Outdoor knee joint assisting exoskeleton device

Abstract

The utility model provides an outdoor knee joint power-assisted exoskeleton device which comprises a battery, two leg exoskeletons and a controller, each leg exoskeleton comprises a thigh binding assembly, a shank binding assembly, an upper supporting plate, a lower supporting plate, a motor and a detection sensor, the thigh binding assemblies are bound outside the thighs, the shank binding assemblies are bound outside the shanks, and the upper supporting plate is connected with the motor. The upper end of the upper supporting plate is connected with the thigh binding assembly, the lower end of the upper supporting plate is provided with a motor, the output end of the motor is connected with the lower supporting plate, the upper end of the lower supporting plate is rotationally connected with the upper supporting plate, and the lower end of the lower supporting plate is connected with the shank binding assembly. And the controller controls the motor to output different torques according to the motion state sensed by the detection sensor. According to the utility model, the motor is adopted to directly output force to the thighs and the shanks, so that the structure can be simplified, the weight and the size can be reduced, different assistance can be accurately provided according to the motion state of a user, and the assistance effect is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to exoskeleton robot technical field especially relates to a kind of outdoor knee joint power-assisted exoskeleton device. BACKGROUND

[0002] Mountain exoskeleton is an exoskeleton system specially designed for mountain climbing and other outdoor activities. It provides additional support and power to mountain climbers through the combination of mechanical and electronic technologies, thereby improving the mountain climbing experience and enhancing safety and efficiency. Mountain exoskeleton is a wearable mechanical device that mimics the human skeletal structure, providing additional support and power to the human body through mechanical components and electronic control systems. Its working principle mainly includes three parts: power unit, transmission device and execution unit. The power unit provides energy, the transmission device transmits energy, and the execution unit is responsible for converting energy into specific actions.

[0003] In some plateau areas of China, border defense soldiers use individual exoskeletons to transport supplies and wounded. This exoskeleton system can help soldiers carry a load equivalent to the weight of an adult, and effectively prevent waist and leg injuries. However, existing mountain exoskeletons mostly use mechanical structures to transmit force to the ground to provide assistance, which has complex structure, large volume and heavy weight. This not only limits its portability and flexibility to some extent, but also increases the burden on mountain climbers, affecting the use experience, and is not suitable for outdoor mountaineering. The assistance is the rated torque output by the drive unit, which cannot accurately provide assistance according to the user's movement state. SUMMARY

[0004] The utility model aims at providing a kind of outdoor knee joint power-assisted exoskeleton device to overcome the deficiencies in the prior art.

[0005] To solve the above technical problems, the technical scheme of the utility model is as follows: an outdoor knee joint power-assisted exoskeleton device, comprising a battery and two leg exoskeletons, the battery is bound at the waist position, and the cables on both sides are connected to one leg exoskeleton respectively; the leg exoskeleton includes a thigh binding assembly, a calf binding assembly, an upper support plate, a lower support plate, a motor and a detection sensor, the thigh binding assembly is bound outside the thigh, the calf binding assembly is bound outside the calf, the upper end of the upper support plate is connected with the thigh binding assembly, and the lower end is provided with a motor, the output end of the motor is connected with the lower support plate provided inside the upper support plate, the upper end of the lower support plate is rotationally connected with the upper support plate, and the lower end is connected with the calf binding assembly; the detection sensor is provided outside the lower end of the lower support plate, and the movement state of the wearer can be detected by detecting the angle of the calf lifting, the controller is further provided outside the upper support plate, and the controller controls the motor to output different torques according to the movement state sensed by the detection sensor.

[0006] Further, the outdoor knee joint assisting exoskeleton device, the upper support plate is externally provided with a protective shell one, the controller and the motor are internally arranged in the protective shell one, the lower end of the lower support plate is provided with a protective shell two, and the detection sensor is internally arranged in the protective shell two.

[0007] Further, the outdoor knee joint assisting exoskeleton device, the thigh binding assembly comprises an inner lining one and an outer binding part one, the inner lining one is attached to the thigh, the outer binding part one comprises a thigh binding plate and a binding belt one, the thigh binding plate is semi-covered outside the inner lining one, one end of the binding belt one is connected with one end of the thigh binding plate, and the other end is connected with a thigh rotating buckle arranged on the thigh binding plate.

[0008] Further, the outdoor knee joint assisting exoskeleton device, the thigh binding assembly is connected with the upper support plate through a buckle one, one clamping part of the buckle one is arranged on the thigh binding plate, and the other clamping part is arranged on the inner side of the upper end of the upper support plate.

[0009] Further, the outdoor knee joint assisting exoskeleton device, the calf binding assembly comprises an inner lining two and an outer binding part two, the inner lining two is attached to the upper end of the calf, the outer binding part two comprises a calf binding plate and a binding belt two, the calf binding plate is not completely covered outside the inner lining two, one end of the binding belt two is connected with one end of the calf binding plate, and the other end is connected with a calf rotating buckle arranged on the calf binding plate.

[0010] Further, the outdoor knee joint assisting exoskeleton device, the calf binding assembly further comprises an inner lining three and a binding belt three, the inner lining three is attached to the lower end of the calf, the calf binding plate is provided with an extending fixing part extending downward, the extending fixing part is not completely covered outside the inner lining three, and the extending fixing part is connected with two ends of the binding belt three.

[0011] Further, the outdoor knee joint assisting exoskeleton device, the calf binding assembly is connected with the lower support plate through a buckle two, one clamping part of the buckle two is arranged on the calf binding plate, and the other clamping part is arranged on the inner side of the lower end of the lower support plate.

[0012] Further, the outdoor knee joint assisting exoskeleton device, the inner side of the upper support plate is further provided with a limiting block, the limiting block is provided with at least one, is arranged outside the rotating part of the upper end of the lower support plate, and is used for limiting the rotation angle of the lower support plate.

[0013] Further, the outdoor knee joint assisting exoskeleton device further comprises outer trousers, the battery is arranged on the inner side of the waist part of the outer trousers, the thigh part of the outer trousers is provided with a pocket one, the calf part of the outer trousers is provided with a pocket two, the thigh binding assembly is arranged in the pocket one, the pocket one is used for supporting the thigh binding assembly, and the calf binding assembly is arranged in the pocket two, and the pocket two is used for supporting the calf binding assembly.

[0014] Further, the outdoor knee joint power assisting exoskeleton device has the pocket one, and the pocket one comprises an outer zipper and an inner zipper.

[0015] Compared with the prior art, the outdoor knee joint power assisting exoskeleton device has the advantages that: the motor directly outputs force to the thigh and the lower leg, so that the structure is simplified, the weight and the volume are reduced, the device is convenient to wear, noise is reduced, the interference of noise on the mountaineer is avoided, the action efficiency is improved, and the outdoor sports experience is improved; the detection sensor and the controller are arranged, different assisting forces are accurately provided according to the motion state of the user, and the assisting effect is improved; the outer trousers are arranged, the thigh binding assembly and the lower leg binding assembly are prevented from falling, the connection stability is improved, the connection structure is simplified, and the weight is further reduced. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0017] Figure 1 Fig. 1 is a structural schematic view of the outdoor knee joint power assisting exoskeleton device of the present application;

[0018] Figure 2 Fig. 2 is a partial structural schematic view of the outdoor knee joint power assisting exoskeleton device of the present application;

[0019] Figure 3 Fig. 3 is a wearing schematic view of the present application;

[0020] Figure 4 Fig. 4 is a schematic view of the thigh binding assembly and the pocket one of the outdoor knee joint power assisting exoskeleton device of the present application;

[0021] Figure 5 Fig. 5 is a wearing schematic view of the present application;

[0022] In the figure: 1. Battery; 2. Thigh binding assembly; 21. Liner 1; 22. Thigh binding plate; 23. Strap 1; 24. Thigh buckle; 3. Calf binding assembly; 31. Liner 2; 32. Calf binding plate; 321. Extension fixing part; 33. Strap 2; 34. Calf buckle; 35. Liner 3; 4. Upper support plate; 5. Lower support plate; 6. Motor; 7. Controller; 8. Protective shell 1; 9. Protective shell 2; 10. Buckle 1; 11. Buckle 2; 12. Limit block; 13. Outer pants; 14. Pocket 1; 141. Outer zipper; 142. Inner zipper; 143. Front piece; 144. Inner piece. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] Example 1

[0025] like Figures 1-3 As shown, an outdoor knee joint power-assisted exoskeleton device includes a battery 1 and two leg exoskeletons. The battery 1 is tied to the waist, and cables extend from both sides thereof and are connected to a leg exoskeleton respectively; the leg exoskeleton includes a thigh binding component 2, a calf binding component 3, an upper support plate 4, a lower support plate 5, a motor 6, and a detection sensor. The thigh binding component 2 is tied to the outside of the thigh, and the calf binding component 3 is tied to the outside of the calf. The upper end of the upper support plate 4 is connected to the thigh binding component 2, and the lower end thereof is provided with a motor 6. The output of the motor 6 The output end is connected to a lower support plate 5 located on the inner side of an upper support plate 4. The upper end of the lower support plate 5 is rotatably connected to the upper support plate 4, and the lower end is connected to the calf binding assembly 3. The detection sensor is located on the outer side of the lower end of the lower support plate 5. By detecting the angle of the calf's elevation, it can detect and sense the wearer's movement state, including walking up stairs, climbing, descending a slope, walking down stairs, walking on flat ground, running and jumping, and other movement states. The upper support plate 4 is also provided with a controller 7 on the outside. The controller 7 controls the motor 6 to output different torques according to the movement state sensed by the detection sensor, providing different assistance to the wearer. The present utility model uses a motor to directly output force to the calf and calf, which can simplify the structure, reduce weight and volume, and facilitate wear. It can also reduce noise, avoid noise interference to climbers, improve movement efficiency, and enhance the outdoor exercise experience. Through the configuration of the detection sensor and the controller, different assistance can be accurately provided according to the user's movement state, thereby improving the assistance effect. In addition, the present utility model adopts standardized and optimized design in terms of structure, electrical system, etc., which reduces costs.

[0026] As Figure 1 , 2 shown, to improve the practical safety, the upper support plate 4 inside is also provided with a limit block 12, the limit block 12 is provided with at least one, two in the embodiment, limit the rotation angle in two directions, the limit block 12 is arranged along the outside of the rotating part of the upper end of the lower support plate 5, for limiting the rotation angle of the lower support plate 5.

[0027] As Figure 2 shown, the upper support plate 4 is provided with a protective shell 8, the controller 7, motor 6 is arranged in the protective shell 8, and the front side of the protective shell 8 is also provided with a switch button, which is convenient to operate, and the lower end of the lower support plate 5 is provided with a protective shell 9, and the detection sensor is arranged in the protective shell 9. Not only improve the appearance, but also protect the electrical parts.

[0028] As Figure 1 , 2 shown, the thigh binding assembly 2 comprises an inner lining 21 and an outer binding member 1, the inner lining 21 is attached to the thigh, the outer binding member 1 comprises a thigh binding plate 22 and a binding belt 23, the thigh binding plate 22 is half covered outside the inner lining 21, one end of the binding belt 23 is connected with one end of the thigh binding plate 22, and the other end is connected with a thigh screw 24 arranged on the thigh binding plate 22. The inner lining 21 is made of soft material, which can improve the wearing experience, and the thigh screw 24 is tightened, which can tighten the binding belt 23, so that the thigh binding plate 22 is fixedly attached to the human thigh.

[0029] In the above structure, the thigh binding assembly 2 is connected with the upper support plate 4 through the buckle 10, one clamping part of the buckle 10 is arranged on the thigh binding plate 22, and the other clamping part is arranged on the inner side of the upper end of the upper support plate 4. The structure is simple and convenient to disassemble and assemble.

[0030] As Figure 1 , 2 shown, the calf binding assembly 3 comprises an inner lining 31 and an outer binding member 2, the inner lining 31 is attached to the upper end of the calf, the outer binding member 2 comprises a calf binding plate 32 and a binding belt 33, the calf binding plate 32 is not completely covered outside the inner lining 31, one end of the binding belt 33 is connected with one end of the calf binding plate 32, and the other end is connected with a calf screw 34 arranged on the calf binding plate 32.

[0031] In addition, in order to improve the stability of the connection between the exoskeleton and the lower leg, the lower leg binding assembly 3 further comprises an inner lining three 35 and a binding belt three, the inner lining three 35 is attached to the lower end of the lower leg, the lower leg binding plate 32 is provided with an extension fixing part 321 extending downward, the extension fixing part 321 does not completely cover the outside of the inner lining three 35, and the extension fixing part 321 is connected with the two ends of the binding belt three on both sides, respectively. The binding belt three (not shown in the figure) is tightened by magic tape or adjustable elastic buckle. The inner lining two 31 and the inner lining three 35 are also made of soft material, which can improve the wearing experience, and tightening the inner lining two 31 by rotating the lower leg rotating buckle 34, at the same time, the binding belt three is tightened, so that the lower leg binding plate 32 is fixedly attached to the human lower leg.

[0032] In the above structure, the lower leg binding assembly 3 is connected with the lower support plate 5 through the buckle two 11, one clamping part of the buckle two 11 is arranged on the lower leg binding plate 32, and the other clamping part is arranged on the inner side of the lower end of the lower support plate 5. The structure is simple and convenient to disassemble and assemble.

[0033] Embodiment 2

[0034] Based on the structure of embodiment 1, as shown in Figures 1-5 The outdoor knee joint assisting exoskeleton device further comprises an outer pants 13, the battery 1 is arranged on the inner side of the waist of the outer pants 13, the outer pants 13 is provided with a pocket one 14 at the thigh part, and the outer pants 13 is provided with a pocket two at the lower leg part, the thigh binding assembly 2 is arranged in the pocket one 14, the pocket one 14 is used for supporting the thigh binding assembly 2, and the lower leg binding assembly 3 is arranged in the pocket two, and the pocket two is used for supporting the lower leg binding assembly 3.

[0035] In the above structure, as shown in Figure 4 The pocket one 14 comprises an outer zipper 141 and an inner zipper 142, the outer zipper 141 is arranged on the front piece 143 of the pocket one 14, the inner zipper 142 is arranged on the inner piece 144 (i.e. the outer pants body) of the pocket one 14, and the front piece 143 of the pocket one 14 is provided with an opening for the buckle one 10 to pass through. When installing the thigh binding assembly 2, open the outer zipper 141 and the inner zipper 142, insert the inner lining one 21 into the inner zipper 142 to attach it to the human body, close the inner zipper 142, then pass through the outer zipper 141 to place the thigh binding plate 22 in the pocket one 14, tighten the binding belt one 21, and finally install the upper support plate 4. The thigh binding plate 22 is carried by the pocket one 14 to prevent the binding from falling down.

[0036] It should be noted that the pocket two supports the upper end of the calf binding assembly 3, and the structure of the pocket two is similar to that of the pocket one 14, the difference is that the outer zipper 141 of the pocket two is arranged in the same direction with the extension direction of the extension fixing part 321, that is, the setting direction of the outer zipper 141 and the inner zipper 142 of the pocket two is perpendicular, which is not described here. When installing the calf binding assembly 3, open the outer zipper 141 and the inner zipper 142, insert the inner lining two 31 into the inner zipper 142 to attach it to the human body, close the inner zipper 142, then put the calf binding plate 22 into the pocket two through the outer zipper 141, tighten the binding belt two 31 and the binding belt three, and finally install the lower support plate 5. As can be seen from the above, through the setting of the outer trousers, the thigh binding assembly and the calf binding assembly can be prevented from falling down, the connection stability is improved, the connection structure is simplified, and the weight is reduced.

[0037] It is apparent for those skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all aspects as illustrative and not restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended to embrace all changes falling within the meaning and range of equivalents of the elements of the claims. Any reference signs in the claims should not be considered as limiting the claims involved.

[0038] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be properly combined to form other embodiments that those skilled in the art can understand.

Claims

1. An outdoor knee assist exoskeleton device, characterized by: The application relates to an exoskeleton, which comprises a battery and two leg exoskeletons, the battery is bound at a waist position, and cables are extended from both sides of the battery to connect with the two leg exoskeletons respectively; the leg exoskeleton comprises a thigh binding assembly, a lower leg binding assembly, an upper support plate, a lower support plate, a motor and a detection sensor, the thigh binding assembly is bound outside a thigh, the lower leg binding assembly is bound outside a lower leg, the upper end of the upper support plate is connected with the thigh binding assembly, the lower end of the upper support plate is provided with the motor, the output end of the motor is connected with the lower support plate arranged inside the upper support plate, the upper end of the lower support plate is rotationally connected with the upper support plate, and the lower end of the lower support plate is connected with the lower leg binding assembly; the detection sensor is arranged outside the lower end of the lower support plate and can detect the motion state of a wearer; a controller is further arranged outside the upper support plate, and the controller controls the motor to output different torques according to the motion state sensed by the detection sensor.

2. The outdoor knee assist exoskeleton device according to claim 1, characterized in that: The upper support plate is externally provided with a protective shell one, the controller and the motor are arranged inside the protective shell one, and the lower end of the lower support plate is provided with a protective shell two, and the detection sensor is arranged inside the protective shell two.

3. The outdoor knee assist exoskeleton device according to claim 1, characterized in that: The thigh binding assembly comprises an inner lining one and an outer binding part one, the inner lining one is attached to a thigh, the outer binding part one comprises a thigh binding plate and a binding belt one, the thigh binding plate is half-covered outside the inner lining one, one end of the binding belt one is connected with one end of the thigh binding plate, and the other end of the binding belt one is connected with a thigh screw buckle arranged on the thigh binding plate.

4. The outdoor knee assist exoskeleton device according to claim 3, characterized in that: The thigh binding assembly is connected with the upper support plate through a buckle one, one clamping part of the buckle one is arranged on the thigh binding plate, and the other clamping part is arranged inside the upper end of the upper support plate.

5. The outdoor knee assist exoskeleton device according to claim 1, characterized in that: The lower leg binding assembly comprises an inner lining two and an outer binding part two, the inner lining two is attached to the upper end of a lower leg, the outer binding part two comprises a lower leg binding plate and a binding belt two, the lower leg binding plate is not completely covered outside the inner lining two, one end of the binding belt two is connected with one end of the lower leg binding plate, and the other end of the binding belt two is connected with a lower leg screw buckle arranged on the lower leg binding plate.

6. The outdoor knee assist exoskeleton device according to claim 5, characterized in that: The lower leg binding assembly further comprises an inner lining three and a binding belt three, the inner lining three is attached to the lower end of the lower leg, the lower leg binding plate is provided with an extension fixing part extending downwards, the extension fixing part is not completely covered outside the inner lining three, and the extension fixing part is connected with the two ends of the binding belt three respectively.

7. The outdoor knee assist exoskeleton device according to claim 5, characterized in that: The lower leg binding assembly is connected with the lower support plate through a buckle two, one clamping part of the buckle two is arranged on the lower leg binding plate, and the other clamping part is arranged inside the lower end of the lower support plate.

8. The outdoor knee assist exoskeleton device according to claim 1, characterized in that: The inner side of the upper support plate is further provided with a limiting block, the limiting block is provided with at least one limiting block, and the limiting block is arranged outside the rotation part of the upper end of the lower support plate and used for limiting the rotation angle of the lower support plate.

9. The outdoor knee assist exoskeleton device according to any one of claims 1-8, characterized in that: The application further comprises an outer trousers, the battery is arranged inside the waist of the outer trousers, a pocket one is arranged on the thigh part of the outer trousers, a pocket two is arranged on the lower leg part of the outer trousers, the thigh binding assembly is arranged in the pocket one, the pocket one is used for supporting the thigh binding assembly, and the lower leg binding assembly is arranged in the pocket two, and the pocket two is used for supporting the lower leg binding assembly.

10. The outdoor knee assist exoskeleton device according to claim 9, characterized in that: The pocket one comprises an outer zipper and an inner zipper, the outer zipper is arranged on the front piece of the pocket one, the inner zipper is arranged on the inner piece of the pocket one, and the front piece of the pocket one is provided with an opening through which the buckle one passes.

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