A hip exoskeleton device

Abstract

This utility model discloses a hip joint exoskeleton device, including a lumbar exoskeleton, a leg exoskeleton, and a drive mechanism. The drive mechanism is used to drive the leg exoskeleton to move relative to the lumbar exoskeleton. The lumbar exoskeleton has a protruding structure that passes through the shell of the lumbar exoskeleton. The protruding structure is connected to a controller inside the lumbar exoskeleton to display the power of the drive mechanism and / or control the drive mechanism. The protruding structure includes a flexible layer and a support member. The flexible layer is placed on the outside of the shell of the lumbar exoskeleton and has a folded edge extending towards the inside of the shell of the lumbar exoskeleton. The support member and the shell are used to squeeze and seal from the inside and outside of the folded edge. This utility model is waterproof and does not easily accumulate water around the protruding structure when it rains. Moreover, during installation, the flexible layer is sleeved on the outside of the support member, and then the support member with the flexible layer is inserted into the opening of the shell of the lumbar exoskeleton to complete the installation of the protruding structure, which is convenient and quick.

Description

Technical Field

[0001] This utility model relates to the field of hip joint exoskeleton technology, and in particular to a hip joint exoskeleton device. Background Technology

[0002] As a type of service robot, the exoskeleton robot industry is currently experiencing rapid development, with an increasing number of high-tech exoskeleton robot manufacturers emerging and launching a variety of representative products to the market. Based on different application areas, exoskeleton robots can be divided into several categories, such as medical exoskeletons, rehabilitation exoskeletons, industrial handling exoskeletons, emergency firefighting exoskeletons, and outdoor travel exoskeletons. Based on different mechanisms of action, they can also be divided into actively assisted exoskeletons and passively assisted exoskeletons. Based on different power supply methods, exoskeletons can also be divided into actively assisted exoskeletons and passively assisted exoskeletons, and so on.

[0003] Regardless of the application scenario, exoskeleton robots require certain levels of overall protection, with the most important being the shell's protection rating. General applications typically require a high protection rating (generally no lower than IP54) to ensure the exoskeleton robot can operate in complex environments such as rain and snow, without malfunctioning due to moisture ingress. Regarding waterproofing, patent CN119589641A discloses a walking-assist exoskeleton robot that, to meet the high protection requirements of the entire exoskeleton robot, requires two sets of silicone buttons to have a certain degree of dust and water resistance. This protection is achieved through the following methods: First, the silicone buttons are designed with waterproof edges; second, the waterproof edges of the silicone buttons are pressed and installed on the inner plane of two circular openings in the joint drive module connection structure using button clamps. The pressing method involves tightening the button clamps with screws. However, this screw-based installation is cumbersome. Utility Model Content

[0004] The purpose of this utility model is to provide a hip joint exoskeleton device that solves the problems of low protection level and complicated installation of protective structure in existing exoskeleton devices.

[0005] This invention is implemented as follows: This invention provides a hip joint exoskeleton device, including a lumbar exoskeleton and a leg exoskeleton. A drive mechanism is provided in the housing at one end of the lumbar exoskeleton connected to the leg exoskeleton. The drive mechanism is used to drive the leg exoskeleton to move relative to the lumbar exoskeleton. The lumbar exoskeleton has a protruding structure that passes through the housing of the lumbar exoskeleton. The protruding structure is connected to a controller inside the lumbar exoskeleton for displaying the power of the drive mechanism and / or controlling the drive mechanism. The protruding structure includes a flexible layer and a support member. The flexible layer is placed on the outside of the housing of the lumbar exoskeleton and has a folded edge extending towards the inside of the housing of the lumbar exoskeleton. The support member and the housing are used to squeeze and seal from the inside and outside of the folded edge.

[0006] The output end of the drive mechanism is connected to the leg exoskeleton. When the controller receives a start signal, it controls the drive mechanism to move, thereby providing hip joint assistance. Considering the protection requirements of the hip exoskeleton, the buttons on the hip exoskeleton need to be waterproof. Current waterproof structures are either ineffective or difficult to install. Regarding the protection of the hip exoskeleton, the waterproofing of the raised structure used to display power and / or control the drive mechanism in this invention is as follows: The raised structure is installed on the lumbar exoskeleton shell. The raised structure includes a flexible layer and a support member. The flexible layer is placed on the outside of the shell and has a folded edge on its outer periphery. The folded edge of the flexible layer is clamped by the shell and the support member from both sides to ensure sealing. Even in rainy conditions, water is not easily accumulated around the raised structure, resulting in good waterproofing. Moreover, during installation, the flexible layer is sleeved on the outer periphery of the support member, and then the support member with the flexible layer is inserted into the opening of the lumbar exoskeleton shell to complete the installation of the raised structure, which is convenient and quick.

[0007] A further technical solution of this utility model is: the end of the support member is provided with an outwardly extending bent portion, and a limiting groove for limiting the folded edge of the flexible layer is formed between the bent portion and the support member.

[0008] The bend limits the bottom of the flexible layer, and the bend further prevents rainwater from entering the drive mechanism.

[0009] A further technical solution of this utility model is: the inner wall of the waist exoskeleton shell is provided with a slot, and the support member is placed in the slot through a bending part to achieve limiting.

[0010] The inner wall of the waist exoskeleton shell has a slot, and the support can be inserted into the slot through the bending part, thereby limiting the outer periphery and bottom of the flexible layer. The flexible layer is not easy to fall off and has a good waterproof effect.

[0011] A further technical solution of this utility model is: the support member is provided with a through hole for the light guide post or / and the contact member to pass through, the flexible layer is provided with a transparent part corresponding to the light guide post, and the contact member is used to transmit the trigger signal of the flexible layer to the controller.

[0012] The raised structure used to display the power level is connected to the controller via a light guide column; the raised structure used to control the drive mechanism is connected to the controller via a contact element.

[0013] A further technical solution of this utility model is: the driving mechanism is placed inside the waist exoskeleton shell, the inner side of the waist exoskeleton shell is provided with a heat insulation layer, and an installation groove for installing the leg exoskeleton is opened between the heat insulation layer and the waist exoskeleton shell, and the output end of the driving mechanism is connected to the leg exoskeleton in the installation groove.

[0014] There is a mounting groove between the drive mechanism and the heat insulation layer. The drive mechanism can contact the outside through the mounting groove to dissipate heat. Moreover, the inner side of the shell is close to the human body, and there is a heat insulation layer between the inner side of the shell and the human body to further prevent the human body from being burned by the heat generated by the drive mechanism.

[0015] A further technical solution of this utility model is: the waist exoskeleton is provided with a mounting base, and a battery for powering the device is snapped onto the mounting base.

[0016] Considering the ease of assembly and convenient battery charging, the battery and mounting base are detachable in this invention.

[0017] A further technical solution of this utility model is: the front and end of the mounting base are open, the back of the mounting base is provided with a guide, the battery is inserted into the mounting base from the open end along the guide, and the back of the mounting base is a guide slope.

[0018] The battery is inserted into the mounting base along the guide. After it is in place, the mounting base is connected to the battery casing by a snap fastener to secure it and facilitate operation. The front and ends of the mounting base are open, so after the battery is installed in the mounting base, one end and the front of the battery are in contact with the air, providing a wide heat dissipation surface. Moreover, when disassembling, the protrusions connected by the snap fasteners are pressed to remove the restriction of the snap fasteners on the battery. With the cooperation of the guide slope, the battery can slide out automatically, making disassembly quick and easy.

[0019] A further technical solution of this utility model is: the lumbar exoskeleton is symmetrically arranged relative to the mounting base, the mounting base has a cavity, and the end of the lumbar exoskeleton away from the driving mechanism extends into the cavity and can slide.

[0020] By adjusting the position of the lumbar exoskeleton within the mounting cavity, the width between the lumbar exoskeletons can be adjusted to accommodate people of different body types.

[0021] A further technical solution of this utility model is: the mounting base is provided with buckles at both ends for limiting the position of the lumbar exoskeleton.

[0022] After the lumbar exoskeleton is adjusted to the correct position, it is fixedly connected to the mounting base using clips.

[0023] A further technical solution of this utility model is: the leg exoskeleton includes a leg skeleton and a leg fixing plate placed at the end of the leg skeleton. The leg fixing plate can be flipped back and forth along the leg skeleton, and the leg fixing plate can rotate along the plane where it is connected to the leg skeleton.

[0024] The beneficial effects of this utility model are as follows: The output end of the drive mechanism is connected to the leg exoskeleton. When the controller receives the start signal, it controls the drive mechanism to move, thereby achieving hip joint assistance. Considering the protection level requirements of the hip exoskeleton, the buttons on the hip exoskeleton need to be waterproof. Current waterproof structures are either not waterproof in good condition or are difficult to install. Regarding the protection of the hip exoskeleton, the waterproofing of the protruding structure used to display power and / or control the drive mechanism in this utility model is as follows: The protruding structure is installed on the waist exoskeleton shell. The protruding structure includes a flexible layer and a support member. The flexible layer is placed on the outside of the shell and has a folded edge on its outer periphery. The folded edge of the flexible layer is clamped by the shell and the support member from the left and right sides to ensure sealing. When it rains, water is not easy to accumulate on the outer periphery of the protruding structure, resulting in good waterproofing. Moreover, during installation, the flexible layer is sleeved on the outer periphery of the support member, and then the support member with the flexible layer is inserted into the opening of the waist exoskeleton shell to complete the installation of the protruding structure, which is convenient and quick.

[0025] After the user puts on the hip joint exoskeleton, the leg frame is lifted by a drive motor, reducing the user's energy consumption. However, during use, the leg fixation plate may shift, causing the force transmitted from the leg frame to the leg fixation plate to deviate from its original direction, resulting in force loss. To address this, the leg fixation plate and leg frame of this invention can rotate back and forth along the leg joint, ensuring automatic movement during walking. Furthermore, the leg fixation plate and leg frame are rotatably connected, allowing adjustment to be made when the leg fixation plate shifts during walking, ensuring that the force transmitted to the leg frame is vertically transmitted to the leg, reducing the component force. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a hip joint exoskeleton device provided by this utility model;

[0027] Figure 2 This is an enlarged view of section B provided by this utility model;

[0028] Figure 3 This is a schematic diagram of the hip joint exoskeleton device provided by this utility model from another perspective;

[0029] Figure 4 This utility model provides Figure 3 AA section diagram;

[0030] Figure 5 This utility model provides Figure 4 Enlarged view of point A in the middle;

[0031] Figure 6 This is a cross-sectional view of the connection between the protruding structure and the lumbar exoskeleton shell provided by this utility model;

[0032] Figure 7 This is a perspective view of a hip joint exoskeleton device provided by this utility model;

[0033] Figure 8 This is a schematic diagram of the structure of the mounting base provided by this utility model;

[0034] Figure 9 This is a schematic diagram of the foot exoskeleton provided by this utility model;

[0035] Figure 10 This is a schematic diagram of the connection between the foot fixing plate and the rotating component provided by this utility model;

[0036] Figure 11 This is a structural schematic diagram of the rotating component provided by this utility model;

[0037] Figure 12 This is a top view of the rotating component provided by this utility model.

[0038] Reference numerals: 1. Waist exoskeleton; 11. First shell; 12. Second shell; 2. Leg exoskeleton; 21. Mounting groove; 22. Leg frame; 23. Leg fixing plate; 231. Protrusion; 232. Limiting slope; 24. Rotating component; 241. First connecting part; 242. Rotating part; 243. Second connecting part; 244. Circular hole; 245. Limiting component.

[0039] 3. Drive mechanism, 4. Protruding structure, 41. Flexible layer, 411. Folded edge, 42. Support component, 421. Bending part, 422. Limiting groove, 5. Light guide post, 6. Contact component, 7. Heat insulation layer, 8. Mounting base, 81. Guide component, 9. Battery, 10. Guide slope. Detailed Implementation

[0040] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model.

[0041] Example 1:

[0042] like Figure 1-12 The hip exoskeleton device shown includes a lumbar exoskeleton 1, a leg exoskeleton 2, and a drive mechanism 3. The drive mechanism 3 is used to drive the leg exoskeleton 2 to move relative to the lumbar exoskeleton 1. The lumbar exoskeleton 1 has a protruding structure 4 that passes through the shell of the lumbar exoskeleton 1. The protruding structure 4 is connected to a controller inside the lumbar exoskeleton 1 to display the power of the drive mechanism 3 and / or control the drive mechanism 3. The protruding structure 4 includes a flexible layer 41 and a support member 42. The flexible layer 41 is placed on the outside of the shell of the lumbar exoskeleton 1 and has a folded edge 411 extending into the inside of the shell of the lumbar exoskeleton 1. The support member 42 and the shell are used to squeeze and seal from the inside and outside of the folded edge 411.

[0043] The output end of the drive mechanism is connected to the leg exoskeleton. When the controller receives a start signal, it controls the drive mechanism to move, thereby providing hip joint assistance. Considering the protection requirements of the hip exoskeleton, the buttons on the hip exoskeleton need to be waterproof. Current waterproof structures are either ineffective or difficult to install. Regarding the protection of the hip exoskeleton, the waterproofing of the raised structure used to display power and / or control the drive mechanism in this invention is as follows: The raised structure is installed on the lumbar exoskeleton shell. The raised structure includes a flexible layer and a support member. The flexible layer is placed on the outside of the shell and has a folded edge on its outer periphery. The folded edge of the flexible layer is clamped by the shell and the support member from both sides to ensure sealing. Even in rainy conditions, water is not easily accumulated around the raised structure, resulting in good waterproofing. Moreover, during installation, the flexible layer is sleeved on the outer periphery of the support member, and then the support member with the flexible layer is inserted into the opening of the lumbar exoskeleton shell to complete the installation of the raised structure, which is convenient and quick.

[0044] In this embodiment, the two ends of the waist exoskeleton 1 are inclined downwards and connected to the leg exoskeleton 2.

[0045] In this embodiment, the drive mechanism 3 is placed at the end of the waist exoskeleton 1, and the output end of the drive mechanism 3 passes through the shell of the waist exoskeleton 1 and connects to the leg exoskeleton 2. The leg exoskeleton 2 includes a connecting section connected to the output end of the drive mechanism 3 and a body section rotatably connected to the connecting section.

[0046] In this embodiment, the waist exoskeleton 1 has a strip-shaped opening on its shell, and the protruding structure 4 is placed inside the strip-shaped opening.

[0047] In this embodiment, the shell at the end of the waist exoskeleton 1 is composed of an inner and outer second shell 12 and a first shell 11. The protruding structure 4 is placed at the connection between the first shell 11 and the second shell 12, which further facilitates the installation of the protruding structure.

[0048] In this embodiment, the second housing 12 is located on the inner side and is made of aluminum alloy to facilitate heat dissipation of the drive mechanism 3.

[0049] In this embodiment, the end of the support member 42 is provided with an outwardly extending bent portion 421, and a limiting groove 422 is formed between the bent portion 421 and the support member 42 to limit the folded edge 411 of the flexible layer 41.

[0050] The bend limits the bottom of the flexible layer, and the bend further prevents rainwater from entering the drive mechanism.

[0051] In this embodiment, the flexible layer 41 is sleeved on the outer periphery of the support member 42, and the end of the folded edge 411 of the flexible layer 41 is inserted into the limiting groove 422, so the connection between the flexible layer 41 and the support member 42 is strong.

[0052] In this embodiment, the inner wall of the waist exoskeleton 1 is provided with a slot, and the support member 42 is placed in the slot through the bending part 421 to achieve the limiting position.

[0053] The inner wall of the waist exoskeleton shell has a slot, and the support can be inserted into the slot through the bending part, thereby limiting the outer periphery and bottom of the flexible layer. The flexible layer is not easy to fall off and has a good waterproof effect.

[0054] In this embodiment, the protruding structure 4 is placed between the first shell 11 and the second shell 12 of the waist exoskeleton shell. During installation, the protruding structure 4 can be first inserted into the slot of the first shell 11 of the waist exoskeleton 2, and then the second shell 12 of the waist exoskeleton 2 can be clamped and connected to the first shell 11 to achieve quick installation of the protruding structure 4.

[0055] In this embodiment, the support member 42 is provided with a through hole for the light guide post 5 and / or the contact member 6 to pass through, the flexible layer 41 is provided with a transparent part corresponding to the light guide post 5, and the contact member 6 is used to transmit the trigger signal of the flexible layer 41 to the controller.

[0056] The raised structure used to display the power level is connected to the controller via a light guide column; the raised structure used to control the drive mechanism is connected to the controller via a contact element.

[0057] In this embodiment, the protruding structures 4 are respectively placed on both sides of the waist exoskeleton 1. The protruding structure 4 on one side is used to display the power of the drive mechanism 3, and the protruding structure 4 on the other side is used to control the drive mechanism 3.

[0058] In another embodiment, the protruding structure 4 for displaying battery level and for controlling drive mechanism 3 can be located on the same side.

[0059] In this embodiment, the support member 42 further includes a spacer for separating the light guide post 5 and / or the contact member 6.

[0060] In this embodiment, the battery circuit emits light through an LED, and the light guide column 5 transmits the LED light signal to the transparent part, making it visible to the naked eye.

[0061] In this embodiment, the drive mechanism 3 is placed inside the shell of the waist exoskeleton 1. The inner side of the shell of the waist exoskeleton 1 is provided with a heat insulation layer 7. An installation groove 21 for installing the leg exoskeleton 2 is opened between the heat insulation layer 7 and the shell of the waist exoskeleton 1. The output end of the drive mechanism 3 is connected to the leg exoskeleton 2 in the installation groove 21.

[0062] There is a mounting groove between the drive mechanism and the heat insulation layer. The drive mechanism can contact the outside through the mounting groove to dissipate heat. Moreover, the inner side of the shell is close to the human body, and there is a heat insulation layer between the inner side of the shell and the human body to further prevent the human body from being burned by the heat generated by the drive mechanism.

[0063] In this embodiment, the side of the waist exoskeleton 1 closest to the mounting groove 21 is the second housing 12. The second housing 12 is made of aluminum alloy, which is beneficial for the heat dissipation of the drive mechanism 3. The drive mechanism 3 is a motor.

[0064] In this embodiment, the waist exoskeleton 1 is provided with a mounting base 8, and a battery 9 for powering the device is snapped onto the mounting base 8.

[0065] Considering the ease of assembly and convenient battery charging, the battery and mounting base are detachable in this invention.

[0066] In this embodiment, the battery 9 is snapped together with the mounting base 8.

[0067] In this embodiment, the front and end of the mounting base 8 are open, and the back of the mounting base 8 is provided with a guide member 81. The battery 9 is inserted into the mounting base 8 from the open end along the guide member 81. The back of the mounting base 8 is a guide slope 10.

[0068] The battery is inserted into the mounting base along the guide 81. After being inserted into place, the mounting base is connected to the battery casing by a snap fastener, thus securing it and facilitating operation. The front and ends of the mounting base are open, so after the battery is installed in the mounting base, one end and the front of the battery are in contact with the air, providing a wide heat dissipation surface. Moreover, when disassembling, the protrusions connected by the snap fasteners are pressed to remove the restriction of the snap fasteners on the battery. With the cooperation of the guide slope, the battery can slide out automatically, making disassembly quick.

[0069] In this embodiment, the lumbar exoskeleton 1 is symmetrically arranged relative to the mounting base 8. The mounting base 8 has a cavity, and the end of the lumbar exoskeleton 1 away from the drive mechanism 3 extends into the cavity and can slide.

[0070] By adjusting the position of the lumbar exoskeleton 1 within the cavity of the mounting base 8, the width between the lumbar exoskeletons 1 can be adjusted to accommodate people of different body types.

[0071] In this embodiment, the end of the lumbar exoskeleton 1 connected to the mounting base 8 is provided with scale lines. This facilitates symmetrical adjustment of the lumbar exoskeleton 1.

[0072] In this embodiment, the mounting base 8 is provided with buckles at both ends for limiting the waist exoskeleton 1.

[0073] After the lumbar exoskeleton is adjusted to the correct position, it is fixedly connected to the mounting base using clips.

[0074] In this embodiment, the leg exoskeleton 2 includes a leg frame 22 and a leg fixing plate 23 placed at the end of the leg frame 22. The leg fixing plate 23 can be flipped back and forth along the leg frame 22, and the leg fixing plate 23 can rotate along the plane where it is connected to the leg frame 22.

[0075] After the user puts on the hip joint exoskeleton, the leg frame is lifted by a drive motor, reducing the user's energy consumption. However, during use, the leg fixation plate may shift, causing the force transmitted from the leg frame to the leg fixation plate to deviate from its original direction, resulting in force loss. To address this, the leg fixation plate and leg frame of this invention can rotate back and forth along the leg joint, ensuring automatic movement during walking. Furthermore, the leg fixation plate and leg frame are rotatably connected, allowing adjustment to be made when the leg fixation plate shifts during walking, ensuring that the force transmitted to the leg frame is vertically transmitted to the leg, reducing the component force.

[0076] In this embodiment, the leg fixing plate 23 is connected to the leg frame 22 via a rotating member 24.

[0077] The rotating component 24 itself can rotate, and its two ends are connected to the leg fixing plate 23 and the leg frame 22, respectively.

[0078] In this embodiment, the leg fixing plate 23 includes a protrusion 231, which is rotatably connected to the rotating member 24. Limiting inclined surfaces 232 are provided on both sides of the rotatable connection on the protrusion 231. The limiting inclined surfaces 232 are used to limit the angle at which the leg fixing plate 23 flips back and forth along the leg.

[0079] To facilitate wearing and ensure safety, the leg fixing plate of this utility model is limited in both forward and backward rotation. Specifically, this is achieved by limiting inclined surfaces set on the upper and lower sides of the connection between the protrusion and the rotating part. When the plate rotates forward and backward, it is limited when the inclined surface rotates to fit against the surface of the leg frame.

[0080] In this embodiment, the rotating component 24 includes a first connecting part 241, a rotating part 242, and a second connecting part 243 connected in sequence. The second connecting part 243 and the first connecting part 241 are respectively connected to the leg frame 22 and the leg fixing plate 23. The rotating part 242 is rotatably connected to the second connecting part 243.

[0081] The rotating component is rotatable, facilitating connection with the leg frame and leg fixation plate.

[0082] In this embodiment, the second connecting part 243 is provided with a circular hole 244, and a limiting member 245 is provided in the circular hole 244. One end of the rotating member 24 extends into the circular hole 244 and is rotated and limited between the limiting members 245.

[0083] One end of the rotating part extends into the circular hole and can rotate within the circular hole. During the rotation, it can be limited by the limiting component to restrict the rotation of the leg fixing plate and the leg frame, thereby preventing injury from excessive leg rotation.

[0084] In this embodiment, the limiting member 245 is cross-shaped, and one end of the rotating part 242 has four protrusions, which are respectively placed in the four spaces enclosed by the cross shape and the circular hole 244. The rotation is stable and the limiting is reliable.

[0085] In this embodiment, the first connecting part 241 is connected to the protrusion 231 on the leg fixing plate 23 via a rotating shaft, and the limiting inclined surface 232 is placed on the upper and lower sides of the side of the protrusion 231 facing the leg frame 22.

[0086] During the rotation of the first connecting part 241 and the leg fixing plate 23, the rotation is limited by the limiting inclined surface 232.

[0087] In this embodiment, the foot fixing plate 23 is provided with a through hole, and the first connecting part 241 of the rotating member 24 extends into the through hole and is rotatably connected to the protrusion 231. The end of the first connecting part 241 is arc-shaped. The leg fixing plate 23 is close to the leg frame 22, which ensures stability during use and reduces space occupation.

[0088] In this embodiment, the leg frame 22 has a leg fixing plate 23 at one end that extends to the front of the leg.

[0089] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A hip exoskeleton device, comprising a lumbar exoskeleton (1) and a leg exoskeleton (2), wherein a drive mechanism (3) is provided in the housing at one end of the lumbar exoskeleton (1) connected to the leg exoskeleton (2), the drive mechanism (3) being used to drive the leg exoskeleton (2) to move relative to the lumbar exoskeleton (1), and a protruding structure (4) passing through the housing of the lumbar exoskeleton (1) is provided on the lumbar exoskeleton (1), the protruding structure (4) being connected to a controller inside the lumbar exoskeleton (1) for displaying the power of the drive mechanism (3) and / or controlling the drive mechanism (3), characterized in that: The protruding structure (4) includes a flexible layer (41) and a support (42). The flexible layer (41) is placed on the outside of the shell of the waist exoskeleton (1) and has a folded edge (411) extending to the inside of the shell of the waist exoskeleton (1). The support (42) and the shell are used to squeeze and seal from the inside and outside of the folded edge (411).

2. The hip exoskeleton device of claim 1, wherein: The support member (42) has an outwardly extending bent portion (421) at its end, and a limiting groove (422) is formed between the bent portion (421) and the support member (42) to limit the folded edge (411) of the flexible layer (41).

3. A hip exoskeleton device according to claim 2, characterized in that: The inner wall of the lumbar exoskeleton (1) is provided with a slot, and the support (42) is placed in the slot through the bending part (421) to achieve the limiting position.

4. The hip exoskeleton device of any one of claims 1-3, wherein: The support member (42) has a through hole for the light guide post (5) and / or the contact member (6) to pass through, the flexible layer (41) has a transparent part corresponding to the light guide post (5), and the contact member (6) is used to transmit the trigger signal of the flexible layer (41) to the controller.

5. The hip exoskeleton device of any one of claims 1-3, wherein: The drive mechanism (3) is placed inside the shell of the waist exoskeleton (1). The inner side of the shell of the waist exoskeleton (1) is provided with a heat insulation layer (7). An installation groove (21) for installing the leg exoskeleton (2) is opened between the heat insulation layer (7) and the shell of the waist exoskeleton (1). The output end of the drive mechanism (3) is connected to the leg exoskeleton (2) in the installation groove (21).

6. The hip exoskeleton device of any one of claims 1-3, wherein: The waist exoskeleton (1) is provided with a mounting base (8), and a battery (9) for powering the device is snapped onto the mounting base (8).

7. A hip exoskeleton device according to claim 6, characterized in that: The mounting base (8) is open on the front and at the end, and a guide (81) is provided on the back of the mounting base (8). The battery (9) is inserted into the mounting base (8) from the open end along the guide (81). The back of the mounting base (8) is a guide slope (10).

8. The hip exoskeleton device of claim 6, wherein: The lumbar exoskeleton (1) is symmetrically arranged relative to the mounting base (8). The mounting base (8) has a cavity. The end of the lumbar exoskeleton (1) away from the drive mechanism (3) extends into the cavity and can slide.

9. The hip exoskeleton device of claim 8, wherein: The mounting base (8) has buckles at both ends for limiting the waist exoskeleton (1).

10. The hip exoskeleton device of any one of claims 1-3, wherein: The leg exoskeleton (2) includes a leg frame (22) and a leg fixing plate (23) placed at the end of the leg frame (22). The leg fixing plate (23) can be flipped back and forth along the leg frame (22), and the leg fixing plate (23) can rotate along the plane where it is connected to the leg frame (22).

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