CN218138043U - Integrated load-bearing exoskeleton and waist exoskeleton - Google Patents

Abstract

The utility model relates to an integral type heavy burden ectoskeleton, include: a lumbar mechanism, the lumbar mechanism comprising: waist coupling assembling and two sets of waist wearing parts, waist wearing parts laminates with a wearer's waist side respectively, waist coupling assembling includes: the waist wearing piece comprises a first connecting piece, a second connecting piece and a first fixing plate for connecting and fixing the first connecting piece and the second connecting piece, wherein one end of the first connecting piece is used for being connected with the back mechanism, and two ends of the second connecting piece are respectively used for being connected with the waist wearing piece; the hip joint mechanism comprises two sets of hip joint connecting components, each hip joint connecting component comprises a hip joint connecting part, and the hip joint connecting parts are connected with the corresponding waist wearing parts. Correspondingly, the utility model also provides a waist ectoskeleton, the utility model provides a waist mechanism and waist ectoskeleton of the heavy burden ectoskeleton of integral type adopt rigid connection's form, and load carrying capacity is better.

Description

Integrated load-bearing exoskeleton and waist exoskeleton

Technical Field

The utility model relates to a wearing equipment technical field, concretely relates to integral type waist heavy burden ectoskeleton and a waist ectoskeleton.

Background

The exoskeleton robot is an active mechanical system which can be worn outside a human body and adopts external energy or portable energy to perform mechanical assistance according to the motion posture of the human body or the mind of a human brain. The equipment is applied to the military field, so that soldiers can carry more weapon equipment, the movement capability of the soldiers is enhanced, and the combat capability of individual soldiers is effectively improved; in the civil field, the multifunctional vehicle can be widely applied to the conditions that heavy materials need to be carried on the back and vehicles cannot pass through, such as mountaineering, traveling, fire fighting, disaster relief and the like; in the medical field, the exoskeleton robot can also be used for assisting disabled persons and old persons to walk and helping patients who temporarily lose the motor ability to perform function recovery training. Therefore, the method has wide application prospect.

However, there are many challenges to generalizing the practical application of exoskeleton technology. For example, while exoskeletons can help the body to reduce the weight bearing burden, they tend to suffer from poor user experience, a feeling of being bound or cradled by inflexible, rigid mechanical structures because the mechanical structures are not flexible, stable, and move snugly about the body.

In order to improve the flexibility of the exoskeleton and optimize the experience of the wearer, chinese patent application No. CN202010693457.0 discloses a waist exoskeleton, which partially solves or alleviates the above technical problems, but has some disadvantages, such as that when the load of the wearer of the exoskeleton is too large or the load time is too long, the structural form of a spatial cantilever beam may occur in a hip mechanism, and the supporting performance of the exoskeleton is easily reduced due to the deformation of a kinematic joint of the cantilever beam in the load state.

SUMMERY OF THE UTILITY MODEL

In order to partially solve or partially alleviate above-mentioned technical problem, the utility model provides an integral type heavy burden ectoskeleton, include:

a lumbar mechanism, the lumbar mechanism comprising: waist coupling assembling and two sets of waist wearing parts, the waist wearing part laminates with a wearer's waist side respectively, waist coupling assembling includes: the waist wearing piece is used for wearing the waist mechanism, and the first fixing plate is used for fixing the first connecting piece and the second connecting piece in a connecting mode;

the hip joint mechanism, the hip joint mechanism includes two sets of hip joint coupling assembling, hip joint coupling assembling includes hip joint connecting portion, hip joint connecting portion include: the hip joint mechanism comprises a hip joint internal-external rotation connecting part, a hip joint lateral rotation connecting part, a hip joint front-back rotation connecting part and a connecting structure for connecting the waist wearing piece, wherein the hip joint internal-external rotation connecting part, the hip joint lateral rotation connecting part and the hip joint front-back rotation connecting part are respectively used for realizing internal rotation or external rotation, abduction or adduction, flexion or extension of the hip joint mechanism, and the connecting structure is used for connecting the waist wearing piece, so that three rotational degrees of freedom of the hip joint connecting part are positioned on the hip joint side face of the wearer.

In some embodiments, both ends of the second connecting piece are respectively provided with at least one first positioning piece which can be pressed;

the waist wearing piece is provided with a first fixing groove used for containing the second connecting piece, the first fixing groove is provided with at least one first positioning hole used for being matched with the first positioning piece, and when the first positioning piece is matched with the first positioning hole, the second connecting piece is connected with the waist wearing piece.

In some embodiments, the lumbar mount and the hip joint are connected by a quick release.

In some embodiments, the waist wearing piece is provided with a butt joint, and the connecting structure is a quick release structure matched with the butt joint;

the quick release structure comprises: the quick release button, the first clamping tenon and the elastic energy storage part are arranged on the base; the first clamping tenon is arranged in the quick release button and is connected with the elastic energy storage part; when the first clamping tenon is acted by an external acting force, the first clamping tenon extrudes the elastic energy storage part, so that the elastic energy storage part stores energy, and the first clamping tenon moves along the direction close to the elastic energy storage part; when the external acting force on the first clamping tenon is removed, the elastic energy storage part releases energy, and the first clamping tenon resets under the action of the released energy;

when the quick-release structure is inserted into the butt joint port and the first clamping tenon moves to the position above the first clamping bulge, the quick-release structure and the butt joint port are locked, otherwise, the quick-release structure and the butt joint port are unlocked; or, at least one first clamping groove is formed in the butt joint port, when the quick-release structure is inserted into the butt joint port and the first clamping tenon is clamped into the first clamping groove, the quick-release structure is locked with the butt joint port, and otherwise, the quick-release structure is unlocked.

In some embodiments, the pair of interfaces are asymmetric structures, and the pair of interfaces on the two sets of the waist wearing parts are mutually symmetric about a mirror plane, and correspondingly, the quick release structures on the two hip joint assemblies are designed in a positive and negative symmetry manner, so that when the waist wearing part is worn on two sides of the waist, the two hip joint assemblies can only be respectively in butt joint with the waist wearing part on one side.

In some embodiments, the cross-section of the second connector is racetrack-shaped.

In some embodiments, the lumbar mechanism further comprises: the waist bearing plate is fixed on the first fixing plate.

In some embodiments, the exoskeleton further comprises: back mechanism, back mechanism is including the back body that fits in the wearer's back, be equipped with the adjusting module on the back body, the adjusting module includes: the adjusting buckle plate is arranged on the back body, a second positioning piece and an installation space are arranged on the back body, and correspondingly, a plurality of second positioning holes matched with the second positioning piece are formed in the first connecting piece;

when the regulation buckle is in the non-lock state, inside first connecting piece can stretch into the installation space, work as when the regulation buckle is in the lock state, corresponding second locating hole is gone into to second setting element card, just the regulation buckle with the installation space encloses jointly and is used for holding and fixing the accommodation space of first connecting piece, thereby makes first connecting piece with back mechanism is connected.

In some embodiments, the back body is provided with a handle for a wearer to carry;

in some embodiments, shoulder strap through holes are formed in two sides of the back body and used for wearing shoulder straps with external loads so as to reduce shoulder strap redundancy;

in some embodiments, the edge of the back body is provided with a plurality of groups of flat belt fixing holes for binding external loads.

The utility model discloses the second aspect still provides a waist ectoskeleton, include:

a lumbar mechanism, the lumbar mechanism comprising: waist coupling assembling and two sets of waist wearing parts, the waist wearing part laminates with a wearer's waist side respectively, waist coupling assembling includes: the waist wearing piece comprises a first connecting piece, a second connecting piece and a first fixing plate for connecting and fixing the first connecting piece and the second connecting piece, wherein one end of the first connecting piece is used for being connected with the back mechanism, and two ends of the second connecting piece are respectively used for being connected with the waist wearing piece.

The beneficial technical effects are as follows:

the utility model provides an exoskeleton of integral type, this waist ectoskeleton adopt rigid structure to with back mechanism rigid connection. The exoskeleton is therefore of higher strength, higher load capacity and more conducive to load spreading. Specifically, the whole waist mechanism and the whole back mechanism are in rigid connection, and the three rotational degrees of freedom of the exoskeleton hip joint mechanism are all placed at the side position of the hip joint of the human body. The advantages of such a structure are: when a human body wears the exoskeleton to bear a load, the weight can be well transmitted to the hip joint mechanism connected with the tail end of the waist mechanism through the waist mechanism, so that the force is transmitted to the ground through the lower limb exoskeleton modules on two sides of the human body.

Furthermore, the distance between the back mechanism and the waist mechanism is flexible and adjustable so as to adapt to wearers with different back lengths.

Furthermore, the waist mechanism and the hip joint mechanism adopt a positive and negative symmetrical design, so that the waist wearing piece can be used in a left and right mode, and the use is convenient. And the hip joint connecting components in the hip joint mechanism are designed in a positive and negative symmetry manner, so that the left hip joint connecting component and the right hip joint connecting component can only be correspondingly worn on the left side or the right side of a wearer. Especially, when the wearer is not familiar with the mode of the exoskeleton or needs to wear the exoskeleton quickly in a relatively urgent situation, the hip joint mechanisms on the left side and the right side can be worn quickly and accurately.

Furthermore, the special design (specifically, the cross section is in a runway shape) adopted by the second connecting piece of the lumbar mechanism enables the rigidity of the lumbar mechanism to be enhanced, the torsion resistance to be enhanced and the load transmission efficiency to be higher, and the lumbar mechanism also has stronger load capacity.

Furthermore, the back body of the back mechanism is more fit with a human body, and due to the multi-hole design on the back body, other exoskeleton modules (such as upper limb exoskeleton installation) can be replaced or attached conveniently, so that more application scenes can be adapted. The design of back body not only can laminate human back profile more, has functions such as handle, braces via hole, bandlet fixed orifices simultaneously concurrently moreover, has further expanded the practicality of ectoskeleton.

Drawings

In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale. It is obvious that the drawings in the following description are some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive exercise.

Fig. 1a is a first schematic structural view of an exoskeleton in an exemplary embodiment of the present invention;

fig. 1b is a second schematic structural view of an exoskeleton in an exemplary embodiment of the present invention;

FIG. 2a is a first exploded view of the exoskeleton of FIG. 1 a;

FIG. 2b is a second exploded view of the exoskeleton of FIG. 1 a;

FIG. 3a is a rear elevational view of the exoskeleton of FIG. 1 a;

FIG. 3b is a schematic view of the installation of the load;

FIG. 4a is a schematic view of the connection of the lumbar wear to the hip joint mechanism;

FIG. 4b is a first partial schematic view of the waist wear of FIG. 4 a;

FIG. 4c is a second partial schematic view of the waist wear of FIG. 4 a;

FIG. 4d is a partial schematic structural view of the lumbar wear and hip joint mechanism of FIG. 4 a;

FIG. 5 is a schematic view of the rotational orientation of the hip joint assembly;

FIG. 6a is a schematic view illustrating a connection process between the waist wearing unit and the second connecting unit;

FIG. 6b is a schematic view of the adjustment of the waist wear and the second link;

FIG. 6c is a schematic structural view of the second connector shown in FIG. 6 a;

FIG. 6d is a schematic cross-sectional view of the second connector shown in FIG. 6 c;

fig. 7a is a schematic view of the back side of the back mechanism in an exemplary embodiment of the invention;

FIG. 7b is a schematic front view of the back mechanism of FIG. 7 a;

FIG. 7c is a rear view of the back mechanism shown in FIG. 7 a;

FIG. 7d is a schematic view of the internal structure of the back mechanism shown in FIG. 7 a;

FIG. 7e is a left side view of the back mechanism shown in FIG. 7 a;

FIG. 7f is a right side view of the back mechanism shown in FIG. 7 a;

FIG. 8a is a schematic view of the back interface and adjustment buckle of the back mechanism shown in FIG. 7 a;

FIG. 8b is a schematic view of the operation of the adjustment buckle shown in FIG. 7 b;

fig. 9a is a schematic structural view of an exoskeleton from a different angle in a further exemplary embodiment of the present invention;

FIG. 9b is a schematic illustration of the connection of the exoskeleton and the hip joint mechanism of FIG. 9 a;

FIG. 9c is a front view of the exoskeleton shown in FIG. 9 a;

FIG. 9d is a schematic illustration of the exoskeleton of FIG. 9a in a transport mode;

fig. 9e is a schematic view of the mounting structure of an external load on the exoskeleton in another exemplary embodiment of the present invention;

FIG. 9f is a schematic diagram showing an alternative configuration of the exoskeleton of FIG. 9e from an angle relative to the external load;

figure 9g is a schematic diagram of the exoskeleton and upper limb forward-cantilever system shown in figure 9 e;

figure 9h illustrates an alternative perspective configuration of the exoskeleton and upper limb forward-cantilever system shown in figure 9 g;

fig. 10a is a schematic diagram of an exoskeleton structure in yet another exemplary embodiment of the present invention;

FIG. 10b is a schematic view of another perspective of the exoskeleton of FIG. 10 a;

FIG. 10c is a schematic diagram of the front side of the exoskeleton of FIG. 10 a;

FIG. 10d is a schematic diagram of the back side configuration of the exoskeleton of FIG. 10 a;

FIG. 10e is a schematic side view of the exoskeleton of FIG. 10a

FIG. 11a is a schematic view of the installation structure of the lumbar mechanism and the power system of the active motor;

FIG. 11b is a schematic view of another angle of the mounting structure shown in FIG. 11 a;

FIG. 12a is a schematic diagram of a full body exoskeleton including an exoskeleton and a lower extremity exoskeleton;

FIG. 12b is a side view of the full body exoskeleton of FIG. 12 a;

figure 12c is a rear elevational view of the full body exoskeleton of figure 12 a;

FIG. 13a is a schematic view of the lumbar bearing plate;

FIG. 13b is a top view of the waist bearing plate;

fig. 13c is a bottom view of the waist bearing plate;

fig. 13d is a front view of an exoskeleton in an exemplary embodiment of the present invention;

FIG. 13e is a side view of the exoskeleton of FIG. 13 d;

FIG. 14a is a top view of the exoskeleton of FIG. 13 d;

FIG. 14b is a schematic front view of the exoskeleton of FIG. 13 d;

FIG. 14c is a schematic diagram of the back side configuration of the exoskeleton of FIG. 13 d;

FIG. 14d is a front view of the lumbar mechanism;

FIG. 14e is a rear view of the lumbar mechanism;

FIG. 14f is a left side view of the lumbar mechanism;

FIG. 14g is a right side view of the lumbar mechanism;

FIG. 15a shows a cross-sectional configuration of the lumbar connection with the hip joint and a configuration of the first catch;

FIG. 15b shows the process of locking the quick release structure of the hip joint with the docking port;

FIG. 15c shows the structure of the elastic energy storage component during the process of quick release structure and interface locking;

FIG. 15d illustrates the process of unlocking the quick release structure and the docking interface;

FIG. 15e is a first exploded view of the components of the quick release mechanism;

fig. 15f is a second exploded view of the components of the quick release structure.

1 is a waist mechanism, 11 is a waist connecting piece, 111 is a first connecting piece, 1111 is a second positioning hole, 112 is a second connecting piece, 1121 is a first positioning piece, 113 is a first fixing plate, 12 is a waist wearing piece, 121 is a butt joint, 1211 is a first clamping protrusion, 122 is a first fixing groove, 123 is a first fixing hole, and 13 is a waist bearing plate; 2 is a hip joint mechanism, 21 is a hip joint connecting component, 21a is a hip joint lateral rotation connecting part, 21b is a hip joint front and back rotation connecting part, 21c is a hip joint internal and external rotation connecting part, 210 is a quick-release structure, 211 is a quick-release button, 211a is a first shell, 211b is a second shell, 211a-1 is a slide rail, 212 is a first clamping tenon, 212a is a first clamping tenon body, 212b is an end part, 212c is a guide post, 213 is an elastic energy storage mechanism, and 214 is an installation base; 3, a back mechanism, 31, a back body, 311, a handle, 312, a flat belt fixing hole, 313, a shoulder belt through hole, 314, a second positioning piece, 315, an adjusting buckle and 316, wherein the back mechanism is provided with a back body, the handle is provided with a handle, the flat belt fixing hole is provided with a flat belt through hole, the shoulder belt through hole is provided with a shoulder belt through hole, the second positioning piece is provided with a second positioning piece, the adjusting buckle is provided with a back butt joint hole; 4 is a weight, 41 weight braces; 5 is a shoulder belt; 6 is upper limb cantilever system; 7, shoulder choosing; and 8, an active motor power supply.

Detailed Description

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the attached drawings in the embodiments of the present invention will be combined below to clearly and completely describe the technical solution in the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Herein, suffixes such as "module", "part", or "unit" used to denote elements are used only for facilitating the description of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.

Herein, the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, only for convenience of description of the present invention and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As used herein, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "coupled" and the like are to be construed broadly and include, for example, "coupled," which can be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; wireless connection or wireless communication connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Herein, "rigidly connected" means that when one of the connecting members is displaced or stressed, the other connecting member connected to the other connecting member is not displaced or deformed relative to the displaced or stressed connecting member. I.e. the two connecting members are one piece.

Quick release: in this context, quick release means that each part of the exoskeleton can be quickly disassembled or quickly assembled through a quick release device (such as a quick release structure and a docking port), and accordingly, a quick release connection is adopted, which is also called as quick release connection.

Quick release joint/quick release structure: herein, quick release joint/structure refers to a structure that allows for quick release between various joints or connected components of the exoskeleton in order to achieve modularity of the various parts of the exoskeleton.

As used herein, "front-to-back symmetrical design" means that the part, component, or component is axisymmetric about itself or the neutral plane of some assembled relationship, or that the part, component, or component, is centrosymmetric about some axis. The symmetrical design enables the parts and components to be shared in a left-right positive-negative mode, and the components can be distinguished in a left-right mode. The utility model discloses in, the inner structure of waist mechanism is symmetrical about its horizontal neutral plane, and the purpose of design like this for waist wearing piece can the level turn over and inner structure does not change, and positive and negative (control) sharing can be accomplished to waist wearing piece promptly, and the mould that can share in process of production, and manufacturing cost is lower. However, because the hip joint connection assembly is isomorphic with human body joints, the hip joint connection assembly needs to be used from left to right (namely, the left hip joint connection assembly and the right hip joint connection assembly cannot be interchanged from left to right), and the left hip joint connection assembly and the right hip joint connection assembly are in a symmetrical mirror image relationship. The hip joint assembly is composed of a plurality of parts (such as twenty parts), and in order to enable the interchangeability of parts, the cost of the parts in production, manufacturing and maintenance is lower. Wherein, some parts (such as six parts) of the hip joint can not be shared left and right, and are in a left-right axisymmetric mirror image relationship, and other parts can be shared left and right during assembly.

Example one

Referring to fig. 1 a-14 g, a first aspect of the present invention provides an integrated weight-bearing exoskeleton (or an integrated waist-bearing exoskeleton) comprising, as shown in fig. 1a and 1 b: a waist mechanism 1, and a hip joint mechanism 2 and a back mechanism which are respectively connected with the waist mechanism 1.

In some embodiments, as shown in fig. 2a and 2b, the lumbar mechanism 1 comprises: waist coupling assembling 11 and two sets of waist wearing parts 12, waist wearing part 12 laminates with a wearer's waist side respectively, waist coupling assembling 11 includes: a first connecting member 111, a second connecting member 112, and a first fixing plate 113 for connecting and fixing the first and second connecting members, wherein one end of the first connecting member 111 is used for connecting with the back mechanism (preferably rigidly connecting, so that the external load borne by the back mechanism is efficiently transferred to the lumbar mechanism), and two ends of the second connecting member 112 are respectively used for connecting with the lumbar wearing member 112 (preferably rigidly connecting, so that the load borne by the lumbar mechanism is efficiently transferred to the left and right ends of the lumbar mechanism); the hip joint mechanism comprises two sets of hip joint connecting components 21, each hip joint connecting component comprises a hip joint connecting part, and the hip joint connecting parts are connected with the corresponding waist wearing parts.

Further, in some embodiments, the one-piece weight-bearing exoskeleton comprises: the hip joint internal-external rotation connecting part, the hip joint lateral rotation connecting part and the hip joint front-back rotation connecting part are respectively used for realizing internal rotation or external rotation, abduction or adduction, flexion or extension of the hip joint mechanism, and the connecting structure is used for being connected with the waist wearing piece, so that three rotational degrees of freedom of the hip joint mechanism (or the hip joint connecting part) are positioned on the side face of the hip joint of the wearer. In the embodiment, the rotating components realizing three degrees of freedom are all arranged on one side of the hip joint, so that a connecting component for providing the rotation degree of freedom is not required to be arranged on the waist mechanism, the back mechanism and the hip joint mechanism can be rigidly connected, and the high-efficiency transfer of the load weight on the exoskeleton under the heavy load condition is facilitated.

Preferably, in some embodiments, the width of the lumbar mechanism is adjustable in order to increase the flexibility of use of the exoskeleton to enable the exoskeleton to be adapted to wearers of different sizes (i.e., different waist widths). Also, to enhance the ability of the lumbar mechanism to distribute/transfer loads, the lumbar mechanism is of a rigid construction.

For example, in some embodiments, the width of the lumbar mechanism is adjusted by the mating relationship of the first positioning feature on the second connector 112 in the lumbar connection assembly 11 with the respective positioning aperture on the lumbar wear to accommodate wearers of different lumbar widths. In some embodiments, as shown in fig. 6a, both ends of the second connection member 11 are respectively provided with at least one first positioning member 1121; the waist wearing part is provided with a first fixing groove 122 for accommodating the second connecting part 112, the first fixing groove 122 is provided with at least one first positioning hole 123 for matching with the first positioning part 1121, and when the first positioning part 1121 matches with the first positioning hole 123 (i.e. when the first positioning part is clamped into the first positioning hole), the second connecting part 112 is connected with the waist wearing part.

Specifically, in some embodiments, the second connection member 112 has an opening on a surface thereof corresponding to the first positioning member 1121, a first end of the first positioning member (e.g., a protrusion) 1121 protrudes outwards through the opening, and a second end of the first positioning member 1121 is disposed inside the second connection member and connected to an elastic structure, such as a spring. When an external force is applied to the first positioning member 1121 to press the first positioning member (i.e., when the first positioning member is pressed), the first positioning member 1121 moves toward the inside of the second connection member 112, and the spring stores energy; when the external force applied to the first positioning member is removed (i.e., when the pressing of the first positioning member is stopped), the spring releases the energy, and the first positioning member 1121 moves toward the outside of the second connection member 112, and protrudes outward through the opening. Of course, in other embodiments, the first positioning member may be a structure having an elastic function, such that when the first positioning member is pressed, the first positioning member moves (or contracts) towards the inside of the second connecting member and stores energy, and when the pressing of the first positioning member is stopped, the first positioning member releases energy and restores the original shape (i.e. protrudes outwards through the opening). It will be appreciated that the first locating member can be retracted inwardly of the opening by squeezing and then automatically return to its original configuration by ceasing squeezing.

Of course, in other embodiments, the first positioning hole may be provided on the second connecting member, and accordingly, the first fixing groove for receiving the waist wearing member is provided on the second connecting member, and the first positioning member is provided on the waist wearing member. When pressing down first locating piece to stretch into first fixed slot with the one end of waist wearing piece after, release first locating piece, make first locating piece pass opening and first locating hole in proper order and outwards protruding, thereby the restriction waist wears to take place the displacement for the second connecting piece of wearing the piece, also makes the waist wear to be connected with the second connecting piece.

Further, in some embodiments, the upper side and the lower side of the second connecting piece are provided with the first positioning pieces which can be pressed.

Specifically, the adjustment of the lumbar mechanism is performed by pressing a first positioning member (corresponding to a waist width adjustment key) as shown in fig. 6a and 6b, so that the lumbar mechanism can be adapted to the waist width body type differences of different persons. For example, as shown in fig. 6a, when the first positioning element 1121 is pressed, the width of the second connection element 112 (e.g., the distance between the first ends of the two first positioning elements of the second connection element) is gradually reduced, so that the second connection element can be inserted into the first positioning groove 122. Along with the second connecting piece enters into first locating groove inside and enters a section length, and when first locating piece moved corresponding first locating hole position, because first locating piece no longer received the extrusion of external action force this moment consequently outwards outstanding (or say, run through first locating hole) through first locating hole to make corresponding first locating piece fixed (or spacing) in corresponding first locating hole. Thereby enabling the second link to be stably connected with the waist wearing member. Further, when the width of the lumbar mechanism needs to be adjusted, the first positioning piece can be fixed at different first positioning holes by pressing the first positioning piece and moving the waist wearing piece or the second connecting piece, so that the width of the lumbar mechanism is increased or reduced, and the operation mode is simple.

Through pressing the regulation button (also first locating piece) on the waist connecting piece, the waist wearing piece that slides about the subtend can reach the effect of quick adjustment waist width, and the person of dress can be in the blind operation of the complete back one-hand of wearing.

In this embodiment, the lumbar mechanism is preferably composed of a rigid structure, so that the lumbar mechanism has high strength to bear external loads. Meanwhile, the design of the rigid structure enables the waist mechanism to be more favorable for realizing the dispersion and transfer of external loads, namely the waist mechanism can better bear the load effect transmitted by the external loads to the waist mechanism or bear the load effect transmitted by the back mechanism to the waist mechanism; the received load effect can also be better dispersed or transferred to the lower extremity exoskeleton connected to the lumbar mechanism and then finally transferred to the ground to improve the weight loss effect of the exoskeleton and reduce the actual load of the wearer.

Especially when the external load to be carried by the wearer is heavy or the load time is long, the waist mechanism in the embodiment can also meet the requirements of bearing and dispersing the load, and effectively disperse the pressure applied by the load to the exoskeleton structure of the whole body of the wearer, such as transferring to the lower limb exoskeleton through the hip joint mechanism.

Because it is necessary to simultaneously press the first positioning member and adjust the second link or the lumbar wear to adjust the width of the lumbar mechanism. Therefore, in this embodiment, when the wearer accidentally touches the first positioning element during the movement (for example, when the wearer accidentally touches the first positioning element due to self-movement or accidental contact with an external object), but the waist wearing element and the second connecting element do not move relative to each other, the accidental touch does not affect the wearing state of the waist mechanism. That is to say that the mode of connection of waist dress and second connecting piece has the effect of preventing maloperation to a certain extent.

Preferably, in some embodiments, the first positioning members are respectively arranged above and below the second connecting member, so that the influence of misoperation on the wearing state of the exoskeleton can be further avoided. For example, the first positioning element is often mistakenly touched on only one side (e.g., the upper side or the lower side) of the second connecting element, and when only one or a part of the first positioning element is pressed, the connection between the second connecting element and the waist wearing element is not affected (or the connection between the second connecting element and the waist wearing element is affected negligibly). Therefore, the design of the first positioning element in the embodiment can effectively avoid or reduce the influence of misoperation on the wearing state of the exoskeleton.

Further, in some embodiments, as shown in fig. 4 a-4 b, and 15 a-15 f, to improve the ease of donning and doffing the exoskeleton, the waist wear and the hip joint connection are directly connected by a quick release.

Further, in some embodiments, the waist wearing part is provided with a butt joint, and the connecting structure is a quick release structure matched with the butt joint.

Further, in some embodiments, as shown in fig. 15 e-15 f, the quick release structure includes: a quick release button 211, a first latch 212 and an elastic energy storage part (such as a spring) 213. The first tenon 212 is arranged in the quick release button 211 and is connected with the elastic energy storage part 213; when the first trip 212 is acted by an external force, the first trip presses the elastic energy storage part, so that the elastic energy storage part stores energy (as shown in fig. 15c and 15 d), and the first trip moves in a direction close to the elastic energy storage part; when the external acting force on the first clamping tenon is removed, the elastic energy storage part releases energy, and the first clamping tenon resets under the energy release function.

Further, in some embodiments, a first locking protrusion 1211 is disposed in the interface, when the quick release structure 210 is inserted into the interface 121 and the first locking protrusion moves above the first locking protrusion, the quick release structure is locked with the interface (at this time, the first locking protrusion structure limits the quick release structure to move downward), and otherwise, the quick release structure is unlocked;

or in other embodiments, at least one first locking groove is formed in the mating interface, and when the quick release structure is inserted into the mating interface and the first locking tongue is locked in the first locking groove, the quick release structure and the mating interface are locked, and vice versa, the quick release structure and the mating interface are unlocked. For example, in a specific embodiment, an opening is formed on an outer shell of the quick release structure, an end of the first latch protrudes through the opening, when the quick release structure is inserted upward into the docking port, and the end of the first latch contacts with an inner wall of the docking port, the end is pressed (equivalently, receives an acting force) against the inner wall of the docking port, the end of the first latch transmits the pressing action to an elastic energy storage portion such as a return spring, the return spring stores energy at this time, and the end of the first latch moves toward a direction close to the return spring and retracts into the quick release structure from the opening, so that the quick release structure can continue to move upward;

further, when the quick release structure continues to move upwards, and the first clamping tenon moves to a position near the first clamping groove (if the height of the first clamping tenon is the same as that of the first clamping groove), the end part of the first clamping tenon is not extruded by the inner wall (namely, the external acting force is removed), the reset spring releases energy and drives the first clamping tenon to reset, so that the end part of the first clamping tenon is clamped into the first clamping groove, and the butt joint is locked with the quick release structure.

For another example, in some embodiments, as shown in fig. 15a, the waist wearing member 12 is provided with a docking port 121, and the docking port 121 is provided with at least one first protrusion (or step) 1211. Be equipped with on the hip joint connecting portion be used for with interface 121 matched with rapid disassembly structure 210, rapid disassembly structure 210 includes: the quick release button 211 and a first latch 212 (preferably, a pair of first latches) connected to the quick release button 211 are connected to an elastic energy storage portion (e.g., a return spring, etc.) 213.

Specifically, in some embodiments, the first latch 212 includes a first latch body 212a and an end 212b disposed on the first latch body, and the first latch body 212a is connected to the elastic energy storage device.

After the quick release structure is inserted into the docking port 121 in a docking manner, the first tenon 212 slides upwards in the docking port 121 (moving in a direction close to the first tenon, as shown in fig. 15b and 15 c), and when the first tenon 212 touches the first tenon 1211, the first tenon 212 presses the elastic energy storage part to store energy (because the first tenon has a tendency of moving upwards, the first tenon has a certain resistance to the upward movement of the first tenon, that is, the first tenon applies a certain pressure to the first tenon, so that the first tenon 212 is subjected to the pressure and transfers the pressure into the elastic energy storage part), and at this time, the first tenon can continuously move upwards and pass through the first tenon; and after the first clamping tenon moves to the upper part of the first clamping bulge, the elastic energy storage part releases energy and enables the first clamping tenon to reset, so that the mutual matching (namely locking) of the quick release structure and the butt joint opening is realized, and the hip joint mechanism is connected with the waist mechanism.

When the waist mechanism and the hip joint mechanism need to be disassembled, the quick-insertion button is pressed, the first clamping tenon extrudes the elastic energy storage part, the elastic energy storage part stores energy, the first clamping tenon moves along the direction of energy storage of the elastic energy storage part, so that the first clamping tenon moves downwards around the first clamping bulge, and when the first clamping tenon moves to the position below the first clamping bulge, the unlocking of the quick-release structure and the butt joint is realized, namely the connection relation between the hip joint and the waist mechanism is released.

Specifically, in some embodiments, as shown in fig. 15e and 15f, in order to enable the first latch 212 to smoothly compress the elastic energy storage portion when the quick release button is pressed, the quick release button includes: a first housing 211a, and a second housing 211b for mounting the first housing. The first shell is provided with at least one sliding rail 211a-1, and when the first tenon 212 is installed inside the first shell 211a, the guide post 212a of the first tenon is correspondingly arranged on the sliding rail 211a-1, so that when the quick release button is pressed, the guide post 212a can reciprocate along the sliding rail 211a-1 (wherein, the structure of the sliding rail 211a-1 is designed correspondingly to the structure of the guide post 212a, so that the guide post 212a can slide along the sliding rail in a reciprocating manner) under the action of external force, thereby driving the end 212b of the first tenon to reciprocate along the extension direction of the spring (i.e. along the direction close to/far away from the spring), and further realizing the locking and unlocking of the quick release structure and the interface. Specifically, when pressing down quick detach button, the guide pillar of setting on the slide rail along guide rail upward movement under the exogenic action to the tip that drives first trip removes along the direction that is close to the spring (compression spring energy storage this moment), along with the withdrawal of first trip tip, the downward movement trend of first trip can't continue to be restricted to first trip of first trip, and quick detach structure moves down smoothly under the exogenic action this moment, thereby realizes quick detach structure and the unblock to the interface.

For another example, in some embodiments, as shown in fig. 4a, a docking port 121 is disposed on the waist wearing member 12, at least one first clamping groove (specifically, a first clamping groove is disposed on an inner wall of the docking port) is disposed on the docking port 121, a quick release structure for matching with the docking port 121 is disposed on the hip joint connection portion, the quick release structure includes a quick release button 211 and at least one first tenon 212 that are connected, and an elastic energy storage portion connected with the first tenon 212, when the quick release button 211 is pressed, an end of the first tenon 212 moves in a direction close to the quick release button 211 under the action of the quick release button 211, so that the quick release structure can enter the docking port, the elastic energy storage portion stores energy, when the quick release structure completely enters the docking port 121, the quick release button 211 is released, the elastic energy storage portion releases the first tenon 212 to reset and match with the first clamping groove, and the waist connection portion and the hip joint connection portion are connected with each other through matching of the first tenon and the first clamping groove.

Further, in some embodiments, the quick release structure further comprises: the quick release housing 210a is used for accommodating and mounting each component of the quick release structure, and an opening is formed in the quick release housing, and an end of the first latch can protrude from the opening.

Further, in some embodiments, the quick release structure further comprises: a mounting base (or quick release button mounting base) 214, and the mounting base 214 is mounted at the bottom of the second housing. Specifically, the second shell is sleeved outside the first shell, and the bottom of the second shell is provided with an installation base, wherein the elastic energy storage part and the first clamping tenon are arranged inside the first shell and located above the installation base.

The waist mechanism and the hip mechanism in the exoskeleton in the embodiment can be flexibly disassembled and assembled through the quick-release structure, wherein the waist mechanism can be separated from the hip joint mechanism and can also be independently used as a body-tight back frame together with the back mechanism, and other functional modules can still be added above the back mechanism.

Because of the limitations of the human joints, the hip joint mechanism needs to be used from side to side, but has a high similarity to the two hip joint assemblies in the hip joint mechanism, so that a new hand who is learning to use the exoskeleton may be left or right without self-knowledge, or in some special cases (such as time is more urgent, or in wearing environments such as in poor field light), the wearer may easily be left or right without self-knowledge. Thus, in some embodiments, to avoid the above problems, the lumbar wear and hip joint assembly are of a front-to-back symmetrical design, such that the hip joint assembly and the lumbar wear can be shared from side-to-side.

For example, in some embodiments, the docking ports are asymmetric structures, and the docking ports on the two sets of the lumbar wearing parts are mutually mirror-symmetric with respect to the mirror plane, and correspondingly, the quick release structures on the two hip joint assemblies are designed in a positive and negative symmetry manner, so that when the lumbar wearing part is worn on both sides of the waist, the two hip joint assemblies can only be docked with the lumbar wearing part on one side of the waist respectively.

In the embodiment, the hip joint adopts a quick-release design, so that the hip joint can be very convenient for the weight-bearing wearing of a human body. The wearer only needs to tie the heavy object on the back plate, wear the exoskeleton lower limb part, carry the waist mechanism and the back mechanism on the back like a backpack, and finally insert the quick release structures of the hip joints at two sides into the butt joint ports of the waist wearing piece at the corresponding sides. And the docking port has the fool-proof design described above. When the hip joint is quickly disassembled and reversely inserted, the joint opening with the foolproof design cannot be inserted.

Due to the fact that the waist wearing piece and the hip joint connecting assembly are designed to be in positive and negative symmetry, the waist wearing piece can be shared left and right, the hip joint connecting assembly which is preset to be installed on the left side can only be matched with the waist wearing piece which is actually installed on the left side of the waist of a wearer, and similarly, the hip joint connecting assembly which is preset to be installed on the right side can only be matched with the waist wearing piece which is actually installed on the right side of the waist of the wearer. In other words, the positive-negative symmetry in this embodiment allows for the distinction between left and right hip joint assemblies while satisfying the requirement for left-right sharing of the lumbar garment, i.e. a hip joint assembly intended to be mounted on the left side cannot be properly inserted into an interface of a lumbar garment already mounted on the right side of the wearer, and vice versa.

For example, in some embodiments, as shown in fig. 4d, the docking port 121 in the lumbar wear is a rectangular structure with three cut corners, and the quick release structure on the hip joint connector is correspondingly configured to have a rectangular structure with three cut corners, so as to determine the only correct assembly direction and avoid the incorrect assembly result after the left and right exchange.

It can be understood that the butt joint and the quick release joint can be designed into other positive and negative symmetrical structures as long as the installation corresponding relation between the left hip joint and the right hip joint and the waist wearing parts actually arranged on the left side and the right side can be met.

In other embodiments, the docking interface comprises: can be used to first port and the second port with rapid disassembly structure butt joint, and the shape of first port and second port is different, when the wearer wears the waist wearing piece in both sides, wherein be located the first port of left waist wearing piece up, the second port is in order to be used for with rapid disassembly structure butt joint down, the second port that is located the waist wearing piece on right side up, first port is used for with rapid disassembly structure butt joint down, and the waist wearing piece of the left and right sides can control the sharing (for example, with left waist wearing piece reverse side, can be used as the waist wearing piece on right side). Correspondingly, the shapes of the quick-release structures in the left and right hip joint connecting components respectively correspond to the shapes of the second port and the first port, so that the left and right hip joint connecting components can only be butted with waist wearing pieces arranged on the left side or the right side.

In some embodiments, the hip articulation assembly 21 comprises: a hip joint rotating connection part which is rotatably connected with the waist part mechanism.

The hip joint in this embodiment has three rotational degrees of freedom, including: three degrees of freedom for external/internal rotation, external/internal expansion and flexion/extension, the corresponding hip joint connection comprising: a quick release structure, a hip joint internal and external rotation connecting part 21c, a hip joint side rotation connecting part 21a and a hip joint front and back rotation connecting part 21c. The hip joint lateral rotation connecting part is connected with the lower limb exoskeleton device, and the lower limb exoskeleton device can have the freedom degree of turning towards the left side and the right side of a human body.

Specifically, in some embodiments, the lumbar mechanism of the integrated weight-bearing exoskeleton (specifically, the lumbar wear piece in the lumbar mechanism) is coupled to the hip internal/external rotation joint, which is then coupled to the hip lateral rotation joint (i.e., the abduction/adduction joint) which is coupled to the hip anterior/posterior rotation joint (i.e., the flexion/extension joint), and finally, to the lower extremity exoskeleton. In the embodiment, the three rotational degrees of freedom of the exoskeleton hip joint are all arranged at the side position of the human body hip joint, so that when a wearer bears a heavy object, the force of the heavy object can be directly transmitted to the hip joint mechanism through the waist mechanism, and then the force is transmitted to the ground through the lower limb exoskeleton, so that the pressure borne by the wearer is reduced.

As shown in fig. 5, the hip joint anteroposterior rotation connecting portion 21c is rotatably connected to the hip joint side rotation connecting portion 21a, and the hip joint side rotation connecting portion 21a is rotatably connected to the hip joint internal/external rotation connecting portion 21c. When the hip joint anteroposterior rotation connecting part 21c can rotate relative to the hip joint lateral rotation connecting part 21a along the Y direction, the hip joint lateral rotation connecting part 21a can rotate relative to the hip joint internal and external rotation connecting part 21c along the X direction.

As shown in fig. 15e, the hip joint internal and external rotation connection part is rotationally connected with the quick release structure.

Preferably, in some embodiments, the hip joint anteroposterior connection is provided with an anteroposterior elastic energy storage device, such as a torsion spring, a tension spring, a compression spring, or an air push rod or a return spring.

The hip joint structure layout mode in the embodiment is not easy to cause the phenomenon of freedom dimension reduction under the common movement action of the legs of the human body, namely, the probability of the freedom dimension reduction is reduced, so that the flexibility of the device is improved, the adaptability of the device to the hip movement of a wearer is improved, and the user experience is further improved.

Preferably, in some embodiments, the hip joint mechanism has three rotational degrees of freedom and is resilient to ensure that the joint can be repositioned.

In some embodiments, the hip joint connecting assembly provides three degrees of freedom required by hip joint movement, and the return springs provide limiting and restoring forces, so that the situation that the exoskeleton is damaged or even a person is injured due to the reverse joint under a load condition is avoided.

Further, in some embodiments, the cross section of the second connecting piece is arranged in a track shape.

In this embodiment, the cross section of the second connecting piece is arranged in a track shape, so that the torsional strength of the second connecting piece can be increased, the weight of the second connecting piece can be reduced (the track-shaped second connecting piece is of a hollow structure inside), and the self weight of the exoskeleton is reduced, so that the wearing experience of a wearer is further optimized. The second connecting piece in the embodiment can meet the requirements of shear resistance and torsion resistance under high load, and is lightened as much as possible through the structural design, so that the action of a human body cannot be influenced by the self weight of the exoskeleton.

Further, in some embodiments, the second connecting member is made of a metal material.

To further alleviate fatigue of the wearer due to external loads, in some embodiments, as shown in fig. 9 e-9 g, the lumbar mechanism further comprises: the waist bearing plate is fixed on the first fixing plate. The waist bearing plate is used for bearing external load, such as a backpack and the like.

In some embodiments, the exoskeleton further comprises: a back mechanism; the back mechanism comprises a back body which is attached to the back of a wearer.

Further, in some embodiments, the back body is removably coupled to the first link, thereby removably coupling the back mechanism to the lumbar mechanism.

Further, in some embodiments, as shown in figures 8a and 8b, an exoskeleton height adjustment module is provided on the back body, the adjustment module comprising: the setting is in regulation buckle 315 on the back body to and corresponding setting is in installation space on the back body, work as when regulation buckle 315 is in the lock state, adjust buckle 315 with installation space encloses into an accommodation space jointly for hold with fixed first connecting piece. Specifically, a plurality of second positioning holes 1111 are formed in the first connecting member 111, a second positioning member 314 matched with the second positioning holes 1111 is formed in the adjusting buckle plate 315, when the adjusting buckle plate 315 is in an open state (i.e., a non-buckling state), the first connecting member is extended into the installation space (specifically, an opening for extending in/out the first connecting member is formed in the installation space close to the lumbar mechanism), and the first connecting member is extended into a certain length (specifically, the first connecting member can be adjusted appropriately based on the back length of different wearers), and then the adjusting buckle plate 315 is buckled to enable the second positioning member 314 to be clamped into the corresponding second positioning hole, so that the first connecting member is limited from displacing relative to the back body, that is, the lumbar mechanism is connected with the back mechanism. It can be understood that by adjusting the length of the first connecting piece extending into the accommodating space, the distance between the waist mechanism and the back mechanism can be adjusted, so that the exoskeleton can be suitable for wearers with different back lengths.

In this embodiment, the back body of the exoskeleton is in the form of an adjusting buckle plate to meet the requirements of size quick adjustment and component disassembly.

Preferably, in some embodiments, the front surface of the back mechanism (i.e., the surface attached to the back of the human body) is inversely fitted with the human body database to form a complete organic inner surface, so that the comfort of attachment is ensured (i.e., the attachment of the back mechanism to the back of the human body is enhanced, and the wearing experience of the wearer is optimized), and the force can be uniformly dispersed to the back and the ground.

In some embodiments, one or more second positioning holes are disposed on the first connecting member and are matched with the second positioning member.

In some embodiments, as shown in fig. 7 b-7 d, a handle 311 is provided on the back body. The exoskeleton can be made more portable by means of handles, as shown in fig. 9 d.

In some embodiments, as shown in fig. 7 b-7 d, shoulder strap vias 313 are provided on both sides of the back body. When the shoulder strap connecting device is used for bearing loads with shoulder straps of a backpack, the detachable shoulder straps on the exoskeleton soft bag can be removed, and the original shoulder straps are used through the butt joint ports (such as shoulder strap through holes) above the back plate, so that redundancy of a plurality of shoulder straps is avoided.

In some embodiments, as shown in fig. 7 b-7 d, multiple sets of strap retention holes 312 are provided at the edges of the back body.

Further, in some embodiments, the back body is also provided with at least one back interface 316,

in this embodiment, the abundant opening design (such as back interface, shoulder strap via hole etc.) on the back body can effectively realize the functional module of ectoskeleton, for example the arc handle of design on the back body, very big having made things convenient for the interim carrying of ectoskeleton, also can regard as the interface to use equally, the design of back interface 316 can be connected with upper limbs ectoskeleton.

Further, in some embodiments, the back of the back body is in a rib form to reduce the overall weight, and reasonable rib position distribution ensures the strength of the back body.

Passive exoskeletons can provide limited assistance to a person, and active exoskeletons are needed to provide power if more power is needed. In some embodiments, the integrated lumbar load exoskeleton can be compatible with the active motor power system 8 by simply replacing the fitting piece, and becomes an active power-assisted exoskeleton, as shown in fig. 11a and 11b.

In some embodiments, shoulder straps 5 are also provided on the exoskeleton in order to achieve the fit of the exoskeleton to the wearer.

Further, as shown in fig. 10 a-10 d, in some embodiments, the exoskeleton can be configured to mount an upper extremity forward cantilever system (e.g., an upper extremity exoskeleton) via a back interface.

Further, as shown in fig. 10 a-10 d, in some embodiments, shoulders 7 may also be mounted above the exoskeleton to distribute the shoulder pressure of the wearer, further optimizing the wearing experience of the wearer.

Example two

Based on integral type heavy burden ectoskeleton in the above-mentioned embodiment, the utility model also provides a waist ectoskeleton, include:

a lumbar mechanism, the lumbar mechanism comprising: waist coupling assembling and two sets of waist wearing parts, waist wearing parts laminates with a wearer's waist side respectively, waist coupling assembling includes: the waist wearing piece comprises a first connecting piece, a second connecting piece and a first fixing plate for connecting and fixing the first connecting piece and the second connecting piece, wherein one end of the first connecting piece is used for being connected with the back mechanism, and two ends of the second connecting piece are respectively used for being connected with the waist wearing piece.

When external acting force is applied to the first positioning piece, the first end of the second connecting piece can extend into the first fixing groove, and when the external acting force applied to the first positioning piece is removed, the first positioning piece penetrates through the first fixing hole and fixes the second connecting piece on the first waist wearing piece through the first fixing hole.

It is understood that the lumbar exoskeleton in this embodiment includes various components or components in the above embodiments, which are not described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.

Claims (10)

1. An integrated weight exoskeleton, comprising:

a lumbar mechanism, the lumbar mechanism comprising: waist coupling assembling and two sets of waist wearing parts, the waist wearing part laminates with a wearer's waist side respectively, waist coupling assembling includes: the waist wearing piece is used for wearing the waist mechanism, and the first fixing plate is used for fixing the first connecting piece and the second connecting piece in a connecting mode;

the hip joint mechanism, the hip joint mechanism includes two sets of hip joint coupling assembling, hip joint coupling assembling includes hip joint connecting portion, hip joint connecting portion include: the hip joint mechanism comprises a hip joint internal-external rotation connecting part, a hip joint lateral rotation connecting part, a hip joint front-back rotation connecting part and a connecting structure for connecting the waist wearing piece, wherein the hip joint internal-external rotation connecting part, the hip joint lateral rotation connecting part and the hip joint front-back rotation connecting part are respectively used for realizing internal rotation or external rotation, abduction or adduction, flexion or extension of the hip joint mechanism, and the connecting structure is used for connecting the waist wearing piece, so that three rotational degrees of freedom of the hip joint connecting part are positioned on the hip joint side face of the wearer.

2. An exoskeleton as claimed in claim 1 wherein the second link is provided at each end with at least one first depressible locating member;

the waist wearing piece is provided with a first fixing groove used for containing the second connecting piece, the first fixing groove is provided with at least one first positioning hole used for being matched with the first positioning piece, and when the first positioning piece is matched with the first positioning hole, the second connecting piece is connected with the waist wearing piece.

3. An exoskeleton as claimed in claim 1 wherein said lumbar wear and said hip joint connection are connected by a quick release.

4. An exoskeleton as claimed in claim 3 wherein said lumbar wear member is provided with a docking port and said connection structure is a quick release structure which mates with said docking port;

the quick release structure comprises: the quick release button, the first clamping tenon and the elastic energy storage part are arranged on the base; the first clamping tenon is arranged in the quick release button and is connected with the elastic energy storage part; when the first clamping tenon is acted by an external force, the first clamping tenon extrudes the elastic energy storage part to enable the elastic energy storage part to store energy, and the first clamping tenon moves along the direction close to the elastic energy storage part; when the external acting force on the first clamping tenon is removed, the elastic energy storage part releases energy, and the first clamping tenon resets under the action of the released energy;

when the quick-release structure is inserted into the butt joint port and the first clamping tenon moves to the position above the first clamping bulge, the quick-release structure and the butt joint port are locked, otherwise, the quick-release structure and the butt joint port are unlocked; or, at least one first clamping groove is arranged in the butt joint port, when the quick release structure is inserted into the butt joint port, and the first clamping tenon is clamped into the first clamping groove, the quick release structure is locked with the butt joint port, otherwise, the quick release structure is unlocked.

5. An exoskeleton as claimed in claim 4 wherein said docking ports are asymmetric and are mirror symmetric about each other, and correspondingly the quick release structures on both said hip joint assemblies are designed to be positive and negative symmetric, so that when said waist wear is worn on both sides of the waist, both said hip joint assemblies can only dock with the waist wear on one side.

6. An exoskeleton as claimed in claim 1 wherein the second link is in a race track like arrangement in cross section.

7. The exoskeleton of claim 1 wherein said lumbar mechanism further comprises: the waist bearing plate is fixed on the first fixing plate.

8. The exoskeleton of claim 1, further comprising: back mechanism, back mechanism is including the back body that fits in the wearer's back, be equipped with the adjusting module on the back body, the adjusting module includes: the adjusting buckle plate is arranged on the back body, a second positioning piece and an installation space are arranged on the back body, and correspondingly, a plurality of second positioning holes matched with the second positioning pieces are formed in the first connecting piece;

when the regulation buckle is in the non-lock state, inside first connecting piece can stretch into the installation space, work as when the regulation buckle is in the lock state, corresponding second locating hole is gone into to second setting element card, just the regulation buckle with the installation space encloses jointly and is used for holding and fixing the accommodation space of first connecting piece, thereby makes first connecting piece with back mechanism is connected.

9. An exoskeleton as claimed in claim 8 wherein the back body is provided with handles for the wearer to carry by hand;

and/or shoulder strap through holes are formed in two sides of the back body and used for wearing shoulder straps with external loads so as to reduce shoulder strap redundancy;

and/or a plurality of groups of flat belt fixing hole positions are arranged at the edge of the back body and used for binding external loads.

10. A lumbar exoskeleton, comprising:

a lumbar mechanism, the lumbar mechanism comprising: waist coupling assembling and two sets of waist wearing parts, the waist wearing part laminates with a wearer's waist side respectively, waist coupling assembling includes: the waist wearing piece comprises a first connecting piece, a second connecting piece and a first fixing plate for connecting and fixing the first connecting piece and the second connecting piece, wherein one end of the first connecting piece is used for being connected with the back mechanism, and two ends of the second connecting piece are respectively used for being connected with the waist wearing piece.

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