CN212706746U

CN212706746U - Exoskeleton supporting structure, leg exoskeleton and exoskeleton system

Info

Publication number: CN212706746U
Application number: CN202021001186.XU
Authority: CN
Inventors: 谭高辉; 杨静静; 韩小刚
Original assignee: Shenzhen Chwishay Smart Technology Co Ltd
Current assignee: Shenzhen Chwishay Smart Technology Co Ltd
Priority date: 2020-06-03
Filing date: 2020-06-03
Publication date: 2021-03-16
Anticipated expiration: 2030-06-03

Abstract

The utility model discloses an exoskeleton supporting structure, shank ectoskeleton and ectoskeleton system, exoskeleton supporting structure includes fixed unit, supporting element and mounting, and supporting element includes supporting part and spacing portion, and spacing portion inserts in the spacing passageway to can move in the spacing passageway, is provided with a plurality of first spacing mouths on the spacing portion, and/or is equipped with a plurality of second spacing mouths on the spacing passageway, and first spacing mouth can communicate with second spacing mouth, and the mounting can insert first spacing mouth, in the second spacing mouth; the leg exoskeleton comprises the exoskeleton supporting structure and a first framework; the exoskeleton system comprises the leg exoskeleton. The utility model discloses the position of the spacing portion of accessible adjustment in spacing passageway to insert the mounting in the first spacing mouth of the spacing mouth of second and difference, changed the relative position of fixed unit and support element, make more laminating between supporting part and the human body, improved the suitability of ectoskeleton and dressed the travelling comfort.

Description

Exoskeleton supporting structure, leg exoskeleton and exoskeleton system

Technical Field

The utility model belongs to the technical field of the ectoskeleton technique and specifically relates to an ectoskeleton bearing structure, shank ectoskeleton and ectoskeleton system are related to.

Background

The exoskeleton is taken as a power-assisted device, can drive a human body to perform corresponding operation after being worn on the human body, and is widely applied to the fields of military detection, mineral exploitation, postoperative rehabilitation and the like.

The traditional exoskeleton structure cannot adjust the fitting degree between the supporting structure and a human body, the supporting structure cannot be adapted to users with different body types, the comfort degree of the user wearing the exoskeleton is reduced, the human body cannot perform corresponding actions along with the force application of the exoskeleton, and the motion flexibility of the user is poor.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides an ectoskeleton bearing structure has improved the laminating degree of ectoskeleton bearing structure and human body.

The utility model discloses still provide a shank ectoskeleton that contains ectoskeleton bearing structure.

The utility model discloses still provide an ectoskeleton system who contains shank ectoskeleton.

In a first aspect, an embodiment of the present invention provides an exoskeleton supporting structure, including:

a fixing unit having a limit passage;

the supporting unit comprises a supporting part and a limiting part, the supporting part is connected with the limiting part, the limiting part is inserted into the limiting channel and can move in the limiting channel, a plurality of first limiting ports are arranged on the limiting part, and/or a plurality of second limiting ports are arranged on the limiting channel, and the first limiting ports can be communicated with the second limiting ports;

and the fixing piece can be inserted into the first limiting port and the second limiting port to limit the limiting part.

The embodiment of the utility model provides an ectoskeleton bearing structure has following beneficial effect at least:

the embodiment of the utility model provides an in, the position of the spacing portion of accessible adjustment in spacing passageway to insert the mounting in the first spacing mouth of the spacing mouth of second and difference, lock fixed unit and support element, make the two remain stable and be connected, and changed fixed unit and support element's relative position, make more laminating between supporting part and the human body, improved exoskeleton bearing structure's suitability and the travelling comfort of wearing.

According to the utility model discloses an ectoskeleton bearing structure of other embodiments, first spacing mouthful is followed the central line of spacing portion is evenly arranged.

According to the utility model discloses an ectoskeleton bearing structure of other embodiments, the spacing mouthful of second is located the lateral part of spacing passageway, first spacing mouthful is in the lateral part of spacing portion is evenly arranged.

According to the utility model discloses an ectoskeleton bearing structure of other embodiments still includes the regulating unit, the regulating unit includes the mounting panel, the mounting panel with the fixed unit links firmly, the mounting panel has the mounting groove, the mounting groove with the spacing mouthful intercommunication of second, the mounting rotate connect in the mounting groove, so that the mounting is close to or keeps away from the spacing mouthful of second.

According to the utility model discloses an ectoskeleton bearing structure of other embodiments, adjusting unit still includes the elastic component, the one end of elastic component with the mounting panel links firmly, the other end of elastic component supports holds the mounting.

According to other embodiments of the present invention, the exoskeleton supporting structure further comprises a fixing member, wherein the fixing member is fixed to the outer side of the exoskeleton supporting structure.

In a second aspect, an embodiment of the present invention provides a leg exoskeleton, comprising:

two of the exoskeleton support structures described above;

the fixing units in the two exoskeleton supporting structures are respectively arranged at two ends of the first framework, and the mounting directions of the two supporting units are opposite.

The embodiment of the utility model provides an in shank ectoskeleton have following beneficial effect at least:

the embodiment of the utility model provides an in the both ends of first skeleton are located to two ectoskeleton bearing structure branches in the shank ectoskeleton, support the different positions of human shank respectively to support unit's installation opposite direction makes two support unit support the human body from the place ahead and the rear of human shank respectively, with the atress demand that adapts to the different motion state of human body.

According to the utility model discloses a shank ectoskeleton of other embodiments still includes drive unit and second skeleton, the second skeleton with first skeleton rotates to be connected, drive unit with first skeleton the second skeleton is connected, drive unit is used for the drive first skeleton with the second skeleton rotates relatively.

According to the utility model discloses a shank ectoskeleton of other embodiments, install the support frame on the second skeleton.

In a third aspect, an embodiment of the present invention provides an exoskeleton system comprising the leg exoskeleton described above.

The embodiment of the utility model provides an ectoskeleton system has following beneficial effect at least:

the embodiment of the utility model provides an ectoskeleton system sets up the shank ectoskeleton and supports the shank of human body, makes ectoskeleton system be applicable to the user of different sizes, makes ectoskeleton system have higher practicality.

Drawings

Fig. 1 is a schematic structural view of an exoskeleton support structure according to some embodiments of the present invention;

FIG. 2 is an exploded schematic view of the exoskeleton support structure of FIG. 1;

fig. 3 is a schematic structural view of an exoskeleton support structure according to some embodiments of the present invention;

FIG. 4 is a schematic structural view of the outer skeletal support structure of FIG. 3 in another configuration;

fig. 5 is a schematic structural view of a leg exoskeleton according to some embodiments of the present invention;

FIG. 6 is an exploded view of the exoskeleton of the leg of FIG. 5;

fig. 7 is a schematic diagram of the use of the leg exoskeleton of fig. 5.

Detailed Description

The conception and the resulting technical effects of the present invention will be described clearly and completely with reference to the following embodiments, so that the objects, features and effects of the present invention can be fully understood. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art without inventive labor based on the embodiments of the present invention all belong to the protection scope of the present invention.

In the description of the embodiments of the present invention, if an orientation description is referred to, for example, the directions or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, only for convenience of description and simplification of description, but not for indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the embodiments of the present invention, if a feature is referred to as being "disposed", "fixed", "connected", or "mounted" on another feature, it can be directly disposed, fixed, or connected to the other feature or indirectly disposed, fixed, connected, or mounted on the other feature. In the description of the embodiments of the present invention, if "a plurality" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "more than", "less than" or "within" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.

Referring to fig. 1 and 2, the exoskeleton supporting structure of the present invention includes a fixing unit 100, a supporting unit 200 and a fixing member 300, wherein the supporting unit 200 is connected to the fixing unit 100, and the fixing member 300 limits the supporting unit 200 to adjust the relative position between the supporting unit 200 and the fixing unit 100. Specifically, the fixing unit 100 is provided with a limiting channel 110, the supporting unit 200 includes a supporting portion 210 and a limiting portion 220 connected to each other, the limiting portion 220 is inserted into the limiting channel 110 and can move in the limiting channel 110, so that the relative position of the supporting unit 200 and the fixing unit 100 changes, and the supporting portion 210 is used for the human body to combine to realize the wearing of the exoskeleton supporting structure: the limiting part 220 is provided with a plurality of first limiting ports 221, the fixing unit 100 is provided with a second limiting port 111, the position of the limiting part 220 in the limiting channel 110 is adjusted, different first limiting ports 221 can be communicated with the second limiting port 111, and the fixing piece 300 can penetrate into the first limiting ports 221 and the second limiting ports 111 to lock the fixing unit 100 and the supporting unit 200.

In this embodiment, the position of the limiting portion 220 in the limiting channel 110 can be adjusted, and the fixing member 300 is inserted into the second limiting opening 111 and the different first limiting openings 221, so as to lock the fixing unit 100 and the supporting unit 200, so that the fixing unit 100 and the supporting unit 200 are stably connected, and the relative positions of the fixing unit 100 and the supporting unit 200 are changed, so that the supporting portion 210 is more attached to the human body, and the applicability and wearing comfort of the exoskeleton supporting structure are improved.

It should be noted that, in this embodiment, one second position-limiting opening 111 is disposed in the position-limiting channel 110, and the position-limiting portion 220 is disposed with a plurality of first position-limiting openings 221, so that the position of the position-limiting portion 220 and the position of the fixing unit 100 can be adjusted by communicating and fixing the different first position-limiting openings 221 with the second position-limiting opening 111; conceivably, a plurality of second limiting ports 111 can be arranged in the limiting channel 110, and a first limiting port 221 can be arranged on the limiting part 220, so that different second limiting ports 111 are communicated with the first limiting port 221, and the position of the limiting part 220 in the limiting channel 110 can be adjusted; moreover, a plurality of first limiting openings 221 and a plurality of second limiting openings 111 can be arranged at the same time, and different first limiting openings 221 can be communicated with different second limiting openings 111, so that the position of the limiting part 220 can be adjusted.

The supporting part 210 in this embodiment is arc-shaped, which conforms to the bionic design principle and makes the supporting part 210 fit with the human body; in addition, the supporting portion 210 can be hollow, so that the weight of the exoskeleton supporting structure is reduced, the exoskeleton supporting structure is light and convenient to wear, the ventilation performance of the supporting portion 210 is improved, and the wearing experience of a user is optimized.

In this embodiment, the cross sections of the limiting channel 110 and the limiting portion 220 are rectangular, and it is conceivable that the limiting channel 110 and the limiting portion 220 may be configured in other shapes, such as circular or arc-shaped cross sections, on the premise of ensuring the sliding of the two. The first limiting openings 221 are uniformly distributed in the center of the limiting portion 220, the second limiting openings 111 are located in the center of the limiting channel 110, and the first limiting openings 221 and the second limiting openings 111 are locked in the center, so that the connection stability of the limiting portion 220 and the limiting channel 110 can be improved, and the stable connection of the limiting portion 220 and the limiting channel 110 is guaranteed. The mount 300 may be a pin, a threaded fastener, or the like.

In addition, in order to improve the tightness of the support portion 210 for wrapping the human body, a bandage (not shown) is further connected to the support portion 210, and the bandage can be tightened to enable the support portion 210 to be tightly attached to the human body, so that the followability of the exoskeleton supporting structure is improved.

Referring to fig. 3 and 4, in some embodiments, the first limiting openings 221 are disposed in a plurality of notches and are uniformly arranged at the side of the limiting portion 220, and the second limiting openings 111 are disposed at the side of the limiting channel 110 in a notch manner; the position of the position-limiting portion 220 in the position-limiting channel 110 is changed by moving the position-limiting portion 220, the second position-limiting opening 111 is communicated with different first position-limiting openings 221, and the fixing member 300 is inserted into the first position-limiting opening 221 and the second position-limiting opening 111 to limit the position of the position-limiting portion 220.

In addition, the exoskeleton supporting structure in this embodiment further includes an adjusting unit 400, the adjusting unit 400 includes a mounting plate 410, the mounting plate 410 is disposed on one side of the fixing unit 100 close to the first limiting port 221, the mounting plate 410 is fixedly connected to the fixing unit 100, the mounting plate 410 is provided with a mounting groove 411, the mounting groove 411 is communicated with the second limiting port 111, the fixing member 300 is accommodated in the mounting groove 411 in a rotating manner, and the fixing member 300 is close to or far away from the second limiting port 111 in the rotating process, so that the fixing member can be inserted into the second limiting port 111 to limit the limiting portion 220, or withdrawn from the second limiting port 111 to release the limiting portion 220. The limiting of the limiting part 220 can be realized by rotating the fixing piece 300, and the operation is more convenient.

The adjusting unit 400 further includes an elastic member 412, one end of the elastic member 412 is fixedly connected to the mounting plate 410, and the other end of the elastic member 412 abuts against the fixing member 300, so that the fixing member 300 continuously limits the limiting portion 220, and the fixing member 300 is prevented from sliding out of the second limiting opening 111. The elastic member 412 may be selected from a spring, a spring plunger structure, an elastic damping member, and the like.

The fixing member 300 in this embodiment includes a rotating end 310 and an operating end 320, the rotating end 310 extends into the deepest part of the mounting groove 411 and is rotatably connected with the bottom wall of the mounting groove 411, the operating end 320 is formed by the portion of the fixing member 300 extending from the mounting groove 411, and the fixing member 300 can be rotated in the mounting groove 411 by moving the operating end 320, so that the use is convenient; the side of the fixing member 300 has a protrusion 330, the protrusion 330 can limit the limiting portion 220, the protrusion 330 can be inserted into or away from the second limiting opening 111 along with the rotation of the fixing member 300, the elastic member 412 is connected to a side of the fixing member 300 opposite to the protrusion 330, and the fixing member 300 is continuously supported by the elastic member, so that the protrusion 330 continuously limits the limiting portion 220.

It should be noted that the mounting slot 411 has an opening for the operation end 320 to extend out, and the rotation amplitude of the fixing member 300 can be adjusted by changing the size of the opening of the mounting slot 411, so that the protrusion 330 can be withdrawn or extend into the second limiting opening 111.

In this embodiment, the first position-limiting opening 221 is formed at one side of the position-limiting portion 220, and the other side of the position-limiting portion 220 is attached to the inner side of the position-limiting channel 110 to realize position limitation; it is conceivable that the first limiting openings 221 may be formed on both sides of the limiting portion 220, the two second limiting openings 111 are symmetrically formed on both sides of the limiting channel 110, and both sides of the limiting channel 110 limit the limiting portion 220 at the same time, so that both sides of the limiting portion 220 are balanced.

Referring to fig. 5 and 6, the utility model also provides a leg ectoskeleton, including two foretell ectoskeleton bearing structure, still include first skeleton 500, two ectoskeleton bearing structure divide the both ends of locating first skeleton 500, support the different positions of human shank respectively to the installation opposite direction of support unit 200, promptly, two support unit 200 support the human body from the place ahead and the rear of human shank respectively, in order to adapt to the atress demand of the different motion state of human body.

In this embodiment, the first frame 500 is mainly used for supporting the thighs of the human body, and the two supporting parts 210 can wrap the upper and lower parts of the thighs of the human body respectively by adjusting the position of the supporting unit 200; the leg exoskeleton further comprises a second skeleton 600, the second skeleton 600 is rotatably connected with the first skeleton 500, the second skeleton 600 is arranged at the position of the lower leg of the human body and used for supporting the lower leg of the human body, in addition, a support frame 610 is arranged on the second skeleton 600, the support frame 610 has the same effect as the support part 210 and is used for being attached to and supporting the leg of the human body.

The joints of the first framework 500 and the second framework 600 are rotatably connected, and the joints at the upper end of the second framework 600 are also provided with a driving unit 700, and the driving unit 700 is used for driving the first framework 500 to rotate relative to the hip of a human body or the first framework 500 and the second framework 600 to rotate relative to each other, so as to provide assistance for the actions of stepping, squatting, standing and the like of a user. The driving unit 700 may employ a conventional elastic driver or a harmonic driver, etc.

Referring to fig. 7, the first skeleton 500 and the second skeleton 600 are located at the central position of the outer side of the leg of the human body, the exoskeleton supporting structure as shown in the second embodiment is arranged at one end of the first skeleton 500 close to the knee joint of the human body, and the supporting unit 200 is arranged at the front side of the thigh, so that the operating end 320 can be moved to adjust the fit degree of the supporting portion 210 and the human body; the first frame 500 is provided with an exoskeleton supporting structure as shown in the first embodiment at one end near the hip joint of the human body, the supporting unit 200 is provided at the rear side of the thigh, and the fixing unit 100 is mounted on the first frame 500, so that the position adjustment of the supporting unit 200 can be realized from the side of the thigh. The support frame 610 is located at the front side of the human body lower leg, and can be combined with the two support units 200 to support the human body leg.

When a user needs to walk, the driving unit 700 transmits power to the first skeleton 500 and the second skeleton 600, the first skeleton 500 rotates clockwise based on the knee joint, and the thigh part of the human body is lifted upwards under the supporting action of the two exoskeleton supporting structures; the second frame 600 rotates clockwise based on the knee joint, and the lower leg of the human body is lifted upwards under the supporting action of the supporting frame 610, so that the user is assisted to step forwards.

In addition, in this embodiment, the first frame 500 is provided with an exoskeleton supporting structure near one end of the knee joint, the second frame 600 is provided with a support frame 610 near the knee joint, the exoskeleton supporting structure and the support frame 610 are both disposed at the front side of the legs of the human body, and the two can be combined to apply a backward supporting force to the legs of the human body, so as to prevent the knee joint of the human body from being over-stretched and prevent the user from being injured.

The assembly of the exoskeleton supporting structure and the supporting frame 610 is not limited to the above form, and the exoskeleton supporting structure and the supporting frame can be installed in a plurality of areas of the legs of the human body or symmetrically arranged at the front side and the rear side of the legs of the human body on the premise of meeting the requirement of supporting the human body.

The utility model also provides an ectoskeleton system, this ectoskeleton system include foretell shank ectoskeleton for support the shank of human body, and be applicable to the user of different sizes. The exoskeleton system can also comprise a waist exoskeleton structure, an ankle exoskeleton structure and the like which are adjacent to the leg exoskeleton so as to enable the exoskeleton system to meet the use requirements of different users.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art. Furthermore, the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

Claims

1. An exoskeleton support structure comprising:

a fixing unit having a limit passage;

the supporting unit comprises a supporting part and a limiting part, the supporting part is connected with the limiting part, the limiting part is inserted into the limiting channel and can move in the limiting channel, a plurality of first limiting ports are formed in the limiting part, and/or a plurality of second limiting ports are formed in the limiting channel, and the first limiting ports can be communicated with the second limiting ports;

the fixing piece can be inserted into the first limiting port and the second limiting port.

2. The exoskeleton support structure of claim 1 wherein the first restraint ports are evenly arranged along a center line of the restraint portion.

3. The exoskeleton support structure of claim 2 wherein the second restraint ports are located on the sides of the restraint channels and the first restraint ports are evenly spaced on the sides of the restraint channels.

4. The exoskeleton support structure of claim 3 further comprising an adjustment unit, the adjustment unit comprising a mounting plate, the mounting plate being fixedly connected to the fixing unit, the mounting plate having a mounting slot, the mounting slot being in communication with the second port, the fixing member being rotatably connected within the mounting slot such that the fixing member is closer to or farther from the second port.

5. The exoskeleton support structure of claim 4 wherein said adjustment unit further comprises a resilient member, one end of said resilient member being fixedly connected to said mounting plate and the other end of said resilient member abutting said fixing member.

6. The exoskeleton support structure of claim 4 wherein one end of said fixed member extends from said mounting slot to form an operative end.

7. A leg exoskeleton, comprising:

two exoskeleton support structures as claimed in any one of claims 1 to 6;

8. The leg exoskeleton of claim 7 further comprising a drive unit and a second frame, said second frame being rotatably coupled to said first frame, said drive unit being coupled to said first frame and said second frame, said drive unit being configured to drive said first frame and said second frame to rotate relative to each other.

9. The leg exoskeleton of claim 8 wherein said second frame has a support frame mounted thereon.

10. An exoskeleton system comprising a leg exoskeleton as claimed in any one of claims 7 to 9.