CN216372180U

CN216372180U - Mechanical exoskeleton

Info

Publication number: CN216372180U
Application number: CN202122047117.3U
Authority: CN
Inventors: 尹鹏
Original assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Current assignee: Guangzhou Sipeng Technology Co ltd
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2022-04-26
Anticipated expiration: 2031-08-27

Abstract

The utility model relates to the technical field of wearable equipment, and discloses a mechanical exoskeleton, which comprises a supporting plate, a bearing seat, a pressure sensor and a control system. The supporting plate is used for supporting a load; the bearing seat is used for supporting the supporting plate; the pressure sensor is arranged on the supporting plate or between the supporting plate and the bearing seat, and the control system is electrically connected with the pressure sensor. Through set up pressure sensor in on the layer board or between layer board and the bearing seat, can gather the weight information of bearing a burden comparatively directly, it is higher to detect the precision to can not carry out the problem that weight detected to bearing a burden among the solution prior art.

Description

Mechanical exoskeleton

Technical Field

The utility model relates to the technical field of wearable equipment, in particular to a mechanical exoskeleton.

Background

A mechanical or Powered exoskeleton (Powered exoskeleton), which is a robotic device constructed of a steel frame and worn by a person, provides additional energy for the movement of the limbs. The alternative name is as follows: reinforcement garments, Power suits (Power Suit), Power armor (Power armor or Power armor), Exoframe, Hardsuit, Exosuit, and the like.

At present, the mechanical exoskeleton cannot detect the weight of a load, so that the fatigue degree of a human body cannot be evaluated.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model aims to provide a mechanical exoskeleton so as to solve the problem that weight detection cannot be carried out on a load in the prior art.

The embodiment of the utility model adopts the following technical scheme for solving the technical problems: providing a mechanical exoskeleton comprising:

a pallet for supporting a load;

the bearing seat is used for supporting the supporting plate;

the pressure sensor is arranged on the supporting plate or between the supporting plate and the bearing seat; and

and the control system is electrically connected with the pressure sensor.

In some embodiments, the mechanical exoskeleton further comprises a lumbar plate;

the bearing seat is fixedly connected with the waist back plate, and one end of the supporting plate is connected with the waist back plate.

In some embodiments, the mechanical exoskeleton further comprises a back frame;

the waist back plate is fixedly connected to the lower part of the back frame, and the supporting plate is unfolded on the back frame;

one end of the supporting plate is hinged with the waist back plate, and the supporting plate can rotate relative to the back frame to be converted from a state of being unfolded on the back frame to a state of being overlapped on the back frame.

In some embodiments, the pressure sensor is a membrane pressure sensor.

In some embodiments, when the pressure sensor is disposed between the pallet and the load-bearing seat, the pallet includes a pallet body for supporting the load and a boss structure protruding from a surface of the pallet body facing the load-bearing seat, the load-bearing seat has a load-bearing surface, and the film pressure sensor is adhered to the boss structure or the load-bearing surface.

In some embodiments, the boss structure is in the shape of a frustum of a pyramid or a circular truncated cone, and comprises an upper bottom surface and a lower bottom surface;

the lower bottom surface is connected with the supporting plate main body;

when the film pressure sensor is adhered to the boss structure, the film pressure sensor is adhered to the upper bottom surface;

when the film pressure sensor is adhered to the bearing surface, the film pressure sensor abuts against the upper bottom surface.

In some embodiments, the thin film pressure sensor face contacts the pallet and/or the load bearing seat.

In some embodiments, the contact surface between the pallet and the film pressure sensor is parallel to the contact surface between the load bearing seat and the film pressure sensor.

In some embodiments, the angle between the back frame and the support plate is 75-85 degrees.

In some embodiments, a wire port penetrating through the load bearing seat is formed in the load bearing seat, and a wire harness of the pressure sensor is electrically connected with the control system through the wire port.

Compared with the prior art, in the mechanical exoskeleton provided by the embodiment of the utility model, the pressure sensor is arranged on the supporting plate or between the supporting plate and the bearing seat, so that the weight information of a load can be directly acquired, the detection precision is high, and the problem that the weight detection of the load cannot be carried out in the prior art is solved.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

FIG. 1 is a schematic diagram of the structure of a mechanical exoskeleton provided in accordance with one embodiment of the present invention;

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

FIG. 3 is a schematic structural view of the back frame system of the mechanical exoskeleton of FIG. 1;

FIG. 4 is a schematic view of the back frame system of FIG. 3 at another angle;

figures 5-9 are schematic structural views of the lumbar-dorsal connection system of the mechanical exoskeleton of figure 1;

FIG. 10 is a system block diagram of the load detection device of the lumbar-back attachment system shown in FIG. 5;

FIG. 11 is a schematic illustration of the thigh system of the mechanical exoskeleton of FIG. 1;

FIG. 12 is a schematic structural view of the lower leg system of the mechanical exoskeleton of FIG. 1;

fig. 13 is a schematic structural view of the foot system of the mechanical exoskeleton of fig. 1.

Detailed Description

In order to facilitate an understanding of the utility model, the utility model is described in more detail below with reference to the accompanying drawings and specific examples. 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" used in the present specification indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. 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 invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.

Referring to fig. 1 and 2, in accordance with one embodiment of the present invention, a mechanical exoskeleton 100 includes a back frame system 10, a lumbar-dorsal connection system 20, a thigh system 30, a shank system 40, and a foot system 50 connected in series.

Referring to fig. 3 and 4, the back frame system 10 includes a back frame 12, a harness assembly 14, and a platform 16. The back frame 12 is used to connect to a lumbar-back connection system 20, and the harness assembly 14 and the platform 16 are disposed on opposite sides of the back frame 12. Harness assembly 14 is used to secure back frame 12 to the shoulder and back of a person, and brace 16 is used to support a load 18. In use, the brace 16 transmits a portion of the pressure exerted by the load 18 through the back frame 12 to the back strap assembly 14 and another portion of the pressure to the lumbar-back connection system 20.

The back frame 12 is generally plate-like or frame-like and includes oppositely disposed front and

rear surfaces

120 and 122. Back strap assembly 14 is disposed on the side facing front surface 120, and platform 16 and weight 18 are disposed on the side facing rear surface 122. The lower edge of the back frame 12 is connected to a lumbar-back connection system 20.

The harness assembly 14 includes two harnesses 140 and a chest strap 142. The two straps 140 are used to press the left and right shoulders of the human body against the front surface 120 of the back frame 12, respectively, to secure the back frame 12 to the shoulders and back of the human body. The upper end of each strap 140 is connected to the upper portion of the back frame 12, and the lower end of each strap 140 is connected to the lumbar connection system 20. A chest strap 142 is connected between the two back straps 140. In use, the two straps 140 transmit a portion of the pressure applied by the back frame 12 to and borne by the left and right shoulders of the human body, respectively, and the other portion of the pressure is transmitted to and borne by the chest of the human body via the chest straps 142.

The tray 16 is hinged to the lumbar support connection system 20 and can rotate relative to the back frame 12 until it is deployed or folded onto the back frame 12. Wherein, when the folding type backpack is unfolded on the back frame 12, the folding type backpack can support the load 18, and when the folding type backpack is not supported on the load 18, the folding type backpack can be folded on the back frame 12 to be convenient for storage.

When the support plate 16 is unfolded on the back frame 12, the angle between the support plate 16 and the back frame 12 is 75-85 degrees, in this embodiment, the angle is 80 degrees, so as to prevent the load 18 from sliding backwards, and the gravity center of the load 18 can be made closer to the back of the human body, so as to reduce the moment of the load 18 to the waist of the human body.

It will be appreciated that the platform 16 may also be hinged to the back frame 12, so long as the platform 16 is able to rotate relative to the back frame 12.

Referring to fig. 5, the lumbar spine attachment system 20 includes a lumbar back plate assembly 22, a waist belt 24, and a lumbar rod assembly 26. The waist back panel 22 is used to connect the back frame system 10, the waist belt 24 and the waist bar assembly 26 are disposed on the waist back panel assembly 22, the waist belt 24 is used to fix the waist back panel assembly 22 to the back waist of the human body, and the waist bar assembly 26 is used to connect the thigh system 30. In use, the waist back panel assembly 22 transmits 30 the pressure exerted by the back frame 12 through the waist bar assembly 26 to the thigh system.

The lumbar back plate assembly 22 includes a lumbar back plate 220 and mounting rails 222. The waist back plate 220 is substantially in a U-shaped plate shape, the portion between the two ends of the waist back plate 220 is fixed at the lower edge of the back frame 12, and specifically, the waist back plate can be fixed by a connecting structure such as a screw, a rivet, a welding layer, and the like, the portion between the two ends of the waist back plate 220 is substantially parallel to the lower edge of the back frame 12, the two ends of the waist back plate 220 extend to one side to exceed the front surface 120 of the back frame 12 and are used for being respectively connected with the two ends of the waist belt 24, and the waist belt 24 is used for pressing the back waist of the human body onto the portion between the two ends of the waist back plate 220, so as to fix the waist back plate 22 on the back waist of the human body.

The mounting rail 222 is fixed to a surface of the lumbar back plate 220 facing away from the waist belt 24, and may be fixed by a connection structure such as a screw, a rivet, or a welding layer. The mounting rail 222 has a length that is parallel to the lower edge of the back frame 12, and the mounting rail 222 is slidably connected to the lumbar rod assembly 26.

Referring to fig. 6, the lumbar rod assembly 26 includes a slide lock 260, a lumbar support rod 262 and a hip joint 264. Lumbar support bar 262 is coupled between slide lock 260 for slidably coupling mounting rail 222 and hip joint 264 for coupling thigh system 30. In use, the sliding lock 260 transmits the pressure applied by the lumbar back plate 22 to the thigh system 30 via the lumbar support bar 262 and the hip joint 264 in sequence.

The slide lock 260 is switchable between a locked state and an unlocked state, and is fixed to the mounting rail 222 when switched to the locked state, and is movable along the mounting rail 222 to move the lumbar support rod 262.

Referring to fig. 7, the lumbar support rod 262 is substantially L-shaped and includes a first rod 2620 and a second rod 2622. First rod section 2620 is connected between slide lock 260 and second rod section 2622, and second rod section 2622 is connected between first rod section 2620 and hip joint 264. The first rod 2620 has a length direction substantially perpendicular to the rotation axis x, and the second rod 2620 extends beyond the mounting rail 222. The second rod portions 2622 are used for accommodating the waist of the human body, wherein the second rod portions 2622 of the two waist rod assemblies 26 are respectively close to the left and right waist of the human body.

By moving the lumbar support rod 262 relative to the mounting rail 222, the second rod portions 2622 of the lumbar rod assemblies 260 can be moved closer to or farther away from each other, thereby accommodating different human bodies having different lumbar widths.

One end of the hip joint 264 is hinged to the second rod section 2620 and is rotatable relative to the lumbar rod assembly. The other end of hip joint 264 is hinged to thigh system 30, thigh system 30 is rotatable relative to hip joint 264, and axis of rotation x, axis of rotation y of hip joint 264 about second rod 2620, and axis of rotation z of thigh system 30 about hip joint 264 are mutually perpendicular in pairs.

When the waist support bar 262 rotates around the rotation axis x, the thigh system 30 is driven to rotate together to match the inward or outward swinging motion of the thighs of the human body, when the hip joint 264 rotates around the rotation axis y, the thigh system 30 is driven to rotate together to match the left and right rotating motion of the thighs of the human body, and when the thigh system 30 rotates around the rotation axis z, the flexion or extension motion of the thighs of the human body is matched.

Referring to fig. 8 and 9, one end of the support plate 16 is hinged to the lumbar plate 220. Platform 16 includes a platform body for supporting weight 11 and a boss structure 164, the platform body including a front face 160, i.e., the side of platform 16 that faces weight 18 when supporting weight 18, and a back face 162, i.e., the side of platform 16 that faces away from weight 18 when supporting weight 18, wherein weight 18 is shown in FIG. 3. The raised boss structure 164 is raised from the back surface 162.

It is understood that the support plate 16 may be fixedly connected to the lumbar back plate 220 according to actual requirements.

The lumbar back plate assembly 22 also includes a load bearing seat 224. The bearing seat 224 and the mounting rail 222 are located on the same side of the lumbar back plate 220, and the bearing seat 224 is fixedly connected to the lumbar back plate 220, and may be fixed by a connecting structure such as a screw, a rivet, a welding layer, and the like. The load bearing seat 224 is located on the side of the back surface 162 of the platform 16 facing when the platform 16 is unfolded from the back frame 12, and is used to support the platform 16 to avoid the problem that the load 18 is too heavy to cause damage to the hinged structure of the platform 16. Specifically, the load bearing blocks 224 support the pallet body via the boss structures 164.

The lumbar-back attachment system 20 further includes a load detection device 28.

Weight sensing device 28 includes a pressure sensor 280 and a control system 282. The pressure sensor 280 is electrically connected to the control system 282.

When the support plate 16 is unfolded from the back frame 12, a pressure sensor 280 is disposed between the support plate 16 and the load bearing seat 224 for collecting weight information of the load 18.

It is understood that pressure sensor 280 may be located on pallet 16 as desired. The pressure sensor 280 is disposed on the pallet 16, the pressure sensor 280 may be disposed on the front surface 160 of the pallet 16, or the pressure sensor 280 may be disposed in the pallet 16, that is, between the front surface 160 and the back surface 162 of the pallet 16. When pressure sensor 280 is disposed within plate 16, the front surface 160 of plate 16 needs to be slightly deformable to transmit the pressure of load 11 to pressure sensor 280 when plate 16 supports load 11.

Pressure sensor 280 is attached to pallet 16.

The pressure sensor 280 may be a thin film pressure sensor, generally in the form of a sheet. The film pressure sensor has the advantages of small volume, high sensitivity, low power consumption, low price and the like.

The boss structure 164 is substantially circular truncated cone-shaped and includes an upper bottom surface and a lower bottom surface, the upper bottom surface is a circle with a larger diameter, and the lower bottom surface is a circle with a smaller diameter. Lower bottom surface connection layer board 16's back 162, film pressure sensor adhesion is on last bottom surface, specifically can fix through the glue film, and lug structure 164 can improve film pressure sensor's detection precision.

The parameters of the boss structure 164 can be designed as follows:

the diameter of the upper bottom surface is 30mm, the diameter of the lower bottom surface is 50mm, and the height is 2 mm.

It can be understood that the boss structure 164 is not limited to be circular truncated cone, and may also be triangular truncated pyramid, rectangular truncated pyramid, or five-sided truncated pyramid.

When pallet 16 is supporting load 18, pallet 16 presses the membrane pressure sensor against load bearing seat 224. The contact surface between the supporting plate 16 and the film pressure sensor is parallel to the contact surface between the film pressure sensor and the bearing seat 224, so that the film pressure sensor is ensured to be in surface contact with the supporting plate 16 and the bearing seat 224 respectively, and the detection precision of the film pressure sensor can be improved.

It will be appreciated that, depending on the actual requirements, the pressure sensor 280 may also be attached to the load-bearing surface of the load-bearing seat 224, i.e., the surface of the load-bearing seat 224 for supporting the pallet 16, and the film pressure sensor contacts the upper bottom surface of the ledge structure 164 when the pallet 16 is unfolded from the back frame 11.

The control system 282 is fixedly connected to the waist back plate 220, when the supporting plate 16 is unfolded on the back frame 12, the bearing seat 224 is located between the supporting plate 16 and the control system, and a wiring port 2240 penetrating through a contact surface of the bearing seat 224 and a surface facing the control system 282 is formed in the bearing seat 224, and is used for a wiring harness of the film pressure sensor to pass through so as to be electrically connected with the control system 282.

The control system 282 includes a main control module and a wireless communication module. The control system 282 may transmit the weight information collected by the film pressure sensor to a background server via the NB-IOT communication unit for telecommunication, so as to realize real-time transmission and display of the weight data of the load 18.

The wireless communication module may include a low power consumption NB-IOT unit.

The master control module may include a low power Micro Controller Unit (MCU).

Referring to fig. 10, the load detection device 28 works as follows:

the pressure sensor 280 detects the weight information of the collected load, and transmits the weight information to a main control module of the control system 282 through an ADC interface, the main control module communicates with a wireless communication module of the control system 282 through a Uart/I2C interface, the wireless communication module transmits data to a background server and a user interface through an NB base station and a UDP/CoAP interface protocol, and a telecom or mobile NB-IOT module is selected.

Referring to fig. 11, the thigh system 30 includes a thigh frame 32, a thigh cinching assembly 34, a thigh joint seat 36, and an energy storage device 38. The upper end of the thigh framework 32 is hinged with a hip joint 264, the lower end is fixedly connected with a thigh joint seat 36, the thigh joint seat 36 is hinged with a shank system 40, a thigh binding assembly 34 and an energy storage device 38 are arranged on the thigh framework 32, the thigh binding assembly 34 is used for fixing the thigh framework 32 on the thigh of a human body, and the energy storage device 38 is used for storing energy when the shank system 40 rotates to a preset angle range relative to the thigh joint seat 36 and releasing energy when the shank system 40 rotates to a position outside the preset angle range relative to the thigh joint seat 36. In use, thigh frame 32 transmits pressure applied by hip joint 264 through thigh joint seat 36 to calf system 40.

The thigh frame 32 includes a first thigh lever 320, a second thigh lever 322, and a thigh locking device 324. The length directions of the first thigh rod 320 and the second thigh rod 322 are parallel, the upper end of the first thigh rod 320 is the upper end of the thigh framework 32 and is hinged with the hip joint 264, the lower end of the first thigh rod 320 is connected with the upper end of the second thigh rod 322 in a sliding mode, the lower end of the second thigh rod 322 is fixedly connected with the thigh joint seat 36, and the thigh binding assembly 34 is arranged on the second thigh rod 322. The thigh locking device 324 locks the second thigh lever 322 to the first thigh lever 320, and when unlocked, allows the second thigh lever 322 to move along the first thigh lever 320 to adjust the length of the thigh frame 32 to accommodate persons with different thigh lengths. In use, first thigh lever 320 transmits pressure applied by hip joint 264 to calf system 40 sequentially via second thigh lever 322, thigh joint seat 36.

The second thigh link 322 is hollow, and the inner space of the second thigh link 322 can be used for accommodating the energy storage device 38.

Thigh strap assembly 34 includes a thigh shield and a thigh strap. The thigh baffle can be fixed on the second thigh rod piece through the connecting structure, and the thigh baffle is approximately in a plate shape with radian and is used for being tightly attached to the thigh of the human body, so that the whole thigh system 30 can be driven to move in real time when the thigh of the human body moves. Rectangular through holes which are uniformly distributed can be formed in the thigh baffle plate so as to achieve the purposes of weight reduction and heat dissipation.

The thigh straps are substantially strip-shaped and may be made of a soft textile material. One part of the thigh bandage is fixed on the thigh baffle, the other part of the thigh bandage is fixed on the second thigh connecting rod, and the two parts of the thigh bandage can be adhered through magic tapes and used for pressing the thigh of the human body on the thigh baffle so as to fix the thigh framework 32 on the thigh of the human body.

The stored energy device 38 includes a cam 380, a compression spring 382, a compression block 384, and a pull cord 386. The center line of the cam 386 coincides with the center line of the thigh joint seat 36 and is fixedly connected with the shank system 40. The cam surface of the cam 386 includes a first tread portion and a second tread portion, the diameter of the first tread portion is larger than that of the second tread portion, and the first tread portion and the second tread portion are in smooth transition. The arc of the second tread may be 55 degrees. The pressing block 384 is connected with the second thigh connecting rod 322 in a sliding mode, the compression spring 382 is arranged between the pressing block 384 and the cam 380, the upper end of the pulling rope 386 is fixed on the pressing block 384, the lower end of the pulling rope 386 is fixedly connected with the shank system 40, and the part between the upper end and the lower end of the pulling rope 386 is wound on the wheel surface of the cam 380. The pull cord 386 increases or decreases about the location on the tread as the lower leg system 40 rotates relative to the upper leg joint block 36.

When the lower leg system 40 rotates to a preset angle range relative to the thigh joint seat 36, corresponding to the knee bending action of a human body, the pulling rope 386 winds from the second wheel surface part to the first wheel surface part, the upper end of the pulling rope 386 moves to a position close to the cam 380, the upper end of the pulling rope 386 pulls the pressing block 384, the pressing block 384 compresses the compression spring 382, and the compression spring 382 stores energy.

When the lower leg system 40 rotates to be out of the preset angle range, corresponding to the action of the human body in the supporting phase, the pulling rope 386 releases the winding of the first wheel surface part, the upper end of the pulling rope 386 moves to a position far away from the cam 380, the pressure spring 382 releases energy, the pressing block 384 is pushed, the pressing block 384 pulls the pulling rope 386, and the pulling rope 386 pulls the lower leg system 40.

Referring to fig. 12, the lower leg system 40 includes a knee joint 42, a lower leg skeleton 44, a lower leg joint seat 46, a lower leg cinching assembly 48, and a drawstring retainer 49. The knee joint 42 is hinged with the thigh joint seat 36, the upper end of the lower leg framework 44 is fixedly connected with the knee joint 42, the lower end of the lower leg framework 44 is fixedly connected with the lower leg joint seat 46, the lower leg joint seat 46 is hinged with the foot system 50, the lower leg binding assembly 48 is arranged on the lower leg framework 44 and used for fixing the lower leg framework 44 on the lower leg of the human body, and the pull rope locking piece 49 is used for fixing the lower end of the pull rope 386. In use, the knee joint 42 transmits pressure applied by the thigh joint seat 36 to the foot system 50, via the calf skeleton 44, the calf joint seat 46 in sequence.

The centerline of the knee joint 36 coincides with the centerline of the cam 380, and the cam 380 is fixed to the knee joint 36.

The calf framework 44 includes a first calf connection rod 440, a second calf connection rod 442 and a calf lock 444. The length directions of the first and second

shank connecting rods

440, 442 are parallel, the upper end of the first shank connecting rod 440 is the upper end of the shank skeleton 44, the knee joint 42 is fixedly connected, the lower end of the first shank connecting rod 440 is slidably connected with the upper end of the second shank connecting rod 442, the lower end of the second shank connecting rod 442 is the lower end of the shank skeleton 44, the shank joint seat 46 is fixedly connected, the shank locking device 444 locks the second shank connecting rod 442 on the first shank connecting rod 440, and when the shank connecting rod 442 is unlocked, the second shank connecting rod 442 can move along the first shank connecting rod 440 to adapt to human bodies with different shank lengths.

The first shank link 442 is hollow and the interior space of the first shank link 442 can be used to accommodate the lower end of the pull cord 386 and the pull cord lock 49.

The lower leg cinching assembly 48 includes a lower leg flap and a lower leg strap. The shank baffle can be fixed on the first shank connecting rod 442 through the connecting structure, is approximately in a plate shape with a radian and is used for being tightly attached to the shank of the human body, so that the whole shank system 40 can be driven to move in real time when the shank of the human body moves. Rectangular through holes which are uniformly distributed can be formed in the shank baffle plate so as to achieve the purposes of weight reduction and heat dissipation.

The calf strap is substantially strip-shaped and can be made of soft textile materials. One part of the calf strap is fixed on the calf apron, the other part of the calf strap is fixed on the first calf connecting rod 442, and the two parts of the calf strap can be adhered through magic tapes and used for pressing the calf of the human body on the calf shank apron so as to fix the calf skeleton 44 on the calf of the human body.

Referring to FIG. 13, the foot system 50 includes an ankle joint 52, an ankle support 54, a sole plate 56, and a foot strap 58. One end of the ankle joint 52 is hinged with the lower leg supporting seat 46, the other end of the ankle joint 52 is hinged with the ankle joint supporting seat 54, the ankle joint supporting seat 54 is fixedly connected with the sole plate 56, and the foot bandage 58 is arranged on the sole plate 56 and used for fixing the sole plate 56 on the sole of the human body. In use, the ankle joint 52 transmits pressure applied by the lower leg joint seat 46 to the ground through the ankle support seat 54 and the sole plate 56 in order to be borne by the ground.

The ankle joint 52 is rotatable relative to the calf joint seat 46 to rotate the sole plate 56 in response to adduction or abduction of the foot of the person. The ankle support 54 is rotatable relative to the ankle joint 52 to rotate the sole plate 56 to match the forward flexion or rearward extension of the foot of the person. The rotation of the hip joint 264 relative to the lumbar support rod 262 causes the rotation of the foot plate 56 to match the left or right handed movement of the human foot, wherein the hip joint 264 and the lumbar support rod 262 are shown in fig. 8.

The axis of rotation of the hip joint 52 about the lower leg joint seat 46 is perpendicular to the axis of rotation of the hip support seat 54 about the hip joint 52.

In other embodiments, pressure sensors 280 are provided on the foot plate 56 for collecting the total weight of the wearer and the load. The pressure sensor 280 is provided on the support plate 16, and the information of the load 18 can be acquired more directly than when the pressure sensor 280 is provided on the sole plate 56, and the detection accuracy is higher.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the utility model, 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 utility model as described above, which are not provided in detail for the sake of brevity; while the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mechanical exoskeleton, comprising:

a pallet for supporting a load;

the bearing seat is used for supporting the supporting plate;

and the control system is electrically connected with the pressure sensor.

2. The mechanical exoskeleton of claim 1, further comprising a lumbar plate;

3. The mechanical exoskeleton of claim 2, further comprising a back frame;

4. The mechanical exoskeleton of any one of claims 1 to 3, wherein the pressure sensor is a membrane pressure sensor.

5. The mechanical exoskeleton of claim 4, wherein when the pressure sensor is disposed between the pallet and the load bearing seat, the pallet comprises a pallet body for supporting the load and a boss structure protruding from a side of the pallet body facing the load bearing seat, the load bearing seat having a load bearing surface, the thin film pressure sensor being adhered to the boss structure or the load bearing surface.

6. The mechanical exoskeleton of claim 5, wherein said boss structure is in the shape of a truncated pyramid or truncated cone comprising an upper base surface and a lower base surface;

the lower bottom surface is connected with the supporting plate main body;

7. The mechanical exoskeleton of claim 4, wherein the membrane pressure sensor surface contacts the pallet and/or the weight bearing seat.

8. The mechanical exoskeleton of claim 7, wherein a contact surface between the pallet and the membrane pressure sensor is parallel to a contact surface between the load bearing seat and the membrane pressure sensor.

9. The mechanical exoskeleton of claim 3, wherein the angle between the back frame and the plate is 75-85 degrees.

10. The mechanical exoskeleton of any one of claims 1 to 3, wherein the load bearing seat is provided with a wire port extending therethrough, and the wiring harness of the pressure sensor is electrically connected to the control system via the wire port.