Exoskeleton apparatus and carrying system

Abstract

An exoskeleton apparatus, comprising: a connecting assembly (1), a first driving rod (2), and a second driving rod (3). The connecting assembly comprises a main body structure (11), at least two actuators (12), and at least two waist connecting structures (13); the at least two actuators are respectively located on the main body structure, and the first driving rod and the second driving rod are respectively connected to the main body structure by means of at least one actuator; and the at least two waist connecting structures are spaced apart on the main body structure, and are used for detachably connecting the main body structure to a waist-worn item (1001). Also disclosed is a carrying system. The exoskeleton apparatus uses the waist-worn item to achieve secure attachment between the exoskeleton apparatus and the waist of a human body, eliminating the need for a separate waist belt. The exoskeleton apparatus can be worn simultaneously with a backpack having a hip belt, etc., without any conflict in their wearing positions, thereby ensuring both the wearing comfort and safety of the exoskeleton apparatus.

Description

Exoskeleton device and carrying system

[0001] The present application claims priority to the Chinese patent application No. 202410883139.9, filed on July 2, 2024, entitled "Exoskeleton device and carrying system", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of human exoskeleton, in particular to an exoskeleton device and a carrying system. BACKGROUND

[0003] The exoskeleton device for assisting walking (or lower limb exoskeleton device) can provide assistance for the user to get up and walk, and is usually applied in medical rehabilitation, industrial safety and outdoor scenes such as tourism. Such devices can extend the walking time of the user, enhance the walking ability and save physical strength.

[0004] In related technologies, the exoskeleton device usually needs to be fixed on the waist of the user by wearing a heavy waistband. When the user wears some waist-wearing articles such as backpacks, waistbands, waist supports and the like with waist seals, the wearing positions of the waist-wearing articles and the waistband of the exoskeleton device conflict, which affects the normal wearing of the waistband of the exoskeleton device, and reduces the wearing comfort and safety of the exoskeleton device.

[0005] DISCLOSURE

[0006] The present application provides an exoskeleton device for assisting walking and a carrying system, which can solve the problems in related technologies.

[0007] The technical solution is as follows:

[0008] In one aspect, an exoskeleton device is provided, which includes a connecting assembly, a first driving rod and a second driving rod.

[0009] The connecting assembly includes a main body structure, at least two drivers and at least two waist connecting structures.

[0010] The at least two drivers are respectively located on the main body structure, and the first driving rod and the second driving rod are respectively connected with the main body structure through at least one driver.

[0011] The at least two waist connecting structures are arranged on the main body structure in a spaced manner, and are used for detachably connecting the main body structure with a waist-wearing article.

[0012] In some embodiments, the waist connecting structure has a first end and a second end, the first end is connected to the main body structure, the second end is connected to the waist wearing article, and at least one of the first end and the second end is a detachable connecting mechanism.

[0013] In some embodiments, the first end is fixedly connected to the main body structure, and the second end is provided with a movable clamp, which is used to clamp and fix the waist wearing article, so that the second end is detachably connected to the waist wearing article.

[0014] In some embodiments, the waist connecting structure includes a first part and a second part that are detachably connected, the first part is fixedly connected to the main body structure, and the second part is used to fixedly connect the waist wearing article.

[0015] In some embodiments, the number of waist connecting structures is two, and the two waist connecting structures are symmetrically arranged on the main body structure.

[0016] In some embodiments, the connecting assembly further includes at least one stabilizing structure, which is located between the two ends of the main body structure, and is used to connect the main body structure and the waist wearing article.

[0017] In some embodiments, the number of stabilizing structures is two, and the two stabilizing structures are arranged on the main body structure between the two waist connecting structures.

[0018] In some embodiments, the exoskeleton device further includes an external power supply assembly, which is located on the waist wearing article, and is electrically connected to the at least two drivers.

[0019] In another aspect, a carrying system is provided, which includes the exoskeleton device described in the present application, and a waist wearing article.

[0020] The main body structure and the waist wearing article are detachably connected through the at least two waist connecting structures.

[0021] In some embodiments, the carrying system further includes a backpack device, which includes a backpack body and a waist seal, the waist seal is located at the lower part of the backpack body, and the waist seal forms the waist wearing article.

[0022] In some embodiments, the exoskeleton device includes an external power supply assembly, which is located in the backpack body and is electrically connected to the at least two drivers through a power transmission cable.

[0023] The technical scheme provided by the application has at least the following beneficial effects:

[0024] The exoskeleton device can be detachably connected to the waist wearing article by the waist connecting structure, and the exoskeleton device and the waist of the human body can be fixed by the waist wearing article, and the exoskeleton device itself does not need to be separately configured with a waistband. In addition, the exoskeleton device can be simultaneously worn with a backpack with a waist seal, and there is no problem of wearing position conflict between the exoskeleton device and the backpack, and the wearing comfort and safety of the exoskeleton device can be guaranteed. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical scheme in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0026] Fig. 1 is a structural schematic diagram of an exoskeleton device provided by an embodiment of the application;

[0027] Fig. 2 is a structural schematic diagram of the exoskeleton device provided by an embodiment of the application in a first perspective view;

[0028] Fig. 3 is a structural schematic diagram of the exoskeleton device provided by an embodiment of the application in a second perspective view;

[0029] Fig. 4 is a connection schematic diagram of a waist connecting structure provided by an embodiment of the application;

[0030] Fig. 5 is a connection schematic diagram of a waist connecting structure provided by another embodiment of the application;

[0031] Fig. 6 is a connection schematic diagram of a waist connecting structure provided by another embodiment of the application;

[0032] Fig. 7 is a connection schematic diagram of a waist connecting structure provided by another embodiment of the application;

[0033] Fig. 8 is a structural schematic diagram of an exoskeleton device provided by another embodiment of the application in a first perspective view;

[0034] Fig. 9 is a structural schematic diagram of a carrying system provided by an embodiment of the application in a first perspective view;

[0035] Fig. 10 is a structural schematic diagram of a carrying system provided by an embodiment of the application in a second perspective view;

[0036] Fig. 11 is a connection schematic diagram of a stabilizing structure in a carrying system provided by an embodiment of the application.

[0037] The reference signs in the drawings are respectively represented as: 100, human waist; 1001, waist wearing article; 200, human hip joint; 300, human leg; 1, connecting assembly; 11, main body structure; 1101, third end; 1102, fourth end; 12, driver; 13, waist connecting structure; 1301, first end; 1302, second end; 131, movable clamp; 1311, first clamp body; 1312, second clamp body; 132, first part; 133, second part; 134, quick screw; 14, stabilizing structure; 15, power supply interface; 2, first driving rod; 201, fifth end; 202, sixth end; 3, second driving rod; 301, seventh end; 302, eighth end; 4, external power supply assembly; 41, battery unit; 42, power transmission cable; 5, backpack device; 51, backpack body; 52, waist seal; 53, shoulder strap. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the present application more clear, the following will make further detailed description to the embodiments of the present application in combination with the drawings.

[0039] In one aspect, in combination with the drawings 1, 2 and 3, the present embodiment provides an exoskeleton device, which comprises a connecting assembly 1, a first driving rod 2 and a second driving rod 3.

[0040] The connecting assembly 1 comprises a main body structure 11, at least two drivers 12 and at least two waist connecting structures 13; the at least two drivers 12 are respectively located on the main body structure 11, and the first driving rod 2 and the second driving rod 3 are respectively connected with the main body structure 11 through the at least one driver 12.

[0041] The at least two waist connecting structures 13 are arranged on the main body structure 11 in intervals, and the at least two waist connecting structures 13 are used for detachably connecting the main body structure 11 with the waist wearing article 1001.

[0042] The exoskeleton device of the present embodiment can be detachably connected with the waist wearing article 1001 through the at least two waist connecting structures 13, so that the exoskeleton device can be detachably connected on the waist wearing article 1001 through the waist connecting structure 13, and the wearing and fixing of the exoskeleton device and the human waist 100 can be realized through the waist wearing article 1001, and the exoskeleton device itself does not need to be separately configured with a waistband.

[0043] In addition, the exoskeleton device can be simultaneously worn with articles such as backpacks with waist seals, and there will be no wearing position conflict problem between each other, and the wearing comfort and safety of the exoskeleton device can be guaranteed.

[0044] In this embodiment, the waist-worn article 1001 can be various articles worn on the waist of a human body, can be functional articles such as waist seals and waist supports of backpacks, or can be decorative articles such as waistbands, and any article that can be worn and fixed on the waist 100 of a human body can be used as the waist-worn article 1001 of this embodiment, which is detachably connected with the main body structure 11 and the exoskeleton device by using the waist connecting structure 13.

[0045] The detachable connection between the main body structure 11 and the waist-worn article 1001 means that the main body structure 11 and the waist-worn article 1001 can be separated or reconnected. When the exoskeleton device and the waist-worn article 1001 need to be worn at the same time, the main body structure 11 and the waist-worn article 1001 can be connected together, and when the exoskeleton device does not need to be worn, the main body structure 11 and the waist-worn article 1001 can be separated to use the waist-worn article 1001 alone. This can greatly improve the convenience of using the exoskeleton device, and the exoskeleton device does not need to be separately provided with a waistband, thereby greatly reducing the volume and weight of the exoskeleton device, further improving the convenience of storing and carrying the exoskeleton device, and reducing the product cost of the exoskeleton device.

[0046] The main body structure 11 rigidly connects the first driving rod 2 and the corresponding driver 12 and the second driving rod 3 and the corresponding driver 12 together, can balance the reaction forces of the two driving rods (i.e., the first driving rod 2 and the second driving rod 3), and can balance the postures of the two driving rods during the operation of the exoskeleton device, so that the two driving rods achieve gait coupling, the exoskeleton device can better simulate the gait of a user, and the assisting effect of the exoskeleton device is improved.

[0047] In some possible implementation manners, as shown in FIGS. 2 and 3, when the exoskeleton device is in a wearing state, the main body structure 11 is located behind the waist 100 of a human body, the main body structure 11 has a third end 1101 and a fourth end 1102, the third end 1101 and the fourth end 1102 respectively extend to the left and right sides of the hip joint 200 of a human body and are respectively provided with a driver 12. The first driving rod 2 has a fifth end 201 and a sixth end 202, the fifth end 201 is rotationally connected to the driver 12 corresponding to the third end 1101, and the sixth end 202 is connected to the corresponding side of a human leg 300. The second driving rod 3 has a seventh end 301 and an eighth end 302, the seventh end 301 is rotationally connected to the driver 12 corresponding to the fourth end 1102, and the eighth end 302 is connected to the corresponding side of a human leg 300.

[0048] For example, the left-right direction of the hip joint 200 of a human body is based on the front of a human body, the first view of the exoskeleton device is a view from the left side of a human body to the right side, and the second view of the exoskeleton device is a view from the right side of a human body to the left side.

[0049] The third end 1101 is located at the left side of the human hip joint 200, and the first driving rod 2 is connected to the left leg of the human body. The fourth end 1102 is located at the right side of the human hip joint 200, and the second driving rod 3 is connected to the right leg of the human body.

[0050] The exoskeleton device of the embodiment is detachably connected to the waist wearing article 1001 by the waist connecting structure 13, and the waist wearing article 1001 is fixedly worn on the waist 100 of the human body, so that the exoskeleton device can be fixedly worn on the waist 100 of the human body. The first driving rod 2 and the second driving rod 3 can be connected to the left leg and the right leg of the human body, respectively. When the left leg of the user moves, the corresponding driver 12 of the first driving rod 2 is started, the first driving rod 2 rotates around the fifth end 201, and the sixth end 202 of the first driving rod 2 provides mechanical assistance to the left leg of the user. When the right leg of the user moves, the corresponding driver 12 of the second driving rod 3 is started, the second driving rod 3 rotates around the seventh end 301, and the eighth end 302 of the second driving rod 3 provides mechanical assistance to the right leg of the user.

[0051] Exemplarily, referring to FIGS. 2 and 3, the axis of rotation of the driver 12 driving the first driving rod 2, that is, the axis of rotation of the first driving rod 2 around the fifth end 201, coincides with the axis of rotation of the human leg 300 connected to the sixth end 202 around the human hip joint 200. The axis of rotation of the driver 12 driving the second driving rod 3, that is, the axis of rotation of the second driving rod 3 around the seventh end 301, coincides with the axis of rotation of the human leg 300 connected to the eighth end 302 around the human hip joint 200. Thus, when the first driving rod 2 and the second driving rod 3 assist the human leg 300, the axis of the assistance torque coincides with the rotation axis of the human leg 300, and the assistance comfort and the assistance effect are better.

[0052] In other possible implementations, the number of drivers 12 in the exoskeleton device can be two, three, four, or the like. The number of drivers 12 can correspond to the number of driving rods (including the first driving rod 2 and the second driving rod 3) one by one, or the number of drivers 12 can be greater than the number of driving rods, for example, two or more drivers 12 are used to drive a driving rod (the first driving rod 2 or the second driving rod 3) to rotate, so that the rotation torque of a single driving rod can be improved, and the assistance effect of the exoskeleton device can be improved.

[0053] The number of waist connecting structures 13 in the exoskeleton device can be two, three, four, or the like. At least two waist connecting structures 13 are arranged on the main body structure 11 at intervals, which can be uniform intervals or non-uniform intervals. For example, the waist connecting structures 13 can be arranged on the third end 1101 and the fourth end 1102 of the main body structure 11, or between the third end 1101 and the fourth end 1102.

[0054] In combination with FIG. 4, in some embodiments, the waist connecting structure 13 has a first end 1301 and a second end 1302, the first end 1301 is connected to the main body structure 11, and the second end 1302 is connected to the waist wearing article 1001. At least one of the first end 1301 and the second end 1302 is a detachable connecting mechanism.

[0055] Through the above arrangement, by designing the first end 1301 or the second end 1302 of the waist connecting structure 13 as a detachable connecting mechanism, detachable connection with the main body structure 11 or the waist wearing article 1001 can be achieved. Exemplarily, the detachable connecting mechanism includes but is not limited to a buckle connecting mechanism, a screw connecting mechanism, a latch connecting mechanism, or the like. Using the detachable connecting mechanism can greatly improve the use convenience of the exoskeleton device, and achieve quick connection or separation of the exoskeleton device and the waist wearing article 1001.

[0056] In combination with FIG. 5, in some embodiments, the first end 1301 is fixedly connected to the main body structure 11, and the second end 1302 is provided with a movable clamp 131. The movable clamp 131 is used to clamp and fix the waist wearing article 1001, so that the second end 1302 is detachably connected to the waist wearing article 1001.

[0057] Through the above arrangement, the second end 1302 of the waist connecting structure 13 can be detachably connected to the waist wearing article 1001 by using the movable clamp 131. The operation of connection and separation is very convenient, which is beneficial to simplify the operation steps of connection and separation of the exoskeleton device and the waist wearing article 1001, and improve the use convenience of the exoskeleton device.

[0058] In some possible implementations, referring to FIG. 5, the movable clamp 131 includes a first clamp body 1311 and a second clamp body 1312. The ends of the first clamp body 1311 and the second clamp body 1312 close to the first end 1301 are movably connected, and the ends of the first clamp body 1311 and the second clamp body 1312 close to the second end 1302 can be opened and closed. After the waist wearing article 1001 is inserted between the first clamp body 1311 and the second clamp body 1312, the first clamp body 1311 and the second clamp body 1312 are closed to clamp the waist wearing article 1001.

[0059] Exemplarily, the first clamping body 1311 is fixed in position, and the second clamping body 1312 is movable in position. The movable connection manner of the fixed clamping body and the movable clamping body can be rotary connection or elastic connection. For example, when the exoskeleton device needs to be connected with the waist-wearing article 1001, the first clamping body 1311 and the second clamping body 1312 are driven to open by an external force, the waist-wearing article 1001 can enter between the first clamping body 1311 and the second clamping body 1312, and after the external force is removed, the first clamping body 1311 and the second clamping body 1312 are closed, so as to clamp the waist-wearing article 1001, thereby realizing the connection between the exoskeleton device and the waist-wearing article 1001. When the exoskeleton device needs to be separated from the waist-wearing article 1001, the first clamping body 1311 and the second clamping body 1312 can also be driven to open, and the waist-wearing article 1001 can exit from between the first clamping body 1311 and the second clamping body 1312, thereby realizing the separation between the exoskeleton device and the waist-wearing article 1001.

[0060] When the first clamping body 1311 and the second clamping body 1312 are in rotary connection, a rotating shaft can pass through the first clamping body 1311 and the second clamping body 1312 at the same time, and a torsional spring member can also be provided on the rotating shaft to provide elastic clamping force for the first clamping body 1311 and the second clamping body 1312. In addition, an active buckle structure can also be used between the first clamping body 1311 and the second clamping body 1312 to lock the positions of the first clamping body 1311 and the second clamping body 1312 in the closed state, so that the first clamping body 1311 and the second clamping body 1312 keep the waist-wearing article 1001 clamped.

[0061] By using the movable clamping port 131 of the embodiment, the connection position of the waist connection structure 13 on the waist-wearing article 1001 can be adjusted at will. The user can adjust the relative positions of the main body structure 11 and the waist-wearing article 1001 according to his own body size, so that the rotating shafts of the two drivers 12 can be basically coincided with the movement axis of the human hip joint 200 as much as possible, thereby the exoskeleton device can obtain the best assistance effect.

[0062] In combination with FIG. 6, in some embodiments, the waist connection structure 13 includes a first part 132 and a second part 133 which are detachably connected. The first part 132 is fixedly connected with the main body structure 11, and the second part 133 is used to fixedly connect the waist-wearing article 1001.

[0063] By the above arrangement, the first part 132 of the waist connecting structure 13 is fixedly connected with the main body structure 11, and the second part 133 is fixedly connected with the waist wearing article 1001. When the first part 132 and the second part 133 are connected together, the connection of the exoskeleton device and the waist wearing article 1001 can be realized. When the first part 132 and the second part 133 are separated, the separation of the exoskeleton device and the waist wearing article 1001 can be realized. The operation is convenient, which is beneficial to simplify the operation steps of the connection and separation of the exoskeleton device and the waist wearing article 1001, and improve the use convenience of the exoskeleton device.

[0064] In some possible implementations, one of the first part 132 and the second part 133 is a male buckle, and the other is a female buckle. The male buckle and the female buckle can realize quick insertion and separation, which is beneficial to improve the use convenience of the exoskeleton device. For example, the first part 132 and the second part 133 are provided with magnetic structures. When the first part 132 and the second part 133 are inserted, the first part 132 and the second part 133 can provide magnetic attraction force by using the magnetic structures.

[0065] In combination with FIG. 7, in some embodiments, the first end 1301 of the waist connecting structure 13 can be connected with the main body structure 11 through the quick screw 134, and the second end 1302 of the waist connecting structure 13 can also be connected with the waist wearing article 1001 through the quick screw 134.

[0066] In combination with FIGS. 1, 2 and 3, in some embodiments, the number of the waist connecting structures 13 is two, and the two waist connecting structures 13 are symmetrically arranged on the main body structure 11. Therefore, the exoskeleton device of the embodiment can be detachably connected with the waist wearing article 1001 at two positions, and the two positions are symmetric with respect to the main body structure 11, which is beneficial to improve the gait coupling effect of the two driving rods at the two ends of the main body structure 11.

[0067] In some possible implementations, the two ends of the main body structure 11 are respectively located on the left and right sides of the human hip joint 200, and the two ends of the main body structure 11 are respectively provided with the driving device 12, and the driving device 12 is also located on the left and right sides of the human hip joint 200. At this time, the two waist connecting structures 13 are also arranged on the left and right sides of the human hip joint 200, so that the positions of the waist connecting structures 13 and the driving device 12 are as close as possible.

[0068] During the working of the exoskeleton device, the main body structure 11 will be subjected to upward reaction force generated by the driving rod and downward supporting force generated by the waist connecting structure 13. Since the reaction force and the supporting force do not coincide and cannot be counteracted, the main body structure 11 will inevitably generate overturning moment and rotate around the position of the waist connecting structure 13 as the fulcrum. In order to reduce the rotation of the main body structure 11 as much as possible, the positions of the waist connecting structure 13 and the driver 12 can be arranged as close as possible, which is beneficial to reduce the distance between the reaction force and the supporting force, reduce the overturning moment of the main body structure 11, and thus maintain the working posture of the main body structure 11 during the working of the exoskeleton device and improve the assisting effect of the exoskeleton device.

[0069] As shown in FIGS. 1, 3, 4 and 6, in some embodiments, the connecting assembly 1 further comprises at least one stabilizing structure 14 located between the two ends of the main body structure 11, and the at least one stabilizing structure 14 is used to connect the main body structure 11 and the waist wearing article 1001.

[0070] In order to further stabilize the posture of the main body structure 11 during the working, at least one stabilizing structure 14 is arranged between the two ends of the main body structure 11, and the stabilizing structure 14 is connected between the main body structure 11 and the waist wearing article 1001, which can assist the waist connecting structure 13 to maintain the posture of the main body structure 11 and the exoskeleton device.

[0071] For example, the stabilizing structure 14 is located between the two waist connecting structures 13, and the main body structure 11 can be suspended below the waist wearing article 1001 to prevent the main body structure 11 between the two waist connecting structures 13 from moving up and down under the action of the reaction force. For example, as shown in FIG. 3, when the second driving rod 3 works, it will exert upward reaction force on the main body structure 11, and the reaction force point is located to the right of the waist connecting structure 13, so that the main body structure 11 generates clockwise torque around the waist connecting structure 13 as the center. At this time, the main body structure 11 on the left side of the main body structure 11 will have a tendency to move downward, and the stabilizing structure 14 can connect the main body structure 11 at this position with the waist wearing article 1001 and exert upward pulling force on the main body structure 11 at this position to counteract the tendency of the main body structure 11 at this position to move downward, thereby stabilizing the posture of the main body structure 11 and the exoskeleton device.

[0072] The number of stabilizing structures 14 can be one, two, three, etc.

[0073] As shown in FIGS. 3, 4 and 6, in some embodiments, the number of stabilizing structures 14 is two, and the two stabilizing structures 14 are arranged on the main body structure 11 between the two waist connecting structures 13.

[0074] Through the above arrangement, the main body structure 11 is suspended below the waist-wearing article 1001 by the two stabilizing structures 14, which can respectively offset the two reaction forces applied to the main body structure 11 by the two driving rods, so as to stabilize the posture of the main body structure 11 and the exoskeleton device.

[0075] In combination with FIGS. 4 and 8, in some embodiments, the exoskeleton device further comprises an external power supply assembly 4, which is located on the waist-wearing article 1001 and is electrically connected with the at least two drivers 12.

[0076] Therefore, the exoskeleton device does not need to internally dispose a power supply device such as a battery, which can reduce the volume and mass of the exoskeleton device and reduce the burden of the exoskeleton device on the human waist 100. On the other hand, the capacity and volume of the external power supply assembly 4 are no longer limited by the accommodation space of the exoskeleton device, and a battery with a larger capacity and volume can be configured, thereby improving the endurance of the exoskeleton device.

[0077] For example, as shown in FIG. 8, when the waist-wearing article 1001 is a waistband-type article, the external power supply assembly 4 can be externally attached to the outside of the waist-wearing article 1001. As shown in FIG. 4, when the waist-wearing article 1001 is a backpack-type article with a waist seal 52, the external power supply assembly 4 can be internally disposed inside the waist-wearing article 1001.

[0078] In some possible implementations, referring to FIGS. 4 and 8, the external power supply assembly 4 comprises a battery unit 41 and a power transmission cable 42, and the connection assembly 1 is provided with a power supply interface 15. The battery unit 41 is electrically connected with the power supply interface 15 through the power transmission cable 42, and the battery unit 41 supplies power to the at least two drivers 12 through the power transmission cable 42 and the power supply interface 15.

[0079] On the other hand, in combination with FIGS. 9 and 10, the present embodiment provides a carrying system, which comprises the exoskeleton device of the present application and a waist-wearing article 1001; the main body structure 11 and the waist-wearing article 1001 are detachably connected through the at least two waist connecting structures 13.

[0080] The carrying system of the present embodiment adopts the exoskeleton device of the present application and has all the beneficial technical effects of all the embodiments herein.

[0081] In combination with FIGS. 9 and 10, in some embodiments, the carrying system further comprises a backpack device 5, which comprises a backpack body 51 and a waist seal 52. The waist seal 52 is located at the lower part of the backpack body 51 and forms the waist-wearing article 1001. Therefore, the exoskeleton device can be used simultaneously with the backpack device 5, and the wearing comfort and safety of both are not affected.

[0082] For example, referring to FIG. 11, the stabilizing structure 14 is located close to the connection position of the waist seal 52 and the backpack body 51. Alternatively, the stabilizing structure 14 is located at the bottom of the backpack body 51.

[0083] In the embodiment, the backpack body 51 and the exoskeleton device are connected together through the waist seal 52. When the exoskeleton device is working, the reaction force generated by the two driving rods is first transmitted to the main body structure 11, and then transmitted to the waist seal 52 through the waist connecting structure 13 by the main body structure 11. The waist seal 52 applies part of the reaction force to the waist of the human body, and the other part of the reaction force is transmitted to the backpack body 51. The backpack body 51 will be subjected to downward gravity in the load state, and the gravity will offset part of the reaction force. Therefore, by connecting the backpack body 51 and the exoskeleton device together through the waist seal 52, the effect of relieving the burden of the waist 100 of the human body can also be achieved.

[0084] For example, the backpack body 51 is internally provided with a hard support structure, which is connected with the waist seal 52 and the shoulder strap 53 of the backpack device 5. The waist seal 52 can transmit part of the reaction force to the shoulder strap 53 through the hard support structure, thereby achieving the effect of relieving the burden of the waist.

[0085] In combination with FIGS. 9 and 10, in some embodiments, the exoskeleton device comprises an external power supply assembly 4, which is located in the backpack body 51 and is electrically connected with the at least two drivers 12 through the power transmission cable 42.

[0086] Therefore, in the carrying system of the embodiment, the volume and mass of the exoskeleton device are small, which is beneficial to reduce the burden of the exoskeleton device on the waist 100 of the human body. The battery capacity of the external power supply assembly 4 is no longer limited by the volume of the exoskeleton device, and a larger battery capacity can be configured, thereby improving the endurance of the exoskeleton device.

[0087] It should be noted that "several", "at least one" mentioned in the present text refers to one or more, "multiple", "at least two" refers to two or more. "And / or" describes the association between the associated objects, which means that there can be three relationships, for example, A and / or B can mean that there are three cases of A alone, A and B together, and B alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship.

[0088] In the description of the application, it is required to explain that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection; it can be direct connection, or indirect connection through intermediate medium; it can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0089] In addition, the terms "first", "second" are only for descriptive purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the application, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0090] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only means that the horizontal height of the first feature is higher than that of the second feature. The "under", "below" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only means that the horizontal height of the first feature is less than that of the second feature.

[0091] In the description of the present application, the description referring to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the described embodiments or examples are included in at least one embodiment or example of the present application.

[0092] The above is only the embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the principle of the present application shall be included in the protection scope of the present application.

Claims

1. An exoskeleton device, characterized by, The exoskeleton device comprises a connecting assembly (1), a first driving rod (2) and a second driving rod (3); The connecting assembly (1) comprises a main body structure (11), at least two drivers (12) and at least two waist connecting structures (13); The at least two drivers (12) are respectively arranged on the main body structure (11), and the first driving rod (2) and the second driving rod (3) are respectively connected with the main body structure (11) through at least one of the drivers (12); The at least two waist connecting structures (13) are arranged on the main body structure (11) in a spaced manner, and are used for detachably connecting the main body structure (11) and a waist-wearing article (1001).

2. The exoskeleton device of claim 1, wherein, The waist connecting structure (13) has a first end (1301) and a second end (1302), the first end (1301) is connected with the main body structure (11) in correspondence, the second end (1302) is connected with the waist-wearing article (1001) in correspondence, and at least one of the first end (1301) and the second end (1302) is a detachable connecting mechanism.

3. The exoskeleton device of claim 2, wherein, The first end (1301) is fixedly connected with the main body structure (11), and the second end (1302) is provided with a movable clamp opening (131) for clamping and fixing the waist-wearing article (1001), so that the second end (1302) is detachably connected with the waist-wearing article (1001).

4. The exoskeleton apparatus of claim 2, wherein, The waist connecting structure (13) comprises a first part (132) and a second part (133) which are detachably connected, the first part (132) is fixedly connected with the main body structure (11), and the second part (133) is used for fixedly connecting the waist-wearing article (1001).

5. The exoskeleton apparatus of any one of claims 1 to 4, wherein, The number of the waist connecting structures (13) is two, and the two waist connecting structures (13) are symmetrically arranged on the main body structure (11).

6. The exoskeleton apparatus of claim 5, wherein, The connecting assembly (1) further comprises at least one stabilizing structure (14) located between two ends of the main body structure (11), and the at least one stabilizing structure (14) is used for connecting the main body structure (11) and the waist-wearing article (1001).

7. The exoskeleton device of claim 6, wherein, The number of the stabilizing structures (14) is two, and the two stabilizing structures (14) are arranged on the main body structure (11) in a spaced manner between the two waist connecting structures (13).

8. The exoskeleton apparatus of any one of claims 1 to 7, wherein, The exoskeleton device further comprises an external power supply assembly (4) located on the waist-wearing article (1001), and the external power supply assembly (4) is electrically connected with the at least two drivers (12).

9. A carrying system, characterized in that The carrying system comprises the exoskeleton device according to any one of claims 1 to 8, and a waist-wearing article (1001); The main body structure (11) and the waist-wearing article (1001) are detachably connected through the at least two waist connecting structures (13).

10. The carrying system of claim 9, wherein, The backpack system further comprises a backpack device (5), the backpack device (5) comprising a backpack body (51) and a waist seal (52), the waist seal (52) being located at a lower part of the backpack body (51), the waist seal (52) being formed as the waist-worn article (1001).

11. The carrying system of claim 10, wherein, The exoskeleton device comprises an external power supply assembly (4), the external power supply assembly (4) being located in the backpack body (51) and being electrically connected with the at least two drivers (12) through a power transmission cable (42).

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