Leg support module and exoskeleton device

Abstract

This application relates to the field of leg support adjustment technology, and particularly to a leg support module and exoskeleton device. The leg support module includes a first support member, a second support member, and an adjustment component. One side of the first support member is connected to one side of the second support member, and the first support member is movable relative to the second support member along a first direction. The adjustment component includes a locking member and an adjusting member. The locking member is located between the first and second support members along a second direction, which intersects the first direction. The adjusting member is connected to the locking member and is rotatable relative to the locking member to move the locking member to a first position and a second position. In the first position, the locking member abuts against both the first and second support members; in the second position, the locking member is separated from the second support member. This application can reduce user discomfort.

Description

Technical Field

[0001] This application relates to the field of leg support adjustment technology, and in particular to leg support modules and exoskeleton devices. Background Technology

[0002] An exoskeleton is a power assist device that is typically fixed to the human body and uses motors to move the lower limbs to provide assistance.

[0003] In related technologies, users have a variety of body shapes, which means that the rotation axis of the motor cannot be aligned with the rotation axis of the human joints, thus causing discomfort to the user. Utility Model Content

[0004] In view of this, this application provides a leg support module and an exoskeleton device to reduce user discomfort.

[0005] Specifically, the following technical solutions are included:

[0006] The first aspect of this application provides a leg support module, the leg support module including a first support member, a second support member, and an adjustment component, wherein...

[0007] One side of the first support member is connected to one side of the second support member, and the first support member is movable relative to the second support member in a first direction;

[0008] The adjustment assembly includes a locking member and an adjusting member. The locking member is located between the first support member and the second support member along a second direction, which intersects with the first direction. The adjusting member is connected to the locking member and is rotatable relative to the locking member to move the locking member to a first position and a second position.

[0009] In the first position, the locking member abuts against both the first support member and the second support member; in the second position, the locking member separates from the second support member.

[0010] In some possible implementations, the locking member includes a force-applying part and a pressing part, the force-applying part and the pressing part being arranged sequentially along the first direction, and the adjusting member rotating to cause the force-applying part to abut against the pressing part, thereby causing the pressing part to move along the second direction.

[0011] In some possible implementations, the locking element includes a tensioning shaft;

[0012] The force-applying part includes a first pressure block and a second pressure block;

[0013] The tensioning shaft is provided with the first pressure block, the pressing part and the second pressure block in sequence. The tensioning shaft can be driven by the adjusting member to move along the first direction and drive the first pressure block and the second pressure block to cooperate, so as to generate or release the force of the pressing part towards the second support member along the second direction.

[0014] In some possible implementations, the first support member includes a receiving cavity;

[0015] The adjusting element includes a cam connected to a first end of the tensioning shaft and rotatable relative to the tensioning shaft about a third direction, the third direction intersecting the first direction;

[0016] Wherein, the first end of the tensioning shaft is located outside the receiving cavity, the second end of the tensioning shaft extends into the receiving cavity, the first pressure block and the second pressure block are both located inside the receiving cavity, the first pressure block is fixedly connected to the tensioning shaft, the second pressure block can move relative to the tensioning shaft along the first direction, and the profile surface of the cam is used to abut against the outer wall of the receiving cavity to adjust the length of the tensioning shaft extending into the receiving cavity.

[0017] In some possible implementations, the locking element includes a support shaft, a first end of the tensioning shaft is connected to the shaft body of the support shaft, and the cam is sleeved outside the support shaft and is rotatable relative to the support shaft.

[0018] In some possible implementations, the adjusting member includes a handle, and the number of cams is two, with the two cams corresponding to each other and sleeved on both ends of the support shaft, and one end of the handle is connected to the two cams respectively.

[0019] In some possible implementations, the front side of the pressing part, the rear side of the pressing part, the rear side of the first pressing block, and the front side of the second pressing block are all inclined surfaces. The front side of the pressing part is used to fit against the rear side of the first pressing block, and the rear side of the pressing part is used to fit against the front side of the second pressing block. The distance between the rear side of the first pressing block and the front side of the second pressing block gradually increases from the side away from the second support member to the side closer to the second support member.

[0020] In some possible implementations, the first support includes a slide rail located on one side of the first support;

[0021] The second support includes a slide groove located on the side adjacent to the side where the adjustment assembly of the second support is located;

[0022] The slide rail is confined within the slide groove and is capable of sliding relative to the slide groove along the extension direction of the slide groove.

[0023] In some possible implementations, there are two slide grooves and two slide rails, with the two slide rails extending into the two slide grooves in a one-to-one correspondence, and the two slide grooves located on opposite sides of the second support member.

[0024] A second aspect of this application provides an exoskeleton device, the exoskeleton device including the leg support module as described in the above technical solution.

[0025] The beneficial effects of the technical solution provided in this application embodiment include at least the following: the adjusting member facilitates the user to move the locking member to the first position and the second position. In the first position, the locking member abuts against the second support member, which can apply a frictional force to the second support member to impede movement. This facilitates the first and second support members to form an integral structure as a support structure for the hip joint motor and the knee joint motor and to apply driving force to the leg. In the second position, the frictional force is reduced, and the first and second support members can adjust the overall length of the leg support module by moving relative to each other. This facilitates the alignment of the hip joint motor and the knee joint motor with the hip and knee joints of different users, thereby reducing user discomfort during assistance. Attached Figure Description

[0026] 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.

[0027] Figure 1 This is an exploded view of the structure of a leg support module provided in an embodiment of this application;

[0028] Figure 2 A schematic diagram of the leg support module provided in this application embodiment when it is in the second position;

[0029] Figure 3 A schematic diagram of the leg support module in the first position according to an embodiment of this application;

[0030] Figure 4 This is an exploded view of the structure of the adjustment component provided in the embodiments of this application;

[0031] Figure 5 A cross-sectional view of the slide rail provided in an embodiment of this application.

[0032] The reference numerals in the figure indicate:

[0033] 1. First support member; 101. Receiving cavity; 11. Slide rail;

[0034] 2. Second support component; 21. Slide groove;

[0035] 3. Adjustment component; 31. Locking component; 311. Force application part; 3111. First pressure block; 3112. Second pressure block; 312. Pressing part; 313. Tensioning shaft; 314. Support shaft; 32. Adjustment component; 321. Cam; 322. Handle.

[0036] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0038] In the embodiments of this application, directional terms such as "upper," "lower," and "side" are generally used in the following ways: Figure 1 The relative positions shown are based on the given information, and these directional terms are used only to more clearly describe the relationships between structures, not to describe absolute positions. Positions may change when the product is placed in different orientations; for example, "up" and "down" may be interchanged.

[0039] 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.

[0040] To make the technical solutions and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0041] The first aspect of this application provides a leg support module, such as... Figure 1 , Figure 2 and Figure 3 As shown, the leg support module includes a first support member 1, a second support member 2, and an adjustment assembly 3, wherein,

[0042] One side of the first support member 1 is connected to one side of the second support member 2, and the first support member 1 can move relative to the second support member 2 along the first direction S1.

[0043] The adjustment assembly 3 includes a locking member 31 and an adjusting member 32. The locking member 31 is located between the first support member 1 and the second support member 2 along the second direction S2, and the second direction S2 intersects with the first direction S1. The adjusting member 32 is connected to the locking member 31 and can rotate relative to the locking member 31 to drive the locking member 31 to move to the first position and the second position.

[0044] In the first position, the locking member 31 abuts against both the first support member 1 and the second support member 2; in the second position, the locking member 31 separates from the second support member 2.

[0045] With the above arrangement, the adjusting member 32 facilitates the user to move the locking member 31 to the first position and the second position. In the first position, the locking member 31 abuts against the second support member 2, which can apply a frictional force to the second support member 2 to resist movement. This helps the first support member 1 and the second support member 2 to form an integrated structure, serving as a support structure for the hip joint motor and the knee joint motor and for applying driving force to the leg. In the second position, the frictional force is reduced, and the first support member 1 and the second support member 2 can adjust the overall length of the leg support module by moving relative to each other. This helps the hip joint motor and the knee joint motor to align with the hip and knee joints of different users, thereby reducing the user's discomfort when using the assistive device.

[0046] In this embodiment, the first support member 1 moves relative to the second support member 2 along the first direction S1, thereby adjusting the overall length of the leg support module. Taking the first end of the first support member 1 and the first end of the second support member 2 as examples, they are spaced apart along the first direction S1. When the first support member 1 moves, if the distance between them increases, the overall length of the leg support module lengthens accordingly. The distance between the hip joint motor connected to the first support member 1 and the knee joint motor connected to the second support member 2 also increases. This helps users with longer thighs align the rotation axes of the knee joint motor and the knee joint, as well as the rotation axes of the hip joint motor and the hip joint, thus reducing discomfort for users with this leg type when wearing the exoskeleton device. Conversely, if the distance between them decreases, the overall length of the leg support module shortens accordingly. The distance between the hip joint motor connected to the first support member 1 and the knee joint motor connected to the second support member 2 also shortens accordingly. This helps users with shorter thighs align the rotation axes of the knee joint motor and the knee joint, as well as the rotation axes of the hip joint motor and the hip joint, thus reducing discomfort for users with this leg type when wearing the exoskeleton device.

[0047] In this embodiment, the locking member 31 is located between the first support member 1 and the second support member 2 along the second direction S2. Since the second direction S2 intersects the first direction S1, pressure is generated when the locking member 31 abuts against the second support member 2. When the first support member 1 and the second support member 2 move relative to each other, friction is generated at the point where the second support member 2 abuts against the locking member 31. If the driving force that drives the first support member 1 to move is less than the maximum static friction at the aforementioned point, the first support member 1 and the second support member 2 will remain relatively stationary. Since the driving force that drives the first support member 1 to move generally comes from the force exerted by the user's legs, the relatively stationary first support member 1 and the second support member 2 can maintain the overall length of the leg support module. That is, when the exoskeleton device is working, the leg support module can avoid changes in its overall length caused by the aforementioned force.

[0048] In this embodiment of the application, the first direction S1 is perpendicular to the second direction S2.

[0049] In this embodiment, the position of the locking member 31 is changed by rotating the adjusting member 32. Therefore, the user can adjust the positional relationship between the locking member 31 and the second support member 2 by directly rotating the adjusting member 32. This can realize the length adjustment of the leg support module and the support function of the leg support module for the hip joint motor and the knee joint motor.

[0050] In this embodiment, the locking member 31 can switch between the first position and the second position by converting the rotation of the adjusting member 32 into translation or deformation along the second direction S2.

[0051] In this embodiment of the application, the locking member 31 is separated from the second support member 2, which means that the force between the second support member 2 and the locking member 31 along the second direction S2 is small enough to allow the first support member 1 and the second support member 2 to move relative to each other.

[0052] In some embodiments of this application, such as Figure 1 and Figure 4 As shown, the locking member 31 includes a force-applying part 311 and a pressing part 312. The force-applying part 311 and the pressing part 312 are arranged sequentially along the first direction S1. The adjusting member 32 rotates to drive the force-applying part 311 to abut against the pressing part 312, causing the pressing part 312 to move along the second direction S2.

[0053] With the above arrangement, since the locking member 31 is located between the first support member 1 and the second support member 2 along the second direction S2, the force-applying part 311 can transmit the driving force generated when the adjusting member 32 rotates, allowing the pressing part 312 to move to the first position and the second position along the second direction S2. When in the first position, the pressing part 312 can abut against the second support member 2, generating a frictional force that hinders relative movement between the first support member 1 and the second support member 2. Specifically, the force-applying part 311 can abut against the first support member 1, and the pressing part 312 can abut against the second support member 2, thus generating a frictional force that restricts relative movement between the first support member 1 and the second support member 2.

[0054] In this embodiment of the application, the force-applying part 311 can convert the rotation of the adjusting member 32 into movement along the first direction S1, and the pressing part 312 can convert the movement along the first direction S1 into movement along the second direction S2, thereby achieving the contact between the pressing part 312 and the second support member 2.

[0055] In some embodiments of this application, such as Figure 1 and Figure 4 As shown, the locking member 31 includes a tensioning shaft 313;

[0056] The force-applying part 311 includes a first pressure block 3111 and a second pressure block 3112;

[0057] The tensioning shaft 313 is provided with a first pressing block 3111, a pressing part 312 and a second pressing block 3112 in sequence. The tensioning shaft 313 can be moved along the first direction S1 by the adjusting member 32, and the first pressing block 3111 and the second pressing block 3112 are engaged to generate or release the force of the pressing part 312 toward the second support member 2 along the second direction S2.

[0058] With the above arrangement, the tensioning shaft 313 can drive at least one of the first pressing block 3111 and the second pressing block 3112 to move along the first direction S1, so that the first pressing block 3111 and the second pressing block 3112 can form a clamping effect on the pressing part 312. The pressing part 312 can convert the movement of the tensioning shaft 313 along the first direction S1 into movement along the second direction S2, thus achieving the contact between the pressing part 312 and the second support member 2. The frictional force generated by the contact can hinder the relative movement of the first support member 1 and the second support member 2.

[0059] In this embodiment, when the tensioning shaft 313 moves along the first direction S1, it can drive the first pressing block 3111 to move while the second pressing block 3112 remains in a fixed position. As a result, the distance between the first pressing block 3111 and the second pressing block 3112 becomes smaller, and the pressing part 312 located between the first pressing block 3111 and the second pressing block 3112 will be subjected to the pressure of the first pressing block 3111 and the second pressing block 3112. Thus, the pressing part 312 can be subjected to the force along the first direction S1 and convert it into a movement and force along the second direction S2.

[0060] In this application, when the first pressing block 3111 and the second pressing block 3112 clamp the pressing part 312, they can directly or indirectly contact the first support member 1, so that the first support member 1 can be subjected to the same amount of pressure as the pressing part 312 abutting against the second support member 2.

[0061] In some embodiments of this application, such as Figure 1 and Figure 4 As shown, the first support member 1 includes a receiving cavity 101;

[0062] The adjusting member 32 includes a cam 321, which is connected to the first end of the tensioning shaft 313 and is rotatable relative to the tensioning shaft 313 about a third direction S3, which intersects with the first direction S1.

[0063] The first end of the tensioning shaft 313 is located outside the receiving cavity 101, and the second end of the tensioning shaft 313 extends into the receiving cavity 101. The first pressure block 3111 and the second pressure block 3112 are both located inside the receiving cavity 101. The first pressure block 3111 is fixedly connected to the tensioning shaft 313, and the second pressure block 3112 can move relative to the tensioning shaft 313 along the first direction S1. The profile surface of the cam 321 is used to abut against the outer wall of the receiving cavity 101 to adjust the length of the tensioning shaft 313 extending into the receiving cavity 101.

[0064] With the above arrangement, the wall of the receiving cavity 101 can abut against the first pressing block 3111 and the second pressing block 3112. On the one hand, it can achieve a partial limiting effect on the shaft body of the tensioning shaft 313. On the other hand, it is also beneficial for the first pressing block 3111 and the second pressing block 3112 to abut against the wall of the receiving cavity 101, so that the force-applying part 311 can transmit the reaction force received by the pressing part 312 when it abuts against the second support member 2. In this way, the first support member 1 and the second support member 2 will be simultaneously subjected to frictional force that hinders movement when the locking member 31 is in the first position.

[0065] The profile of cam 321 includes a base circle portion and a working portion, with the working portion protruding outward relative to the base circle portion. When the base circle portion abuts against the outer wall of the receiving cavity 101, the tensioning shaft 313 extends a relatively long length into the receiving cavity 101, which is the first position. The first pressure block 3111, the pressure part 312, and the second pressure block 3112 are relatively dispersed on the tensioning shaft 313, and the pressure part 312 is not subjected to the force of the first pressure block 3111 and the second pressure block 3112, so it will separate from the second support member 2. When the working portion abuts against the outer wall of the receiving cavity 101, the tensioning shaft 313 extends a relatively short length into the receiving cavity 101, which is the second position. The first pressure block 3111 and the second pressure block 3112 clamp the pressure part 312, and the pressure part 312 is subjected to the force of the first pressure block 3111 and the second pressure block 3112, so it will abut against the second support member 2.

[0066] In this embodiment, the third direction S3, the first direction S1, and the second direction S2 are perpendicular to each other.

[0067] In some embodiments of this application, such as Figure 1 and Figure 4 As shown, the locking member 31 includes a support shaft 314, the first end of the tensioning shaft 313 is connected to the shaft body of the support shaft 314, and the cam 321 is sleeved on the outside of the support shaft 314 and can rotate relative to the support shaft 314.

[0068] With the above arrangement, the support shaft 314 provides support for the cam 321, and the axis of the support shaft 314 can also serve as the rotation axis of the cam 321. By rotating around the axis of the support shaft 314, the contact portion between the profile surface of the cam 321 and the outer wall of the receiving cavity 101 can be changed. This allows adjustment of the insertion length of the tensioning shaft 313 into the receiving cavity 101, and further allows adjustment of the switching between the pressing part 312 and the first position and the second position.

[0069] In this embodiment, the first end of the tensioning shaft 313 and the shaft body of the support shaft 314 can be connected by a threaded connection. The outer surface of the first end of the tensioning shaft 313 is provided with an external thread, and the shaft body of the support shaft 314 has a threaded hole. The first end of the tensioning shaft 313 extends into the threaded hole to achieve a threaded connection.

[0070] In some embodiments of this application, such as Figure 1 and Figure 4 As shown, the adjusting component 32 includes a handle 322 and two cams 321. The two cams 321 are fitted one-to-one on both ends of the support shaft 314, and one end of the handle 322 is connected to the two cams 321 respectively.

[0071] With the above arrangement, although the support shaft 314 is the component that supports the rotation of the cam 321, the presence of the end of the tension shaft 313 will interfere with the cam 321. Therefore, by arranging the cam 321 into two, the end of the tension shaft 313 can be avoided, and the two cams 321 can be driven to rotate by applying driving force through the handle 322.

[0072] In some embodiments of this application, such as Figure 2 , Figure 3 and Figure 4 As shown, the front side of the pressing part 312, the rear side of the pressing part 312, the rear side of the first pressing block 3111, and the front side of the second pressing block 3112 are all inclined surfaces. The front side of the pressing part 312 is used to fit against the rear side of the first pressing block 3111, and the rear side of the pressing part 312 is used to fit against the front side of the second pressing block 3112. The distance between the rear side of the first pressing block 3111 and the front side of the second pressing block 3112 gradually increases from the side away from the second support member 2 to the side closer to the second support member 2.

[0073] With the above arrangement, when both the first pressing block 3111 and the second pressing block 3112 abut against the pressing part 312, since the sides of all three are inclined, the pressing part 312 tends to move to a position where the distance between the rear side of the first pressing block 3111 and the front side of the second pressing block 3112 increases. This position is exactly close to the second support member 2. Therefore, the pressing part 312 will approach the second support member 2 and abut against the second support member 2.

[0074] In some embodiments of this application, such as Figure 5 As shown, the first support member 1 includes a slide rail 11, which is located on one side of the first support member 1;

[0075] The second support member 2 includes a slide groove 21, which is located on the side adjacent to the side where the adjustment component 3 of the second support member 2 is located.

[0076] The slide rail 11 is confined within the slide groove 21 and can slide relative to the slide groove 21 along the extension direction of the slide groove 21.

[0077] Through the above arrangement, the relative sliding of the slide rail 11 and the slide groove 21 allows for adjustment of the overall length of the leg support module. Simultaneously, the slide groove 21 is located adjacent to the side where the adjustment component 3 of the second support member 2 is located. In the first position, the contact between the pressing part 312 and the second support member 2 also causes pressure to be generated on the walls of the slide rail 11 and the slide groove 21. This helps maintain the contact between the pressing part 312 and the second support member 2, limiting the relative movement of the first support member 1 and the second support member 2, thereby maintaining the overall length of the leg support module.

[0078] In some embodiments of this application, such as Figure 5 As shown, there are two slide grooves 21 and two slide rails 11. The two slide rails 11 extend into the two slide grooves 21 in a one-to-one correspondence. The two slide grooves 21 are located on opposite sides of the second support member 2.

[0079] With the above arrangement, after the two slide rails 11 extend into the corresponding slide grooves 21, they can mutually limit each other, thus improving the connection stability between the first support member 1 and the second support member 2. Specifically, when one slide rail 11 leaves the slide groove 21 through the opening, the other slide rail 11 will extend into the corresponding slide groove 21, thus interfering with the slide rail 11 that tends to leave.

[0080] A second aspect of this application provides an exoskeleton device, which includes a leg support module as described above.

[0081] Since the leg support module of the above embodiment is adopted, the exoskeleton device of this application has the same technical effect as the above embodiment, which will not be repeated here.

[0082] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0083] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0084] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A leg support module, characterized in that, The leg support module includes a first support member (1), a second support member (2), and an adjustment component (3), wherein, One side of the first support member (1) is connected to one side of the second support member (2), and the first support member (1) is movable relative to the second support member (2) in a first direction; The adjustment assembly (3) includes a locking member (31) and an adjusting member (32). The locking member (31) is located between the first support member (1) and the second support member (2) along a second direction, which intersects with the first direction. The adjusting member (32) is connected to the locking member (31) and can rotate relative to the locking member (31) to move the locking member (31) to a first position and a second position. In the first position, the locking member (31) abuts against both the first support member (1) and the second support member (2), and in the second position, the locking member (31) separates from the second support member (2).

2. The leg support module according to claim 1, characterized in that, The locking member (31) includes a force-applying part (311) and a pressing part (312). The force-applying part (311) and the pressing part (312) are arranged sequentially along the first direction. The adjusting member (32) rotates to drive the force-applying part (311) to abut against the pressing part (312), causing the pressing part (312) to move along the second direction.

3. The leg support module according to claim 2, characterized in that, The locking element (31) includes a tensioning shaft (313); The force-applying part (311) includes a first pressing block (3111) and a second pressing block (3112); The tensioning shaft (313) is provided with the first pressure block (3111), the pressure part (312) and the second pressure block (3112) in sequence. The tensioning shaft (313) can be driven by the adjusting member (32) to move along the first direction, and drive the first pressure block (3111) to cooperate with the second pressure block (3112) to generate or release the force of the pressure part (312) towards the second support member (2) along the second direction.

4. The leg support module according to claim 3, characterized in that, The first support member (1) includes a receiving cavity (101); The adjusting member (32) includes a cam (321) connected to a first end of the tensioning shaft (313) and rotatable relative to the tensioning shaft (313) about a third direction, which intersects the first direction; Wherein, the first end of the tensioning shaft (313) is located outside the receiving cavity (101), and the second end of the tensioning shaft (313) extends into the receiving cavity (101). The first pressure block (3111) and the second pressure block (3112) are both located inside the receiving cavity (101). The first pressure block (3111) is fixedly connected to the tensioning shaft (313), and the second pressure block (3112) can move relative to the tensioning shaft (313) along the first direction. The profile surface of the cam (321) is used to abut against the outer wall of the receiving cavity (101) to adjust the length of the tensioning shaft (313) extending into the receiving cavity (101).

5. The leg support module according to claim 4, characterized in that, The locking member (31) includes a support shaft (314), the first end of the tensioning shaft (313) is connected to the shaft body of the support shaft (314), and the cam (321) is sleeved on the support shaft (314) and can rotate relative to the support shaft (314).

6. The leg support module according to claim 5, characterized in that, The adjusting component (32) includes a handle (322), and there are two cams (321). The two cams (321) are fitted one-to-one on both ends of the support shaft (314), and one end of the handle (322) is connected to the two cams (321) respectively.

7. The leg support module according to claim 3, characterized in that, The front side of the pressing part (312), the rear side of the pressing part (312), the rear side of the first pressing block (3111), and the front side of the second pressing block (3112) are all inclined surfaces. The front side of the pressing part (312) is used to fit against the rear side of the first pressing block (3111), and the rear side of the pressing part (312) is used to fit against the front side of the second pressing block (3112). The distance between the rear side of the first pressing block (3111) and the front side of the second pressing block (3112) gradually increases from the side away from the second support member (2) to the side closer to the second support member (2).

8. The leg support module according to claim 1, characterized in that, The first support member (1) includes a slide rail (11), which is located on one side of the first support member (1); The second support member (2) includes a slide groove (21) located on the side adjacent to the side where the adjustment assembly (3) of the second support member (2) is located; The slide rail (11) is confined within the slide groove (21) and is able to slide relative to the slide groove (21) along the extension direction of the slide groove (21).

9. The leg support module according to claim 8, characterized in that, There are two slide grooves (21) and two slide rails (11). The two slide rails (11) extend into the two slide grooves (21) in a one-to-one correspondence. The two slide grooves (21) are located on opposite sides of the second support member (2).

10. An exoskeleton device, characterized in that, The exoskeleton device includes the leg support module as described in any one of claims 1 to 9.

Images