which is equipped with a battery 51. The battery 51 is located at the lower back of the human body, which conforms to the human wearing habits. The battery 51 can be electrically connected to the power module 2 through the power cable 52, thereby providing energy for the power module 2 to drive the leg bar modules 3 on the left and right sides to swing back and forth relative to each other.

[0043] Furthermore, the waist belt module 5 in this embodiment can be made of flexible materials, such as plastic, carbon fiber sheets or fabric, and is equipped with an adjustable buckle structure, which can adjust the tightness according to different users' waist sizes, improve the fit and comfort of wearing, and thus ensure the working stability of the assist device in this embodiment.

[0044] In one specific embodiment, the leg bar module 3 is a rigid mechanism, and the power module 2 drives the leg shell module 4 to lift or press the human thigh through the leg bar module 3, thereby driving the human thigh to swing back and forth; the leg bar module 3 is vertically provided with a retraction shaft 25 for supporting the inward and outward movement of the leg bar module 3.

[0045] The leg bar module 3 is rigidly configured so that the power module 2 drives the leg shell module 4 to lift or press the human thigh, thereby driving the human thigh to swing back and forth. The extension / retraction shaft 25 is perpendicular to the leg bar module 3. The extension / retraction shaft 25 can transmit the torque of the power output while supporting the inward and outward movements of the leg bar module 3. The leg bar module 3 is connected to the power module 2 and the leg shell module 4. Its length extension and retraction not only supports the changes in the relative position and angle between the power module 2 and the leg shell module 4 during human movement, but also effectively transmits hip extension or hip flexion torque.

[0046] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0047] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. An arc-shaped, close-fitting, front-mounted power assist device with U-shaped retractable leg poles at the ends, comprising a power base, a power module, two sets of leg pole modules, two sets of leg shell modules, and a waist belt module; wherein, The power base is designed to fit snugly against the front abdominal region of the human body. The power module is positioned off-center from the body's central axis at the outer end of the power base, near the hip joint. Two sets of leg rod modules are symmetrically arranged, each being a long strip extending along the length of the thigh. Two sets of leg shell modules are also symmetrically arranged, each with an arc-shaped, thin sheet structure adapted to the shape of the thigh. The waistband module is designed to wrap around the waist, with both ends connected to the left and right ends of the power base or the corresponding power module. The upper end of each leg rod module is connected to the output end of the corresponding power module, and the lower end is connected to the corresponding leg shell module. The power module is characterized by the following features: it comprises a motor and a reducer connected in series on the same axis. The motor is positioned on the inner side, and the reducer is positioned on the outer side. The output shaft of the motor is connected to the input end of the reducer. The input end axis of the reducer is collinear with the rotor rotation axis of the motor. The rotor rotation axis of the motor extends along the coronal axis of the human body. Furthermore, in the sagittal plane of the human body, the output end axis of the reducer is offset parallel to the posterior side of the human body relative to the rotor rotation axis of the motor. The power base and the power module together form an inner arc-shaped structure with the concave surface facing the human body when viewed from a horizontal plane, which is adapted to the physiological curve of the human waist and abdomen. Each set of leg modules includes at least a first rod and a second rod that are nested together. The upper section of the second rod can slide relative to the lower section of the first rod along the axial direction. The lower section of the second rod has a U-shaped rotating arm that rotates in the direction of the first rod. The end of the U-shaped rotating arm is connected to the leg shell module in a transmission manner.

2. The arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, as described in claim 1, is characterized in that... The reducer includes a fixed-axis offset reducer, the output axis of which is offset toward the human body relative to the input axis, the output end of the motor is connected to the input end of the fixed-axis offset reducer, and the output end of the fixed-axis offset reducer is connected to the upper end of the corresponding side leg bar module.

3. The arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, as described in claim 2, is characterized in that... The reducer also includes a planetary reducer connected in series with the fixed-axis offset reducer. The input end of the planetary reducer is driven to the output end of the motor, and the output end of the planetary reducer is driven to the input end of the fixed-axis offset reducer.

4. The arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, as described in any one of claims 1 to 3, is characterized in that... From a horizontal plane viewpoint, the overall outline of the motor and reducer is L-shaped, and the angle between the line connecting the inner side of the motor and reducer to the outline of the human face and the coronal plane of the human body is 20° to 60°.

5. The arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, as described in claim 1, is characterized in that... The lower end of the first rod is provided with a first sliding engagement section, and the upper end of the second rod is provided with a second sliding engagement section. The first sliding engagement section and the second sliding engagement section are in a rolling engagement.

6. The arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, as described in claim 5, is characterized in that... The first sliding fit section is a sleeve, and the upper and lower inner walls of the sleeve are equipped with inner wall slides, and the inner wall slides of the sleeve are equipped with tail inner wall rollers. The second sliding engagement section is a strip-shaped rod with a concave interior. The upper and lower sides of the concave wall of the strip-shaped rod have rod raceways that cooperate with the rollers on the inner wall of the tail. The head of the second sliding engagement section has a head roller that rolls with the slideway on the inner wall of the sleeve. The first sliding engagement section and the second sliding engagement section are connected by the tail inner wall roller and the head roller.

7. The arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, as described in claim 1, is characterized in that... The end of the U-shaped rotary arm is connected to the leg housing module, and the leg housing module can be snapped into the U-shaped rotary arm.

8. The arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, as described in claim 7, is characterized in that... The leg housing module has a leg housing connecting protrusion, and the end of the U-shaped rotating arm is provided with a U-shaped arm mating hole that mates with the leg housing connecting protrusion. The leg housing connecting protrusion is provided with a protrusion locking position, and the U-shaped rotary arm is provided with a leg housing disassembly slide button that can move left and right. The side of the leg housing disassembly slide button near the leg housing connecting protrusion is provided with a leg housing clip, and the leg housing clip is compatible with the specifications of the protrusion locking position. The side of the leg housing disassembly slide button away from the leg housing connecting protrusion is provided with a clip spring.

9. The arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, as described in claim 1, is characterized in that... The waist belt module is equipped with a power source, which is located on the back of the waist and is electrically connected to the power module via a power cable to provide power to the power module.

10. The arc-shaped, close-fitting, front-mounted assistive device with a U-shaped rotating telescopic leg bar at the end, as described in claim 1, is characterized in that... The leg bar module is a rigid mechanism. The power module drives the leg shell module to lift or press the human thigh through the leg bar module, thereby driving the human thigh to swing back and forth. The leg bar module is vertically provided with an extension shaft to support the inward and outward movement of the leg bar module.

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