Lower limb exoskeleton device

Abstract

The utility model provides a lower limb exoskeleton device which comprises at least two lower limb protectors and an adjusting structure, and the lower limb protectors are arranged around the peripheries of lower limbs; the length of the adjusting structure can be adjusted so as to adjust the distance between the two lower limb protectors at the two ends of the adjusting structure. By the adoption of the scheme, the lower limb protector is arranged around the periphery of the lower limb to be fixed to the lower limb of the human body, the distance between the two ends of the adjusting structure can be adjusted to adapt to the lower limb lengths of different people, and the distance between the two ends of the adjusting structure can be accurately adjusted so that the length of the lower limb exoskeleton device can better conform to the height of a user. According to the scheme, the length of the lower limb exoskeleton device can be adjusted according to the height of a user.

Description

Technical Field

[0001] The utility model relates to the technical field of exoskeletons, and more specifically, to a lower limb exoskeleton device. Background Art

[0002] In industrial or high-intensity production operations, in order to reduce the physical consumption of workers during work and enable workers to maintain a healthy body posture during long-term work, exoskeletons are usually used.

[0003] Due to the large height difference among different workers, it is very difficult for lower limb exoskeletons with fixed sizes to meet the needs of people of different heights, causing great inconvenience. Therefore, a lower limb exoskeleton device capable of adjusting its length is needed. Summary of the Utility Model

[0004] The utility model provides a lower limb exoskeleton device to solve the problem that the lower limb exoskeleton device in the prior art cannot adjust its length.

[0005] To solve the above problems, the utility model provides a lower limb exoskeleton device, which includes lower limb braces and an adjustment structure. There are at least two lower limb braces, and the lower limb braces are arranged around the periphery of the lower limbs; the lower limb braces are fixedly connected to the adjustment structure, and the length of the adjustment structure is adjustable to adjust the distance between the two lower limb braces at both ends of the adjustment structure.

[0006] With this solution, the lower limb braces are arranged around the periphery of the lower limbs to be fixed on the lower limbs of the human body. The distance between the two ends of the adjustment structure can be adjusted to adapt to the lower limb lengths of different people, and the distance between the two ends of the adjustment structure can be adjusted to make the length of the lower limb exoskeleton device more in line with the height of the user. Through this solution, the length of the lower limb exoskeleton device can be adjusted according to the height of the user.

[0007] Further, the adjustment structure includes a mounting seat and a sliding seat. The mounting seat is slidably connected to the sliding seat. One lower limb brace is connected to the end of the mounting seat away from the sliding seat, and one lower limb brace is connected to the end of the sliding seat away from the mounting seat.

[0008] It can be understood that by the relative sliding of the mounting seat and the sliding seat, the length of the lower limb exoskeleton device can be adjusted, so that the lower limb exoskeleton device can adapt to the lower limb lengths of people of different heights and meet the usage requirements of different people. The length of the adjustment structure changes, causing the distance between the two lower limb braces at both ends of the adjustment structure to change.

[0009] Further, the adjustment structure further includes an adjustment screw rod. One end of the adjustment screw rod is rotatably connected to the mounting seat, the adjustment screw rod is threadedly connected to the sliding seat, and the relative position between the mounting seat and the sliding seat is adjusted by rotating the adjustment screw rod.

[0010] It can be conceived that the adjusting screw rod is threadedly connected to the sliding seat. When the adjusting screw rod rotates relative to the mounting seat, the adjusting screw rod rotates relative to the sliding seat so that the sliding seat slides relative to the mounting seat, thereby adjusting the length of the adjusting structure.

[0011] Furthermore, the adjusting structure further includes an adjusting knob which is fixedly connected to the end of the adjusting screw rod facing away from the sliding seat, and the adjusting knob is used to rotate the adjusting screw rod.

[0012] The adjusting knob is used to rotate the adjusting screw rod so that the adjusting screw rod rotates relative to the mounting seat, and the adjusting screw rod drives the sliding seat to slide along the mounting seat to change the length of the adjusting structure. The adjusting knob makes the operation of rotating the adjusting screw rod more convenient and fast, makes the use of the lower limb exoskeleton device more convenient, and can adapt to various working environments.

[0013] Furthermore, the lower limb brace includes a first arc-shaped plate and a second arc-shaped plate. The sides of the first arc-shaped plate and the second arc-shaped plate are respectively connected to surround the outer periphery of the lower limb, and the side of the first arc-shaped plate facing away from the second arc-shaped plate is connected to the adjusting structure.

[0014] With such a setting, the sides of the first arc-shaped plate and the second arc-shaped plate are respectively connected, so that the first arc-shaped plate and the second arc-shaped plate can surround and wrap the lower limb of the user, and the lower limb exoskeleton device is connected to the lower limb of the person.

[0015] Furthermore, the lower limb brace includes a plurality of connecting members. One end of the connecting member is connected to the first arc-shaped plate, and the other end of the connecting member is connected to the second arc-shaped plate. The plurality of connecting members are respectively arranged on both sides of the first arc-shaped plate.

[0016] The connecting members respectively connect the two sides of the first arc-shaped plate and the second arc-shaped plate, so that the first arc-shaped plate and the second arc-shaped plate are arranged around the lower limb of the human body.

[0017] Furthermore, the connecting member includes a fixing member and two fixing buckles. The two fixing buckles are respectively connected to the first arc-shaped plate and the second arc-shaped plate, and both ends of the fixing member are respectively connected to the two fixing buckles.

[0018] The fixing member connects the two fixing buckles to realize the connection between the first arc-shaped plate and the second arc-shaped plate, and the two fixing buckles are respectively connected to the first arc-shaped plate and the second arc-shaped plate.

[0019] Furthermore, the connecting member further includes a buffer structure which wraps the fixing buckle, and the buffer structure is made of an elastic material.

[0020] It can be conceived that the buffer structure prevents the lower limb of the human body from being damaged by the friction between the fixing buckle and the lower limb of the human body when wearing the lower limb exoskeleton device. The buffer structure wraps the sharp part of the fixing buckle, making the use of the lower limb exoskeleton device safer and more reliable.

[0021] Furthermore, the lower limb exoskeleton device also includes a first mounting member, which is connected to one end of the adjustment structure, and an end of the first mounting member away from the adjustment structure is used to connect to the waist exoskeleton.

[0022] The first mounting member is disposed at one end of the adjustment structure near the waist, and is used to connect the lower limb exoskeleton device to the exoskeleton at the waist, so that the lower limb exoskeleton device can be combined with other devices to obtain a complete human exoskeleton. The first mounting member realizes the detachable connection between the lower limb exoskeleton device of the present application and other exoskeletons, so that the lower limb exoskeleton device of the present application can be used in a variety of environments.

[0023] Furthermore, the lower limb exoskeleton device also includes a second mounting member, which is connected to the other end of the adjustment structure, and the end of the second mounting member away from the adjustment structure is used to connect to the ankle exoskeleton.

[0024] The second mounting piece is arranged at one end of the adjustment structure near the ankle, and is used to connect the lower limb exoskeleton device to the exoskeleton at the ankle, so that the lower limb exoskeleton device can be connected to the device at the ankle to obtain an exoskeleton with more complete functions. The second mounting piece realizes a detachable connection between the lower limb exoskeleton device and other exoskeletons.

[0025] By applying the technical solution of the utility model, a lower limb exoskeleton device is provided, including lower limb protective gear and an adjustment structure, wherein there are at least two lower limb protective gears, which are arranged around the periphery of the lower limbs; the length of the adjustment structure is adjustable to adjust the distance between the two lower limb protective gears at both ends of the adjustment structure. With this solution, the lower limb protective gear is arranged around the periphery of the lower limbs to be fixed to the lower limbs of the human body, and the distance between the two ends of the adjustment structure can be adjusted to accommodate the lower limb lengths of different people, and the distance between the two ends of the adjustment structure can be accurately adjusted so that the length of the lower limb exoskeleton device is more in line with the height of the user. Through this solution, the length of the lower limb exoskeleton device can be adjusted according to the height of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0027] Figure 1 A schematic diagram of the structure of a lower limb exoskeleton device provided by an embodiment of the utility model is shown;

[0028] Figure 2 Shows Figure 1 A front view of the lower limb exoskeleton device in FIG.

[0029] Figure 3 ShowsFigure 1 Schematic structural diagram of the adjustment structure of the lower limb exoskeleton device in

[0030] Among them, the above-mentioned drawings include the following reference numerals:

[0031] 10. Lower limb brace;

[0032] 11. First arc plate;

[0033] 12. Second arc plate;

[0034] 13. Connecting piece;

[0035] 131. Fixing piece;

[0036] 132. Fixing buckle;

[0037] 20. Adjustment structure;

[0038] 21. Mounting seat;

[0039] 22. Sliding seat;

[0040] 23. Adjusting lead screw;

[0041] 24. Adjusting knob;

[0042] 30. First mounting piece;

[0043] 40. Second mounting piece. Detailed implementation mode

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way constitutes a limitation to the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0045] As Figures 1 to 3 shown, the embodiment of the present invention provides a lower limb exoskeleton device, including a lower limb brace 10 and an adjustment structure 20. There are at least two lower limb braces 10, and the lower limb braces 10 are arranged around the outer periphery of the lower limb; a scale is provided on the surface of the adjustment structure 20. The lower limb brace 10 is fixedly connected to the adjustment structure 20, and the length of the adjustment structure 20 is adjustable to adjust the distance between the two lower limb braces 10 at both ends of the adjustment structure 20.

[0046] With this solution, the lower limb brace 10 is arranged around the outer periphery of the lower limb to be fixed on the lower limb of the human body. The distance between the two ends of the adjustment structure 20 can be adjusted to adapt to the lower limb lengths of different people, and the distance between the two ends of the adjustment structure can be adjusted so that the length of the lower limb exoskeleton device is more in line with the height of the user. Through this solution, the length of the lower limb exoskeleton device can be adjusted according to the height of the user.

[0047] In a specific embodiment of the present utility model, a plurality of lower limb braces can be arranged along the length direction of the adjustment structure 20 to be connected to the lower limbs of the person.

[0048] As Figure 2 shown, the adjustment structure 20 includes a mounting seat 21 and a sliding seat 22. The mounting seat 21 is slidably connected to the sliding seat 22. One lower limb brace 10 is connected to one end of the mounting seat 21 away from the sliding seat 22, and one lower limb brace 10 is connected to one end of the sliding seat 22 away from the mounting seat 21.

[0049] It can be understood that by the relative sliding of the mounting seat 21 and the sliding seat 22, the length of the lower limb exoskeleton device can be adjusted, so that the lower limb exoskeleton device can adapt to the lower limb lengths of people with different heights and meet the usage requirements of different people. When the length of the adjustment structure 20 changes, the distance between the two lower limb braces 10 at the two ends of the adjustment structure 20 changes.

[0050] As Figure 3 shown, the adjustment structure 20 further includes an adjustment screw rod 23. One end of the adjustment screw rod 23 is rotatably connected to the mounting seat 21, and the adjustment screw rod 23 is threadedly connected to the sliding seat 22. The adjustment screw rod 23 adjusts the relative position between the mounting seat 21 and the sliding seat 22 by rotation.

[0051] It can be conceived that the adjustment screw rod 23 is threadedly connected to the sliding seat 22. When the adjustment screw rod 23 rotates relative to the mounting seat 21, the adjustment screw rod 23 rotates relative to the sliding seat 22 so that the sliding seat 22 slides relative to the mounting seat 21, thereby adjusting the length of the adjustment structure 22.

[0052] As Figure 2 shown, the adjustment structure 20 further includes an adjustment knob 24. The adjustment knob 24 is fixedly connected to one end of the adjustment screw rod 23 away from the sliding seat 22, and the adjustment knob 24 is used to rotate the adjustment screw rod 23.

[0053] The adjustment knob 24 is used to rotate the adjustment screw rod 23 so that the adjustment screw rod 23 rotates relative to the mounting seat 21. The adjustment screw rod 23 drives the sliding seat 22 to slide along the mounting seat 21 to change the length of the adjustment structure 20. The adjustment knob 24 makes the operation of rotating the adjustment screw rod 23 more convenient and fast, makes the use of the lower limb exoskeleton device more convenient, and can adapt to a variety of working environments.

[0054] As shown Figure 1 in FIG. 1, the lower limb brace 10 includes a first arc-shaped plate 11 and a second arc-shaped plate 12. The sides of the first arc-shaped plate 11 and the second arc-shaped plate 12 are respectively connected to surround the outer periphery of the lower limb, and the side of the first arc-shaped plate 11 facing away from the second arc-shaped plate 12 is connected to the adjusting structure 20.

[0055] With such a setting, the sides of the first arc-shaped plate 11 and the second arc-shaped plate 12 are respectively connected, so that the first arc-shaped plate 11 and the second arc-shaped plate 12 can surround and wrap the lower limb of the user, enabling the lower limb exoskeleton device to be connected to the human lower limb.

[0056] In a specific embodiment of the present utility model, a buffer pad is provided on the side of the first arc-shaped plate 11 and the second arc-shaped plate 12 close to the human lower limb to absorb the vibration and friction between the lower limb and the first arc-shaped plate 11 and the second arc-shaped plate 12, avoiding damage to the human lower limb caused by the first arc-shaped plate 11 and the second arc-shaped plate 12. The buffer pad can be made of different elastic materials such as sponge, silica gel or rubber.

[0057] In a specific embodiment of the present utility model, the lower limb brace 10 includes a plurality of connecting members 13. One end of the connecting member 13 is connected to the first arc-shaped plate 11, and the other end of the connecting member 13 is connected to the second arc-shaped plate 12. The plurality of connecting members 13 are respectively arranged on both sides of the first arc-shaped plate 11.

[0058] The connecting members 13 respectively connect the two sides of the first arc-shaped plate 11 and the second arc-shaped plate 12, so that the first arc-shaped plate 11 and the second arc-shaped plate 12 are arranged around the human lower limb.

[0059] In a specific embodiment of the present utility model, two connecting members 13 are respectively arranged on both sides of the first arc-shaped plate 11, and the connecting members 13 connect the first arc-shaped plate 11 and the second arc-shaped plate 12.

[0060] As shown Figure 1 in FIG. 2, the connecting member 13 includes a fixing member 131 and two fixing buckles 132. The two fixing buckles 132 are respectively connected to the first arc-shaped plate 11 and the second arc-shaped plate 12, and both ends of the fixing member 131 are respectively connected to the two fixing buckles 132.

[0061] The fixing member 131 connects the two fixing buckles 132 to realize the connection between the first arc-shaped plate 11 and the second arc-shaped plate 12, and the two fixing buckles 132 are respectively connected to the first arc-shaped plate 11 and the second arc-shaped plate 12.

[0062] Furthermore, in a specific embodiment of the present utility model, the connecting member 13 further includes a buffer structure, the buffer structure wraps the fixing buckle 132, and the buffer structure is made of an elastic material.

[0063] It is conceivable that the buffer structure prevents the lower limbs of the human body from being injured by friction between the fixing buckle 132 and the lower limbs of the human body when the lower limb exoskeleton device is worn. The buffer structure wraps the sharp part of the fixing buckle 132, making the use of the lower limb exoskeleton device safer and more reliable.

[0064] like Figure 1 As shown, the lower limb exoskeleton device further includes a first mounting member 30, which is connected to one end of the adjustment structure 20, and an end of the first mounting member 30 away from the adjustment structure 20 is used to connect to the waist exoskeleton.

[0065] The first mounting member 30 is disposed at one end of the adjustment structure 20 near the waist, and is used to connect the lower limb exoskeleton device to the exoskeleton at the waist, so that the lower limb exoskeleton device can be combined with other devices to obtain a complete human exoskeleton. The first mounting member 30 realizes the detachable connection between the lower limb exoskeleton device of the present application and other exoskeletons, so that the lower limb exoskeleton device of the present application can be used in a variety of environments.

[0066] like Figure 1 As shown, the lower limb exoskeleton device further includes a second mounting member 40, which is connected to the other end of the adjustment structure 20, and an end of the second mounting member 40 away from the adjustment structure 20 is used to connect to the ankle exoskeleton.

[0067] The second mounting member 40 is disposed at one end of the adjustment structure 20 near the ankle, and is used to connect the lower limb exoskeleton device to the exoskeleton at the ankle, so that the lower limb exoskeleton device can be connected to the device at the ankle to obtain an exoskeleton with more complete functions. The second mounting member 40 realizes a detachable connection between the lower limb exoskeleton device and other exoskeletons.

[0068] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

[0069] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0070] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present utility model. At the same time, it should be understood that for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the description. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, further discussion thereof in subsequent drawings is not required.

[0071] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description. Without contrary statements, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the protection scope of the present utility model; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0072] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above-mentioned", etc. can be used here to describe the spatial positional relationship between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned or rotated in other different ways by 90 degrees or in other orientations, and corresponding interpretations should be made for the spatial relative descriptions used here.

[0073] In addition, it should be noted that the use of words such as "first", "second", etc. to limit components is only for the convenience of differentiating the corresponding components. Without otherwise stating, the above words have no special meaning. Therefore, it cannot be understood as a limitation on the protection scope of the present utility model.

Claims

1. A lower limb exoskeleton device, characterized in that: include: A lower limb protector (10), wherein the number of the lower limb protectors (10) is at least two, and the lower limb protectors (10) are arranged around the periphery of the lower limb; The adjusting structure (20) is fixedly connected to the lower limb protector (10), and the length of the adjusting structure (20) is adjustable to adjust the distance between the two lower limb protectors (10) at the two ends of the adjusting structure (20).

2. The lower limb exoskeleton device according to claim 1, characterized in that: The adjustment structure (20) comprises a mounting seat (21) and a sliding seat (22), wherein the mounting seat (21) is slidably connected to the sliding seat (22), one of the lower limb protectors (10) is connected to an end of the mounting seat (21) away from the sliding seat (22), and one of the lower limb protectors (10) is connected to an end of the sliding seat (22) away from the mounting seat (21).

3. The lower limb exoskeleton device according to claim 2, characterized in that: The adjustment structure (20) further comprises an adjustment screw (23), one end of which is rotatably connected to the mounting seat (21), and the adjustment screw (23) is threadedly connected to the sliding seat (22). The adjustment screw (23) adjusts the relative position between the mounting seat (21) and the sliding seat (22) by rotating.

4. The lower limb exoskeleton device according to claim 3, characterized in that: The adjustment structure (20) further comprises an adjustment knob (24), wherein the adjustment knob (24) is fixedly connected to an end of the adjustment screw rod (23) away from the sliding seat (22), and the adjustment knob (24) is used to rotate the adjustment screw rod (23).

5. The lower limb exoskeleton device according to claim 1, characterized in that: The lower limb protector (10) comprises a first curved plate (11) and a second curved plate (12), the side edges of the first curved plate (11) and the second curved plate (12) are respectively connected to surround the outer periphery of the lower limb, and the side of the first curved plate (11) facing away from the second curved plate (12) is connected to the adjustment structure (20).

6. The lower limb exoskeleton device according to claim 5, characterized in that: The lower limb protector (10) comprises a plurality of connecting members (13), one end of the connecting member (13) is connected to the first arc-shaped plate (11), and the other end of the connecting member (13) is connected to the second arc-shaped plate (12), and the plurality of connecting members (13) are respectively arranged on both sides of the first arc-shaped plate (11).

7. The lower limb exoskeleton device according to claim 6, characterized in that: The connecting member (13) comprises a fixing member (131) and two fixing buckles (132), wherein the two fixing buckles (132) are respectively connected to the first arc-shaped plate (11) and the second arc-shaped plate (12), and the two ends of the fixing member (131) are respectively connected to the two fixing buckles (132).

8. The lower limb exoskeleton device according to claim 7, characterized in that: The connecting piece (13) further comprises a buffer structure, wherein the buffer structure wraps the fixing buckle (132), and the buffer structure is made of elastic material.

9. The lower limb exoskeleton device according to claim 1, characterized in that: The lower limb exoskeleton device also includes a first mounting member (30), the first mounting member (30) is connected to one end of the adjustment structure (20), and the end of the first mounting member (30) facing away from the adjustment structure (20) is used to connect to the waist exoskeleton.

10. The lower limb exoskeleton device according to claim 9, characterized in that: The lower limb exoskeleton device also includes a second mounting member (40), which is connected to the other end of the adjustment structure (20), and the end of the second mounting member (40) facing away from the adjustment structure (20) is used to connect to the ankle exoskeleton.

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