Wearable device

Abstract

The application relates to a wearable device. The device comprises a leg guard assembly, a screw rod motor transmission assembly fixedly installed on the side of the leg guard assembly away from a user, a push-pull rod connected with the screw rod motor transmission assembly, the screw rod motor transmission assembly providing power to the push-pull rod to make the push-pull rod move, a bearing assembly connected with the push-pull rod, and a pedal connected with the bearing assembly and the leg guard assembly respectively. The device can reduce the pressure on the tarsal joint.

Description

Technical Field

[0001] This application relates to the field of mechanical technology, and in particular to a wearable device. Background Technology

[0002] With the development of electronic technology, many devices exist in various industries and life scenarios, and it is often necessary to inspect these devices to ensure their stable operation and safety.

[0003] In related technologies, maintenance personnel typically perform high-intensity tasks such as outdoor inspections, maintenance, tower climbing, or carrying heavy tools. These tasks require maintenance personnel to move continuously in complex terrain, often accompanied by prolonged weight-bearing on the feet, which poses a risk of wear and tear and damage to the tarsal joints.

[0004] Therefore, how to reduce the pressure on the tarsal joint of the foot is an urgent technical problem to be solved. Utility Model Content

[0005] Therefore, it is necessary to provide a wearable device to reduce the pressure on the tarsal joints of the foot in response to the above-mentioned technical problems.

[0006] This application provides a wearable device, including: a leg support assembly;

[0007] The lead screw motor drive assembly is fixedly installed on the leg guard assembly on the side opposite to the user.

[0008] The push-pull rod is connected to the lead screw motor transmission assembly, which provides power to the push-pull rod to make it move.

[0009] The bearing assembly is connected to the push-pull rod;

[0010] The pedal is connected to the bearing assembly and the leg guard assembly, respectively.

[0011] In one embodiment, the lead screw motor drive assembly includes a servo motor and is connected to the leg guard assembly via straps;

[0012] The ball screw is connected to the output shaft of the servo motor.

[0013] The lead screw nut is connected to the ball screw and the push-pull rod, respectively.

[0014] In one embodiment, the leg guard assembly includes a leg guard plate and a slot disposed in the leg guard plate; the leg guard plate is fixedly connected to the servo motor via a strap disposed in the slot.

[0015] In one embodiment, the push-pull rod includes:

[0016] The first push-pull assembly is connected to the lead screw nut in the lead screw motor transmission assembly;

[0017] The second push-pull assembly is connected to the first push-pull assembly and the bearing assembly respectively, and the first push-pull assembly provides power to the second push-pull assembly;

[0018] The diameter of the first push-pull component is larger than the diameter of the second push-pull component.

[0019] In one embodiment, the bearing assembly includes a spherical bearing and a bearing base; the spherical bearing is connected to a second push-pull assembly, and the bearing base is fixedly connected to the pedal.

[0020] In one embodiment, the spherical plain bearing rotates 360° within the inner ring of the bearing base.

[0021] In one embodiment, the wearable device further includes a support plate connected to the leg guard assembly, the lead screw motor drive assembly, and the pedal, respectively.

[0022] In one embodiment, the support plates include two plates, which are symmetrically distributed on both sides of the leg guard assembly.

[0023] In one embodiment, the wearable device further includes a retaining ring shaft, the two ends of which are fixedly connected to each support plate.

[0024] In one embodiment, an angle sensor is deployed on the snap ring shaft;

[0025] An angle sensor is used to monitor the rotation angle of the tarsal joint on the pedal.

[0026] The wearable device includes: a leg support assembly; a lead screw motor drive assembly fixedly mounted on the leg support assembly on the side opposite to the user; a push-pull rod connected to the lead screw motor drive assembly, which provides power to the push-pull rod to move it; a bearing assembly connected to the push-pull rod; and a pedal connected to both the bearing assembly and the leg support assembly. When the wearable device is in operation, it is fixed to the user's leg, and the lead screw motor drive assembly within the wearable device precisely controls the movement distance of the push-pull rod by providing power to it. The push-pull rod, through the bearing assembly, drives the pedal to move, assisting the user in walking and reducing pressure on the tarsal joint. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1This is a schematic diagram of the rear 45° view of a wearable device structure in one embodiment;

[0029] Figure 2 This is a front view of the wearable device structure in one embodiment;

[0030] Figure 3 This is a schematic diagram of the bearing assembly in one embodiment.

[0031] Figure label:

[0032] 100: Leg protector components; 101: Leg guard plate;

[0033] 102: Slot; 200: Lead screw motor drive assembly;

[0034] 201: Servo motor; 202: Ball screw;

[0035] 203: Screw nut; 300: Push-pull rod;

[0036] 301: First push-pull assembly; 302: Second push-pull assembly;

[0037] 400: Bearing assembly; 401: Spherical plain bearing;

[0038] 402: Bearing base; 500: Pedal;

[0039] 600: Support plate; 700: Snap ring shaft;

[0040] 800: Angle sensor. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0043] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

[0044] It is understandable that "at least one" refers to one or more, and "multiple" refers to two or more. "At least a part of an element" refers to part or all of an element.

[0045] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0046] With the development of electronic technology, many devices exist in various industries and life scenarios, and it is often necessary to inspect these devices to ensure their stable operation and safety.

[0047] Taking the power industry as an example, maintenance personnel often need to perform high-intensity tasks outdoors for extended periods, such as inspections, repairs, tower climbing, or carrying heavy tools. This type of work not only requires continuous movement in complex terrain but also frequently involves prolonged weight-bearing on the feet, easily leading to lower limb fatigue. Over time, this can cause gait abnormalities and increase the risk of wear and tear and injury to the tarsal joints. The strength of the tarsal joints largely determines the stability of the entire body during movement, including the efficiency of the upper body linkages and the timing of their involvement in movement. Therefore, reducing the pressure on the tarsal joints is a pressing technical problem that needs to be solved.

[0048] At the same time, with the rapid development of exoskeleton technology, it has shown good application prospects in fields such as industry, military and medical rehabilitation. Its core goal is to effectively integrate the flexibility and mobility of the human body with the high strength and high intensity characteristics of mechanical systems, thereby improving work efficiency while providing a higher level of protection and assistance to workers. It is especially suitable for high-intensity, repetitive or high-risk work scenarios in the power industry.

[0049] Based on this, considering that prolonged walking in the prior art results in excessive energy consumption of the human body, leading to fatigue of the tarsal joint and reduced stability of the tarsal joint, this application provides a wearable assistive device to reduce the load on the human tarsal joint, assist in maintaining a stable standing and walking posture, and improve work durability.

[0050] It should be noted that the beneficial effects or technical problems solved by the embodiments of this application are not limited to this one, but may also be other implicit or related problems. For details, please refer to the description of the embodiments below.

[0051] The technical solution of this application and how it solves the above-mentioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0052] Please see Figure 1 , Figure 1 This is a schematic diagram of the rear 45° view of the wearable device structure. Figure 1 The wearable device shown includes: a leg support assembly 100; a lead screw motor drive assembly 200, fixedly mounted on the side of the leg support assembly 100 away from the user; a push-pull rod 300, connected to the lead screw motor drive assembly 200, which provides power to the push-pull rod 300 to make it move; a bearing assembly 400, which is connected to the push-pull rod 300; and a pedal 500, which is connected to both the bearing assembly 400 and the leg support assembly 100.

[0053] exist Figure 1 The wearable device includes a leg support component 100 and a foot pedal 500. The leg support component 100 fits the user's leg and is connected to the user's leg (lower leg) via a strap. The foot pedal 500 is connected to the user's instep and is used to bear the pressure of the user's foot joint.

[0054] In addition, considering that the leg support component 100 needs to balance comfort and lightweight functionality, the leg support component 100 can be a composite material made of nylon and carbon fiber, and the straps can be made of elastic knitted material and equipped with fastening components such as buttons and Velcro to make the leg support component 100 fit the user's legs more closely.

[0055] In the wearable device, in addition to the leg support assembly 100 and the pedal 500, on the side of the leg support assembly 100 away from the user, along the direction from the end of the leg support assembly 100 away from the pedal 500 to the pedal 500, a lead screw motor drive assembly 200, a push-pull rod 300 and a bearing assembly 400 are arranged in sequence. The lead screw motor drive assembly 200 is connected to one end of the push-pull rod 300, and the other end of the push-pull rod 300 is connected to the bearing assembly 400. The bearing assembly 400 is fixedly mounted on the pedal 500.

[0056] In practical applications, when the wearable device is fixed to the user's leg, the lead screw motor transmission assembly 200 converts the rotational motion of the motor into linear motion and provides power to the pedal 500 through the push-pull rod 300. Under the power provided by the lead screw motor transmission assembly 200, the push-pull rod 300 drives the pedal 500 to lift or lower through the bearing assembly 400, which is equivalent to converting the rotation of the motor into the lifting and lowering motion of the heel driven by the tarsal joint.

[0057] For example, the push-pull rod 300 is a telescopic rod. When the lead screw motor transmission assembly 200 provides power to the push-pull rod 300, the push-pull rod 300 is fixedly connected to the bearing, driving the pedal 500 where the bearing is located to move up and down in a direction perpendicular to the ground.

[0058] For example, the push-pull rod 300 includes a cam and a follower. The profile of the cam is a conical surface development line. The follower of the push-pull rod 300 is connected to the cam through a bearing assembly 400. When the cam rotates, the follower is pushed by the cam profile, which simultaneously generates linear motion along the Z-axis and rotational motion about its own axis.

[0059] The wearable device provided in this embodiment includes: a leg support assembly 100; a lead screw motor transmission assembly 200, fixedly mounted on the side of the leg support assembly 100 away from the user; a push-pull rod 300 connected to the lead screw motor transmission assembly 200, which provides power to the push-pull rod 300 to make it move; a bearing assembly 400 connected to the push-pull rod 300; and a pedal 500 connected to both the bearing assembly 400 and the leg support assembly 100. When the wearable device is in operation, it is fixed to the user's leg, and the lead screw motor transmission assembly 200 in the wearable device provides power to the push-pull rod 300, precisely controlling the movement distance of the push-pull rod 300. The push-pull rod 300, through the bearing assembly 400, drives the pedal 500 to move, assisting the user in walking and reducing pressure on the tarsal joint.

[0060] Please see Figure 1 The lead screw motor transmission assembly 200 includes a servo motor 201, which is connected to the leg guard assembly 100 via a strap; a ball screw 202, which is connected to the output shaft of the servo motor 201; and a lead screw nut 203, which is connected to the ball screw 202 and the push-pull rod 300 respectively.

[0061] The servo motor 201 is connected to the leg guard assembly 100 by straps, so that the leg guard assembly 100 and the lead screw motor transmission assembly 200 to which the servo motor 201 belongs are relatively fixed.

[0062] The output shaft of the servo motor 201 is connected to the ball screw 202. On the side of the ball screw 202 away from the output shaft of the servo motor 201, there is a screw nut 203 that can move within a preset position range. Under the action of the servo motor 201, the ball screw 202 precisely controls the extension or retraction distance of the push-pull rod 300 through the rolling friction transmission between the balls and the screw and screw nut 203.

[0063] Optionally, the static torque of the servo motor 201 is 2.5 Nm. A ball screw 202 with an M20 lead of 4 mm is connected to the output shaft of the servo motor 201. The ball screw 202 has a screw nut 203 that can move within a limited position range. The servo motor 201 with a static torque of 2.5 Nm is selected to ensure sufficient pulling force and fast response speed.

[0064] In the wearable device provided in this application embodiment, the lead screw motor transmission assembly 200 includes a servo motor 201, a ball screw 202, and a lead screw nut 203. The servo motor 201 is connected to the leg guard assembly 100 via a strap, and the output shaft of the servo motor 201 is connected to the ball screw 202. Through the transmission between the ball screw 202 and the lead screw nut 203, the extension and retraction distance of the push-pull rod 300 connected to the lead screw nut 203 is precisely controlled.

[0065] Please see Figure 2 , Figure 2 This is a front view of the wearable device structure in one embodiment. Figure 2 In the process, the leg guard assembly 100 includes a leg guard plate 101 and a slot 102 disposed in the leg guard plate 101; the leg guard plate 101 and the servo motor 201 are fixedly connected by a strap disposed in the slot 102.

[0066] The leg protection assembly 100 includes a leg guard plate 101, which may be made of a composite material based on nylon and carbon fiber. A pair of symmetrically distributed slots 102 are located inside the leg guard plate 101, through which a strap can pass to connect to a servo motor 201. In practical applications, the strap can also pass through the slots 102 of the leg guard plate 101 to secure the leg guard plate 101, the user's leg, and the servo motor 201.

[0067] In the wearable device provided in this application embodiment, the leg protection component 100 includes a leg protection plate 101 and a slot 102 disposed in the leg protection plate 101. The leg protection plate 101 and the servo motor 201 are fixedly connected by a strap disposed in the slot 102, thereby fixing the servo motor 201 and the leg protection plate 101 and reinforcing the positional relationship between the leg protection component 100 and the lead screw motor transmission component 200 to a certain extent.

[0068] In an exemplary embodiment, the push-pull rod 300 includes: a first push-pull assembly 301, which is connected to the lead screw nut 203 in the lead screw motor transmission assembly 200; and a second push-pull assembly 302, which is connected to the first push-pull assembly 301 and the bearing assembly 400 respectively, wherein the first push-pull assembly 301 provides power to the second push-pull assembly 302.

[0069] The diameter of the first push-pull assembly 301 is larger than the diameter of the second push-pull assembly 302.

[0070] The first push-pull assembly 301 moves linearly under the drive of the lead screw motor transmission assembly 200. The second push-pull assembly 302 is connected to the first push-pull assembly 301 by the driving force of the first push-pull assembly 301, which pushes the second push-pull assembly 302 to move linearly along the Z-axis (the direction of the axis of the second push-pull assembly 302 itself). At the same time, with the junction of the second push-pull assembly 302 and the bearing assembly 400 as the vertex, it moves in a conical motion around the axis of the second push-pull assembly 302 itself.

[0071] The first push-pull assembly 301 (i.e. the side of the push-pull rod 300 with a larger radial dimension) is connected to the lead screw nut 203, and the second push-pull assembly 302 (i.e. the side of the push-pull rod 300 with a smaller radial dimension) is connected to the bearing assembly 400, which is equivalent to setting a limiting structure, so that the push-pull rod 300 mechanism can make conical surface movement in the first, second, third and fourth limits, and the generatrix of the conical surface forms an angle of 13° with the vertical direction.

[0072] In the wearable device provided in this application embodiment, the power of the lead screw motor transmission assembly 200 drives the first push-pull assembly 301 to perform linear motion, and the first push-pull assembly 301 drives the second push-pull assembly 302 to perform nonlinear motion, so that the second push-pull assembly 302 drives the pedal 500 to perform nonlinear motion, driving the heel to lift and lower, so as to conform to the ankle movement state of the user in the actual walking scenario and reduce the pressure on the user's tarsal joint.

[0073] In one exemplary embodiment, such as Figure 3 As shown, Figure 3 The diagram shows the structure of the bearing assembly 400, which includes a spherical bearing 401 and a bearing base 402. The spherical bearing 401 is connected to the second push-pull assembly 302, and the bearing base 402 is fixedly connected to the pedal 500.

[0074] Optionally, the spherical plain bearing 401 rotates 360° within the inner ring of the bearing base 402.

[0075] The spherical bearing 401 is disposed in the inner ring of the bearing base 402 and is flexibly connected to the second push-pull assembly 302. When the second push-pull assembly 302 performs non-linear movement, it compensates for the angle deviation of the pedal 500 caused by leg movement, such as ankle tilt when lifting the foot or change in the angle of the pedal 500 when bending the knee. The bearing base 402 is rigidly connected to the pedal 500 and drives the pedal 500 to lift or lower as the second push-pull assembly 302 performs non-linear movement.

[0076] Optionally, the bearing base 402 has symmetrically distributed threaded holes, and the pedal 500 is machined with matching mounting holes. After the base is attached to the preset mounting surface of the pedal 500, it is fixed by bolts passing through the mounting holes of the pedal 500 and the threaded holes of the base.

[0077] Optionally, an elastic buckle is designed on the edge of the bearing base 402, corresponding to the machined buckle groove of the pedal 500. After the base is snapped into the pedal 500, the two are bonded and fixed together by high-strength structural adhesive (such as epoxy resin adhesive).

[0078] In the wearable device provided in this application embodiment, the joint bearing 401 is connected to the second push-pull assembly 302, and the bearing base 402 is fixedly connected to the pedal 500. The joint bearing 401 can rotate 360° within the inner ring of the bearing base 402. When the second push-pull assembly 302 transmits power, the full-angle rotation of the joint bearing 401 adapts to the multi-directional angle changes of the pedal 500 as the leg moves. This ensures stable power transmission from the push-pull assembly to the pedal 500, avoids motion interference caused by rigid connection, and greatly improves the flexibility and adaptability of the pedal 500's movement, ensuring natural and smooth leg movements and adapting to leg movement needs in different scenarios.

[0079] In one exemplary embodiment, the wearable device further includes a support plate 600, which is connected to the leg guard assembly 100, the lead screw motor drive assembly 200, and the pedal 500, respectively.

[0080] The support plate 600 is fixedly connected to the side of the leg guard assembly 100 away from the user, the base of the servo motor 201 of the lead screw electric drive assembly, and the surface of the pedal 500.

[0081] Optionally, the support plate 600 is connected to the leg guard assembly 100, the support plate 600 is connected to the lead screw motor transmission assembly 200, and the support plate 600 is connected to the pedal 500 using high-strength structural adhesive.

[0082] Optionally, multiple threaded holes are provided on the support plate 600, and mounting holes are respectively provided on the leg guard assembly 100, the lead screw motor drive assembly 200, and the pedal 500, so as to connect the leg guard assembly 100 to the support plate 600 by bolts passing through it, the lead screw motor drive assembly 200 to the support plate 600 by bolts passing through it, and the pedal 500 to the support plate 600 by bolts passing through it.

[0083] In the wearable device provided in this application embodiment, a support plate 600 is connected to the leg guard assembly 100, the lead screw motor transmission assembly 200 and the pedal 500 respectively, integrating the various core components of the wearable device to form a rigid frame and improving the overall stability of the wearable device.

[0084] In one exemplary embodiment, the support plate 600 includes two plates, which are symmetrically distributed on both sides of the leg guard assembly 100 to form a double support frame, thereby further reinforcing the wearable device's force balance, structural torsional resistance, and motion coordination.

[0085] In one exemplary embodiment, the wearable device further includes a retaining ring shaft 700, the two ends of which are fixedly connected to each support plate 600.

[0086] The two support plates 600 are provided with grooves. The two ends of the snap ring shaft 700 are connected to the grooves of the support plates 600 through snap rings, so that the positions of the two support plates 600 are relatively fixed. For example, journals with interference fit to the mounting holes of the support plates 600 are provided at both ends of the snap ring shaft 700. The journals are pressed into the mounting holes of the support plates 600, and elastic snap rings (such as retaining rings) are installed in the grooves at the ends of the shafts to lock the outer side of the support plates 600 and prevent the shaft from moving axially. Alternatively, external threads are provided at both ends of the snap ring shaft 700, and through holes are machined at the corresponding positions of the support plates 600. After the snap ring shaft 700 passes through the through holes, it is tightened with nuts and fixed with anti-loosening washers (such as spring washers) or thread-locking adhesive. The relative position of the shaft and the plate can be finely adjusted. Alternatively, steps with a slightly larger diameter are provided at both ends of the snap ring shaft 700. The support plates 600 are attached to the step surfaces and are threaded to the support plates 600 through the radial threaded holes at the ends of the shafts. The steps bear the axial force, and the bolts transmit the radial force.

[0087] In the wearable device provided in this application embodiment, a rigid connecting shaft is constructed between the two support plates 600. On the one hand, it can further integrate the symmetrically distributed support plates 600 on both sides into a stable "frame structure", which greatly improves the overall anti-torsion and anti-bending performance, and avoids relative offset or torsion of the two support plates 600 during dynamic leg movements (such as knee bending and pushing off the ground), ensuring the relative position stability of the lead screw motor transmission assembly 200 and the pedal 500, and ensuring the accuracy of power transmission. On the other hand, the retaining ring shaft 700 can serve as a rotation or positioning reference for components such as the pedal 500 (such as the pedal 500 swinging around the retaining ring shaft 700 at a preset angle), constraining the movement trajectory of the components. At the same time, the retaining ring structure can quickly realize the assembly and positioning of the shaft and the support plate 600, taking into account both connection rigidity and ease of assembly and disassembly, further enhancing the overall structural stability and motion coordination of the device.

[0088] The dimensions of each mechanism in a wearable device are related to the user's walking patterns and the torques borne by the joints of the foot. Therefore, it is necessary to capture the rotation angle of the tarsal joint of the human foot during walking, and use the rotation angle and the model dimensions of the human foot as standards to design the overall dimensions of the mechanism. In an exemplary embodiment, an angle sensor 800 is deployed on the retaining ring shaft 700; the angle sensor 800 is used to monitor the rotation angle of the tarsal joint on the pedal 500.

[0089] An angle sensor 800, which remains in a fixed relative position to the support plate 600, is mounted at the outermost end of the retaining ring shaft 700 to detect the rotation angle of the tarsal joint during the user's movement in real time. The data acquired by the angle sensor 800 is transmitted to the control center of the entire auxiliary device. When the rotation angle of the human foot tarsal joint is abnormal, the servo motor 201 is controlled to rotate back to its initial position and the power is cut off. Taking a wearable device as an example of a wearable tarsal joint walking assistance device, the structure of the wearable device provided in this application embodiment is described as follows: it includes a leg guard assembly 100 that fixes and integrates all the parts of the device, a lead screw motor transmission assembly 200, a left and right symmetrical support plate 600, a bearing assembly 400, a pedal 500, a retaining ring shaft 700, and an angle sensor 800. The leg guard assembly 100 includes a main leg guard plate 101 made of nylon-carbon fiber material, and a strap (not shown in the figure) made of elastic knitted material for fixing the relative position of the servo motor 201 and the lower leg. The strap has Velcro attached and is connected to the longitudinally distributed rectangular slots 102 on both sides of the leg guard plate 101, which serves to fix the components to the lower leg of the human body.

[0090] The ball screw motor drive mechanism consists of a servo motor 201 as the main component, with an M20 ball screw 202 with a lead of 4mm connected to the motor's output shaft. The ball screw 202 has a screw nut 203 that can move within a limited range of positions. A servo motor 201 with a static torque of 2.5Nm is selected to ensure sufficient pulling force and a fast response speed.

[0091] The bearing assembly 400 consists of a bearing base 402 and a spherical plain bearing 401. The inner ring of the spherical plain bearing 401 can rotate 360° in a free state. After connecting to the side with the smaller radial dimension of the push-pull rod 300, it is equivalent to setting a limiting structure, which allows the push-pull rod 300 to make conical surface movement in the first, second, third, and fourth limits. The generatrix of the conical surface forms an angle of 13° with the vertical direction.

[0092] The push-pull rod 300 includes a first push-pull assembly 301 with a larger radial dimension, connected to a lead screw nut 203, and a second push-pull assembly 302 with a smaller radial dimension, connected to a spherical bearing 401. This allows the output of the servo motor 201 to be linked to the movement of the tarsal joint, converting the motor's rotation into the tarsal joint driving the lifting and lowering of the heel.

[0093] The bearing base 402 is connected and fixed to the pedal 500, and the longitudinal relative position of the servo motor 201 is fixed by the left and right symmetrical support plates 600.

[0094] The leg guard 101, pedal 500, and symmetrical support plate 600 described above are connected together by a retaining spring shaft 700 on the lower side of the entire wearable device, so that the leg guard 101, symmetrical support plate 600, and lead screw motor transmission mechanism can rotate with the tarsal joint of the human body while maintaining a constant relative angle with the human body.

[0095] The snap ring shaft 700 can support most of the weight of the lead screw motor transmission mechanism, so that the human body will not feel excessive load while walking.

[0096] An angle sensor 800, which is in a fixed position relative to the support plate 600, is fitted at the outermost end of the snap ring shaft 700 to detect the rotation angle of the tarsal joint during human movement in real time.

[0097] In summary, the wearable device provided in this application embodiment is installed on the back of the lower leg of the human body to transmit the torque of the servo motor 201 and convert rotational motion into linear motion. Its features include a compact and lightweight structure, conforming to the outside of the human body without interfering with natural movements. At the same time, the overall weight is guided to the ground support through the design to avoid putting extra load on the human body and effectively reduce the fatigue accumulation of the feet and lower limbs during long-term work.

[0098] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0099] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A wearable device, characterized in that, The device includes: Leg support components; A lead screw motor drive assembly is fixedly installed on the leg guard assembly on the side opposite to the user. A push-pull rod is connected to the lead screw motor transmission assembly, which provides power to the push-pull rod to make it move. Bearing assembly, the bearing assembly being connected to the push-pull rod; The pedal is connected to both the bearing assembly and the leg guard assembly.

2. The apparatus according to claim 1, characterized in that, The lead screw motor transmission assembly includes a servo motor, which is connected to the leg guard assembly via straps; A ball screw is connected to the output shaft of the servo motor; The lead screw nut is connected to the ball screw and the push-pull rod, respectively.

3. The apparatus according to claim 2, characterized in that, The leg guard assembly includes a leg guard plate and a slot provided in the leg guard plate; the leg guard plate is fixedly connected to the servo motor through a strap provided in the slot.

4. The apparatus according to any one of claims 1-3, characterized in that, The push-pull rod includes: The first push-pull assembly is connected to the lead screw nut in the lead screw motor transmission assembly; The second push-pull assembly is connected to the first push-pull assembly and the bearing assembly respectively, and the first push-pull assembly provides power to the second push-pull assembly. The diameter of the first push-pull component is larger than the diameter of the second push-pull component.

5. The apparatus according to claim 4, characterized in that, The bearing assembly includes a spherical bearing and a bearing base; the spherical bearing is connected to the second push-pull assembly, and the bearing base is fixedly connected to the pedal.

6. The apparatus according to claim 5, characterized in that, The spherical bearing rotates 360° within the inner ring of the bearing base.

7. The apparatus according to any one of claims 1-3, characterized in that, The device also includes a support plate, which is connected to the leg guard assembly, the lead screw motor transmission assembly, and the pedal, respectively.

8. The apparatus according to claim 7, characterized in that, The support plate comprises two plates, which are symmetrically distributed on both sides of the leg guard assembly.

9. The apparatus according to claim 8, characterized in that, The device also includes a retaining ring shaft, the two ends of which are fixedly connected to each of the support plates.

10. The apparatus according to claim 9, characterized in that, An angle sensor is deployed on the snap ring shaft; The angle sensor is used to monitor the rotation angle of the tarsal joint on the pedal.

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