Power-assistance mechanism for leg

Abstract

A power-assistance mechanism for a leg, comprising a driving assembly (1), a first transmission assembly (2), a second transmission assembly (3), a third transmission assembly (4), and a first support member (5). The driving assembly (1) has a transmission connection with one end of the first transmission assembly (2), and can drive the first transmission assembly (1) to rotate around a first axis (L1). One end of the second transmission assembly (3) is connected to the other end of the first transmission assembly (2), and can rotate around a second axis (L2) relative to the first transmission assembly (2). The third transmission assembly (4) is connected to the other end of the second transmission assembly (3), and can rotate around a third axis (L3) relative to the second transmission assembly (3). The second axis (L2) is out of plane with and perpendicular to both the first axis (L1) and the third axis (L3), and the third axis (L3) forms an included angle of less than 90° with the first axis (L1). The first support member (5) is mounted on the third transmission assembly (4).

Description

Leg assist device

[0001] This application claims priority to Chinese Patent Application No. 202411553627.X, filed on November 2, 2024, entitled “Leg Assist Mechanism”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of human assistive technology, and in particular to a leg assistive mechanism. Background Technology

[0003] A leg assist device is a type of assistive product that helps users walk by simulating the movement of the human leg.

[0004] Leg-assist mechanisms typically include a linkage and a motor. The motor drives the linkage to swing, simulating the movement of the human leg, thereby causing the user's thigh and calf to move accordingly and providing assistance.

[0005] In related technologies, when users walk after wearing leg assist devices, their walking posture always becomes distorted. The distorted walking posture is significantly different from the user's normal walking posture. This not only affects the user's wearing comfort, but also causes a significant change in the user's walking posture after wearing the device. Summary of the Invention

[0006] In view of this, this application provides a leg assist mechanism to reduce the distortion of the user's walking posture after wearing.

[0007] Specifically, the following technical solutions are included:

[0008] This application provides a leg-assisting mechanism, which includes a drive assembly, a first transmission assembly, a second transmission assembly, a third transmission assembly, and a first support member, wherein...

[0009] The drive component is connected to one end of the first transmission component and can drive the first transmission component to rotate around the first axis.

[0010] One end of the second transmission component is connected to the other end of the first transmission component, and it is able to rotate about a second axis relative to the first transmission component.

[0011] The third transmission component is connected to the other end of the second transmission component and is capable of rotating about a third axis relative to the second transmission component.

[0012] The second axis is perpendicular to both the first axis and the third axis, and the third axis forms an angle of less than 90° with the first axis.

[0013] The first support member is mounted on the third transmission assembly.

[0014] Optionally, the second transmission component includes a first support and a second support, the first support being connected to the first transmission component, and the second support being connected to the third transmission component. The first support and the second support are detachably connected and contact each other to form a connecting surface, and the connecting surface is parallel to the third axis.

[0015] Optionally, the first support includes a first part and a second part, the first part being connected to the second part, the second part being located on one side of the first part, the first part being connected to the first transmission assembly, and the second part being detachably connected to the second support.

[0016] Optionally, the third transmission assembly includes a first link and a second link, the first link being connected to the second link and capable of sliding relative to it, the first link being connected to the second transmission assembly, and the first support member being connected to the second link.

[0017] Optionally, the third transmission component includes a guide rail and a slider, the guide rail and the slider being slidably engaged, wherein the guide rail is mounted on the first connecting rod and extends along the length direction of the first connecting rod, and the slider is mounted on the second connecting rod; or, the slider is mounted on the first connecting rod, the guide rail is mounted on the second connecting rod and extends along the length direction of the second connecting rod.

[0018] Optionally, the third transmission assembly further includes a limiting part, wherein the limiting part is arranged at the upper end and the lower end of the second connecting rod, and the limiting part is connected to the guide rail.

[0019] Optionally, the first support member includes a first support rod and a first leg rest, the first support rod connects the first leg rest and the third transmission assembly, at least a portion of the axis of the first support rod intersects the first axis in a non-plane, and the first leg rest is located at the end of the first support rod away from the third transmission assembly.

[0020] Optionally, the first support rod includes a first segment and a second segment, the first segment connecting the third transmission assembly and the second segment, the axis of the first segment intersecting the axis of the second segment, the axis of the first segment intersecting the first axis in opposite planes, and the second segment connecting to the first leg support.

[0021] Optionally, the center of the first leg support is located on the extension line of the third axis.

[0022] Optionally, the leg assist mechanism includes a rotating component and a second support member. The rotating component is connected to the third transmission component. At least a portion of the third transmission component is rotatable relative to the rotating component about a fourth axis, which is parallel to the first axis. The second support member is connected to the rotating component.

[0023] Optionally, the rotating assembly includes a third link and a fourth link, the third link connecting the fourth link and the third transmission assembly, the fourth link being rotatable relative to the third link about the fourth axis, and the second support member being connected to the fourth link.

[0024] Optionally, the rotating assembly includes a first motor, which is mounted on the third link and is connected to the fourth link in a transmission manner, so as to drive the fourth link to rotate around the fourth axis.

[0025] Optionally, the second support member includes a second support rod and a second leg support, the second support rod connecting the second leg support and the rotating assembly, at least a portion of the axis of the second support rod intersecting the first axis in a non-plane manner, and the second leg support being located at the end of the second support rod away from the rotating assembly.

[0026] Optionally, the second support rod includes a third segment and a fourth segment, the third segment connecting the rotating assembly and the fourth segment, the axis of the third segment intersecting the axis of the fourth segment, the axis of the third segment intersecting the first axis in a non-plane, and the fourth segment connecting to the second leg support.

[0027] Optionally, the midpoint of the line connecting the center of the first leg rest and the center of the second leg rest is located on the extension line of the third axis.

[0028] Optionally, the angle formed by the third axis and the first axis ranges from 15° to 85°.

[0029] Optionally, the number of components consisting of the drive assembly, the first transmission assembly, the second transmission assembly, the third transmission assembly, and the first support member is two sets;

[0030] The leg-assist mechanism further includes a connecting rod that connects the two sets of components.

[0031] Optionally, the leg assist mechanism is installed on the user's leg, with the first axis perpendicular to the user's sagittal plane, the second axis perpendicular to the user's coronal plane, and the third axis forming an angle of less than 90° with the sagittal plane.

[0032] The beneficial effects of the technical solution provided in this application include at least the following: the first transmission component, the second transmission component, and the third transmission component can simulate the movement of the human leg and drive the user when the leg assist mechanism is working, thereby achieving the function of assisting. The second axis is perpendicular to both the first and third axes in a different plane, which allows it to have multiple degrees of freedom in space, thus improving the simulation degree of the leg assist mechanism of this application. At the same time, the third axis forms an angle of less than 90° with the first axis, which can reduce the degree of freedom of the third transmission component. This helps to reduce the distortion of the user's walking posture caused by the change in the shape of the third transmission component when the user applies a reaction force to the support. Attached Figure Description

[0033] 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.

[0034] Figure 1 is a structural schematic diagram of a leg assist mechanism provided in an embodiment of this application;

[0035] Figure 2 is a front view schematic diagram of a leg assist mechanism provided in an embodiment of this application;

[0036] Figure 3 is a structural schematic diagram of a leg assist mechanism provided in an embodiment of this application;

[0037] Figure 4 is a schematic diagram of the installation of a leg assist mechanism provided in an embodiment of this application;

[0038] Figure 5 is a partial structural schematic diagram of a leg support mechanism provided in an embodiment of this application;

[0039] Figure 6 is a structural schematic diagram of a second transmission component provided in an embodiment of this application;

[0040] Figure 7 is another front view schematic diagram of a leg assist mechanism provided in an embodiment of this application;

[0041] Figure 8 is a top view of a leg assist mechanism provided in an embodiment of this application.

[0042] The reference numerals in the figure are respectively:

[0043] 1. Driver components;

[0044] 2. First transmission assembly;

[0045] 3. Second transmission assembly; 31. First support; 311. First part; 312. Second part; 32. Second support;

[0046] 4. Third transmission assembly; 41. First connecting rod; 42. Second connecting rod; 43. Guide rail; 44. Slider; 45. Limiting part;

[0047] 5. First support member; 51. First support rod; 511. First section; 512. Second section; 52. First leg support;

[0048] 6. Rotating assembly; 61. Third link; 62. Fourth link; 63. First motor;

[0049] 7. Second support member; 71. Second support rod; 711. Third section; 712. Fourth section; 72. Second leg support;

[0050] 8. Connecting rod;

[0051] L1, First axis; L2, Second axis; L3, Third axis; L4, Fourth axis; L8, Line connecting the force points of the thigh and lower leg; L9, Axis of the center of mass of the human leg;

[0052] D. The distance between the axis of the internal / external rotation hinge and the axis L9 where the center of mass of the human leg is located;

[0053] M1, the hip joint motor drives the flexion / extension assist torque; M2, the link that transmits the output torque to the human leg is subjected to the overturning moment generated by the equivalent resistance force acting on the center of mass of the human leg multiplied by D;

[0054] P1, the connecting surface formed by the detachable connection and contact between the first support 31 and the second support 32.

[0055] 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

[0056] 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.

[0057] The directional terms used in the embodiments of this application, such as "up," "down," and "side," are generally based on the relative positions shown in Figure 1. These directional terms are used merely to more clearly describe the relationships between structures, not to describe absolute positions. When the product is placed in different orientations, the positions may change; for example, "up" and "down" may be interchanged.

[0058] 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.

[0059] 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.

[0060] In related technologies, traditional exoskeleton designs typically focus on hip flexion, extension, adduction, and abduction, offering less support for internal and external rotation. Some exoskeletons targeting hip internal and external rotation utilize active drive systems with motors, pneumatics, or hydraulics to control hip joint rotation. This approach is structurally complex, significantly increasing the exoskeleton's weight and control difficulty. A few lower limb exoskeletons incorporate a hinge mechanism parallel to the human body's z-axis, providing hip internal and external rotation freedom as a passive joint. However, this approach fails to consider that the hinge position is not perfectly coupled to the human hip joint position. When the exoskeleton assists with hip joint movement, it generates an overturning moment acting on the leg, forcing a change in gait and greatly reducing user comfort.

[0061] This application provides a leg-assisting mechanism, as shown in Figures 1 and 2. The leg-assisting mechanism includes a drive assembly 1, a first transmission assembly 2, a second transmission assembly 3, a third transmission assembly 4, and a first support member 5, wherein...

[0062] The drive assembly 1 is connected to one end of the first transmission assembly 2 and can drive the first transmission assembly 2 to rotate around the first axis L1.

[0063] One end of the second transmission component 3 is connected to the other end of the first transmission component 2, and is able to rotate relative to the first transmission component 2 about the second axis L2.

[0064] The third transmission assembly 4 is connected to the other end of the second transmission assembly 3 and is able to rotate relative to the second transmission assembly 3 about the third axis L3.

[0065] The second axis L2 is perpendicular to both the first axis L1 and the third axis L3, and the third axis L3 forms an angle of less than 90° with the first axis L1.

[0066] The first support member 5 is installed on the third transmission assembly 4.

[0067] It is understandable that the first transmission component 2, the second transmission component 3, and the third transmission component 4 can simulate the movement of the human leg and assist the user when the leg assist mechanism is working, thus achieving the function of assisting the user. The second axis L2 is perpendicular to both the first axis L1 and the third axis L3 in a different plane, which can have multiple degrees of freedom in space, thereby improving the simulation degree of the leg assist mechanism of this application. At the same time, the third axis L3 forms an angle of less than 90° with the first axis L1, which can reduce the degree of freedom of the third transmission component 4. This helps to reduce the distortion of the user's walking posture caused by the change in the shape of the third transmission component 4 when the user applies a reaction force to the support.

[0068] Here, "the second axis L2 is perpendicular to both the first axis L1 and the third axis L3" means that the second axis L2 and the first axis L1 are not in the same plane, and their direction vectors are perpendicular to each other. Also, the second axis L2 and the third axis L3 are not in the same plane, and their direction vectors are perpendicular to each other.

[0069] It is understood that the leg assist mechanism provided in this application can be set at the hip joint (user's thigh) of the exoskeleton device, at the knee joint (user's lower leg) of the exoskeleton device, or at other locations; this application does not impose any restrictions.

[0070] In this embodiment, the rotation of the first transmission component 2 around the first axis L1 can drive the second transmission component 3 and the third transmission component 4 to rotate accordingly with the cooperation of the user's legs, thus simulating the flexion and extension of the user's legs.

[0071] In this embodiment, the second transmission component 3 rotates around the second axis L2, which can simulate the abduction and adduction of the user's legs.

[0072] In this embodiment, the third transmission component 4 rotates around the third axis L3, which can simulate the internal and external rotation of the user's leg.

[0073] In this embodiment, when the leg assist mechanism is installed on the user's leg, the first axis L1 is perpendicular to the user's sagittal plane, the second axis L2 is perpendicular to the coronal plane, and the third axis L3 forms an angle of less than 90° with the sagittal plane. Thus, when the drive component 1 operates, it can drive the first transmission component 2 to rotate around the first axis L1, and drive the second transmission component 3 to rotate around the second axis L2. The second transmission component 3 then drives the third transmission component 4 to rotate around the third axis L3. Simultaneously, the force generated by the rotation acts on the user's leg through the support member. During this transmission process, the user's leg exerts a force on the support member, which causes the third transmission component 4 to rotate around the third axis L3. However, the freedom of the third transmission component 4 in this direction is somewhat restricted, making rotation around this axis somewhat difficult, thereby reducing the impact on the user's walking posture.

[0074] In this embodiment, when the leg assist mechanism of this application is installed, the third axis L3 intersects with the axis where the center of mass of the user's leg is located at the position where the first support member contacts the user's leg. This can reduce the impact of the leg assist mechanism of this application on the user's leg when it is working.

[0075] In this embodiment of the application, the drive component 1 can use a motor to drive the first transmission component 2.

[0076] In this embodiment, the number of components consisting of the drive component 1, the first transmission component 2, the second transmission component 3, the third transmission component 4, and the first support component 5 is two sets. The leg assist mechanism also includes a connecting rod 8, which connects the two sets of components and can simultaneously assist the user's two legs.

[0077] In this embodiment, the angle formed by the third axis L3 and the first axis L1 ranges from 15° to 85°. The angle can be any of the following values: 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, or 85°, or any other value between 15° and 85°.

[0078] In this embodiment, the inventors discovered that, as shown in Figure 3, when the third axis L3 is adjusted to be perpendicular to the ground, the leg assist mechanism can achieve similar internal and external rotation functions to those in the prior art. In this case, when the hip joint motor drives the flexion / extension assist torque M1, because there is a distance D between the axis L9 where the internal / external rotation hinge axis is located and the center of mass of the human leg, the connecting rod that transmits the output torque to the human leg will be subjected to an overturning moment M2 generated by the equivalent resistance force acting on the center of mass of the human leg multiplied by the distance D. Since the connection between the third transmission component 4 and the human leg via the first support 5 is flexible, it has a certain degree of rotational freedom, which causes the third transmission component to deflect. After the third transmission component deflects, its plane of motion is no longer parallel to the sagittal plane of the human body, thus causing the gait of the human leg to twist.

[0079] In summary, by changing the angle of the third axis L3, this application achieves the function of the lower limb exoskeleton adapting to the internal and external rotation degrees of freedom of the human hip joint without negatively affecting the normal walking gait, greatly improving the assistive effectiveness and user comfort of the exoskeleton.

[0080] In some embodiments of this application, as shown in FIG5, the second transmission component 3 includes a first support 31 and a second support 32. The first support 31 is connected to the first transmission component 2, and the second support 32 is connected to the third transmission component 4. The first support 31 and the second support 32 are detachably connected and contact each other to form a connecting surface P1, and the connecting surface P1 is parallel to the third axis L3.

[0081] It is understood that the first support 31 and the second support 32 can both connect the components and transmit the motion from the first transmission component 2, thereby driving the third transmission component 4 to perform a corresponding action. The connecting surface P1 is parallel to the third axis L3, which facilitates adjusting the positional relationship between the first support 31 and the second support 32, and thus adjusting the third axis L3. This allows the leg assist mechanism of this application to adapt to different users' leg shapes, thereby reducing the impact on the user's walking posture.

[0082] In this embodiment, the first support 31 can be hinged to the first transmission component 2, and the second axis L2 is located at the hinge position.

[0083] In this embodiment, the second support 32 can be hinged to the third transmission component 4, and the third axis L3 is located at the hinge position.

[0084] In this embodiment, the first support 31 and the second support 32 can be connected by means of screw locking, pin / set screw fixing, snap-fit ​​limiting, magnetic fixing, glue / welding fixing, etc. Specifically, the connection can be achieved by adjusting the first support 31 and the second support 32 to a suitable position.

[0085] In this embodiment of the application, as shown in FIG4, when using the leg assist mechanism of the application, the orientation of the third axis L3 can be adjusted by adjusting the positional relationship between the first support 31 and the second support 32, so that the orthographic projection of the third axis L3 in the coronal plane points to the midpoint of the line L8 connecting the force points of the user's thigh and calf in the coronal plane.

[0086] In this embodiment of the application, when using the leg assist mechanism of this application, the orientation of the third axis L3 can be adjusted by adjusting the positional relationship between the first support 31 and the second support 32, so that the orthographic projection of the third axis L3 in the coronal plane is directed toward the orthographic projection of the force point of the user's leg in the coronal plane.

[0087] In some embodiments of this application, as shown in FIG6, the first support 31 includes a first part 311 and a second part 312. The first part 311 is connected to the second part 312, the second part 312 is located on one side of the first part 311, the first part 311 is connected to the first transmission assembly 2, and the second part 312 is detachably connected to the second support 32.

[0088] It is understandable that the first part 311 and the second part 312 are designed to avoid the connection between the first support 31 and the first transmission component 2 and the connection between the second part 312 and the second support 32. This allows the second transmission component 3 to rotate around the second axis L2 while being driven by the first transmission component 2, so as to simulate the movement of the human leg.

[0089] In the embodiments of this application, the first part 311 and the second part 312 can be connected by processes such as welding or integral molding.

[0090] In some embodiments of this application, as shown in FIG7, the third transmission assembly 4 includes a first link 41 and a second link 42. The first link 41 is connected to the second link 42 and can slide relative to it. The first link 41 is connected to the second transmission assembly 3, and the first support member 5 is connected to the second link 42.

[0091] Understandably, the third transmission component 4 is used to simulate the internal and external rotation of the human leg. When the user's leg moves under the drive of the leg assist mechanism of this application, the distance between the two ends of the third transmission component 4 will change. If this change acts on the rigid third transmission component 4, it will cause the third transmission component 4 to deform or even be damaged. The first link 41 and the second link 42 can slide relative to each other, which helps the third transmission component 4 to adapt to the movement of the user's leg, thus improving the simulation accuracy of the leg assist mechanism of this application.

[0092] In some embodiments of this application, as shown in FIG7, the third transmission component 4 includes a guide rail 43 and a slider 44, the guide rail 43 and the slider 44 being slidably engaged, wherein the guide rail 43 is mounted on the first connecting rod 41 and extends along the length direction of the first connecting rod 41, and the slider 44 is mounted on the second connecting rod 42.

[0093] Understandably, the second link 42 can drive the slider 44 to slide on the guide rail 43, thus enabling the first link 41 and the second link 42 to move closer and further apart along the length direction. This changes the distance between the two ends of the structure formed by the first link 41 and the second link 42, thereby adapting to the user's leg movements.

[0094] In some embodiments of this application, the third transmission component 4 includes a guide rail 43 and a slider 44, the guide rail 43 and the slider 44 are slidably engaged, the slider 44 is mounted on the first connecting rod 41, the guide rail 43 is mounted on the second connecting rod 42 and extends along the length direction of the second connecting rod 42.

[0095] Understandably, the first link 41 can drive the slider 44 to slide on the guide rail 43, thus enabling the first link 41 and the first link 41 to move closer and further apart along the length direction. This can change the distance between the two ends of the structure formed by the first link 41 and the first link 41, thereby adapting to the user's leg movements.

[0096] In some embodiments of this application, as shown in FIG7, the third transmission assembly 4 further includes a limiting part 45, and the upper and lower ends of the second connecting rod 42 are respectively provided with the limiting part 45, which is connected to the guide rail 43.

[0097] Understandably, when slider 44 moves on guide rail 43, if it comes into contact with limiting part 45, it will be limited by limiting part 45, preventing slider 44 from continuing to move. Therefore, limiting part 45 helps to prevent slider 44 from disengaging from guide rail 43, which is beneficial for the third transmission component 4 to simulate the movement of human legs.

[0098] In some embodiments of this application, as shown in FIG8, the first support member 5 includes a first support rod 51 and a first leg support 52. The first support rod 51 connects the first leg support 52 and the third transmission assembly 4. At least a portion of the axis of the first support rod 51 intersects the first axis L1 in a non-plane manner. The first leg support 52 is located at the end of the first support rod 51 away from the third transmission assembly 4.

[0099] Understandably, the first support rod 51 can transmit force. When the third transmission component 4 rotates, the rotational thrust generated can be applied to the first leg rest 52 through the first support rod 51. The first leg rest 52 contacts the user's leg, thus applying force to the user's leg. Correspondingly, the reaction force generated by the user's leg can also be transmitted to the first support rod 51 through the first leg rest 52, and then reacted on the third transmission component 4 through the first support rod 51. In addition, at least a portion of the axis of the first support rod 51 intersects the first axis L1 in a non-plane, which facilitates the adjustment of the orientation of the first leg rest 52 by the first support rod 51, thereby improving the support effect of the first leg rest 52 on the user's leg.

[0100] In this embodiment, the first support rod 51 and the third transmission component 4 can be connected by welding, bonding or threaded connection.

[0101] In this embodiment, the first support rod 51 and the first leg support 52 can be connected by welding, bonding or threaded connection.

[0102] In this embodiment of the application, when using the leg assist mechanism of this application, the orientation of the third axis L3 can be adjusted so that the orthographic projection of the third axis L3 in the coronal plane is directed toward the orthographic projection of the center of the first leg support 52 in the coronal plane. The center of the first leg support 52 can refer to the center of the force-bearing surface formed by the contact between the first leg support 52 and the user's leg.

[0103] In some embodiments of this application, as shown in FIG8, the first support rod 51 includes a first segment 511 and a second segment 512. The first segment 511 is connected to the third transmission component 4 and the second segment 512. The axis of the first segment 511 intersects the axis of the second segment 512. The axis of the first segment 511 intersects the first axis L1 in a non-plane manner. The second segment 512 is connected to the first leg support 52.

[0104] It is understandable that the first segment 511 serves as a connector, and by adjusting the angle formed between the first segment 511 and the first axis L1, it is beneficial to adjust the orientation of the first leg support 52, thereby improving the fit between the first support 5 and the user's leg.

[0105] In the embodiments of this application, the first segment 511 and the second segment 512 can be connected by processes such as welding or integral molding.

[0106] In some embodiments of this application, the center of the first leg support 52 is located on the extension line of the third axis L3.

[0107] Understandably, this design helps reduce the rotation of the first support rod 51 around the third axis L3 caused by the reaction force from the user's leg on the first leg support 52 of the dual-joint exoskeleton device. This improves the similarity between the leg assist mechanism of this application and the movement of the human leg, thereby reducing the distortion of the user's walking posture. In this embodiment, as shown in FIG3, the center of the first leg support 52 can refer to the geometric center of the side of the first leg support 52 that contacts the user's leg. For example, if the side of the first leg support 52 that contacts the user's leg is rectangular, then the center of the first leg support 52 is the intersection of the two diagonals of the rectangle.

[0108] In some embodiments of this application, as shown in FIG7, the leg assist mechanism includes a rotating component 6 and a second support member 7. The rotating component 6 is connected to a third transmission component 4. At least a portion of the third transmission component 4 is rotatable relative to the rotating component 6 about a fourth axis L4. The fourth axis L4 is parallel to the first axis L1. The second support member 7 is connected to the rotating component 6.

[0109] Understandably, the rotating component 6 can simulate the movement posture of the lower leg of a human body when walking. It can apply a corresponding force to the user's lower leg through the second support component 7, thereby helping the user walk.

[0110] In some embodiments of this application, as shown in FIG7, the rotating assembly 6 includes a third link 61 and a fourth link 62. The third link 61 connects the fourth link 62 and the third transmission assembly 4. The fourth link 62 is rotatable relative to the third link 61 about a fourth axis L4. The second support member 7 is connected to the fourth link 62.

[0111] It is understandable that the fourth axis L4 can serve as the rotation axis to simulate knee flexion. When the third link 61 and the fourth link 62 rotate relative to each other, they can drive the user's lower leg to move accordingly, which helps to improve the leg assist mechanism of this application to assist the user's leg.

[0112] In some embodiments of this application, as shown in FIG7, the rotating assembly 6 includes a first motor 63, which is mounted on the third link 61 and is connected to the fourth link 62 in a transmission manner so as to drive the fourth link 62 to rotate around the fourth axis L4.

[0113] Understandably, the first motor 63 can drive the fourth link 62 to rotate, which can simulate the movement of the lower leg when a person walks, and apply a corresponding force to the user through the second support 7 to improve the assist effect.

[0114] In some embodiments of this application, as shown in FIG8, the second support member 7 includes a second support rod 71 and a second leg support 72. The second support rod 71 connects the second leg support 72 and the rotating assembly 6. At least a portion of the axis of the second support rod 71 intersects the first axis L1 in a non-plane manner. The second leg support 72 is located at the end of the second support rod 71 away from the rotating assembly 6.

[0115] Understandably, the second support rod 71 can transmit force. When the rotating component 6 rotates, the rotational thrust generated can be applied to the second leg rest 72 through the second support rod 71. The second leg rest 72 contacts the user's leg, thus applying force to the user's leg. Correspondingly, the reaction force generated by the user's leg can also be transmitted to the second support rod 71 through the second leg rest 72, and then reacted on the rotating component 6 through the second support rod 71. In addition, at least a portion of the axis of the second support rod 71 intersects the first axis L1 in a non-plane, which facilitates the adjustment of the orientation of the second leg rest 72 by the second support rod 71, thereby improving the support effect of the second leg rest 72 on the user's leg.

[0116] In this embodiment, the second support rod 71 and the rotating assembly 6 can be connected by welding, bonding or threaded connection.

[0117] In this embodiment, the second support rod 71 and the second leg support 72 can be connected by welding, bonding or threaded connection.

[0118] In some embodiments of this application, as shown in FIG8, the second support rod 71 includes a third segment 711 and a fourth segment 712. The third segment 711 connects the rotating assembly 6 and the fourth segment 712. The axis of the third segment 711 intersects the axis of the fourth segment 712. The axis of the third segment 711 intersects the second axis L2 in a non-plane manner. The fourth segment 712 is connected to the second leg support 72.

[0119] It is understandable that the third segment 711 serves as a connector, and by adjusting the angle formed between the third segment 711 and the third axis L3, it is beneficial to adjust the orientation of the second leg support 72, thereby improving the fit between the second support 7 and the user's leg.

[0120] In the embodiments of this application, the third segment 711 and the fourth segment 712 can be connected by processes such as welding or integral molding.

[0121] In some embodiments of this application, the midpoint of the line connecting the center of the first leg support 52 and the center of the second leg support 72 is located on the extension line of the third axis L3.

[0122] Understandably, this design helps reduce the rotation of the first and second support rods 51 around the third axis L3 when the first leg support 52 and second leg support 72 of the four-joint exoskeleton device are subjected to the reaction force from the user's legs. This helps to improve the similarity between the leg assist mechanism of this application and the movement of the human leg, thereby reducing the distortion of the user's walking posture.

[0123] In this embodiment of the application, as shown in FIG4, the center of the first leg support 52 can refer to the geometric center of the side of the first leg support 52 that contacts the user's leg. The center of the second leg support 72 can refer to the geometric center of the side of the second leg support 72 that contacts the user's leg. The midpoint of the line connecting the center of the first leg support 52 and the center of the second leg support 72 is located on the extension line of the third axis L3.

[0124] 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.

[0125] 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.

[0126] 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-assist mechanism, wherein, The leg assist mechanism includes a drive assembly (1), a first transmission assembly (2), a second transmission assembly (3), a third transmission assembly (4), and a first support member (5), wherein, The drive component (1) is connected to one end of the first transmission component (2) and can drive the first transmission component (2) to rotate around the first axis (L1); One end of the second transmission component (3) is connected to the other end of the first transmission component (2) and is able to rotate relative to the first transmission component (2) about the second axis (L2); The third transmission component (4) is connected to the other end of the second transmission component (3) and is able to rotate relative to the second transmission component (3) about the third axis (L3); The second axis (L2) is perpendicular to both the first axis (L1) and the third axis (L3) in a different plane, and the third axis (L3) forms an angle of less than 90° with the first axis (L1). The first support member (5) is mounted on the third transmission assembly (4).

2. The leg assist mechanism according to claim 1, wherein, The second transmission assembly (3) includes a first support (31) and a second support (32). The first support (31) is connected to the first transmission assembly (2), and the second support (32) is connected to the third transmission assembly (4). The first support (31) and the second support (32) are detachably connected and contact each other to form a connecting surface (P1). The connecting surface (P1) is parallel to the third axis (L3).

3. The leg assist mechanism according to claim 2, wherein, The first support (31) includes a first part (311) and a second part (312). The first part (311) is connected to the second part (312), and the second part (312) is located on one side of the first part (311). The first part (311) is connected to the first transmission assembly (2), and the second part (312) is detachably connected to the second support (32).

4. The leg assist mechanism according to any one of claims 1-3, wherein, The third transmission assembly (4) includes a first link (41) and a second link (42). The first link (41) is connected to the second link (42) and can slide relative to each other. The first link (41) is connected to the second transmission assembly (3), and the first support member (5) is connected to the second link (42).

5. The leg assist mechanism according to claim 4, wherein, The third transmission component (4) includes a guide rail (43) and a slider (44), wherein the guide rail (43) and the slider (44) are in sliding engagement; The guide rail (43) is mounted on the first connecting rod (41) and extends along the length of the first connecting rod (41), and the slider (44) is mounted on the second connecting rod (42); Alternatively, the slider (44) is mounted on the first connecting rod (41), and the guide rail (43) is mounted on the second connecting rod (42) and extends along the length of the second connecting rod (42).

6. The leg assist mechanism according to claim 5, wherein, The third transmission assembly (4) further includes a limiting part (45), and the upper and lower ends of the second connecting rod (42) are respectively provided with the limiting part (45), and the limiting part (45) is connected to the guide rail (43).

7. The leg assist mechanism according to any one of claims 1-6, wherein, The first support member (5) includes a first support rod (51) and a first leg support (52). The first support rod (51) connects the first leg support (52) and the third transmission assembly (4). At least a portion of the axis of the first support rod (51) intersects the first axis (L1) in a non-plane manner. The first leg support (52) is located at the end of the first support rod (51) away from the third transmission assembly (4).

8. The leg assist mechanism according to claim 7, wherein, The first support rod (51) includes a first segment (511) and a second segment (512). The first segment (511) connects the third transmission assembly (4) and the second segment (512). The axis of the first segment (511) intersects the axis of the second segment (512). The axis of the first segment (511) intersects the first axis (L1) in a non-plane manner. The second segment (512) is connected to the first leg support (52).

9. The leg assist mechanism according to claim 7, wherein, The center of the first leg support (52) is located on the extension line of the third axis (L3).

10. The leg assist mechanism according to claim 7, wherein, The leg assist mechanism includes a rotating component (6) and a second support member (7). The rotating component (6) is connected to the third transmission component (4). At least a portion of the third transmission component (4) is rotatable relative to the rotating component (6) about a fourth axis (L4). The fourth axis (L4) is parallel to the first axis (L1). The second support member (7) is connected to the rotating component (6).

11. The leg assist mechanism according to claim 10, wherein, The rotating assembly (6) includes a third link (61) and a fourth link (62). The third link (61) connects the fourth link (62) and the third transmission assembly (4). The fourth link (62) is capable of rotating about the fourth axis (L4) relative to the third link (61). The second support member (7) is connected to the fourth link (62).

12. The leg assist mechanism according to claim 11, wherein, The rotating assembly (6) includes a first motor (63), which is mounted on the third link (61) and is connected to the fourth link (62) in a transmission manner so as to drive the fourth link (62) to rotate around the fourth axis (L4).

13. The leg assist mechanism according to claim 10, wherein, The second support member (7) includes a second support rod (71) and a second leg support (72). The second support rod (71) connects the second leg support (72) and the rotating assembly (6). At least a portion of the axis of the second support rod (71) intersects the first axis (L1) in a non-plane manner. The second leg support (72) is located at the end of the second support rod (71) away from the rotating assembly (6).

14. The leg assist mechanism according to claim 13, wherein, The second support rod (71) includes a third segment (711) and a fourth segment (712). The third segment (711) connects the rotating assembly (6) and the fourth segment (712). The axis of the third segment (711) intersects the axis of the fourth segment (712). The axis of the third segment (711) intersects the first axis (L1) in a non-plane manner. The fourth segment (712) is connected to the second leg support (72).

15. The leg assist mechanism according to claim 13, wherein, The midpoint of the line connecting the center of the first leg support (52) and the center of the second leg support (72) is located on the extension line of the third axis (L3).

16. The leg assist mechanism according to any one of claims 1-15, wherein, The angle formed by the third axis (L3) and the first axis (L1) ranges from 15° to 85°.

17. The leg assist mechanism according to any one of claims 1-15, wherein, The number of components consisting of the drive assembly (1), the first transmission assembly (2), the second transmission assembly (3), the third transmission assembly (4), and the first support member (5) is two sets; The leg assist mechanism further includes a connecting rod (8), which connects the two sets of components.

18. The leg assist mechanism according to any one of claims 1-15, wherein, The leg assist mechanism is installed on the user's leg. The first axis (L1) is perpendicular to the user's sagittal plane, the second axis (L2) is perpendicular to the user's coronal plane, and the third axis (L3) forms an angle of less than 90° with the sagittal plane.

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