Leg cover module and exoskeleton equipment
By using adjustment and strap components in the exoskeleton device, the problems of complex, heavy, and limited adjustment range of the contact structure are solved, resulting in better human compatibility and assistive effects.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HYPERSHELL
- Filing Date
- 2025-04-30
- Publication Date
- 2026-05-08
AI Technical Summary
Existing exoskeleton devices have complex and heavy contact structures and limited adjustment ranges, resulting in poor human compatibility.
The adjustable components include guide rails and sliders, combined with strap components and limiting components. Through sliding connections and limiting structures, the leg fit and adjustment can be achieved to accommodate different leg angle deformations of different users.
It improves the fit and adjustment range of the user's legs, enhancing the wearing comfort and assistive effect of the exoskeleton device.
Smart Images
Figure CN224209944U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of exoskeleton technology, and in particular to a leg cover module and an exoskeleton device. Background Technology
[0002] For exoskeleton devices, the contact structure that applies force (assistance) to the human body is often designed in a complex way, and its flexibility and fit are often the most critical considerations.
[0003] In related technologies, the contact structure between exoskeleton devices and the human body is usually achieved by using a rigid structure in conjunction with straps, and by rotating to fit the tilt angle of the thigh surface of different people.
[0004] However, such contact structures generally suffer from problems such as complex structure, heavy weight, and limited adjustment range, resulting in limited compatibility with the human body. Utility Model Content
[0005] This application provides a leg cover module and exoskeleton device that can solve the problems of complex structure, heavy weight and limited adjustment range of contact structure, as well as limited compatibility with the human body.
[0006] The technical solution is as follows:
[0007] On one hand, a leg cover module is provided, the leg cover module including: an adjustment component, a connecting rod, and a strap component;
[0008] The adjustment assembly includes a guide rail and a slider, which are slidably connected along the user's front-back direction, and one of the guide rail and the slider is connected to the connecting rod.
[0009] The connecting rod is located on the front or back of the user's leg, and the strap assembly is connected to the connecting rod. The strap assembly is used to fit and contact the leg when worn.
[0010] In some embodiments, one of the guide rail and the slider is integrally formed with the connecting rod.
[0011] In some embodiments, the leg cover module further includes a limiting component;
[0012] The limiting component includes a movable limiting element and at least one first limiting structure;
[0013] The movable limiting member is located on one of the guide rail and the slider, and the at least one first limiting structure is located on the other of the guide rail and the slider. The movable limiting member is movably connected to the at least one first limiting structure to limit the relative position of the guide rail and the slider.
[0014] In some embodiments, there are multiple first limiting structures, and the multiple first limiting structures are arranged at intervals along the front-back direction of the user.
[0015] In some embodiments, the movable limiting member includes a second limiting structure, an operating structure, and an adapter plate;
[0016] The second limiting structure and the operating structure are respectively located on the adapter plate. The positions of the second limiting structure and the at least one first limiting structure correspond. At least a portion of the operating structure protrudes to the outside of the guide rail or the sliding member. The operating structure can drive the adapter plate to move, and the adapter plate drives the second limiting structure to move, so that the second limiting structure is connected or separated from the at least one first limiting structure.
[0017] In some embodiments, one of the second limiting structure and the first limiting structure is a protrusion structure and the other is a groove structure;
[0018] And / or,
[0019] The number of second limiting structures is at least two, and the at least two second limiting structures are symmetrically located on both sides of the adapter plate along the height direction of the user; the number of first limiting structures is at least two, and the at least two first limiting structures are symmetrically located on both sides of the adapter plate along the height direction of the user, and each first limiting structure corresponds to one second limiting structure.
[0020] In some embodiments, one of the guide rail and the slider is provided with a first receiving cavity, the first receiving cavity being located on the side of the guide rail opposite to the slider, or on the side of the slider opposite to the guide rail;
[0021] The at least one first limiting structure is located between the guide rail and the sliding member, the adapter plate is located in the first receiving cavity and is movably arranged in the direction of approaching and away from the at least one first limiting structure; at least a portion of the second limiting structure extends between the guide rail and the sliding member and is movable with the adapter plate to connect or separate from the at least one first limiting structure.
[0022] In some embodiments, the first receiving cavity is open toward a direction in which the guide rail and the slider are far apart from each other;
[0023] The leg cover module further includes a first cover plate and at least one first elastic member. The first cover plate covers the opening of the first receiving cavity, and the at least one first elastic member is located between the adapter plate and the first cover plate. The at least one first elastic member is used to provide an elastic force to the adapter plate.
[0024] In some embodiments, the active limiting member includes a second limiting structure and an operating structure, wherein the second limiting structure is connected to the operating structure;
[0025] The movable limiting member is arranged to move along the height direction of the user. The second limiting structure and the at least one first limiting structure are positioned correspondingly. The operating structure can drive the second limiting structure to move along the height direction, so that the second limiting structure is connected to or separated from the at least one first limiting structure.
[0026] In some embodiments, the number of the movable limiting members is two, the two movable limiting members are symmetrically arranged along the height direction, and the two second limiting structures are respectively located between the two operating structures;
[0027] The number of the first limiting structure is at least two, and the at least two first limiting structures are arranged opposite each other along the height direction, with each first limiting structure corresponding to one second limiting structure.
[0028] In some embodiments, the leg cover module further includes an anti-detachment component, which is movably located on one of the guide rail and the slider and is capable of protruding or retracting toward the other of the guide rail and the slider. The anti-detachment component is used to provide travel limit for the guide rail and the slider to slide relative to each other in the front-back direction.
[0029] In some embodiments, the anti-detachment component includes a movable anti-detachment element, a second elastic element, and a second cover plate element;
[0030] One of the guide rail and the slider is provided with a second receiving cavity, the receiving cavity being located on the side of the guide rail facing away from the slider, or on the side of the slider facing away from the guide rail, and the second receiving cavity being located at one end of the guide rail or the slider along the front-back direction; the second receiving cavity is open toward the direction in which the guide rail and the slider are far apart from each other;
[0031] The movable anti-detachment component is movably located within the second receiving cavity, and at least a portion of the movable anti-detachment component extends to one side of the other of the guide rail component and the sliding component;
[0032] The second cover plate covers the opening of the second receiving cavity. The second elastic member is located between the movable anti-detachment member and the second cover plate member, and can protrude or retract toward the other of the guide rail member and the sliding member. The second elastic member is used to provide a reset elastic force for the movable anti-detachment member.
[0033] In some embodiments, the leg cover module further includes a connecting structure located on the side of the guide rail facing away from the slider, or on the side of the slider facing away from the guide rail, the connecting structure being used to connect the leg rods of the exoskeleton device.
[0034] In some embodiments, the strap assembly includes a first strap assembly and a second strap assembly, and the leg cover module includes a thigh assist mode and a calf assist mode;
[0035] In the thigh-assist mode, the connecting rod is arranged around the front side of the leg, the first strap assembly is located on the front side of the leg and between the connecting rod and the leg, and the second strap assembly is located on the rear side of the leg;
[0036] In the calf-assist mode, the connecting rod is arranged around the rear side of the leg, the first strap assembly is located on the rear side of the leg and between the connecting rod and the leg, and the second strap assembly is located on the front side of the leg.
[0037] On the other hand, an exoskeleton device is provided, the exoskeleton device including: the leg cover module described in this application, as well as a drive module and leg rods;
[0038] The drive module is worn on the user's leg joint, the leg rod is connected to the drive module, and the leg cover module is connected to the leg rod.
[0039] The beneficial effects of the technical solution provided in this application include at least the following:
[0040] The leg cover module of this application has a connecting rod connected to a strap assembly. The strap assembly can fit snugly against the user's leg when worn, and can be deformed at any angle to adapt to the user's leg, thus improving the fit. The adjustment assembly can adjust the forward and backward movement of the leg cover module to adapt to the positional needs of different users in the forward and backward directions. It has the advantages of simple structure and large adjustment range, better compatibility with the user's leg, and is conducive to improving the wearing comfort and assistive effect of the exoskeleton device. Attached Figure Description
[0041] 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.
[0042] Figure 1 This is a schematic diagram of the leg cover module provided in an embodiment of this application;
[0043] Figure 2 This is a schematic diagram of the leg cover module provided in the embodiment of this application in the wearing state;
[0044] Figure 3 This is a structural cross-sectional view of the leg cover module provided in the embodiment of this application;
[0045] Figure 4 This is an exploded view of the leg cover module provided in the embodiments of this application from a first perspective;
[0046] Figure 5 This is an exploded view of the leg cover module provided in the embodiment of this application from a second perspective;
[0047] Figure 6 This is a structural cross-sectional view of a leg cover module provided in another embodiment of this application;
[0048] Figure 7 This is a schematic diagram of the structure of the exoskeleton device provided in the embodiments of this application.
[0049] The reference numerals in the figure are respectively:
[0050] 001. Legs;
[0051] A. Front-back direction; B. Height direction;
[0052] 1. Adjustment components;
[0053] 11. Guide rail component; 12. Sliding component; 121. First receiving cavity; 122. Second receiving cavity;
[0054] 2. Connecting rod;
[0055] 3. Strap assembly;
[0056] 31. First strap assembly; 32. Second strap assembly;
[0057] 5. Limiting components;
[0058] 51. Movable limiting component; 511. Second limiting structure; 512. Operating structure; 513. Adapter plate; 514. Third elastic component; 52. First limiting structure;
[0059] 6. First cover plate; 7. First elastic element;
[0060] 8. Anti-detachment component; 81. Movable anti-detachment component; 82. Second elastic component; 83. Second cover plate component;
[0061] 9. Connection structure;
[0062] 100. Drive module;
[0063] 200. Leg members. Detailed Implementation
[0064] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.
[0065] In the description of this application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the purpose of facilitating and simplifying the description of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0066] It should be understood that in this application, "electrical connection" can be understood as physical contact and electrical conduction between components; it can also be understood as a form of connection between different components in a circuit structure through physical lines that can transmit electrical signals, such as copper foil or wires on a printed circuit board (PCB). "Communication connection" can refer to the transmission of electrical signals, including wireless communication connections and wired communication connections. Wireless communication connections do not require a physical medium and are not a connection relationship that limits the product structure. "Connection" and "connected" can both refer to a mechanical or physical connection relationship, that is, A and B being connected or connected can mean that there are fastening components (such as screws, bolts, rivets, etc.) between A and B, or that A and B are in contact with each other and are difficult to separate.
[0067] 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.
[0068] To make the objectives, 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.
[0069] On the one hand, combined with Figure 1 and Figure 2 As shown, this embodiment provides a leg cover module, which includes: an adjustment component 1, a connecting rod 2, and a strap component 3.
[0070] The adjustment component 1 includes a guide rail 11 and a slider 12, which are slidably connected along the user's front-back direction A. One of the guide rail 11 and the slider 12 is connected to a connecting rod 2. The connecting rod 2 is located on the front or back side of the user's leg 001. The strap assembly 3 is connected to the connecting rod 2 and is used to fit and contact the leg 001 when worn.
[0071] In this embodiment, the leg cover module is connected to a strap assembly 3 via a connecting rod 2. The strap assembly 3 can fit snugly against the user's leg 001 when worn, and can freely deform to adapt to the angle of the user's leg 001, thus improving the fit. The adjustment assembly 1 can adjust the forward and backward movement of the leg cover module to adapt to the positional needs of different users in the forward and backward direction A. It has the advantages of simple structure and large adjustment range, and better compatibility with the user's leg 001, which is conducive to improving the wearing comfort and assistive effect of the exoskeleton device.
[0072] In some possible implementations, the connecting rod 2 has an arc-shaped structure. The arc-shaped connecting rod 2 can be regarded as a bow arm, and the strap assembly can be regarded as a bowstring. When the strap assembly 3 comes into contact with the user's leg 001 from the front or back, the strap assembly 3 adapts to the contour of the user's leg 001 using its own flexibility and elasticity. The two ends of the connecting rod 2 provide support and elastic tension to the strap assembly 3.
[0073] In some embodiments, one of the guide rail 11 and the slider 12 is integrally formed with the connecting rod 2. By integrally forming the connecting rod 2 on the guide rail 11 or the slider 12, it is beneficial to improve the connection strength between the connecting rod 2 and the guide rail 11 or the slider 12, and ensure the structural reliability of the leg cover module.
[0074] For example, the connecting rod 2 and the guide rail 11 are integrally formed. For another example, the connecting rod 2 and the sliding member 12 are integrally formed.
[0075] Combination Figure 3 As shown, in some embodiments, the leg cover module further includes a limiting component 5; the limiting component 5 includes a movable limiting member 51 and at least one first limiting structure 52; the movable limiting member 51 is located on one of the guide rail member 11 and the slider member 12, and the at least one first limiting structure 52 is located on the other of the guide rail member 11 and the slider member 12, the movable limiting member 51 is movably connected to the at least one first limiting structure 52, thereby limiting the relative position of the guide rail member 11 and the slider member 12.
[0076] With the above arrangement, the movable limiting member 51 and the first limiting structure 52 are respectively arranged on the guide rail member 11 and the sliding member 12. When the movable limiting member 51 moves to the position connected with the first limiting structure 52, the relative position of the guide rail member 11 and the sliding member 12 is locked and limited, thereby limiting and locking the connecting rod 2 and the strap assembly 3 in the target position, so that the strap assembly 3 can fit completely with the user's leg 001, which has good wearing comfort and assistive effect.
[0077] In some possible implementations, the movable stop 51 is movably arranged on the guide rail 11, and at least one first stop structure 52 is located on the slider 12. In another exemplary embodiment, the movable stop 51 is movably arranged on the slider 12, and at least one first stop structure 52 is located on the guide rail 11.
[0078] Combination Figure 3 As shown, in some embodiments, there are multiple first limiting structures 52, and the multiple first limiting structures 52 are arranged at intervals along the user's front-back direction A.
[0079] With the above arrangement, multiple first limiting structures 52 arranged at intervals along the front-back direction A can provide multiple spaced retracted positions for the guide rail 11 and the sliding member 12, realizing multiple front-back position locking at different levels, which is beneficial to improving the adaptability of the leg cover module.
[0080] Combination Figure 3 and Figure 4 As shown, in some embodiments, the movable limiting member 51 includes a second limiting structure 511, an operating structure 512, and an adapter plate 513.
[0081] The second limiting structure 511 and the operating structure 512 are respectively located on the adapter plate 513. The second limiting structure 511 and at least one first limiting structure 52 are positioned correspondingly. At least a portion of the operating structure 512 protrudes to the outside of the guide rail 11 or the sliding member 12. The operating structure 512 can drive the adapter plate 513 to move, and the adapter plate 513 drives the second limiting structure 511 to move, so that the second limiting structure 511 is connected or separated from at least one first limiting structure 52.
[0082] In this embodiment, the main body of the movable limiting member 51 is the adapter plate 513. The second limiting structure 511 and the operating structure 512 are respectively integrated on the adapter plate 513. When the adapter plate 513 is pushed by the operating structure 512, the adapter plate 513 can drive the second limiting structure 511 to move, realizing the connection or separation of the second limiting structure 511 and the first limiting structure 52. When the second limiting structure 511 is connected to the first limiting structure 52, the relative position of the sliding member 12 and the guide rail member 11 is locked. When the second limiting structure 511 and the first limiting structure 52 are separated, the relative position of the sliding member 12 and the guide rail member 11 is unlocked, and the relative position of the sliding member 12 and the guide rail member 11 can be adjusted along the front-back direction A.
[0083] Combination Figure 3 As shown, in some embodiments, one of the second limiting structure 511 and the first limiting structure 52 is a protrusion structure and the other is a groove structure.
[0084] For example, the first limiting structure 52 is a groove structure, and the second limiting structure 511 is a protrusion structure. Alternatively, the first limiting structure 52 is a protrusion structure, and the second limiting structure 511 is a groove structure.
[0085] Combination Figure 4 As shown, in some embodiments, the number of second limiting structures 511 is at least two, and the at least two second limiting structures 511 are symmetrically located on both sides of the adapter plate 513 along the user's height direction B; the number of first limiting structures 52 is at least two, and the at least two first limiting structures 52 are symmetrically located on both sides of the adapter plate 513 along the user's height direction B, and each first limiting structure 52 corresponds to one second limiting structure 511.
[0086] With the above arrangement, the number of the first limiting structure 52 and the second limiting structure 511 is at least two, and the first limiting structure 52 and the second limiting structure 511 are arranged along the height direction B. When the first limiting structure 52 and the second limiting structure 511 are connected in a one-to-one correspondence, the movable limiting member 51 and the guide rail member 11 or the sliding member 12 are limited and locked at two points in the height direction B. Thus, the guide rail member 11 and the sliding member 12 achieve two-point locking in the height direction B. Compared with single-point locking, two-point limiting locking has better limiting reliability and can prevent the leg cover module from shaking up and down.
[0087] Combination Figure 5 As shown, in some embodiments, one of the guide rail 11 and the slider 12 is provided with a first receiving cavity 121, which is located on the side of the guide rail 11 facing away from the slider 12, or on the side of the slider 12 facing away from the guide rail 11.
[0088] At least one first limiting structure 52 is located between the guide rail 11 and the slider 12, and the adapter plate 513 is located in the first receiving cavity 121 and is movably arranged in the direction of approaching and away from at least one first limiting structure 52; at least a portion of the second limiting structure 511 extends between the guide rail 11 and the slider 12 and is movable with the adapter plate 513 to connect or separate from at least one first limiting structure 52.
[0089] In this embodiment, the movable limiting member 51 is installed through the first receiving cavity 121, and the movable limiting member 51 can move within the first receiving cavity 121 to realize the connection or separation of the second limiting structure 511 and the first limiting structure 52.
[0090] For example, the first receiving cavity 121 is located on the slider 12, and the movable limiting member 51 is movably connected to the slider 12 through the first receiving cavity 121.
[0091] Combination Figure 5 As shown, in some embodiments, the first receiving cavity 121 is open in a direction that the guide rail 11 and the slider 12 are away from each other; the leg cover module also includes a first cover plate 6 and at least one first elastic member 7, the first cover plate 6 covering the opening of the first receiving cavity 121, and at least one first elastic member 7 located between the adapter plate 513 and the first cover plate 6, the at least one first elastic member 7 being used to provide elastic force to the adapter plate 513.
[0092] To facilitate the installation of the movable limiting member 51, the first receiving cavity 121 is arranged open to the outside. The movable limiting member 51 can be inserted into the first receiving cavity 121 from the outside and sealed in the first receiving cavity 121 by the first cover plate 6. In order to ensure that the movable limiting member 51 can be held in the position of being limited and connected with the first limiting structure 52, at least one first elastic member 7 is arranged on the inner side of the first cover plate 6. The first elastic member 7 can provide an inward elastic force to the movable limiting member 51, so that the movable limiting member 51 is pressed against the position where the second limiting structure 511 and the first limiting structure 52 are locked and connected, ensuring that the relative position of the sliding member 12 and the guide rail member 11 is locked.
[0093] When it is necessary to unlock the relative position of the slider 12 and the guide rail 11, the operating structure 512 can be pressed by external force. The operating structure 512 drives the adapter plate 513, which compresses the first elastic member 7 and drives the second limiting structure 511 to move and separate from the first limiting structure 52, thereby unlocking the slider 12 and the guide rail 11.
[0094] For example, the first receiving cavity 121 is located on the slider 12 and opens in the direction opposite to the guide rail 11.
[0095] Combination Figure 6As shown, in some embodiments, the movable limiting member 51 includes a second limiting structure 511 and an operating structure 512, with the second limiting structure 511 connected to the operating structure 512; the movable limiting member 51 is movably arranged along the user's height direction B, the second limiting structure 511 and at least one first limiting structure 52 are positioned correspondingly, and the operating structure 512 can drive the second limiting structure 511 to move along the height direction B, so that the second limiting structure 511 is connected to or separated from at least one first limiting structure 52.
[0096] With the above arrangement, the movable limiting member 51 is movably arranged along the height direction B. Pushing the operating structure 512 along the height direction B can drive the second limiting structure 511 to move, realizing the connection or separation of the second limiting structure 511 and the first limiting structure 52. When the exoskeleton device is worn, the user applies force to the operating structure 512 along the height direction B, which is more in line with the ergonomic principles of the user's hand, reduces the difficulty of operating the movable limiting member 51, and improves the ease of operation of the leg cover module.
[0097] Combination Figure 6 As shown, in some embodiments, there are two movable limiting members 51, which are symmetrically arranged along the height direction B, and two second limiting structures 511 are respectively located between two operating structures 512; there are at least two first limiting structures 52, which are arranged opposite to each other along the height direction B, and each first limiting structure 52 corresponds to one second limiting structure 511.
[0098] In this embodiment, the two movable limiting members 51 can limit and lock the first limiting structure 52 at two points in the height direction B, so that the guide rail 11 and the sliding member 12 can achieve two-point locking in the height direction B, which has better limiting reliability and can prevent the leg cover module from shaking up and down.
[0099] During operation, the user can use their thumb to press down on the upper operating structure 512 and their index finger to press up on the lower operating structure 512, causing the two second limiting structures 511 to come closer to each other and separate from their corresponding first limiting structures 52, thereby separating the guide rail 11 and the sliding member 12.
[0100] Among some possible implementations, refer to Figure 6 As shown, a third elastic element 514 is provided between two movable limiting members 51 arranged symmetrically at intervals along the height direction B. The third elastic element 514 provides opposite elastic forces to the two movable limiting members 51, and is used to provide pre-tightening force and reset force to the two movable limiting members 51.
[0101] Combination Figure 3As shown, in some embodiments, the leg cover module further includes an anti-detachment component 8, which is movably located on one of the guide rail 11 and the slider 12 and is capable of protruding or retracting toward the other of the guide rail 11 and the slider 12. The anti-detachment component 8 is used to provide travel limit for the guide rail 11 and the slider 12 to slide relative to each other in the front-rear direction A.
[0102] To prevent the slider 12 and the guide rail 11 from accidentally disengaging in the front-back direction A, an anti-disengagement component 8 is arranged on the guide rail 11 or the slider 12 to provide travel limit for the guide rail 11 and the slider 12, ensuring that the guide rail 11 and the slider 12 remain in sliding connection.
[0103] For example, the anti-detachment component 8 is located on the slider 12 and can protrude or retract toward the guide rail 11. When the anti-detachment component 8 protrudes, it can provide a travel limit for the guide rail 11, preventing the guide rail 11 from disengaging from the slider 12. When the anti-detachment component 8 retracts, it can avoid the guide rail 11, allowing the guide rail 11 to disengage from the slider 12.
[0104] Combination Figure 4 and Figure 5 As shown, in some embodiments, the anti-detachment component 8 includes a movable anti-detachment member 81, a second elastic member 82, and a second cover plate member 83.
[0105] A second receiving cavity 122 is provided on one of the guide rail 11 and the slider 12. The second receiving cavity 122 is located on the side of the guide rail 11 facing away from the slider 12, or on the side of the slider 12 facing away from the guide rail 11. The second receiving cavity 122 is located at one end of the guide rail 11 or the slider 12 along the front-back direction A. The second receiving cavity 122 is open in the direction that the guide rail 11 and the slider 12 are away from each other.
[0106] The movable anti-detachment member 81 is movably located within the second receiving cavity 122, and at least a portion of the movable anti-detachment member 81 extends to one side of the other of the guide rail member 11 and the slider member 12; the second cover plate member 83 covers the opening of the second receiving cavity 122; the second elastic member 82 is located between the movable anti-detachment member 81 and the second cover plate member 83, and is capable of protruding or retracting toward the other of the guide rail member 11 and the slider member 12; the second elastic member 82 is used to provide a reset elastic force for the movable anti-detachment member 81.
[0107] With the above arrangement, the movable anti-detachment component 81 is movably installed through the second receiving cavity 122, and the movable anti-detachment component 81 can move within the second receiving cavity 122 to limit the stroke of the guide rail component 11 or the sliding component 12.
[0108] Combination Figure 4As shown, in some embodiments, the leg cover module further includes a connecting structure 9, which is located on the side of the guide rail 11 facing away from the slider 12, or on the side of the slider 12 facing away from the guide rail 11. The connecting structure 9 is used to connect the leg 001 rod of the exoskeleton device.
[0109] The leg cover module of this embodiment can be connected to the leg 001 rod of the exoskeleton device using the connecting structure 9. For example, the connecting structure 9 can be a through-hole structure, a slot structure, etc.
[0110] In some embodiments, reference Figure 1 and Figure 2 As shown, the strap assembly 3 includes a first strap assembly 31 and a second strap assembly 32; the leg cover module includes a thigh assist mode and a calf assist mode. In the thigh assist mode, the leg cover module is worn on the user's thigh to provide assistance to the user's thigh. In the calf assist mode, the leg cover module is worn on the user's calf to provide assistance to the user's calf.
[0111] In some possible implementations, in thigh-assist mode, the connecting rod 2 and the first strap assembly 31 are located on the front side of the user's thigh, respectively. The first strap assembly 31 is in close contact with the front side of the user's thigh and is located between the connecting rod 2 and the user's thigh. The second strap assembly 32 is located on the back side of the user's thigh and is in close contact with the back side of the user's thigh.
[0112] In some possible implementations, in the calf-assist mode, the connecting rod 2 and the first strap assembly 31 are located on the rear side of the user's calf, respectively. The first strap assembly 31 is in close contact with the rear side of the user's calf and is located between the connecting rod 2 and the user's calf. The second strap assembly 32 is located on the front side of the user's calf and is in close contact with the front side of the user's calf.
[0113] Among some possible implementations, refer to Figure 6 As shown, in thigh assist mode, the connecting rod 2 and the first strap assembly 31 are located on the front side of the user's thigh, which can provide a thrust to the user's thigh from the front to the back.
[0114] In calf-assist mode, the connecting rod 2 and the first strap assembly 31 are located on the back of the user's calf, providing a thrust from the back to the front of the user's calf.
[0115] In addition, in thigh-assist mode and / or calf-assist mode, the second strap assembly 32 can pull the connecting rod 2 and the first strap assembly 31 from one side of the user's leg 001 (e.g., the back of the user's thigh or the front of the user's calf), so that the connecting rod 2 and the first strap assembly 31 can maintain connection with the user's leg 001, and the first strap assembly 31 can maintain close contact with the user's leg 001.
[0116] On the other hand, combining Figure 7 As shown, this embodiment provides an exoskeleton device, which includes: a leg cover module of this application, a drive module 100, and a leg rod 200; the drive module 100 is worn at the user's leg joint, the leg rod 200 is connected to the drive module 100, and the leg cover module is connected to the leg rod 200.
[0117] The exoskeleton device in this embodiment uses the leg cover module of this application and has all the beneficial technical effects of all embodiments herein.
[0118] The exoskeleton device in this embodiment uses the leg cover module of this application, and has the beneficial technical effects of all embodiments of this application. (Reference) Figure 2 As shown, the strap assembly 3 includes a first strap assembly 31 and a second strap assembly 32. In the wearing state, the first strap assembly 31 and the connecting rod 2 are worn on the same side of the user's leg 001. The first strap assembly 31 is in direct contact with the leg 001. Utilizing its own flexibility, the first strap assembly 31 can adapt to the angle deformation of the leg 001 at will and can maintain close contact with the leg 001. The second strap assembly 32 is used on the other side of the user's leg 001 for close support. It can also adapt to the angle deformation of the leg 001 at will. It has the advantages of simple structure and large adjustment range, better compatibility with the user's leg 001, and is conducive to improving the wearing comfort of the exoskeleton device.
[0119] Among some possible implementations, refer to Figure 7 As shown, the drive module 100 in the exoskeleton device is located at the user's hip joint, the leg rod 200 is located on the outside of the user's thigh, and the leg cover module is connected to the leg rod 200 for contacting and connecting to the user's thigh.
[0120] In use, the drive module 100 drives the leg rod 200 to rotate around the user's hip joint, and the leg rod 200 drives the user's thigh to rotate around the user's hip joint through the leg cover module, thereby providing assistance to the user's thigh.
[0121] It should be noted that in this article, "several" and "at least one" refer to one or more, while "multiple" and "at least two" refer to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.
[0122] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0123] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0124] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this application.
[0125] The above description is merely an embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.
Claims
1. A leg cover module, characterized in that, The leg cover module includes: an adjustment component (1), a connecting rod (2), and a strap component (3); The adjustment assembly (1) includes a guide rail (11) and a slider (12), the guide rail (11) and the slider (12) being slidably connected along the user's front-back direction (A), and one of the guide rail (11) and the slider (12) being connected to the connecting rod (2); The connecting rod (2) is located on the front or back side of the user's leg (001), and the strap assembly (3) is connected to the connecting rod (2). The strap assembly (3) is used to fit and contact the leg (001) in the wearing state.
2. The leg cover module according to claim 1, characterized in that, One of the guide rail (11) and the sliding member (12) is integrally formed with the connecting rod (2).
3. The leg cover module according to claim 1, characterized in that, The leg cover module also includes a limiting component (5); The limiting component (5) includes a movable limiting member (51) and at least one first limiting structure (52); The movable limiting member (51) is located on one of the guide rail (11) and the slider (12), and the at least one first limiting structure (52) is located on the other of the guide rail (11) and the slider (12). The movable limiting member (51) is movably connected to the at least one first limiting structure (52) to limit the relative position of the guide rail (11) and the slider (12).
4. The leg cover module according to claim 3, characterized in that, The movable limiting component (51) includes a second limiting structure (511), an operating structure (512), and a connecting plate (513); The second limiting structure (511) and the operating structure (512) are respectively located on the adapter plate (513). The second limiting structure (511) and the at least one first limiting structure (52) are positioned correspondingly. At least a portion of the operating structure (512) protrudes to the outside of the guide rail (11) or the sliding member (12). The operating structure (512) can drive the adapter plate (513) to move. The adapter plate (513) drives the second limiting structure (511) to move, so that the second limiting structure (511) is connected or separated from the at least one first limiting structure (52).
5. The leg cover module according to claim 4, characterized in that, One of the second limiting structure (511) and the first limiting structure (52) is a protrusion structure, and the other is a groove structure; And / or, The number of the second limiting structure (511) is at least two, and the at least two second limiting structures (511) are symmetrically located on both sides of the adapter plate (513) along the height direction (B) of the user; the number of the first limiting structure (52) is at least two, and the at least two first limiting structures (52) are symmetrically located on both sides of the adapter plate (513) along the height direction (B), and each first limiting structure (52) corresponds to one second limiting structure (511).
6. The leg cover module according to claim 4, characterized in that, One of the guide rail (11) and the slider (12) is provided with a first receiving cavity (121), the first receiving cavity (121) being located on the side of the guide rail (11) facing away from the slider (12), or the slider (12) facing away from the guide rail (11); The at least one first limiting structure (52) is located between the guide rail (11) and the sliding member (12), the adapter plate (513) is located in the first receiving cavity (121) and is movably arranged in the direction of approaching and away from the at least one first limiting structure (52); at least a portion of the second limiting structure (511) extends between the guide rail (11) and the sliding member (12) and is movable with the adapter plate (513) to connect or separate from the at least one first limiting structure (52).
7. The leg cover module according to claim 6, characterized in that, The first receiving cavity (121) is open in a direction in which the guide rail (11) and the slider (12) are far apart from each other; The leg cover module further includes a first cover plate (6) and at least one first elastic member (7). The first cover plate (6) covers the opening of the first receiving cavity (121). The at least one first elastic member (7) is located between the adapter plate (513) and the first cover plate (6). The at least one first elastic member (7) is used to provide elastic force to the adapter plate (513).
8. The leg cover module according to claim 3, characterized in that, The movable limiting member (51) includes a second limiting structure (511) and an operating structure (512), wherein the second limiting structure (511) is connected to the operating structure (512); The movable limiting member (51) is movably arranged along the height direction (B) of the user. The second limiting structure (511) and the at least one first limiting structure (52) are positioned correspondingly. The operating structure (512) can drive the second limiting structure (511) to move along the height direction (B), so that the second limiting structure (511) is connected or separated from the at least one first limiting structure (52).
9. The leg cover module according to claim 8, characterized in that, The number of the movable limiting members (51) is two, the two movable limiting members (51) are symmetrically arranged along the height direction (B), and the two second limiting structures (511) are respectively located between the two operating structures (512). The number of the first limiting structure (52) is at least two, and the at least two first limiting structures (52) are arranged opposite each other along the height direction (B), and each first limiting structure (52) corresponds to one second limiting structure (511).
10. The leg cover module according to claim 1, characterized in that, The leg cover module also includes an anti-detachment component (8), which is movably located on one of the guide rail (11) and the slider (12) and is capable of protruding or retracting toward the other of the guide rail (11) and the slider (12). The anti-detachment component (8) is used to provide travel limit for the relative sliding of the guide rail (11) and the slider (12) in the front-rear direction (A).
11. The leg cover module according to claim 10, characterized in that, The anti-detachment component (8) includes a movable anti-detachment part (81), a second elastic part (82), and a second cover plate part (83); A second receiving cavity (122) is provided on one of the guide rail (11) and the slider (12). The second receiving cavity (122) is located on the side of the guide rail (11) facing away from the slider (12), or on the side of the slider (12) facing away from the guide rail (11). The second receiving cavity (122) is located at one end of the guide rail (11) or the slider (12) along the front-back direction (A). The second receiving cavity (122) is open in a direction that the guide rail (11) and the slider (12) are away from each other. The movable anti-detachment member (81) is movably located within the second receiving cavity (122), and at least a portion of the movable anti-detachment member (81) extends to one side of the other of the guide rail member (11) and the sliding member (12); The second cover plate (83) covers the opening of the second receiving cavity (122), the second elastic member (82) is located between the movable anti-detachment member (81) and the second cover plate (83), and can protrude or retract toward the other of the guide rail member (11) and the sliding member (12), the second elastic member (82) is used to provide a reset elastic force for the movable anti-detachment member (81).
12. The leg cover module according to claim 1, characterized in that, The leg cover module also includes a connecting structure (9), which is located on the side of the guide rail (11) facing away from the sliding member (12), or on the side of the sliding member (12) facing away from the guide rail (11). The connecting structure (9) is used to connect the leg rod of the exoskeleton device.
13. The leg cover module according to any one of claims 1 to 12, characterized in that, The strap assembly (3) includes a first strap assembly (31) and a second strap assembly (32), and the leg cover module includes a thigh assist mode and a calf assist mode; In the thigh assist mode, the connecting rod (2) is arranged around the front side of the leg (001), the first strap assembly (31) is located on the front side of the leg (001) and between the connecting rod (2) and the leg (001), and the second strap assembly (32) is located on the rear side of the leg (001); In the calf assist mode, the connecting rod (2) is arranged around the rear side of the leg (001), the first strap assembly (31) is located on the rear side of the leg (001) and between the connecting rod (2) and the leg (001), and the second strap assembly (32) is located on the front side of the leg (001).
14. An exoskeleton device, characterized in that, The exoskeleton device includes: a leg cover module as described in any one of claims 1 to 13, a drive module (100), and a leg rod (200); The drive module (100) is worn on the user's leg joint, the leg rod (200) is connected to the drive module (100), and the leg cover module is connected to the leg rod (200).