Back module structure of active hip joint assisting exoskeleton

Abstract

The application discloses a back module structure of an active hip joint assisting exoskeleton, and belongs to the exoskeleton field.The back module structure comprises a back plate, wherein a foldable tray is arranged on the back plate, the tray is hinged to the back plate, the tray can be rotated relative to the back plate to a flat state or a close state, and the tray is used for supporting heavy objects in the flat state.The special supporting structure arranged on the back plate can directly support small heavy objects such as tools and spare parts, the load pressure of a wearer is reduced, the influence of an additional backpack on the wearing fit is avoided, the coordination of hip joint assisting actions is ensured, and the use experience is obviously improved.

Description

Technical Field

[0001] This invention belongs to the field of exoskeletons, and more specifically, relates to a back module structure of an active hip joint-assisted exoskeleton. Background Technology

[0002] Active hip joint assistive exoskeletons are wearable devices that can assist human movement and reduce physical load. They are widely used in industrial operations, rehabilitation training, outdoor weight-bearing scenarios, etc. The back module, as the core load-bearing and connecting component, directly affects the wearing comfort, functional practicality and overall adaptability of the exoskeleton.

[0003] Currently, most active hip-assisted exoskeletons use an integrated fixation structure for their back modules, primarily serving only basic functions such as wear fixation and power module mounting. This results in limited functionality and flexibility. In practical applications, wearers often need to carry small, heavy items such as tools and spare parts. Existing back modules lack dedicated support structures, forcing the wearer to carry these items via an additional backpack. This not only increases the wearer's burden but may also affect the exoskeleton's fit, interfere with the coordination of hip-assisted movements, and reduce the overall user experience.

[0004] Meanwhile, the existing connection methods between the back module and other components of the exoskeleton (such as the power module, waist belt, support tube, etc.) are mostly fixed connections or cumbersome bolt connections. When it is necessary to inspect or store the power module, or clean or replace the waist belt, the disassembly process is time-consuming and laborious, with poor operation convenience, which is not conducive to the daily maintenance and long-term use of the equipment. Summary of the Invention

[0005] The main objective of this invention is to provide a back module structure for an active hip joint-assisted exoskeleton, thereby improving the practicality, convenience, and wearing experience of the exoskeleton.

[0006] According to a first aspect of the present invention, a back module structure for an active hip joint assistive exoskeleton is provided, including a back plate, wherein a foldable tray is provided on the back plate, the tray is hinged to the back plate, and the tray can be rotated relative to the back plate to a flat state or a close-fitting state, wherein the tray is used to support heavy objects in the flat state.

[0007] According to the back module structure of the active hip joint assistive exoskeleton of the first aspect of the present invention, the rotation angle of the tray is 0-90°.

[0008] According to the back module structure of the active hip joint assistive exoskeleton according to the first aspect of the present invention, the back plate is provided with a slot, and two first hinge holes are symmetrically opened on both sides of the slot. The tray is hinged to the back plate through the two first hinge holes. The bottom surface of the slot is set as a limiting slope, and the tray, when flattened, abuts against the limiting slope.

[0009] According to the back module structure of the active hip joint assistive exoskeleton of the first aspect of the present invention, both sides of the back plate are provided with a bent tube clamping mechanism. The back plate and the bent tube clamping mechanism are integrally formed. The bent tube clamping mechanism includes a bent tube hole, a first pin hole, a second pin hole, a tension groove, a wrench groove, and a clamping groove formed on the back plate. The bent tube clamping mechanism also includes a tension block and a clamping wrench. The tension block is disposed in the tension groove. The tension block is hinged to the back plate by inserting a first pin into the first pin hole. The clamping wrench is disposed in the wrench groove. The clamping wrench is hinged to the back plate by inserting a second pin into the second pin hole. The tension block is provided with a first groove and a tension block pin hole. The clamping wrench is connected to the tension block by passing through the first groove through a third pin.

[0010] According to the back module structure of the active hip joint assistive exoskeleton of the first aspect embodiment of the present invention, the curved tube hole is detachably connected to a curved tube, the cross section of the curved tube is slightly smaller than the cross section of the curved tube hole in the relaxed state, the clamping wrench has two wrench pin holes, the distance between the first pin hole and the second pin hole is b, the maximum distance between the tensioning block pin hole and the first slot hole is a, and the distance between the two wrench pin holes is c, wherein b+c<a.

[0011] According to the back module structure of the active hip joint assistive exoskeleton according to the first aspect embodiment of the present invention, the curved tube is provided with a quick-release device, the curved tube is detachably connected to the power module through the quick-release device, and the power module is provided with a quick-release interface adapted to the quick-release device, so as to facilitate the disassembly and storage of the power module.

[0012] According to the back module structure of the active hip joint assistive exoskeleton of the first aspect of the present invention, a quick-release groove is provided on the curved tube, and a return spring hole is provided at the bottom of the quick-release groove. The quick-release device includes a quick-release button, a split plate, and a second return spring. The quick-release button is installed in the quick-release groove. The two ends of the second return spring respectively abut against the bottom of the return spring hole and the quick-release button. A fixing head is provided at the bottom of the quick-release button. A second fixing hole is provided at the bottom of the curved tube. A dovetail groove is provided on the side of the curved tube away from the second fixing hole. The dovetail groove is connected to the second fixing hole. The fixing head passes through the second fixing hole and is engaged in the dovetail groove.

[0013] According to the back module structure of the active hip joint assistive exoskeleton of the first aspect of the present invention, the back plate is provided with belt buckles on both sides. The belt buckles are oblong hole structures. The belt buckles are detachably connected to a belt. Both ends of the belt are provided with Velcro or buckles. One end of the belt passes through the belt buckle and is detachably connected to the back plate, so as to realize quick removal and washing of the belt.

[0014] According to the back module structure of the active hip joint assistive exoskeleton of the first aspect of the present invention, the waist belt is made of elastic material and is provided with a plurality of hooks for hanging small objects.

[0015] According to the back module structure of the active hip joint assistive exoskeleton according to the first aspect embodiment of the present invention, the back plate is made of thin sheet material, and the two sides of the back plate extend to form side wings for fitting the waist of the wearer.

[0016] One of the above-described technical solutions of the present invention has at least one of the following advantages or beneficial effects:

[0017] This invention features a specialized support structure on the back panel that can directly support small heavy objects such as tools and spare parts. This reduces the wearer's load and avoids the impact of an extra backpack on the fit, ensuring the coordination of hip joint assisted movements and significantly improving the user experience. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0019] Figure 1 This is a schematic diagram of the overall structure of the active hip-assisted exoskeleton in the first embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the power module in the first embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the back plate structure in the first embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the back plate from another perspective in the first embodiment of the present invention;

[0023] Figure 5 This is a cross-sectional view of the clamping wrench of the pipe bending clamping mechanism in the closed state in the first embodiment of the present invention;

[0024] Figure 6 This is a cross-sectional view of the clamping wrench of the pipe bending clamping mechanism in the first embodiment of the present invention in the open state;

[0025] Figure 7 yes Figure 6 A magnified view of a portion of the image;

[0026] Figure 8 This is a schematic diagram of the connection between the back plate and the bent pipe in the first embodiment of the present invention;

[0027] Figure 9 This is a schematic diagram of the structure of the left inner cover in the first embodiment of the present invention;

[0028] Figure 10 This is a schematic diagram of the left inner cover from another perspective in the first embodiment of the present invention;

[0029] Figure 11 This is a schematic diagram of the battery module after installation in the first embodiment of the present invention;

[0030] Figure 12 This is a schematic diagram of the battery module after disassembly in the first embodiment of the present invention;

[0031] Figure 13 This is a schematic diagram of the bent pipe in the first embodiment of the present invention;

[0032] Figure 14 This is a schematic diagram of the bent pipe from another perspective in the first embodiment of the present invention;

[0033] Figure 15 This is a cross-sectional view of the bent pipe in the first embodiment of the present invention. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below. Examples of these 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 are only used to explain the present invention, and should not be construed as limiting the present invention.

[0035] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0036] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0037] 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, a feature defined as "first" and "second" may explicitly or implicitly include one or more features.

[0038] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection or a connection that allows communication between the two components; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components, an indirect connection, or an interaction between two components.

[0039] The following disclosure provides many different implementations or examples for different ways of implementing the present invention.

[0040] Reference Figures 1 to 15 As shown, a back module structure of an active hip joint assistive exoskeleton is provided, including a back plate 1, a foldable tray 2 on the back plate 1, the tray 2 being hinged to the back plate 1, the tray 2 being able to rotate relative to the back plate 1 to a flat state or a close-fitting state, the tray 2 being used to support heavy objects in the flat state.

[0041] A foldable, hinged tray 2 is installed on the back panel 1, achieving the dual function of tray 2 lying flat to support heavy objects and fitting snugly against the back panel 1 for storage. This solves the problem of existing back modules lacking a dedicated support structure. It reduces the wearer's burden and avoids the drawbacks of an additional backpack interfering with the fit of the exoskeleton and affecting the coordination of hip joint assistance. At the same time, the foldable design does not take up extra space, improving the exoskeleton's functional versatility and usage flexibility, and optimizing the wearing experience.

[0042] In some embodiments of this invention, the rotation angle of the tray 2 is 0-90°, where 0° corresponds to the stowed state of being flush against the back panel 1, and 90° corresponds to the horizontal support state. This limited angle range makes the function of the tray 2 more precise and controllable. It ensures that the tray 2 can stably support heavy objects when flat (with uniform force distribution in the horizontal state), and also ensures that it fits snugly against the back panel 1 when stowed, without protruding or affecting the overall wearability and mobility of the exoskeleton. This avoids problems such as inconvenient stowage due to an excessively large angle or unstable support due to an excessively small angle.

[0043] In some embodiments of the present invention, the back plate 1 is provided with a slot 101, and two first hinge holes 103 are symmetrically provided on both sides of the slot 101. The tray 2 is hinged to the back plate 1 through the two first hinge holes 103. The bottom surface of the slot 101 is set as a limiting slope 102, and the tray 2, when flattened, abuts against the limiting slope 102. The first hinge holes 103 on both sides of the slot 101 realize a stable hinge between the tray 2 and the back plate 1, ensuring smooth and uninterrupted rotation of the tray 2. The limiting slope 102 on the bottom surface of the slot 101 abuts against the flattened tray 2, which can effectively support and limit the tray 2, preventing the tray 2 from tilting or sinking under force when supporting heavy objects, thus improving the stability and reliability of the tray 2. At the same time, the design of the slot 101 can accommodate the hinge structure of the tray 2, making the overall structure more compact and avoiding protruding parts from affecting wearing comfort.

[0044] In some embodiments of the present invention, both sides of the back plate 1 are provided with a pipe bending clamping mechanism. The back plate 1 and the pipe bending clamping mechanism are integrally formed. The pipe bending clamping mechanism includes a pipe bending hole 105, a first pin hole 106, a second pin hole 107, a tensioning groove 108, a wrench groove 109, and a clamping groove 110 opened on the back plate 1. The pipe bending clamping mechanism also includes a tensioning block 16 and a clamping wrench 4. The tensioning block 16 is disposed in the tensioning groove 108. The tensioning block 16 is hinged to the back plate 1 by inserting a first pin 22 into the first pin hole 106. The clamping wrench 4 is disposed in the wrench groove 109. The clamping wrench 4 is hinged to the back plate 1 by inserting a second pin 23 into the second pin hole 107. The tensioning block 16 is provided with a first slot 1601 and a tensioning block pin hole. The clamping wrench 4 is connected to the tensioning block 16 by passing through the first slot 1601 through a third pin 24. The backplate 1 and the bending tube clamping mechanism are integrally molded, reducing the number of parts, simplifying the assembly process, and improving the overall strength and stability of the back module structure, avoiding the risk of loose connections in a split structure. The bending tube clamping mechanism, through the cooperation of the tension block 16, the clamping wrench 4, and multiple sets of pins, enables the quick clamping and loosening of the bending tube 3. Compared with traditional bolt connections, it is more convenient to operate and can quickly complete the installation and disassembly of the bending tube, facilitating the assembly, maintenance, and storage of the exoskeleton.

[0045] Furthermore, a bend 3 is detachably connected to the bend hole 105. The cross-section of the bend 3 is slightly smaller than the cross-section of the bend hole 105 in the relaxed state. Two wrench pin holes are provided on the clamping wrench 4. The distance between the first pin hole 106 and the second pin hole 107 is b. The maximum distance between the tensioning block pin hole and the first slot hole 1601 is a. The distance between the two wrench pin holes is c, where b + c < a. The slightly smaller cross-section of the bend 3 compared to the bend hole 105 in the relaxed state facilitates the insertion and removal of the bend 3. Simultaneously, the clamping action of the bend clamping mechanism ensures a tight fixation of the bend 3, preventing it from shaking during use. By limiting the dimensional relationship b+c<a, it is ensured that when the clamping wrench 4 rotates, it can pull the tensioning block 16 through the third pin 24, so that the tensioning block 16 generates a stable clamping force on the bend 3, ensuring the firmness of the connection between the bend 3 and the back plate 1. At the same time, it can be quickly released when unlocking, further improving the ease of operation. Moreover, the size design is adapted to the transmission logic of the clamping mechanism, ensuring that the clamping action is reliable and not prone to failure.

[0046] In some embodiments of the present invention, the bent pipe 3 is equipped with a quick-release device, and the bent pipe 3 is detachably connected to the power module 200 via the quick-release device. The power module 200 is provided with a quick-release interface adapted to the quick-release device, facilitating the disassembly and storage of the power module 200. By providing a quick-release device on the bent pipe 3, in conjunction with the quick-release interface of the power module 200, a quick and detachable connection between the power module 200 and the bent pipe 3 is achieved, solving the problem of cumbersome, time-consuming, and laborious disassembly of existing power modules 200. This facilitates rapid inspection, charging, replacement, and storage of the power module 200, reduces the difficulty of daily maintenance of the exoskeleton, improves the ease of use and practicality of the equipment, and the detachable design also facilitates the individual storage and transportation of each component of the exoskeleton.

[0047] Furthermore, a quick-release groove 301 is provided on the bent pipe 3, and a return spring hole 30101 is provided at the bottom of the quick-release groove 301. The quick-release device includes a quick-release button 13, a dividing plate 14, and a second return spring 15. The quick-release button 13 is installed in the quick-release groove 301. The two ends of the second return spring 15 abut against the bottom of the return spring hole 30101 and the quick-release button 13, respectively. A fixing head 1301 is provided at the bottom of the quick-release button 13. A second fixing hole 303 is provided at the bottom of the bent pipe 3. A dovetail groove 302 is provided on the side of the bent pipe 3 away from the second fixing hole 303. The dovetail groove 302 is connected to the second fixing hole 303. The fixing head 1301 passes through the second fixing hole 303 and is engaged in the dovetail groove 302. Through the cooperation of the quick-release groove 301, the return spring hole 30101, the quick-release button 13, and the second return spring 15, the quick-release device can be precisely assembled and operate stably. The second reset spring 15 can automatically reset the quick release button 13, ensuring that the fixing head 1301 is stably engaged in the connection between the dovetail groove 302 and the second fixing hole 303, thereby achieving quick locking of the power module 200; pressing the quick release button 13 can disengage the fixing head 1301 from the dovetail groove 302, completing the quick disassembly of the power module 200. The structure is simple, the operation is convenient, and the locking is reliable, preventing the power module 200 from accidentally falling off during use. At the same time, the layout of each component is reasonable, does not occupy extra space, and is compatible with the overall structure of the bend 3.

[0048] In some embodiments of the present invention, belt buckles 104 are provided on both sides of the back panel 1. The belt buckles 104 have an elongated oval hole structure and are detachably connected to a belt 5. Both ends of the belt 5 are provided with Velcro or buckles. One end of the belt 5 passes through the belt buckle 104 and is detachably connected to the back panel 1, enabling quick removal and washing of the belt 5. The elongated oval hole shape of the belt buckle 104 is suitable for the installation and adjustment of the belt 5. The Velcro or buckle design at both ends of the belt 5, together with the belt buckle 104, enables the detachable connection between the belt 5 and the back panel 1, solving the problem of cumbersome disassembly and inconvenience of washing existing belts 5. This allows for quick removal and washing of the belt 5, improving the wearer's hygiene experience. The detachable design also facilitates adjustment of the belt tightness according to the wearer's body shape, improving wearing comfort. The elongated oval hole shape of the belt buckle 104 also prevents the belt 5 from shifting after installation, ensuring the belt 5's fixation effect.

[0049] Furthermore, the waist belt 5 is made of elastic material and features several hooks for hanging small items. The elastic material of the waist belt 5 allows it to better conform to the wearer's waist, adapting to different body types and improving wearing comfort. Simultaneously, the elastic design cushions the impact generated during exoskeleton movement, reducing pressure on the wearer's lower back. The hooks on the waist belt 5 can be used to hang tools, spare parts, and other small items, further expanding the support function of the back module. This eliminates the need to carry additional containers, reduces the wearer's burden, and enhances the exoskeleton's practicality in industrial operations, outdoor heavy-duty scenarios, and more.

[0050] In some embodiments of the present invention, the backplate 1 is made of a thin sheet material, and the two sides of the backplate 1 extend to form side wings for fitting the wearer's waist. The thin sheet material used for the backplate 1 reduces the overall weight of the back module, lowers the wearer's load, and improves ease of wear. The side wings extending from the backplate 1 fit the wearer's waist, increasing the contact area between the backplate 1 and the body, resulting in more even force distribution and avoiding discomfort caused by excessive local pressure. Simultaneously, it improves the fit and stability of the backplate 1, preventing displacement of the backplate 1 during exoskeleton use and ensuring the coordination and reliability of hip joint-assisted movements.

[0051] The active hip-assisted exoskeleton includes a back module 100, at least one power module 200, and a leg module 300. Both sides of the back module 100 are provided with a curved tube clamping mechanism. The back module 100 is detachably connected to the curved tube 3 through the curved tube clamping mechanism. The other end of the curved tube 3 is detachably connected to the power module 200. The other end of the power module 200 is hinged to the leg module 300. The power module 200 is provided with a motor 19, a control board 18, a control button 8, and a power module.

[0052] When there is only one power module 200, the power module 200 is located on one side of the back module 100. The power module 200 can be independently controlled and provides assistance to the single-leg module 300.

[0053] When there are two power modules 200, the two power modules 200 are respectively set on both sides of the back module 100. The two power modules 200 are connected through Bluetooth or wire harness and provide assistance to the leg modules 300 on both sides.

[0054] The power module 200 can be set up individually or in pairs. A single power module 200 can be controlled independently, adapting to scenarios where one leg needs assistance, such as hemiplegia. Two power modules 200 can be connected via Bluetooth or a wiring harness, adapting to the needs of assisting both legs, making it highly versatile. The back module 100 and the curved tube 3, as well as the curved tube 3 and the power module 200, are detachably connected, allowing for quick disassembly of each component, significantly reducing the storage volume, and facilitating the inspection and replacement of individual components, thus reducing maintenance costs. The power module 200 integrates the motor 19, control board 18, control buttons 8, and power module, eliminating the need for an additional independent main unit, reducing the number of wiring harnesses, lowering the overall weight, avoiding interference between the main unit and the backpack, and adapting to various usage scenarios such as outdoor hiking.

[0055] The back panel module 100 includes a back panel 1, a folding tray 2, and a waist belt 5. The back panel 1 has a slot 101 in the middle, and the bottom surface of the slot 101 is set as a limiting slope 102. The slot 101 has first hinge holes 103 on both sides. The folding tray 2 is rotatably connected to the two first hinge holes 103 through a hinge shaft so that the folding tray 2 fits and abuts against the limiting slope 102 after being put down. The back panel 1 has a waist belt buckle 104 with an elongated hole structure on both sides. One end of the waist belt 5 has a Velcro. The end of the waist belt 5 with the Velcro passes through the waist belt buckle 104 and is detachably connected to the back panel 1. The back panel 1 has Velcro that is attached to the Velcro. The folding tray 2 can rotate via a hinge shaft. When lowered, it fits against the limiting slope 102, supporting heavy items such as backpacks and transferring some of the load to the waist, reducing shoulder pressure. It can also counteract the reaction force on the waist when the motor assists, relieving abdominal pressure and improving wearing comfort. The waist belt 5 is detachably connected to the back panel 1 via Velcro. The Velcro passes through the elongated oval waist belt buckle 104, ensuring a secure connection and easy removal. The waist belt 5 can be quickly removed for cleaning and replacement, maintaining hygiene. The design of the slot 101 and the limiting slope 102 ensures stable support when the folding tray 2 is lowered. The hinge structure is flexible and can be folded against the back panel 1 when not in use, without taking up extra space. The elongated oval waist belt buckle 104 can accommodate different waist sizes, improving wearability.

[0056] Two first hinge holes 103 are provided on both sides of the slot 101. The folding tray 2 is hinged to the back plate 1 through the two first hinge holes 103. The bottom surface of the slot 1 is a limiting slope 102. The folding tray 2 can be lowered to contact the limiting slope 102 and be limited by the limiting slope 102. When the folding tray 2 is flat, the weight of the backpack carried by the wearer is supported by the folding tray 2, transferring part of the weight of the backpack to the waist. The pressure generated by the weight on the folding tray can just offset part of the reaction force generated by the motor 19 on the waist when the leg is lifted, which can greatly resist the pressure on the wearer's abdomen during the operation of the exoskeleton and improve the wearing experience. When the backpack is folded up or not carrying any weight, the folding tray 2 can be rotated to fit snugly against the back plate 1 to reduce the volume. The back plate 1 has a waist belt buckle 104 with an elongated hole structure on both sides. One end of the waist belt 5 has a Velcro. The Velcro passes through the waist belt buckle 104 and connects to the back plate 1, so the waist belt 5 can be quickly removed from the back plate 1 for cleaning or replacement.

[0057] The pipe bending clamping mechanism is arranged on both sides of the back plate 1. The pipe bending clamping mechanism includes a pipe bending hole 105, a first pin hole 106, a second pin hole 107, a tensioning groove 108, a wrench groove 109, and a clamping groove 110. The pipe bending hole 105, the first pin hole 106, the second pin hole 107, the tensioning groove 108, the wrench groove 109, and the clamping groove 110 are all symmetrically arranged on both sides of the bottom end of the back plate 1. The clamping groove 110 is connected to the pipe bending hole 105. The first pin hole 106 and the second pin hole 107 are respectively arranged on both sides of the clamping groove 110. All components of the bending tube clamping mechanism (bending tube holes, pin holes, etc.) are symmetrically arranged on both sides of the bottom end of the back plate 1 to ensure that the clamping force of the bending tubes 3 on both sides is consistent, the force on the exoskeleton is balanced, and the wearing stability and safety of use are improved. The bending tube clamping mechanism is integrally formed with the back plate 1, eliminating the need for additional splicing parts, reducing connection gaps, reducing the risk of loosening, and has a simple structure and high mechanical strength, making it suitable for long-term assistive use scenarios and extending the service life of the exoskeleton.

[0058] The tensioning groove 108 is provided with a tensioning block 16. The tensioning block 16 has a first slot 1601 and a tensioning block pin hole. The tensioning block 16 is hinged to the first pin hole 106 by a first pin 22. The wrench groove 109 is provided with a clamping wrench 4. The clamping wrench 4 has two wrench pin holes. One end of the clamping wrench 4 is hinged to the second pin hole 107 by a second pin 23. The end of the clamping wrench 4 near the second pin hole 107 passes through the first slot 1601 by a third pin 24 and is connected to the tensioning block 16. By rotating the clamping wrench 4, in conjunction with the linkage between the pin and the tensioning block 16, the bending tube 3 can be quickly clamped and released without the need for additional tools. The operation is simple and allows the wearer to quickly adjust the position of the bending tube or disassemble the bending tube 3. The hinged engagement between the tensioning block 16 and the clamping wrench 4, as well as the limiting effect of the first slot 1601, ensures that the tensioning block 16 can apply tension evenly when the clamping wrench 4 is rotated, ensuring that the bending tube 3 is stably clamped and preventing the bending tube 3 from loosening during use, thus improving the stability of the exoskeleton. The tensioning block 16 and the clamping wrench 4 are respectively embedded in the tensioning slot 108 and the wrench slot 109, and do not protrude from the surface of the back panel 1, avoiding interference with backpacks, clothing, etc., while reducing the overall volume of the back module 100 and improving the ease of wearing.

[0059] The bent tube 3 is detachably installed inside the bent tube hole 105. The cross-sectional area of ​​the bent tube 3 is slightly smaller than that of the bent tube hole 105 in the relaxed state. The distance between the first pin hole 106 and the second pin hole 107 is b, the maximum distance between the tension block pin hole and the first slot hole 1601 is a, and the distance between the two wrench pin holes is c, where b+c<c. The cross-sectional area of ​​the bent tube 3 is slightly smaller than that of the bent tube hole 105 in the relaxed state, ensuring that the bent tube 3 can be freely inserted and removed and its position adjusted when the bent tube clamping mechanism is relaxed. This facilitates adjusting the distance between the two bent tubes 3 according to the wearer's body shape, improving adaptability. By reasonably setting the distance dimensions of each pin hole and slot hole (b+c<a), it is ensured that the clamping wrench 4 can provide sufficient tension to the tension block 16 when it rotates, causing the clamping slot 110 to contract and the bent tube hole 105 to tightly clamp the bent tube 3, preventing the bent tube 3 from shifting during exoskeleton operation and ensuring safe use.

[0060] The pipe bending clamping mechanism includes a pipe bending hole 105, a first pin hole 106, a second pin hole 107, a tensioning groove 108, a wrench groove 109, and a clamping groove 110. A tensioning block 16 is disposed within the tensioning groove 108 and is hinged to the back plate 1 via a first pin 22 inserted into the first pin hole 106. A clamping wrench 4 is disposed within the wrench groove 109 and is hinged to the back plate 1 via a second pin 23 inserted into the second pin hole 107. The tensioning block 16 has a first slot 1601, and the tensioning wrench 4 is connected to the tensioning block 16 via a third pin 24 passing through the first slot 1601. A pipe bend 3 is disposed within the pipe bending holes 105 on both sides, and the cross-sectional area of ​​the pipe bend 3 is slightly smaller than the cross-sectional area of ​​the pipe bending holes 105 in the relaxed state. The distance between the first pin hole 106 and the second pin hole 107 is b, the maximum distance between the pin hole on the tension block 16 and the first slot hole 1601 is a, and the distance between the two wrench pin holes on the clamping wrench 4 is c. In terms of dimensions, b+c<a. Therefore, when the clamping wrench 4 is released, the tension block 16 is not under force, and at this time, the bend hole 105 has no clamping force on the bend 3, and the bend 3 can be inserted and removed to adjust the distance between the two sides. When the clamping wrench 4 is rotated clockwise to be close to the back plate 1, due to the dimensional relationship of a, b, and c, the tension block 16 is under tension, which causes the clamping slot 110 to shrink through the first pin 22 and the third pin 24, and the bend hole 105 clamps the bend 3. The bend 3 is fixed relative to the back plate 1, realizing the width adjustment of the two sides of the bend 3.

[0061] The power module 200 includes a left inner cover 6 and a left outer cover 9, which are connected to form a power box. The interior of the left inner cover 6 has two partitions 605 to divide it into a motor mounting cavity, a control cavity, and a battery quick-release cavity. The bottom of the motor mounting cavity has a flange mounting surface 604, and the motor 19 is fixedly mounted on the flange mounting surface 604. The output end of the motor is connected to an output block 10, which is hinged to the leg module 300. The interior of the control cavity has several slots 603, and the control board 18 is fixed in the slots 603. The top of the control cavity has a button slot 602 and a button hole 60201. The control button 8 is installed in the button slot 602. The top of the control board 18 has a control button 1801 with contacts. The contacts of the control button 1801 pass through the button hole 60201 and correspond to the control button 8. Pressing the control button 8 realizes the mode switching and start / stop control of the exoskeleton. The left inner cover 6 is divided into a motor mounting cavity, a control cavity, and a battery quick-release cavity by a partition 605. Each component is installed in a separate area to avoid mutual interference, facilitate wiring and maintenance, and reduce the size of the power module. The motor 19 is fixed by the flange mounting surface 604, which is secure and prevents the motor 19 from shaking during operation. This ensures that the power output of the motor 19 can be stably transmitted to the output 10, thereby providing stable assistance to the leg module 300.

[0062] The power module includes a battery box 7, a battery cell 17, a fixing button 20, and a first reset spring 21. The top of the battery cell 17 is provided with a quick-connect connector 1701 that mates with the control board 18. The fixing button 20 and the first reset spring 21 are respectively installed at the tail of the battery box 7. The bottom of the fixing button 20 is provided with a hook 2001. The tail of the left inner cover 6 is provided with a dovetail guide rail 601. The dovetail guide rail 601 is provided with a first fixing hole 60101 and a fixing notch 60102. The battery module slides and engages with the battery quick-release cavity through the dovetail guide rail 601, so that the hook 2001 is embedded in the fixing notch 60102. The battery module slides into the quick-release battery cavity via the dovetail guide rail 601. With the help of the fixing button 20 and the first return spring 21, pressing the fixing button 20 allows for quick battery removal without complicated operations, facilitating battery charging, replacement, and maintenance. After installation, the hook 2001 engages with the fixing notch 60102, achieving a secure fixation under the action of the first return spring 21. Simultaneously, the quick-connect connector 1701 precisely aligns with the control board 18, ensuring stable power supply and preventing issues such as poor contact or power outages during use. The guiding effect of the dovetail guide rail 601 ensures precise battery module installation, and the effective limiting effect of the fixing notch 60102 and hook 2001 prevents accidental detachment of the battery module. The elasticity of the return spring ensures smooth operation of the fixing button and a tight fit of the hook, enhancing structural safety.

[0063] The power module 200 consists of a power box composed of a left inner cover 6 and a left outer cover 9. The power box is connected to a power module at the rear. Inside the power box are a control board 18 and a motor 19. The rear of the left inner cover 6 is provided with a dovetail guide rail 601. The dovetail guide rail 601 has a first fixing hole 60101 and a fixing notch 60102 on one side. The left inner cover 6 has two partitions 605, dividing it into three parts. The bottom of the left section has a flange mounting surface 604 for mounting a motor 19. The motor 19 is connected to the output block 10 through its output end and outputs power. The middle section is a control cavity with a slot 603 for fixing the control board 18. The top of the control cavity has a button slot 602 with a button hole 60201. The control button 8 is located in the button slot 602. The top of the control board 18 has a control button 1801. The contact of the control button 1801 passes through the button hole 60201 and is aligned with the control button. Pressing the control button 8 can trigger the corresponding control button 1801. The right section is a battery cavity for quick-release fixing of the battery module. The battery module consists of a battery box 7, battery cells 17, a fixing button 20, and a first return spring 21. The top of the battery cell 7 has a quick-connect plug 1701 connecting to the control board 18. The fixing button 20 is located at the rear of the battery box 7, where the first return spring 21 is also located. A hook 2001 is located at the bottom of the fixing button 20. For quick-release installation of the battery module, the head of the battery module is aligned with the rear side of the left front cover 9 and snapped in. The quick-connect plug 1701 aligns with the control board 18. The hook 2001 on the fixing button 20 engages with the fixing notch 60102, and under the action of the first return spring 21, the hook 2001 hooks the fixing notch 60102, securing the battery module to the power module. Testing shows that the quick-connect plug 1701 is also connected to the control board 18, and the power module is powered on. To remove the battery module: press the fixing button 20, the hook 2001 moves to the right, disengaging from the fixing notch 60102, allowing the battery module to be removed from the power module.

[0064] The bend 3 is equipped with a quick-release device. The bend 3 has a quick-release groove 301. The bottom of the quick-release groove 301 has a return spring hole 30101. The quick-release device includes a quick-release button 13, a dividing plate 14, and a second return spring 15. The quick-release button 13 is installed in the quick-release groove 301. The two ends of the second return spring 15 abut against the bottom of the return spring hole 30101 and the quick-release button 13, respectively. The bottom of the quick-release button 13 has a fixing head 1301. The bottom of the bend 3 has a second fixing hole 303. The side of the bend 3 away from the second fixing hole 303 has a dovetail groove 302. The dovetail groove 302 is connected to the second fixing hole 303. The fixing head 1301 passes through the second fixing hole 303 and is inserted into the dovetail groove 302. With the cooperation of quick-release button 13 and second return spring 15, pressing quick-release button 13 can release the fixation and separate the power module 200 from the bent tube 3. No additional tools are required during installation; simply push it in to complete the fixation, greatly improving the efficiency of disassembly and assembly, and facilitating storage and maintenance. The quick-release device is integrated on the bent tube 3, and the power module 200 only needs to be equipped with a matching dovetail guide rail 601 and a fixing notch 60102, reducing the structural complexity of the power module 200. The second return spring 15 ensures that the quick-release button 13 automatically resets, and the fixing head 1301 fits tightly with the fixing notch 60102 to prevent loosening of the connection. The quick-release groove 301, the return spring hole 30101, and other structures are all set on the bent tube 3 and do not protrude from the surface of the bent tube 3, avoiding interference with other components and not increasing the overall volume of the exoskeleton, ensuring ease of wear.

[0065] The quick-release connection principle between the power module and the back module: The bend 3 is equipped with a quick-release device, which consists of a quick-release button 13, a split plate 14, and a second return spring 15. The bend 3 is equipped with a quick-release groove 301, and the bottom of the quick-release groove 301 is equipped with a return spring hole 30101. The quick-release button is set in the quick-release groove 301. One end of the second return spring 15 rests on the bottom of the return spring hole 30101, and the other end rests on the quick-release button 13. The bottom of the bend 3 is equipped with a second fixing hole 303, and the opposite side is equipped with a dovetail groove 302. The second fixing hole 303 connects to the dovetail groove 302. The bottom of the quick-release button 13 is equipped with a fixing head 1301, which passes through the second fixing hole 303 and is inserted into the dovetail groove 302.

[0066] The quick-release installation of the power module is as follows: Align the dovetail guide rail 601 on the left inner cover 6 with the dovetail groove 302 on the bent pipe 3 and push it in. The dovetail guide rail 601 presses against the fixing head 1301, causing the quick-release button 13 to move down and compress the second return spring 51. When the dovetail guide rail 601 is pushed all the way in, the fixing head 1301 is aligned with the fixing notch 60102. Under the action of the second return spring 15, the fixing head 1301 is embedded in the fixing notch 60102, thus achieving the connection between the power module and the bent pipe 3. To remove the power module: Press down the quick-release button 13, and the fixing head 1301 disengages from the fixing notch 60102. At this time, pushing down the power module will remove the power module.

[0067] The leg module 300 includes a leg rod 11 and a leg strap 12. One end of the leg rod 11 is hinged to the power module 200, and the other end of the leg rod 11 is detachably connected to the leg strap 12. The leg rod 11 is hinged to the power module 200 and can rotate flexibly with leg movement, conforming to the movement trajectory of the human leg and reducing movement interference. The leg strap 12 is detachably connected to the leg rod 11, making it easy to put on and take off and adapting to different leg shapes. With one end of the leg rod 11 hinged to the power module 200 and the other end connected to the leg strap 12, the power output by the motor 19 can be accurately transmitted to the leg through the leg rod 11 and the leg strap 12, ensuring the assist effect and helping the wearer reduce the burden of walking.

[0068] A female buckle 111 and an adjusting buckle 112 are fixedly installed at the end of the leg bar 11 away from the power module 200. A male buckle is fixedly connected to one end of the leg strap 12, and the male buckle is fastened to the female buckle 111. The other end of the leg strap 12 is connected to the adjusting buckle 112 to adjust the tightness of the leg strap 12. The fastening of the male buckle and the female buckle 111 is simple and allows for quick fixing and disassembly of the leg strap 12. At the same time, the fastening structure is firm and prevents the leg strap 12 from falling off during use. The leg strap 12 is connected to the leg bar 11 through the adjusting buckle 112, and the tightness of the leg strap 12 can be flexibly adjusted according to the wearer's leg circumference to ensure a close and comfortable fit, while avoiding excessive tightness that compresses the legs or excessive looseness that affects the transmission of power assist.

[0069] The above is a further detailed description of the present invention and should not be considered as a limitation on the specific implementation of the present invention. For those skilled in the art, simple deductions or substitutions without departing from the concept of the present invention are all within the protection scope of the present invention.

Claims

1. A back module structure for an active hip joint-assisted exoskeleton, characterized in that, Includes a back plate (1), on which a foldable tray (2) is provided. The tray (2) is hinged to the back plate (1). The tray (2) can be rotated relative to the back plate (1) to a flat state or a close-fitting state. The tray (2) is used to support heavy objects in the flat state.

2. The back module structure of the active hip joint assistive exoskeleton according to claim 1, characterized in that, The rotation angle of the tray (2) is 0-90°.

3. The back module structure of the active hip joint assistive exoskeleton according to claim 1, characterized in that, The back plate (1) is provided with a slot (101), and two first hinge holes (103) are symmetrically opened on both sides of the slot (101). The tray (2) is hinged to the back plate (1) through the two first hinge holes (103). The bottom surface of the slot (101) is set as a limiting slope (102), and the tray (2) after being flattened abuts against the limiting slope (102).

4. The back module structure of the active hip joint assistive exoskeleton according to claim 1, characterized in that, Both sides of the back plate (1) are provided with a pipe bending clamping mechanism. The back plate (1) and the pipe bending clamping mechanism are integrally formed. The pipe bending clamping mechanism includes a pipe bending hole (105), a first pin hole (106), a second pin hole (107), a tensioning groove (108), a wrench groove (109), and a clamping groove (110) opened on the back plate (1). The pipe bending clamping mechanism also includes a tensioning block (16) and a clamping wrench (4). The tensioning block (16) is disposed in the tensioning groove (108). The block (16) is hinged to the back plate (1) by inserting the first pin (22) into the first pin hole (106). The clamping wrench (4) is set in the wrench groove (109). The clamping wrench (4) is hinged to the back plate (1) by inserting the second pin (23) into the second pin hole (107). The tensioning block (16) is provided with a first slot (1601) and a tensioning block pin hole. The clamping wrench (4) passes through the first slot (1601) and is connected to the tensioning block (16) by passing the third pin (24).

5. The back module structure of the active hip joint assistive exoskeleton according to claim 4, characterized in that, The bend hole (105) is detachably connected to a bend (3). The cross-section of the bend (3) is slightly smaller than the cross-section of the bend hole (105) in the relaxed state. The clamping wrench (4) has two wrench pin holes. The distance between the first pin hole (106) and the second pin hole (107) is b. The maximum distance between the tensioning block pin hole and the first slot hole (1601) is a. The distance between the two wrench pin holes is c. Wherein, b+c<a.

6. The back module structure of the active hip joint assistive exoskeleton according to claim 5, characterized in that, The bend (3) is provided with a quick-release device. The bend (3) is detachably connected to the power module (200) through the quick-release device. The power module (200) is provided with a quick-release interface adapted to the quick-release device, which facilitates the disassembly and storage of the power module (200).

7. The back module structure of the active hip joint assistive exoskeleton according to claim 6, characterized in that, The bent tube (3) is provided with a quick release groove (301), and the bottom of the quick release groove (301) is provided with a return spring hole (30101). The quick release device includes a quick release button (13), a split plate (14) and a second return spring (15). The quick release button (13) is installed in the quick release groove (301). The two ends of the second return spring (15) respectively abut against the bottom of the return spring hole (30101) and the quick release button (13). The bottom of the quick release button (13) is provided with a fixing head (1301). The bottom of the bent tube (3) is provided with a second fixing hole (303). The side of the bent tube (3) away from the second fixing hole (303) is provided with a dovetail groove (302). The dovetail groove (302) is connected to the second fixing hole (303). The fixing head (1301) passes through the second fixing hole (303) and is inserted into the dovetail groove (302).

8. The back module structure of the active hip joint assistive exoskeleton according to claim 1, characterized in that, The back panel (1) has belt buckles (104) on both sides. The belt buckles (104) are oblong holes. The belt buckles (104) are detachably connected to the belt (5). Both ends of the belt (5) are provided with Velcro or buckles. One end of the belt (5) passes through the belt buckle (104) and is detachably connected to the back panel (1), so as to realize quick removal and washing of the belt (5).

9. The back module structure of the active hip joint assistive exoskeleton according to claim 8, characterized in that, The belt (5) is made of elastic material and has several hooks for hanging small items.

10. The back module structure of the active hip joint assistive exoskeleton according to claim 1, characterized in that, The back panel (1) is made of thin sheet material, and the two sides of the back panel (1) extend to form side wings for fitting the wearer's waist.

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