Lower limb exoskeleton wearing device facilitating hip width adjustment

Abstract

The utility model relates to the technical field of lower limb exoskeletons, in particular to a lower limb exoskeleton wearing device facilitating hip width adjustment, an adjusting mounting part is arranged on the back of a backrest assembly, and a left mounting arm and a right mounting arm are movably arranged on the left side and the right side of the adjusting mounting part respectively; a meshing gear for positioning installation is arranged in the middle of the adjusting installation part, the left installation arm is combined with the upper portion of the meshing gear through meshing teeth II, and the right installation arm is combined with the lower portion of the meshing gear through meshing teeth II. And the adjusting mounting part is also provided with a positioning mechanism for limiting the rotation of the meshing gear. According to the utility model, the meshing teeth II are meshed with the upper part of the meshing gear, and the meshing teeth II are meshed with the lower part of the meshing gear, so that the left mounting arm and the right mounting arm can synchronously and reversely move under the transmission action of the meshing gear, and the distance between the hip components on the two sides and the human body can be synchronously adjusted by taking the backrest component as an adjusting center; each mounting arm does not need to be adjusted independently, and the situation that left-right adjustment is not uniform can be avoided.

Description

Technical Field

[0001] This utility model relates to lower limb exoskeleton technology, specifically a lower limb exoskeleton wearable device that facilitates adjustment of hip width. Background Technology

[0002] An exoskeleton is a device that enhances or restores limb mobility by attaching a mechanical frame to the outside of the human body. For the lower limbs, exoskeletons can provide additional support, helping users walk, stand, or lift heavy objects, thereby reducing muscle strain, preventing injury, and improving mobility.

[0003] Exoskeleton technology is currently in a period of rapid development and has made significant progress. Taking lower limb exoskeletons as an example, they are widely used in rehabilitation, and also have applications in production, labor, and firefighting. When worn, because it involves a mechanical structure worn on the body, the leg bones of the lower limb exoskeleton may not fit the user's body due to the product's structure, making it unsuitable for normal walking postures. Therefore, it is necessary to adjust the width of the exoskeleton to accommodate the personalized needs of users with different body types. Existing solutions mostly use telescopic mechanisms to adjust the position of the two lower limb exoskeletons separately. This adjustment method is inefficient, lacks flexibility, is difficult to achieve precise adjustment, and results in asymmetry between the two lower limb exoskeletons. Utility Model Content

[0004] The purpose of this invention is to provide a lower limb exoskeleton wearable device that facilitates adjustment of hip width. By using a combination of gears and racks, synchronous adjustment of the exoskeleton on both sides is achieved, which has the advantages of being fast, precise, and easy to operate, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a lower limb exoskeleton wearable device that facilitates adjustment of hip width, including a backrest assembly. An adjustment mounting part is provided on the back of the backrest assembly. A left mounting arm and a right mounting arm are movably arranged on the left and right sides of the adjustment mounting part, respectively, and the ends of the two mounting arms are respectively connected to the hip assembly. A positioning and mounting meshing gear is provided in the middle of the adjustment mounting part. The central axis of the meshing gear extends in the front-back direction. The left mounting arm engages with the upper part of the meshing gear through meshing teeth II distributed in the left-right direction, and the right mounting arm engages with the lower part of the meshing gear through meshing teeth II distributed in the left-right direction. The adjustment mounting part also has a positioning mechanism that can restrict the rotation of the meshing gear.

[0006] In the above technical solution, the left and right mounting arms, located on both sides of the adjustment mounting section, are movably mounted. Each arm engages with a gear located in the middle of the adjustment mounting section via its own meshing teeth II. Since meshing teeth II are distributed along the left and right directions, and meshing teeth II engage with the upper part of the gear and the lower part of the gear, the left and right mounting arms will move synchronously in opposite directions under the transmission action of the gear. This achieves the purpose of equal width adjustment of the hip components on both sides. This solution uses the backrest assembly as the adjustment center and can synchronously adjust the distance between the hip components on both sides and the human body. It eliminates the need to adjust each mounting arm individually and avoids uneven left and right adjustments.

[0007] As a preferred embodiment, a guide mechanism is provided within the adjustment and mounting section. The left and right mounting arms are inserted into this guide mechanism and can only move horizontally under its constraint. The mounting arms on both sides serve as the connection structure between the hip assembly and the backrest assembly, and also play a role in width adjustment. The guide mechanism not only keeps them in a specific direction, but also increases the bending strength of the mounting arms, ensuring that the entire wearable device has a stable structure.

[0008] As a preferred embodiment, the back of the adjustment mounting part is provided with an adjustment knob that is coaxially mounted with the meshing gear. The meshing gear can be rotated by the adjustment knob, so the meshing gear can be actively rotated by adjusting the knob, thereby achieving the purpose of synchronously adjusting the two mounting arms.

[0009] As a preferred embodiment, the left and right mounting arms are inserted into the adjustment mounting portion and fitted together, and are respectively provided with adjustment holes I and II extending in the left and right directions. The meshing teeth II are provided at the upper edge of adjustment hole I and at the lower edge of adjustment hole II.

[0010] As a preferred embodiment, the positioning mechanism is a self-positioning latch coaxially arranged and rotating synchronously with the meshing gear. The self-positioning latch has an elastic arm offset from the main body, the free end of which is a positioning finger, and a ring of positioning teeth is provided on the adjustment mounting part. In the free state, the positioning finger touches the positioning teeth. The adjustment knob is provided with a pressing structure. When the adjustment knob is rotated, the pressing structure pushes the elastic arm to shift towards the main body of the self-positioning latch until the positioning finger disengages from the positioning teeth. At this time, the self-positioning latch rotates together with the meshing gear. That is, when adjusting the left and right mounting arms by adjusting the adjustment knob, the adjustment knob will first release the locking of the positioning mechanism before the meshing gear can rotate. After the adjustment is completed, the self-positioning latch will automatically lock again when the adjustment knob is released. Therefore, the operation is convenient and can effectively prevent the left and right mounting arms from shifting due to failure to lock in time after adjustment.

[0011] As a preferred embodiment, the self-positioning clip is integrally formed with the meshing gear to create a self-positioning adjustment gear. This self-positioning adjustment gear is movably mounted on the cylindrical central shaft on the end face of the adjustment knob through a central hole provided at the central shaft.

[0012] As a preferred embodiment, the adjustment mounting part has a mounting cover with a mounting hole through the center of the mounting cover, the self-positioning clip is located in the mounting hole, the positioning teeth are arranged around the circumference of the mounting hole, and the adjustment knob is located on the outside of the mounting cover. Attached Figure Description

[0013] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0014] Figure 1 A schematic diagram of the structure of a lower limb exoskeleton wearable device that facilitates adjustment of hip width, provided as an embodiment of this utility model;

[0015] Figure 2 for Figure 1 A schematic diagram of the disassembled structure of the central adjustment and mounting section;

[0016] Figure 3 for Figure 2 A schematic diagram of the adjustment knob;

[0017] Figure 4 for Figure 2 A schematic diagram of the planar structure of the self-positioning adjusting gear;

[0018] Figure 5 This is a schematic diagram of the assembly structure of the self-positioning adjustment gear and the adjustment knob;

[0019] Figure 6 for Figure 2 A schematic diagram of the structure of the mounting cover;

[0020] Figure 7 This is a schematic diagram showing the installation status of the self-positioning clip on the mounting cover.

[0021] Figure 8 for Figure 2 A schematic diagram of the assembly structure of the mounting arm and the self-positioning adjustment gear.

[0022] In the diagram, the components are: backrest assembly 1, left mounting arm 2, right mounting arm 3, adjustment mounting part 4, clearance opening 5, adjustment knob 6, self-positioning adjustment gear 7, mounting hole 42, positioning tooth 43, mounting cover 41, central shaft 62, insert shaft 61, self-positioning clip 71, meshing gear 72, central hole 73, elastic arm 74, clearance clearance 75, slot 76, positioning finger 77, pad 101, backrest frame 101, central bolt 103, limiting plate 104, adjustment hole I 201, meshing tooth II 202, adjustment hole II 301, and meshing tooth II 302. Detailed Implementation

[0023] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0024] Figure 1 As one embodiment of this utility model, a lower limb exoskeleton wearable device that facilitates adjustment of hip width is provided. This wearable device actually serves as the waist-wearing mechanism of the lower limb exoskeleton. Through this device, the width of the hip joint can be adjusted, that is, the spacing of the leg exoskeleton can be adjusted, so as to meet the usage needs of people of different body types for the lower limb exoskeleton.

[0025] The wearable device includes a backrest assembly 1, which has a strap mechanism for wearing the entire device on the body. Since the strap mechanism is conventional technology in this field, and this embodiment is an improvement upon it, it is not shown. Hip assemblies are symmetrically arranged on the left and right sides of the backrest assembly 1, and the two hip assemblies are respectively fixedly connected to a left mounting arm 2 and a right mounting arm 3. The left mounting arm 2 and the right mounting arm 3 are movably connected to an adjustment mounting part 4 located on the back of the backrest assembly 1. Figure 1 As can be seen, clearance openings 5 ​​are provided on the left and right sides of the adjustment mounting part 4 for the two mounting arms to pass through. In addition, an adjustment knob 6 is provided in the middle of the adjustment mounting part 4. In this embodiment, the extension length of the left mounting arm 2 and the right mounting arm 3 is adjusted by adjusting the adjustment knob 6, thereby adjusting the spacing of the hip assembly.

[0026] like Figure 2 As shown, a soft pad 101 is provided on the front of the backrest assembly 1 to improve the fit with the human back and ensure comfort. The adjustment mounting part 4 is integrally formed with the backrest assembly 1 and has a detachable mounting cover 41, which is installed by four bolts passing through the backrest assembly 1. Two parallel limiting plates 104, one above the other, are arranged horizontally inside the adjustment mounting part 4. The aforementioned left mounting arm 2 and right mounting arm 3 overlap in the adjustment mounting part 4 and are engaged between the two limiting plates. After the mounting cover 41 is closed, the left mounting arm 2 and right mounting arm 3 can only move in the left-right direction. Furthermore, from... Figure 2It can be seen that a self-positioning adjustment gear 7 is provided in the adjustment mounting part 4. The self-positioning adjustment gear 7 is connected to the adjustment knob 6. The self-positioning adjustment gear 7 can be rotated by the adjustment knob 6, thereby controlling the left mounting arm 2 and the right mounting arm 3 to move closer or further away synchronously, so as to achieve the purpose of adjusting the hip width.

[0027] Specifically, such as Figure 3 As shown, the adjustment knob 6 used in this embodiment has a central shaft 62 in its center. The central shaft 62 extends in the front-rear direction and has a threaded hole at its front end. The adjustment knob 6 is mounted on the back of the backrest assembly 1 by a central bolt 103 that mates with the threaded hole. In addition, the adjustment knob 6 also has two symmetrically arranged insert shafts 61. The self-positioning adjustment gear 7 includes an integrally formed meshing gear 72 and a self-positioning clip 71. The self-positioning adjustment gear 7 is movably mounted on the central shaft 62 through a central through hole 73. The self-positioning clip 71 has two centrally symmetrically arranged elastic arms 74. A clearance 75 is reserved between the elastic arms 74 and the body of the self-positioning clip 71. A slot 76 is provided on the side of the elastic arm 74 away from the clearance 75. The insert shaft 61 on the adjustment knob 6 is engaged in the corresponding slot 76. When the adjustment knob 6 is rotated, the insert shaft 61 presses against the elastic arm 74 and makes the elastic arm 74 fit against the self-positioning clip 71. For the above-mentioned self-positioning adjustment gear 7, as Figure 6 As shown, a mounting hole 42 is provided in the middle of the mounting cover 41, the self-positioning clip 71 is located in the mounting hole 42, and a ring of positioning teeth 43 is provided on the wall of the mounting hole 42; as shown Figure 7 As shown, in its natural state, the positioning finger 77 at the free end of the elastic arm 74 touches the positioning tooth 43, and the central shaft 62 cannot rotate at this time. When the adjustment knob 6 is rotated, the squeezing structure pushes the elastic arm 74 to shift towards the body of the self-positioning clip 71 until the positioning finger 77 disengages from the positioning tooth 43. At this time, the self-positioning clip 71 rotates together with the meshing gear 72.

[0028] Figure 8 This demonstrates the connection relationship between the left mounting arm 2 and the right mounting arm 3 and the meshing gear 72. Figure 8As can be seen, the left mounting arm 2 and the right mounting arm 3 are inserted into the adjusting mounting part 4 and are fitted together. They are respectively provided with adjusting holes I201 and II301 extending in the left and right directions. The upper edge of the adjusting hole I201 is provided with meshing teeth II202, and the lower edge of the adjusting hole II301 is provided with meshing teeth II302. The meshing teeth II202 mesh with the upper part of the meshing gear 72, and the meshing teeth II302 mesh with the lower part of the meshing gear 72. Therefore, when the self-positioning adjusting gear 7 is rotated by adjusting knob 6, the meshing gear 72 simultaneously drives the meshing teeth II202 and II302, thereby causing the left mounting arm 2 and the right mounting arm 3 to move forward or backward synchronously, ensuring that the hip components on both sides move synchronously. After the adjustment is completed, the self-positioning clip 71 automatically locks when the adjusting knob 6 is released. This not only makes the operation convenient, but also effectively prevents the left mounting arm 2 and the right mounting arm 3 from shifting due to failure to lock in time after adjustment.

[0029] When worn, the overall width of the two hip components can be easily adjusted by turning the adjustment knob 6 according to the specific distance between the hip components and the user. The entire adjustment process is simple and quick. Therefore, the use of this lower limb exoskeleton wearable device can better solve the problem of matching the lower limb exoskeleton with the user's body shape.

[0030] The specification and claims use certain terms to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0031] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0032] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A lower extremity exoskeleton wear device for facilitating adjustment of hip width, characterized by: The backrest assembly comprises an adjusting mounting part provided on the back surface of the backrest assembly, left and right mounting arms movably provided on the left and right sides of the adjusting mounting part, and hip assemblies connected to the ends of the two mounting arms; a positioning and mounting engagement gear is provided in the middle of the adjusting mounting part, the middle axis of the engagement gear extends in the front-back direction, the left mounting arm is combined with the upper part of the engagement gear through engagement teeth II distributed in the left-right direction, and the right mounting arm is combined with the lower part of the engagement gear through engagement teeth II distributed in the left-right direction; the adjusting mounting part further comprises a positioning mechanism capable of limiting the rotation of the engagement gear.

2. The lower extremity exoskeleton donning device for facilitating adjustment of hip width of claim 1, wherein: A guide mechanism is provided in the adjusting mounting part, the left and right mounting arms are inserted into the guide mechanism, and can only move horizontally under the limitation of the guide mechanism.

3. The lower extremity exoskeleton donning device for facilitating adjustment of hip width of claim 2, wherein: An adjusting knob coaxially mounted with the engagement gear is provided on the back surface of the adjusting mounting part, the engagement gear can be rotated through the adjusting knob, and thus the two mounting arms can be simultaneously controlled to move by rotating the adjusting knob.

4. The lower extremity exoskeleton donning device for facilitating adjustment of hip width of claim 3, wherein: The parts of the left and right mounting arms inserted into the adjusting mounting part are provided in front-back contact, and adjusting holes I and II extending in the left-right direction are respectively provided, the engagement teeth II are provided on the upper edge of the adjusting hole I, and the engagement teeth II are provided on the lower edge of the adjusting hole II.

5. The lower extremity exoskeleton donning device for facilitating adjustment of hip width of claim 3, wherein: The positioning mechanism is a self-positioning clamp coaxially provided with the engagement gear and synchronously rotated, the self-positioning clamp has a elastic arm deviated from the body, the free end of the elastic arm is a positioning finger, a circle of positioning teeth is provided on the adjusting mounting part, and the positioning finger is in contact with the positioning teeth in the free state; a pressing structure is provided on the adjusting knob, when the adjusting knob is rotated, the pressing structure pushes the elastic arm to deviate towards the body of the self-positioning clamp to make the positioning finger deviate from the positioning teeth, at this time, the self-positioning clamp is rotated together with the engagement gear.

6. The lower extremity exoskeleton donning device of claim 5, wherein: The self-positioning clamp is integrally provided with the engagement gear, and forms a self-positioning adjusting gear, the self-positioning adjusting gear is movably installed on the cylindrical center shaft of the end surface of the adjusting knob through the center hole provided at the center shaft, and the adjusting knob is provided on the adjusting mounting part.

7. The lower extremity exoskeleton donning device for facilitating adjustment of hip width of claim 5, wherein: The adjusting mounting part has a mounting cover, a mounting hole is provided in the middle of the mounting cover, the self-positioning clamp is located in the mounting hole, and the positioning teeth are provided on the circumference of the mounting hole, and the adjusting knob is located outside the mounting cover.

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