Leg supporting module and exoskeleton device

Abstract

The utility model relates to the technical field of exoskeletons, in particular to a leg supporting module and an exoskeleton device.The leg supporting module comprises a supporting body, a switching assembly and a leg supporting piece. And the supporting main body is arranged parallel to the height direction of a human body. The switching assembly is located on one side of the supporting body and connected with the supporting body, the switching assembly is connected with the leg supporting piece, and the leg supporting piece is used for being connected with the legs of the human body. The switching assembly is used for adjusting the relative angle between the leg supporting piece and the supporting body and / or the relative distance between the leg supporting piece and the supporting body. The wearing comfort can be improved.

Description

Technical Field

[0001] This application relates to the field of exoskeleton technology, and in particular to a leg support module and exoskeleton device. Background Technology

[0002] An exoskeleton is a device used to assist users in walking. It provides support for the user's legs and enables the user's legs to move.

[0003] In related technologies, exoskeleton devices are generally connected to the user's legs through leg supports, which can apply pressure to the legs to drive the user's leg movements.

[0004] However, since different users have different leg lengths, thicknesses, and other parameters, while the structure of the leg support is relatively fixed, the contact state between the leg support and the leg varies from person to person. This results in some users' legs not making uniform contact with the leg support, uneven pressure distribution of the leg support components, and poor wearing and use comfort. Utility Model Content

[0005] In view of this, this application provides a leg support module and an exoskeleton device to improve their wearing comfort.

[0006] Specifically, the following technical solutions are included:

[0007] The first aspect of this application provides a leg support module, which includes: a support body, an adapter assembly, and a leg support member.

[0008] The supporting body is arranged parallel to the height direction of the human body.

[0009] The adapter assembly is located on one side of the support body and is connected to the support body. The adapter assembly is connected to the leg support, which is used to connect to the legs of the human body.

[0010] The adapter assembly is used to adjust the relative angle between the leg support and the support body, and / or the relative distance between the leg support and the support body.

[0011] In some embodiments, the adapter is rotatably connected to the support body and is capable of rotating about a first axis relative to the support body.

[0012] The first axis extends along the left-right direction of the human body.

[0013] In some embodiments, the adapter assembly includes an adapter support, on which a first rotatable connection structure is provided.

[0014] The supporting body is provided with a second rotating connection structure, and the first rotating connection structure and the second rotating connection structure are coaxially rotatably connected around the first axis.

[0015] In this configuration, one of the first rotating connection structure and the second rotating connection structure is a slotted structure, and the other is a rotating shaft structure.

[0016] In some embodiments, the first rotating connection structure is a slotted structure, and the adapter support is further provided with at least one first limiting part, which is located on the inner peripheral wall of the first rotating connection structure.

[0017] The second rotating connection structure is a rotating shaft structure, and the supporting body is also provided with at least one second limiting part, which is located on the outer peripheral wall of the second rotating connection structure.

[0018] The at least one first limiting part and the at least one second limiting part can abut against each other circumferentially along the first rotating connection structure and the second rotating connection structure to limit the relative angle between the adapter and the support body around the first axis.

[0019] In some embodiments, the adapter assembly further includes a locking screw located on the side of the adapter bearing opposite to the support body, and passing through the first rotatable connection structure and connecting to the second rotatable connection structure to limit the axial position of the adapter bearing and the support body.

[0020] In some embodiments, the leg support is slidably connected to the adapter assembly and is movable relative to the adapter assembly in the forward-backward direction of the human body.

[0021] In some embodiments, the leg support includes a first guide portion, the adapter assembly includes an adapter support, the adapter support includes a second guide portion, and the first guide portion and the second guide portion are slidably connected along the front-back direction of the human body.

[0022] In some embodiments, the first guide portion includes a first guide rail structure and a second guide rail structure, the first guide rail structure and the second guide rail structure are parallel and spaced apart, a dovetail groove is formed between the first guide rail structure and the second guide rail structure, and the dovetail groove extends along the front-back direction of the human body.

[0023] The second guide portion includes a first inclined surface structure and a second inclined surface structure. The first inclined surface structure and the second inclined surface structure are distributed on opposite sides of the adapter support, and the first inclined surface structure slides against the first guide rail structure, and the second inclined surface structure slides against the second guide rail structure.

[0024] In some embodiments, the leg support module includes a resistance adjustment component, which is connected to both the leg support member and the adapter component, and is used to adjust the relative frictional resistance between the adapter component and the leg support member.

[0025] In some embodiments, the leg support further includes a clamping groove with its opening facing the adapter.

[0026] The resistance adjustment assembly includes a pressure block and a tightening member. The pressure block is located within the pressure groove and its rotation is restricted by the pressure groove. The tightening member is threadedly connected to the pressure block, and the tightening member can adjust the abutment pressure of the pressure block on the adapter support by changing the engagement length with the pressure block.

[0027] In some embodiments, the leg support module further includes a limiting component located on the leg support member for limiting the movement distance of the adapter relative to the leg support member in the front-back direction of the human body.

[0028] In some embodiments, the adapter support includes a limiting groove located on the side of the adapter support facing the limiting component and extending along the front-rear direction of the human body.

[0029] The limiting component includes a limiting member that is movably connected to the leg support member, and at least a portion of the limiting member extends into the limiting groove and is movable along the extending direction of the limiting groove.

[0030] In some embodiments, one end of the limiting groove extends through to the edge of the adapter support, forming a disassembly notch.

[0031] The limiting groove is further provided with a limiting protrusion, which is used to cover at least a portion of the disassembly notch so that the size of the disassembly notch is smaller than the size of the limiting groove and larger than the size of the portion of the limiting member extending into the limiting groove.

[0032] In some embodiments, the leg support includes mounting holes and movable pins.

[0033] The mounting hole is arranged along the height direction of the human body, the movable pin is movably located in the mounting hole, at least a portion of the limiting member extends into the mounting hole and is connected to the movable pin, and the movable pin is used to drive the limiting member to move along the height direction of the human body.

[0034] In some embodiments, the leg support includes an elastic element located within the mounting hole and connected to the movable pin and the inner wall of the mounting hole, respectively, for providing an elastic force to the movable pin along the height direction of the human body, and the direction of the elastic force is opposite to the protrusion direction of the limiting protrusion.

[0035] A second aspect of this application provides an exoskeleton device, the exoskeleton device including the leg support module as described in the above technical solution.

[0036] The beneficial effects of the technical solution provided in this application include at least the following: the leg support can contact the human leg to form support. The adapter component can change the angle between the leg support and the support body, and can be spread out when in contact with legs of different shapes. This support method helps to maintain a larger contact area between the leg support and the human leg, thereby improving wearing comfort. The distance between the leg support and the support body along the front-back direction of the human body is adjustable, which helps to adapt to people of different body types and maintains a larger contact area with legs of different thicknesses, thereby improving wearing comfort. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is an exploded view of the structure of a leg support module provided in an embodiment of this application;

[0039] Figure 2 This is a schematic diagram of the structure of a leg support module provided in an embodiment of this application;

[0040] Figure 3 This is an exploded view of the structure of the adapter component and the support body of a leg support module provided in an embodiment of this application;

[0041] Figure 4 A detailed schematic diagram of a portion of the structure of a leg support module provided in an embodiment of this application;

[0042] Figure 5 A cross-sectional schematic diagram of the assembly of the support body and the adapter bracket of a leg support module provided in an embodiment of this application;

[0043] Figure 6 An exploded view of the structure of the adapter support and leg support component of a leg support module provided in this application embodiment;

[0044] Figure 7 This is a cross-sectional schematic diagram of a leg support module provided in an embodiment of this application;

[0045] Figure 8 for Figure 7 Detailed diagram of point A in the middle;

[0046] Figure 9 This is a cross-sectional schematic diagram of the leg support component and the adapter support of a leg support module provided in an embodiment of this application.

[0047] The reference numerals in the figure indicate:

[0048] 1. Support body; 11. Second rotating connection structure; 12. Second limiting part;

[0049] 2. Adapter assembly; 21. Support; 211. First rotating connection structure; 212. First limiting part; 213. Second guide part; 2131. First inclined surface structure; 2132. Second inclined surface structure; 214. Limiting groove; 2141. Disassembly notch; 2142. Limiting protrusion; 215. Through port; 22. Locking screw;

[0050] 3. Leg support component; 31. First guide section; 311. First guide rail structure; 312. Second guide rail structure; 313. Dovetail groove; 32. Pressing groove; 33. Mounting hole; 34. Movable pin; 35. Elastic component;

[0051] 4. Resistance adjustment assembly; 41. Pressure block; 42. Tightening component;

[0052] 5. Limiting components; 51. Limiting parts.

[0053] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] In the embodiments of this application, directional terms such as "upper," "lower," and "side" are generally used in the following ways: Figure 1The relative positions shown are based on the given information, and these directional terms are used only to more clearly describe the relationships between structures, not to describe absolute positions. Positions may change when the product is placed in different orientations; for example, "up" and "down" may be interchanged.

[0056] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art.

[0057] To make the technical solutions and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0058] The first aspect of this application provides a leg support module, such as... Figure 1 and Figure 2 As shown, the leg support module includes: a support body 1, an adapter component 2, and a leg support component 3.

[0059] The supporting body 1 is arranged parallel to the height direction of the human body.

[0060] The adapter component 2 is located on one side of the support body 1 and is connected to the support body 1. The adapter component 2 is connected to the leg support component 3, which is used to connect to the legs of the human body.

[0061] The adapter component 2 is used to adjust the relative angle between the leg support 3 and the support body 1, and / or the relative distance between the leg support 3 and the support body 1.

[0062] With the above arrangement, the leg support 3 can contact the human leg to form support. The adapter component 2 can change the angle between the leg support 3 and the support body 1, and can be spread out when in contact with legs of different shapes. This support method helps to maintain a large contact area between the leg support 3 and the human leg, thereby improving wearing comfort. The distance between the leg support 3 and the support body 1 along the front-back direction of the human body is adjustable, which helps to adapt to people of different body types and maintains a large contact area with legs of different thicknesses, thereby improving wearing comfort.

[0063] In the embodiments of this application, the adapter component 2 may be used only to adjust the relative angle between the leg support 3 and the support body 1, or it may be used only to adjust the relative distance between the leg support 3 and the support body 1, or it may be used to adjust both the relative angle between the leg support 3 and the support body 1 and the relative distance between the leg support 3 and the support body 1.

[0064] In this embodiment, the support body 1 is arranged parallel to the height direction of the human body, and its two ends can serve as a connection, and cooperate with the connected components to provide assistance to the human body.

[0065] In this embodiment, the adapter 2 is located on one side of the support body 1 and connected to the support body 1. This allows the adapter 2 to adjust the relative angle between the leg support 3 and the support body 1 by rotating, and can also drive the leg support 3 to move relative to the support body 1, thereby adjusting the relative distance between the two.

[0066] In this embodiment of the application, the adapter component 2 is used to adjust the relative angle between the leg support 3 and the support body 1. This can mean that the adapter component 2 can actively adjust the relative angle between the leg support 3 and the support body 1, or that the adapter component 2 can be subjected to external forces, causing the relative angle between the leg support 3 and the support body 1 to change.

[0067] In some embodiments of this application, such as Figure 2 As shown, the adapter component 2 is rotatably connected to the support body 1 and can rotate relative to the support body 1 around the first axis.

[0068] The first axis extends along the left-right direction of the human body.

[0069] With the above arrangement, the adapter component 2 can rotate relative to the supporting body 1 from top to bottom and from bottom to top, so as to conform to the state of the user's legs during walking, thereby maintaining a large contact area with the human legs and improving wearing comfort.

[0070] In this embodiment of the application, when the adapter component 2 rotates relative to the support body 1, its extension direction forms an angle with the front-back direction of the human body, and the angle range is 3 to 17°.

[0071] In some embodiments of this application, such as Figure 3 and Figure 4 As shown, the adapter assembly 2 includes an adapter support 21, on which a first rotatable connection structure 211 is provided.

[0072] The supporting body 1 is provided with a second rotating connection structure 11, and the first rotating connection structure 211 and the second rotating connection structure 11 are coaxially rotatably connected around the first axis.

[0073] Among them, one of the first rotary connection structure 211 and the second rotary connection structure 11 is a hole and groove structure, and the other is a rotating shaft structure.

[0074] Through the above arrangement, the adapter 21 can support the leg support 3, thereby transmitting the force from the support body 1 to the leg support 3, achieving support and drive for the user's legs. The fit of the hole and shaft allows for relative rotation between the first rotary connection structure 211 and the second rotary connection structure 11, which facilitates the rotation of the leg support 3 relative to the adapter 21, adapting to changes in the user's leg posture during walking and increasing the contact area with the legs.

[0075] In some embodiments of this application, such as Figure 4 As shown, the first rotating connection structure 211 is a slotted structure, and the adapter support 21 is also provided with at least one first limiting part 212, which is located on the inner peripheral wall of the first rotating connection structure 211.

[0076] The second rotating connection structure 11 is a rotating shaft structure, and the supporting body 1 is also provided with at least one second limiting part 12, which is located on the outer peripheral wall of the second rotating connection structure 11.

[0077] At least one first limiting part 212 and at least one second limiting part 12 can abut against each other along the circumference of the first rotating connection structure 211 and the second rotating connection structure 11 to limit the relative angle between the transfer support 21 and the support body 1 about the first axis.

[0078] Through the above arrangement, the cooperation of the hole and shaft enables the rotation of the leg support 3. When the first limiting part 212 and the second limiting part 12 abut, the relative rotation of the first rotating connection structure 211 and the second rotating connection structure 11 can be restricted. This is conducive to the support body 1 applying driving force to the user's leg through the leg support 3, thereby achieving the assistive effect on the human leg.

[0079] In this embodiment of the application, there can be two first limiting parts 212 and two second limiting parts 12. The two first limiting parts 212 and the two second limiting parts 12 are arranged alternately along the rotation direction, which is beneficial to the contact between the first limiting parts 212 and the second limiting parts 12.

[0080] In some embodiments of this application, such as Figure 5 As shown, the adapter assembly 2 also includes a locking screw 22, which is located on the side of the adapter support 21 facing away from the support body 1, and passes through the first rotating connection structure 211 to connect with the second rotating connection structure 11, so as to limit the axial position of the adapter support 21 and the support body 1.

[0081] With the above arrangement, the locking screw 22, in cooperation with the first rotating connection structure 211, limits the axial position of the adapter 21, which is conducive to the stable rotation of the adapter 21 around the first axis, thereby improving the connection stability between the adapter 21 and the support body 1.

[0082] In this embodiment, the locking screw 22 can be threadedly connected to the second rotating connection structure 11.

[0083] In some embodiments of this application, such as Figure 6 As shown, the leg support 3 is slidably connected to the adapter 2 and can move relative to the adapter 2 in the front-back direction of the human body.

[0084] With the above arrangement, the leg support 3 can move along the front and back direction of the human body, thereby adjusting the distance between it and the support body 1 along the front and back direction of the human body. This makes it easier for the leg support 3 to adapt to the legs of people with different body shapes and provide support, thus improving the comfort of wearing it.

[0085] In some embodiments of this application, such as Figure 6 As shown, the leg support 3 includes a first guide portion 31, the adapter assembly 2 includes an adapter support 21, the adapter support 21 includes a second guide portion 213, and the first guide portion 31 and the second guide portion 213 are slidably connected along the front-back direction of the human body.

[0086] Through the above arrangement, the cooperation between the first guide part 31 and the second guide part 213 helps to maintain the stability of the leg support 3 moving along the front-back direction of the human body, so that the leg support 3 can be moved to a suitable position to fit the leg shape of the corresponding user.

[0087] In some embodiments of this application, such as Figure 6 As shown, the first guide part 31 includes a first guide rail structure 311 and a second guide rail structure 312. The first guide rail structure 311 and the second guide rail structure 312 are parallel and spaced apart. A dovetail groove 313 is formed between the first guide rail structure 311 and the second guide rail structure 312. The dovetail groove 313 extends along the front-back direction of the human body.

[0088] The second guide section 213 includes a first inclined surface structure 2131 and a second inclined surface structure 2132. The first inclined surface structure 2131 and the second inclined surface structure 2132 are distributed on opposite sides of the adapter support 21, and the first inclined surface structure 2131 slides against the first guide rail structure 311, and the second inclined surface structure 2132 slides against the second guide rail structure 312.

[0089] With the above arrangement, the dovetail groove 313 between the first guide rail structure 311 and the second guide rail allows the second guide portion 213 to slide relative to it. The second guide portion 213 plays a limiting role through the cooperation of the first inclined surface structure 2131 with the first guide rail structure 311 and the second inclined surface structure 2132 with the second guide rail structure 312, which facilitates the movement of the leg support 3 along the front-back direction of the human body. The movement of the leg support 3 along the front-back direction of the human body allows adjustment of its distance from the support body 1 along the front-back direction of the human body.

[0090] In some embodiments of this application, such as Figure 7 and Figure 8 As shown, the leg support module includes a resistance adjustment component 4, which is connected to the leg support component 3 and the adapter component 2 respectively, and is used to adjust the relative frictional resistance between the adapter component 2 and the leg support component 3.

[0091] With the above arrangement, the resistance adjustment component 4 adjusts the relative frictional resistance between the adapter component 2 and the leg support 3. When the relative frictional resistance between the two is large, it is difficult for the leg support 3 to move relative to the adapter component 2. This is beneficial for the leg support 3 to apply driving force to the user's legs to complete walking when worn by the user. When the relative frictional resistance between the two is small, the leg support 3 can move relative to the adapter component 2, thereby adjusting the distance between the leg support 3 and the support body 1.

[0092] In some embodiments of this application, such as Figure 7 and Figure 8 As shown, the leg support 3 also includes a clamping groove 32, the opening of which faces the adapter 21;

[0093] The resistance adjustment assembly 4 includes a pressure block 41 and a tightening member 42. The pressure block 41 is located in the pressure groove 32 and is restricted from rotating by the pressure groove 32. The tightening member 42 is threadedly connected to the pressure block 41. The tightening member 42 can adjust the abutment pressure of the pressure block 41 on the adapter support 21 by changing the engagement length with the pressure block 41.

[0094] With the above arrangement, when the tightening member 42 increases the engagement length with the pressure block 41, the pressure block 41 moves closer to the tightening member 42. At this time, the abutting pressure generated by the pressure block 41 on the adapter support 21 is reduced or even disappears, and the leg support 3 can move relative to the adapter support 21. When the tightening member 42 decreases the engagement length with the pressure block 41, the pressure block 41 moves closer to the adapter support 21. At this time, the abutting pressure generated by the pressure block 41 on the adapter support 21 increases, and the movement of the leg support 3 relative to the adapter support 21 is limited by frictional resistance, which is conducive to the leg support 3 applying driving force to the user's leg.

[0095] In some embodiments of this application, such as Figure 7 and Figure 8 As shown, the leg support module also includes a limiting component 5, which is located on the leg support 3 and is used to limit the movement distance of the adapter 21 relative to the leg support 3 in the front-back direction of the human body.

[0096] With the above arrangement, the limiting component 5 can not only prevent the adapter support 21 from separating from the leg support 3, but also improve the structural compactness of the leg support module.

[0097] In some embodiments of this application, such as Figure 7 and Figure 8 As shown, the adapter support 21 includes a limiting groove 214, which is located on the side of the adapter support 21 facing the limiting component 5 and extends along the front-back direction of the human body.

[0098] The limiting component 5 includes a limiting member 51, which is movably connected to the leg support member 3. At least a portion of the limiting member 51 extends into the limiting groove 214 and is capable of moving along the extending direction of the limiting groove 214.

[0099] Through the above arrangement, the limiting groove 214 can limit the limiting member 51, which can maintain the connection between the limiting component 5 and the adapter support 21. The limiting member 51 moves along the extension direction of the limiting groove 214, which is conducive to adjusting the distance between the leg support 3 and the support body 1 as the leg support 3 moves.

[0100] In some embodiments of this application, such as Figure 7 , Figure 8 and Figure 9 As shown, one end of the limiting groove 214 extends to the edge of the adapter support 21, forming a disassembly notch 2141.

[0101] The limiting groove 214 is also provided with a limiting protrusion 2142, which is used to block at least a part of the disassembly notch 2141 so that the size of the disassembly notch 2141 is smaller than the size of the limiting groove 214 and larger than the size of the part of the limiting member 51 that extends into the limiting groove 214.

[0102] With the above arrangement, the disassembly notch 2141 allows the limiting member 51 to pass through and leave the limiting groove 214, thus completing the disassembly of the limiting member 51 and separating the leg support 3 from the adapter 21. The limiting protrusion 2142 blocks at least a portion of the disassembly notch 2141, which helps to limit the movement of the limiting member 51 within the limiting groove 214, thereby reducing the possibility of the limiting member 51 detaching from the limiting groove 214.

[0103] In some embodiments of this application, such as Figure 8 and Figure 9 As shown, the leg support 3 includes a mounting hole 33 and a movable pin 34.

[0104] The mounting hole 33 is arranged along the height direction of the human body. The movable pin 34 is located within the mounting hole 33. At least a portion of the limiting member 51 extends into the mounting hole 33 and is connected to the movable pin 34. The movable pin 34 is used to drive the limiting member 51 to move along the height direction of the human body.

[0105] With the above arrangement, the mounting hole 33 allows tools to be inserted and abut against the movable pin 34, so that the movable pin 34 can drive the limiting member 51 to move upward along the height direction of the human body. This helps the limiting member 51 to avoid the obstruction of the limiting protrusion 2142 and then leave from the disassembly notch 2141, which is conducive to completing the disassembly of the leg support 3 from the adapter support 21.

[0106] In some embodiments of this application, such as Figure 8 and Figure 9 As shown, the leg support 3 includes an elastic element 35, which is located in the mounting hole 33 and is connected to the movable pin 34 and the inner wall of the mounting hole 33 respectively. It is used to provide an elastic force to the movable pin 34 along the height direction of the human body, and the direction of the elastic force is opposite to the protrusion direction of the limiting protrusion 2142.

[0107] With the above arrangement, when the leg support module is worn by the user, the elastic element 35 can act on the movable pin 34 through its own elasticity, allowing the limiting element 51 to abut against the wall of the limiting groove 214. This facilitates the limiting protrusion 2142 to limit the limiting element 51, enabling the limiting assembly 5 to connect the leg support 3 and the adapter 21. When disassembly is required, the mounting hole 33 allows a tool to be inserted and abut against the movable pin 34, reducing or even eliminating the elastic force generated by the elastic element 35. This facilitates the disassembly of the limiting element 51 through the disassembly notch 2141.

[0108] In the embodiments of this application, the elastic element 35 can be a spring or other elastic structure.

[0109] A second aspect of this application provides an exoskeleton device, which includes a leg support module as described above.

[0110] Since the leg support module of the above embodiment is used, the exoskeleton device of this application has the same technical effect as the above embodiment, which will not be repeated here.

[0111] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0112] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0113] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A leg support module, characterized by, The leg support module comprises a support body (1), an adapter assembly (2) and a leg support (3); The support body (1) is arranged in parallel to the height direction of the human body; The adapter assembly (2) is located on one side of the support body (1) and connected with the support body (1), the adapter assembly (2) is connected with the leg support (3), and the leg support (3) is used for connecting with the leg of the human body; The adapter assembly (2) is used for adjusting the relative angle between the leg support (3) and the support body (1) and / or the relative distance between the leg support (3) and the support body (1).

2. The leg support module of claim 1, wherein, The adapter assembly (2) is rotationally connected with the support body (1) and can rotate relative to the support body (1) around a first axis; The first axis extends along the left-right direction of the human body.

3. The leg support module of claim 2, wherein, The adapter assembly (2) comprises an adapter support (21), and the adapter support (21) is provided with a first rotation connection structure (211); The support body (1) is provided with a second rotation connection structure (11), and the first rotation connection structure (211) and the second rotation connection structure (11) are coaxially rotationally connected around the first axis; One of the first rotation connection structure (211) and the second rotation connection structure (11) is a hole groove structure, and the other is a shaft structure.

4. The leg support module of claim 3, wherein, The first rotation connection structure (211) is a hole groove structure, and the adapter support (21) is further provided with at least one first limiting portion (212), and the at least one first limiting portion (212) is located on the inner circumferential wall of the first rotation connection structure (211); The second rotation connection structure (11) is a shaft structure, and the support body (1) is further provided with at least one second limiting portion (12), and the at least one second limiting portion (12) is located on the outer circumferential wall of the second rotation connection structure (11); The at least one first limiting portion (212) and the at least one second limiting portion (12) can abut along the circumferential direction of the first rotation connection structure (211) and the second rotation connection structure (11) to limit the relative angle of the adapter support (21) and the support body (1) around the first axis.

5. The leg support module of claim 4, wherein, The adapter assembly (2) further comprises a locking screw (22), the locking screw (22) is located on the side of the adapter support (21) away from the support body (1) and connected with the second rotation connection structure (11) through the first rotation connection structure (211), so as to limit the axial position of the adapter support (21) and the support body (1).

6. The leg support module according to any one of claims 1 to 5, characterized in that The leg support (3) is slidingly connected with the adapter assembly (2) and can move relative to the adapter assembly (2) along the front-rear direction of the human body.

7. The leg support module of claim 6, wherein, The leg supporting part (3) comprises a first guide part (31), the adapter assembly (2) comprises an adapter support (21), the adapter support (21) comprises a second guide part (213), the first guide part (31) and the second guide part (213) are slidably connected along the front-back direction of the human body.

8. The leg support module of claim 7, wherein, The first guide part (31) comprises a first guide rail structure (311) and a second guide rail structure (312), the first guide rail structure (311) and the second guide rail structure (312) are parallel and spaced, a dovetail groove (313) is formed between the first guide rail structure (311) and the second guide rail structure (312), and the dovetail groove (313) extends along the front-back direction of the human body. The second guide part (213) comprises a first inclined surface structure (2131) and a second inclined surface structure (2132), the first inclined surface structure (2131) and the second inclined surface structure (2132) are distributed on opposite sides of the adapter support (21), and the first inclined surface structure (2131) and the first guide rail structure (311) correspondingly slide and abut, and the second inclined surface structure (2132) and the second guide rail structure (312) correspondingly slide and abut.

9. The leg support module of claim 7, wherein, The leg supporting module comprises a resistance adjusting assembly (4), the resistance adjusting assembly (4) is connected with the leg supporting part (3) and the adapter assembly (2) respectively, and is used for adjusting the relative friction resistance between the adapter assembly (2) and the leg supporting part (3).

10. The leg support module of claim 9, wherein, The leg supporting part (3) further comprises a pressing groove (32), and an opening of the pressing groove (32) faces the adapter support (21). The resistance adjusting assembly (4) comprises a pressing block (41) and a screwing part (42), the pressing block (41) is located in the pressing groove (32) and is limited to rotate by the pressing groove (32), and the screwing part (42) is threadedly connected with the pressing block (41), and the screwing part (42) can adjust the abutting pressure of the pressing block (41) on the adapter support (21) by changing the screwing length with the pressing block (41).

11. The leg support module of claim 7, wherein, The leg supporting module further comprises a limiting assembly (5), the limiting assembly (5) is located on the leg supporting part (3) and is used for limiting the moving distance of the adapter support (21) relative to the leg supporting part (3) along the front-back direction of the human body.

12. The leg support module of claim 11, wherein, The adapter support (21) comprises a limiting groove (214), the limiting groove (214) is located on the side of the adapter support (21) facing the limiting assembly (5) and extends along the front-back direction of the human body. The limiting assembly (5) comprises a limiting part (51), the limiting part (51) is movably connected with the leg supporting part (3), and at least part of the limiting part (51) extends into the limiting groove (214) and can move along the extension direction of the limiting groove (214).

13. The leg support module of claim 12, wherein, One end of the limiting groove (214) penetrates to the edge of the adapter support (21) and forms a dismounting gap (2141). The limiting groove (214) is further provided with a limiting protrusion (2142) for shielding at least part of the dismounting gap (2141), so that the size of the dismounting gap (2141) is smaller than the size of the limiting groove (214) and greater than the size of the part of the limiting member (51) extending into the limiting groove (214).

14. The leg support module of claim 13, wherein, The leg support (3) comprises a mounting hole (33) and a movable pin (34); The mounting hole (33) is arranged along the height direction of the human body, the movable pin (34) is movably arranged in the mounting hole (33), at least part of the limiting member (51) extends into the mounting hole (33) and is connected with the movable pin (34), and the movable pin (34) is used to drive the limiting member (51) to move along the height direction of the human body.

15. The leg support module of claim 14, wherein, The leg support (3) comprises an elastic member (35) arranged in the mounting hole (33) and connected with the movable pin (34) and the inner wall of the mounting hole (33) respectively, for providing the movable pin (34) with an elastic force along the height direction of the human body, and the direction of the elastic force is opposite to the protruding direction of the limiting protrusion (2142).

16. An exoskeleton device, comprising: The exoskeleton device comprises the leg support module according to any one of claims 1 to 15.

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