Load-bearing exoskeleton

Abstract

The load-bearing exoskeleton comprises a waist structural part, thigh structural parts, shank structural parts and foot structural parts which are sequentially connected, the waist structural part and the thigh structural parts are rotationally connected for front-back walking, and the thigh structural parts and the shank structural parts are rotationally connected for front-back walking. The thigh structural parts and the waist structural part are provided with connecting parts, the connecting parts and the thigh structural parts / waist structural part can rotate on the horizontal plane, and the waist structural part can rotate on the vertical plane; knee joints are not interfered after a human body wears the weight-bearing exoskeleton, meanwhile, when the lower limbs of the human body turn or kick laterally after the human body wears the weight-bearing exoskeleton, the weight-bearing exoskeleton does not interfere with actions of the human body, various requirements of normal walking are not affected under the condition that the human body wears the weight-bearing exoskeleton, and the using comfort of the weight-bearing exoskeleton is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of exoskeleton robots, in particular to a load-bearing exoskeleton. Background Art

[0002] Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, fusion, and mobile computing to provide a wearable mechanical mechanism for operators. Exoskeleton robots are used to provide assistance to the human body. They have outstanding development prospects in enhancing human skills and assisting movement, and are increasingly becoming a research focus in the field of robotics. When the human body is in a state of carrying heavy objects, especially when carrying heavy objects and walking for a long time, its body muscles and bones are prone to fatigue and damage. Being in such a state for a long time is prone to musculoskeletal diseases.

[0003] Existing load-bearing exoskeletons, such as an adjustable load-bearing exoskeleton with patent number CN202222681598.8, have lower limb skeletons that support the waist base through a hip joint assembly. The lower limb skeleton includes a thigh body and a calf body, wherein a knee joint cam rod is fixedly disposed at the lower end of the thigh body, the knee joint cam rod is hinged to the upper end of the calf body, and the knee joint cam rod has a cam portion, and the distance between the outer edge of the cam portion and the rotation center gradually increases along the length direction of the knee joint cam rod; it can be seen that when the prior art is load-bearing, the lower limbs, mainly the knee joints, hip joints and ankle joints when walking forward and backward, can move, and the range of motion of the lower limbs is limited. Utility Model Content

[0004] The purpose of the utility model is to provide a load-bearing exoskeleton, which solves the problem in the prior art that when the lower limbs are loaded, the knee joints, hip joints and ankle joints can move when walking forward and backward, but the range of motion of the lower limbs is limited.

[0005] The utility model is implemented as follows: a load-bearing exoskeleton comprises a waist structure, a thigh structure, a calf structure and a foot structure which are connected in sequence; the waist structure is rotatably connected to the thigh structure for forward and backward walking; the thigh structure is rotatably connected to the calf structure for forward and backward walking; the thigh structure and the waist structure are provided with connecting parts; the connecting parts and the thigh structure / waist structure are rotatable on a horizontal plane; and the waist structure is rotatable on a vertical plane.

[0006] The knee joint between the thigh structure and the calf structure can rotate forward and backward, so the knee joint is not interfered with when the human body walks forward and backward after wearing it. At the same time, the hip joint between the thigh structure and the waist structure can rotate in the horizontal plane, and the waist structure can rotate in the vertical plane. Therefore, when the lower limbs turn or kick sideways after the human body wears it, the load-bearing exoskeleton will not interfere with the human body's movements, so that when the human body wears the weight-bearing exoskeleton, it will not affect the various needs of normal walking, thereby ensuring the comfort of the weight-bearing exoskeleton when used.

[0007] A further technical solution of the utility model is: an adjusting piece is arranged between the waist structural pieces, and rotating shafts rotatably connected to the waist structural pieces are arranged on both sides of the adjusting piece.

[0008] Adjusting parts are arranged between the waist structural parts, so that when the waist structural part on one side moves outward, the stability of the other side will not be affected.

[0009] A further technical solution of the utility model is that: the adjusting member is provided with a screw rod for adjusting the width between the waist structural members.

[0010] The width of the adjusting member is increased or decreased by rotating the screw rod, so that the distance between the waist structural members connected to both sides of the adjusting member can be adjusted to meet the needs of different body shapes.

[0011] A further technical solution of the utility model is that a detachable waist binding belt is provided on the inner side of the adjusting member.

[0012] A waist binding belt is provided on the side of the adjusting member close to the human body, so that the waist structural member is fixed to fit the waist of the human body and bear the force better.

[0013] A further technical solution of the utility model is: the connecting member is cylindrical, one end of the connecting member is rotatably connected to the waist structure member on a horizontal plane through a rotating shaft, and the other end of the connecting member is rotatably connected to the thigh structure member for forward and backward walking.

[0014] Through the design of the connector, the human body's hip joint can be walked forward and backward and turned without interference, ensuring different needs during walking and providing better use effects.

[0015] A further technical solution of the utility model is that both the thigh structure and the calf structure can be adjusted in height.

[0016] According to different heights, the heights of the corresponding thigh structure parts and calf structure parts can be adjusted to meet the needs of different users.

[0017] A further technical solution of the utility model is that both the thigh structural member and the calf structural member are provided with binding structures for binding the lower limbs.

[0018] The binding structure is used to fit the user's thighs and calves to the load-bearing exoskeleton to ensure the transmission of force when bearing weight as well as stability and comfort when worn.

[0019] A further technical solution of the utility model is: the binding structure includes an arc-shaped fixing piece and a flexible binding belt, the fixing piece is arranged front and back on the inner side of the thigh exoskeleton / calf exoskeleton, and the binding belt is used to connect the openings between the fixing pieces.

[0020] When the user wears the weight-bearing exoskeleton, the lower limbs enter the weight-bearing exoskeleton, the thighs and calves enter between the fixing parts, and then the user's lower limbs are bound and fixed to the weight-bearing exoskeleton through binding belts.

[0021] A further technical solution of the utility model is that the fixing member is fixedly connected to the thigh structure member and the calf structure member.

[0022] The thigh structural member is fixedly provided with a fixing part, and the calf structural member is also fixedly provided with a fixing part. When the height of the thigh structural member or the calf structural member is adjusted, the fixing part is also adjusted synchronously.

[0023] A further technical solution of the utility model is that the bottom of the foot structure is hollowed out for the heel to contact the ground.

[0024] The heel is in contact with the ground through the hollowing. When the weight-bearing exoskeleton is used, the weight of the weight-bearing part is transferred to the ground through the lower limbs.

[0025] The beneficial effects of the utility model are as follows: the knee joint between the thigh structure and the calf structure can rotate forward and backward, and the knee joint is not interfered when the human body walks forward and backward after wearing it. At the same time, the hip joint between the thigh structure and the waist structure can rotate on the horizontal plane, and the waist structure can rotate on the vertical plane. Therefore, when the lower limbs turn or kick sideways after the human body wears it, the load-bearing exoskeleton will not interfere with the human body's movements, so that when the human body wears the weight-bearing exoskeleton, it will not affect the various needs of normal walking, thereby ensuring the comfort of the weight-bearing exoskeleton when used. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a front view of a load-bearing exoskeleton provided by the utility model;

[0027] Figure 2 It is a side view of a load-bearing exoskeleton provided by the utility model;

[0028] Figure 3 It is a stereoscopic diagram of a load-bearing exoskeleton provided by the utility model;

[0029] Figure 4 This is a diagram showing the effect of a load-bearing exoskeleton provided by the utility model when worn by a human body;

[0030] Figure 5 It is an enlarged view of point A provided by the utility model;

[0031] Figure 6 It is a structural schematic diagram of a load-bearing exoskeleton provided by the utility model and provided with a mounting seat.

[0032] Figure numerals: 1. Waist structural member, 2. Thigh structural member, 3. Calf structural member, 4. Foot structural member, 5. Connecting member, 6. Adjusting member, 61. Rotating shaft, 7. Screw rod, 8. Mounting seat. DETAILED DESCRIPTION

[0033] The following is an explanation of the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0034] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of the present specification are only used to match the contents disclosed in the specification for people familiar with the technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present utility model, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present utility model, should still fall within the scope of the technical contents disclosed by the present utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in the present specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present utility model. The change or adjustment of the relative relationship, without substantial change of the technical contents, should also be regarded as the scope of the implementation of the present utility model.

[0035] Embodiment 1:

[0036] Figure 1-6 A load-bearing exoskeleton is shown, comprising a waist structure 1, a thigh structure 2, a calf structure 3 and a foot structure 4 connected in sequence, the waist structure 1 is rotatably connected to the thigh structure 2 for forward and backward walking, the thigh structure 2 is rotatably connected to the calf structure 3 for forward and backward walking, the thigh structure 2 and the waist structure 1 are provided with a connecting member 5, the connecting member 5 and the thigh structure 2 / waist structure 1 are rotatable in a horizontal plane, and the waist structure 1 is rotatable in a vertical plane.

[0037] The knee joint between the thigh structure and the calf structure can rotate forward and backward, so the knee joint is not interfered with when the human body walks forward and backward after wearing it. At the same time, the hip joint between the thigh structure and the waist structure can rotate in the horizontal plane, and the waist structure can rotate in the vertical plane. Therefore, when the lower limbs turn or kick sideways after the human body wears it, the load-bearing exoskeleton will not interfere with the human body's movements, so that when the human body wears the weight-bearing exoskeleton, it will not affect the various needs of normal walking, thereby ensuring the comfort of the weight-bearing exoskeleton when used.

[0038] In this embodiment, an adjusting member 6 is provided between the waist structural members 1 , and a rotating shaft 61 rotatably connected to the waist structural members 1 is provided on both sides of the adjusting member 6 .

[0039] Adjusting parts are arranged between the waist structural parts, so that when the waist structural part on one side moves outward, the stability of the other side will not be affected.

[0040] In this embodiment, a groove is provided on the rear side of the adjusting member, and the waist structural member is placed in the groove and can rotate in the vertical plane, ensuring that the lower limbs will not be interfered when performing a side kick.

[0041] In this embodiment, the adjusting member 6 is provided with a screw rod 7 for adjusting the width between the waist structural members 1 .

[0042] The width of the adjusting member is increased or decreased by rotating the screw rod 7, so that the distance between the waist structural members connected to the two sides of the adjusting member can be adjusted to meet the needs of different body shapes.

[0043] In this embodiment, the adjusting member includes connecting parts respectively connected to the waist structural members on both sides and a screw rod 7 placed between the connecting parts. The screw rod 7 is connected to the connecting parts by threads. The distance between the connecting parts can be adjusted by rotating the screw rod 7, thereby achieving the purpose of adjusting the distance between the waist structural members.

[0044] In this embodiment, a detachable waist binding belt is provided on the inner side of the adjusting member 6 .

[0045] A waist binding belt is provided on the side of the adjusting member close to the human body, so that the waist structural member is fixed to fit the waist of the human body and bear the force better.

[0046] In this embodiment, the connecting member 5 is cylindrical, one end of the connecting member 5 is rotatably connected to the waist structure 1 on a horizontal plane through a rotating shaft, and the other end of the connecting member 5 is rotatably connected to the thigh structure 2 for forward and backward walking.

[0047] Through the design of the connector, the human body's hip joint can be walked forward and backward and turned without interference, ensuring different needs during walking and providing better use effects.

[0048] As another embodiment, one end of the connecting member is rotatably connected to the thigh structure member on a horizontal plane via a rotating shaft, and the other end of the connecting member is rotatably connected to the waist structure member for forward and backward walking.

[0049] In this embodiment, both the thigh structure 2 and the calf structure 3 are height-adjustable.

[0050] According to different heights, the heights of the corresponding thigh structure parts and calf structure parts can be adjusted to meet the needs of different users.

[0051] In this embodiment, the thigh structure includes a slide groove portion and a slider portion, and the slider portion can slide up and down in the slide groove portion. After being adjusted to the right position, the height adjustment is completed by passing bolts through the bolt holes on the slide groove portion and the slider portion. The height adjustment of the calf structure is the same as the height adjustment of the thigh structure, and is also achieved through the cooperation of the slide groove portion, the slider portion and the bolts.

[0052] In this embodiment, both the thigh structure 2 and the calf structure 3 are provided with binding structures for binding the lower limbs.

[0053] The binding structure is used to fit the user's thighs and calves to the load-bearing exoskeleton to ensure the transmission of force when bearing weight as well as stability and comfort when worn.

[0054] In this embodiment, the binding structure includes an arc-shaped fixing member 6 and a flexible binding belt. The fixing member 6 is placed front and back on the inner side of the thigh exoskeleton 2 / calf exoskeleton 3, and the binding belt is used to connect the openings between the fixing members 6.

[0055] When the user wears the weight-bearing exoskeleton, the lower limbs enter the weight-bearing exoskeleton, the thighs and calves enter between the fixing parts, and then the user's lower limbs are bound and fixed to the weight-bearing exoskeleton through binding belts.

[0056] In this embodiment, binding straps are provided on both sides of the opening of the fixing member, and the binding straps on both sides are connected by Velcro to fix the lower limbs.

[0057] In this embodiment, the fixing member 6 is fixedly connected to the thigh structure member 2 and the calf structure member 3 .

[0058] The thigh structural member is fixedly provided with a fixing part, and the calf structural member is also fixedly provided with a fixing part. When the height of the thigh structural member or the calf structural member is adjusted, the fixing part is also adjusted synchronously.

[0059] As another embodiment, the fixing member is detachably connected to the thigh structure member and the calf structure member, and can be disassembled and replaced if damaged.

[0060] In this embodiment, the bottom of the foot structure 4 is hollowed out for the heel to contact the ground.

[0061] The heel is in contact with the ground through the hollowing. When the weight-bearing exoskeleton is used, the weight of the weight-bearing part is transferred to the ground through the lower limbs.

[0062] In this embodiment, a detachable mounting seat 8 for bearing heavy objects is provided on the waist structural member.

[0063] The working principle of the utility model is as follows: the knee joint between the thigh structure and the calf structure can rotate forward and backward, and the knee joint is not interfered when the human body walks forward and backward after wearing it. At the same time, the hip joint between the thigh structure and the waist structure can rotate on the horizontal plane, and the waist structure can rotate on the vertical plane. Therefore, when the lower limbs turn or kick sideways after the human body wears it, the weight-bearing exoskeleton will not interfere with the human body's movements, so that when the human body wears the weight-bearing exoskeleton, various normal walking needs will not be affected, thereby ensuring the comfort of the weight-bearing exoskeleton when used.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A load-bearing exoskeleton, comprising a waist structure (1), a thigh structure (2), a calf structure (3) and a foot structure (4) connected in sequence, wherein the waist structure (1) is rotatably connected to the thigh structure (2) for walking forward and backward, and the thigh structure (2) is rotatably connected to the calf structure (3) for walking forward and backward, characterized in that: The thigh structure (2) and the waist structure (1) are provided with a connecting member (5), and the connecting member (5) and the thigh structure (2) / waist structure (1) are rotatable on a horizontal plane, and the waist structure (1) is rotatable on a vertical plane.

2. A load-bearing exoskeleton according to claim 1, characterized in that: An adjusting member (6) is provided between the waist structural members (1), and rotating shafts (61) rotatably connected to the waist structural members (1) are provided on both sides of the adjusting member (6).

3. A load-bearing exoskeleton according to claim 2, characterized in that: The adjusting member (6) is provided with a screw rod (7) for adjusting the width between the waist structural members (1).

4. A load-bearing exoskeleton according to claim 2, characterized in that: A detachable waist binding belt is provided on the inner side of the adjusting member (6).

5. A load-bearing exoskeleton according to claim 1, characterized in that: The connecting member (5) is cylindrical, and one end of the connecting member (5) is rotatably connected to the waist structure member (1) on a horizontal plane via a rotating shaft, and the other end of the connecting member (5) is rotatably connected to the thigh structure member (2) for forward and backward walking.

6. A weight-bearing exoskeleton according to claim 1, characterized in that: The thigh structure (2) and the calf structure (3) are both height-adjustable.

7. A load-bearing exoskeleton according to claim 1, characterized in that: The thigh structural member (2) and the calf structural member (3) are both provided with binding structures for binding the lower limbs.

8. A load-bearing exoskeleton according to claim 7, characterized in that: The binding structure comprises an arc-shaped fixing part and a flexible binding belt. The fixing part is arranged front and back inside the thigh structure part (2) / the calf structure part (3), and the binding belt is used to connect the opening between the fixing parts.

9. A load-bearing exoskeleton according to claim 8, characterized in that: The fixing member is fixedly connected to the thigh structural member (2) and the calf structural member (3).

10. A weight-bearing exoskeleton according to claim 1, characterized in that: The bottom of the foot structure (4) is hollowed out for the heel to contact the ground.

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