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CN-121989202-A - Leg assisting mechanism and leg assisting system

CN121989202ACN 121989202 ACN121989202 ACN 121989202ACN-121989202-A

Abstract

The application provides a leg assisting mechanism and a leg assisting system, and belongs to the technical field of human body assisting machinery. The leg assisting mechanism comprises a joint driver and a leg assembly, wherein the joint driver is positioned on the axis of a human leg joint, the leg assembly is connected with the joint driver, the leg assembly comprises an elastic telescopic structure and a wearing structure, the leg assembly is connected with the human leg through the wearing structure, and the distance between the wearing structure and the joint driver can be adjusted through the elastic telescopic structure. The leg assisting mechanism provided by the application can be adaptively adjusted by utilizing the elastic telescopic structure, and has better use flexibility and wearing comfort.

Inventors

  • Request for anonymity
  • 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 (15)

  1. 1. A leg assist mechanism comprising a joint driver (100) and a leg assembly (200); The joint driver (100) is positioned on the axis of the leg joint of the human body, and the leg assembly (200) is connected with the joint driver (100); The leg assembly (200) comprises an elastic telescopic structure (1) and a wearing structure (2), the leg assembly (200) is connected with the leg of a human body through the wearing structure (2), and the elastic telescopic structure (1) can adjust the distance between the wearing structure (2) and the joint driver (100).
  2. 2. Leg assist mechanism according to claim 1, characterized in that the elastic telescopic structure (1) comprises at least two link members (11) and at least one elastic member (12); The at least two connecting rod pieces (11) are connected in a sliding way along the direction parallel to the legs of the human body; Two of the at least two link members (11) are respectively connected with the at least one elastic member (12), and the at least one elastic member (12) is used for providing elastic acting force for the two link members (11).
  3. 3. Leg assist mechanism according to claim 2, characterized in that the two link members (11) connected to the at least one elastic member (12) are provided with mounting structures (111) respectively, and both ends of the elastic member (12) are connected to the two link members (11) through the mounting structures (111) respectively.
  4. 4. A leg assist mechanism as claimed in claim 3, wherein the at least two link members (11) are sequentially stacked in directions approaching and separating from a human body; the two mounting structures (111) are positioned on the outer side surfaces of the corresponding connecting rod pieces (11) facing away from the legs of the human body and respectively protrude towards the directions facing away from the legs of the human body, and the protruding heights of the two mounting structures (111) are different so that the axis of the elastic piece (12) is parallel to the directions of the legs of the human body.
  5. 5. A leg assist mechanism as claimed in claim 3, characterized in that the link member (11) is provided with a first adjustment groove (112), the first adjustment groove (112) extending in a direction parallel to the leg of the human body, the mounting structure (111) being detachably connected to the first adjustment groove (112).
  6. 6. The leg assist mechanism of any one of claims 1 to 5 wherein the leg assist mechanism comprises a stationary or travel mode, a medial pendulum mode and a lateral pendulum mode; In the resting or travelling mode, the elastically telescopic structure (1) has a first length L1; in the inside pendulum mode, the elastically stretchable structure (1) has a second length L2; In the outside pendulum mode, the elastically stretchable structure (1) has a third length L3; wherein the third length L3< the first length L1< the second length L2.
  7. 7. Leg assist mechanism according to any of claims 2 to 5, characterized in that the elastically telescopic structure (1) further comprises at least one slip fit assembly (13); each sliding fit assembly (13) is respectively positioned between two adjacent connecting rod pieces (11) so as to enable the two adjacent connecting rod pieces (11) to be connected in a sliding mode.
  8. 8. Leg assistance mechanism according to claim 7, characterized in that the slip fit assembly (13) comprises a slide rail member (131) and at least one slider member (132); The sliding rail piece (131) is connected with one of the two adjacent connecting rod pieces (11), the at least one sliding block piece (132) is connected with the other of the two adjacent connecting rod pieces (11), and the sliding rail piece (131) and the at least one sliding block piece (132) are in sliding fit.
  9. 9. The leg assist mechanism as recited in claim 8, wherein the slip fit assembly (13) further comprises a top limit structure (133) and a bottom limit structure (134), the top limit structure (133) being located at a top end of the rail member (131), the bottom limit structure (134) being located at a bottom end of the rail member (131).
  10. 10. Leg assist mechanism according to any of claims 1 to 9, characterized in that the leg assembly (200) further comprises a side swing hinge (3), the side swing hinge (3) being located between the joint driver (100) and the resilient telescopic structure (1).
  11. 11. A leg assist system characterized in that it comprises a waist fixing mechanism (300) and at least one leg assist mechanism according to any one of claims 1-10; The waist fixing mechanism (300) is connected with the waist of a human body in a wearing way, and the leg assisting mechanism is connected with the waist fixing mechanism (300).
  12. 12. The leg assist system of claim 11 wherein, The joint driver (100) comprises a first joint driver (4) and a second joint driver (5), the leg assembly (200) comprises a first leg assembly (6) and a second leg assembly (7), and the wearing structure (2) comprises a first wearing structure (61) positioned in the first leg assembly (6) and a second wearing structure (71) positioned in the second leg assembly (7); The first joint driver (4), the first leg assembly (6), the second joint driver (5) and the second leg assembly (7) are arranged in series in sequence; The first joint driver (4) is positioned on the axis of the hip joint of the human body and is respectively connected with two ends of the waist fixing mechanism (300), the second joint driver (5) is positioned on the axis of the knee joint of the human body, the first leg component (6) is connected with the thigh of the human body in a wearing way through the first wearing structure (61), and the second leg component (7) is connected with the calf of the human body in a wearing way through the second wearing structure (71).
  13. 13. Leg assistance system according to claim 12, characterized in that the second wearing structure (71) and the second joint actuator (5) are located at both ends of the elastic telescopic structure (1), respectively; The second wearing structure (71) comprises a second supporting rod (711), a second supporting plate (712) and a second binding band (713), wherein the second supporting rod (711) is connected with the elastic telescopic structure (1) and the second supporting plate (712) along the horizontal direction, the second supporting plate (712) is used for being attached and supported on the rear side of the lower leg of a human body, the second binding band (713) is connected with the second supporting plate (712), the second binding band (713) is used for encircling and binding the lower leg of the human body, and the diameter of the second binding band (713) gradually decreases from top to bottom.
  14. 14. Leg assistance system according to claim 13, characterized in that when the elastic telescopic structure (1) comprises at least two link members (11), a second adjustment groove (113) is provided on the link member (11) connected to the second support bar (711), the second adjustment groove (113) extending in a direction parallel to the lower leg, the second support bar (711) being detachably connected to the second adjustment groove (113).
  15. 15. Leg assistance system according to claim 12, characterized in that the elastic telescopic structure (1) comprises a first elastic telescopic structure (101), the first elastic telescopic structure (101) being located within the first leg assembly (6), the first joint driver (4) being located at the top end of the first elastic telescopic structure (101), the first wearing structure (61) and the second joint driver (5) being located at the bottom end of the first elastic telescopic structure (101), respectively, and the first wearing structure (61) being located above the second joint driver (5); and/or the number of the groups of groups, The elastic telescopic structure (1) comprises a second elastic telescopic structure (102), the second elastic telescopic structure (102) is located in the second leg assembly (7), the second joint driver (5) is located at the top end of the second elastic telescopic structure (102), and the second wearing structure (71) is located at the bottom end of the second elastic telescopic structure (102).

Description

Leg assisting mechanism and leg assisting system Technical Field The application relates to the technical field of human body power-assisted machinery, in particular to a leg power-assisted mechanism and a leg power-assisted system. Background The leg power assisting system is a mechanical structure which can be worn on the waist and the legs of a human body, and can enhance the leg capacity of the human body or lighten the leg burden of the human body by using mechanical energy to provide additional energy for the lower limbs. Because the leg power-assisted system is worn outside the human body, unavoidable position deviation exists between the leg power-assisted system and joints of the human body in the horizontal direction, the movement tracks of the leg power-assisted system and the legs of the human body cannot be completely overlapped, and the binding points of the leg power-assisted system are worn and slid, so that the legs of the human body are damaged by friction. Disclosure of Invention The application provides a leg power assisting mechanism and a leg power assisting system, which can solve the problem that the movement tracks of the leg power assisting system and the legs of a human body cannot be completely overlapped, and the binding points of the leg power assisting system are worn and slid to cause friction injury of the legs of the human body. The technical scheme is as follows: In one aspect, a leg assist mechanism is provided that includes a joint driver and a leg assembly; The joint driver is positioned on the axis of the leg joint of the human body, and the leg assembly is connected with the joint driver; The leg assembly comprises an elastic telescopic structure and a wearing structure, the leg assembly is connected with the leg of a human body through the wearing structure in a wearing mode, and the elastic telescopic structure can adjust the distance between the wearing structure and the joint driver. In some embodiments, the elastically stretchable structure comprises at least two link members and at least one elastic member; The at least two connecting rod pieces are connected in a sliding way along the direction parallel to the leg of the human body; Two of the at least two link members are respectively connected with the at least one elastic member, and the at least one elastic member is used for providing elastic acting force for the two link members. In some embodiments, two connecting rod pieces connected with the at least one elastic piece are respectively provided with a mounting structure, and two ends of the elastic piece are respectively connected with the two connecting rod pieces through the mounting structure. In some embodiments, the at least two link members are sequentially stacked in a direction approaching and separating from the human body; the two mounting structures are positioned on the outer side surfaces of the corresponding connecting rod pieces, which are away from the legs of the human body, and are respectively protruded towards the directions, which are away from the legs of the human body, so that the protruding heights of the two mounting structures are different, and the axes of the elastic pieces are parallel to the directions of the legs of the human body. In some embodiments, the link member is provided with a first adjustment slot extending in a direction parallel to the leg of the person, and the mounting structure is detachably connected to the first adjustment slot. In some embodiments, the leg assist mechanism includes a stationary or travel mode, a medial pendulum mode, and a lateral pendulum mode; in the stationary or travel mode, the elastically telescoping structure has a first length L1; in the medial pendulum mode, the elastic telescoping structure has a second length L2; in the outboard swing mode, the resilient telescoping structure has a third length L3; wherein the third length L3< the first length L1< the second length L2. In some embodiments, the resilient telescoping structure further comprises at least one slip fit assembly; each sliding fit assembly is respectively positioned between two adjacent connecting rod pieces so as to enable the two adjacent connecting rod pieces to be in sliding connection. In some embodiments, the slip fit assembly includes a slide rail member and at least one slider member; the sliding rail piece is connected with one of the two adjacent connecting rod pieces, the at least one sliding block piece is connected with the other of the two adjacent connecting rod pieces, and the sliding rail piece and the at least one sliding block piece are in sliding fit. In some embodiments, the sliding fit assembly further comprises a top limit structure and a bottom limit structure, wherein the top limit structure is located at the top end of the sliding rail piece, and the bottom limit structure is located at the bottom end of the sliding rail piece. In some embodiments, the leg assembly further comprises a roll