CN-117205051-B - Deformable exoskeleton device

CN117205051BCN 117205051 BCN117205051 BCN 117205051BCN-117205051-B

Abstract

The invention belongs to the technical field of exoskeletons, in particular to a deformable exoskeletons device which comprises a waist wearing component and two leg skeleton components, wherein the lower leg can deflect backwards to a deformation position, the lower leg is transversely arranged at the deformation position, the thigh is positioned above the lower leg, the included angle between the lower leg and the thigh is 60-90 degrees, a walking wheel set II is arranged on the lower leg at a position close to the foot, a walking wheel set I is arranged on the lower leg at a position close to the thigh, and when the lower leg is positioned at the deformation position, the walking wheel set II and the walking wheel set I are contacted with the ground. The deformable exoskeleton device has two use forms, namely, the deformable exoskeleton device is used as a lower limb exoskeleton device, and the deformable exoskeleton device is used as a walking aid device, skillfully utilizes the functions of two different devices through self structures, can meet the requirements of lower limb exoskeleton and wheelchair walking aid tools of lower limb dysfunctional persons through simple deformation, and solves the problems that the existing exoskeleton walking aid device is single in function and cannot fully exert value.

Inventors

WANG TIAN
ZHOU CHUNXING
SU SHAOPO
LIU LINGJIE
JIAO YANG

Assignees

杭州程天科技发展有限公司

Dates

Publication Date: 20260505
Application Date: 20230928

Claims (6)

1. A deformable exoskeleton device comprising a waist wearing component and two leg skeletal components, wherein the leg skeletal components comprise thigh, shank and foot, leg straps are arranged on the thigh and shank, and foot straps are arranged on the foot; the upper end of the thigh is connected with the waist wearing component through an upper joint, a joint module I for controlling the thigh to swing is arranged, the upper end of the shank is connected with the lower end of the thigh through a middle joint, a joint module II for controlling the shank to swing is arranged, and the foot is connected with the lower end of the shank through a lower joint; the waist wearing component comprises a total fixing frame positioned behind a user, wherein two ends of the total fixing frame are provided with side fixing plates extending forwards to two sides of the user, the thighs are connected with corresponding side fixing plates, the waist wearing component further comprises a binding band component which is arranged on the total fixing frame, the binding band component is wrapped around the body of the user from back to front and is used for fixing the whole waist wearing component, the exoskeleton device further comprises a hip supporting device which is positioned between the two thighs and is used for supporting the buttocks of the user when the exoskeleton device is in a shape position, the foot binding band is fixedly arranged, the leg binding band is arranged in a detachable structure, when the user wears the exoskeleton device, the leg binding belt can be separated from the thigh and the shank, and the exoskeleton device can be deformed to a deformation position after the leg binding belt is separated, the detachable structure comprises a magnetic suction plate fixedly arranged on the leg binding belt, and further comprises a magnetic suction seat arranged on one side of the thigh and the shank, which is attached to a human body, the magnetic suction seat is of an electromagnet structure, and the corresponding magnetic suction plate can be adsorbed after the power is applied.
2. The deformable exoskeleton device of claim 1 wherein the hip-supporting device comprises a hip-supporting portion made of soft material, the rear portion of the hip-supporting portion is connected with the waist wearing assembly, the front portion of the hip-supporting portion extends to the thigh, two front belts for binding the thigh are arranged at the front portion of the hip-supporting portion, pull belts are arranged on the left side and the right side of the hip-supporting portion, and the upper ends of the pull belts are connected with the waist wearing assembly.
3. The transformable exoskeleton device of claim 1, wherein a lower positioning head I is arranged on the front face of the thigh, a lower positioning head II is arranged on the front face of the shank, a plug with a jack I is arranged at the end part of the lower positioning head I, a slot matched with the plug is arranged at the end part of the lower positioning head II, a jack II is arranged on the side wall of the slot, an electromagnetic plug shaft is arranged on one side of the lower positioning head II, when the shank is in the deformation position, the plug is inserted into the slot, and a telescopic shaft of the electromagnetic plug shaft penetrates through the jack I and the jack II.
4. The deformable exoskeleton device of claim 1 wherein the lower leg portion and the thigh portion are telescopic and have the same telescopic structure, the thigh portion is an upper fixed section I and a lower telescopic section I, wherein the ends of the telescopic sections I are fixedly connected with telescopic parts which are movably inserted into the fixed sections I, the middle parts of the telescopic parts are provided with screw holes, and driving screw assemblies matched with the screw holes are arranged inside the fixed sections I.
5. The transformable exoskeleton device of claim 1, wherein the clamping supports are symmetrically arranged on one sides of the thigh and the shank, which are attached to the human body, and are provided with inserting grooves, the inserting grooves of the clamping supports on the thigh face upwards when the exoskeleton device is in a standing state, the inserting grooves of the clamping supports on the shank face forwards, and the two hard cross bars are respectively clamped with the clamping supports on the thigh and the shank through inserting connectors at two ends when the shank is in a transformation position.
6. The transformable exoskeleton device of any one of claims 1 to 5 further comprising an armrest having a distal end mounted to the total mount and a forward end extending forward.

Description

Deformable exoskeleton device Technical Field The invention belongs to the technical field of exoskeletons, and particularly relates to a deformable exoskeletons device. Background For people with lower limb dysfunction, daily movement mainly depends on a wheelchair, and along with development of technology, various lower limb exoskeletons capable of assisting people with lower limb dysfunction to walk exist at present, and the exoskeletons can enable lower limbs to obtain certain rehabilitation training, so that dysfunction of other parts of a body is further caused by lower limb dysfunction is avoided. The wheelchair is used as a most conventional riding-instead device, the service time of the wheelchair is longer than that of the lower limb exoskeleton, and currently, a user needs to take off the lower limb exoskeleton after finishing rehabilitation training by using the lower limb exoskeleton, then transfers the lower limb exoskeleton to the wheelchair or other riding-instead devices by the aid of a nursing staff, and then wears the lower limb exoskeleton from the wheelchair when the user needs to train. Firstly, the user is inconvenient to transfer, and in addition, the user cannot sit down and rest at any time in the training process, which is mainly the single function of the existing lower limb exoskeleton or wheelchair (scooter), and the mutual conversion cannot be realized, which brings a certain trouble to the user, and meanwhile, the expensive exoskeleton device cannot fully exert the self value. Disclosure of Invention The invention aims to provide a deformable exoskeleton device, which utilizes the common characteristics of the exoskeleton device and a mobility device to enable the lower limb exoskeleton device to be deformed to form the mobility device capable of bearing a user, and the deformation can be performed reversely, so that the problems in the background technology are solved. In order to achieve the above purpose, the deformable exoskeleton device comprises a waist wearing component and two leg skeleton components, wherein the leg skeleton components comprise thigh, shank and feet, leg binding bands are arranged on the thigh and the shank, foot binding bands are arranged on the feet, the upper end of the thigh is connected with the waist wearing component through an upper joint, a joint module I for controlling the swing of the thigh is arranged, the upper end of the shank is connected with the lower end of the thigh through a middle joint, a joint module II for controlling the swing of the shank is arranged, and the feet are connected with the lower end of the shank through a lower joint. The lower leg part can deflect backwards to a deformation position, the lower leg part is transversely arranged at the deformation position, the thigh part is positioned above the lower leg part, the included angle between the lower leg part and the thigh part is 60-90 degrees, a walking wheel set II is arranged on the lower leg part at a position close to the foot part, a walking wheel set I is arranged on the lower leg part at a position close to the thigh part or on the thigh part, and when the lower leg part is positioned at the deformation position, the walking wheel set II and the walking wheel set I are contacted with the ground. In the above technical solution, the deformable exoskeleton device has two use forms, one is used as a lower limb exoskeleton device, and can assist walking with lower limb dysfunction, and the other is used as a walking aid device, and can carry a user in a sitting posture state and move, specifically, a walking wheel set I and a walking wheel set II are arranged on a leg skeleton assembly, and the lower leg can deflect backwards to a transverse state at a middle joint, and at this time, the whole exoskeleton device is located in a shape displacement. When the whole device is positioned in the shape and position, the walking wheel set I and the walking wheel set II are contacted with the ground to form a four-wheel walking tool, a user uses the waist wearing component to fix the waist, steps on the feet with feet to be in an end sitting state, and the user can transfer the four-wheel walking tool at the moment. Therefore, the device skillfully utilizes the self structure to integrate the functions of two different devices, can meet the requirements of lower limb exoskeleton and wheelchair mobility aid tools of lower limb dysfunctional persons through simple deformation, and solves the problems that the existing exoskeleton mobility aid device is single in function and cannot fully exert value. The waist wearing component comprises a main fixing frame positioned at the back of a user, side fixing plates extending forwards to two sides of the user are arranged at two ends of the main fixing frame, thighs are connected with the corresponding side fixing plates, and the waist wearing component further comprises a binding band component arranged on the main fixing fra