Length-adjustable lower limb exoskeleton mechanism

Abstract

The invention provides a length-adjustable lower limb exoskeleton mechanism. The length-adjustable lower limb exoskeleton mechanism comprises a waist supporting plate, four leg skeletons and two footsupporting mechanisms, wherein the leg skeletons are driven by motors; skeleton rods are of telescopic structures; the motors and rotating shafts can move axially; the whole motors cannot rotate; screw rods are arranged in the skeleton rods; nuts are fixedly installed in the bottom skeleton rod sections; the nuts and the screw rods are assembled; bevel gear sets are arranged between the screw rodsand the rotating shafts; joint supports are arranged above the top skeleton rod sections; and limiting blocks and limiting grooves which are matched in a clamped mode are arranged between the rotating shafts and the joint supports. According to the length-adjustable lower limb exoskeleton mechanism, when the length of the skeletons needs to be adjusted, the motors move inwards, the limiting blocks and the limiting grooves between the rotating shafts and the joint supports are separated, the bevel gear sets are engaged, the motors are started, the screw rods are driven to rotate through the rotating shafts and the bevel gear sets in sequence, the nuts are driven to move in the axial direction of the screw rods, and stretching and retracting of the skeleton rods are achieved. When the legsneed to be lifted and bent, the motors move outwards, the limiting blocks return into the limiting grooves, the bevel gear sets are separated, the motors are started, and swinging and rotating of theskeleton rods are achieved.

Description

technical field [0001] The invention belongs to the technical field of wearable devices, in particular to a length-adjustable lower limb exoskeleton mechanism. Background technique [0002] As a wearable device, the lower extremity exoskeleton mechanism has been greatly developed in many fields. For example, in the military field, it can improve the individual combat ability of soldiers. In the logistics field, it can increase the weight of a single cargo carried by a single person. Improve the autonomous walking ability of some people with lower limb disabilities. Therefore, the lower extremity exoskeleton mechanism has good development prospects in the future. [0003] However, the current lower extremity exoskeleton mechanism generally has the limitation of non-adjustable bone length in the design, because the future lower extremity exoskeleton mechanism will inevitably become a public product, and individual customized products can only be very few. When the lower extr...

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Problems solved by technology

[0003] However, the current lower extremity exoskeleton mechanism generally has the limitation of non-adjustable bone length in the design, because the future lower extremity exoskeleton mechanism will inevitably become a public product, and individual customized products can only be very few

When the lower extremity exoskeleton mechanism is used in the military field, it is impossible for every soldier to be equipped with a set of lower extremity exoskeleton mechanism as standard. It must be shared by several soldiers, and the heights of soldiers cannot be exactly the same. For soldiers with different heights For example, when wearing upper and lower extremity exoskeleton mechanisms, some soldiers will inevitably appear to be unsuitable, which will obviously affect the use efficiency of lower extremity exoskeleton mechanisms

Similarly, in the logistics field and the medical field, users also have different heights. If the bone length is not adjustable, it will affect the scope of application of the lower limb exoskeleton mechanism

[0004] For this reason, a few lower extremity exoskeleton mechanisms have designed the length of the bone to be adjustable. For example, the bone is designed to be divided into two sections, and the two sections of bones are overlapped. When the bone length of the lower extremity exoskeleton mechanism does not match, you need to manually remove the nuts and positioning pins, then adjust the splicing length of the two bones, and finally reinstall the positioning pins and lock them with nuts, but the positioning pins used for inserting the positioning pins The number and position of the holes are fixed, resulting in intermittent length adjustment range of bones, and the length adjustment range is very narrow

In addition, there are a few lower extremity exoskeleton mechanisms that also have the ability to adjust the bone length, but their structural form has major disadvantages. This structural form uses hydraulic telescopic rods or pneumatic telescopic rods as the main body of the skeleton. Although it has the bone length Adjustability, hydraulic telescopic cylinders or pneumatic telescopic cylinders also need to be equipped with matching hydraulic or pneumatic control equipment, which will cause the overall mass of the lower extremity exoskeleton mechanism to be too large, and at the same time have the disadvantages of high energy consumption and high noise, so it will seriously Affect the use effect of lower extremity exoskeleton mechanism

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