Wearable exoskeleton device

Abstract

The utility model discloses a wearable exoskeleton device, and relates to the technical field of exoskeletons. Comprising a back supporting follow-up plate, shoulder straps are arranged at the two ends of the front side of the back supporting follow-up plate, lower limb exoskeleton mechanisms are arranged on the two sides of the bottom of the back supporting follow-up plate, electric shoulder joints are arranged on the two sides of the back supporting follow-up plate, the electric elbow joints are movably connected with upper arm supports, and the electric elbow joints are installed at one ends of the upper arm supports. The electric elbow joint is movably connected with a forearm support, and a forearm binding belt is arranged on the forearm support. According to the wearable exoskeleton device, when the wearable exoskeleton device is worn, the electric shoulder joints are located below the armpits, the upper arm supports and the forearm supports are located below the arms, the electric shoulder joints and the upper arm supports can cooperate with each other to support the shoulders, the spine bearing is reduced, meanwhile, the back supporting random plate is matched with the shoulder straps, the waist can be supported to a certain degree, and the wearable exoskeleton device is convenient to use. The pressure of the weight of the upper body on the lumbar vertebra is reduced, and the device is suitable for people with spine weakness and hand weakness.

Description

TECHNICAL FIELD

[0001] The utility model relates to exoskeleton technical field, concretely is a kind of wearable exoskeleton device. BACKGROUND

[0002] Exoskeleton is an important branch of robot field, and exoskeleton robot technology is a comprehensive technology of multi-discipline fusion of sensing, control, information and mobile computing.Exoskeleton robot is a wearable mechanical mechanism, which can help human body to carry out higher-intensity carrying or walking movement operation more easily and conveniently by installing mechanical power-assisted device on the back of human body and then pushing and assisting by the device itself, so as to realize better assistance for human body to work and enhance human skills, and has outstanding development prospect in auxiliary movement.

[0003] The wearable exoskeleton device on the market in the field of rehabilitation training is mainly for people with lower limb inconvenience, which can help lower limb dysfunction patients to recover from exercise rehabilitation, promote the recovery of muscle strength and joint activity, and assist walking, reduce exercise load, improve gait balance and stability, and help people with difficulty in movement to regain walking ability, but usually does not assist the hands, back and other parts of the corresponding personnel. UTILITY MODEL CONTENT

[0004] The utility model provides a kind of wearable exoskeleton device to solve the problems in the background art.

[0005] To achieve the above purpose, the utility model provides the following technical scheme: a kind of wearable exoskeleton device, including back support follow-up plate, the front side both ends of the back support follow-up plate are provided with shoulder strap, the bottom both sides of the back support follow-up plate are equipped with lower limb exoskeleton mechanism, the both sides of the back support follow-up plate are equipped with electric shoulder joint, the electric elbow joint movably connects upper arm support, one end of the upper arm support is equipped with electric elbow joint, the electric elbow joint movably connects small arm support, small arm support is equipped with small arm strap.

[0006] Further, the lower limb exoskeleton mechanism includes outer thigh bracket, outer calf bracket, foot stepping plate, thigh strap, calf strap, the bottom both sides of the back support follow-up plate are equipped with electric hip joint, the electric hip joint connects the side wall with thigh strap of outer thigh bracket, the bottom end of the outer thigh bracket is equipped with outer electric knee joint, the outer electric knee joint connects the side wall with calf strap of outer calf bracket, the top both sides of the foot stepping plate are equipped with ear block, one of the ear block movably connects the bottom end of outer calf bracket, the top of the foot stepping plate is movably installed with connecting rod connected with outer calf bracket on the side of ear block.

[0007] Further, the inner thigh support is movably connected to the bottom end of the inner electric knee joint, and a connecting rod connected with the foot stepping plate is movably arranged on one side of the inner thigh support.

[0008] Further, the inner thigh support is movably connected to the bottom end of the inner electric knee joint, and a connecting rod connected with the foot stepping plate is movably arranged on one side of the inner thigh support.

[0009] Further, the inner thigh support is movably connected to the bottom end of the inner electric knee joint, and a connecting rod connected with the foot stepping plate is movably arranged on one side of the inner thigh support.

[0010] Further, the inner thigh support is movably connected to the bottom end of the inner electric knee joint, and a connecting rod connected with the foot stepping plate is movably arranged on one side of the inner thigh support.

[0011] Further, the inner thigh support is movably connected to the bottom end of the inner electric knee joint, and a connecting rod connected with the foot stepping plate is movably arranged on one side of the inner thigh support.

[0012] Further, the inner thigh support is movably connected to the bottom end of the inner electric knee joint, and a connecting rod connected with the foot stepping plate is movably arranged on one side of the inner thigh support.

[0013] Compared with the prior art, the wearable exoskeleton device has the following beneficial effects: when worn, the electric shoulder joint is located below the armpit, the upper arm support and the lower arm support are located below the arm, can jointly support the shoulder, reduce the load of the spine, and the back support shape plate cooperates with the shoulder belt to support the waist to a certain extent, reduce the pressure on the lumbar vertebrae, and can be applied to people with weak spine and weak hands. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a structural schematic view of the back support shape plate of the utility model;

[0015] Figure 2 is a structural schematic view of the back support shape plate of the utility model;

[0016] Figure 3 is a structural schematic view of the back support shape plate of the utility model;

[0017] Figure 4 is a structural schematic view of the foot stepping plate of the utility model.

[0018] In the figure: 1, back support with a template plate; 2, shoulder strap; 3, electric hip joint; 4, outer thigh support; 5, outer electric knee joint; 6, outer shank support; 7, foot pedal plate; 8, ear block; 9, connecting rod; 10, shank belt; 11, thigh belt; 12, inner thigh support; 13, inner electric knee joint; 14, inner shank support; 15, ankle belt; 16, foot belt; 17, connecting belt; 18, weight reduction groove; 19, template support plate; 20, electric shoulder joint; 21, upper arm support; 22, electric elbow joint; 23, lower arm support; 24, lower arm belt; 25, waist belt. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0020] Please refer to Figures 1-4 The utility model discloses a kind of wearable exoskeleton devices, including back support with a template plate 1, the front side both ends of the back support with a template plate 1 are with shoulder strap 2, the bottom both sides of the back support with a template plate 1 are equipped with lower limb exoskeleton mechanism, the both sides of the back support with a template plate 1 are equipped with electric shoulder joint 20, electric elbow joint 22 is movably connected with upper arm support 21, one end of the upper arm support 21 is equipped with electric elbow joint 22, electric elbow joint 22 is movably connected with lower arm support 23, and lower arm belt 24 is equipped on the lower arm support 23.

[0021] The lower limb exoskeleton mechanism includes outer thigh support 4, outer shank support 6, foot pedal plate 7, thigh belt 11, shank belt 10, the bottom both sides of the back support with a template plate 1 are equipped with electric hip joint 3, the outer thigh support 4 with thigh belt 11 of electric hip joint 3 connection side wall has, the bottom end of the outer thigh support 4 is equipped with outer electric knee joint 5, the outer shank support 6 with shank belt 10 of electric knee joint 5 connection side wall has, the top both sides of the foot pedal plate 7 are equipped with ear block 8, one of the ear block 8 can movably connect the bottom end of outer shank support 6, and the top of the foot pedal plate 7 is movably installed with connecting rod 9 on the side of ear block 8, which is connected with outer shank support 6.

[0022] The inner thigh support 12 is connected to one side of the outer thigh support 4 away from the thigh band 11, and the bottom end of the inner thigh support 12 is provided with an inner electric knee joint 13. The bottom end of the inner electric knee joint 13 is movably connected to an inner calf support 14 connected to the calf band 10 on one side. The bottom end of the inner calf support 14 is movably connected to the ear block 8 on the other side of the top of the foot stepping plate 7. The inner calf support 14 is also movably provided with a connecting rod 9 connected to the foot stepping plate 7 on one side.

[0023] The outer electric hip joint 3, the outer electric knee joint 5, the inner electric knee joint 13, the electric shoulder joint 20, and the electric elbow joint 22 are conventional electric joints with absolute value encoders, torque sensors, and other components.

[0024] The ear block 8 and the connecting rod 9 support can be connected through components such as return springs. Of course, the ear block 8 and the inner calf support 14, and the ear block 8 and the outer calf support 6 support can be connected through an electric ankle joint.

[0025] The back support profile plate 1 can be provided with a main control box that cooperates with the outer electric hip joint 3, the outer electric knee joint 5, the inner electric knee joint 13, the electric shoulder joint 20, the electric elbow joint 22, and other components, and has components such as a battery, a main control board, and a gyroscope sensor.

[0026] When the back support profile plate 1 is worn on the user's body through the shoulder straps 2, the electric shoulder joint 20 is located below the armpit, the upper arm support 21 and the small arm support 23 are located below the arm, and they can jointly support the shoulder. At the same time, the user can easily perform lifting operations, and the outer thigh support 4 and other components of the lower limb exoskeleton mechanism can assist walking and reduce the load of movement.

[0027] The inner calf support 14 and the outer calf support 6 are provided with an ankle band 15 between the bottom ends of the sides close to each other.

[0028] The thigh band 11, the calf band 10, the ankle band 15, and the small arm band 24 can be bound through the cooperation of magic tape.

[0029] Specifically, the top of the foot stepping plate 7 is provided with a foot band 16.

[0030] In this embodiment, one end of the foot band 16 is connected to the foot stepping plate 7, and the other end can be provided with a magic tape hook surface. A magic tape fluff surface that cooperates with the magic tape hook surface can be provided on one side of the top of the foot stepping plate 7, so as to complete the binding operation of the foot band 16.

[0031] Specifically, the sides close to each other of the two shoulder straps 2 are connected with a connecting belt 17.

[0032] In the embodiment, the two connecting bands 17 can be connected through the cooperation of Velcro, or can be connected through the cooperation of buckles, so as to realize the binding operation of the shoulder band 2.

[0033] Specifically, the back support follow-up plate 1 is provided with a lightening groove 18, and the top inner wall and the bottom inner wall of the lightening groove 18 are connected with a follow-up support plate 19.

[0034] In the embodiment, the follow-up support plate 19 is arranged in close contact with the spine part of the user.

[0035] Specifically, the front side of the back support follow-up plate 1 is connected with a waist band 25 at the bottom of each end.

[0036] In the embodiment, the two waist bands 25 can be connected through the cooperation of Velcro, or can be connected through the cooperation of buckles, so as to bind the waist band 25 to the waist of the user.

[0037] In summary, the wearable exoskeleton device, when worn, the electric shoulder joint 20 is located below the armpit, the upper arm support 21 and the small arm support 23 are located below the arm, and can jointly support the shoulder, reduce the load of the spine, and the back support follow-up plate 1 cooperates with the shoulder band 2 to support the waist to a certain extent, reduce the pressure of the upper body weight on the lumbar spine, and can be suitable for people with weak spine and weak hands.

[0038] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A wearable exoskeleton device comprising a back support exoskeleton (1) and an electric elbow joint (22), characterized in that: The back support follow-up plate (1) is provided with a shoulder strap (2) at each end of the front side, a lower limb exoskeleton mechanism is arranged at the bottom of each side of the back support follow-up plate (1), and an electric shoulder joint (20) is arranged at each side of the back support follow-up plate (1).

2. The wearable exoskeleton device of claim 1, wherein: The lower limb exoskeleton mechanism comprises an outer thigh support (4), an outer shank support (6), a foot stepping plate (7), a thigh band (11) and a shank band (10), an electric hip joint (3) is arranged at the bottom of each side of the back support follow-up plate (1), the electric hip joint (3) is connected with the outer thigh support (4) with the thigh band (11) arranged on the side wall, the outer thigh support (4) is provided with an outer electric knee joint (5) at the bottom end, the outer electric knee joint (5) is connected with the outer shank support (6) with the shank band (10) arranged on the side wall, and the foot stepping plate (7) is provided with an ear block (8) at the top of each side.

3. The wearable exoskeleton device of claim 2, wherein: The thigh band (11) is connected with an inner thigh support (12) on the side away from the outer thigh support (4), the inner thigh support (12) is provided with an inner electric knee joint (13) at the bottom end, the inner electric knee joint (13) is connected with an inner shank support (14) on one side of the shank band (10) in a movable manner, the ear block (8) on the other side of the top of the foot stepping plate (7) is connected with the bottom end of the inner shank support (14) in a movable manner, and the inner shank support (14) is also provided with a connecting rod (9) connected with the foot stepping plate (7) on one side in a movable manner.

4. The wearable exoskeleton device of claim 3, wherein: The inner shank support (14) and the outer shank support (6) are connected with an ankle band (15) on the side close to each other and at the bottom end.

5. The wearable exoskeleton device of claim 2, wherein: The foot stepping plate (7) is provided with a foot band (16) at the top.

6. The wearable exoskeleton device of claim 1, wherein: The two shoulder straps (2) are connected with a connecting belt (17) on the side close to each other.

7. The wearable exoskeleton device of claim 1, wherein: The back support follow-up plate (1) is provided with a weight-reducing groove (18), and a follow-up support plate (19) is arranged between the top inner wall and the bottom inner wall of the weight-reducing groove (18).

8. The wearable exoskeleton device of claim 1, wherein: The back support follow-up plate (1) is provided with a waist band (25) at the bottom of each end of the front side.

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