CN218398112U

CN218398112U - Exoskeleton and mechanical exoskeleton combined with load bearing

Info

Publication number: CN218398112U
Application number: CN202222180538.8U
Authority: CN
Inventors: 巫蔡泉; 施翔
Original assignee: Guangzhou Sipeng Technology Co ltd
Current assignee: Guangzhou Sipeng Technology Co ltd
Priority date: 2022-08-18
Filing date: 2022-08-18
Publication date: 2023-01-31
Anticipated expiration: 2032-08-18

Abstract

The utility model relates to a wearable ectoskeleton technical field discloses an ectoskeleton and mechanical ectoskeleton that combine heavy burden, including low limbs subassembly and hip subassembly, the hip subassembly includes mount pad and hip connecting rod, and low limbs subassembly is connected to hip connecting rod one end, and the mount pad is connected to the other end, and the mount pad is equipped with first mounting structure, and first mounting structure is used for dismantling to connect heavy burden, and first mounting structure has the guide part towards human cross section direction extension, and the guide part has the guide effect, can guide heavy burden and move along the guide part. When the load is installed, the load can be guided to move along the guide part to be close to the installation seat, and the first installation structure is installed to complete the operation of installing the load; when the load is removed, the load can be guided to move away from the mounting seat along the guide part and separated from the first mounting seat, and the operation of removing the load is completed. The guide part can play the guide effect when dismouting is born a burden, and arbitrary kind bears a burden and all can comparatively stably dismouting and dismouting are comparatively simple.

Description

Exoskeleton and mechanical exoskeleton combined with load bearing

Technical Field

The present disclosure relates to the field of wearable exoskeleton technology, and more particularly to a load-bearing exoskeleton and mechanical exoskeleton.

Background

In recent years, wearable mechanical exoskeleton devices are more and more emphasized by numerous scholars and scientific researchers at home and abroad, become a new research hotspot, and are gradually applied to the fields of war industry, medical treatment, industry and civilian use.

The wearable mechanical exoskeleton can be configured with a load. Wearable mechanical exoskeletons typically have a back frame structure that is used to carry a load. For the load which is small in size or easy to stably place in the back frame mechanism, the load only needs to be placed in the back frame structure, or the binding belt is used for slightly binding, and the load is simple to disassemble and assemble.

However, for the load with a large volume, a load with a back frame arranged on the load, or a load with a back frame structure which is difficult to adapt, the load is difficult to adapt to the back frame structure of the mechanical exoskeleton stably, so that the load is extremely complicated to assemble and disassemble and has poor stability.

SUMMERY OF THE UTILITY MODEL

The disclosed embodiment aims to provide an exoskeleton and a mechanical exoskeleton combined with load so as to solve the technical problem that the load is more complicated to disassemble and assemble in the prior art.

The technical scheme adopted by the embodiment of the disclosure for solving the technical problem is as follows: the hip assembly comprises a mounting seat and a hip connecting rod, one end of the hip connecting rod is connected to the lower limb assembly, the other end of the hip connecting rod is connected with the mounting seat, the mounting seat is provided with a first mounting structure, the first mounting structure is used for being detachably connected with a load, the first mounting structure is provided with a guide part extending towards the cross section direction of a human body, and when the load is dismounted, the load moves along the guide part to be mounted or separated with the first mounting structure.

In some embodiments, the mounting base is formed with a receiving surface on a side remote from the lower limb assembly, the receiving surface being parallel to a cross-section of the human body, the receiving surface being at least partially adapted to abut against the weight.

In some embodiments, the first mounting structures are located on a side of the mounting base away from the lower limb assembly, the number of the first mounting structures is two, the two first mounting structures are located at two end portions of the mounting base respectively, and the bearing surface is located between the two first mounting structures.

The technical problem solved by the embodiment of the present disclosure is also solved by the following technical solutions: providing an exoskeleton incorporating a weight, wherein: the mechanical exoskeleton comprises a load and the mechanical exoskeleton, wherein a second mounting structure matched with the first mounting structure is arranged at the bottom of the load, and the second mounting structure is detachably connected with the first mounting structure.

In some embodiments, the weight comprises a ventilator.

In some embodiments, the ventilator comprises a back plate for fitting against the back of the human torso.

In some embodiments, the first mounting structure is a sliding chute, the second mounting structure is a sliding block, the guiding portion is at least one side wall of the sliding chute, and a rotating fastener is disposed on the sliding chute or the sliding block and can rotate between a first angular position and a second angular position, wherein the rotating fastener engages with the sliding block or the sliding chute when rotating to the first angular position and is separated from the sliding block or the sliding chute when rotating to the second angular position; or, the first mounting structure is a sliding block, the second mounting structure is a sliding groove, the guide part is at least one side wall of the sliding block, a rotating fastener is arranged on the sliding groove or the sliding block, the rotating fastener can rotate between a first angle position and a second angle position, the sliding block or the sliding groove is buckled when the sliding block or the sliding groove rotates to the first angle position, and the sliding block or the sliding groove is separated when the sliding block or the sliding groove rotates to the second angle position.

In some embodiments, the rotational fastener comprises an elastic member; the elastic member is used for providing elastic force when the rotating fastener rotates to the first angle position, so that the rotating fastener is kept at the first angle position when not influenced by external force, and providing elastic force when the rotating fastener rotates to the second angle position, so that the rotating fastener rotates to the first angle position when not influenced by external force.

In some embodiments, the slider is provided with a slot; the clamping part is used for extending into the clamping groove to buckle the sliding block.

In some embodiments, the rotational fastener includes a connecting rod, a clamping portion, and a pressing portion; one end of the connecting rod is connected with the pressing part, the other end of the connecting rod is connected with the clamping part, and the clamping part is used for buckling the sliding block or the sliding groove.

Compared with the prior art, the exoskeleton and mechanical exoskeleton combined with loads comprises a lower limb assembly and a hip assembly, wherein the hip assembly comprises a mounting seat and a hip connecting rod, one end of the hip connecting rod is connected to the lower limb assembly, the other end of the hip connecting rod is connected with the mounting seat, the mounting seat is provided with a first mounting structure, the first mounting structure is used for being detachably connected with the loads, the first mounting structure is provided with a guide part extending towards the cross section direction of a human body, and the guide part has a guide function and can guide the loads to move along the guide part. When the load is installed, the load can be guided to move along the guide part to be close to the installation seat until the load is installed with the first installation structure, so that the load installation operation is completed; when the load is removed, the load can be guided to move away from the mounting seat along the guide part until the load is separated from the first mounting seat, so that the load is removed. Therefore, the guide part can play a role in guiding when the load is dismounted, any type of load can be dismounted stably, and the dismounting is simple.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings which correspond to and are not to be construed as limiting the embodiments, in which elements having the same reference numeral designations represent like elements throughout, and in which the drawings are not to be construed as limiting in scale unless otherwise specified.

FIG. 1 is a schematic diagram of a structure of an exoskeleton incorporating a weight according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of the exoskeleton of FIG. 1 from another angle;

FIG. 3 is a schematic structural view of the exoskeleton portion of FIG. 1, illustrating the slide and runner of the mechanical exoskeleton;

FIG. 4 is a schematic structural view of the exoskeleton portion of FIG. 1, illustrating primarily the slide, runner and rotating fastener of the exoskeleton;

fig. 5 is a schematic structural view of the exoskeleton portion of fig. 1, mainly showing a cross section of the sliding block and sliding groove of the exoskeleton.

Detailed Description

In order to facilitate an understanding of the disclosure, the disclosure is described in more detail below with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "connected" to another element, it can be directly on the other element or intervening elements may be present. The terms "upper", "lower", "left", "right", "upper", "lower", "top" and "bottom", and the like, as used herein, are used in the description to indicate orientations or positional relationships based on those shown in the drawings, and are used merely to facilitate the description of the present disclosure and to simplify the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present disclosure. 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.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in the description of the disclosure herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure.

Referring to fig. 1-4, an exoskeleton 100 incorporating a weight is provided in one embodiment of the present disclosure, including a weight 10 and a mechanical exoskeleton. The mechanical exoskeleton comprises a hip assembly 20 and a lower limb assembly 30. Hip assembly 20 is adapted to removably attach load 10 and lower limb assembly 30 is attached to hip assembly 20. The weight 10 is for attachment to the back and shoulder of a human body, the hip assembly 20 is for attachment to the back and waist of a human body, and the lower limb assembly 30 is for attachment to the lower limbs of a human body.

The hip assembly 20 includes a mount and a hip connection tube 24. The mount includes a lumbar back plate 22 and a bolster plate 26. A waist belt may be mounted on the waist back panel 22 to secure the waist back panel 22 to the back waist of the human body. Hip joint tube 24 may be an elbow having an arc that generally matches the arc of a human hip. One end of the hip connecting tube 24 is rotatably connected to a side of the lumbar backplate 22 away from the lumbar region of the human body, and the other end is adapted to extend to a side of the thighs of the human body and is rotatably connected to the lower limb assembly 30.

The mount pad is provided with first mounting structure, and first mounting structure is used for being connected with heavy burden detachably, and first mounting structure has the guide part that extends towards human cross section direction, and when the dismouting was born a burden, the heavy burden moved to installing or separating with first mounting structure along the guide part.

The guide part has a guide function and can guide the load to move along the guide part. When the load is installed, the load can be guided to move along the guide part to be close to the installation seat until the load is installed with the first installation structure, so that the load installation operation is completed; when the load is removed, the load can be guided to move away from the mounting seat along the guide part until the load is separated from the first mounting seat, so that the load is removed. Therefore, the guide part can play a role in guiding when the load is dismounted, any type of load can be dismounted stably, and the dismounting is simple.

The bearing plate 26 is disposed on the top of the waist back plate 22 and is located on the side of the waist back plate 22 away from the back waist of the human body. The receiving plate 26 has a receiving surface 2600 on a side away from the lower limb assembly 30, the receiving surface 2600 is parallel to a cross section of the human body, and the receiving surface 2600 is adapted to abut against the weight 10 to support the weight 10. The cross section is parallel to the ground when the human body is in a standing state.

The receiving surface 2600 may be used entirely for contact with the load 10, or only a part thereof may be used for contact with the load 10. Therefore, as long as the receiving surface 2600 is at least partially used to contact the load 10, the receiving surface 2600 can function to contact the load 10.

The first mounting structures are located on one side, far away from the lower limb assembly, of the mounting base, the number of the first mounting structures is two, the two first mounting structures are located at two ends of the mounting base respectively, and the bearing surface is located between the two first mounting structures.

The weight 10 may comprise a ventilator.

The ventilator may include a back plate 102 that fits against the back of the person's torso, and back plate 102 may have straps mounted thereon to secure the load to the back of the person's torso.

The bottom of the load 10 is provided with a second mounting structure matched with the first mounting structure, and the second mounting structure is detachably connected with the first mounting structure.

The first mounting structure is a runner 260 and the second mounting structure is a slider 12. The guiding portion is at least one side wall of the sliding slot 260, the sliding slot 260 is provided with a rotating fastener 262, the rotating fastener 262 can rotate between a first angular position and a second angular position, wherein when the rotating fastener 262 is rotated to the first angular position, the sliding block 12 is engaged with the sliding slot 260, and the sliding block 12 cannot move along the sliding slot 260, so that the load 10 is locked on the hip assembly 20; when the slider 12 is separated from the slider 12 when the slider is rotated to the second angular position, the slider 12 can move along the slide groove 260, thereby unlocking the load 10.

It is understood that in other embodiments, a rotating catch 262 may be provided on the slide block 12, the rotating catch 262 engaging the slide slot 260 when rotated to the first angular position, the slide block 12 being unable to move along the slide slot 260, thereby locking the weight 10 to the hip assembly 20; when the slide block is rotated to the second angular position, the slide block 12 is separated from the slide groove 260, and the slide block 12 can move along the slide groove 260, so that the load 10 is unlocked. In other embodiments, the first mounting structure may also be the slider 12 and the second mounting structure may also be the chute 260. To sum up, the function of the rotating fastener 262 can be realized as long as the following conditions are satisfied:

the first mounting structure is a sliding groove 260, the second mounting structure is a sliding block 12, the guide part is at least one side wall of the sliding groove 260, a rotating fastener 262 is arranged on the sliding groove 260 or the sliding block 12, and the rotating fastener 262 can rotate between a first angle position and a second angle position, wherein the sliding block 12 or the sliding groove 260 is buckled when the sliding block is rotated to the first angle position, and the sliding block 12 or the sliding groove 260 is separated when the sliding block is rotated to the second angle position; or, the first mounting structure is the sliding block 12, the second mounting structure is the sliding groove 260, the guiding portion is at least one side wall of the sliding block 12, the sliding groove 260 or the sliding block 12 is provided with a rotating fastener 262, the rotating fastener 262 can rotate between a first angle position and a second angle position, wherein the sliding block 12 or the sliding groove 260 is buckled when rotating to the first angle position, and the sliding block 12 or the sliding groove 260 is separated when rotating to the second angle position.

The sliding slot 260 has at least two

notches

2602 and 2604, wherein one notch 2602 is opened on the top of the receiving plate 26, i.e. the receiving surface 2600, and the other notch 2604 is opened on the side of the receiving plate 26. When the weight 10 is removed, the slider 12 can enter and exit the chute 260 through the slot 2604. The cross-sections of the sliding slot 260 and the slider 12 may be substantially in an "i" shape, as shown in fig. 5, or substantially in a "T" shape, or other shapes, and after the slider 12 is inserted into the sliding slot 260, the slider 12 can be restricted in the degree of freedom of moving up and down to prevent the slider 12 from exiting the sliding slot from the notch 2602.

The rotating fastener 262 is disposed on a horizontal side of the sliding slot 260, an axis of the rotating fastener 262 is vertically disposed, and the rotating fastener 262 can rotate between a first angle position and a second angle position around the axis.

It is understood that, according to the actual requirement, the rotating fastener 262 may also be disposed on the vertical side of the sliding slot 260, the axis of the rotating fastener 262 is disposed horizontally, and the rotating fastener 262 can rotate around the axis between the first angular position and the second angular position.

The rotating buckle 262 includes a connecting rod 2620, a pressing portion 2622 and a clip 2624. One end of the connecting rod 2620 is rotatably connected to the receiving plate 26, and is connected to the pressing portion 2622, and the other end is connected to the latching portion 2624. The connection rod 2620 may be connected to the receiving plate 26 by a hinge. When the slider 12 is locked by the rotating fastener 262, the clamping portion 2624 extends into the clamping groove 120, and the clamping portion 120 abuts against the slider 12, so that the slider 12 cannot move in the horizontal direction; when the rotating fastener 262 unlocks the slider 12, the latching portion 2624 exits the latching groove 120, and the slider 12 can move in the horizontal direction. The pressing portion 2622 is used for facilitating a user to apply an external force so as to rotate the entire rotating buckle 262 to the second angular position.

The clip portion 2624 is disposed adjacent to the notch 2604 of the chute 26, and the pressing portion 2622 is disposed away from the notch 2604 of the chute 260. In the process that the rotating buckle 262 rotates towards the second angular position, the pressing portion 2622 can abut against the slider 12, so as to push the slider 12 out of the sliding groove 260, which is convenient.

The rotational fastener 262 has two. The two rotating fasteners 262 are arranged in a mirror image manner, and when the two rotating fasteners 262 are rotated to the first angle position, the clamping portions 2624 of the two rotating fasteners 262 are far away from each other; when the two rotating fasteners 262 are rotated to the second angular position, the clamping portions 2624 of the two rotating fasteners 262 are close to each other.

The rotational fastener 262 may include an elastic member 266. When the rotating buckle 262 rotates to the first angular position, the elastic member 266 is under compression and provides elastic force to keep the rotating buckle 262 at the first angular position when the rotating buckle 262 is not acted by external force; when the rotating buckle 262 rotates to the second angular position, the elastic member 266 is compressed to provide an elastic force, so that the rotating buckle 262 automatically rotates to the first angular position when the external force is not applied.

It should be noted that, during the process of rotating the rotating fastener 262 from the first angular position to the second angular position, the compression amount of the elastic member 266 is gradually increased, but the elastic member 266 is always in the compressed state.

The elastic member 266 may be a torsion spring. The torsion spring is sleeved on the rotating shaft, one leg of the torsion spring is fixed on the pressing portion 2622, and the other leg is fixed on the bearing plate 26.

Referring again to fig. 2, the lower limb assembly 30 includes a thigh link 32, a shank link 34, and a foot structure 36. One end of the thigh link 32 is pivotally connected to the hip connector tube 24, the other end is pivotally connected to one end of the shank link 34, and the other end of the shank link 34 is pivotally connected to the foot structure 36. The foot structure 36 is for fixing to the foot of a human body, and may be embodied by mounting a strap on the foot structure 36.

When in use, the following are concrete:

when the load 10 needs to be installed, the pressing portion 2624 of the rotating buckle 262 is pressed to apply an external force to the pressing portion 2622, the rotating buckle 262 rotates to the second angular position, the elastic member 266 compresses, and the locking portion 2624 of the rotating buckle 262 exits from the locking groove 260. Insert slider 12 in spout 260 from the notch 2604 of spout 260, when inserting to target in place, loosen pressing portion 2622, the external force that pressing portion 2622 received disappears, and elastic component 266 recovers for rotatory fastener 262 automatic re-setting is to first angular position, and card portion 2624 enters into spout 260, and stretches into in the draw-in groove 120. At this time, the engagement portion 2624 abuts against the slider 12, and the slider 12 cannot move in the horizontal direction, so that the weight 10 and the hip assembly 20 are fixed together, thereby completing the operation of attaching the weight 10.

When the load needs to be removed, the pressing portion 2622 of the rotating buckle 262 is pressed to apply an external force to the pressing portion 2622, the rotating buckle 262 rotates to the second angular position, the elastic member 266 compresses, the locking portion 2624 exits the engaging groove 120 and exits the sliding groove 260, the rotating buckle 262 can move along the sliding groove 260, the pressing portion 2622 of the rotating buckle 262 abuts against the end of the slider 12, and the slider 12 is pushed out of the sliding groove 260. When the slider 12 is completely withdrawn from the slide groove 260, the operation of removing the load 10 is completed.

Compared with the prior art, the exoskeleton 100 and the mechanical exoskeleton combining loads, a lower limb assembly 30 and a hip assembly 20 are provided, the hip assembly 20 comprises a mounting seat and a hip connecting rod 24, one end of the hip connecting rod 24 is connected to the lower limb assembly 30, the other end of the hip connecting rod is connected with the mounting seat, the mounting seat is provided with a first mounting structure, the first mounting structure is used for being detachably connected with the load 10, the first mounting structure is provided with a guide part extending towards the cross section direction of a human body, and the guide part has a guide function and can guide the load 10 to move along the guide part. When the load 10 is installed, the load 10 can be guided to move close to the installation seat along the guide part until the first installation structure is installed, so that the operation of installing the load 10 is completed; when the weight 10 is removed, the weight 10 can be guided to move along the guide portion away from the mount until the guide portion is separated from the first mount, and the operation of removing the weight 10 is completed. Therefore, the guide part can play a role in guiding when the load 10 is dismounted, any type of load can be dismounted stably, and the dismounting is simple.

In addition, since the mechanical exoskeleton does not include the back plate 102, and the load 10 includes the back plate 102, the back plate 102 of the load 10 can be fully utilized, and the back plate structure of the mechanical exoskeleton itself can be reduced, so as to achieve the effect of reducing weight.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; within the idea of the present disclosure, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the present disclosure as described above, which are not provided in detail for the sake of brevity; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the scope of the embodiments of the present disclosure by the essence of the corresponding technical solutions.

Claims

1. A mechanical exoskeleton comprising a lower limb assembly and a hip assembly, the hip assembly including a mounting base and a hip link, the hip link coupled at one end to the lower limb assembly and at another end to the mounting base, wherein: the mounting seat is provided with a first mounting structure, the first mounting structure is used for being detachably connected with a load, the first mounting structure is provided with a guide part extending towards the cross section direction of a human body, and when the load is dismounted, the load moves along the guide part to be mounted on or separated from the first mounting structure.

2. The mechanical exoskeleton of claim 1, wherein: the mounting seat is provided with a bearing surface on one side far away from the lower limb assembly, the bearing surface is parallel to the cross section of a human body, and at least part of the bearing surface is used for being abutted to the load.

3. The mechanical exoskeleton of claim 2, wherein: the first mounting structures are located on one side, far away from the lower limb assembly, of the mounting base, the number of the first mounting structures is two, the first mounting structures are located at two ends of the mounting base respectively, and the bearing surfaces are located between the two first mounting structures.

4. An exoskeleton incorporating a weight, comprising: a mechanical exoskeleton comprising a weight and the mechanical exoskeleton of any one of claims 1 to 3, the bottom of the weight being provided with a second mounting structure that mates with the first mounting structure, the second mounting structure being detachably connected to the first mounting structure.

5. The exoskeleton of claim 4, wherein: the weight includes a ventilator.

6. The exoskeleton of claim 5, wherein: the breathing machine comprises a back plate which is used for being attached to the back of the trunk of a human body.

7. The exoskeleton of claim 4, wherein: the first mounting structure is a sliding groove, the second mounting structure is a sliding block, the guide part is at least one side wall of the sliding groove, a rotating fastener is arranged on the sliding groove or the sliding block, and the rotating fastener can rotate between a first angle position and a second angle position, wherein the sliding block or the sliding groove is buckled when the sliding block or the sliding groove rotates to the first angle position, and the sliding block or the sliding groove is separated from the sliding block or the sliding groove when the sliding block or the sliding groove rotates to the second angle position; or the like, or, alternatively,

the first mounting structure is a sliding block, the second mounting structure is a sliding groove, the guide part is at least one side wall of the sliding block, a rotating fastener is arranged on the sliding groove or the sliding block, the rotating fastener can rotate between a first angle position and a second angle position, the sliding block or the sliding groove is buckled when the rotating fastener rotates to the first angle position, and the sliding block or the sliding groove is separated when the rotating fastener rotates to the second angle position.

8. The exoskeleton of claim 7, wherein: the rotating fastener comprises an elastic piece;

the elastic member is used for providing elastic force when the rotating fastener rotates to the first angle position, so that the rotating fastener is kept at the first angle position when not influenced by external force, and providing elastic force when the rotating fastener rotates to the second angle position, so that the rotating fastener rotates to the first angle position when not influenced by external force.

9. The exoskeleton of claim 7 wherein said rotating fastener comprises a connecting rod, a clip portion and a pressing portion;

one end of the connecting rod is connected with the pressing part, the other end of the connecting rod is connected with the clamping part, and the clamping part is used for buckling the sliding block or the sliding groove.

10. The exoskeleton of claim 9, wherein: the sliding block is provided with a clamping groove;

the clamping part is used for extending into the clamping groove to buckle the sliding block.