Exoskeleton device
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HYPERSHELL
- Filing Date
- 2025-07-14
- Publication Date
- 2026-08-07
AI Technical Summary
[0004]本申请提供了一种外骨骼设备，能够解决多关节的外骨骼设备体积较大，存在收纳、运输困难的问题
[0030]本申请的外骨骼设备，第一腿部模组和第二腿部模组分别于腰部穿戴模组转动连接，第一腿部模组和第二腿部模组可以利用第一折叠组件的至少两个第一折叠铰链相互折叠，使得外骨骼设备具有展开状态和折叠状态，在折叠状态下可以大大缩减整机体积，提高外骨骼设备的收纳和运输便利性；第一折叠组件布置在腿部模组靠近腰部穿戴模组的端部，而且布置至少两个第一折叠铰链，不仅可以使第一腿部模组和第二腿部模组的全部体积可以与腰部穿戴模组进行折叠，而且可以使得第一腿部模组和第二腿部模组分别具有多种不同的折叠角度，第一腿部模组和第二腿部模组可以实现交错层叠，折叠状态更加紧凑，可以进一步缩减整机体积，提高外骨骼设备的收纳和运输便利性。
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Figure CN122518291A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of exoskeleton technology, and in particular to an exoskeleton device. Background Technology
[0002] Exoskeleton devices are wearable robotic systems that integrate mechanical engineering, biomechanics and many other disciplines. They can be used to enhance human motor abilities, assist in rehabilitation treatment, and improve load-bearing efficiency, and are gradually being recognized by the public.
[0003] Among them, multi-joint exoskeleton devices (such as four-joint or six-joint devices) have a large number of active and passive joints and links, and the links have a large span, resulting in a large overall size. This leads to common problems with storage and transportation of multi-joint exoskeleton devices. Summary of the Invention
[0004] This application provides an exoskeleton device that can solve the problem of large size and difficulty in storage and transportation of multi-joint exoskeleton devices.
[0005] The technical solution is as follows:
[0006] On the one hand, an exoskeleton device is provided, the exoskeleton device comprising: a waist wearing module, a first leg module, and a second leg module;
[0007] The first leg module and the second leg module are rotatably connected to the waist-wearing module, respectively;
[0008] The first leg module and the second leg module each include a first folding component;
[0009] The first folding assembly includes at least two first folding hinges, which are connected in series and spaced apart at the ends of the first leg module and the second leg module near the waist wearing module;
[0010] The exoskeleton device includes an unfolded state and a folded state;
[0011] In the unfolded state, the first leg module and the second leg module are unfolded and arranged in parallel with a gap between them; in the folded state, the first leg module and the second leg module are folded and arranged in an overlapping manner.
[0012] In some embodiments, the first leg module and the second leg module are rotatably connected to the waist wearing module along a first axis in the left-right direction of the human body, and the axes of the at least two first folding hinges are perpendicular to the first axis.
[0013] In some embodiments, the positions of the at least two first folding hinges on the first leg module and the at least two first folding hinges on the second leg module are symmetrical.
[0014] In some embodiments, the waist-wearing module includes an arc-shaped waist bar, one end of which is rotatably connected to the first leg module and the other end of which is rotatably connected to the second leg module;
[0015] In the folded state, at least a portion of the first leg module and the second leg module are stacked and arranged in the concave region of the arc-shaped waist bar.
[0016] In some embodiments, the first leg module and the second leg module each include a thigh link, one end of which is connected to the arc-shaped waist bar via the first folding assembly;
[0017] In the folded state, the two thigh links are stacked on top of each other, and the angle between each thigh link and the plane containing the arc-shaped waist bar is less than or equal to 10 degrees.
[0018] In some embodiments, each of the first folding components includes two first folding hinges, a first connector, and a second connector;
[0019] The waist-wearing module also includes a hip joint motor located at the end of the curved waist bar;
[0020] Two first folding hinges are located at both ends of the second connector, one of which is connected to the hip joint motor via the first connector, and the other is connected to the thigh link.
[0021] In some embodiments, the first connector is provided with a first limiting structure, and the arc-shaped waist bar is provided with a second limiting structure. The first limiting structure and the second limiting structure cooperate with each other to limit and fix the first connector and the arc-shaped waist bar at a target angle, so that the thigh connecting rod is limited to the concave area of the arc-shaped waist bar.
[0022] In some embodiments, the first leg module and the second leg module further include a thigh support rod, the thigh support rod including a fixed support part and a movable support part, the fixed support part being connected to the thigh connecting rod, the movable support part being rotatably connected to the fixed support part, and the rotation axis of the movable support part being parallel to the rotation axis of the first folding hinge.
[0023] In some embodiments, the first leg module and the second leg module further include a thigh link, a calf link, a knee joint motor, and a second folding assembly, respectively.
[0024] One end of the thigh link is connected to the arc-shaped waist bar through the first folding assembly, and the other end is provided with the knee joint motor. The knee joint motor is connected to one end of the lower leg link through the second folding assembly.
[0025] In the unfolded state, the thigh link and the lower leg link are unfolded together; in the folded state, the thigh link and the lower leg link are folded together.
[0026] In some embodiments, the second folding assembly includes at least one second folding hinge and a third connector, the third connector being connected to the knee joint motor, and the at least one second folding hinge being connected to the third connector and the lower leg link, respectively.
[0027] The axis of the knee joint motor is arranged along the left-right direction of the human body, and the axis of the at least one second folding hinge is arranged along the front-back direction of the human body.
[0028] In some embodiments, the third connector is provided with a third limiting structure, and the thigh link is provided with a fourth limiting structure. The third limiting structure and the fourth limiting structure cooperate with each other to limit and fix the third connector and the thigh link at a target angle, so that the thigh link and the lower leg link remain folded together.
[0029] The beneficial effects of the technical solution provided in this application include at least the following:
[0030] In this application's exoskeleton device, a first leg module and a second leg module are rotatably connected to a waist-wearing module. The first leg module and the second leg module can be folded together using at least two first folding hinges of a first folding assembly, allowing the exoskeleton device to have both an unfolded and a folded state. In the folded state, the overall size of the device can be greatly reduced, improving the ease of storage and transportation. The first folding assembly is located at the end of the leg module near the waist-wearing module and has at least two first folding hinges. This not only allows the entire volume of the first leg module and the second leg module to be folded with the waist-wearing module, but also allows the first leg module and the second leg module to have multiple different folding angles. The first leg module and the second leg module can be staggered and stacked, resulting in a more compact folded state, further reducing the overall size of the device and improving the ease of storage and transportation. Attached Figure Description
[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.
[0032] Figure 1 This is a schematic diagram of the exoskeleton device provided in the embodiments of this application in its deployed state;
[0033] Figure 2 This is a schematic diagram of the exoskeleton device provided in the embodiments of this application in a closed state;
[0034] Figure 3 This is another structural schematic diagram of the exoskeleton device provided in the embodiments of this application in the closed state;
[0035] Figure 4 This is an exploded view of the exoskeleton device provided in the embodiments of this application in a closed state;
[0036] Figure 5 yes Figure 1 Enlarged view of the local structure at point A;
[0037] Figure 6 yes Figure 2 Enlarged view of the local structure at point B;
[0038] Figure 7 This is a schematic diagram of the structure of the first folding component provided in an embodiment of this application;
[0039] Figure 8 This is an exploded view of the structure of the first connector and the arc-shaped waist bar provided in the embodiments of this application;
[0040] Figure 9 This is a schematic diagram of the exoskeleton device in its deployed state according to another embodiment of this application;
[0041] Figure 10 This is a schematic diagram of the structure of an exoskeleton device in a closed state according to another embodiment of this application.
[0042] The reference numerals in the figure are respectively:
[0043] 001, First Axis;
[0044] 10. Waist support module; 20. First leg module; 30. Second leg module;
[0045] 1. First folding component;
[0046] 11. First folding hinge; 12. First connector; 121. First limiting structure; 13. Second connector;
[0047] 2. Curved waist bar; 20a. Concave area;
[0048] 31. Second limiting structure;
[0049] 3. Thigh linkage;
[0050] 4. Hip joint motor;
[0051] 5. Lower leg connecting rod;
[0052] 6. Knee joint motor;
[0053] 7. Second folding component;
[0054] 71. Second folding hinge; 72. Third connector;
[0055] 8. Thigh support bar;
[0056] 81. Fixed support part; 82. Movable support part. Detailed Implementation
[0057] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.
[0058] In the description of this application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the purpose of facilitating and simplifying the description of this application, and are not intended to 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.
[0059] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art.
[0060] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.
[0061] On the one hand, combined with Figure 1 and Figure 2 As shown, this embodiment provides an exoskeleton device, which includes: a waist wearing module 10, a first leg module 20, and a second leg module 30.
[0062] The first leg module 20 and the second leg module 30 are rotatably connected to the waist-wearing module 10, respectively.
[0063] The first leg module 20 and the second leg module 30 each include a first folding assembly 1; the first folding assembly 1 includes at least two first folding hinges 11, which are connected in series and spaced apart at the ends of the first leg module 20 and the second leg module 30 near the waist wearing module 10.
[0064] The exoskeleton device includes an unfolded state and a folded state; in the unfolded state, the first leg module 20 and the second leg module 30 are unfolded and arranged in parallel at intervals; in the folded state, the first leg module 20 and the second leg module 30 are folded and arranged in an overlapping manner.
[0065] In this embodiment of the exoskeleton device, the first leg module 20 and the second leg module 30 are rotatably connected to the waist wearing module 10. The first leg module 20 and the second leg module 30 can be folded together by at least two first folding hinges 11 of the first folding component 1, so that the exoskeleton device has an unfolded state and a folded state. In the folded state, the overall size can be greatly reduced, and the storage and transportation convenience of the exoskeleton device can be improved.
[0066] The first folding component 1 is arranged at the end of the leg module near the waist wearing module 10, and at least two first folding hinges 11 are arranged there. This not only allows the entire volume of the first leg module 20 and the second leg module 30 to be folded with the waist wearing module 10, but also allows the first leg module 20 and the second leg module 30 to have multiple different folding angles. The first leg module 20 and the second leg module 30 can be stacked in an alternating manner, resulting in a more compact folded state. This can further reduce the overall size of the device and improve the storage and transportation convenience of the exoskeleton equipment.
[0067] For example, refer to Figure 6As shown, in the first folding assembly 1, the folding angle of the first folding hinge 11 closest to the waist wearing module 10 is close to 90 degrees, and the folding angle of the first folding hinge 11 furthest from the waist wearing module 10 is close to zero. Taking the first folding assembly 1 located inside the first leg module 20 as an example, the first leg module 20 is closer to the waist wearing module 10 (or the first axis 001 corresponding to the rotation of the first leg module 20) when folded. (Reference) Figure 7 As shown, in the first folding assembly 1, the first folding hinge 11 closest to the waist wearing module 10 has a folding angle greater than 90 degrees, while the first folding hinge 11 furthest from the waist wearing module 10 has a smaller folding angle. Taking the first folding assembly 1 located within the second leg module 30 as an example, the first leg module 20, in its folded state, is relatively far from the waist wearing module 10 (or the first axis 001 corresponding to the rotation of the first leg module 20). Combined with... Figure 6 and Figure 7 The first folding component 1 in the first leg module 20 is as follows Figure 6 As shown, the first folding component 1 in the second leg module 30 is as follows Figure 7 As shown, the first leg module 20 can be folded alternately below the second leg module 30 (that is, the second leg module 30 is on the side closer to the waist wearing module 10). It should be noted that the folding angles of at least two first folding hinges 11 in the first folding assembly 1 can be varied, and the first leg module 20 can also be folded alternately above the second leg module 30 (that is, the second leg module 30 is on the side facing away from the waist wearing module 10).
[0068] Among some possible implementations, refer to Figure 1 and Figure 9 As shown, the exoskeleton device can be worn on the human body in its unfolded state. The waist wearing module 10 is worn and fixed to the waist of the human body, the first leg module 20 is worn and fixed to the right leg of the human body, and the second leg module 30 is worn and fixed to the left leg of the human body. When the first leg module 20 rotates relative to the waist wearing module 10, it can drive the movement of the right leg of the human body. When the second leg module 30 rotates relative to the waist wearing module 10, it can drive the movement of the left leg of the human body, thus realizing the leg assistant of the exoskeleton device.
[0069] For example, the waist wearing module 10, the first leg module 20 and the second leg module 30 are connected to the human body in the following ways: including but not limited to elastic strap connection, support rod connection, etc.
[0070] In some possible implementations, the number of first folding hinges 11 in each first folding component 1 can be two, three, four, etc., and the number of first folding components 1 in the first leg module 20 and the number of first folding hinges 11 in the first folding component 1 of the second leg module 30 can be the same or different.
[0071] It should be noted that there are two first folding components 1. One first folding component 1 is located at the end of the first leg module 20 near the waist wearing module 10, and is used to switch the first leg module 20 between the unfolded state and the folded state. The other first folding component 1 is located at the end of the second leg module 30 near the waist wearing module 10, and is used to switch the second leg module 30 between the unfolded state and the folded state.
[0072] Combination Figure 1 and Figure 2 As shown, in some embodiments, the first leg module 20 and the second leg module 30 are rotatably connected to the waist wearing module 10 along the first axis 001 in the left-right direction of the human body, and the axes of at least two first folding hinges 11 are perpendicular to the first axis 001.
[0073] With the above arrangement, in the unfolded state of the exoskeleton device, the first leg module 20 and the second leg module 30 can swing back and forth relative to the waist-wearing module 10 along the first axis 001, providing mechanical assistance to the forward and backward freedom of the human legs. During this process, since the axis of the first folding hinge 11 is perpendicular to the first axis 001, the forward and backward swing of the first leg module 20 and the second leg module 30 will not be affected by the first folding hinge 11, ensuring the normal operation of the exoskeleton device. When the exoskeleton device needs to be folded and stored, the first leg module 20 and the second leg module 30 can be folded along the axis of their respective first folding hinges 11, achieving staggered folding and storage.
[0074] Furthermore, the human leg has inward and outward lateral swing freedom. When the human leg swings inward or outward, the exoskeleton device restricts movement, causing the human leg and the exoskeleton device to become constricted or collide, resulting in restricted movement and discomfort. However, the exoskeleton device provided in this embodiment, when unfolded, has a first folding hinge 11 arranged along the front-back direction of the human body. The first folding hinge 11 can provide inward or outward lateral swing freedom for the first leg module 20 and the second leg module 30, resulting in a higher degree of coupling with the human leg's degree of freedom of movement, thereby improving the comfort and flexibility of the exoskeleton device.
[0075] Combination Figure 1As shown, in some embodiments, the positions of at least two first folding hinges 11 on the first leg module 20 and at least two first folding hinges 11 on the second leg module 30 are symmetrical.
[0076] With the above arrangement, the structures of the first folding component 1 on the first leg module 20 and the second folding component 7 on the second leg module 30 are completely symmetrical. That is, the first leg module 20 and the second leg module 30 can achieve the same structural symmetry, which conforms to the symmetry of the human body. The first leg module 20 and the second leg module 30 can provide the same assistive sensation for the left and right legs, ensuring the assistive effect and user experience of the exoskeleton device.
[0077] In some possible implementations, the distance between two adjacent first folding hinges 11 in the first folding assembly 1 is greater than or equal to the thickness of the first leg module 20 or the second leg module 30, so that when the first leg module 20 and the second leg module 30 are folded using the first folding hinges 11, the first leg module 20 and the second leg module 30 can be stacked in an alternating manner.
[0078] Combination Figure 1 and Figure 2 As shown, in some embodiments, the waist-wearing module 10 includes an arc-shaped waist bar 2, one end of which is rotatably connected to the first leg module 20, and the other end is rotatably connected to the second leg module 30.
[0079] In the folded state, at least a portion of the first leg module 20 and the second leg module 30 are stacked within the concave region 20a of the curved waist bar 2.
[0080] With the above arrangement, when the exoskeleton device is deployed, the waist-wearing module 10 can use the arc-shaped waist bar 2 to wrap around the back of the human body's waist, so that the first leg module 20 and the second leg module 30 can rotate and support the left and right hip joints of the human body, so that the first leg module 20 and the second leg module 30 can respectively drive the left and right legs of the human body to rotate around the corresponding hip joints.
[0081] As a key support structure for the waist-wearing module 10, the curved waist bar 2 needs to have high strength. Therefore, it usually needs to adopt an integral structure, which occupies a large space. When the exoskeleton device is folded, at least part of the first leg module 20 and the second leg module 30 are folded and stacked in the concave area 20a of the curved waist bar 2, making full use of the internal space of the curved waist bar 2. This helps to improve the structural compactness of the exoskeleton device in the folded state, reduce the volume of the exoskeleton device in the folded state, and further improve the convenience of storage and transportation of the exoskeleton device.
[0082] Among some possible implementations, refer to Figure 4As shown, the curved waist bar 2 can be worn and fixed behind the waist of the human body. The two ends of the curved waist bar 2 are respectively arranged on the outside of the two hip joints of the human body, so that the first leg module 20 and the second leg module 30 can rotate around the hip joints of the human body.
[0083] For example, a flexible waist belt is fixedly connected to the inner side of the curved waist bar 2. The flexible waist belt can be worn and fixed to the waist of the human body using Velcro, buckles, etc.
[0084] Combination Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, the first leg module 20 and the second leg module 30 each include a thigh link 3, one end of which is connected to the arc-shaped waist bar 2 via a first folding assembly 1.
[0085] In the folded state, the two thigh links 3 are stacked on top of each other, and the angle between each thigh link 3 and the plane containing the arc-shaped waist bar 2 is less than or equal to 10 degrees.
[0086] With the above arrangement, the thigh links 3 are stacked in the folded state of the exoskeleton device, and the angle between each thigh link 3 and the plane of the curved waist bar 2 is less than 10 degrees. This makes the exoskeleton device have better dimensions in the direction perpendicular to the plane of the curved waist bar 2, which can also be described as the exoskeleton device being thinner in the folded state. This is conducive to further reducing the volume of the exoskeleton device and improving the convenience of storage and transportation of the exoskeleton device.
[0087] Combination Figure 5 and Figure 6 As shown, in some embodiments, each first folding assembly 1 includes two first folding hinges 11, a first connector 12, and a second connector 13.
[0088] The waist-wearing module 10 also includes a hip joint motor 4 located at the end of the curved waist bar 2.
[0089] Two first folding hinges 11 are located at both ends of the second connector 13. One of the first folding hinges 11 is connected to the hip joint motor 4 through the first connector 12, and the other first folding hinge 11 is connected to the thigh link 3.
[0090] With the above arrangement, the first folding assembly 1 can be connected to the hip joint motor 4 via the first connector 12. The hip joint motor 4 drives the first connector 12 to rotate around the axis of the hip joint motor 4, thereby driving the entire first leg module 20 or the second leg module 30 to rotate. The two first folding hinges 11 are connected by the second connector 13, so that the two first folding hinges 11 can be folded at different angles, allowing the first leg module 20 and the second leg module 30 to be stacked in an alternating manner.
[0091] Combination Figure 8 As shown, in some embodiments, the first connector 12 is provided with a first limiting structure 121, and the arc-shaped waist bar 2 is provided with a second limiting structure 31. The first limiting structure 121 and the second limiting structure 31 cooperate with each other to limit and fix the first connector 12 and the arc-shaped waist bar 2 at the target angle, so that the thigh connecting rod 3 is limited within the concave area 20a of the arc-shaped waist bar 2.
[0092] With the above arrangement, the first limiting structure 121 and the second limiting structure 31 can limit and fix the first leg module 20 and the waist wearing module 10 in the folded state by restricting the relative position of the thigh connecting rod 3 and the arc-shaped waist rod 2. This is beneficial to improving the storage and transportation convenience of the exoskeleton device in the folded state.
[0093] In some possible implementations, one of the first limiting structure 121 and the second limiting structure 31 is a positioning ball, and the other is a positioning groove. When the first limiting structure 121 and the second limiting structure 31 cooperate with each other, the positioning ball is pressed into the positioning groove by elastic force, thereby limiting and fixing the first limiting structure 121 and the second limiting structure 31.
[0094] Combination Figure 1 and Figure 4 As shown, in some embodiments, the first leg module 20 and the second leg module 30 also include a thigh support rod 8, the thigh support rod 8 including a fixed support part 81 and a movable support part 82, the fixed support part 81 is connected to the thigh connecting rod 3, the movable support part 82 is rotatably connected to the fixed support part 81, and the rotation axis of the movable support part 82 is parallel to the rotation axis of the first folding hinge 11.
[0095] In this embodiment, the thigh support rod 8 is used for the wearing connection between the thigh link 3 and the human thigh, and is used to realize the mechanical assistance of the thigh link 3 to the human thigh. Figure 1 As shown, the thigh support rod 8 needs to span across the front of the human thigh in the unfolded state. However, in the folded state, after the thigh support rod 8 rotates and folds with the thigh connecting rod 3, the extension direction of the thigh support rod 8 is perpendicular to the plane of the curved waist rod 2. This will cause the size of the exoskeleton device to increase in this direction. Therefore, the thigh support rod 8 is designed as a split unit. The end of the fixed support part 81 is provided with a movable support part 82. The movable support part 82 can rotate along an axis parallel to the first folding hinge 11, so that the movable support part 82 can rotate to a direction parallel to the plane of the curved waist rod 2, thereby reducing the size of the exoskeleton device in this direction.
[0096] Combination Figure 9 and Figure 10As shown, in some embodiments, the first leg module 20 and the second leg module 30 respectively further include a thigh link 3, a calf link 5, a knee joint motor 6, and a second folding assembly 7.
[0097] One end of the thigh link 3 is connected to the arc-shaped waist bar 2 via the first folding assembly 1, and the other end is equipped with a knee joint motor 6. The knee joint motor 6 is connected to one end of the lower leg link 5 via the second folding assembly 7.
[0098] In the unfolded state, thigh link 3 and lower leg link 5 are unfolded together; in the folded state, thigh link 3 and lower leg link 5 are folded together.
[0099] With the above arrangement, when the exoskeleton device is deployed, the first leg module 20 and the second leg module 30 can be connected to the wearer's thigh via the thigh link 3 and to the wearer's lower leg via the calf link 5, respectively, to provide mechanical assistance to the hip and knee joints, achieving mechanical assistance to all four joints. Furthermore, the thigh link 3 can be folded using the first folding component 1, and the calf link 5 can be folded using the second folding component 7, reducing the overall size of the first leg module 20 and the second leg module 30.
[0100] Combination Figure 9 and Figure 10 As shown, in some embodiments, the second folding assembly 7 includes at least one second folding hinge 71 and a third connector 72, the third connector 72 being connected to the knee joint motor 6, and at least one second folding hinge 71 being connected to the third connector 72 and the lower leg link 5 respectively.
[0101] The axis of the knee joint motor 6 is arranged along the left-right direction of the human body, and the axis of at least one second folding hinge 71 is arranged along the front-back direction of the human body.
[0102] With the above arrangement, the second folding assembly 7 can be connected to the knee joint motor 6 via the third connector 72. The knee joint motor 6 drives the third connector 72 to rotate around the axis of the knee joint motor 6, thereby driving the lower leg connecting rod 5 to rotate, thus realizing mechanical assistance of the knee joint.
[0103] In some embodiments, the third connector 72 is provided with a third limiting structure (not shown in the figure), and the thigh link 3 is provided with a fourth limiting structure (not shown in the figure). The third limiting structure and the fourth limiting structure cooperate with each other to limit and fix the third connector 72 and the thigh link 3 at the target angle, so that the thigh link 3 and the lower leg link 5 remain folded together.
[0104] With the above arrangement, the third and fourth limiting structures can limit and fix the lower leg link 5 and the thigh link 3 in the folded state by restricting the relative position of the third connector 72 and the thigh link 3. This is beneficial to improving the storage and transportation convenience of the exoskeleton device in the folded state.
[0105] In some possible implementations, one of the third and fourth limiting structures is a positioning ball, and the other is a positioning groove. When the third and fourth limiting structures cooperate with each other, the positioning ball is pressed into the positioning groove by elastic force, thereby achieving the limiting and fixing of the third and fourth limiting structures.
[0106] In the description of this application, "several" and "at least one" as mentioned herein refer to one or more, and "multiple" and "at least two" refer to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.
[0107] Unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical 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.
[0108] 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. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0109] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0110] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this application.
[0111] The above description is merely an embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.
Claims
1. An exoskeleton device, characterized in that, The exoskeleton device includes: a waist-wearing module (10), a first leg module (20), and a second leg module (30); The first leg module (20) and the second leg module (30) are rotatably connected to the waist wearing module (10); The first leg module (20) and the second leg module (30) each include a first folding assembly (1); The first folding assembly (1) includes at least two first folding hinges (11), which are connected in series and spaced apart at the ends of the first leg module (20) and the second leg module (30) near the waist wearing module (10); The exoskeleton device includes an unfolded state and a folded state; In the unfolded state, the first leg module (20) and the second leg module (30) are unfolded and arranged in parallel at intervals; in the folded state, the first leg module (20) and the second leg module (30) are folded and arranged in layers.
2. The exoskeleton device according to claim 1, characterized in that, The first leg module (20) and the second leg module (30) are rotatably connected to the waist wearing module (10) along the first axis (001) in the left-right direction of the human body, and the axes of the at least two first folding hinges (11) are perpendicular to the first axis (001).
3. The exoskeleton device according to claim 1, characterized in that, The positions of the at least two first folding hinges (11) on the first leg module (20) and the at least two first folding hinges (11) on the second leg module (30) are symmetrical.
4. The exoskeleton device according to any one of claims 1 to 3, characterized in that, The waist-wearing module (10) includes an arc-shaped waist bar (2), one end of which is rotatably connected to the first leg module (20), and the other end is rotatably connected to the second leg module (30); In the folded state, at least a portion of the first leg module (20) and the second leg module (30) are stacked and arranged within the concave region (20a) of the arcuate waist bar (2).
5. The exoskeleton device according to claim 4, characterized in that, The first leg module (20) and the second leg module (30) each include a thigh link (3), one end of which is connected to the arc-shaped waist bar (2) through the first folding assembly (1); In the folded state, the two thigh links (3) are stacked on top of each other, and the angle between each thigh link (3) and the plane containing the arc-shaped waist bar (2) is less than or equal to 10 degrees.
6. The exoskeleton device according to claim 5, characterized in that, Each of the first folding components (1) includes two first folding hinges (11), a first connector (12), and a second connector (13); The waist wear module (10) also includes a hip joint motor (4) located at the end of the arc-shaped waist bar (2); Two first folding hinges (11) are located at both ends of the second connector (13), one of the first folding hinges (11) is connected to the hip joint motor (4) through the first connector (12), and the other first folding hinge (11) is connected to the thigh link (3).
7. The exoskeleton device according to claim 6, characterized in that, The first connector (12) is provided with a first limiting structure (121), and the arc-shaped waist bar (2) is provided with a second limiting structure (31). The first limiting structure (121) and the second limiting structure (31) cooperate with each other to limit and fix the first connector (12) and the arc-shaped waist bar (2) at the target angle, so that the thigh connecting rod (3) is limited within the concave area (20a) of the arc-shaped waist bar (2).
8. The exoskeleton device according to any one of claims 5 to 7, characterized in that, The first leg module (20) and the second leg module (30) also include a thigh support rod (8), the thigh support rod (8) includes a fixed support part (81) and a movable support part (82), the fixed support part (81) is connected to the thigh connecting rod (3), the movable support part (82) is rotatably connected to the fixed support part (81), and the rotation axis of the movable support part (82) is parallel to the rotation axis of the first folding hinge (11).
9. The exoskeleton device according to claim 4, characterized in that, The first leg module (20) and the second leg module (30) further include a thigh link (3), a calf link (5), a knee joint motor (6), and a second folding assembly (7), respectively; One end of the thigh link (3) is connected to the arc-shaped waist bar (2) through the first folding assembly (1), and the other end is provided with the knee joint motor (6). The knee joint motor (6) is connected to one end of the lower leg link (5) through the second folding assembly (7). In the unfolded state, the thigh link (3) and the lower leg link (5) are unfolded together; in the folded state, the thigh link (3) and the lower leg link (5) are folded together.
10. The exoskeleton device according to claim 9, characterized in that, The second folding assembly (7) includes at least one second folding hinge (71) and a third connector (72), the third connector (72) being connected to the knee joint motor (6), and the at least one second folding hinge (71) being connected to the third connector (72) and the lower leg link (5) respectively; The axis of the knee joint motor (6) is arranged along the left-right direction of the human body, and the axis of the at least one second folding hinge (71) is arranged along the front-back direction of the human body.
11. The exoskeleton device according to claim 10, characterized in that, The third connector (72) is provided with a third limiting structure, and the thigh link (3) is provided with a fourth limiting structure. The third limiting structure and the fourth limiting structure cooperate with each other to limit and fix the third connector (72) and the thigh link (3) at the target angle, so that the thigh link (3) and the lower leg link (5) remain folded together.