A leg support structure for a hip-assisted exoskeleton

Abstract

This utility model discloses a leg support structure for a hip joint-assisted exoskeleton, including a leg frame and a leg fixing plate placed at the end of the leg frame. The leg fixing plate is fixed to the leg by straps. The leg fixing plate can be flipped back and forth along the leg frame, and the leg fixing plate can rotate along the plane where it connects with the leg frame. The leg fixing plate and leg frame of this utility model can be flipped back and forth along the leg joint to ensure automatic movement during walking. Moreover, the leg fixing plate and leg frame are rotatably connected. If the leg fixing plate shifts during walking, it can be adjusted by rotating the leg fixing plate and leg frame to ensure that the force transmitted to the leg frame is transmitted vertically to the leg, reducing the component force.

Description

Technical Field

[0001] This utility model relates to the field of hip joint exoskeleton technology, and in particular to a leg support structure for a hip joint assistive exoskeleton. Background Technology

[0002] In industrial environments, many workers need to use heavy tools or perform tasks such as handling items and bending over in the logistics industry every day. Long-term repetitive and high-intensity movements can lead to worker fatigue, muscle damage, and a series of safety and efficiency problems.

[0003] Current hip-assisted exoskeletons, such as the one with patent number CN113601489A, have only one degree of freedom for the leg fastening plate when the legs are strapped in. If the leg fastening plate shifts during walking or installation, the driving force of the exoskeleton cannot be transmitted vertically to the human body, resulting in force loss. Utility Model Content

[0004] The purpose of this utility model is to provide a leg support structure for a hip joint-assisted exoskeleton, which solves the problem of force loss in existing hip joint exoskeletons.

[0005] This invention is implemented as follows: This invention provides a leg support structure for a hip joint-assisted exoskeleton, including a leg frame and a leg fixing plate placed at the end of the leg frame. The leg fixing plate is fixed to the leg by a binding strap. The leg fixing plate can be flipped back and forth along the leg frame, and the leg fixing plate can rotate along the plane where it is connected to the leg frame.

[0006] 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.

[0007] A further technical solution of this utility model is: the leg fixing plate is connected to the leg frame through a rotating component.

[0008] The rotating component itself can rotate, and its two ends are connected to the leg fixing plate and the leg frame, respectively.

[0009] A further technical solution of this utility model is: the leg fixing plate includes a protrusion, the protrusion is rotatably connected to the rotating component, and limiting inclined surfaces are provided on both sides of the rotatable connection on the protrusion. The limiting inclined surfaces are used to limit the angle at which the leg fixing plate flips back and forth along the leg.

[0010] For ease of wear and to ensure safety, the leg fixing plate of this utility model is limited in both forward and backward rotation. Specifically, this is achieved by the limiting inclined surface of the protrusion on the leg fixing plate. When the plate rotates forward and backward, the limiting is achieved when the inclined surface rotates to fit against the surface of the leg frame.

[0011] A further technical solution of this utility model is: the rotating component includes a first connecting part, a rotating part, and a second connecting part connected in sequence, the second connecting part and the first connecting part are respectively connected to the leg frame and the leg fixing plate, and the rotating part is rotatably connected to the second connecting part.

[0012] The rotating component is rotatable, facilitating connection with the leg frame and leg fixation plate.

[0013] A further technical solution of this utility model is: a circular hole is provided in the second connecting part, a limiting member is provided in the circular hole, and one end of the rotating part extends into the circular hole and is rotated and limited between the limiting members.

[0014] 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.

[0015] A further technical solution of this utility model is: the limiting member is cross-shaped, and one end of the rotating part has four protrusions, which are respectively placed in the four spaces formed by the cross shape and the circular hole. Rotation is stable, and the limiting is reliable.

[0016] A further technical solution of this utility model is: the leg fixing plate is provided with a through hole, one end of the first connecting part is placed in the through hole and connected to the protrusion through a rotating shaft.

[0017] A further technical solution of this utility model is: one end of the leg frame with a leg fixing plate extends to the front of the leg.

[0018] The beneficial effects of this invention are as follows: After the user wears 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 rotatable connection between the leg fixation plate and leg frame allows for adjustment 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

[0019] Figure 1 A schematic diagram is provided showing a model wearing a hip joint assistive exoskeleton with the leg support structure of this utility model;

[0020] Figure 2 This is a schematic diagram of a hip joint assistive exoskeleton that adopts the leg support structure of this utility model;

[0021] Figure 3 This is a schematic diagram of the leg support structure of a hip joint assistive exoskeleton provided by this utility model;

[0022] Figure 4 This is a schematic diagram of the connection between the leg fixing plate and the rotating component provided by this utility model;

[0023] Figure 5 This is a schematic diagram of the structure of the rotating component provided by this utility model;

[0024] Figure 6 This is a schematic diagram of the rotating component from another perspective provided by this utility model.

[0025] Reference numerals: 1. Leg frame, 2. Leg fixing plate, 3. Rotating component, 21. Protrusion, 22. Limiting slope, 32. First connecting part, 33. Rotating part, 34. Second connecting part, 341. Circular hole, 342. Limiting component. Detailed Implementation

[0026] 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.

[0027] Example 1:

[0028] like Figure 1-6 The illustration shows a leg support structure for a hip-assisted exoskeleton, comprising a leg frame 1 and a leg fixation plate 2 positioned at the end of the leg frame 1. The leg fixation plate 2 is fixed to the leg by straps. The leg fixation plate 2 can be flipped back and forth along the leg frame 1, and can rotate along the plane where it connects to the leg frame 1. The two degrees of freedom of the leg fixation plate 2 are referenced. Figure 2 As shown.

[0029] In this embodiment, the leg fixing plate 2 is connected to the leg frame 1 via a rotating component 3.

[0030] The rotating component itself can rotate, and its two ends are connected to the leg fixing plate and the leg frame, respectively.

[0031] In this embodiment, the leg fixing plate 2 includes a protrusion 21, which is rotatably connected to the rotating member 3. Limiting inclined surfaces 22 are provided on both sides of the rotatable connection on the protrusion 21. The limiting inclined surfaces 22 are used to limit the angle at which the leg fixing plate 2 flips back and forth along the leg.

[0032] 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.

[0033] In this embodiment, the rotating component 3 includes a first connecting part 32, a rotating part 33 and a second connecting part 34 connected in sequence. The second connecting part 34 and the first connecting part 32 are respectively connected to the leg frame 1 and the leg fixing plate 2. The rotating part 33 is rotatably connected to the second connecting part 34.

[0034] The rotating component is rotatable, facilitating connection with the leg frame and leg fixation plate.

[0035] In this embodiment, the second connecting part 34 is provided with a circular hole 341, and a limiting member 342 is provided in the circular hole 341. One end of the rotating part 33 extends into the circular hole 341 and is rotated and limited between the limiting members 342.

[0036] 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.

[0037] In this embodiment, the limiting member 342 is cross-shaped, and one end of the rotating part 33 has four protrusions, which are respectively placed in the four spaces enclosed by the cross shape and the circular hole 341. The rotation is stable and the limiting is reliable.

[0038] In this embodiment, the first connecting part 32 is connected to the protrusion 21 on the leg fixing plate 2 via a rotating shaft, and the limiting inclined surface 22 is placed on the upper and lower sides of the side of the protrusion 21 facing the leg frame 1.

[0039] During the rotation of the first connecting part 32 and the leg fixing plate 2, the rotation is limited by the limiting inclined surface 22.

[0040] In this embodiment, the fixing plate 2 has a through hole, and the first connecting part 32 of the rotating member 3 extends into the through hole and is rotatably connected to the protrusion 21. The end of the first connecting part 32 is arc-shaped. The leg fixing plate 2 is close to the leg frame 1, which ensures stability during use and reduces space occupation.

[0041] In this embodiment, the leg frame 1 has a leg fixing plate 2 at one end that extends to the front of the leg.

[0042] The working principle of this invention is as follows: 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 to ensure automatic movement during walking. Furthermore, the leg fixation plate and leg frame are rotatably connected, so when the leg fixation plate shifts during walking, adjustment can be achieved through the rotation between the leg fixation plate and leg frame, ensuring that the force transmitted to the leg frame is transmitted vertically to the leg, reducing the component force.

[0043] 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 leg support structure for a hip joint-assisted exoskeleton, comprising a leg frame (1) and a leg fixation plate (2) disposed at the end of the leg frame (1), the leg fixation plate (2) being fixed to the leg by straps; characterized in that: The leg fixing plate (2) can be flipped back and forth along the leg frame (1), and the leg fixing plate (2) can rotate along the plane where it is connected to the leg frame (1).

2. The leg support structure of the hip joint-assisted exoskeleton according to claim 1, characterized in that: The leg fixing plate (2) is rotatably connected to the leg frame (1) via a rotating component (3).

3. The leg support structure of a hip joint-assisted exoskeleton according to claim 2, characterized in that: The leg fixing plate (2) includes a protrusion (21), which is rotatably connected to the rotating component (3). Limiting inclined surfaces (22) are provided on both sides of the rotatable connection on the protrusion (21). The limiting inclined surfaces (22) are used to limit the angle at which the leg fixing plate (2) flips back and forth along the leg.

4. The leg support structure of a hip joint-assisted exoskeleton according to claim 3, characterized in that: The rotating component (3) includes a first connecting part (32), a rotating part (33) and a second connecting part (34) connected in sequence. The second connecting part (34) and the first connecting part (32) are respectively connected to the leg frame (1) and the leg fixing plate (2). The rotating part (33) and the second connecting part (34) are rotatably connected.

5. The leg support structure of a hip joint-assisted exoskeleton according to claim 4, characterized in that: The second connecting part (34) is provided with a circular hole (341), and a limiting member (342) is provided in the circular hole (341). One end of the rotating part (33) extends into the circular hole (341) and is rotated and limited between the limiting members (342).

6. The leg support structure of a hip joint-assisted exoskeleton according to claim 5, characterized in that: The limiting member (342) is cross-shaped, and one end of the rotating part (33) has four protrusions, which are respectively placed in the four spaces enclosed by the cross shape and the circular hole (341).

7. The leg support structure of a hip joint-assisted exoskeleton according to claim 4, characterized in that: The leg fixing plate (2) is provided with a through hole, and one end of the first connecting part (32) is placed in the through hole and connected to the protrusion (21) through a rotating shaft.

8. The leg support structure of a hip joint-assisted exoskeleton according to claim 1, characterized in that: The leg frame (1) has a leg fixing plate (2) extending to the front of the leg at one end.

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