Leg action guiding structure of mechanical bionic exoskeleton

Abstract

The utility model discloses a mechanical bionic exoskeleton leg motion guiding structure, which comprises a bionic leg structure formed by a bionic thigh and a bionic shank, the bionic thigh and the bionic shank are respectively provided with a fixing device, the front side of the middle part of the bionic thigh is provided with a thigh guiding plate, and the thigh guiding plate is provided with a thigh guiding groove. And a shank part guide plate is arranged on the rear side of the middle part of the bionic shank. The mechanical exoskeleton has the advantages that the structure is simple and reasonable, the force of a user acts on the thigh guide plate during leg lifting and acts on the shank guide plate during leg falling, the force transmission efficiency and effectiveness can be improved through the arrangement of the guide plates, and finally the force is transmitted to the ground through the mechanical exoskeleton, so that the mechanical exoskeleton is convenient to use. Therefore, the aim of reducing the human skeleton stress of the user is fulfilled.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical bionic exoskeleton manufacturing, in particular to a leg action guiding structure of a mechanical bionic exoskeleton. Background Art

[0002] With the development of science and technology, the degree of mechanization in many industries is constantly improving. With the help of machinery, many physical labors that were originally done by workers can be completed. However, in some occasions, manpower is still needed to complete the handling work. When workers complete lifting, unloading, moving and other handling actions, they need to perform repetitive actions continuously. After working for a long time, the arms, legs, waist and back and various joints are prone to fatigue. If this continues for a long time, these parts are prone to overwork and illness. Mechanical bionic exoskeleton is a wearable exoskeleton that shares part of the external force through the exoskeleton, and transmits the force directly to the ground through a continuous exoskeleton, thereby achieving the purpose of reducing the stress on the human skeleton.

[0003] The bionic leg structure of the existing mechanical exoskeleton is fixed to the user's leg by a strap or a similar clamp structure. For example, the mechanical exoskeleton structure disclosed in the patent application with application numbers CN202022879754.2 and CN202223566319.X adopts a clamp-like structure for fixation. When the user lifts his leg, the force is transmitted only through the clamp fixing structure, and the transmission effect is limited. Therefore, its structure needs to be further improved. Utility Model Content

[0004] The purpose of the utility model is to make up for the above-mentioned deficiencies and disclose to the public a leg motion guiding structure of a mechanical bionic exoskeleton which has a simple and reasonable structure, is easy to manufacture and can improve the force transmission effect.

[0005] The technical solution of the utility model is achieved in this way:

[0006] A leg motion guiding structure of a mechanical bionic exoskeleton comprises a bionic leg structure consisting of a bionic thigh and a bionic calf, wherein the bionic thigh and the bionic calf are respectively provided with fixing devices, a thigh guiding plate is provided on the middle front side of the bionic thigh, and a calf guiding plate is provided on the middle rear side of the bionic calf.

[0007] The measures to further optimize this technical solution are:

[0008] As an improvement, one end of the thigh guide plate is fixed to the inner side of the bionic thigh, and one end thereof extends from the front side of the bionic thigh to the inner side.

[0009] As an improvement, the cross-section of the inwardly extending portion of the thigh guide plate is an arc-shaped structure.

[0010] As an improvement, one end of the calf guide plate is fixed to the inner side of the bionic calf, and one end thereof extends from the rear side of the bionic calf to the inner side.

[0011] As an improvement, the cross section of the inwardly extending portion of the calf guide plate is an arc-shaped structure.

[0012] The inwardly extending portion of the guide plate adopts an arc-shaped structure, which can better fit the user's legs when in use, making it more comfortable to wear and more efficient in force transmission.

[0013] As an improvement, the fixing device is a fixing plate with a fixing structure provided at the end.

[0014] As an improvement, the fixing plate is fixed to the inner side of the thigh guide plate and the calf guide plate. With such arrangement, when the mechanical exoskeleton is worn, the fixing plate is between the user's legs and the guide plate, making it more comfortable to wear.

[0015] As an improvement, the fixing plate includes a base, the base extends to both sides to form a first extension part and a second extension part respectively, a first concave cavity is formed between the lower part of the first extension part and the base, and a second concave cavity is formed between the lower part of the second extension part and the base. With such a configuration, when the fixing plate is fixed, it can better fit the user's legs, and the fixation is more reliable and comfortable.

[0016] As an improvement, the length of the first extending portion is smaller than the length of the second extending portion, and the width of the first extending portion is larger than the width of the second extending portion.

[0017] As an improvement, the upper and lower ends of the base body are both in an arc-shaped structure. The arc-shaped structure design can improve the fit and avoid wrinkles and bulges after fixation.

[0018] The advantages of the utility model compared with the prior art are:

[0019] The utility model discloses a leg movement guiding structure of a mechanical bionic exoskeleton, which has a simple and reasonable structure. A thigh guide plate is arranged on the front middle part of the bionic thigh, and a calf guide plate is arranged on the rear middle part of the bionic calf. When lifting the leg, the user's force acts on the thigh guide plate, and when lowering the leg, the user's force acts on the calf guide plate. The setting of the guide plate can improve the efficiency and effectiveness of force transmission, and finally the force is transmitted to the ground through the mechanical exoskeleton, thereby achieving the purpose of reducing the force on the user's human bones. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional structural diagram of an embodiment of the utility model;

[0021] Figure 2 yes Figure 1 Enlarged view of part A in the middle;

[0022] Figure 3 It is a three-dimensional structural diagram of another viewing angle of the embodiment of the utility model (without the fixing device);

[0023] Figure 4 yes Figure 1 Schematic diagram of the structure of the fixing device.

[0024] The names of the reference numerals in the accompanying drawings of the present utility model are:

[0025] Bionic thigh 1, bionic calf 2, fixing device 3, base 31, first extension part 32, first concave cavity 32a, second extension part 33, second concave cavity 33a, thigh guide plate 4, calf guide plate 5, reinforcing rib 6. DETAILED DESCRIPTION

[0026] The utility model is further described in detail below with reference to the accompanying drawings:

[0027] The following description is used to disclose the utility model so that those skilled in the art can implement the utility model. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the utility model defined in the following description can be used for other implementation schemes, variations, improvements, equivalent schemes, and other technical solutions that do not deviate from the spirit and scope of the utility model.

[0028] Those skilled in the art should understand that, in the disclosure of the present invention, the directions or positions indicated by the terms "longitudinal", "lateral", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positional relationships shown in the accompanying drawings, which are only simplified descriptions for the convenience of describing the present invention, and do not indicate or imply that the device or component referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the above terms should not be understood as limitations on the present invention.

[0029] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0030] like Figures 1 to 4 As shown, a leg motion guiding structure of a mechanical bionic exoskeleton includes a bionic leg structure consisting of a bionic thigh 1 and a bionic calf 2, wherein the bionic thigh 1 and the bionic calf 2 are respectively provided with a fixing device 3 ( Figure 1Only a single-side fixing device 3 is drawn in the figure, a thigh guide plate 4 is arranged at the front middle part of the bionic thigh 1, and a calf guide plate 5 is arranged at the rear middle part of the bionic calf 2.

[0031] The thigh guide plate 4 and the calf guide plate 5 are both integral structures made of hard materials.

[0032] One end of the thigh guide plate 4 is fixed to the inner side of the bionic thigh 1 , and one end thereof extends from the front side of the bionic thigh 1 to the inner side.

[0033] The cross section of the inwardly extending portion of the thigh guide plate 4 is an arc-shaped structure.

[0034] One end of the calf guide plate 5 is fixed to the inner side of the bionic calf 2 , and one end thereof extends from the rear side of the bionic calf 2 to the inner side.

[0035] The cross section of the inwardly extending portion of the calf guide plate 5 is an arc-shaped structure.

[0036] The backs of the thigh guide plate 4 and the calf guide plate 5 are provided with reinforcing ribs 6 to enhance the strength of the guide plates.

[0037] When the mechanical exoskeleton is worn, the bionic leg is located outside the user, and one end of the thigh guide plate 4 and the calf guide plate 5 is fixed to the inside of the bionic thigh 1 and the bionic calf 2, and the other end is extended inward, so that the guide plate can become an effective force transmission medium. The inward extension of the thigh guide plate 4 and the calf guide plate 5 is designed as an arc structure, which can better fit the user's legs and facilitate force transmission.

[0038] The fixing device 3 is a fixing plate with a fixing structure at the end. The fixing plate can be made of a soft material with a certain thickness, such as a filling layer is provided inside, and the filling layer is covered with canvas, cotton cloth and other materials to make it both soft and wear-resistant. The fixing structure can be a fixing buckle, Velcro and the like.

[0039] The fixing plate is fixed to the inner side of the thigh guide plate 4 and the calf guide plate 5. Such arrangement can improve the comfort of wearing the mechanical exoskeleton.

[0040] like Figure 4 As shown, the fixing plate includes a base 31, and the base 31 extends to both sides to form a first extension portion 32 and a second extension portion 33 respectively. A first concave cavity 32a is formed between the lower portion of the first extension portion 32 and the base 31, and a second concave cavity 33a is formed between the lower portion of the second extension portion 33 and the base 31.

[0041] The length of the first extending portion 32 is smaller than that of the second extending portion 33 , and the width of the first extending portion 32 is larger than that of the second extending portion 33 .

[0042] The upper and lower ends of the base body 31 are both in arc-shaped structures.

[0043] The base 31 of the fixing plate is fixed to the guide plate, and the extensions on both sides of the base 31 are designed to be one long and one short, one wide and one narrow, so that when the first extension 32 and the second extension 33 are fixed around the user's legs, the fixation is more convenient and more reliable; and the design of the first concave cavity 32a, the second concave cavity 33a and the arc-shaped structures at the upper and lower ends of the base 31 enables the fixing plate to better fit the user's legs when fixed, and the fixation is more reliable and comfortable, which can avoid the discomfort caused by wrinkles and bulges of the fixing plate when fixed.

[0044] The fixing device 3 may also adopt a clamp-type structure.

[0045] Working principle:

[0046] When the mechanical exoskeleton is worn, the bionic thigh 1 is fixed to the user's thigh using a fixing plate, and the bionic calf 2 is fixed to the calf. After fixation, the thigh guide plate 4 is located on the front side of the user's thigh, and the calf guide plate 5 is located on the back side of the user's calf.

[0047] When the user lifts his leg, the user's leg has an upward stroke, and the user's thigh acts on the thigh guide plate 4, and the force is transmitted to the bionic thigh 1 through the thigh guide plate 4 and the fixing plate for fixing, and finally the mechanical exoskeleton achieves the purpose of labor saving; when the leg is lifted, the calf guide plate 5 hardly plays a role. When the user puts down his leg, the user's leg has a downward stroke, and the user's calf acts on the calf guide plate 5, and the force is transmitted to the bionic calf 2 through the calf guide plate 5 and the fixing plate for fixing, and finally the mechanical exoskeleton achieves the purpose of labor saving; when the leg is put down, the thigh guide plate 4 hardly plays a role.

[0048] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and explained in the embodiments. Without departing from the principles, the embodiments of the present invention may be deformed or modified in any way.

Claims

1. A leg motion guiding structure of a mechanical bionic exoskeleton, comprising a bionic leg structure consisting of a bionic thigh (1) and a bionic calf (2), wherein the bionic thigh (1) and the bionic calf (2) are respectively provided with a fixing device (3), wherein: A thigh guide plate (4) is arranged on the front middle part of the bionic thigh (1), and a calf guide plate (5) is arranged on the rear middle part of the bionic calf (2).

2. The leg motion guiding structure of a mechanical bionic exoskeleton according to claim 1 is characterized by: One end of the thigh guide plate (4) is fixed to the inner side of the bionic thigh (1), and one end thereof extends from the front side of the bionic thigh (1) to the inner side.

3. The leg motion guiding structure of a mechanical bionic exoskeleton according to claim 2 is characterized by: The cross section of the inwardly extending portion of the thigh guide plate (4) is an arc-shaped structure.

4. The leg motion guiding structure of a mechanical bionic exoskeleton according to claim 1 is characterized by: One end of the calf guide plate (5) is fixed to the inner side of the bionic calf (2), and one end thereof extends from the rear side of the bionic calf (2) to the inner side.

5. The leg motion guiding structure of a mechanical bionic exoskeleton according to claim 4 is characterized by: The cross section of the inwardly extending portion of the calf guide plate (5) is an arc-shaped structure.

6. A leg motion guiding structure of a mechanical bionic exoskeleton according to any one of claims 1 to 5, characterized in that: The fixing device (3) is a fixing plate with a fixing structure arranged at the end.

7. The leg motion guiding structure of a mechanical bionic exoskeleton according to claim 6 is characterized by: The fixing plate is fixed to the inner side of the thigh guide plate (4) and the calf guide plate (5).

8. The leg motion guiding structure of a mechanical bionic exoskeleton according to claim 7 is characterized by: The fixing plate comprises a base (31), the base (31) extends to two sides to form a first extension portion (32) and a second extension portion (33) respectively, a first concave cavity (32a) is formed between the lower portion of the first extension portion (32) and the base (31), and a second concave cavity (33a) is formed between the lower portion of the second extension portion (33) and the base (31).

9. The leg motion guiding structure of a mechanical bionic exoskeleton according to claim 8, characterized in that: The length of the first extension portion (32) is smaller than the length of the second extension portion (33), and the width of the first extension portion (32) is larger than the width of the second extension portion (33).

10. The leg motion guiding structure of a mechanical bionic exoskeleton according to claim 9, characterized in that: The upper and lower ends of the base body (31) are both in arc-shaped structures.

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