CN216940671U

CN216940671U - Passive lower limb exoskeleton

Info

Publication number: CN216940671U
Application number: CN202121348709.2U
Authority: CN
Inventors: 尹鹏; 黄勇; 关文江; 齐关宇; 王智锋
Original assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Current assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Priority date: 2021-06-17
Filing date: 2021-06-17
Publication date: 2022-07-12
Anticipated expiration: 2031-06-17

Abstract

The utility model relates to a passive lower extremity exoskeleton comprising: the back unit comprises a back supporting plate, and the back supporting plate is used for loading heavy objects; the waist unit is movably connected with the back unit; the waist unit is movably connected with the thigh unit through the hip joint; the thigh unit is movably connected with the crus unit through the knee joint; the energy storage supporting mechanism is arranged in the thigh unit and connected with the shank unit, stores energy when the thigh unit bends relative to the shank unit, and automatically releases supporting force when the thigh unit and the shank unit return to the upright positions; and the lower leg unit is movably connected with the foot unit through the ankle joint. The energy storage supporting mechanism can automatically release supporting force, so that the power is provided for the knee joint of the human body, and a wearer can be assisted to carry out heavy-load labor more comfortably, safely and efficiently.

Description

Passive lower limb exoskeleton

Technical Field

The utility model relates to the technical field of exoskeleton equipment, in particular to a passive lower limb exoskeleton.

Background

With the development of modern war, the weapon equipment is continuously improved, and the soldier is on the back and is on the weight more and more, and the fighting capacity and the health condition of the soldier are directly influenced. In recent years, the exoskeleton applied to physical performance enhancement as a wearable mechanical device with powerful functions is more and more emphasized by numerous scholars and scientific researchers at home and abroad, becomes a new research hotspot, and starts to be gradually applied to the military field. The term exoskeleton is derived from the hard shells of insects and shellfishes in biology, and mainly provides protection and support functions for insects and shellfishes. The human body mechanical exoskeleton system is worn outside the body of an operator, provides extra power or capacity for the wearer on the basis of providing functions such as protection, body support and the like for the operator, enhances the human body function, and can complete certain functions and tasks under the control of the operator.

The passive lower limb exoskeleton is a human body load-bearing assisting device, a set of external supports are designed for a wearer, the limb dynamic sense of the wearer is amplified while the weight of an external hanging object is conducted to the ground, the soldier operation capacity is enhanced, the action flexibility of the soldier is kept, the passive lower limb exoskeleton can enhance the load-bearing capacity of the soldier, reduce the fatigue degree of the soldier, reduce the injury probability, improve the fighting capacity and effectively solve the soldier physical problems in urban complex terrain environments and plateau mountain anoxic environments on the premise of not limiting the motion flexibility. The passive lower limb exoskeleton is to realize human body assistance, the 'rigidity' is embodied to support the load of a human body when the support phase is required, the load does not interfere the normal walking of the human body when the swing phase is required, the minimum human-computer interaction force is achieved, and the passive lower limb exoskeleton and the swing phase have obviously different functional requirements and the essential connection of 'the same mechanical structure'.

However, the existing passive lower limb exoskeleton device is not reasonable enough in structural design, the path for transmitting gravity to the ground is staggered and complex, and effective transmission of gravity to the ground cannot be realized, so that the load of a wearer is still high, and the comfort and the safety are poor.

SUMMERY OF THE UTILITY MODEL

Therefore, a passive lower limb exoskeleton is needed to be provided, and the problem that in the prior art, gravity cannot be effectively transmitted to the ground, so that the load of a wearer is high, and the comfort and the safety are affected is solved.

The present application provides a passive lower extremity exoskeleton comprising:

a back unit comprising a back pallet for carrying a weight;

the waist unit is movably connected with the back unit;

the waist unit is movably connected with the thigh unit through the hip joint;

the thigh unit is movably connected with the shank unit through the knee joint;

the energy storage supporting mechanism is arranged in the thigh unit and connected with the shank unit, and is used for storing energy when the thigh unit bends relative to the shank unit, and automatically releasing supporting force when the thigh unit and the shank unit return to the upright position; and

the ankle joint and foot unit, the shank unit passes through the ankle joint with foot unit swing joint.

The passive lower limb exoskeleton is used for enabling a wearer to wear the exoskeleton on the body, particularly on the back and lower limb parts of the body, and is used for reducing physical loss of the wearer during heavy-duty labor. Specifically, when a wearer carries heavy objects, the heavy objects can be placed on the back supporting plate, at the moment, the gravity generated by the heavy objects is transmitted to the waist unit through the back supporting plate, then is transmitted to the foot unit along the waist unit, the hip joint, the thigh unit, the knee joint, the calf unit and the ankle joint, and is finally transmitted to the ground from the foot unit, the whole transmission path of the gravity is straight downward, the transmission path of the gravity is short, the gravity is transmitted to the ground efficiently, and the load of the wearer can be effectively reduced; in addition, when the wearer arrives at a destination and releases the heavy object to the ground, the body of the wearer bends at the moment, namely the thigh unit bends relative to the shank unit, and the energy storage supporting mechanism starts to store energy; after the heavy objects are placed, the energy storage supporting mechanism can automatically release supporting force, so that the thigh supporting unit rotates upwards relative to the shank supporting unit and restores to an upright posture, the power assisting effect is provided for the knee joint of the human body, the stress of the knee joint of the human body and the force required by the wearer for restoring the standing posture are reduced, and the wearer can be assisted to carry out heavy-duty labor more comfortably, safely and efficiently.

The technical solution of the present application is further described below:

in one embodiment, the passive lower limb exoskeleton further comprises a waist and back adjusting and locking device, the back unit further comprises a back plate, a back supporting bar and a back belt, the waist unit comprises a waist and back plate and a waist supporting bar, the back supporting bar is rotatably arranged on the waist and back plate, the back plate is connected with the waist and back plate through the back supporting bar, and the back belt is connected with the back plate and is used for being fixed on the shoulder of a wearer; the waist back plate is connected with one end of the waist supporting rod in an adjustable and locking mode through the waist and back adjusting and locking device, and the other end of the waist supporting rod is connected with the hip joint.

In one embodiment, at least two first adjusting holes are formed in the back supporting bar at intervals along the height direction of the passive lower limb exoskeleton, and the waist back plate can be selectively connected with any one of the first adjusting holes in a buckling mode through a buckle so as to realize the adjustment of the distance between the back plate and the waist back plate;

the back supporting plate is arranged in an upward inclined mode and forms an acute angle with the back plate.

In one embodiment, a waist-shaped hole is formed in the waist back plate along the horizontal direction, and the waist-back adjusting and locking device is slidably arranged in the waist-shaped hole for fixing, so that the width adjustment of the waist unit is realized.

In one embodiment, the thigh unit comprises a thigh supporting bar, a thigh skeleton and a thigh joint seat, the shank unit comprises a shank joint seat, and the thigh joint seat and the shank joint seat are rotatably connected through the knee joint; the thigh framework is connected with the hip joint through the thigh support strip, the thigh framework adopts a hollow structure design, and the energy storage support mechanism is arranged in a hollow cavity of the thigh framework;

the energy storage supporting mechanism comprises a pull rope pressing block, a pull rope and a thigh pressure spring, the thigh pressure spring is arranged between the pull rope pressing block and the shank joint seat, one end of the pull rope is connected with the pull rope pressing block, and the other end of the pull rope penetrates through the thigh joint seat and then is connected with the shank joint seat.

In one embodiment, the energy storage support mechanism further comprises a pull rope length adjusting assembly, the lower leg unit further comprises a lower leg framework connected with the lower leg joint seat, the lower leg framework is designed to be of a hollow structure, the pull rope length adjusting assembly is arranged in a hollow cavity of the lower leg framework and connected with the pull rope, and the pull rope length adjusting assembly is used for adjusting the initial length of the pull rope to achieve stepless adjustment of the initial elasticity of the thigh pressure spring.

In one embodiment, the thigh support bar is provided with at least two second adjusting holes at intervals along the height direction of the passive lower limb exoskeleton, and the thigh framework can be selectively connected with any one of the second adjusting holes in a buckling mode through a buckle so as to realize length adjustment of the thigh unit;

the thigh unit further comprises a thigh baffle and a thigh strap, the thigh baffle is arranged on the thigh framework, and the thigh strap is connected between the thigh baffle and the thigh framework;

the thigh baffle is provided with a first heat dissipation hole.

In one embodiment, the lower leg unit further comprises a lower leg support bar, the lower leg skeleton is connected with the lower leg support bar, and the lower leg support bar is movably connected with the foot unit through the ankle joint;

the shank support bar is provided with at least two third adjusting holes arranged at intervals along the height direction of the passive lower limb exoskeleton, and the shank skeleton can be selected to be connected with any one of the third adjusting holes in a buckling mode through a buckle so as to realize the length adjustment of the shank unit.

In one embodiment, the shank unit further comprises a shank baffle and a shank strap, the shank baffle is arranged on the shank skeleton, and the shank strap is connected to the shank baffle and the shank skeleton support;

the shank baffle is provided with a second heat dissipation hole.

In one embodiment, the foot unit includes an ankle support, a sole plate to which the ankle is connected through the ankle support, and a foot strap disposed on the sole plate;

the foot bandage is provided with an adjusting buckle, and the adjusting buckle is used for enabling the length of the foot bandage to be adjustable.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a passive lower extremity exoskeleton in accordance with an embodiment of the present invention;

fig. 2 is a schematic structural diagram of fig. 1 from another view angle.

Description of reference numerals:

10. a back unit; 11. a back support plate; 12. a back plate; 13. a back support bar; 14. a harness; 20. a weight; 30. a lumbar unit; 31. a lumbar back panel; 32. a waist support bar; 33. a waistband; 40. a hip joint; 50. a thigh unit; 51. a thigh support bar; 52. a thigh skeleton; 53. a thigh joint seat; 54. a thigh baffle; 541. a first heat dissipation hole; 55. a thigh strap; 60. a knee joint; 70. a shank unit; 71. a crus joint seat; 72. a shank support bar; 73. a shank baffle; 731. a second heat dissipation hole; 74. a shank binding band; 75. a shank skeleton; 80. an energy storage support mechanism; 81. pulling a rope and pressing a block; 82. pulling a rope; 83. a thigh pressure spring; 90. an ankle joint; 100. a foot unit; 110. an ankle joint support seat; 120. a foot plate; 130. a foot strap; 200. a waist and back adjusting and locking device; 300. stay cord length adjustment subassembly.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

Referring to fig. 1, a passive lower extremity exoskeleton is disclosed according to an embodiment of the present invention, which is designed to help people walk with heavy loads, increase walking ability and speed, and reduce fatigue after long-distance trekking. Therefore, the method has important application value in the military field, and can be widely applied to civil fields such as rescue and relief work, climbing, building, industrial assistance and the like.

The passive lower limb exoskeleton designs an in-vitro support for a wearer mainly according to the concept of bionics, the limb dynamic sense of the wearer is amplified by transmitting the weight of an external hanging object to the ground, the operation capacity of a soldier is enhanced, the mobility of the soldier is kept, the passive lower limb exoskeleton is not limited by ground road conditions, weather environments, operation time and space, the exoskeleton can be coordinated and consistent with the movement of four limbs of the user due to the anthropomorphic structural design, a load is transferred to a leg and the ground through the exoskeleton skeleton, and the load experienced by the soldier is only 40% or even lower of the actual load, so that the physical consumption of the soldier is greatly reduced, the soldier still keeps more vigorous physical ability after high-strength operation, and the operation efficiency is improved. The passive lower limb exoskeleton is mainly designed to enhance the human body load bearing capacity and reduce the human body metabolic consumption, and has important significance in research of individual operation, especially aiming at urgent application requirements of individual carrying maneuver, patrol, combat and other operations in high-cold and high-altitude environments.

With continuing reference to fig. 1 and 2, in an exemplary embodiment, the passive lower extremity exoskeleton comprises: a back unit 10, a waist unit 30, a hip joint 40, a thigh unit 50, a knee joint 60, a lower leg unit 70, an energy storing support mechanism 80, a foot unit 100, and an ankle joint 90.

The back unit 10 comprises a back pallet 11, the back pallet 11 is used for loading a heavy object 20; the waist unit 30 is movably connected with the back unit 10; the waist unit 30 is movably connected with the thigh unit 50 through the hip joint 40; the thigh unit 50 is movably connected with the shank unit 70 through the knee joint 60; the energy storage supporting mechanism 80 is arranged in the thigh unit 50 and connected with the shank unit 70, when the thigh unit 50 bends relative to the shank unit 70, the energy storage supporting mechanism 80 stores energy, and when the thigh unit 50 and the shank unit 70 return to the upright position, the energy storage supporting mechanism 80 automatically releases supporting force; the lower leg unit 70 is movably connected to the foot unit 100 via the ankle joint 90.

In summary, the implementation of the technical solution of the present embodiment has the following beneficial effects: the passive lower limb exoskeleton is used for enabling a wearer to wear the exoskeleton on the body, particularly on the back and lower limb parts of the body, and is used for reducing physical loss of the wearer during heavy-duty labor. Specifically, when the wearer carries the weight 20, the weight 20 may be placed on the back pallet 11, and at this time, the weight generated by the weight 20 is transmitted to the waist unit 30 via the back pallet 11, then transmitted to the foot unit 100 along the waist unit 30, the hip joint 40, the thigh unit 50, the knee joint 60, the calf unit 70, and the ankle joint 90, and finally transmitted to the ground from the foot unit 100, and the entire transmission path of the weight is straight downward, the transmission path is short, the transmission of the weight to the ground is efficient, and the load of the wearer can be effectively reduced; in addition, when the wearer arrives at the destination to release the weight 20 to the ground, the body of the wearer bends, that is, the thigh unit 50 bends relative to the shank unit 70, and the energy storage supporting mechanism 80 starts to store energy; after the weight 20 is placed, the energy storage supporting mechanism 80 automatically releases supporting force, so that the thigh unit 50 is supported to rotate upwards relative to the shank unit 70 and restore to an upright posture, assistance is provided for the human knee joint 60, stress of the human knee joint 60 and force required by a wearer for restoring the standing posture are reduced, and the wearer is assisted to carry out heavy-load labor, so that the support is more comfortable, safe and efficient.

With continuing reference to fig. 1 and 2, in the above embodiment, the passive lower extremity exoskeleton further comprises a waist and back adjusting and locking device 200, the back unit 10 further comprises a back plate 12, a back support bar 13 and a back belt 14, the waist unit 30 comprises a waist back plate 31 and a waist support bar 32, the back support plate 11 is rotatably disposed on the waist back plate 31, the back plate 12 is connected with the waist back plate 31 through the back support bar 13, and the back belt 14 is connected with the back plate 12 and is used for being fixed on the shoulder of the wearer; the waist back plate 31 is connected with one end of the waist support rod 32 in an adjustable and locking way through the waist and back adjusting and locking device 200, and the other end of the waist support rod 32 is connected with the hip joint 40.

In the back unit 10, the back pallet 11 and the back plate 12 serve as main force bearing parts, and when the weight 20 is placed on the back pallet 11, the weight of the weight 20 is firstly borne and transmitted. The weight of the load on the back is transmitted upward to the shoulder straps 14 through a part of the back splint 11 via the back support bar 13 and the back plate 12, and is borne by the shoulders of the wearer. Another portion of the weight is transferred down through the lumbar back panel 31 to the lumbar unit 30.

With reference to fig. 1, the waist unit 30 includes a waist belt 33, two ends of the waist belt 33 are respectively connected to the hip joints 40 at two sides, and two straps 14 are provided, and one end is connected to the waist belt 33, so as to realize the fastening and binding of the back unit 10 to the back of the wearer.

The waist back plate 31 can be movably adjusted by the waist and back adjusting and locking device 200 and the waist support rod 32, so that the length of the back unit 10 can be adjusted according to the back lengths of different wearers, and then the waist and back adjusting and locking device 200 is locked, so that the back unit 10 can be well suitable for the current wearer.

In some embodiments, at least two first adjusting holes are formed in the back supporting bar 13 at intervals along the height direction of the passive lower extremity exoskeleton, and the lumbar plate 31 can be selectively connected with any one of the first adjusting holes by a buckle in a buckling manner, so as to realize the adjustment of the distance between the back plate 12 and the lumbar plate 31, that is, the length adjustment of the back unit 10 is completed, so that the back unit 10 can be adapted to the wearing requirements of different wearers, and the application range of the exoskeleton device is widened.

With continued reference to fig. 2, the back splint 11 is disposed obliquely upward and forms an acute angle with the back plate 12. Specifically, in this embodiment, the angle between the back splint 11 and the back splint 12 is preferably 75 °. Can prevent like this that the back bears a burden landing backward, and can make the center of heavy object 20 paste more and lean on the wearer's back, reduce the moment of heavy object 20 to the human waist, make the heavy burden sense that the wearer felt lower, promote the wearer comfort.

Further, a waist-shaped hole is formed in the waist back plate 31 along the horizontal direction, and the waist and back adjusting and locking device 200 is slidably disposed in the waist-shaped hole for fixation, so as to adjust the width of the waist unit 30. For example, the length of the kidney-shaped hole is set to 60 mm. The waist and back adjusting and locking device 200 is a screw. When the screws slide in the waist-shaped holes and are adjusted in place, the screws are locked, and the width of the waist unit 30 is flexibly adjusted, so that the wearing requirements of wearers with different body sizes and widths are met.

In this embodiment, the hip joint 40 has three rotational degrees of freedom in three spatial directions, namely flexion/extension, adduction/abduction and left/right rotational degrees of freedom, to match the movement of the hip joint 40 of the human body. The waist belt 33 realizes the connection between the exoskeleton waist unit 30 and the waist of the human body, specifically, one end of the waist belt 33 is connected to the exoskeleton waist unit 30 through a connecting structure such as a magic tape, a splint screw and the like, and the other end is bound to the waist of the human body through a connecting structure such as a mesh belt, a buckle, a ring buckle and the like.

With continued reference to fig. 1 and 2, in some embodiments, the thigh unit 50 includes a thigh support bar 51, a thigh frame 52 and a thigh joint seat 53, the shank unit 70 includes a shank joint seat 71, and the thigh joint seat 53 and the shank joint seat 71 are rotatably connected by the knee joint 60; the thigh framework 52 is connected with the hip joint 40 through the thigh support bar 51, the thigh framework 52 adopts a hollow structure design, and the energy storage support mechanism 80 is arranged in a hollow cavity of the thigh framework 52.

The weight transferred downwards by the back unit 10 enters the thigh unit 50, and specifically the weight is transferred to the thigh frame 52 through the thigh support bar 51 and then to the thigh joint seat 53, so as to further transfer the weight of the weight 20 to the ground.

The energy storage supporting mechanism 80 is arranged in the hollow cavity of the thigh framework 52, the thigh framework 52 forms hidden installation for the energy storage supporting mechanism 80, the exoskeleton device is more attractive, and meanwhile, the thigh framework 52 also plays a role in protecting the energy storage supporting mechanism 80.

With reference to fig. 2, in some embodiments, the energy-storing supporting mechanism 80 includes a rope-pulling pressing block 81, a rope-pulling 82 and a thigh compression spring 83, the thigh compression spring 83 is disposed between the rope-pulling pressing block 81 and the crus joint seat 71, one end of the rope-pulling 82 is connected to the rope-pulling pressing block 81, and the other end thereof passes through the thigh joint seat 53 and then is connected to the crus joint seat 71. When the knee joint 60 is bent, the pull rope 82 moves downwards to drive the pull rope pressing block 81 to compress the thigh compression spring 83, so that energy storage is realized, energy is released in the process that the knee joint 60 is restored to be upright from bending, and assistance is provided for the human knee joint 60, so that the stress of the human knee joint 60 is relieved.

The knee joint 60 is set to have a degree of freedom in the flexion/extension direction, and the stay 82 rotates along the outer contour surface of the lower leg joint seat 71 during flexion of the knee joint 60. The outer contour adopts a cam-shaped wire, and the diameter of the cam is 35mm when the pull rope 82 is wound to a position of 60 degrees from the beginning; at the position greater than 60 degrees, the cam diameter becomes 50 mm; the large circular contour and the small circular contour of the cam are connected in a smooth transition mode.

With reference to fig. 2, further, the energy storage supporting mechanism 80 further includes a pull rope length adjusting assembly 300, the lower leg unit 70 further includes a lower leg skeleton 75 connected to the lower leg joint seat 71, the lower leg skeleton 75 is designed to be hollow, the pull rope length adjusting assembly 300 is disposed in a hollow cavity of the lower leg skeleton 75 and connected to the pull rope 82, and the pull rope length adjusting assembly 300 is configured to adjust an initial length of the pull rope 82 to achieve stepless adjustment of an initial elastic force of the thigh compression spring 83. Therefore, the passive stretching force and the restoring force in the vertical process of the knee joint 60 in the bending process can be changed, and the supporting force requirements of wearers under different load working conditions are met. The pulling rope 82 passes through the thigh joint seat 53 and then passes through the shank joint seat 71, and is fixedly connected with the length adjusting device of the pulling rope 82. At this time, the pulling rope 82 is hidden inside the thigh joint seat 53 and the shank joint seat 71, so that the safety of the pulling rope 82 is ensured, and the beauty of the exoskeleton device is improved.

In one embodiment, the thigh support strip 51 is provided with at least two second adjusting holes at intervals along the height direction of the passive lower extremity exoskeleton, and the thigh frame 52 can be alternatively connected with any one of the second adjusting holes by a buckle so as to realize the length adjustment of the thigh unit 50. For example, in this embodiment, the thigh support strip 51 is evenly provided with 8 square holes with a width of 10mm and a distance of 15mm, and according to the heights of different wearers, the thigh frame 52 can be connected with any one of the second adjusting holes through a buckle in a buckling manner, so that the thigh units 50 with different lengths can be obtained, the thigh segment lengths of different crowds can be adapted, and the applicability of the exoskeleton device can be improved.

With continued reference to fig. 1 and 2, the thigh unit 50 further includes a thigh flap 54 and a thigh strap 55, the thigh flap 54 is disposed on the thigh frame 52, and the thigh strap 55 is connected between the thigh flap 54 and the thigh frame 52. The thigh baffle 54 is fixedly connected with the thigh framework 52 by screws, and the connection is stable and reliable. The thigh baffles 54 are closely attached to the thighs of the wearer and are used for transmitting human-computer interaction force to the thighs of the human body along the normal direction, and the thigh baffles 54 are arranged in the largest area to reduce local pressure. The thigh straps 55 are used to ensure that the thigh panels 54 are in close proximity to the thighs of the wearer. Alternatively, the thigh strap 55 is made of a textile material with elasticity, and is adhesively fixed by a hook and loop fastener.

Referring to fig. 2, the thigh baffle 54 is provided with a first heat dissipation hole 541. So as to achieve the purposes of weight reduction and heat dissipation. Preferably, the first heat dissipation holes 541 are disposed at three intervals, and the heat dissipation holes are oval through holes, so as to further enhance the weight reduction and heat dissipation effects.

With reference to fig. 2, on the basis of any of the above embodiments, the lower leg unit 70 further includes a lower leg support bar 72, the lower leg skeleton 75 is connected to the lower leg support bar 72, and the lower leg support bar 72 is movably connected to the foot unit 100 through the ankle joint 90. The weight transferred downward from the thigh unit 50 is further transferred to the lower leg support bar 72 through the lower leg skeleton 75, and finally transferred to the ground by the ankle joint 90 and the foot unit 100, thereby achieving a reduction in the load on the wearer.

At least two third adjusting holes which are arranged at intervals are formed in the shank supporting bar 72 along the height direction of the passive lower limb exoskeleton, and the shank skeleton 75 can be selected to be in buckle connection with any third adjusting hole through a buckle so as to realize the length adjustment of the shank unit 70. So as to adapt to the lengths of the lower leg segments of different people and improve the application range of the exoskeleton device.

With continued reference to fig. 1 and fig. 2, further, the lower leg unit 70 further includes a lower leg flap 73 and a lower leg strap 74, the lower leg flap 73 is disposed on the lower leg skeleton 75, and the lower leg strap 74 is connected to the lower leg flap 73 and the lower leg skeleton 75 bracket. The shank baffle 73 is fixedly connected with the shank framework 75 by screws, the shank baffle 73 is tightly attached to the shank of the wearer, the function of the shank baffle 73 is to transmit human-computer interaction force to the shank of the wearer along the normal direction, and the shank baffle 73 is arranged in the largest area as possible to relieve local pressure. The calf bandage 74 is used for ensuring that the calf baffle 73 is tightly attached to the calf of the wearer, the calf bandage 74 is fixedly connected with the calf baffle 73 and the calf skeleton 75 respectively, the calf bandage 74 is made of elastic textile materials, and adhesion and fixation are achieved through magic tape.

Referring to fig. 1, the shank baffle 73 has a second heat dissipating hole 731. So as to achieve the purposes of weight reduction and heat dissipation. Preferably, the second heat dissipation holes 731 are two arranged at intervals, and the heat dissipation holes are elliptical through holes with large hole areas, so as to further enhance the weight reduction and heat dissipation effects.

Further, in any of the above embodiments, the foot unit 100 includes an ankle support base 110, a sole plate 120, and a foot strap 130, the ankle 90 is connected to the sole plate 120 through the ankle support base 110, and the foot strap 130 is provided on the sole plate 120. The foot unit 100 is connected to the ankle support base 110 through the ankle 90, and transmits the weight 20 transmitted from the small leg unit 70 to the ground, and since the weight is not transmitted through the muscles and the inner frame of the human body, the weight of the human body can be reduced. The ankle joint 90 sets two degrees of freedom in two directions, namely anteflexion/retroflexion and adduction/supination, and the left-hand/right-hand degree of freedom of the foot ankle joint 90 is shared with the hip joint 40; the degrees of freedom of the exoskeleton ankle joint 90 are completely matched with the degrees of freedom of the human ankle joint 90, so that the exoskeleton and the human body can move in the same direction.

Specifically, in this embodiment, the ankle joint support seat 110 is fixedly connected to the strap with screws, and the other end of the strap is connected to the sole plate 120.

The foot unit 100 wraps the feet of a person closely with the sole plate 120 through front and rear straps of the feet, and the foot straps 130 are provided with adjusting buckles for making the length of the foot straps 130 adjustable to suit the sizes of different feet of the person. Alternatively, the adjustment buckle may be, but is not limited to, a magnetic buckle, a telescoping buckle, or the like.

In summary, after the exoskeleton is worn by a human body, the weight 20 is placed on the back support plate 11, part of the weight 20 is transmitted to the ground through the back unit 10, the waist unit 30, the thigh unit 50, the calf unit 70 and the foot unit 100, specifically, part of the weight 20 is transmitted to the lumbar back plate 31 through the back support plate 11, then transmitted to the waist support bar 32, then transmitted to the thigh framework 52 through the hip joint 40 and the thigh support bar 51, and then transmitted to the ground through the thigh joint seat 53, the calf joint seat 71, the calf framework 75, the calf support bar 72, the ankle joint 90 and the ankle joint support seat 110, respectively, so as to reduce the load on the human body.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims

1. A passive lower extremity exoskeleton, said passive lower extremity exoskeleton comprising:

a back unit comprising a back pallet for carrying a weight;

the waist unit is movably connected with the back unit;

the waist unit is movably connected with the thigh unit through the hip joint;

the thigh unit is movably connected with the shank unit through the knee joint;

2. The passive lower extremity exoskeleton of claim 1 further comprising a lumbar adjustment locking device, said back unit further comprising a back plate, a back support bar and a back strap, said back unit comprising a lumbar back plate and a lumbar support bar, said back plate rotatably disposed on said lumbar back plate, said back plate connected to said lumbar back plate via said back support bar, said back strap connected to said back plate and adapted to be secured to a wearer's shoulder; the waist back plate is connected with one end of the waist supporting rod in an adjustable and locking mode through the waist and back adjusting and locking device, and the other end of the waist supporting rod is connected with the hip joint.

3. The passive lower extremity exoskeleton of claim 2 wherein said back support bar has at least two first adjustment holes spaced apart along the height direction of said passive lower extremity exoskeleton, and said lumbar back plate is selectively snap-coupled to any of said first adjustment holes by a snap to enable adjustment of the distance between said back plate and said lumbar back plate;

4. The passive lower extremity exoskeleton of claim 2 wherein said waist back plate has a waist-shaped hole along a horizontal direction, and said waist and back adjustment locking device is slidably disposed in said waist-shaped hole for fixation, so as to achieve width adjustment of said waist unit.

5. The passive lower extremity exoskeleton of claim 1 wherein said thigh unit comprises a thigh support bar, a thigh skeleton and a thigh joint seat, said shank unit comprises a shank joint seat, said thigh joint seat and said shank joint seat are pivotally connected by said knee joint; the thigh framework is connected with the hip joint through the thigh support strip, the thigh framework adopts a hollow structure design, and the energy storage support mechanism is arranged in a hollow cavity of the thigh framework;

6. The passive lower limb exoskeleton of claim 5 wherein the energy storage support mechanism further comprises a pull cord length adjustment assembly, the lower leg unit further comprises a lower leg skeleton connected to the lower leg joint seat, the lower leg skeleton is designed to be of a hollow structure, the pull cord length adjustment assembly is disposed in a hollow cavity of the lower leg skeleton and connected to the pull cord, and the pull cord length adjustment assembly is configured to adjust an initial length of the pull cord to achieve stepless adjustment of an initial elasticity of the thigh compression spring.

7. The passive lower extremity exoskeleton of claim 6 wherein said thigh support bars are provided with at least two second adjustment holes at intervals along the height direction of said passive lower extremity exoskeleton, and said thigh frame can be selectively connected with any one of said second adjustment holes by a buckle to realize length adjustment of said thigh unit;

the thigh baffle is provided with a first heat dissipation hole.

8. The passive lower extremity exoskeleton of claim 7 wherein said lower leg unit further comprises a lower leg support bar, said lower leg skeleton being connected to said lower leg support bar, said lower leg support bar being movably connected to said foot unit via said ankle joint;

9. The passive lower extremity exoskeleton of claim 8 wherein said lower leg unit further comprises a lower leg flap and a lower leg strap, said lower leg flap being disposed on said lower leg shell, said lower leg strap being connected to said lower leg flap and said lower leg shell support;

the shank baffle is provided with a second heat dissipation hole.

10. The passive, lower extremity exoskeleton of claim 1 wherein said foot unit comprises an ankle support base, a sole plate to which said ankle is attached by said ankle support base, and a foot strap disposed on said sole plate;