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CN-224209944-U - Leg cover module and exoskeleton equipment

CN224209944UCN 224209944 UCN224209944 UCN 224209944UCN-224209944-U

Abstract

The application provides a leg cover module and exoskeleton equipment, and belongs to the technical field of exoskeleton. The leg cover module comprises an adjusting assembly, a connecting rod and a binding belt assembly, wherein the adjusting assembly comprises a guide rail piece and a sliding piece, the guide rail piece and the sliding piece are connected in a sliding mode along the front-back direction of a user, one of the guide rail piece and the sliding piece is connected with the connecting rod, the connecting rod is located on the front side or the back side of a leg of the user, the binding belt assembly is connected with the connecting rod, and the binding belt assembly is used for being in fit contact with the leg in a wearing state. The leg cover module has the advantages of simple structure and large adjustment range, has better compatibility to the legs of a user, and is beneficial to improving the wearing comfort and the boosting effect of exoskeleton equipment.

Inventors

  • Request for anonymity
  • Request for anonymity

Assignees

  • 极壳科技(上海)有限公司

Dates

Publication Date
20260508
Application Date
20250430

Claims (14)

  1. 1. The leg cover module is characterized by comprising an adjusting component (1), a connecting rod (2) and a binding band component (3); The adjusting assembly (1) comprises a guide rail piece (11) and a sliding piece (12), wherein the guide rail piece (11) and the sliding piece (12) are connected in a sliding way along the front-back direction (A) of a user, and one of the guide rail piece (11) and the sliding piece (12) is connected with the connecting rod (2); The connecting rod (2) is located in front of or behind the leg (001) of the user, the bandage component (3) is connected with the connecting rod (2), and the bandage component (3) is used for being in fit contact with the leg (001) in a wearing state.
  2. 2. Leg cap module according to claim 1, characterized in that one of the rail member (11) and the slider (12) is of an integrally formed structure with the connecting rod (2).
  3. 3. The leg cap module according to claim 1, characterized in that the leg cap module further comprises a limit assembly (5); the limiting assembly (5) comprises a movable limiting piece (51) and at least one first limiting structure (52); The movable limiting piece (51) is located on one of the guide rail piece (11) and the sliding piece (12), the at least one first limiting structure (52) is located on the other of the guide rail piece (11) and the sliding piece (12), and the movable limiting piece (51) is movably connected with the at least one first limiting structure (52) to limit the relative positions of the guide rail piece (11) and the sliding piece (12).
  4. 4. A leg cap module according to claim 3, wherein the movable stop (51) comprises a second stop structure (511), an operating structure (512) and an adapter plate (513); The second limiting structure (511) and the operation structure (512) are respectively located on the adapter plate (513), the second limiting structure (511) corresponds to the at least one first limiting structure (52), at least part of the operation structure (512) protrudes to the outer side of the guide rail piece (11) or the sliding piece (12), the operation structure (512) can drive the adapter plate (513) to move, and the adapter plate (513) drives the second limiting structure (511) to move, so that the second limiting structure (511) is connected with or separated from the at least one first limiting structure (52).
  5. 5. The leg cap module according to claim 4, wherein one of the second limit structure (511) and the first limit structure (52) is a convex structure, and the other is a concave structure; and/or the number of the groups of groups, The number of the second limiting structures (511) is at least two, the at least two second limiting structures (511) are symmetrically located on two sides of the adapter plate (513) along the height direction (B) of the user, the number of the first limiting structures (52) is at least two, the at least two first limiting structures (52) are symmetrically located on two sides of the adapter plate (513) along the height direction (B), and each first limiting structure (52) corresponds to one second limiting structure (511).
  6. 6. The leg cover module according to claim 4, characterized in that one of the rail member (11) and the slider (12) is provided with a first receiving cavity (121), the first receiving cavity (121) being located on a side of the rail member (11) facing away from the slider (12) or on a side of the slider (12) facing away from the rail member (11); The at least one first limiting structure (52) is located between the guide rail piece (11) and the sliding piece (12), the adapter plate (513) is located in the first accommodating cavity (121) and is movably arranged along the direction approaching to and separating from the at least one first limiting structure (52), and at least part of the second limiting structure (511) extends between the guide rail piece (11) and the sliding piece (12) and can move along with the adapter plate (513) to be connected with or separated from the at least one first limiting structure (52).
  7. 7. The leg cap module according to claim 6, wherein the first accommodation chamber (121) is open toward a direction in which the rail member (11) and the slider member (12) are away from each other; the leg cover module further comprises a first cover plate member (6) and at least one first elastic member (7), wherein the first cover plate member (6) is arranged on the opening of the first accommodating cavity (121) in a covering mode, the at least one first elastic member (7) is located between the adapter plate (513) and the first cover plate member (6), and the at least one first elastic member (7) is used for providing elastic acting force for the adapter plate (513).
  8. 8. A leg cap module according to claim 3, wherein the movable stop (51) comprises a second stop structure (511) and an operating structure (512), the second stop structure (511) being connected with the operating structure (512); The movable limiting piece (51) is movably arranged along the height direction (B) of the user, the second limiting structure (511) corresponds to the position of the at least one first limiting structure (52), and the operation structure (512) can drive the second limiting structure (511) to move along the height direction (B), so that the second limiting structure (511) is connected with or separated from the at least one first limiting structure (52).
  9. 9. The leg cover module according to claim 8, wherein the number of the movable stoppers (51) is two, the two movable stoppers (51) are symmetrically arranged along the height direction (B), and the two second stopper structures (511) are respectively located between the two operation structures (512); the number of the first limiting structures (52) is at least two, the at least two first limiting structures (52) are respectively and oppositely arranged along the height direction (B), and each first limiting structure (52) corresponds to one second limiting structure (511).
  10. 10. The leg cap module according to claim 1, further comprising an anti-drop assembly (8), wherein the anti-drop assembly (8) is movably located on one of the rail member (11) and the slider (12) and is capable of protruding or retracting towards the other of the rail member (11) and the slider (12), and wherein the anti-drop assembly (8) is configured to provide a travel limit for the relative sliding of the rail member (11) and the slider (12) in the front-rear direction (a).
  11. 11. The leg cap module according to claim 10, wherein the drop-off prevention assembly (8) comprises a movable drop-off prevention member (81), a second elastic member (82) and a second cap member (83); A second accommodating cavity (122) is arranged on one of the guide rail piece (11) and the sliding piece (12), the second accommodating cavity (122) is positioned on one side of the guide rail piece (11) facing away from the sliding piece (12), or one side of the sliding piece (12) facing away from the guide rail piece (11), and the second accommodating cavity (122) is positioned at one end of the guide rail piece (11) or the sliding piece (12) along the front-rear direction (A); The movable anti-falling piece (81) is movably positioned in the second accommodating cavity (122), and at least part of the movable anti-falling piece (81) extends to one side of the other one of the guide rail piece (11) and the sliding piece (12); The second cover plate member (83) is covered and is established on the opening of second holding chamber (122), second elastic component (82) are located movable anticreep piece (81) with between second cover plate member (83), and can be towards another arch or the withdrawal in guide rail piece (11) and slider (12), second elastic component (82) are used for movable anticreep piece (81) provides reset elastic force.
  12. 12. Leg cap module according to claim 1, characterized in that the leg cap module further comprises a connection structure (9), which connection structure (9) is located on the side of the rail element (11) facing away from the slide element (12) or on the side of the slide element (12) facing away from the rail element (11), which connection structure (9) is intended for connecting leg bars of an exoskeleton device.
  13. 13. The leg cover module according to any one of claims 1 to 12, wherein the strap assembly (3) comprises a first strap assembly (31) and a second strap assembly (32), the leg cover module comprising a thigh assist mode and a shank assist mode; In the thigh assist mode, the connecting rod (2) is arranged around the front side of the leg (001), the first strap assembly (31) is located on the front side of the leg (001) and between the connecting rod (2) and the leg (001), and the second strap assembly (32) is located on the rear side of the leg (001); in the shank assist mode, the connecting rod (2) is disposed around the rear side of the leg (001), the first strap assembly (31) is located at the rear side of the leg (001) and between the connecting rod (2) and the leg (001), and the second strap assembly (32) is located at the front side of the leg (001).
  14. 14. An exoskeleton device, characterized in that it comprises a leg cap module as claimed in any one of claims 1 to 13, and a drive module (100) and a leg bar (200); The driving module (100) is worn at the leg joint of a user, the leg rod piece (200) is connected with the driving module (100), and the leg cover module is connected with the leg rod piece (200).

Description

Leg cover module and exoskeleton equipment Technical Field The application relates to the technical field of exoskeleton, in particular to a leg cover module and exoskeleton equipment. Background For exoskeleton devices, the contact structure of the exoskeleton device that applies force (assistance) to the human body often has a complex design, and flexibility and fitness are often the most critical consideration indexes. In the related art, the contact structure between the exoskeleton device and the human body is usually realized by adopting a hard structure and a binding belt, and the inclined angle of the thigh surface of different people is attached by rotating. However, such a contact structure generally has problems of complex and heavy structure and limited adjustment range, and has limited compatibility with human bodies. Disclosure of utility model The application provides a leg cover module and exoskeleton equipment, which can solve the problems of complex and heavy structure of a contact structure and limited adjusting range and have limited compatibility to human bodies. The technical scheme is as follows: In one aspect, a leg cap module is provided that includes an adjustment assembly, a connecting rod, and a strap assembly; The adjusting assembly comprises a guide rail piece and a sliding piece, wherein the guide rail piece and the sliding piece are connected in a sliding mode along the front-back direction of a user, and one of the guide rail piece and the sliding piece is connected with the connecting rod; The connecting rod is located the shank front side or the rear side of user, the bandage subassembly with the connecting rod is connected, the bandage subassembly is used for in wearing the state with shank laminating contact. In some embodiments, one of the rail member and the slider member is an integral structure with the connecting rod. In some embodiments, the leg cap module further comprises a stop assembly; The limiting assembly comprises a movable limiting piece and at least one first limiting structure; The movable limiting piece is positioned on one of the guide rail piece and the sliding piece, the at least one first limiting structure is positioned on the other of the guide rail piece and the sliding piece, and the movable limiting piece is movably connected with the at least one first limiting structure to limit the relative positions of the guide rail piece and the sliding piece. In some embodiments, the number of the first limiting structures is a plurality, and the plurality of the first limiting structures are arranged at intervals along the front-rear direction of the user. In some embodiments, the movable stop includes a second stop structure, an operating structure, and an adapter plate; The second limiting structure and the operation structure are respectively located on the adapter plate, the second limiting structure corresponds to the at least one first limiting structure in position, at least part of the operation structure protrudes to the outer side of the guide rail piece or the sliding piece, the operation structure can drive the adapter plate to move, and the adapter plate drives the second limiting structure to move, so that the second limiting structure is connected with or separated from the at least one first limiting structure. In some embodiments, one of the second limit structure and the first limit structure is a protrusion structure, and the other is a groove structure; and/or the number of the groups of groups, The number of the second limiting structures is at least two, the at least two second limiting structures are symmetrically located on two sides of the adapter plate along the height direction of the user, the number of the first limiting structures is at least two, the at least two first limiting structures are respectively and symmetrically located on two sides of the adapter plate along the height direction of the user, and each first limiting structure corresponds to one second limiting structure. In some embodiments, a first accommodating cavity is formed on one of the guide rail piece and the sliding piece, and the first accommodating cavity is positioned on one side of the guide rail piece facing away from the sliding piece or one side of the sliding piece facing away from the guide rail piece; The at least one first limiting structure is positioned between the guide rail piece and the sliding piece, the adapter plate is positioned in the first accommodating cavity and movably arranged along the direction approaching to and separating from the at least one first limiting structure, and at least part of the second limiting structure extends between the guide rail piece and the sliding piece and can move along with the adapter plate to be connected with or separated from the at least one first limiting structure. In some embodiments, the first receiving cavity is open toward a direction in which the rail member and the slider member are