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CN-121989201-A - Exoskeleton device

CN121989201ACN 121989201 ACN121989201 ACN 121989201ACN-121989201-A

Abstract

The application provides exoskeleton equipment, and belongs to the technical field of exoskeleton. The exoskeleton device comprises a waist bar module, a left leg module and a right leg module, wherein the left leg module and the right leg module are respectively connected with the waist bar module, the left leg module and the right leg module respectively comprise a hip joint driver, a thigh module, a knee joint driver and a shank module which are sequentially arranged in series, the hip joint driver is connected with the waist bar module, the shank module comprises a shank connecting rod assembly and a shank strap assembly, the shank connecting rod assembly comprises a shank side swing hinge, and the shank strap assembly is connected with the knee joint driver through the shank side swing hinge. The exoskeleton device provided by the application can realize one shank lateral swing degree of freedom and higher coupling degree with the motion degree of the leg of a human body under the condition of meeting the original hip joint degree of freedom and knee joint degree of freedom, thereby being beneficial to improving the use comfort and flexibility of the exoskeleton device.

Inventors

  • Request for anonymity
  • Request for anonymity

Assignees

  • 极壳科技(上海)有限公司

Dates

Publication Date
20260508
Application Date
20241102

Claims (11)

  1. 1. An exoskeleton device, characterized in that the exoskeleton device comprises a lumbar bar module (10), a left leg module (20) and a right leg module (30); The left leg module (20) and the right leg module (30) are respectively connected with the waist bar module (10); the left leg module (20) and the right leg module (30) respectively comprise a hip joint driver (1), a thigh module (2), a knee joint driver (3) and a shank module (4) which are sequentially arranged in series, and the hip joint driver (1) is connected with the waist bar module (10); the calf module (4) comprises a calf link assembly (41) and a calf strap assembly (42); The calf link assembly (41) comprises a calf side swing hinge (411), and the calf strap assembly (42) is connected with the knee joint driver (3) through the calf side swing hinge (411).
  2. 2. Exoskeleton device according to claim 1, wherein the first axis (001) of the knee joint driver (3) coincides with the axis of the human knee joint (A4) and the second axis (002) of the calf side swing hinge (411) is perpendicular to the first axis (001) of the knee joint driver (3).
  3. 3. Exoskeleton device according to claim 2, wherein the calf swing hinge (411) is located below the knee joint driver (3) and the distance L1 between the second axis (002) and the first axis (001) in the vertical direction is in the range of 5-10cm.
  4. 4. The exoskeleton device of claim 1, wherein the calf side swing hinge (411) comprises a first hinge joint (4111), a first hinge shaft (4112) and a second hinge joint (4113); One of the first hinge joint (4111) and the second hinge joint (4113) is adjacent to and connects with the knee actuator (3), and the other is adjacent to and connects with the calf strap assembly (42); The first hinge joint (4111) comprises a first shaft hole part (41111), the second hinge joint (4113) comprises a second shaft hole part (41131), the second shaft hole part (41131) is coaxially arranged with the first shaft hole part (41111), and the first hinge shaft (4112) is respectively connected with the first shaft hole part (41111) and the second shaft hole part (41131) in a penetrating way so as to enable the first hinge joint (4111) and the second hinge joint (4113) to be connected in a rotating way.
  5. 5. The exoskeleton device as in claim 4, wherein the calf side swing hinge (411) further comprises an abrasion resistant sleeve (4114), the abrasion resistant sleeve (4114) being sleeved on the first hinge shaft (4112) in rotational connection with at least one of the first shaft hole portion (41111) and the second shaft hole portion (41131).
  6. 6. The exoskeleton device as claimed in claim 4, wherein the first hinge joint (4111) further comprises a first joint seat (41112), two of the first shaft hole portions (41111) being located on the first joint seat (41112), respectively; The lower leg connecting rod assembly (41) further comprises a first connecting rod piece (413), wherein the top end of the first connecting rod piece (413) is connected with the knee joint driver (3), and the bottom end of the first connecting rod piece (413) is connected with the first joint seat (41112); and/or the number of the groups of groups, The second hinge joint (4113) further comprises a second joint seat (41132), the second shaft hole portion (41131) being located on the second joint seat (41132); The lower leg connecting rod assembly (41) further comprises a second connecting rod piece (414), the top end of the second connecting rod piece (414) is connected with the second joint seat (41132), and the bottom end of the second connecting rod piece (414) is connected with the lower leg binding band assembly (42).
  7. 7. The exoskeleton device as claimed in any one of claims 1 to 6 wherein the calf link assembly (41) further comprises a calf swivel hinge (412), the calf swivel hinge (412) is in series with the calf side swing hinge (411), and the calf swivel hinge (412) is located between the calf side swing hinge (411) and the calf strap assembly (42).
  8. 8. The exoskeleton device as claimed in claim 7, wherein the third axis (003) of the lower leg swivel hinge (412) is inclined toward the side of the lower leg strap assembly (42) along a plumb line (004) where the second axis (002) of the lower leg side swing hinge (411) is located, and an extension line of a lower end of the third axis (003) passes through the plumb line (004) where the center of the lower leg strap assembly (42) is located.
  9. 9. The exoskeleton device of claim 8, wherein the third axis (003) perpendicularly intersects the second axis (002).
  10. 10. The exoskeleton device of claim 7, wherein the lower leg swivel hinge (412) comprises a third hinge joint (4121), a second hinge shaft (4122) and a fourth hinge joint (4123); One of the third hinge joint (4121) and the fourth hinge joint (4123) is adjacent to and connects with the lower leg rotation hinge (412), and the other is adjacent to and connects with the lower leg strap assembly (42); the third hinge joint (4121) comprises a third shaft hole part (41211), the fourth hinge joint (4123) comprises a fourth shaft hole part (41231), the fourth shaft hole part (41231) and the third shaft hole part (41211) are coaxially arranged, and the second hinge shaft (4122) is respectively connected with the third shaft hole part (41211) and the fourth shaft hole part (41231) in a penetrating way so as to enable the third hinge joint (4121) and the fourth hinge joint (4123) to be connected in a rotating way.
  11. 11. The exoskeleton device as in claim 10, wherein when the calf side swing hinge (411) includes a second hinge joint (4113) and the second hinge joint (4113) is proximate to the calf strap assembly (42), one of the third hinge joint (4121) and the fourth hinge joint (4123) is proximate to and fixedly connects the second hinge joint (4113).

Description

Exoskeleton device Technical Field The application relates to the technical field of exoskeletons, in particular to an exoskeletons device. Background A mechanical exoskeleton, or power exoskeleton, exoskeleton device, is a mechanical device that is made up of a frame of high strength and is wearable by a person, which can provide additional energy to the person for limb movement. The exoskeleton device worn on the lower limbs of the human body is widely applied to scenes such as medical treatment, outdoor activities and the like. In the related art, exoskeleton devices suitable for lower limb wear may be provided with drivers at hip and knee joint positions, respectively, and bound and fixed with the leg portions by corresponding rigid links, respectively. However, the exoskeleton device is not fully coupled with the degrees of freedom of the legs of the human body, so that the exoskeleton device is not comfortable and flexible to use. Disclosure of Invention The application provides exoskeleton equipment, which can solve the problems that the exoskeleton equipment cannot be completely coupled with the freedom degree of the legs of a human body, and is poor in use comfort and flexibility. The technical scheme is as follows: an exoskeleton device includes a lumbar bar module, a left leg module, and a right leg module; the left leg module and the right leg module are respectively connected with the waist bar module; the left leg module and the right leg module respectively comprise a hip joint driver, a thigh module, a knee joint driver and a shank module which are sequentially arranged in series, and the hip joint driver is connected with the waist bar module; the calf module includes a calf link assembly and a calf strap assembly; The calf link assembly includes a calf side swing hinge, and the calf strap assembly is connected with the knee joint driver through the calf side swing hinge. In some embodiments, the first axis of the knee actuator is coincident with an axis of a human knee, and the second axis of the calf side pendulum hinge is perpendicular to the first axis of the knee actuator. In some embodiments, the calf side swing hinge is located below the knee joint driver, and the distance L1 between the second axis and the first axis along the vertical direction ranges from 5 cm to 10cm. In some embodiments, the calf side swing hinge includes a first hinge joint, a first hinge axis, and a second hinge joint; One of the first hinge joint and the second hinge joint is adjacent to and connects with the knee actuator, and the other is adjacent to and connects with the calf strap assembly; The first hinge joint comprises a first shaft hole part, the second hinge joint comprises a second shaft hole part, the second shaft hole part and the first shaft hole part are coaxially arranged, and the first hinge shaft is respectively connected with the first shaft hole part and the second shaft hole part in a penetrating way so that the first hinge joint and the second hinge joint are rotationally connected. In some embodiments, the calf side swing hinge further comprises an abrasion resistant sleeve sleeved on the first hinge shaft and rotatably connected with at least one of the first shaft hole portion and the second shaft hole portion. In some embodiments, the first hinge joint further comprises a first joint seat, and the two first shaft holes are respectively positioned on the first joint seat; the lower leg connecting rod assembly further comprises a first connecting rod piece, the top end of the first connecting rod piece is connected with the knee joint driver, and the bottom end of the first connecting rod piece is connected with the first joint seat; and/or the number of the groups of groups, The second hinge joint further comprises a second joint seat, and the second shaft hole part is positioned on the second joint seat; the lower leg connecting rod assembly further comprises a second connecting rod piece, the top end of the second connecting rod piece is connected with the second joint seat, and the bottom end of the second connecting rod piece is connected with the lower leg binding band assembly. In some embodiments, the calf link assembly further comprises a calf swivel hinge in series with the calf side pendulum hinge and the calf swivel hinge is located between the calf side pendulum hinge and the calf strap assembly. In some embodiments, a third axis of the calf swing hinge is inclined along a plumb line on which a second axis of the calf side swing hinge is located toward a side on which the calf strap assembly is located, and an extension line of a lower end of the third axis passes through the plumb line on which a center position of the calf strap assembly is located. In some embodiments, the third axis perpendicularly intersects the second axis. In some embodiments, the lower leg swivel hinge includes a third hinge joint, a second hinge axis, and a fourth hinge joint; One of the third hing