Power-assisted exoskeleton

Abstract

The utility model relates to the technical field of mechanical exoskeletons, and discloses a power-assisted exoskeleton which comprises a waist support, a first leg wearing piece, a second leg wearing piece and a leg strap, the first leg wearing piece is provided with a first through hole, the second leg wearing piece is provided with a second through hole, and the leg strap is wound on a guide wheel. The leg strap penetrates through the first through hole and the second through hole respectively, one end of the leg strap is a fixed end which is fixedly connected with the waist plate, the other end of the leg strap is an adjusting end which is adjustably connected with the waist plate, and the leg strap slides along the first through hole, the guide wheel and the second through hole by pulling the adjusting end so as to adjust the loop length of the leg strap. In the embodiment, the single leg belt is matched with the waist support to achieve an integrated adjusting mechanism, the adjusting efficiency of the leg belt can be remarkably improved, the length of the leg belt sliding through the first connecting belt and the second connecting belt in the adjusting process can be changed at the same time and the same amount, and the consistency of length changes of the two sides of the leg belt is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical exoskeletons, and particularly to an assistive exoskeleton. Background Art

[0002] An exoskeleton is a machine device that can be worn by a wearer. The exoskeleton is mainly used to assist the wearer's limbs in movement and has been widely used in the fields of medicine, industry, military, etc.

[0003] An exoskeleton generally includes a lumbar plate, left and right leg wear members, and left and right leg straps. The lumbar plate can be worn on the waist of the wearer. The left and right leg wear members can be respectively worn on the left and right legs of the wearer. The left leg wear member is connected to the lumbar plate through the left leg strap, and the right leg wear member is connected to the lumbar plate through the right leg strap. Among them, the lengths of the left and right leg straps can usually be adjusted to meet the wearing needs of different wearers.

[0004] However, during the adjustment process, the wearer needs to adjust the lengths of the left and right leg straps separately. The adjustment process is relatively cumbersome, and it is easy to cause the lengths of the left and right leg straps to be inconsistent during the adjustment process, reducing the wearing comfort of the wearer and affecting the assistive effect. Summary of the Utility Model

[0005] Embodiments of the utility model aim to provide an assistive exoskeleton to solve the technical problem of inconvenient adjustment of the leg straps of the exoskeleton in the prior art.

[0006] Embodiments of the utility model adopt the following technical solutions to solve the above technical problems: providing an assistive exoskeleton, including:

[0007] A lumbar support, which can be worn on the waist of the wearer. The lumbar support includes a lumbar plate and a guide wheel provided on the lumbar plate;

[0008] A first leg wear member and a second leg wear member, which can be respectively worn on the legs of the wearer. The first leg wear member has a first perforation, and the second leg wear member has a second perforation; and

[0009] A leg strap, which is wound around the guide wheel, and the leg strap respectively passes through the first perforation and the second perforation. One end of the leg strap is a fixed end, and the fixed end is fixedly connected to the lumbar plate. The other end of the leg strap is an adjustment end, and the adjustment end is adjustably connected to the lumbar plate. By pulling the adjustment end, the leg strap can slide along the first perforation, the guide wheel and the second perforation to adjust the loop length of the leg strap.

[0010] In this embodiment, when it is necessary to adjust the loop length of the leg strap, only the adjustment end of the leg strap needs to be pulled, so that the leg strap slides along the first through hole, the guide wheel and the second through hole in sequence to adjust the loop length of the leg strap. In the embodiment of the present utility model, through the single-leg strap design and the integrated adjustment mechanism, the adjustment process of the leg strap is convenient and fast, which can significantly improve the adjustment efficiency of the leg strap, and the length of the leg strap sliding through the first through hole and the length of the leg strap sliding through the second through hole are always consistent during the adjustment process of the leg strap, ensuring the consistency of the length change on both sides of the leg strap.

[0011] In some embodiments, the guide wheel has a columnar structure, an installation groove is formed on the waist plate, the guide wheel is fixedly or rotatably installed in the installation groove, there is a gap between the side surface of the guide wheel and the hole wall of the installation groove, and the leg strap passes through the gap and is wound around the guide wheel.

[0012] In this embodiment, the guide wheel is fixedly or rotatably installed in the installation groove, which can avoid the guide wheel occupying additional space in the thickness direction of the waist plate and improve the compactness of the structure.

[0013] In some embodiments, the guide wheel is located in the middle of the waist plate, and the guide wheel is symmetrically arranged with respect to the longitudinal central axis of the waist plate.

[0014] In this embodiment, the left and right sides of the waist support are symmetrically arranged with respect to the longitudinal central axis S, ensuring that the waist support can provide balanced and stable support during wearing, which helps to improve the balance and stability during wearing and reduce the sense of skew or tilt that the wearer may experience during movement. The guide wheel is symmetrically arranged with respect to the longitudinal central axis S of the waist plate, so that the distance between the guide wheel and the first leg wearing member and the distance between the guide wheel and the second leg wearing member are equal, which helps to maintain the consistency of the leg strap lengths on both sides of the wearer, increase the force stability during use, and improve the wearing comfort.

[0015] In some embodiments, the waist plate is further provided with a fixing hole and an adjusting hole, the fixing end of the leg strap is fixedly matched with the fixing hole, and the adjusting end of the leg strap can be slidably matched with the adjusting hole to adjust the loop length of the leg strap.

[0016] The fixing hole provides the connection position of the fixing end of the leg strap, and the adjusting hole provides the connection position of the adjusting end of the leg strap. The fixing end of the leg strap can be turned over and sewn after passing through the fixing hole to realize the stable connection between the fixing end of the leg strap and the fixing hole. The adjusting end of the leg strap can pass through the adjusting hole and be slidably matched with the adjusting hole. By pulling the adjusting end of the leg strap, the leg strap can slide relative to the adjusting hole, thereby adjusting the loop length of the leg strap to meet the usage requirements of different wearers. In this embodiment, by providing the fixing hole and the adjusting hole on the waist plate, it is convenient to provide stable fixation for the fixing end of the leg strap and realize the adjustability of the adjusting end.

[0017] In some embodiments, the fixing hole and the leg strap are in interference fit, and the adjusting hole and the leg strap are in clearance fit.

[0018] In this embodiment, the size of the fixing hole is relatively small. The interference fit between the fixing hole and the leg strap makes it difficult for the fixed end of the leg strap to break away from the fixing hole after passing through the fixing hole and being flanged. The size of the adjusting hole is relatively large. The clearance fit between the adjusting hole and the leg strap can reduce the friction between the adjusting hole and the leg strap, and improve the smoothness when the leg strap slides relative to the adjusting hole.

[0019] In some embodiments, both the fixing hole and the adjusting hole are located directly below or directly above the guide wheel.

[0020] In this embodiment, the fixing hole and the adjusting hole are arranged in sequence along the longitudinal direction of the waist plate. The guide wheel, the fixing hole and the adjusting hole are all located on the longitudinal central axis S of the waist plate, which can further ensure that the lengths of the leg straps on both sides of the wearer are consistent, increase the force balance and stability, and improve the wearing comfort of the wearer.

[0021] In some embodiments, the guide wheel, the fixing hole and the adjusting hole are all symmetrically arranged with respect to the longitudinal central axis of the waist plate.

[0022] In this embodiment, through the above settings, it can be ensured that the leg straps are gathered at the center position of the waist, and the leg straps are not easily broken open to the sides of the thighs during assistance, ensuring the stability of the assistance effect.

[0023] In some embodiments, the fixing hole and the adjusting hole are combined to form a figure-eight hole.

[0024] In this embodiment, the figure-eight hole is matched with the leg strap to facilitate the adjustment of the leg strap.

[0025] In some embodiments, the first leg wearing member includes a first calf wearing member and a first connecting member disposed on the first calf wearing member. The first calf wearing member can be worn on the calf of the wearer, and the first perforation is formed on the first connecting member;

[0026] The second leg wearing member includes a second calf wearing member and a second connecting member disposed on the second calf wearing member. The second calf wearing member can be worn on the calf of the wearer, and the second perforation is formed on the second connecting member.

[0027] In some embodiments, it further includes a back plate and an elastic element. The back plate can be worn on the shoulders of the wearer, and the elastic element is disposed between the back plate and the waist plate. Both ends of the elastic element are connected to the back plate and the waist plate respectively. Description of the Drawings

[0028] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, the drawings in the figures do not constitute a scale limitation.

[0029] Figure 1 is a schematic structural diagram of the waist support, the first leg wearing member, the second leg wearing member and the leg strap after assembly in one embodiment of the present utility model;

[0030] Figure 2 is this Figure 1 partial enlarged view of part A;

[0031] Figure 3 is a schematic structural diagram of the side of the waist support facing away from the wearer in an embodiment of the present utility model;

[0032] Figure 4 is a schematic structural diagram of the side of the waist support facing the wearer in an embodiment of the present utility model;

[0033] Figure 5 is a schematic overall structural diagram of the assistive exoskeleton in an embodiment of the present utility model;

[0034] Figure 6 is a schematic exploded structural diagram of the waist support, the elastic element and the back plate in an embodiment of the present utility model;

[0035] Figure 7 is a schematic structural diagram of the back plate in an embodiment of the present utility model.

[0036] Explanation of reference numerals in the drawings:

[0037] 100, assistive exoskeleton; 10, waist support; 11, lumbar plate; 110, installation groove; 111, fixing hole; 112, adjusting hole; 113, first through hole; 114, second through hole; 115, third through hole; 116, fourth through hole; 12, guide wheel; 20, first leg wearing member; 201, first perforation; 21, first calf wearing member; 22, first connecting band; 23, first connecting piece; 230, third perforation; 30, second leg wearing member; 301, second perforation; 31, second calf wearing member; 32, second connecting band; 33, second connecting piece; 330, fourth perforation; 40, leg strap; 50, waist belt; 51, first waist belt; 52, second waist belt; 60, back plate; 61, first through hole; 62, second through hole; 70, elastic element; 81, first shoulder strap; 82, second shoulder strap. Detailed implementation manners

[0038] To facilitate the understanding of the present utility model, the present utility model will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is expressed as "connected" to another element, it can be directly on the other element, or there can be one or more intermediate elements therebetween. The terms "upper", "lower", "left", "right", "upper end", "lower end", "top" and "bottom" used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0039] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present utility model belongs. The terms used in the specification of the present utility model are only for the purpose of describing specific embodiments and are not used to limit the present utility model.

[0040] In the prior art, an exoskeleton generally includes a lumbar plate, left and right leg wearables, and left and right leg straps. The lumbar plate can be worn on the waist of the wearer, the left and right leg wearables can be worn on the left and right legs of the wearer respectively, the left leg wearable is connected to the lumbar plate through the left leg strap, and the right leg wearable is connected to the lumbar plate through the right leg strap. During the movement of the wearer, the left and right leg straps can be deformed and store energy, so as to provide assistance to the wearer to save the physical strength of the wearer. Among them, the lengths of the left and right leg straps can usually be adjusted to meet the wearing needs of different wearers. However, during the adjustment process, the wearer needs to adjust the lengths of the left and right leg straps separately, and the adjustment process is relatively cumbersome. Moreover, during the adjustment process, it is easy to cause the lengths of the left and right leg straps to be inconsistent, reducing the wearing comfort of the wearer and affecting the assistance effect.

[0041] In order to solve the technical problem that the adjustment process of the leg straps of the exoskeleton in the prior art is relatively cumbersome, an embodiment of the present utility model provides an assistive exoskeleton, which includes a waist bracket, a first leg wearing member, a second leg wearing member, and a leg strap. The waist bracket includes a waist plate and a guide wheel provided on the waist plate. The first leg wearing member and the second leg wearing member respectively have a first through hole and a second through hole. The fixed end of the leg strap is fixed on the waist plate, and the adjustment end of the leg strap sequentially passes through the first through hole, the guide wheel, and the second through hole and is adjustably connected to the waist plate. When it is necessary to adjust the length of the leg strap, only need to pull the adjustment end of the leg strap, so that the leg strap slides along the first through hole, the guide wheel, and the second through hole, and the adjustment of the leg strap length can be realized. Compared with the design scheme of two leg straps in the prior art, the embodiment of the present utility model realizes an integrated adjustment mechanism through a single leg strap and a waist bracket, which can significantly improve the adjustment efficiency of the leg strap, and the lengths of the leg strap sliding through the first through hole and the second through hole can change simultaneously and in the same amount during the adjustment process of the leg strap, ensuring the consistency of the length changes on both sides of the leg strap.

[0042] The following will combine the attached Figures 1 to 7 to elaborate in detail on the assistive exoskeleton 100 provided by the embodiment of the present utility model.

[0043] Please refer to Figure 1 and Figure 2 ., Figure 1 which is a schematic structural diagram after the assembly of the waist bracket 10, the first leg wearing member 20, the second leg wearing member 30, and the leg strap 40, Figure 2 is Figure 1 a partial enlarged view of part A in

[0044] An embodiment of the present utility model provides an assistive exoskeleton 100, which includes a waist bracket 10, a first leg wearing member 20, a second leg wearing member 30, and a leg strap 40. The waist bracket 10 can be worn on the waist of the wearer. The waist bracket 10 includes a waist plate 11 and a guide wheel 12 provided on the waist plate 11. The first leg wearing member 20 and the second leg wearing member 30 can be respectively worn on the legs of the wearer. The first leg wearing member 20 has a first through hole 201, and the second leg wearing member 30 has a second through hole 301. The leg strap 40 is wound around the guide wheel 12, and the leg strap 40 respectively passes through the first through hole 201 and the second through hole 301. One end of the leg strap 40 is a fixed end, and the fixed end of the leg strap 40 is fixedly connected to the waist plate 11. The other end of the leg strap 40 is an adjustment end, and the adjustment end of the leg strap 40 is adjustably connected to the waist plate 11. By pulling the adjustment end, the leg strap 40 can slide along the first through hole 201, the guide wheel 12, and the second through hole 301 to adjust the loop length of the leg strap 40.

[0045] The waist support 10 can be worn on the waist of the wearer and provide support for the human waist. The waist support 10 is usually made of materials such as plastics, light metals, and carbon fibers. These materials have good rigidity, which is convenient for providing good support for the wearer's waist. At the same time, it can maintain a relatively low weight to reduce the burden on the human body. Optionally, the waist support 10 can be in a generally arc-shaped plate structure. The surface of the waist support 10 facing the wearer is configured as an arc-shaped curved surface that fits the curve of the human waist to improve the wearing comfort of the wearer.

[0046] The first leg-wearing member 20 and the second leg-wearing member 30 can be worn on the two legs of the wearer respectively. For example, the first leg-wearing member 20 can be worn on the left leg of the wearer, and the second leg-wearing member 30 can be worn on the right leg of the wearer. Optionally, the first leg-wearing member 20 can be worn on at least one of the thigh, knee, calf, and ankle of the wearer's left leg, and the second leg-wearing member 30 can be worn on at least one of the thigh, knee, calf, and ankle of the wearer's right leg. For example, the first leg-wearing member 20 and the second leg-wearing member 30 can be worn on the two calves of the wearer respectively. Among them, the first leg-wearing member 20 and the second leg-wearing member 30 are respectively provided with a first perforation 201 and a second perforation 301 through which the leg strap 40 passes.

[0047] The leg strap 40 is used to connect the first leg-wearing member 20 and the second leg-wearing member 30 to the waist support 10. The leg strap 40 can be in a flat strip structure. The leg strap 40 is usually made of a material with a certain elasticity. For example, the leg strap 40 can be made of nylon material, that is, the leg strap 40 is a nylon webbing. During the use by the wearer, the leg strap 40 can be deformed and store energy to provide assistance for the wearer to reset, thereby saving the wearer's physical strength.

[0048] One end of the leg strap 40 is a fixed end, and the other end is an adjustment end. When the waist support 10, the first leg-wearing member 20, and the second leg-wearing member 30 are connected by the leg strap 40, the fixed end of the leg strap 40 can be fixedly connected to the waist plate 11 first, and then the adjustment end of the leg strap 40 is passed through the first perforation 201 in sequence, bypassed around the guide wheel 12 and then passed through the second perforation 301, and then the adjustment end of the leg strap 40 is adjustably connected to the waist plate 11 to complete the assembly among the waist support 10, the first leg-wearing member 20, the second leg-wearing member 30, and the leg strap 40. After being assembled, the wearer can adjust the loop length of the leg strap 40 through the adjustment end of the leg strap 40 to meet the usage requirements of different wearers. Among them, the loop length of the leg strap 40 refers to the total path length of the leg strap 40 starting from the waist plate 11, passing through the first perforation 201, the guide wheel 12, and the second perforation 301, and then returning to the waist plate 11.

[0049] When it is necessary to adjust the loop length of the leg strap 40, only need to pull the adjustment end of the leg strap 40 to change the relative position between the adjustment end of the leg strap 40 and the waist plate 11, so that the leg strap 40 slides along the first through hole 201, the guide wheel 12 and the second through hole 301 in sequence to adjust the loop length of the leg strap 40. In the embodiment of the present utility model, through the design of a single leg strap 40 and an integrated adjustment mechanism, the adjustment process of the leg strap 40 is convenient and fast, which can significantly improve the adjustment efficiency of the leg strap 40, and the length of the leg strap 40 sliding through the first through hole 201 and the length of the leg strap 40 sliding through the second through hole 301 always remain the same during the adjustment process, ensuring the consistency of the length change on both sides of the leg strap 40.

[0050] In some embodiments, the adjustment end of the leg strap 40 is configured with adjustment buckles (not shown), and these adjustment buckles can be structures such as D-rings, buckles, adjustment buttons, adjustment knobs, etc.

[0051] For example, in one implementation, the adjustment buckle can be a D-ring. When it is necessary to adjust the loop length of the leg strap 40, press or move the tongue or slide of the D-ring to move it to the unlocked position, so that the leg strap 40 can slide freely relative to the D-ring. At this time, pull the adjustment end of the leg strap 40 to adjust the leg strap 40 to the desired length. After the length of the leg strap 40 is adjusted, release the previously pressed or moved tongue or slide to return it to the locked position, thereby restricting the relative sliding between the leg strap 40 and the D-ring, so that the leg strap 40 is locked to ensure the stability and safety of the leg strap 40 during use.

[0052] Again, in another implementation, the adjustment buckle can be an adjustment button. When it is necessary to adjust the loop length of the leg strap 40, press the adjustment button so that the leg strap 40 can slide relative to the adjustment button. At this time, pull the adjustment end of the leg strap 40 to increase or decrease the loop length of the leg strap 40 to adjust the leg strap 40 to the desired length. After the length of the leg strap 40 is adjusted, release the adjustment button to restrict the relative sliding between the adjustment button and the leg strap 40, so that the leg strap 40 is locked to ensure the stability and safety of the leg strap 40 during use.

[0053] Please refer to Figure 3 and Figure 4 , Figure 3 is a schematic structural diagram of the back side of the waist support 10 away from the wearer, Figure 4 is a schematic structural diagram of the front side of the waist support 10 facing the wearer.

[0054] In some embodiments, the guide wheel 12 has a columnar structure, and an installation groove 110 is formed on the waist plate 11. The guide wheel 12 is fixedly or rotatably installed in the installation groove 110, and there is a gap between the side surface of the guide wheel 12 and the hole wall of the installation groove 110. The leg strap 40 passes through the gap to be wound around the guide wheel 12.

[0055] As shown Figure 3 in the figure, an installation groove 110 is formed on the lumbar plate 11. Optionally, the installation groove 110 penetrates from one side surface of the lumbar plate 11 to the other side. In addition, the installation groove 110 can also be formed on the side surface of the lumbar plate 11 facing away from the wearer. It can be understood that the guide wheel 12 does not protrude from the side surface of the lumbar plate 11 facing the wearer, so as to avoid the contact between the guide wheel 12 and the body of the wearer, greatly improving the wearing comfort of the wearer.

[0056] The installation groove 110 can be a square groove but is not limited thereto. The guide wheel 12 is installed in the installation groove 110, which can avoid the guide wheel 12 occupying additional space in the thickness direction of the lumbar plate 11 and improve the compactness of the structure. The guide wheel 12 can be fixedly installed on the lumbar plate 11, or the guide wheel 12 can be rotatably installed on the lumbar plate 11. Optionally, the guide wheel 12 and the lumbar plate 11 are of an integrally formed structure to enhance the structural stability.

[0057] The guide wheel 12 is of a cylindrical structure and is arranged in a substantially horizontal direction, that is, the axial direction of the guide wheel 12 is parallel to the horizontal direction, ensuring the smooth sliding of the leg strap 40 relative to the guide wheel 12. In addition, the cylindrical structure of the guide wheel 12 makes the side surface of the guide wheel 12 relatively smooth, which can reduce the friction force when the leg strap 40 slides relative to the guide wheel 12 and improve the flexibility and smoothness during the sliding process of the leg strap 40.

[0058] In some embodiments, the guide wheel 12 is located in the middle of the lumbar plate 11 and is symmetrically arranged with respect to the longitudinal central axis S of the lumbar plate 11.

[0059] As shown Figure 3 and Figure 4 in the figure, the waist bracket 10 is a left-right symmetric structure, that is, the left and right sides of the waist bracket 10 are symmetrically arranged with respect to the longitudinal central axis S, ensuring that the waist bracket 10 can provide balanced and stable support during wearing, which helps to improve the balance and stability during wearing and reduce the sense of deviation or inclination that the wearer may have during movement.

[0060] The guide wheel 12 is symmetrically arranged with respect to the longitudinal central axis S of the lumbar plate 11, so that the distances between the guide wheel 12 and the first leg wear member 20 and between the guide wheel 12 and the second leg wear member 30 are equal, which helps to keep the lengths of the leg straps 40 on both sides of the wearer consistent, increase the force stability during use, and improve the wearing comfort. In other words, if the guide wheel 12 is arranged to the left or right, it is likely to cause a difference in the lengths of the leg straps 40 on both sides of the wearer, and then lead to abnormal gait or additional physical consumption of the wearer.

[0061] In some embodiments, fixing holes 111 and adjusting holes 112 are further formed on the lumbar plate 11. The fixed end of the leg strap 40 is fixedly engaged with the fixing hole 111, and the adjusting end of the leg strap 40 can be slidably engaged with the adjusting hole 112 to adjust the loop length of the leg strap 40.

[0062] Specifically, the fixing hole 111 provides a connection position for the fixed end of the leg strap 40, and the adjusting hole 112 provides a connection position for the adjusting end of the leg strap 40. The shapes of the fixing hole 111 and the adjusting hole 112 are generally adapted to the shape of the leg strap 40. Optionally, the fixed end of the leg strap 40 can be turned over and sewn after passing through the fixing hole 111 to achieve a firm connection between the fixed end of the leg strap 40 and the fixing hole 111. In addition, to further enhance the firmness of the connection, glue or other adhesives can be additionally used for fixation. In some other embodiments, a pin can also be provided at the fixed end of the leg strap 40, and the firm connection between the two can be achieved through the insertion fit between the pin and the fixing hole 111. The adjusting end of the leg strap 40 can pass through the adjusting hole 112 and be slidably engaged with the adjusting hole 112. By pulling the adjusting end of the leg strap 40, the leg strap 40 can slide relative to the adjusting hole 112, thereby adjusting the loop length of the leg strap 40 to meet the usage requirements of different wearers.

[0063] In this embodiment, by forming the fixing hole 111 and the adjusting hole 112 on the lumbar plate 11, it is convenient to provide stable fixation for the fixed end of the leg strap 40 and achieve the adjustability of the adjusting end of the leg strap 40.

[0064] In some embodiments, the fixing hole 111 and the leg strap 40 are in interference fit, and the adjusting hole 112 and the leg strap 40 are in clearance fit. That is to say, the size of the fixing hole 111 is relatively small, and the interference fit between the fixing hole 111 and the leg strap 40 facilitates the turning-over fixation of the fixed end of the leg strap 40 after passing through the fixing hole 111 and is not easy to loosen. The size of the adjusting hole 112 is relatively large, and the clearance fit between the adjusting hole 112 and the leg strap 40 can reduce the friction between the adjusting hole 112 and the leg strap 40 and improve the smoothness when the leg strap 40 slides relative to the adjusting hole 112.

[0065] In some embodiments, both the fixing hole 111 and the adjusting hole 112 are located directly below or directly below the guide wheel 12, which can further ensure that the lengths of the leg straps 40 on the left and right sides of the wearer are consistent, increase the force balance and stability, and improve the wearing comfort of the wearer.

[0066] It can be understood that in other embodiments, the fixing hole 111 and the adjusting hole 112 can also be arranged at other positions on the lumbar plate 11. For example, the fixing hole 111 and the adjusting hole 112 can be arranged side by side in the lower area of the guide wheel 12.

[0067] In some embodiments, the guide wheel 12, the fixing hole 111, and the adjusting hole 112 are all symmetrically arranged with respect to the longitudinal central axis S of the lumbar plate 11. This can ensure that the leg strap 40 is gathered at the center of the waist. When providing assistance, the leg strap 40 is not easily torn open and move to the sides of the thighs, ensuring the stability of the assistance effect.

[0068] In some embodiments, the fixing hole 111 and the adjusting hole 112 are combined to form a figure-eight hole, which is matched with the leg strap 40 to facilitate the adjustment of the leg strap.

[0069] Please refer back to Figure 1 , in some embodiments, the first leg wearing member 20 includes a first calf wearing member 21 and a first connecting member 23 provided on the first calf wearing member 21. The first calf wearing member 21 can be worn on the calf of the wearer, and a first perforation 201 is formed on the first connecting member 23. The second leg wearing member 30 includes a second calf wearing member 31 and a second connecting member 33 provided on the second calf wearing member 31. The second calf wearing member 31 is worn on the calf of the wearer and is connected to the second connecting member 33 at the other end. A second perforation 301 is formed on the second connecting member 33.

[0070] The first connecting member 23 and the second connecting member 33 respectively have a first perforation 201 and a second perforation 301 for the leg strap 40 to pass through. The leg strap 40 passes through the first perforation 201 and the second perforation 301 to connect the leg strap 40 to the first leg wearing member 20 and the second leg wearing member 30 respectively.

[0071] Optionally, the first leg wearing member 20 further includes a first connecting band 22, and the second leg wearing member 30 further includes a second connecting band 32. The first connecting band 22 is used to connect the first connecting member 23 and the first calf wearing member 21, and the second connecting band 32 is used to connect the second connecting member 33 and the second calf wearing member 31. The first connecting band 22 and the second connecting band 32 can be elastic bands or non-elastic bands.

[0072] Optionally, the first connecting member 23 further has a third perforation 230, and the first connecting band 22 is passed through the third perforation 230 to connect the first connecting member 23 and the first connecting band 22. A fourth perforation 330 is formed on the second connecting member 33, and the second connecting band 32 is passed through the fourth perforation 330 to connect the second connecting member 33 and the second connecting band 32.

[0073] Please refer to Figures 5 to 7 , Figure 5 is the overall structural schematic diagram of the power-assisted exoskeleton 100, Figure 6 is the exploded structural schematic diagram of the lumbar support 10, the elastic element 70, and the back plate 60, Figure 7 is the three-dimensional structural schematic diagram of the back plate 60.

[0074] AsFigure 5 As shown, in some embodiments, the powered exoskeleton 100 further includes a waistband 50, and the waistband 50 is connected to the lumbar plate 11. The lumbar plate 11 can be fixed to the waist of the wearer through the waistband 50.

[0075] Optionally, the waistband 50 is generally made of soft and breathable materials, such as fabrics, leathers, etc., to improve the comfort during wearing. Structures such as D-rings, buckles or Velcro can be provided on the waistband 50, and the wearer is allowed to adjust the length of the waistband 50 according to their own body shape, so that the waistband 50 can closely fit the waist to meet the wearing needs of different wearers.

[0076] In some embodiments, there are two waistbands 50, which include a first waistband 51 and a second waistband 52. The fixed ends of the first waistband 51 and the second waistband 52 are respectively detachably and fixedly connected to the lumbar plate 11, and the free ends of the first waistband 51 and the second waistband 52 can be combined with each other so that the lumbar plate 11 can be worn on the waist of the wearer.

[0077] Specifically, the first waistband 51 and the second waistband 52 can be respectively fixedly connected to the left and right sides of the lumbar plate 11. In this embodiment, by providing two relatively independent first waistband 51 and second waistband 52, it is convenient to disassemble and wash the first waistband 51 and the second waistband 52 to avoid the odor of the waistband caused by the wearer sweating.

[0078] As Figure 4 and Figure 5 As shown, in some embodiments, a first through hole 113 and a second through hole 114 are respectively provided on the left and right sides of the lumbar plate 11. The first through hole 113 and the second through hole 114 respectively provide fixed positions for the first waistband 51 and the second waistband 52. The first through hole 113 and the second through hole 114 can be respectively one-shaped holes. The fixed end of the first waistband 51 is fixedly matched with the first through hole 113 to detachably mount the first waistband 51 on the lumbar plate 11, and the fixed end of the second waistband 52 is fixedly matched with the second through hole 114 to detachably and fixedly mount the second waistband 52 on the lumbar plate 11.

[0079] In some embodiments, the free ends of the first waistband 51 and the second waistband 52 can be combined with each other in a detachable manner, such as through buckles, Velcro, magnetic buttons, etc.

[0080] In some embodiments, the powered exoskeleton 100 further includes a back plate 60 and an elastic element 70. The back plate 60 can be worn on the shoulders of the wearer, and the elastic element 70 is arranged between the back plate 60 and the lumbar plate 11. Both ends of the elastic element 70 are respectively connected to the back plate 60 and the lumbar plate 11.

[0081] As Figure 5 and Figure 6As shown, the back plate 60 and the waist plate 11 can be worn on the shoulders and waist of the wearer respectively, and the back plate 60 and the waist plate 11 provide support for the shoulder and back and the waist of the human body respectively. Both ends of the elastic element 70 are respectively connected to the back plate 60 and the waist plate 11. Optionally, both ends of the elastic element 70 can be fixedly connected to the back plate 60 and the back plate respectively through fasteners such as screws and bolts.

[0082] The elastic element 70 can extend along the spine of the wearer, so as to extend to the back and shoulders after passing through the waist of the wearer. The elastic element 70 is made of an elastic material and has a certain bending deformation ability. During the process of the wearer bending forward, the elastic element 70 generates corresponding bending deformation as the trunk of the wearer bends, and stores energy during the deformation process, so as to provide assistance for the wearer to straighten up the trunk and save the physical strength of the wearer.

[0083] Optionally, the elastic element 70 is configured as an arc-shaped member that fits the curve of the human back, so that during the process of the wearer bending forward, the elastic element 70 can deform uniformly following the human trunk.

[0084] In some embodiments, the power-assisted exoskeleton 100 further includes a first shoulder strap 81 and a second shoulder strap 82. Both ends of the first shoulder strap 81 are fixedly connected to the back plate 60 and the waist plate 11 respectively, and both ends of the second shoulder strap 82 are fixedly connected to the back plate 60 and the waist plate 11 respectively.

[0085] On the left and right sides of the back plate 60, a first through hole 61 and a second through hole 62 are respectively formed (see Figure 7 ), the first through hole 61 provides a fixed position for one end of the first shoulder strap 81, and the second through hole 62 provides a fixed position for one end of the second shoulder strap 82. On the left and right sides of the waist plate 11, a third through hole 115 and a fourth through hole 116 are respectively formed (see Figure 4 ), the third through hole 115 provides a fixed position for the other end of the first shoulder strap 81, and the fourth through hole 116 provides a fixed position for the other end of the second shoulder strap 82.

[0086] Optionally, one end of the first shoulder strap 81 and one end of the second shoulder strap 82 can be respectively fixed to the first through hole 61 and the second through hole 62 by means of hemming and sewing, and the other end of the first shoulder strap 81 and the other end of the second shoulder strap 82 are respectively adjustably fixed to the third through hole 115 and the fourth through hole 116 to adjust the lengths of the first shoulder strap 81 and the second shoulder strap 82 to meet the wearing needs of different wearers.

[0087] In some embodiments, the third via 115 is located below the first via 113, and the fourth via 116 is located below the second via 114. Since the first via 113 and the second via 114 correspond to the waist region of the human body, the third via 115 and the fourth via 116 respectively correspond to the pelvic region of the human body, that is, the fixing points of the other ends of the first shoulder strap 81 and the second shoulder strap 82 are located near the human pelvis, so that most of the weight originally borne by the shoulders is transferred to the pelvic region, thereby reducing the pressure of the first shoulder strap 81 and the second shoulder strap 82 on the shoulders and rib regions of the wearer, especially avoiding the compression of the first shoulder strap 81 and the second shoulder strap 82 on the shoulders and rib regions during the process of the wearer bending forward.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other changes in different aspects of the present invention as described above. For the sake of brevity, they are not provided in detail; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A power-assisted exoskeleton, characterized in that: include: A waist support (10), the waist support (10) can be worn on the waist of a wearer, and the waist support (10) comprises a waist plate (11) and a guide wheel (12) arranged on the waist plate (11); A first leg wearing piece (20) and a second leg wearing piece (30), wherein the first leg wearing piece (20) and the second leg wearing piece (30) can be respectively worn on the legs of a wearer, wherein the first leg wearing piece (20) has a first through hole (201), and the second leg wearing piece (30) has a second through hole (301); and A leg strap (40), wherein the leg strap (40) is wound around the guide wheel (12), and the leg strap (40) is respectively passed through the first through hole (201) and the second through hole (301), one end of the leg strap (40) is a fixed end, and the fixed end is fixedly connected to the waist plate (11), and the other end of the leg strap (40) is an adjustment end, and the adjustment end is adjustably connected to the waist plate (11). By pulling the adjustment end, the leg strap (40) can slide along the first through hole (201), the guide wheel (12) and the second through hole (301) to adjust the loop length of the leg strap (40).

2. The power-assisted exoskeleton according to claim 1, characterized in that: The guide wheel (12) is of a columnar structure. A mounting groove (110) is provided on the waist plate (11). The guide wheel (12) is fixedly or rollingly installed in the mounting groove (110). There is a gap between the side surface of the guide wheel (12) and the hole wall of the mounting groove (110). The leg belt (40) passes through the gap to be wound around the guide wheel (12).

3. The power-assisted exoskeleton according to claim 1, characterized in that: The guide wheel (12) is located in the middle of the waist plate (11), and the guide wheel (12) is symmetrically arranged relative to the longitudinal center axis of the waist plate (11).

4. The power-assisted exoskeleton according to any one of claims 1 to 3, characterized in that: The waist plate (11) is also provided with a fixing hole (111) and an adjustment hole (112); the fixing end of the leg strap (40) is fixedly matched with the fixing hole (111); and the adjustment end of the leg strap (40) can be slidably matched with the adjustment hole (112) to adjust the loop length of the leg strap (40).

5. The power-assisted exoskeleton according to claim 4, characterized in that: The fixing hole (111) and the leg strap (40) are in interference fit, and the adjustment hole (112) and the leg strap (40) are in clearance fit.

6. The power-assisted exoskeleton according to claim 4, characterized in that: The fixing hole (111) and the adjusting hole (112) are both located directly below or directly above the guide wheel (12).

7. The power-assisted exoskeleton according to claim 6, characterized in that: The guide wheel (12), the fixing hole (111) and the adjustment hole (112) are all symmetrically arranged relative to the longitudinal center axis of the waist plate (11).

8. The power-assisted exoskeleton according to claim 5, characterized in that: The fixing hole (111) and the adjusting hole (112) are combined to form a square-shaped hole.

9. The power-assisted exoskeleton according to claim 1, characterized in that: The first leg wearable piece (20) comprises a first calf wearable piece (21) and a first connecting piece (23) arranged on the first calf wearable piece (21); the first calf wearable piece (21) can be worn on the calf of a wearer, and the first connecting piece (23) is provided with the first through hole (201); The second leg wearing piece (30) comprises a second calf wearing piece (31) and a second connecting piece (33) arranged on the second calf wearing piece (31); the second calf wearing piece (31) can be worn on the calf of a wearer; the second connecting piece (33) is provided with the second through hole (301).

10. The power-assisted exoskeleton according to claim 1, characterized in that: The invention also comprises a back plate (60) and an elastic element (70), wherein the back plate (60) can be worn on the shoulders of a wearer, the elastic element (70) is arranged between the back plate (60) and the waist plate (11), and the two ends of the elastic element (70) are respectively connected to the back plate (60) and the waist plate (11).

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