CN215779629U

CN215779629U - Exoskeleton binding system and rehabilitation exoskeleton structure

Info

Publication number: CN215779629U
Application number: CN202122024476.7U
Authority: CN
Inventors: 李建; 齐关宇; 关文江
Original assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Current assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Priority date: 2021-08-25
Filing date: 2021-08-25
Publication date: 2022-02-11
Anticipated expiration: 2031-08-25

Abstract

The utility model discloses an exoskeleton binding system and a rehabilitation exoskeleton structure, and relates to the technical field of rehabilitation equipment, wherein the exoskeleton binding system comprises a waist component provided with a waist binding component; the hip joint moving mechanism is fixedly connected with the waist component; the leg component is rotationally connected with the hip joint moving mechanism and is provided with a leg binding component; the foot component is rotationally connected with the leg component and is provided with a foot binding band; the waist binding component and the leg binding component are both provided with a quick assembly disassembly connecting component so that the waist binding component and the leg binding component can be closed or unfolded. Through set up the bandage structure on the position of difference, realized ectoskeleton and the effective fixed of wearing person to realize the quick wearing of recovered ectoskeleton structure through quick assembly disassembly coupling assembling, improve the wearing and the dismantlement efficiency of recovered ectoskeleton, satisfy the wearing demand of wearing person.

Description

Exoskeleton binding system and rehabilitation exoskeleton structure

Technical Field

The utility model relates to the technical field of rehabilitation equipment, in particular to an exoskeleton binding system and a rehabilitation exoskeleton structure.

Background

In order to reduce the burden of a rehabilitation teacher in a rehabilitation department in rehabilitation clinic, the rehabilitation of a patient is assisted and guided by various rehabilitation machines and instruments, a rehabilitation exoskeleton is a common rehabilitation training device, and in the wearing training process, certain power assistance or resistance is provided for the patient during limb movement of the patient so as to improve the rehabilitation effect.

The effective fixation of the rehabilitation exoskeleton and the wearer and the wearing time are key indexes for measuring the performance of the exoskeleton, and the wearing convenience or wearing time relate to the input of manpower, the rehabilitation efficiency of the wearer, the utilization rate of equipment and the like.

However, the relative stability between the existing rehabilitation exoskeleton and the limb of the wearer is poor, and in the process of rehabilitation exercise of the patient, the rehabilitation exoskeleton and the limb of the patient often gradually deviate along with the movement of the patient, so that the eccentricity between the mechanical joint of the rehabilitation exoskeleton and the joint of the human body occurs, even the deviation between the whole rehabilitation exoskeleton and the human body occurs, the movement of the limb of the patient is seriously hindered, the patient cannot be assisted in the rehabilitation exercise, and the risk of further damage to the limb of the patient exists.

SUMMERY OF THE UTILITY MODEL

One of the purposes of the embodiment of the utility model is as follows: the exoskeleton binding system is designed according to a bandage system of a rehabilitation exoskeleton with comprehensive consideration of waist, hip, thigh, shank and sole, realizes effective fixation of the exoskeleton and a wearer, reduces wearing time, and solves the problems in the prior art.

The second purpose of the embodiment of the utility model is: the utility model provides a recovered ectoskeleton structure improves the wearing efficiency of ectoskeleton and the stability between the person's limbs of wearing to improve the recovered effect of patient's rehabilitation process.

In order to achieve one of the purposes, the utility model adopts the following technical scheme:

in one aspect, an exoskeleton binding system is provided, which comprises a waist assembly, a waist binding assembly and a control system, wherein the waist binding assembly defines a waist wearing space for encircling and binding to the waist of a wearer; the hip joint assembly comprises a hip joint moving mechanism and a hip belt, the hip joint moving mechanism is fixedly connected with the waist assembly, and a hip wearing space is defined between the hip joint moving mechanism and the hip belt and used for encircling and binding the hip of a wearer; the leg component is rotationally connected with the hip joint moving mechanism and is provided with a leg binding component, and the leg binding component defines a leg wearing space and is used for surrounding and binding the legs of a wearer; the foot component is rotatably connected with the leg component, is provided with a foot bandage, and defines a foot wearing space with the foot bandage for surrounding and binding the foot of a wearer; the waist binding assembly and the leg binding assembly are both provided with a quick assembly and disassembly connecting assembly, and the quick assembly and disassembly connecting assembly is provided with a connecting position and a separating position; the activity unlocking piece, the activity unlocking piece can drive quick assembly disassembly coupling assembling moves between hookup location and detached position, so that the waist bind the subassembly with the subassembly closure or expansion are bound to the shank.

In order to achieve the second purpose, the utility model adopts the following technical scheme:

in another aspect, there is provided a rehabilitation exoskeleton structure comprising an exoskeleton binding system as described above.

The utility model has the beneficial effects that: the exoskeleton binding system is used for binding the waist, the hip, the leg and the foot of a wearer respectively through the waist binding assembly, the hip binding belt, the leg binding assembly and the foot binding belt, and the binding belts at different parts structurally have wearing spaces for binding corresponding parts of the wearer, so that the exoskeleton and the wearer are effectively fixed. The waist binding component and the hip bandage can limit the movement of the hip joint component and the hip rotation center of the human body under the state of binding the waist and the hip of a wearer, and the problem that the joint rotation axis of the hip joint component and the joint rotation axis of the human body are eccentric is avoided. The leg binding assembly and the foot binding band can keep the wearer and knee joints and ankle joint rotation axes of the rehabilitation exoskeleton in a centering state, so that the rehabilitation exoskeleton can be matched with limb movement of the wearer, the purpose of supporting the wearer and assisting the wearer in limb movement is achieved, and the rehabilitation effect of the patient is improved finally;

realize through quick assembly disassembly coupling assembling that the subassembly is bound to the waist and the connection that the subassembly was bound to the shank, on foretell basis, improve the wearing and the dismantlement efficiency of recovered ectoskeleton, reduce its time of dressing, satisfy the wearing demand of wearing person.

Drawings

The utility model is explained in more detail below with reference to the figures and examples.

Fig. 1 is a schematic diagram illustrating a wearing state of an exoskeleton binding system and a rehabilitation exoskeleton structure according to an embodiment of the present invention;

fig. 2 is a second schematic view illustrating a wearing state of the exoskeleton binding system and the rehabilitation exoskeleton structure according to the embodiment of the present invention;

fig. 3 is a schematic diagram of an embodiment of the exoskeleton binding system and a rehabilitation exoskeleton according to the present invention;

fig. 4 is a second overall schematic view of the exoskeleton binding system and the rehabilitation exoskeleton according to the embodiment of the present invention;

FIG. 5 is a schematic view of a quick-release connecting assembly according to an embodiment of the present invention in a use state;

FIG. 6 is a schematic view of a quick-release connecting assembly according to an embodiment of the present invention;

FIG. 7 is a schematic view of a connection position of the quick-release connecting assembly according to the embodiment of the present invention;

FIG. 8 is a schematic view of a separated position of the quick-release connecting assembly according to the embodiment of the present invention;

FIG. 9 is a schematic view of a second quick-release connecting assembly according to an embodiment of the present invention;

FIG. 10 is a schematic view of a second usage state of the quick-release connecting assembly according to the embodiment of the present invention;

FIG. 11 is an exploded view of a second quick-release connecting assembly according to an embodiment of the present invention;

FIG. 12 is an enlarged view of portion A of FIG. 11;

FIG. 13 is a schematic view of a waist feature according to an embodiment of the present invention;

FIG. 14 is a schematic view of a hip joint assembly according to an embodiment of the present invention;

FIG. 15 is a second schematic view of a hip joint assembly according to the embodiment of the present invention;

fig. 16 is a schematic view of a leg assembly according to an embodiment of the present invention;

FIG. 17 is a schematic view of a foot component according to an embodiment of the utility model.

In the figure: 10. a waist feature; 11. a waist binding assembly; 111. a first waist support member; 112. a second waist support member; 113. a kidney-shaped hole; 114. a waist strap; 12. a waist wearing space; 13. a waist backpack; 20. a hip joint assembly; 21. a hip joint moving mechanism; 211. a base; 212. a hip abduction arm; 2121. a first axis of rotation; 213. a first hip joint movement member; 2131. a second axis of rotation; 214. a second hip joint movement member; 2141. a third axis of rotation; 22. a hip strap; 221. a first hip belt; 222. a first fastening part; 223. a second hip belt; 224. a second fastening part; 23. a hip wearing space; 30. a leg assembly; 31. a leg binding assembly; 311. a leg guard plate; 312. a leg strap; 32. a leg wearing space; 33. a thigh bar assembly; 34. a shank rod assembly; 35. a knee joint component; 40. a foot component; 41. a foot strap; 411. a first belt body; 412. a second belt body; 4121. a rope hook; 42. a foot wearing space; 43. a substrate; 431. treading the tread; 44. a second adjustment device; 45. a second tensioning belt; 50. the connecting assembly is quickly disassembled and assembled; 51. a movable unlocking member; 511. a spring; 52. hooking; 53. a fastener; 54. a magnetic component; 541. a first magnetic member; 542. a second magnetic member; 543. a third magnetic member; 55. a first adjusting device; 551. an unlocking operation section; 56. a first tensioning band; 57. supporting; 58. and (7) hanging holes.

Detailed Description

In order to make the technical problems solved, technical solutions adopted, and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention are described in further detail below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1 to 4, in order to effectively fix a rehabilitation exoskeleton and a limb of a wearer and meet the requirement of smooth movement of the lower limb body of the wearer in a state of wearing the rehabilitation exoskeleton, the embodiment provides an exoskeleton binding system, which aims to improve the matching degree between the rehabilitation exoskeleton and the lower limb joint of the wearer, and a mechanical joint can keep a state of centering on the human joint, so as to finally achieve the purpose of improving the rehabilitation effect of the wearer.

The exoskeleton binding system comprises a waist component 10, wherein the waist component 10 is positioned at the waist of a wearer in a wearing state of the rehabilitation exoskeleton, a waist binding component 11 is arranged on the waist component 10, the waist binding component 11 defines a waist wearing space 12 for being bound around the waist of the wearer, and because the cross section of the waist of the human body is of an approximate elliptical structure, when the waist of the human body is arranged in the waist wearing space 12, the waist binding component 11 is effectively fixed with the human body, so that the relative movement between the rehabilitation exoskeleton and the rotation center of the human body in the movement process of the human body is reduced, in addition, the waist with a relatively smaller movement angle range in the movement process of the human body is fixed through the waist binding component 11, and compared with the existing scheme that the rehabilitation exoskeleton is only fixed at the hip of the wearer, the wearing stability between the rehabilitation exoskeleton and the human body can be further improved, thereby reducing the relative motion of the mechanical joint and the human joint and reducing the possibility of eccentric deviation of the joint.

A hip joint assembly 20 located on the hip of the human body in a wearing state, which comprises a hip joint moving mechanism 21 providing abduction/adduction, external/internal rotation and flexion/extension freedom degrees for the hip joint, and a hip bandage 22 for keeping the hip joint moving mechanism 21 and the hip joint of the wearer relatively stable, wherein the hip joint moving mechanism 21 is fixedly connected with the waist assembly 10 to ensure that the hip joint is stabilized on the waist assembly 10, the hip joint is a joint part with highest movement frequency, largest movement range and most freedom degrees during the movement of the wearer, therefore, the moment direction generated by the hip joint to a rehabilitation exoskeleton is also largest and largest, part of the moment generated by the human hip joint to the hip joint assembly 20 is transmitted to the waist assembly 10 through the hip joint moving mechanism 21, the waist binding assembly 11 is stabilized on the waist of the wearer, and the waist of the wearer can share certain acting force from the hip joint moving mechanism 21, the relative movement between the hip joint moving mechanism 21 and the limb of the wearer is reduced, a hip wearing space 23 is defined between the hip joint moving mechanism 21 and the hip bandage 22 and is used for surrounding and binding the hip of the wearer, and the other part of acting force from the hip joint moving mechanism 21 can fix the hip of the wearer in the hip wearing space 23 through the hip bandage 22, so that the relative shaking of the hip joint moving mechanism 21 during the movement of the wearer is greatly reduced through the cooperation of the waist binding component 11 and the hip bandage 22, and the mechanical joint rotating axes of the three degrees of freedom of the hip joint moving mechanism 21 can be kept matched with the hip joint rotating axis of the wearer, thereby achieving the purposes of supporting the lower limb joint of the wearer and assisting the movement of the lower limb joint of the wearer.

The hip joint moving mechanism 21 is rotatably connected with a leg component 30, the leg component 30 moves along with the leg of a wearer in a wearing state and provides a degree of freedom of movement of knee joint flexion/extension for the wearer, the leg component 30 is provided with a leg binding component 31, the leg binding component 31 limits a leg wearing space 32 for surrounding and binding the leg of the wearer, concretely, the leg component 30 further comprises a thigh rod component 33 and a shank rod component 34 which respectively move along with the thigh and the shank of the wearer, a knee joint component 35 is arranged between the thigh rod component 33 and the shank rod component 34, the rotation axis of the knee joint component 35 is coaxially arranged with the knee joint rotation axis of the wearer, thus, the leg binding component 31 can be respectively arranged on the thigh rod component 33 and the shank rod component 34 and respectively bound on the thigh and the shank of the wearer, and the knee joint component 35 and the hip joint flexion/extension rotation axis can be kept in alignment with the human joint Status.

Leg component 30 one end rotates with hip joint moving mechanism 21 to be connected, and the other end rotates with foot component 40 to be connected, specifically reaches the effect of rotating the connection through the ankle joint subassembly, provides the degree of freedom of movement for the ankle joint of wearing person, can be suitable for the rotation of ankle joint at the wearing person walking in-process, guarantees that recovered ectoskeleton follows wearing person's low limbs joint in the whole journey. The foot component 40 is provided with a foot strap 41, and a foot wearing space 42 is defined between the foot component 40 and the foot strap 41 and is used for encircling and binding the foot of the wearer, so that the foot component 40 can be kept in a state of following the foot of the wearer, and the ankle joint component and the ankle joint of the wearer are kept in a centering state.

As shown in fig. 5 to 12, in order to improve the putting on and taking off efficiency of the rehabilitation exoskeleton and reduce the wearing time thereof, the waist binding assembly 11 and the leg binding assembly 31 are both provided with the quick-release connecting assembly 50, the quick-release connecting assembly 50 is used for connecting or separating the waist binding assembly 11 or the leg binding assembly 31, the quick-release connecting assembly 50 has a connecting position and a separating position, and the quick-release connecting assembly 50 is used for realizing the connection and the separation between the two ends of the waist binding assembly 11 or the leg binding assembly 31.

When the quick assembly and disassembly connection assembly 50 is at the connection position, the two ends of the waist binding assembly 11 or the leg binding assembly 31 are connected to form an annular wearing structure, so that the waist wearing space 12 or the leg wearing space 32 is in a circumferential closed state, and the waist or the legs of a wearer cannot be separated from the corresponding binding assembly from the radial direction after wearing;

when the quick-release coupling assembly 50 is located at the separation position, the quick-release coupling assembly 50 is separated, so that the two ends of the waist binding assembly 11 or the two ends of the leg binding assembly 31 are separated, the waist wearing space 12 or the leg wearing space 32 is opened, and the corresponding joint part of the wearer can be separated from the waist wearing space or the leg wearing space.

And in order to let recovered ectoskeleton have the effect of wearing to take off fast, quick assembly disassembly coupling assembling 50 includes activity unlocking piece 51, activity unlocking piece 51 can drive quick assembly disassembly coupling assembling 50 and move between hookup location and separation position, so that subassembly 31 is bound to waist binding subassembly 11 and shank and closed or expand, the in-process of wearing or helping wearing is being dressed to the wearer or recovered teacher, accessible drive activity unlocking piece 51, make corresponding binding assembly separation open, supply the corresponding position of wearer to penetrate, and make binding the subassembly to move to hookup location through drive activity unlocking piece 51, make corresponding wearing space keep closed, make and realize effectively being connected between recovered ectoskeleton and the wearer's limbs, realize quick dress and demolish, operation process is more simple and convenient, reduce operating time, use experience is better.

The components in the rehabilitation exoskeleton structure are preferably made of metal materials, such as: the preferred mechanical strength that is higher for the aluminium material, aluminium alloy material, copper alloy material, iron material, stainless steel material, the structure possesses the section bar structure of certain resistance tangential moment of torsion ability to guarantee the support stability between two components, thereby promote its practicality, reliability and durability, of course, in order to let the ectoskeleton lightweight, some components also can be other hard material and/or carbon fiber material, also are favorable to hoist mechanism stability more. The exoskeleton system also comprises soft materials, the soft materials are generally used in a binding band structure in the exoskeleton system, so that the limbs of a patient can be worn in the exoskeleton system through the binding band structure, the soft materials can specifically adopt rubber (natural rubber or synthetic rubber can be selected as the rubber) which belongs to completely amorphous polymers, the soft materials are rich in elasticity at room temperature, can generate large deformation under the action of small external force, can recover the original shape after the external force is removed, the contact area with the limbs (to-be-fixed parts) can be improved, and the stability and the comfort of fixation are improved. And a silica gel part (organic silica gel or inorganic silica gel can be selected) can be adopted, the silica gel has better chemical stability and better flexibility, and the contact area with limbs (to-be-fixed parts) can be increased, so that the stability and the comfort of fixation are improved. Or leather is obtained by physical and chemical processing such as depilation and tanning, and is denatured and non-putrefactive. The leather is formed by tightly weaving natural protein fibers in a three-dimensional space, the surface of the leather is provided with a special grain surface layer, the grain surface layer has natural grains and luster, the hand feeling is comfortable, the leather has a better elastic deformation function, and the contact area between the leather and limbs (to-be-fixed parts) can be increased, so that the fixing stability and the comfort are improved.

On the basis of the above, the quick-assembly-disassembly connecting assembly 50 can be realized by two structures;

as shown in fig. 5-8, the quick-release connecting assembly 50 further includes:

the hook 52 and the fastener 53 may be connected to both ends of the waist binding member 11 or the leg binding member 31, respectively; the movable unlocking piece 51 is movably connected to the fastener 53; the magnetic component 54 is arranged on the movable unlocking piece 51 and the hook 52; the movable unlocking piece 51 can move relative to the fastener 53 so as to enable the hook 52 and the fastener 53 to be in a connecting position or a separating position; when the hook is in the connection position, the magnetic assembly 54 generates magnetic attraction force, so that the fastener 53 can be kept in fit joint with the hook 52; in the separated position, the magnetic assembly 54 generates a magnetic repulsive force to separate the catch 53 from the hook 52.

The disassembly and assembly principle of the structure is as follows:

when the fastener 53 and the hook 52 need to be connected, the fastener 53 only needs to be fastened to the hook 52 so as to be clamped, here, the fastener 53 and the hook 52 are respectively provided with a supporting platform 57 for mutually supporting so as to have mutually supporting acting force in a connecting position state, the movable unlocking piece 51 is automatically or manually adjusted to the connecting position, and then the stable connection between the fastener 53 and the hook 52 can be realized; when being in the hookup location, the waist or the shank of wearer support tightly the waist and bind subassembly 11 or the subassembly 31 is bound to the shank, make the waist bind subassembly 11 or the both ends that the subassembly 31 was bound to the shank have the effort of dragging towards the direction of keeping away from each other, thereby pulling couple 52 and fastener 53, support platform 57 on couple 52 and the fastener 53 supports tightly each other, for providing the holding power each other, avoid corresponding subassembly of binding to break away from, magnetic component 54 provides magnetic attraction for couple 52 and fastener 53's being connected, under the effect of holding power and magnetic attraction, can keep fastener 53 and couple 52's effective connection, realize the function that both ends are connected, and can guarantee to connect the reliability.

In this structure, the magnetic assembly 54 includes a first magnetic component 541 disposed on the hook 52, a second magnetic component 542 disposed on the movable unlocking piece 51, and a third magnetic component 543 disposed on the hook 52 or the movable unlocking piece 51; when the hook is located at the connection position, the first magnetic piece 541 and the second magnetic piece 542 are arranged oppositely and generate magnetic attraction force mutually, so that the fastener 53 and the hook 52 are attached to each other and kept clamped; when the hook is located at the separating position, the third magnetic member 543 and the second magnetic member 542 or the first magnetic member 541 are oppositely arranged and generate a magnetic repulsion force, specifically, the sliding unlocking member is driven to move from the connecting position to the separating position, so that the third magnetic member 543 and the first magnetic member 541 or the second magnetic member 542 are close to each other to generate a magnetic repulsion force, and the magnetic repulsion force tends to move the fastener 53 in a direction away from the hook 52, so as to disengage from the hook 52, here, the number of the first magnetic member 541, the number of the second magnetic member 542 and the number of the third magnetic member 543 are two, which can improve the stability between the hook 52 and the fastener 53 and facilitate the disengagement between the hook 52 and the fastener 53.

In this scheme, under the hookup location state, activity unlocking piece 51 one end is protruding from one side of quick dismouting coupling assembling 50, through manual pressing or adopt mechanical drive's mode operation activity unlocking piece 51, makes activity unlocking piece 51 move to the isolated position at hookup location, reach the purpose of above-mentioned unblock. And between the other end of activity unlocking piece 51 and quick assembly disassembly coupling assembling 50, can set up spring 511, spring 511 exerts the elastic force of protrusion in the quick assembly disassembly coupling assembling 50 direction to activity unlocking piece 51, makes activity unlocking piece 51 under the effect that no external force was exerted, keeps in hookup location, guarantees that waist binds subassembly 11 and shank and binds subassembly 31 and effectively bind with human under the wearing state.

As shown in fig. 9-12, the quick-release connecting assembly 50 further includes:

a hook 52, wherein the hook 52 is provided with a first magnetic member 541; the fastener 53 can be clamped on the hook 52 and is provided with a second magnetic piece 542, the first magnetic piece 541 and the second magnetic piece 542 are oppositely arranged, and the opposite magnetic poles are opposite; the movable unlocking piece 51 is detachably connected to the fastener 53, the hook 52 and the fastener 53 can be respectively connected to two ends of the waist binding component 11 or the leg binding component 31, and the movable unlocking piece 51 can drive the fastener 53 to be clamped or separated from the hook 52 under the action of external force so as to be in a connection state or a separation state; in the connected state, the first magnetic member 541 and the second magnetic member 542 are magnetically engaged.

The connecting component of the utility model has the following dismounting principle:

when the fastener 53 and the hook 52 need to be connected, the fastener 53 is only required to be fastened to the hook 52 to be clamped, here, the fastener 53 and the hook 52 are respectively provided for abutting against each other, so that in the state of the connection position, the abutting table 57 with the acting force abutting against each other, one side of the hook 52 is supported on the fastener 53, and the first magnetic member 541 and the second magnetic member 542 are magnetically attracted and matched to achieve the fitting state therebetween, the waist or the leg of the wearer abuts against the waist binding component 11 or the leg binding component 31, so that the two ends of the waist binding component 11 or the leg binding component 31 have the acting force pulling towards the direction away from each other, thereby pulling couple 52 and fastener 53, support platform 57 on couple 52 and the fastener 53 to support tightly each other, for providing the holding power each other, avoid the waist to bind the both ends of subassembly 11 or the subassembly 31 and break away from that binds of shank, can realize the stable connection between fastener 53 and couple 52. When the quick-assembly-disassembly connecting assembly 50 is in the connecting position, the movable unlocking piece 51 protrudes in the direction far away from the hook 52 relative to the fastener 53, and the protruding part of the movable unlocking piece 51 is used as an unlocking operation part 551; when the movable unlocking member 51 is subjected to an external force in a direction opposite to the supporting force of the hook 52 on the fastener 53, the fastener 53 can rotate around the abutment 57 in a direction away from the hook 52, so that the hook 52 is disengaged, and the fastening structure is detached.

In the structure, in order to provide a better connection guiding effect and improve the installation speed and convenience, the structure further comprises two third magnetic pieces 543, the number of the third magnetic pieces 543 is two, so as to further enhance the guiding performance, and the third magnetic pieces 543 are arranged on the hook 52 or the fastener 53; when the third magnetic member 543 is disposed on the hook 52, the magnetic poles of the third magnetic member 543 opposite to the second magnetic member 542 are the same; when the third magnetic member 543 is disposed on the fastener 53, the magnetic poles of the third magnetic member 543 opposite to the first magnetic member 541 are the same. When the fastener 53 approaches the hook 52, a magnetic repulsion force is provided between the first magnetic component 541 or the second magnetic component 542 and the third construction, and the magnetic repulsion force prevents the fastener 53 from being installed and dislocated, so that the fastener 53 can be guided to a correct buckling connection position.

Further, the movable unlocking piece 51 is provided with a first adjusting device 55, the first adjusting device 55 extends outwards to form a first tensioning belt 56, one end of the first tensioning belt 56, which extends out of the first adjusting device 55, is used for being fixedly connected to one end of the waist binding component 11 or the leg binding component 31, and the hook 52 is used for being fixedly connected to the other end of the waist binding component 11 or the leg binding component 31; the first adjusting means 55 can adjust the extended length of the first tensioning band 56 to thereby stretch the opposite ends of the waist binding assembly 11 or the leg binding assembly 31 and adjust the size of the waist wearing space 12 or the leg wearing space 32.

In this embodiment, the first adjusting device 55 is a ratchet wire-rewinding device, which is used as the unlocking operation portion 551 and protrudes from the movable unlocking piece 51, and the ratchet wire-rewinding device is used for winding, releasing or fixing the first tensioning belt 56 so as to adjust the length of the first tensioning belt 56 extending out of the ratchet wire-rewinding device, thereby adjusting the girth of the waist binding assembly 11 or the leg binding assembly 31.

The ratchet take-up device is an existing mechanical component, and can keep the first tension band 56 unable to be stretched out of the ratchet take-up device after the first tension band 56 is wound up, and has a function of unlocking the first tension band 56, so that the first tension band 56 can be freely stretched and adjusted in length extending out of the ratchet take-up device, the requirement that the first tension band 56 is freely stretched to expand the size of the waist wearing space 12 and the size of the leg wearing space 32 in a separated state is met, and the first tension band 56 is wound up through the ratchet take-up device in a connected state, so that the waist wearing space 12 and the leg wearing space 32 are finely adjusted and reduced.

In the above two structures, the first magnetic component 541, the second magnetic component 542, and the third magnetic component 543 are all magnets.

The structure is designed to realize quick alignment connection and disconnection between the fastener 53 and the hook 52 through ingenious structural layout and by utilizing the magnetic attraction and the magnetic repulsion generated by the magnet, so that the operation is simple, the connection is reliable, and the operation is convenient; when the binding system is applied to binding of the rehabilitation exoskeleton, the binding system can be worn and detached quickly and conveniently.

As shown in fig. 13, the waist binding assembly 11 includes a first waist support member 111 and a second waist support member 112, the first waist support member 111 and the second waist support member 112 are both of a plate-like structure with an approximate arc shape, and the material is preferably a hard material, one end of each of the first waist support member 111 and the second waist support member 112 is connected to the waist assembly 10, and the other end of each of the first waist support member 111 and the second waist support member extends in an opposite direction, and is used for supporting the waist of the wearer in a wearing state, so that the waist assembly 10 can be fixed relative to the waist of the wearer, and provide a supporting force for the waist of the wearer.

The waist strap 114 is preferably made of a flexible material with certain elastic resetting performance, two ends of the waist strap 114 are respectively detachably connected to the first waist support member 111 and the second waist support member 112, and the waist strap and the first waist support member 111 and the second waist support member 112 enclose to define the annular waist wearing space 12, so that the first waist support member 111 and the second waist support member 112 support the back side and two sides of the waist of the wearer, the front side of the waist of the wearer is connected with the two members through the waist strap 114, and the effective fixation of the waist is realized.

As described above, the quick-release coupling assembly 50 is provided between the waist belt 114 and the first waist support member 111 and/or the second waist support member 112, a rotation shaft is provided on a side of the quick-release coupling assembly 50 connected to the first waist support member 111 and/or the second waist support member 112, the first waist support member 111 or the second waist support member 112 is hinged through a rotating shaft, a hanging hole 58 is arranged at one side of the quick assembly and disassembly connecting assembly 50 connected with the waist strap 114, the inner side surface of the waist strap 114 is of a structure capable of being pasted with each other, preferably a magic tape is adopted, after the end part of the waist strap 114 is penetrated into a hanging buckle, bent approximately 180 degrees, is adhered to the inner side of the waist strap 114, completes the connection with the quick-assembly-disassembly connecting assembly 50, moreover, the length of the waist strap 114 can be realized by adjusting the length of the waist strap 114 penetrating into the hanging hole 58, so that the requirements of wearers with different body types can be met.

Further, the waist assembly 10 includes a waist backpack 13, the waist backpack 13 includes a power supply and a hardware circuit, etc. for driving the joint module of the rehabilitation exoskeleton to move or obtaining the movement angle of the tube structure, so as to provide a movement posture more suitable for the wearer, an adjusting structure is respectively disposed between the waist backpack 13 and the first and second waist support members 111 and 112 for adjusting the distance between the first and second waist support members 111 and 112, specifically, the adjusting structure includes a waist-shaped hole 113 disposed on the first and second waist support members 111 and 112 and a threaded hole disposed on the waist backpack 13 corresponding to the waist-shaped hole 113, the bolt is screwed and fixed with the threaded hole 113 through the waist-shaped hole 113, the diameter of the head of the bolt is greater than the width of the waist-shaped hole 113, so that the head of the bolt can tightly press the first waist support member 111 or the second waist support member 112 on the waist backpack 13, fastening the first waist support member 111 and the second waist support member 112 to the waist pack 13, when the relative distance between the first waist support member 111 and the second waist support member 112 needs to be adjusted, by loosening the pressing of the bolts against the waist holes 113, the first waist support member 111 and the second waist support member 112 can move along the direction of the waist holes 113, and then locking the bolts after the adjustment is completed, the extending direction of the waist holes 113 determines the moving direction of the first waist support member 111 and the second waist support member 112 during the adjustment process, therefore, the waist holes 113 are preferably arranged parallel to the extending direction of the first waist support member 111 and the second waist support member 112, in this embodiment, the two waist holes 113 on the first waist support member 111 and the second waist support member 112 are two, the two waist holes 113 are parallel to each other and are located in the same vertical direction, the threaded holes on the waist pack 13 are four corresponding to the waist holes 113, and the two waist holes 113 can prevent the first waist support member 111 and the second waist support member 112 from being in a cross adjustment process And the rotation of the bolt ensures that the first waist support plate and the second waist support plate are kept in a mutually parallel state to support the waist of a wearer.

Further, as shown in fig. 14 to 15, the hip belt 22 includes a first hip belt 221 and a second hip belt 223, one end of the first hip belt 221 is connected to the hip joint moving mechanism 21 or the leg assembly 30, and the other end is provided with a first locking portion 222; the second hip belt 223 is connected to the hip joint moving mechanism 21 or the leg assembly 30 at one end and is provided with a second latch portion 224 at the other end, and the first latch portion 222 is detachably connected to the second latch portion 224.

When the first and

second hip belts

221, 223 are attached to the leg members, they are preferably attached to the end of the thigh bar assembly 33 near the hip assembly to hold the hip strap 22 horizontally on the wearer's hip and stabilize the wearer's hip on the hip articulation mechanism 21.

The first buckling part 222 and the second buckling part 224 form a mutual insertion buckle, so that the effect of quick putting-on and taking-off can be achieved, the hip of a wearer is ensured to reduce relative rotation with the hip joint moving mechanism 21 in the movement process, and the mechanical joints of the hip joint moving mechanism 21 with respective freedom degrees can be matched with the respective freedom degrees of movement of the hip joint of the wearer.

The specific structure of the hip joint moving mechanism 21 is not the claimed protection of the present solution, and the present solution is only briefly described here, the hip joint moving mechanism 21 includes a base 211, the base 211 is a supporting structure in the hip joint assembly 20, and there are provided inside with guide rails for guiding two hip abduction arms 212 respectively, one end of the hip abduction arm 212 is matched with the guide rails for realizing reciprocating movement on the base 211 and can be selectively locked on the current position on the guide rails, so as to adjust the distance between the two hip abduction arms 212 to adapt to the waist width size of different patients, the base 211 and the two hip abduction arms 212 are part of the hip joint assembly 20 in the exoskeleton system, and the other ends of the hip abduction arms 212 extend in the direction away from each other for being movably connected with other parts of the hip joint assembly 20 in the exoskeleton system.

Specifically, one end of the hip abduction arm 212, which is far away from the base 211, is used for being rotatably connected with the first hip joint moving member 213, the hip abduction arm 212 and the first hip joint moving member 213 are rotatably connected through a moving structure, the moving structure between the two defines a first rotation axis 2121, and in a wearing state, the moving structure between the hip abduction arm 212 and the first hip joint moving member 213 is aligned with the rear of the hip joint of the wearer, which further indicates that the first rotation axis 2121 coincides with the abduction/adduction rotation axis of the hip joint of the wearer, so as to provide abduction and adduction freedom degrees for the hip joint.

The first and second hip

joint moving members

213 and 214 are rotatably connected, a second rotation axis 2131 is defined between the first and second hip

joint moving members

213 and 214, and in the wearing state of the wearer, the moving structure between the first and second hip

joint moving members

213 and 214 is aligned to the side of the hip joint of the wearer, further, the second rotation axis 2131 is disposed as close as possible to the external/internal rotation axis of the hip joint of the wearer to provide the external and internal rotation freedom of movement for the hip joint, and the second hip joint moving member 214 is rotatably connected to the thigh rod assembly 33 to form a third rotation axis 2141 to provide the flexion/extension freedom of movement for the wearer.

Here, as shown in fig. 16, the leg binding assembly 31 includes a leg guard 311, the leg guard 311 is of a plate-like structure with an approximately arc shape, one end of the leg guard 311 is connected to the leg assembly 30, and the material is preferably a hard material for supporting the outer side and the rear side of the thigh or the lower leg of the wearer in a wearing state, so that the leg assembly 30 can be fixed relative to the leg of the wearer to provide a supporting force for the leg of the wearer.

The leg strap 312 is preferably made of flexible material with certain elastic restoring performance, and the two ends of the waist strap 114 are respectively detachably connected to the two opposite ends of the leg guard plate 311 and enclose with the leg guard plate 311 to define the annular leg wearing space 32, so that the leg guard plate 311 is supported behind the legs of the wearer, and the front side and the inner side of the legs of the wearer are connected through the leg strap 312, thereby realizing the effective fixation of the legs.

Be provided with an at least quick assembly disassembly coupling assembling 50 between shank bandage 312 and the shank backplate 311, one side that quick assembly disassembly coupling assembling 50 is connected with shank backplate 311 is provided with the pivot, realize articulating with shank backplate 311 through the pivot, one side that quick assembly disassembly coupling assembling 50 and shank bandage 312 are connected is provided with hanging hole 58, the medial surface of shank bandage 312 is the structure that can paste each other, preferably adopt the magic subsides, the tip of shank bandage 312 penetrates to hang and detains the back, bend and be close 180 and paste in shank bandage 312 inboard, accomplish being connected with quick assembly disassembly coupling assembling 50, and thereby, the accessible is adjusted shank bandage 312 and is penetrated the length that hanging hole 58 and realize waist bandage 114, satisfy different shank girth wearers's demand.

In this embodiment, as shown in fig. 16, the leg assembly 30 further includes a thigh bar assembly 33 and a shank bar assembly 34, wherein one end of the thigh bar assembly 33 is rotatably connected to the hip joint moving mechanism 21, one end of the shank bar assembly 34 is rotatably connected to the thigh bar assembly 33 through a knee joint assembly 35, and the other end is rotatably connected to the foot assembly 40 through an ankle joint assembly.

In the process of wearing the rehabilitation exoskeleton, the thigh rod assembly 33 and the shank rod assembly 34 are respectively bound on the thigh and the shank of the wearer, and the thigh rod assembly 33 and the shank rod assembly 34 can be adjusted in length independently, so that the exoskeleton leg module can be respectively adapted to the thigh length and the shank length of the wearer.

Leg binding assemblies 31 are disposed on thigh bar assembly 33 and calf bar assembly 34, so that thigh bar assembly 33 and calf bar assembly 34 can follow the motion tracks of the thigh and calf of the wearer.

As shown in fig. 17, the foot component 40 includes a base plate 43, which is substantially a plate-shaped structure in the present embodiment, and in the direction parallel to the horizontal plane, the shape of the base plate is similar to the shape of the sole of a human foot and defines a tread surface 431, and the wearer can wear a personal shoe tool and tread on the tread surface 431 during wearing the rehabilitation exoskeleton.

The second adjusting device 44 is arranged at one end of the foot binding band 41, a first end of the second tensioning belt 45 penetrates into the second adjusting device 44, and a second end of the second tensioning belt 45 extends in a direction away from the second adjusting device 44 and is fixed on the foot binding band 41; second adjusting device 44 is used for adjusting the extension length of second tensioning belt 45 to tensile foot bandage 41 adjusts the size of foot wearing space 42, be suitable for different wearer foot structures and sizes, the second tensioning belt 45 stretches out adjusting device's length longer, foot wearing space 42 degree of enclosure is the bigger, the foot degree of enclosure that can penetrate is the bigger, the second tensioning belt 45 stretches out adjusting device's length shorter, foot wearing space 42 degree of enclosure is the smaller, the foot degree of enclosure that can penetrate is the smaller, reach and adjust the purpose to wearing space size.

Specifically, the second adjusting device 44 is a ratchet wheel take-up device, and has a fixed state, a take-up state and an unwinding state;

in the fixed state, the second adjusting device 44 is fixed relative to the second tensioning belt 45, so that the size of the foot wearing space 42 is fixed, and the feet of the wearer are stabilized; in the rolling state, the second adjusting device 44 rolls the second tensioning belt 45, so that the second tensioning belt 45 is accommodated in the second adjusting device 44 to reduce the foot wearing space 42, and finally the feet of the wearer are pressed; under the unwinding state, the second adjusting device 44 and the second tensioning belt 45 can move relatively, so that the second tensioning belt 45 can move along the direction away from the second adjusting device 44, the foot wearing space 42 is enlarged, the foot of the wearer can be separated from the substrate 43, and the foot adjusting device can also be adapted to foot size structures of different wearers.

In this embodiment, the first tensioning belt 56 and the second tensioning belt 45 are both flexible belts, including but not limited to elastic belts and inelastic belts, and the cross-sectional shape of the belts formed by weaving or the ropes formed by twisting may be irregular shapes such as circular and flat, as long as the belts can be smoothly rolled and unrolled.

Further, the foot binding band 41 includes a first band 411 and a second band 412, one end of the first band 411 and one end of the second band 412 are respectively pivoted to the two opposite sides of the substrate 43, and the other end of the first band 411 and the other end of the second band 412 extend toward the direction of approaching each other; the second ends of the second adjusting device 44 and the second tensioning belt 45 are fixed to the first belt 411 and the second belt 412, respectively. Under the condition that no external force is applied to the other ends of the first belt body 411 and the second belt body 412, the first belt body 411 and the second belt body 412 are both arc-shaped structures and are matched with the treading surface 431 to form an annular wearing structure, in order to enable the feet of a wearer to be stable with the base plate 43 in the wearing process, one end parts of the first belt body 411 and the second belt body 412 which are close to each other are overlapped under the condition that no external force is applied, even if the foot circumference of the wearer is large, enough length is provided between the first belt body 411 and the second belt body 412 to surround the two sides and the back of the feet of the patient, and enough contact area with the feet of the patient is ensured.

The second ends of the second adjusting device 44 and the second tensioning belt 45 are fixed to the first belt 411 and the second belt 412 respectively, in this embodiment, the tensioning belt extends out of one end of the adjusting device and is fixed to the second belt 412 through a rope hook 4121 arranged on the second belt 412, the second adjusting device 44 unwinds and winds the second tensioning belt 45, so that the first belt 411 and the second belt 412 move in a direction approaching each other to narrow the foot wearing space 42, or the two are released, so that the foot wearing space 42 can be expanded by applying an external force, in this embodiment, the first belt 411 may be a hard material, the second belt 412 may be a flexible material, and by arranging the ratchet take-up device on the first belt 411, the second tensioning belt 45 pulls the second belt 412 which is a flexible material, so that the second belt 412 can press the foot of the wearer tightly, thereby improving the rigidity of the wearing structure, further improving the stability between the foot portion and the base plate 43.

The embodiment also provides a rehabilitation exoskeleton structure, which comprises the exoskeleton binding system, and the exoskeleton binding system is applied to the rehabilitation exoskeleton structure, so that the rehabilitation exoskeleton structure is more fit with lower limb limbs of a wearer, the waist binding component 11 is used as a main structure for supporting and positioning, the joint component, the leg component 30 and the foot component 40 respectively correspond to hip joints, knee joints and ankle joints of the wearer and follow the movement of the corresponding joints, the mechanical joints and the human body joints are ensured to be kept in a centering state, and the aim of improving the rehabilitation effect is finally achieved.

In the description herein, it is to be understood that the terms "upper," "lower," "left," "right," and the like are used in an orientation or positional relationship merely for convenience in description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, configuration, and operation in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.

In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.

The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the utility model and should not be construed in any way as limiting the scope of the utility model. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims

1. An exoskeleton binding system, comprising:

the waist binding component (11) limits a waist wearing space (12) and is used for being bound around the waist of a wearer;

a hip joint assembly (20) comprising a hip joint movement mechanism (21) and a hip belt (22), wherein the hip joint movement mechanism (21) is fixedly connected with the waist assembly (10) and defines a hip wearing space (23) with the hip belt (22) for encircling and binding the hip of a wearer;

a leg assembly (30) rotatably connected to the hip joint movement mechanism (21), the leg assembly (30) being provided with a leg binding assembly (31), the leg binding assembly (31) defining a leg wearing space (32) for encircling a leg of a wearer;

a foot component (40) rotatably connected with the leg component (30), wherein the foot component (40) is provided with a foot strap (41), and a foot wearing space (42) is defined between the foot strap (41) and the foot component for surrounding and binding the foot of a wearer;

the waist binding component (11) and the leg binding component (31) are both provided with a quick assembly and disassembly connecting component (50), and the quick assembly and disassembly connecting component (50) is provided with a connecting position and a separating position;

quick assembly disassembly coupling assembling (50) are including activity release spare (51), activity release spare (51) can drive quick assembly disassembly coupling assembling (50) move between hookup location and detached position, so that waist bind subassembly (11) with subassembly (31) closure or expansion are bound to the shank.

2. The exoskeleton binding system as claimed in claim 1 wherein the quick-disconnect coupling assembly (50) further comprises:

the waist binding component comprises a hook (52), a fastener (53) and a magnetic component (54), wherein the fastener (53) can be clamped on the hook (52), and the hook (52) and the fastener (53) can be respectively connected to two ends of the waist binding component (11) or the leg binding component (31); the movable unlocking piece (51) is movably connected to the fastener (53); the magnetic component (54) is arranged on the movable unlocking piece (51) and the hook (52);

the movable unlocking piece (51) can move relative to the fastener (53) so as to enable the hook (52) and the fastener (53) to be in a connecting position or a separating position;

when the hook is at the connecting position, the magnetic component (54) generates magnetic attraction force, so that the fastener (53) can be kept in fit clamping connection with the hook (52); when the hook is at the separation position, the magnetic component (54) generates magnetic repulsion force to separate the fastener (53) from the hook (52).

3. An exoskeleton binding system as claimed in claim 2 wherein the magnetic assembly (54) comprises a first magnetic member (541) provided to the hook (52), a second magnetic member (542) provided to the movable unlocking member (51), and a third magnetic member (543) provided to the hook (52) or the movable unlocking member (51);

when the magnetic connector is in a connecting position, the first magnetic part (541) and the second magnetic part (542) are arranged oppositely and generate magnetic attraction force mutually; when the magnetic connector is at a separated position, the third magnetic piece (543) and the second magnetic piece (542) or the first magnetic piece (541) are oppositely arranged and generate a magnetic repulsion force.

4. The exoskeleton binding system as claimed in claim 1 wherein the quick-disconnect coupling assembly (50) further comprises:

a hook (52) provided with a first magnetic member (541);

the fastener (53) can be clamped on the hook (52) and is provided with a second magnetic piece (542), the first magnetic piece (541) and the second magnetic piece (542) are oppositely arranged, and the magnetic poles of the opposite sides are opposite;

the movable unlocking piece (51) is detachably connected to the fastener (53), the hook (52) and the fastener (53) can be respectively connected to two ends of the waist binding component (11) or the leg binding component (31), and the movable unlocking piece (51) can drive the fastener (53) to be clamped or separated from the hook (52) under the action of external force so as to be in a connection state or a separation state;

in the connection state, the first magnetic part (541) and the second magnetic part (542) are matched in a magnetic attraction manner.

5. The exoskeleton binding system of claim 4, further comprising:

a third magnetic member (543) provided to the hook (52) or the fastener (53);

when the third magnetic piece (543) is arranged on the hook (52), the magnetic poles of the third magnetic piece (543) on the opposite side of the second magnetic piece (542) are the same; when the third magnetic member (543) is disposed on the fastener (53), the magnetic poles of the third magnetic member (543) opposite to the first magnetic member (541) are the same.

6. An exoskeleton binding system as claimed in claim 4 wherein the movable unlocking member (51) is provided with a first adjustment means (55), the first adjustment means (55) is provided with a first tensioning strap (56) extending outwardly therefrom, one end of the first tensioning strap (56) extending beyond the first adjustment means (55) is for fixedly connecting to one end of the waist binding assembly (11) or the leg binding assembly (31), and the hook (52) is for fixedly connecting to the other end of the waist binding assembly (11) or the leg binding assembly (31);

the first adjusting means (55) can adjust the extension length of the first tension band (56) to thereby stretch the opposite ends of the waist binding assembly (11) or the leg binding assembly (31) and adjust the size of the waist wearing space (12) or the leg wearing space (32).

7. An exoskeleton binding system as claimed in claim 1 wherein the waist binding assembly (11) comprises:

a first waist support member (111) and a second waist support member (112) each connected to the waist assembly (10);

a waist belt (114) detachably connected to the first waist support member (111) and the second waist support member (112), respectively, and enclosing the first waist support member (111) and the second waist support member (112) to define an annular waist wearing space (12);

the quick-release connecting assembly (50) is provided between the waist belt (114) and the first waist support member (111) and/or the second waist support member (112).

8. An exoskeleton binding system as claimed in claim 7 wherein the waist assembly (10) comprises a waist pack (13), and adjustment structure is provided between the waist pack (13) and the first and second waist support members (111, 112) for adjusting the spacing of the first and second waist support members (111, 112).

9. The exoskeleton binding system of claim 1, wherein the hip strap (22) comprises:

a first hip belt (221) having one end connected to the hip joint movement mechanism (21) or the leg unit (30) and the other end provided with a first latch part (222);

and one end of the second hip belt (223) is connected to the hip joint moving mechanism (21) or the leg component (30), the other end of the second hip belt is provided with a second buckling part (224), and the first buckling part (222) and the second buckling part (224) are detachably connected.

10. An exoskeleton binding system as claimed in claim 1 wherein the leg binding assembly (31) comprises:

a leg shield (311) connected to the leg assembly (30);

the two ends of the leg strap (312) are respectively detachably connected to the two opposite ends of the leg protection plate (311) and enclose the leg protection plate (311) to define an annular leg wearing space (32);

at least one quick-assembly-disassembly connecting assembly (50) is arranged between the leg strap (312) and the leg guard plate (311).

11. The exoskeleton binding system as claimed in claim 10, wherein the leg assembly (30) further comprises:

a thigh bar assembly (33) with one end rotatably connected with the hip joint moving mechanism (21);

a shank rod assembly (34), one end of which is rotatably connected with the thigh rod assembly (33) through a knee joint assembly (35), and the other end of which is rotatably connected with the foot assembly (40) through an ankle joint assembly;

the thigh rod assembly (33) and the shank rod assembly (34) are both provided with the leg binding assembly (31).

12. The exoskeleton binding system as claimed in claim 1, wherein the foot component (40) comprises:

the base plate (43) defines a stepping surface (431), two opposite ends of the foot binding band (41) are respectively pivoted to two sides of the base plate (43) and enclose with the stepping surface (431) to define a foot wearing space (42);

a second adjusting device (44) arranged at one end of the foot binding band (41);

a second tensioning band (45) having a first end threaded into the second adjustment means (44) and a second end extending away from the second adjustment means (44) and secured to the foot strap (41);

the second adjusting device (44) is used for adjusting the extension length of the second tensioning belt (45) so as to stretch the foot strap (41) and adjust the size of the foot wearing space (42).

13. The exoskeleton binding system as claimed in claim 12, wherein the foot strap (41) comprises:

a first belt body (411) and a second belt body (412), wherein one end of the first belt body (411) and one end of the second belt body (412) are respectively pivoted to two opposite sides of the substrate (43), and the other ends of the first belt body (411) and the second belt body (412) extend towards the direction of mutual approaching;

second ends of the second adjusting device (44) and the second tensioning belt (45) are fixed to the first belt body (411) and the second belt body (412), respectively.

14. A rehabilitating exoskeleton structure, comprising:

the exoskeleton binding system of any one of claims 1 to 13.