Leg support module and exoskeleton device

Abstract

This application relates to the field of leg support module technology, and particularly to leg support modules and exoskeleton devices. The leg support module includes a leg rod and a support assembly, wherein the support assembly includes an adjusting member, a locking member, and a supporting member; the supporting member is slidably connected to the adjusting seat of the leg rod; one of the supporting member and the adjusting seat includes a movable cavity, the opening of which faces the other of the supporting member and the adjusting seat; the locking member is located within the movable cavity; the adjusting member is connected to the locking member and is used to adjust the extension length of the locking member from the opening of the movable cavity, so that the locking member can be connected to or separated from the adjusting seat or the supporting member. This application can improve the compatibility of leg support modules.

Description

Technical Field

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

[0002] An exoskeleton is a power assist device that provides assistance by causing the user's legs to swing.

[0003] In related technologies, exoskeleton devices utilize support rods positioned horizontally in front of or behind the user's legs to provide assistance. However, because different users have different leg shapes while the shape of the support rods is relatively fixed, excessive gaps can easily form between the legs and the support rods, hindering the exoskeleton device's ability to provide leg assistance. Utility Model Content

[0004] In view of this, this application provides a leg support module and an exoskeleton device to improve their compatibility.

[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 leg bar and a support assembly, wherein...

[0007] The support assembly includes an adjusting component, a locking component, and a supporting component;

[0008] The support member is slidably connected to the adjusting seat of the leg;

[0009] One of the support member and the adjusting seat includes a movable cavity, the opening of which faces the other of the support member and the adjusting seat;

[0010] The locking element is located within the movable cavity;

[0011] The adjusting member is connected to the locking member and is used to adjust the extension length of the locking member from the opening of the movable cavity, so that the locking member can be connected to or separated from the adjusting seat or the support member.

[0012] In some possible implementations, the adjusting member includes a transmission part and a reset part, wherein,

[0013] A portion of the transmission unit extends into the movable cavity and can drive the locking member to extend out of or retract from the opening of the movable cavity along the depth direction of the movable cavity;

[0014] The reset part is used to apply a reset force to the transmission part when the transmission part drives the locking member to retract into the movable cavity.

[0015] In some possible implementations, the transmission part includes a transmission pin;

[0016] The locking member includes a transmission groove, the extension direction of which intersects both the moving direction of the transmission part and the moving direction of the locking member.

[0017] The locking member is confined within the opening of the movable cavity, one end of the transmission pin extends into the transmission groove, and the other end or the pin body of the transmission pin is connected to the transmission part.

[0018] In some possible implementations, when the movable cavity is disposed on the adjusting seat, the adjusting seat includes a guide groove located on the side of the movable cavity opposite to one end of the transmission groove, the other end of the transmission pin extending into the guide groove, and the guide groove extending along the depth direction of the movable cavity.

[0019] In some possible implementations, when the movable cavity is disposed on the adjusting seat, one side of the locking member is in contact with one side of the adjusting seat, and the edge of the locking member is provided with a limiting portion, which protrudes from the side of the locking member that is in contact with the adjusting seat.

[0020] In some possible implementations, one of the support member and the adjusting seat includes a sliding groove, a portion of the other of the support member and the adjusting seat is confined within the sliding groove and is movable relative to the sliding groove along the length direction of the sliding groove, and the opening of the movable cavity and the wall of the sliding groove are sequentially arranged along the extension direction of the locking member.

[0021] In some possible implementations, the locking element includes teeth;

[0022] The sliding groove includes a rack that extends along the depth direction of the sliding groove;

[0023] The locking member can drive the teeth to engage with the rack.

[0024] In some possible implementations, the racks are respectively provided on opposite sides of the sliding groove, and there are two locking members, which can engage with the racks on both sides one by one.

[0025] In some possible implementations, one of the support member and the adjusting seat includes a sliding groove, the sliding groove including an anti-detachment groove, the opening of the anti-detachment groove being located on the wall of the sliding groove, and the support assembly including an anti-detachment part, one end of the anti-detachment part extending into the anti-detachment groove, and the other end being connected to the other of the support member and the adjusting seat.

[0026] In some possible implementations, the leg includes an adjustment seat and a rod body, the inner side of the rod body being connected to the outer side of the adjustment seat, the adjustment seat including the sliding groove, the opening of the sliding groove being opposite to the rod body.

[0027] 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.

[0028] The beneficial effects of the technical solution provided in this application embodiment include at least the following: the leg bar can provide driving force to the support component, allowing the support component to contact the user's leg and provide support. When the length of the locking member extending from the opening of the movable cavity is sufficiently long, it can be connected to the adjustment seat or support component to achieve a locking effect, meaning the leg support module can provide assistance to the user's leg; when the length of the locking member extending from the opening of the movable cavity is sufficiently short, it can be separated from the adjustment seat or support component, allowing the support component to slide relative to the leg bar, thereby changing the range of its enclosure. This facilitates stable contact and support between the leg support module and different leg shapes, thus improving its compatibility. Attached Figure Description

[0029] 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.

[0030] Figure 1 This is an exploded view of the structure of a leg support module provided in an embodiment of this application;

[0031] Figure 2 A schematic diagram of the structure of a leg support module when it is in its maximum enclosure, provided in an embodiment of this application;

[0032] Figure 3 A schematic diagram of the structure of a leg support module in its minimum enclosure, provided in an embodiment of this application;

[0033] Figure 4 This is an exploded view of the structure of a support component provided in an embodiment of this application;

[0034] Figure 5 A schematic diagram of the structure of a leg support module when the locking member is connected to the adjusting seat, as provided in an embodiment of this application;

[0035] Figure 6 This is a schematic diagram of the structure of a leg support module when the locking member and the adjusting seat are separated, as provided in an embodiment of this application.

[0036] Figure 7 This is a partial structural schematic diagram of an adjustment seat provided in an embodiment of this application;

[0037] Figure 8 A cross-sectional schematic diagram of a support member provided in an embodiment of this application;

[0038] Figure 9 This is a partial assembly diagram of an adjustment seat and support assembly provided in an embodiment of this application.

[0039] The reference numerals in the figure indicate:

[0040] 1. Leg rod; 11. Adjustment seat; 12. Rod body; 101. Sliding groove; 1011. Rack; 102. Anti-detachment groove;

[0041] 2. Support assembly; 21. Adjusting component; 211. Transmission part; 2111. Transmission pin; 212. Reset part; 22. Locking component; 2201. Transmission groove; 221. Gear; 222. Limiting part; 23. Support component; 2301. Movable cavity; 23011. Opening; 2302. Guide groove; 24. Anti-detachment part.

[0042] 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

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] The first aspect of this application provides a leg support module, such as... Figure 1 , Figure 4 , Figure 8 and Figure 9 As shown, the leg support module includes a leg bar 1 and a support assembly 2, wherein,

[0048] Support assembly 2 includes an adjusting member 21, a locking member 22, and a supporting member 23;

[0049] The support member 23 is slidably connected to the adjusting seat 11 of the leg 1;

[0050] One of the support member 23 and the adjusting seat 11 includes a movable cavity 2301, the opening 23011 of which faces the other of the support member 23 and the adjusting seat 11;

[0051] Locking element 22 is located within movable cavity 2301;

[0052] Adjusting member 21 is connected to locking member 22 and is used to adjust the extension length of locking member 22 from opening 23011 of movable cavity 2301 so that locking member 22 can be connected or separated from adjusting seat 11 or support member 23.

[0053] With the above arrangement, the leg bar 1 can provide driving force to the support component 2, allowing the support component 2 to contact the user's leg and provide support. The adjustment seat 11 is fixedly mounted on the leg bar 1, and its connection method can be tightening with screws, etc. The movable cavity 2301 can be optionally mounted on the adjustment seat 11 or the support member 23. When the movable cavity 2301 is mounted on the adjustment seat 11, the opening 23011 of the movable cavity 2301 faces the support member 23, and the locking member 22 can extend or retract from the opening 23011 of the movable cavity 2301, connecting or separating from the support member 23. When the movable cavity 2301 is mounted on the support member 23, the opening 23011 of the movable cavity 2301 faces the adjustment seat 11, and the locking member 22 can extend or retract from the opening 23011 of the movable cavity 2301, connecting or separating from the adjustment seat 11. When the length of the locking member 22 extending out of the opening 23011 of the movable cavity 2301 is long enough, it can be connected to the adjusting seat 11 or the support member 23 to perform a locking function, that is, the leg support module can provide assistance to the user's legs; when the length of the locking member 22 extending out of the opening 23011 of the movable cavity 2301 is short enough, it can be separated from the adjusting seat 11 or the support member 23, so that the support member 23 can slide relative to the leg bar 1, thereby changing the range of its enclosure, which is conducive to the leg support module forming stable contact and support with different leg shapes, thus improving its compatibility.

[0054] In this embodiment, optionally, the movable cavity 2301 is disposed on the support member 23, and the opening 23011 of the movable cavity 2301 faces the adjustment seat 11. Therefore, when the extension length of the locking member 22 from the opening 23011 of the movable cavity 2301 is long enough, it can contact the adjustment seat 11 to generate a connecting force. The locking member 22 is located in the movable cavity 2301 of the support member 23. Therefore, when the support member 23 slides relative to the adjustment seat 11, the direction of the force on the part of the support member 23 located in the movable cavity 2301 is opposite to the direction of the connecting force. Therefore, the locking member 22 will interfere with the support member 23 which has a tendency to slide. This interference is beneficial for the support member 23 to apply driving force to the leg, and also beneficial for the support member 23 to transmit the reaction force from the leg to the adjustment seat 11. In this way, the leg support module can provide assistance to the leg.

[0055] In this embodiment, when the extension length of the locking member 22 from the opening 23011 of the movable cavity 2301 is short enough, it can be separated from the adjusting seat 11. At this time, the interference of the locking member 22 on the supporting member 23 disappears, so the locking member 22 can slide on the adjusting seat 11 and adjust the size of the range it surrounds, thereby maintaining close contact with different leg types.

[0056] In this embodiment, the adjusting member 21 can continuously apply force to the locking member 22, causing the locking member 22 to tend to extend from the opening 23011 of the movable cavity 2301, thereby maintaining connection with the adjusting seat 11. By briefly separating the adjusting member 21 from the locking member 22, the user can disable the aforementioned force, which facilitates the user in adjusting the size of the enclosure range of the support member 23.

[0057] In this embodiment of the application, the support member 23 is slidably connected to the adjusting seat 11. The support member 23 can be formed as a slide rail, and a part of the adjusting seat 11 can be used as a slider. The two cooperate to achieve a slidable connection. Alternatively, the adjusting seat 11 can be formed as a slide rail, and a part of the support member 23 can be used as a slider. The two cooperate to achieve a slidable connection.

[0058] In this embodiment, the leg support module can be used to support the user's thighs or the user's calves.

[0059] In this embodiment, the user can adjust the extension length of the locking member 22 by applying a force to the adjusting member 21. The force can be applied by pulling, pressing, or twisting.

[0060] In the embodiments of this application, such as Figure 3 As shown, when the locking member 22 is fully retracted into the movable cavity 2301, its extension length is 0; Figure 2 As shown, the locking member 22 is at its maximum extension length when it is fully extended from the movable cavity 2301.

[0061] In this embodiment, the assistive effect of the support member 23 on the user's legs is mainly reflected in the following: when the support member 23 is located in front of the user's legs, it can push the user's legs down; when it is necessary to push the user's legs up, it can be done by pushing the soft bag tied to the user's legs.

[0062] In some embodiments of this application, such as Figure 4 , Figure 5 and Figure 6 As shown, the adjusting member 21 includes a transmission part 211 and a reset part 212, wherein,

[0063] A portion of the transmission part 211 extends into the movable cavity 2301 and can drive the locking member 22 to extend out of or retract from the opening 23011 of the movable cavity 2301 along the depth direction of the movable cavity 2301.

[0064] The reset part 212 is used to apply a reset force to the transmission part 211 when the transmission part 211 drives the locking member 22 to retract into the movable cavity 2301.

[0065] With the above arrangement, the transmission unit 211 can provide the user with a force to adjust the extension length of the locking member 22. The portion of the transmission unit 211 extending into the movable cavity 2301 can connect with the locking member 22, thereby driving the locking member 22. The reset force provided by the reset unit 212 to the transmission unit 211 can maintain the length of the locking member 22 extending out of the movable cavity 2301 during operation, thus allowing the extended portion to connect with the support member 23, thereby restricting the sliding of the support member 23 relative to the leg rod 1. The restricted sliding support member 23 can transmit the reaction force from the user's legs and the driving force applied to the user's legs by the exoskeleton device, thus completing the assistive function of the exoskeleton device for the user.

[0066] In this embodiment, the reset part 212 can be a spring. One end of the spring is connected to the transmission part 211, and the other end is connected to the support member 23. The spiral extension direction of the spring is the depth direction of the movable cavity 2301, so that the transmission part 211 can be provided with elastic force as a reset force.

[0067] In some embodiments of this application, such as Figure 4 , Figure 5 and Figure 6 As shown, the transmission part 211 includes a transmission pin 2111;

[0068] The locking member 22 includes a transmission groove 2201, the extension direction of which intersects the moving direction of the transmission part 211 and the moving direction of the locking member 22.

[0069] The locking member 22 is confined to the opening 23011 of the movable cavity 2301, one end of the transmission pin 2111 extends into the transmission groove 2201, and the other end or the pin body of the transmission pin 2111 is connected to the transmission part 211.

[0070] With the above arrangement, the locking member 22 is confined within the opening 23011 of the movable cavity 2301, which converts the movement of the adjusting member 21 along the depth direction of the movable cavity 2301 into movement along the orientation of the opening 23011 of the movable cavity 2301. Therefore, it can be driven by the transmission pin 2111 to change the extension length from the opening 23011 of the movable cavity 2301. In addition, the above arrangement allows the locking member 22 and the adjusting member 21 to be arranged in a plate-like form, and the shape of the movable cavity 2301 corresponds to both of them. This helps to reduce the thickness of the support assembly 2, thereby reducing the volume occupied by the leg support module.

[0071] In this embodiment of the application, the locking member 22 is confined to the opening 23011 of the movable cavity 2301. This means that when the locking member 22 moves along the depth direction of the movable cavity 2301, it will be interfered with by the wall of the opening 23011 of the movable cavity 2301 and will not be able to move with the transmission pin 2111.

[0072] In this embodiment, the moving direction of the transmission part 211 and the moving direction of the locking member 22 are perpendicular to each other. This is beneficial for the transmission groove 2201 to convert the movement of the transmission pin 2111 along the depth direction of the movable cavity 2301 into the movement of the locking member 22 along the orientation of the opening 23011 of the movable cavity 2301.

[0073] In the embodiments of this application, such as Figure 5 and Figure 6As shown, when the transmission part 211 moves into the interior of the movable cavity 2301 along the depth direction of the movable cavity 2301, the movable pin will abut against one side of the transmission groove 2201. Since the transmission part 211 can drive the locking member 22 to extend or retract from the opening 23011 of the movable cavity 2301, the extension direction of the transmission groove 2201, the moving direction of the transmission part 211, and the moving direction of the locking member 22 are approximately in the same plane, and the direction of the force generated by the abutment is the moving direction of the transmission part 211. This will generate a component force on the locking member 22 along its moving direction. This component force can cause the locking member 22 to retract into the movable cavity 2301, thus reducing the extension length of the locking member 22 from the opening 23011 of the movable cavity 2301. When the transmission part 211 moves outward from the movable cavity 2301 along the depth direction of the movable cavity 2301, the movable pin will abut against the opposite side of the aforementioned side of the transmission groove 2201. The force generated by the abutment is in the opposite direction, and the component force will also cause the locking member 22 to extend out of the movable cavity 2301. In this way, the present application can realize the adjustment of the extension length of the locking member 22. For the scheme in which the opening 23011 of the movable cavity 2301 and the part of the adjusting member 21 located outside the movable cavity 2301 are located on the opposite side of the transmission groove 2201, the direction of action is opposite to that described above, but the extension length of the locking member 22 can still be adjusted, and will not be described in detail here.

[0074] In some embodiments of this application, such as Figure 4 and Figure 5 As shown, when the movable cavity 2301 is mounted on the support member 23, the support member 23 includes a guide groove 2302. The guide groove 2302 is located on the side of the movable cavity 2301 opposite to one end of the transmission groove 2201. The other end of the transmission pin 2111 extends into the guide groove 2302. The guide groove 2302 extends along the depth direction of the movable cavity 2301.

[0075] With the above arrangement, the guide groove 2302 can further guide the transmission pin 2111 to move along the depth direction of the movable cavity 2301. At the same time, the guide groove 2302 helps the movable cavity 2301 to avoid the transmission pin 2111, preventing the end of the transmission pin 2111 from directly contacting the wall of the movable cavity 2301 and causing friction. It also helps to reduce the thickness of the movable cavity 2301. In addition, after the adjusting member 21 and the locking member 22 are placed into the movable cavity 2301, the guide groove 2302 can also allow the transmission pin 2111 to extend into the movable cavity 2301 and form a connection with the locking member 22 and the adjusting member 21.

[0076] In some embodiments of this application, when the movable cavity 2301 is disposed on the adjusting seat 11, the adjusting seat 11 includes a guide groove 2302, the guide groove 2302 is located on the side of the movable cavity 2301 opposite to one end of the transmission groove 2201, the other end of the transmission pin 2111 extends into the guide groove 2302, and the guide groove 2302 extends along the depth direction of the movable cavity 2301.

[0077] With the above arrangement, the guide groove 2302 can further guide the transmission pin 2111 to move along the depth direction of the movable cavity 2301. At the same time, the guide groove 2302 helps the movable cavity 2301 to avoid the transmission pin 2111, preventing the end of the transmission pin 2111 from directly contacting the wall of the movable cavity 2301 and causing friction. It also helps to reduce the thickness of the movable cavity 2301. In addition, after the adjusting member 21 and the locking member 22 are placed into the movable cavity 2301, the guide groove 2302 can also allow the transmission pin 2111 to extend into the movable cavity 2301 and form a connection with the locking member 22 and the adjusting member 21.

[0078] In some embodiments of this application, such as Figure 5 As shown, when the movable cavity 2301 is installed on the support member 23, one side of the locking member 22 is in contact with one side of the support member 23, and the edge of the locking member 22 is provided with a limiting part 222, which protrudes from the side of the locking member 22 that is in contact with the support member 23.

[0079] With the above arrangement, the limiting part 222 can interfere with the transmission pin 2111 after the transmission pin 2111 moves to the end of the transmission groove 2201, thus restricting the transmission pin 2111 from continuing to move under the drive of the transmission part 211.

[0080] In some embodiments of this application, when the movable cavity 2301 is disposed on the adjusting seat 11, one side of the locking member 22 is in contact with one side of the adjusting seat 11, and the edge of the locking member 22 is provided with a limiting part 222, which protrudes from the side of the locking member 22 that is in contact with the adjusting seat 11.

[0081] With the above arrangement, the limiting part 222 can interfere with the transmission pin 2111 after the transmission pin 2111 moves to the end of the transmission groove 2201, thus restricting the transmission pin 2111 from continuing to move under the drive of the transmission part 211.

[0082] In some embodiments of this application, such as Figure 5 , Figure 6 and Figure 9As shown, one of the support member 23 and the adjusting seat 11 includes a sliding groove 101, and a portion of the other support member 23 and the adjusting seat 11 is confined within the sliding groove 101 and is movable relative to the sliding groove 101 along the length direction of the sliding groove 101. The opening 23011 of the movable cavity 2301 and the wall surface of the sliding groove 101 are arranged sequentially along the extension direction of the locking member 22.

[0083] With the above arrangement, the support member 23 and the adjusting seat 11 can be slidably connected. The sliding groove 101 can be selectively arranged on one of the support member 23 and the adjusting seat 11, with the other being confined within a portion of the sliding groove 101. This improves the connection performance between the support member 23 and the adjusting seat 11, preventing the support member 23 from moving excessively along the length of the sliding groove 101 and disengaging from the adjusting seat 11. The opening 23011 of the movable cavity 2301 and the wall of the sliding groove 101 are sequentially arranged along the extension direction of the locking member 22. This facilitates the adjustment member 21 being positioned at the end of the support member 23 or the adjusting seat 11 along the length of the sliding groove 101. By moving along the length of the sliding groove 101, the locking member 22 converts this movement into extension and retraction along the opening 23011 of the movable cavity 2301, thereby facilitating the adjustment of the support assembly 2.

[0084] In some embodiments of this application, such as Figure 5 and Figure 6 As shown, the locking member 22 includes teeth 221;

[0085] The sliding groove 101 includes a rack 1011, which extends along the depth direction of the sliding groove 101;

[0086] Among them, the locking member 22 can drive the teeth 221 to mesh with the rack 1011.

[0087] With the above arrangement, when the tooth 221 meshes with the rack 1011, since the rack 1011 extends along the length direction of the sliding groove 101, when the tooth 221 is driven by the transmission part 211 and has a tendency to move along the depth direction of the sliding groove 101, it will be kept stationary by the interference of the rack 1011, thus achieving the locking effect on the transmission part 211.

[0088] In some embodiments of this application, such as Figure 5 and Figure 6 As shown, racks 1011 are respectively provided on opposite sides of the sliding groove 101, and there are two locking members 22. The two locking members 22 can engage with the racks 1011 on both sides one by one.

[0089] With the above arrangement, the two locking members 22 can limit the position of the support member 23 at different positions, which can improve the stability during locking. The two locking members 22 also help to increase the connection performance between the locking member 22 and the leg rod 1 during locking, and avoid the situation where there is too much force between the tooth 221 and the rack 1011, which may cause breakage.

[0090] In some embodiments of this application, one of the support member 23 and the adjusting seat 11 includes a sliding groove 101, the sliding groove including an anti-detachment groove 102, the opening of the anti-detachment groove 102 being located on the wall surface of the sliding groove 101. The support assembly 2 includes an anti-detachment part 24, one end of the anti-detachment part 24 extending into the anti-detachment groove 102, and the other end connected to the other of the support member 23 and the adjusting seat 11. Figure 4 and Figure 7 As shown, the adjusting seat 11 includes an anti-detachment groove 102, one end of the anti-detachment part 24 extends into the anti-detachment groove 102, and the other end is connected to the support member 23.

[0091] With the above arrangement, when the anti-detachment part 24 moves to the end position of the anti-detachment groove 102, it can interfere with the anti-detachment part 24, restricting the movement of the anti-detachment part 24 and the support assembly 2 connected thereto. In this way, the support member 23 can be restricted from continuing to move, thereby playing the role of preventing detachment.

[0092] In this embodiment, the length of the anti-detachment groove 102 is less than the length of the sliding groove 101, thus achieving the anti-detachment function.

[0093] In some embodiments of this application, such as Figure 1 As shown, the leg 1 includes an adjustment seat 11 and a rod 12. The inner side of the rod 12 is connected to the outer side of the adjustment seat 11. The adjustment seat 11 includes a sliding groove 101, and the opening of the sliding groove 101 is away from the rod 12.

[0094] With the above arrangement, the rod 12 provides support for the support assembly 2. The rod 12 can be used to transmit the driving force from the exoskeleton device to the adjustment seat 11, and then through the adjustment seat 11 to the support assembly 2, which in turn applies a driving force to the user's legs.

[0095] 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.

[0096] Since the leg support module of the above embodiment is used, the exoskeleton device of this application has the same technical effect as the above embodiment, which will not be repeated here.

[0097] 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.

[0098] 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.

[0099] 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 leg rod (1) and a support assembly (2), wherein, The support assembly (2) includes an adjusting member (21), a locking member (22), and a supporting member (23); The support member (23) is slidably connected to the adjusting seat (11) of the leg (1); One of the support (23) and the adjustment seat (11) includes a movable cavity (2301), the opening (23011) of the movable cavity (2301) facing the other of the support (23) and the adjustment seat (11); The locking element (22) is located within the movable cavity (2301); The adjusting member (21) is connected to the locking member (22) and is used to adjust the extension length of the locking member (22) from the opening (23011) of the movable cavity (2301) so that the locking member (22) is connected or separated from the adjusting seat (11) or the support member (23).

2. The leg support module according to claim 1, characterized in that, The adjusting member (21) includes a transmission part (211) and a reset part (212), wherein, A portion of the transmission part (211) extends into the movable cavity (2301) and can drive the locking member (22) to extend out of or retract from the opening (23011) of the movable cavity (2301) along the depth direction of the movable cavity (2301); The reset part (212) is used to apply a reset force to the transmission part (211) when the transmission part (211) drives the locking member (22) to retract into the movable cavity (2301).

3. The leg support module according to claim 2, characterized in that, The transmission unit (211) includes a transmission pin (2111); The locking member (22) includes a transmission groove (2201), the extension direction of which intersects the moving direction of the transmission part (211) and the moving direction of the locking member (22); The locking member (22) is confined to the opening (23011) of the movable cavity (2301), one end of the transmission pin (2111) extends into the transmission groove (2201), and the other end or pin body of the transmission pin (2111) is connected to the transmission part (211).

4. The leg support module according to claim 3, characterized in that, When the movable cavity (2301) is disposed on the adjusting seat (11), the adjusting seat (11) includes a guide groove (2302), the guide groove (2302) is located on the side of the movable cavity (2301) opposite to one end of the transmission groove (2201), the other end of the transmission pin (2111) extends into the guide groove (2302), and the guide groove (2302) extends along the depth direction of the movable cavity (2301).

5. The leg support module according to claim 3, characterized in that, When the movable cavity (2301) is disposed on the adjusting seat (11), one side of the locking member (22) is in contact with one side of the adjusting seat (11) (23). The edge of the locking member (22) is provided with a limiting part (222), and the limiting part (222) protrudes from the side of the locking member (22) that is in contact with the adjusting seat (11).

6. The leg support module according to claim 1, characterized in that, One of the support member (23) and the adjusting seat (11) includes a sliding groove (101), and a portion of the other of the support member (23) and the adjusting seat (11) is confined within the sliding groove (101) and is movable relative to the sliding groove (101) along the length direction of the sliding groove (101). The opening (23011) of the movable cavity (2301) and the wall of the sliding groove (101) are arranged sequentially along the extension direction of the locking member (22).

7. The leg support module according to claim 6, characterized in that, The locking member (22) includes teeth (221); The sliding groove (101) includes a rack (1011) that extends along the depth direction of the sliding groove (101); The locking member (22) can drive the teeth (221) to engage with the rack (1011).

8. The leg support module according to claim 7, characterized in that, The sliding groove (101) is provided with racks (1011) on opposite sides respectively, and there are two locking members (22). The two locking members (22) can mesh with the racks (1011) on both sides one by one.

9. The leg support module according to claim 6, characterized in that, One of the support member (23) and the adjusting seat (11) includes a sliding groove (101), the sliding groove (101) includes an anti-detachment groove (102), the opening of the anti-detachment groove (102) is located on the wall of the sliding groove (101); The support assembly (2) includes an anti-detachment part (24), one end of which extends into the anti-detachment groove (102), and the other end is connected to another of the support member (23) and the adjustment seat (11).

10. The leg support module according to claim 6, characterized in that, The leg (1) includes a rod body (12), the inner side of which is connected to the outer side of the adjusting seat (11), and the adjusting seat (11) includes a sliding groove (101), the opening of which is away from the rod body (12).

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

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