CN113442117A

CN113442117A - Load-bearing assistance exoskeleton

Info

Publication number: CN113442117A
Application number: CN202110721401.6A
Authority: CN
Inventors: 李牧然
Original assignee: Niuren Intelligent Technology Hangzhou Co ltd
Current assignee: Niuren Intelligent Technology Hangzhou Co ltd
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2021-09-28

Abstract

The invention discloses a load-bearing assistance exoskeleton which comprises an ankle mechanism, a leg assistance mechanism, a waist adjusting mechanism and a back adjusting mechanism, wherein the back adjusting mechanism, the waist adjusting mechanism and the leg assistance mechanism are sequentially connected with the ankle mechanism, the waist adjusting mechanism comprises a left connecting rod, a right connecting rod, a left positioning sleeve and a right positioning sleeve, the left positioning sleeve and the right positioning sleeve are fixed on a waist plate through fasteners after rotating to a required angle, the left connecting rod and the right connecting rod are respectively inserted into the left positioning sleeve and the right positioning sleeve and are fixed through adjusting fasteners, a supporting plate is detachably mounted on the waist plate, the back adjusting mechanism comprises a back plate and an adjusting plate, the adjusting plate is connected with the waist plate, the adjusting plate is slidably mounted on the back plate and is fixed through a clamping mechanism after sliding to a preset position, and the detached supporting plate is clamped on the back plate through the clamping mechanism. The invention has the advantages that the sizes of the waist mechanism and the back plate are adjusted by a wearer according to the wearing requirement, the supporting plate is detachable and convenient to store, and the like.

Description

Load-bearing assistance exoskeleton

[ technical field ] A method for producing a semiconductor device

The invention belongs to the technical field of exoskeleton robots, and particularly relates to a load-assisting exoskeleton.

[ background of the invention ]

The exoskeleton robot technology is an important branch of the robot technology, relates to the fields of the robot technology, ergonomics, mechanics, computational science, communication technology and the like, and is a hot technology for domestic and foreign research at present. The exoskeleton robot can help people to complete more strengthening tasks such as load bearing by means of self strength, and can also help patients to carry out rehabilitation training medically. Exoskeleton robots generally include several parts, a waist mechanism, a leg mechanism, and an ankle mechanism. The existing load-bearing exoskeleton robot has the problems that the waist size is difficult to adjust, the adjusting range is small, the supporting plate for load reuse cannot be detached and replaced, the supporting plate is inconvenient to store and is easy to collide with a foreign object when in use, the overall structure is complex and the like.

[ summary of the invention ]

The invention aims to solve the problems in the background art, and provides a load-bearing assistance exoskeleton which can be used for enabling a wearer to effectively adjust the sizes of a waist mechanism and a back plate according to the wearing requirement of the wearer, the supporting plate is detachable, supporting plates with different sizes and shapes can be replaced, and the supporting plate is convenient to store.

In order to achieve the purpose, the invention provides a load-bearing assistance exoskeleton which comprises an ankle mechanism, a leg power-assisted mechanism, a waist adjusting mechanism and a back adjusting mechanism, wherein the upper end of the ankle mechanism is connected with the leg power-assisted mechanism, the waist adjusting mechanism is respectively connected with the leg power-assisted mechanism and the back adjusting mechanism, the waist adjusting mechanism comprises a left connecting rod, a right connecting rod, a left positioning sleeve and a right positioning sleeve, the left positioning sleeve and the right positioning sleeve are rotatably connected and fixed on a waist plate through fasteners after being rotated to a required angle, the left positioning sleeve and the right positioning sleeve are provided with sliding grooves, first ends of the left connecting rod and the right connecting rod are respectively inserted into the left positioning sleeve and the right positioning sleeve, and the left connecting rod, the right connecting rod and the right positioning sleeve are fixedly connected through adjusting fasteners after the required length is inserted, demountable installation has the layer board on the waist board, adjusting fastener can pass the spout and link to each other with left connecting rod or right connecting rod adaptation, back adjustment mechanism includes backplate and regulating plate, the regulating plate lower extreme links to each other with the waist board, and slidable mounting is on the backplate about regulating plate upper portion can, and the regulating plate passes through latch mechanism and fastens the regulating plate on the backplate when sliding to required high position, latch mechanism installs on the backplate, pulls down from the waist board the layer board accessible latch mechanism card is put on the backplate.

As preferred, the ankle mechanism includes the fixed cover of ankle coupling assembling, supporting seat, connector and ankle, and ankle coupling assembling upper end links to each other with shank assist drive device, the supporting seat links to each other with the fixed cover of ankle, the upper and lower end of connector rotates with ankle coupling assembling, supporting seat respectively and is connected and makes ankle coupling assembling can follow X, Y direction motion, be connected with first elastic damping piece between ankle coupling assembling and the connector, be connected with second elastic damping piece between the bottom side of connector and the supporting seat, first elastic damping piece and second elastic damping piece mutually perpendicular set up, effectively protect the person's of dress ankle under the two elastic damping piece cushioning effect of perpendicular setting, but the activity of multi freedom accords with ergonomic.

As preferred, shank assist drive constructs including the fixed subassembly of thigh, the fixed subassembly of shank and helping hand coupling mechanism, helping hand coupling mechanism includes first connecting piece, elastic component and second connecting piece, first connecting piece links to each other with the fixed subassembly of thigh, the fixed subassembly of second connecting piece and shank links to each other, and one side and the first connecting piece rotation of second connecting piece are connected, the elastic component links to each other with first connecting piece, second connecting piece respectively, first connecting piece and the fixed subassembly of thigh are passed through the elastic component and are resumeed to initial state by the motion state, make shank assist drive construct whole lightweight under the prerequisite that the assurance has certain helping hand function, need not motor drive helping hand, dismouting convenient to carry, and the elasticity reset action of elastic component can guarantee that shank assist drive structure has certain helping hand buffer function.

As preferred, latch mechanism includes the joint seat, the regulating plate can follow the reservation clearance between joint seat and the backplate and reciprocate, is equipped with a plurality of regulation holes on the vertical direction of regulating plate, be equipped with the through-hole on the joint seat, rotate on the joint seat and install the jack catch, and jack catch one end is equipped with incurving trip, and the jack catch can pass through the through-hole and correspond when the jack catch rotates downwards regulating hole lock joint realizes that regulating plate and joint seat, backplate relative position are fixed, and the jack catch with correspond when the jack catch rotates upwards the regulation hole breaks away from and makes regulating plate and joint seat, the mobile regulation of backplate relative position for the person of wearing makes lock joint or break away from between trip and the regulation hole through rotating the jack catch according to self back size, realizes regulating plate and joint seat, the mobile regulation of backplate relative position, and backplate mounting height adjusts comparatively conveniently.

As preferred, the cavity that has bilateral symmetry is separated with the baffle in the middle part of the layer board, the baffle both sides are equipped with down narrow wide ladder joint section of going up, joint seat side is equipped with fore-and-aft bayonet socket, the ladder joint section and two of baffle both sides when the layer board is placed the bayonet socket of joint seat corresponds the joint, and joint in-process joint seat can remove in the cavity.

Preferably, the right end of the left positioning sleeve is provided with a first connecting portion, the left end of the right positioning sleeve is provided with two parallel second connecting portions, the first connecting portion is inserted between the two second connecting portions when the left positioning sleeve is connected with the right positioning sleeve, and the fastener is connected with the waist plate after penetrating through the first connecting portion and the second connecting portion.

Preferably, the upper end and the lower end of the left positioning sleeve and the right positioning sleeve are respectively provided with a positioning block in a matched manner, the positioning blocks can move along the opening direction of the sliding chutes, the adjusting fasteners are correspondingly connected with the positioning blocks, the positioning blocks can horizontally and stably move along the sliding chutes at the upper end and the lower end of the left positioning sleeve and the right positioning sleeve, and the double positioning blocks can be effectively clamped and fixed on the left positioning sleeve and the right positioning sleeve so as to fix the left connecting rod and the right connecting rod.

Preferably, the second ends of the left connecting rod and the right connecting rod are horizontally and rotatably connected with one end of the thigh mechanism switching assembly, the other end of the thigh mechanism switching assembly is vertically and rotatably connected with the upper end of the thigh mechanism connecting piece, the lower end of the thigh mechanism connecting piece is connected with the upper end of the leg power-assisted mechanism, so that the left connecting rod or the right connecting rod is connected with the thigh mechanism switching assembly to form a left-right direction freedom degree, the thigh mechanism connecting piece and the thigh mechanism switching assembly have a front-back direction freedom degree, the activity flexibility of a wearer is improved, and the thigh mechanism connecting piece and the leg power-assisted mechanism can keep synchronous motion.

As preferred, thigh mechanism switching subassembly includes the connecting seat, and the one end of connecting seat is equipped with first opening along the horizontal direction, and the one end of connecting seat is equipped with the second opening along vertical direction, and the second end rotation of left connecting rod and right connecting rod is installed in first opening, thigh mechanism connecting piece upper end is rotated and is installed in the second opening, and first opening and the second opening of perpendicular distribution can make and to possess left and right, front and back direction degree of freedom behind the installation of thigh mechanism switching subassembly, realizes the spacing installation of left connecting rod, right connecting rod and thigh mechanism connecting piece.

Preferably, the second ends of the left connecting rod and the right connecting rod are connected with the connecting seat and the upper end side face of the thigh mechanism connecting piece is connected with the connecting seat through pin shafts, a first torsion spring is sleeved on the outer side of each pin shaft, the end portion of each first torsion spring is connected with the corresponding connecting seat or the corresponding left connecting rod or the corresponding right connecting rod or the corresponding thigh mechanism connecting piece, the pin shafts which can correspond to the thigh mechanism connecting piece, the left connecting rod and the right connecting rod when the thigh mechanism connecting piece, the left connecting rod and the right connecting rod rotate serve as centers, the first torsion springs enable the thigh mechanism connecting piece to elastically reset relative to the left connecting rod or the right connecting rod, and a certain buffering assistance effect can be provided.

The invention has the beneficial effects that: according to the exoskeleton waist mechanism, the width of the exoskeleton waist mechanism is adjusted by horizontally inserting and pulling the left connecting rod and the right connecting rod and the corresponding left positioning sleeve and right positioning sleeve so as to meet the self wearing requirements of a wearer, the width adjustment is also convenient, and the left connecting rod and the right connecting rod and the corresponding left positioning sleeve and right positioning sleeve are convenient to disassemble and assemble; the left positioning sleeve and the right positioning sleeve are rotatably connected and fixed on the waist plate through the fasteners after rotating to a required angle, so that the mounting angles of the left connecting rod and the right connecting rod are simply and conveniently adjusted to meet the self-wearing requirements of a wearer, and the left positioning sleeve, the right positioning sleeve and the waist plate are convenient to disassemble and assemble; the adjusting plate slides up and down along the back plate, and is fixed on the back plate through the clamping mechanism after sliding to a preset position so as to adapt to the back of a wearer; with demountable installation on the waist board has the layer board for layer board easy dismounting, the user can change the layer board of different shape sizes as required, and layer board accessible latch mechanism card after pulling down is put on the backplate, makes the layer board of pulling down place at a fixed point, has made things convenient for accomodating of layer board.

The features and advantages of the present invention will be described in detail by embodiments in conjunction with the accompanying drawings.

[ description of the drawings ]

FIG. 1 is a schematic view of a primary first perspective structure according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a second perspective structure according to an embodiment of the present invention;

FIG. 3 is a schematic view of a waist adjustment mechanism and back adjustment mechanism mounting arrangement of one embodiment of the present invention;

FIG. 4 is a schematic view of the use of the lumbar adjustment mechanism and the back adjustment mechanism of one embodiment of the present invention;

FIG. 5 is a schematic illustration of a disassembled lumbar adjustment mechanism in accordance with an embodiment of the present invention;

FIG. 6 is a schematic illustration of a pallet installation according to an embodiment of the present invention;

FIG. 7 is a schematic view of a pallet storage according to an embodiment of the present invention;

FIG. 8 is a front view of a pallet storage state according to an embodiment of the present invention;

FIG. 9 is a cross-sectional view taken along line A-A of FIG. 8 in accordance with one embodiment of the present invention;

FIG. 10 is a schematic view of a back plate structure according to an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of a pallet according to an embodiment of the present invention;

FIG. 12 is a schematic view of a leg assist mechanism according to an embodiment of the present invention;

FIG. 13 is a schematic illustration of a leg assist mechanism in an exploded view in accordance with one embodiment of the present invention;

fig. 14 is a schematic view of an ankle mechanism according to an embodiment of the invention;

fig. 15 is a schematic illustration of an ankle mechanism according to an embodiment of the invention shown disassembled;

FIG. 16 is a thigh mechanism adapter assembly and thigh mechanism link mounting illustration of an embodiment of the present invention;

FIG. 17 is a front elevational view of a thigh mechanism adapter assembly and thigh mechanism link mounting of an embodiment of the present invention;

FIG. 18 is a main schematic view of a clamping mechanism according to an embodiment of the invention;

FIG. 19 is a secondary schematic view of a clamping mechanism according to one embodiment of the invention;

FIG. 20 is a schematic view of a card socket according to an embodiment of the invention;

FIG. 21 is a disassembled view of the clamping mechanism according to one embodiment of the present invention.

In the figure: 1-ankle mechanism, 2-leg power-assisted mechanism, 3-waist adjusting mechanism, 4-back adjusting mechanism, 5-splint, 6-connecting seat, 7-supporting plate, 11-ankle connecting component, 12-supporting seat, 13-connecting head, 14-ankle fixing sleeve, 15-first elastic damping piece, 16-second elastic damping piece, 17-rigid plate, 21-thigh fixing component, 22-shank fixing component, 23-trip, 24-power-assisted connecting mechanism, 25-bandage length adjusting mechanism, 26-first jaw, 31-left connecting rod, 32-right connecting rod, 33-left positioning sleeve, 34-right positioning sleeve, 35-waist plate, 36-positioning block, 37-adjusting fastener, 37-elastic damping piece, 17-rigid plate, 21-thigh fixing component, 22-shank fixing component, 23-trip, 24-power-assisted connecting mechanism, 25-bandage length adjusting mechanism, 26-first jaw, 31-left connecting rod, 32-right connecting rod, 33-left positioning sleeve, 34-right positioning sleeve, 35-waist plate, 36-positioning block, 37-adjusting fastener, and the like, 38-a fastener, 41-a back plate, 42-a clamping mechanism, 43-an adjusting plate, 61-a thigh mechanism connecting piece, 62-a plug, 63-a first torsion spring, 71-a leg fixing plate, 72-a connecting channel, 73-a socket, 74-a first mounting groove, 130-an elastic damping piece mounting groove, 241-a first connecting head, 242-an end cover, 243-a second connecting piece, 244-an elastic piece, 245-a torsion spring mounting groove, 331-a first connecting part, 341-a second connecting part, 351-a supporting plate mounting part, 410-a limiting groove, 421-a clamping seat, 422-a clamping jaw, 423-a clamping jaw, 424-a through hole, 425-a fourth torsion spring and 426-a hook part.

[ detailed description ] embodiments

Referring to fig. 1 to 21, the present embodiment provides a weight-bearing assisted exoskeleton, which includes an ankle mechanism 1, a leg assisting mechanism 2, a waist adjusting mechanism 3 and a back adjusting mechanism 4, wherein the upper end of the ankle mechanism 1 is connected to the leg assisting mechanism 2, the waist adjusting mechanism 3 is respectively connected to the leg assisting mechanism 2 and the back adjusting mechanism 4, the waist adjusting mechanism 3 includes a left connecting rod 31, a right connecting rod 32, a left positioning sleeve 33 and a right positioning sleeve 34, the left positioning sleeve 33 and the right positioning sleeve 34 are rotatably connected to each other and fixed on a waist plate 35 by a fastening member 38 after being rotated to a desired angle, sliding grooves are formed on the left positioning sleeve 33 and the right positioning sleeve 34, first ends of the left connecting rod 31 and the right connecting rod 32 are respectively inserted into the left positioning sleeve 33 and the right positioning sleeve 34, and the left connecting rod 31 and the left positioning sleeve 33 are fixed by an adjusting fastening member 37 after being inserted to a desired length, The right connecting rod 32 is fastened and connected with the right positioning sleeve 34, the waist plate 35 is detachably provided with a supporting plate 5, an adjusting fastener 37 can pass through a sliding groove to be connected with the left connecting rod 31 or the right connecting rod 32 in a matching way, the back adjusting mechanism 4 comprises a back plate 41 and an adjusting plate 43, the lower end of the adjusting plate 43 is connected with the waist plate 35, the upper part of the adjusting plate 43 can be installed on the back plate 41 in a vertical sliding way, the adjusting plate 35 can fasten the adjusting plate 43 on the back plate 41 through a clamping mechanism 42 when sliding to a required height position, the clamping mechanism 42 is installed on the back plate 41, the supporting plate 5 detached from the waist plate 35 can be clamped on the back plate 41 through the clamping mechanism 42, wherein the waist plate 35 is provided with a supporting plate installation part 351, the middle part of the front end of the supporting plate installation part 351 is provided with a slot, one end of the supporting plate 5 is provided with a joint, the joint and the slot can be mutually spliced, the back plate 41 is provided with a limiting groove 410 matched with the adjusting plate 43, the adjusting plate 43 can slide along the limiting groove 410.

The bottom of the supporting plate installation part 351 is provided with a threaded connection hole communicated with the slot, the threaded connection hole is provided with a spring screw, the joint is provided with a limiting hole, the upper end of the spring screw can be correspondingly inserted into the limiting hole when the joint is plugged with the slot, and the upper end of the spring screw is separated from the limiting hole when the joint is pulled out from the slot.

The right-hand member of left side position sleeve 33 is equipped with first connecting portion 331, the left end of right side position sleeve 34 is equipped with two parallel second connecting portion 341, first connecting portion 331 inserts between two second connecting portion 341 when left side position sleeve 33 is connected with right side position sleeve 34, fastener 38 passes first connecting portion 331, link to each other with waist board 35 behind the second connecting portion 341, fastener 38 can select for use first knob screw rod, be connected with antifriction bearing between first connecting portion 331, the second connecting portion 341.

The upper and lower ends of left locating sleeve 33, right locating sleeve 34 are equipped with the spout that is parallel to each other, and the spout is the I-shaped form, and adjusting fastener 37 includes the knob screw rod, and locating piece 36 is all installed in the cooperation of the upper and lower ends of left locating sleeve 33 and right locating sleeve 34, and the knob screw rod suits with locating piece 36 to be connected.

The second ends of the left connecting rod 31 and the right connecting rod 32 are horizontally and rotatably connected with one end of a thigh mechanism switching assembly, and the other end of the thigh mechanism switching assembly is vertically and rotatably connected with the upper end of a thigh mechanism connecting piece 61, the lower end of the thigh mechanism connecting piece 61 is connected with the upper end of the leg power-assisted mechanism 2.

Thigh mechanism adapter assembly includes connecting seat 6, the one end of connecting seat 6 is equipped with first opening along the horizontal direction, the one end of connecting seat 6 is equipped with the second opening along vertical direction, the second end of left connecting rod 31 and right connecting rod 2 and thigh mechanism connecting piece 61 upper end are rotated with the round pin axle respectively and are installed in first opening, in the second opening, end cap 62 is installed to the second end of left connecting rod 31 and right connecting rod 32, and the cover is equipped with first torsion spring 63 in the round pin outside the axle, the tip of first torsion spring 63 links to each other with connecting seat 6 or end cap 62 or thigh mechanism connecting piece 61 that correspond.

Further, ankle mechanism 1 includes ankle coupling assembling 11, supporting seat 12, the fixed cover 14 of connector 13 and ankle, ankle coupling assembling 11 upper end links to each other with shank assist drive device 2, supporting seat 12 links to each other with the fixed cover 14 of ankle, the upper and lower end of connector 13 respectively with ankle coupling assembling 11, supporting seat 12 rotates to be connected and makes ankle coupling assembling 11 can follow X, Y direction motion, be connected with first elastic damping piece 15 between ankle coupling assembling 11 and the connector 13, be connected with second elastic damping piece 16 between the bottom side of connector 13 and the supporting seat 12, first elastic damping piece 15 and the setting of second elastic damping piece 16 mutually perpendicular, first elastic damping piece 15 and second elastic damping piece 16 are the torsional spring, the intensity of torsional spring is big, damping buffering and effectual that resets.

The fixed cover 14 of ankle is made by rubber materials, and the fixed cover 14 bottom of ankle is equipped with a plurality of bellied rubbing strips, and wherein, the X direction is left right direction, and the Y direction is the fore-and-aft direction for the fixed cover 14 of ankle has certain compliance and makes the user dress after comparatively comfortable, and the rubbing strip setting can strengthen the fixed cover 14 of ankle and the friction effect between the ground.

13 tops of connector are equipped with elastic damping spare installation department, the middle part of elastic damping spare installation department is equipped with the installing port, the cooperation of first elastic damping spare 15 is installed in the installing port, 11 lower extremes of ankle coupling assembling is equipped with the interface, the cooperation of elastic damping spare installation department upper end is inserted in the interface and is linked to each other with first round pin axle, first round pin axle is perpendicular to be passed first elastic damping spare 15 and with the spacing installation in the installing port of first elastic damping spare 15, set up the convenient spacing installation of first elastic damping spare 15 of elastic damping spare installation department, make first elastic damping spare 15 be difficult for taking place the dislocation in the course of the work.

The side of the connector 13 is provided with an elastic damping member mounting groove 130, a notch communicated with the elastic damping member mounting groove 130, the main body of the second elastic damping member 16 is installed in the elastic damping member mounting groove 130 in a matching manner, one end of the second elastic damping member 16 abuts against the inner wall of the elastic damping member mounting groove 130, the other end of the second elastic damping member 16 abuts against the supporting seat 12 after passing through the notch, so that the position of the second elastic damping member 16 is relatively fixed, and the stability of the elastic deformation range of the second elastic damping member 16 is ensured.

The top of the supporting seat 12 is provided with a slot, the lower end of the connector 13 is inserted into the slot and is connected with a second pin shaft, the second pin shaft vertically penetrates through the side surface of the connector 13 to enable the connector 13 to rotate around the second pin shaft, the connector is relatively stable and not prone to loosening and dislocation after the connector 13 and the supporting seat 12 are connected, the lower end of the connector 13 is inserted into the slot, the supporting seat 12 can seal the elastic damping piece mounting groove 130 to enable the second elastic damping piece 16 to achieve hidden sealing installation, the connector is not prone to falling off from a notch of the elastic damping piece mounting groove 130, and the connector 13 rotates stably and smoothly.

The one side that the supporting seat 12 is close to the fixed cover 14 of ankle links to each other with rigid plate 17 between the fixed cover 14 side of ankle, one side that the supporting seat 12 is close to the fixed cover 14 of ankle is equipped with the recess that suits with rigid plate 17 segment of buckling, between rigid plate 17 and the supporting seat 12, all link to each other with the screw between rigid plate 17 and the fixed cover 14 of ankle, rigid plate 17 can improve the firm in connection degree between supporting seat 12 and the fixed cover 14 of ankle, fix the effect with certain support to the fixed cover 14 of ankle.

The connecting piece upwards extends from the left side and the right side of the side surface of the ankle fixing sleeve 14, the connecting piece is provided with a round hole, the front end of the ankle fixing sleeve 14 is provided with an opening for the sole to pass through, the connecting piece is made of rubber materials, the round holes in the two connecting pieces can be used for the sole bandage to wear, the sole bandage can mutually fit the two connecting pieces and the sole of a user and is tightly fastened, and the wearing comfort level is high.

Further, the leg assisting mechanism 2 comprises a thigh fixing component 21, a shank fixing component 22 and an assisting connecting mechanism 24, the assisting connecting mechanism 24 comprises a first connecting piece, an elastic piece 244 and a second connecting piece 243, the first connecting piece is connected with the thigh fixing component 21, the second connecting piece 243 is connected with the shank fixing component 22, the side surface of the second connecting piece 243 is rotatably connected with the first connecting piece, the elastic piece 244 is respectively connected with the first connecting piece and the second connecting piece 243, the first connecting piece and the thigh fixing component 21 are restored to an initial state from a motion state through the elastic piece 244, the elastic piece 244 is a second torsion spring, the first connecting piece comprises a first connecting head 241 and an end cover 242 which is adaptively connected with the first connecting head 241, the end cover 242 and the side surface of the first connecting head 241 are both provided with torsion spring mounting grooves 245 with notches, the main body of the second torsion spring is fittingly mounted in the torsion spring mounting grooves 245, one end of the second torsion spring can penetrate through the corresponding notch and then abut against the second connecting piece 243, the upper end of the second connecting piece 243 is located between the first connecting piece 241 and the end cover 242 and is connected with the first connecting piece and the second connecting piece 243 through the third pin shaft, so that the first connecting piece, the elastic piece 244 and the second connecting piece 243 are firmly connected, the second torsion spring is not prone to loosening and dislocation after being installed, the elasticity of the second torsion spring can provide sufficient assistance for the rotation and resetting of the first connecting piece, and the second torsion spring can also play a certain buffering role when the first connecting piece rotates.

Thigh fixed subassembly 21 upper end links to each other with thigh mechanism connecting piece 61, the fixed subassembly 22 lower extreme of shank links to each other with ankle coupling assembling 11, thigh fixed subassembly 21 and the fixed subassembly 22 of shank all include backup pad 7, the inside top-down of backup pad 7 runs through there is interface channel 72, the left side of backup pad 7, the right side outwards extends shank fixed plate 71, and wherein be equipped with the bandage mounting hole on the shank fixed plate 71 of one side, bandage length adjustment mechanism 25 is installed to the outer wall of the shank fixed plate 71 of opposite side, interface channel 72 makes things convenient for thigh mechanism connecting piece 61 or the grafting of ankle coupling assembling 11 that corresponds to peg graft, and difficult emergence dislocation after pegging graft, bandage length adjustment mechanism 25 can effectively adjust bandage length according to user's leg size.

The supporting plate 7 is provided with a positioning module or a communication module or a power supply module, the positioning module is a Beidou positioning module or a GPS module, the front surface of the supporting plate 7 is provided with a leg action analysis sensing device, the leg action analysis sensing device is used for sensing leg action data and uploading the data to an upper computer, the leg action analysis sensing device comprises but is not limited to a three-axis gyroscope, the positioning module is used for positioning the position of a wearer, the power supply module can supply power for other exoskeleton electric devices, the communication module is used for the wearer to communicate, the three-axis gyroscope accurately senses the leg action condition and effectively transmits the leg action condition to the upper computer, the structure is simple, the reliability is high, can carry out data transmission between triaxial gyroscope and the host computer, and shank action data includes action data such as the person's of wearing action data such as squatting, rising up, walking, jump, and the host computer can be cell-phone end, high in the clouds or PC end.

The backup pad 7 openly is equipped with first mounting groove, be equipped with the hook in the first mounting groove 74, rotate with first pivot in the first mounting groove 74 and install trip 23, first pivot overcoat is equipped with the pivot torsional spring, first mounting groove 74 inner wall and trip 23 are supported respectively to pivot torsional spring both ends, trip 23 and hook are used for fixed mounting shank action analysis sensing device or orientation module or communication module or power module, make things convenient for shank action analysis sensing device or orientation module or communication module or power module's embedded installation, backup pad 7 surface is comparatively level and smooth after the installation, shank action analysis sensing device or orientation module or communication module or power module are difficult for becoming flexible and dropping.

Thigh mechanism connecting piece 61 and ankle coupling assembling 11 all include connecting plate and first connecting seat, and the connecting plate links to each other with first connecting seat, is equipped with a plurality of longitudinally distributed's connecting hole on the connecting plate, and the connecting plate can insert in the linking channel 72 on the backup pad 7 that corresponds, and the connecting plate can follow corresponding linking channel 72 and reciprocate.

The front of the supporting plate 7 is provided with a second mounting groove, a socket 73 communicated with the connecting channel 72 is arranged in the second mounting groove, a first clamping component is rotatably mounted in the second mounting groove and comprises a first clamping jaw 26, a rotating shaft mounting hole penetrates through one end of the first clamping jaw 26, third torsion springs are arranged on two sides of the first clamping jaw 26, one end of the first clamping jaw 26 is rotatably connected with the supporting plate 7 through a rotating shaft, the rotating shaft penetrates through the body of the third torsion spring and is mounted in the rotating shaft mounting hole in a matching manner, a first clamping hook which is bent inwards is arranged at the other end of the first clamping jaw 26 and can penetrate through the socket 73 to be fastened with a connecting hole in a connecting plate, so that the lower end of the thigh mechanism connecting piece 61 is inserted into the length of the connecting channel 72 on the thigh fixing component 21, the length of the connecting channel 72 on the shank fixing component 22, which is inserted into the upper end of the connecting component 11, can be easily adjusted to adjust the leg height of the ankle assisting exoskeleton, to ensure that the first jaw 26 is securely fastened to the thigh mechanism link 61 or the ankle connecting member 11, the third torsion spring is provided for returning the first jaw 26 and providing a certain hold-down action for the first jaw 26.

Bandage length adjustment mechanism 25 includes base, reel, and the reel passes through adjust knob and rotates to be installed on the base, and the winding has the bandage on the reel, and bandage length adjustment is convenient.

Furthermore, the clamping mechanism 42 includes a clamping seat 421, the adjusting plate 43 can move up and down along the reserved gap between the clamping seat 421 and the back plate 41, a plurality of adjusting holes are arranged in the vertical direction of the adjusting plate 43, a through hole 424 is arranged on the clamping seat 421, a jaw 422 is rotatably mounted on the clamping seat 421 through a fourth pin shaft, one end of the jaw 422 is provided with an inward-bending hook 426, when the jaw 422 rotates downwards, the hook 426 can pass through the through hole 424 to be fastened with the corresponding adjusting hole to fix the relative position of the adjusting plate 43 with the clamping seat 421 and the back plate 41, when the jaw 422 rotates upwards, the hook 426 is separated from the corresponding adjusting hole to movably adjust the relative position of the adjusting plate 43 with the clamping seat 421 and the back plate 41, so that the adjusting plate 43 can move up and down along the reserved gap between the back of the clamping seat 421 and the back plate 41, and a user can fasten or separate the hook 426 from the adjusting hole by rotating the jaw 422 according to the size of the user, the relative positions of the adjusting plate 43, the clamping seat 421 and the back plate 41 can be movably adjusted, so that the height dimension of the back plate 41 can be effectively adjusted.

Joint seat 421 openly is equipped with the jack catch mounting groove, and through-hole 424 is linked together with the jack catch mounting groove, and jack catch 422 rotates to be installed in the jack catch mounting groove, realizes jack catch 422's hidden spacing installation, makes things convenient for accomodating of jack catch 422, and jack catch 422 is difficult for controlling not hard up dislocation.

The jack catch 422 is far away from the one end inboard that colludes portion 426 and is equipped with connecting portion, the connecting portion middle part runs through there is first connecting hole, the left and right side inner wall of jack catch mounting groove is equipped with the second connecting hole, rotate with the fourth round pin axle between jack catch 422 and the jack catch mounting groove and be connected, the fourth round pin axle passes first connecting hole and fourth round pin axle both ends and is connected with the second connecting hole adaptation that corresponds respectively for jack catch 422 rotates comparatively steadily smoothly, fourth round pin axle hidden installation and installation back are comparatively firm.

Fourth torsional spring 425 is installed to connecting portion both sides, and fourth torsional spring 425 cup joints in the fourth pintle outside, and the left and right side inner wall at the jack catch mounting groove is installed to fourth torsional spring 425 both sides, and the difficult not hard up dislocation of fourth torsional spring installation back.

5 middle parts of layer board are separated with the baffle and are had bilateral symmetry's cavity, the baffle both sides are equipped with down narrow wide ladder joint section, joint seat 421 sides are equipped with fore-and-aft bayonet socket 423, the ladder joint section of baffle both sides corresponds the joint with the bayonet socket 423 of two joint seats 421 when layer board 5 is placed, and joint in-process joint seat 421 can remove in the cavity, only through reciprocating layer board 5 can realize on the baffle ladder card stage and the bayonet socket 423 on the joint seat 421 break away from each other or the chucking, 5 cards of layer board after conveniently pulling down are put on the joint seat 421 on backplate 41.

The working process of the application is as follows:

this heavy burden helping hand ectoskeleton is in the course of the work, when dressing, the wearer places the sole on the fixed cover 14 of ankle, the front end of sole passes the opening and the instep supports the opening edge, pass the sole bandage and pass the round hole and close tightly with two connection pieces and the laminating of user ankle upper portion, the connecting plate lower extreme on thigh mechanism connecting piece 61 inserts in the interface channel 72 on the thigh fixed subassembly 21 and with first jack catch 26 lock joint, the connecting plate upper end on the ankle coupling assembling 22 inserts in the interface channel 72 on the shank fixed subassembly 33 and with corresponding first jack catch 26 lock joint, shank fixed plate 71 laminates wearer thigh and shank and ties up with the bandage, waist board 35 supports wearer's waist, backplate 41 supports wearer's back, accomplish and dress, wherein, through the adjustable bandage length of rotatory adjust knob in order to adapt to wearer's shank size.

When needs use layer board 5 bearing heavy object, insert layer board 5 connect after aiming at the slot on layer board installation department 351, spring screw revolves soon in layer board installation department 351 bottom, spring screw's upper end passes spacing hole on connecting and makes to connect difficult not hard up dislocation completion layer board 5 and the fastening installation between layer board installation department 351 after inserting in the slot, when needs pull down layer board 5, outwards pull out layer board 5 and make to connect synchronous outside removal, it can push down spring screw upper end to make spring screw break away from mutually with connecting until connecting and can follow the slot and pull out to connect in the process of outwards moving, when layer board 5 after taking off needs to place, the one end of installing the joint on layer board 5 up, the baffle lower extreme aims at regional downstream between two joint seats 421, can contact with joint seat 423 on the joint seat 421 gradually along with the gradual grow of the width of ladder joint section in the downstream process and until the ladder joint section of baffle both sides and the corresponding joint of the joint seat 421 of bayonet 423 of two joint seats are finished promptly Become placing of layer board 5, when the layer board of taking, only need upwards to rise layer board 5 make the ladder joint section of baffle both sides and the not hard up bayonet 423 of two joint seats 421 break away from can, the user can be according to the heavy burden demand change different shape sizes's layer board 5 install on layer board installation department 351 can.

When the installation height of the back plate 41 relative to the waist plate 35 needs to be adjusted, the claw 422 is rotated upwards, the claw 422 rotates upwards around the fourth pin, the fourth torsion spring 425 is in a pressing state, the hook part 426 on the claw 422 is separated from the adjusting hole on the adjusting plate 43, the adjusting plate 43 is moved downwards or upwards to enable the length of the adjusting plate 43 extending out of the back plate 41 to be lengthened or shortened, the installation height of the back plate 41 is adjusted, after the adjustment is completed, the claw 422 is loosened, under the elastic resetting action of the fourth torsion spring 425, the claw 422 rotates downwards around the fourth pin, the hook part 426 is buckled with the corresponding adjusting hole on the adjusting plate 43 again, and the buckled position between the buckled clamping seat 421 and the back plate 41 and the adjusting plate 43 is fixed mutually.

When the width of the exoskeleton waist mechanism needs to be reduced, the left connecting rod 31 and the right connecting rod 32 are further inserted into the left positioning sleeve 33 and the right positioning sleeve 34, the positioning blocks 36 move synchronously, the lengths of the left connecting rod 31 and the right connecting rod 32 inserted into the left positioning sleeve 33 and the right positioning sleeve 34 are lengthened, the lengths of the left connecting rod 31 and the right connecting rod 32 exposed out of the left positioning sleeve 33 and the right positioning sleeve 34 are reduced, and when the width is adjusted to the required width, the knob screw is screwed to enable the knob screw to tightly connect the corresponding positioning blocks 36, the left positioning sleeve 33 or the right positioning sleeve 34, the left connecting rod 31 or the right connecting rod 32 to finish the width narrowing adjustment of the exoskeleton waist mechanism; on the contrary, when the width of the exoskeleton waist mechanism needs to be increased, the knob screw is screwed to enable the corresponding positioning block 36, the left positioning sleeve 33 or the right positioning sleeve 34, and the left connecting rod 31 or the right connecting rod 32 to be loosened with each other, the left connecting rod 31 and the right connecting rod 32 are pulled out from the left positioning sleeve 33 and the right positioning sleeve 34, the lengths of the left connecting rod 31 and the right connecting rod 32 inserted into the left positioning sleeve 33 and the right positioning sleeve 34 are shortened, the lengths of the left connecting rod 31 and the right connecting rod 32 exposed out of the left positioning sleeve 33 and the right positioning sleeve 34 are increased, and when the required width is adjusted, the knob screw is screwed to enable the knob screw to tightly connect the corresponding positioning block 36, the left positioning sleeve 33 or the right positioning sleeve 34, and the left connecting rod 31 or the right connecting rod 32 to complete the width widening adjustment of the exoskeleton waist mechanism; when the rotation angle between the left connecting rod 31 and the right connecting rod 32 needs to be adjusted, the first knob screw is screwed to enable the left positioning sleeve 33 and the right positioning sleeve 34 to be rotatably adjusted around the first knob screw, and after the rotation is adjusted to the required rotation angle, the first knob screw is screwed to enable the left positioning sleeve 33, the right positioning sleeve 34 and the waist plate 35 to be fixedly connected.

When the wearing person carries out some actions like the action of squatting, the thigh is bent downwards and can be driven the fixed subassembly 21 of thigh to the crooked rotation that downwards, the fixed subassembly 21 of thigh rotates and can drive the relative third round pin axle of first connecting piece and rotate, the crooked compressing tightly of second torsional spring plays certain cushioning effect, after the wearing person carries out the action of completing the squatting and needs to play, can provide certain helping hand for the first connecting piece upwards rotates under second torsional spring elastic reset effect, first connecting piece rotates the back and can make the fixed subassembly 21 of thigh ascending lifting in step until recovering initial condition.

When squatting, the shank fixing component 22 can also bend and press down to enable the connecting plate on the ankle connecting component 11 to move forward, the connecting plate on the ankle connecting component 11 can rotate forward around the second pin shaft in the pressing process, the second elastic damping component 16 can be pressed in the rotating process, after the action is finished, the connecting plate on the ankle connecting component 11 and the connecting head 13 can be reset under the elastic resetting action of the second elastic damping component 16, when a user performs left-right shaking action, the connecting plate on the ankle connecting component 11 can rotate towards the left-right direction around the first pin shaft, the first elastic damping component 15 can be pressed in the rotating process, after the action is finished, the connecting plate on the ankle connecting component 11 can be reset under the elastic resetting action of the first elastic damping component 15, the buffer action of the first elastic damping component 15 and the second elastic damping component 16 can reduce impact and stress caused by certain actions, thereby effectively protecting ankle parts, the first elastic damping member 15 and the second elastic damping member 16 can also have a certain boosting effect under the elastic resetting action.

When the wearer rotates left and right, the left connecting rod 31 and the right connecting rod 32 can rotate left and right around the pin shaft at the first opening on the connecting seat 6, the first torsion spring 63 at the first opening can provide a certain elastic buffering effect, when the wearer rotates reversely, the first torsion spring 63 can elastically reset, so that the positions of the left connecting rod 31 and the right connecting rod 32 relative to the connecting seat 6 can be restored to the initial positions, and when the first torsion spring 63 elastically resets, a certain boosting effect can be provided for the reverse rotation of the body; the upper and lower motion of health can make thigh mechanism connecting piece 61 can rotate around the round pin axle of second opening part on connecting seat 6 around, and first torsion spring 63 at second opening part can provide certain elastic cushioning effect, and when reverse rotation, but first torsion spring 63 elastic reset for thigh mechanism connecting piece 61 restores to initial position relative to connecting seat 6 position, can provide certain helping hand effect for health reverse rotation when first torsion spring 63 elastic reset.

The above embodiments are illustrative of the present invention, and are not intended to limit the present invention, and any simple modifications of the present invention are within the scope of the present invention.

Claims

1. The utility model provides a heavy burden helping hand ectoskeleton, includes ankle mechanism, shank assist drive device, and ankle mechanism upper end links to each other its characterized in that with shank assist drive device: the waist adjusting mechanism is respectively connected with the leg boosting mechanism and the back adjusting mechanism and comprises a left connecting rod, a right connecting rod, a left positioning sleeve and a right positioning sleeve, the left positioning sleeve and the right positioning sleeve are rotatably connected and fixed on the waist plate through fasteners after rotating to a required angle, the left positioning sleeve and the right positioning sleeve are provided with chutes, the first ends of the left connecting rod and the right connecting rod are respectively inserted into the left positioning sleeve and the right positioning sleeve, the left connecting rod and the left positioning sleeve and the right connecting rod are tightly connected with the right positioning sleeve through adjusting fasteners after being inserted into required lengths, the waist plate is detachably mounted on the waist plate, and the adjusting fasteners can be adaptively connected with the left connecting rod or the right connecting rod through the chutes, the back adjustment mechanism comprises a back plate and an adjusting plate, the lower end of the adjusting plate is connected with the waist plate, the upper portion of the adjusting plate can be vertically slidably mounted on the back plate, the adjusting plate is fastened on the back plate through a clamping mechanism when sliding to a required height position, the clamping mechanism is mounted on the back plate, and the supporting plate can be clamped on the back plate through the clamping mechanism and detached from the waist plate.

2. The weight-assisted exoskeleton of claim 1 wherein: the ankle mechanism includes that ankle coupling assembling, supporting seat, connector and ankle are fixed, and ankle coupling assembling upper end links to each other with shank assist drive device, the supporting seat links to each other with the fixed cover of ankle, the upper and lower end of connector rotates with ankle coupling assembling, supporting seat respectively and is connected and makes ankle coupling assembling can follow X, Y direction motion, be connected with first elastic damping piece between ankle coupling assembling and the connector, be connected with second elastic damping piece between the bottom side of connector and the supporting seat, first elastic damping piece and second elastic damping piece mutually perpendicular set up.

3. The weight-assisted exoskeleton of claim 1 wherein: the leg assisting mechanism comprises a thigh fixing assembly, a shank fixing assembly and an assisting connecting mechanism, the assisting connecting mechanism comprises a first connecting piece, an elastic piece and a second connecting piece, the first connecting piece is connected with the thigh fixing assembly, the second connecting piece is connected with the shank fixing assembly, one side of the second connecting piece is connected with the first connecting piece in a rotating mode, the elastic piece is connected with the first connecting piece and the second connecting piece respectively, and the first connecting piece and the thigh fixing assembly are recovered to an initial state through the elastic piece.

4. The weight-assisted exoskeleton of claim 1 wherein: clamping mechanism includes the joint seat, the regulating plate can follow the reservation clearance between joint seat and the backplate and reciprocate, is equipped with a plurality of regulation holes on the vertical direction of regulating plate, be equipped with the through-hole on the joint seat, rotate on the joint seat and install the jack catch, and jack catch one end is equipped with incurve trip, and the through-hole can be passed and correspond to the trip when the jack catch rotates downwards the regulation hole lock joint is realized that regulating plate and joint seat, backplate relative position are fixed, and the jack catch with correspond when the jack catch rotates upwards the regulation hole breaks away from and makes regulating plate and joint seat, the mobile regulation of backplate relative position.

5. The weight-assisted exoskeleton of claim 4 wherein: the cavity that has bilateral symmetry is separated with the baffle in the middle part of the layer board, the baffle both sides are equipped with down narrow wide ladder joint section of going up, joint seat side is equipped with fore-and-aft bayonet socket, the ladder joint section and two of baffle both sides when the layer board is placed the bayonet socket of joint seat corresponds the joint, and joint in-process joint seat can remove in the cavity.

6. The weight-assisted exoskeleton of claim 1 wherein: the right-hand member of left side positioning sleeve is equipped with first connecting portion, right side positioning sleeve's left end is equipped with two parallel second connecting portions, first connecting portion insert between two second connecting portions when left side positioning sleeve is connected with right positioning sleeve, the fastener passes and links to each other with the wainscot behind first connecting portion and the second connecting portion.

7. The weight-assisted exoskeleton of claim 1 wherein: the upper end and the lower end of the left positioning sleeve and the right positioning sleeve are respectively provided with a positioning block in a matching way, the positioning blocks can move along the opening direction of the sliding grooves, and the adjusting fasteners are correspondingly connected with the positioning blocks.

8. The weight-assisted exoskeleton of claim 1 wherein: the second ends of the left connecting rod and the right connecting rod are horizontally and rotatably connected with one end of the thigh mechanism switching assembly, the other end of the thigh mechanism switching assembly is vertically and rotatably connected with the upper end of the thigh mechanism connecting piece, and the lower end of the thigh mechanism connecting piece is connected with the upper end of the leg power-assisted mechanism.

9. The weight-assisted exoskeleton of claim 8 wherein: thigh mechanism switching subassembly includes the connecting seat, and the one end of connecting seat is equipped with first opening along the horizontal direction, and the one end of connecting seat is equipped with the second opening along vertical direction, and the second end rotation of left connecting rod and right connecting rod is installed in first opening, thigh mechanism connecting piece upper end is rotated and is installed in the second opening.

10. The weight-assisted exoskeleton of claim 9 wherein: the second ends of the left connecting rod and the right connecting rod are connected with the connecting seat and the upper end side face of the thigh mechanism connecting piece is connected with the connecting seat through pin shafts, a first torsion spring is sleeved on the outer side of each pin shaft, and the end portion of each first torsion spring is connected with the corresponding connecting seat or the corresponding left connecting rod or the corresponding right connecting rod or the corresponding thigh mechanism connecting piece.