Lower limb power-assisted exoskeleton robot

Abstract

The invention discloses a lower limb power-assisted exoskeleton robot, which belongs to the technical field of robots and comprises a hip joint assembly worn at a hip joint of a human body, a left leg assembly which is positioned on two sides of the hip joint assembly and is worn on a left leg, and a right leg assembly which is worn on a right leg, each of the left leg assembly and the right leg assembly comprises a thigh connecting rod, a shank connecting rod and a shoe body assembly which are sequentially hinged, the upper end of the thigh connecting rod is hinged to the side face of the hip joint assembly, and a first driving mechanism for driving the thigh connecting rod to rotate is arranged on the side face of the hip joint assembly; inclined driving pieces for driving the shank connecting rods to move are arranged between the hip joint assemblies and the shank connecting rods, the upper ends of the inclined driving pieces are hinged to the side faces of the hip joint assemblies, and the lower ends are hinged to the middles of the shank connecting rods; the lower limb power-assisted exoskeleton robot further comprises a sensor used for detecting uplifting of the thighs and / or the shanks. The power assisting device is simple in structure, reasonable in layout, low in cost and good in power assisting effect.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a lower limb power-assisted exoskeleton robot. Background Art

[0002] With the continuous development of China's urbanization process, the design of residential areas in cities is becoming more and more modern. However, due to the limitations of the technological conditions of the times and the relatively backward construction concepts of the last century, there are a large number of old communities in the areas that have been developed first in the city. Old communities are often residential areas built by government units before the restructuring of units and organs. Compared with the commercial housing developed after 1988, whether it is living facilities such as water, electricity, heating, or basic structures of buildings such as stairs and walls, they are far behind the times. For various reasons, the age distribution of the population in old communities is mainly elderly people. At the same time, in today's modern communities, a large number of multi-story residential buildings with less than 7 floors are also built, and most of these multi-story residential buildings are not equipped with elevators. Therefore, for the elderly living on higher floors and in old communities today, climbing stairs has become a headache for them.

[0003] At present, in order to solve this dilemma, relevant products have been launched on the market. These include: adding modern elevator equipment to the community, but this method has a large initial investment cost, and the cost sharing problem of residents on each floor is difficult to solve, which often causes some unnecessary neighborhood disputes. There are also equipment similar to the present application of stair climbing elevators beginning to be used in the market, but this solution cannot meet the needs of all the elderly in a building well, and the subsequent maintenance costs are high, which is more suitable for customized private use by families living in villas or other multi-story houses. Therefore, in view of the above problems existing in the existing elderly climbing stair devices, it is necessary to develop an elderly climbing auxiliary device with simple structure, high safety and low use cost to meet the needs of the elderly climbing stairs.

[0004] An exoskeleton robot is a mechanical device that can be worn by users to provide assistance to the human body and realize functions such as assisting load handling and enhancing human functions. In the relevant technology, exoskeleton robots generally have problems such as complex structure, heavy weight, insignificant assistance efficiency, unreasonable structural layout and restrictions on human movement functions. These factors seriously restrict the practical application of exoskeleton robots. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a lower limb power-assisting exoskeleton robot with a simple structure, reasonable layout, low cost and good power-assisting effect.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A lower limb assisting exoskeleton robot comprises a hip joint assembly for wearing at the hip joint of a human body, a left leg assembly for wearing on the left leg and a right leg assembly for wearing on the right leg located on both sides of the hip joint assembly, wherein:

[0008] The left leg assembly and the right leg assembly each include a thigh connecting rod, a calf connecting rod and a shoe body assembly which are hinged in sequence, the upper end of the thigh connecting rod is hinged to the side of the hip joint assembly, and the side of the hip joint assembly is provided with a first driving mechanism for driving the thigh connecting rod to rotate;

[0009] An oblique driving member for driving the calf connecting rod to move is provided between the hip joint assembly and the calf connecting rod, wherein the upper end of the oblique driving member is hinged to the side of the hip joint assembly, and the lower end is hinged to the middle of the calf connecting rod;

[0010] The lower limb assist exoskeleton robot also includes a sensor for detecting the lifting of the thigh and / or calf.

[0011] Further, the hip joint assembly is an integrated U-shaped bracket with an opening facing forward;

[0012] Alternatively, the hip joint assembly is a split U-shaped bracket with an opening facing forward, comprising a left bracket and a right bracket, and the left bracket and the right bracket are hinged by a rotating hinge.

[0013] Further, the thigh connecting rod comprises a first straight rod portion located in front of the thigh, a first side upper curved portion located above the first straight rod portion, and a first side lower curved portion located below the first straight rod portion; the calf connecting rod comprises a second straight rod portion located in front of the calf, and a second side upper curved portion located above the second straight rod portion; the upper end of the first side upper curved portion is hinged to the side of the hip joint assembly, the lower end of the first side lower curved portion is hinged to the upper end of the second side upper curved portion, and the lower end of the second straight rod portion is hinged to the shoe body assembly;

[0014] Alternatively, the thigh connecting rod includes a third straight rod portion located directly in front of the thigh, and a third upper side curved portion located above the third straight rod portion; the calf connecting rod includes a fourth straight rod portion located directly in front of the calf; a knee joint curved rod is also hinged between the thigh connecting rod and the calf connecting rod; the upper end of the third upper side curved portion is hinged to the side of the hip joint assembly, the lower end of the third straight rod portion is hinged to the upper end of the knee joint curved rod, the lower end of the knee joint curved rod is hinged to the upper part of the fourth straight rod portion, and the lower end of the fourth straight rod portion is hinged to the shoe body assembly.

[0015] Further, the left leg assembly and the right leg assembly both include a thigh auxiliary link, wherein:

[0016] The thigh auxiliary link includes an upper straight rod portion located on the outer side of the thigh, a ring portion located below the upper straight rod portion and surrounding the thigh, a lower straight rod portion connected to the ring portion and located behind the thigh, and a fifth side lower curved portion located below the lower straight rod portion;

[0017] The upper end of the calf connecting rod is also provided with a sixth upper bending portion;

[0018] The upper end of the upper straight rod portion is hinged to the side of the hip joint component, and the lower end of the fifth side lower curved portion is hinged to the upper end of the sixth side upper curved portion.

[0019] Furthermore, a thigh fixing device is provided on the thigh connecting rod, and the thigh fixing device includes a thigh clamping bracket for being placed in front of the thigh, a first slider arranged opposite to the thigh clamping bracket, and a first driving motor for driving the first slider to move relative to the thigh clamping bracket, wherein:

[0020] A pair of first clamping arc plates for clamping the thighs are respectively hinged at the upper and lower ends of the thigh clamping bracket;

[0021] The thigh clamping bracket is provided with U-shaped connecting rods on both sides of the side away from the thigh along the length direction, the two ends of the U-shape of the U-shaped connecting rod are respectively hinged to the two first clamping arc plates on the same side, and the middle part of the U-shaped connecting rod is hinged to the side of the first sliding block.

[0022] Furthermore, the first slider is a nut slider, and the first drive motor is connected to the middle part of the first slider via a lead screw;

[0023] And / or, a protective frame is provided across the middle of the upper and lower ends of the thigh clamping bracket away from the thigh;

[0024] And / or, the sensor includes a thigh force sensor arranged on the thigh clamping bracket.

[0025] Furthermore, the calf connecting rod is provided with a calf fixing device, which includes a calf bracket for being placed in front of the calf, a second slider arranged opposite to the calf bracket, and a driving screw for driving the second slider to move relative to the calf bracket; a pair of second clamping arc plates for clamping the calf are hinged on both sides of the calf bracket; a connecting rod is provided on both sides of a side of the calf bracket away from the calf, one end of the connecting rod is hinged to the second clamping arc plate, and the other end is hinged to the side of the second slider, wherein:

[0026] The second slider is a nut slider, the driving screw is threadedly connected to the second slider and passes through the second slider, and the end of the driving screw is axially fixed and circumferentially rotatably assembled on the calf support;

[0027] And / or, the calf connecting rod is provided with a groove extending along the length direction, and the calf support is provided with a guide rail matching the groove on a side close to the calf;

[0028] And / or, the sensor includes a calf force sensor arranged on the calf support.

[0029] Furthermore, the shoe body assembly includes a shoe top plate, a shoe bottom plate located below the shoe top plate, and a shoe frame connecting the shoe top plate and the shoe bottom plate at the side, and the shoe top plate, the shoe bottom plate and the shoe frame together enclose a shoe body accommodating space, wherein:

[0030] The lower end of the shank connecting rod is connected to the front part of the shoe top plate through a universal joint;

[0031] And / or, a limiting block is provided above the middle portion of the shoe top plate;

[0032] And / or, the rear portion of the shoe top plate is provided with an arc-shaped groove, and a buffer pad is provided in the arc-shaped groove;

[0033] And / or, a shoe strap is provided on the shoe frame behind the shoe body assembly.

[0034] Furthermore, the first driving mechanism includes a thigh driving motor, a driving pulley is provided on the output shaft of the thigh driving motor, a driven pulley is provided at the hinge between the side of the hip joint assembly and the thigh connecting rod, and synchronous belts are provided on the driving pulley and the driven pulley.

[0035] Further, the oblique driving member includes an oblique connecting rod, a slider bracket, a third slider capable of moving along the length direction of the slider bracket, and a second driving motor for driving the third slider to move relative to the slider bracket; the lower end of the oblique connecting rod is hinged to the middle part of the calf connecting rod, and the upper end of the oblique connecting rod is fixed to the third slider; the upper end of the slider bracket is hinged to the side of the hip joint assembly;

[0036] Alternatively, the oblique driving member includes a first oblique link and a second oblique link, the lower end of the first oblique link is hinged to the middle part of the calf link, the upper end of the first oblique link is hinged to the lower end of the second oblique link, the upper end of the second oblique link is hinged to the side of the hip joint assembly, and the side of the hip joint assembly is also provided with a second driving mechanism for driving the second oblique link to rotate.

[0037] The lower limb power-assisted exoskeleton robot of the present invention has a thigh connecting rod and an oblique driving member as two input shafts. The entire device is a space two-degree-of-freedom closed-chain structure. Compared with other open-chain mechanisms, it has stronger rigidity, better stability, and is easy to control. This mechanism innovates and expands the research on mechanisms, and also provides design reference experience for future research on various walking robots and expands thinking. The lower limb power-assisted exoskeleton robot of the present invention has a simple structure, reasonable layout, low cost, and good power-assisted effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of the overall structure of the lower limb power-assisted exoskeleton robot embodiment 1 of the present invention, wherein (a) is a structural diagram in one direction and shows a human leg, (b) is a structural diagram in another direction, and (c) is a structural diagram in yet another direction;

[0039] Figure 2 for Figure 1 Schematic diagram of the structure of the mid-hip joint component;

[0040] Figure 3 for Figure 1 Schematic diagram of the structure of the mid-thigh fixation device;

[0041] Figure 4 for Figure 1 Schematic diagram of the structure of the mid-calf fixation device;

[0042] Figure 5 for Figure 1 A schematic diagram of the structure of the middle shoe body assembly;

[0043] Figure 6 for Figure 1 A schematic diagram of the local structure of the middle oblique driving member;

[0044] Figure 7 for Figure 1 The effect diagram of the use of the embodiment 1 shown;

[0045] Figure 8 Schematic diagram of the overall structure of the lower limb power-assisted exoskeleton robot embodiment 2 of the present invention, wherein (a) is a structural diagram in one direction and shows a human leg, (b) is a structural diagram in another direction, and (c) is a structural diagram in yet another direction;

[0046] Fig. 9 for Figure 8 Schematic diagram of the structure of the mid-hip joint component;

[0047] Fig.10 for Figure 8 The schematic diagram of the exploded structure of one side leg of the lower limb power-assisted exoskeleton robot is shown;

[0048] Fig.11 for Figure 8The effect diagram of the use of embodiment 2 is shown. DETAILED DESCRIPTION

[0049] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0050] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0051] The present invention provides a lower limb power-assisted exoskeleton robot, such as Figure 1-11 As shown, it includes a hip joint component 1 for wearing at the hip joint of a human body (specifically behind the buttocks), a left leg component for wearing on the left leg and a right leg component for wearing on the right leg located on both sides of the hip joint component 1, wherein:

[0052] The left leg assembly and the right leg assembly both include a thigh connecting rod 2, a calf connecting rod 3 and a shoe body assembly 4 which are hinged in sequence. The upper end of the thigh connecting rod 2 is hinged to the side of the hip joint assembly 1. The side of the hip joint assembly 1 is provided with a first driving mechanism 10 for driving the thigh connecting rod 2 to rotate.

[0053] An oblique driving member 5 (with power) for driving the calf connecting rod 3 to move is provided between the hip joint assembly 1 and the calf connecting rod 3. The upper end of the oblique driving member 5 is hinged to the side of the hip joint assembly 1, and the lower end is hinged to the middle of the calf connecting rod 3.

[0054] The lower limb assist exoskeleton robot also includes sensors for detecting lifting of the thigh and / or calf.

[0055] When in use, first the user (such as an elderly person) puts on the lower limb power-assisted exoskeleton robot of the present invention and fixes it; then after the user lifts his legs, a signal is given to the device through the sensor, and the device starts working, giving force in the direction of movement to the thigh and calf respectively; after completing the stepping position of one foot, the other foot moves in the same way; then this series of actions is repeated to complete walking or crawling of the entire floor, which can realize assisted manual operation and complete assisted walking or climbing safely, conveniently and efficiently.

[0056] The lower limb power-assisted exoskeleton robot of the present invention has a thigh connecting rod (at the first drive mechanism) and an oblique driving member as two (power) input shafts. The entire device is a spatial two-degree-of-freedom closed-chain structure. Compared with other open-chain mechanisms, it has stronger rigidity, better stability, and is easy to control. This mechanism innovates and expands the research on mechanisms, and also provides design reference experience for future research on various walking robots, and expands thinking. The lower limb power-assisted exoskeleton robot of the present invention has a simple structure, reasonable layout, low cost, and good power-assisted effect.

[0057] According to the specific structure of the lower limb power-assisted exoskeleton robot, the present invention can have the following embodiments:

[0058] Example 1

[0059] like Figure 1-2 As shown, the hip joint assembly 1 can be a split U-shaped bracket with an opening facing forward, including a left bracket 12 and a right bracket 13. The left bracket 12 and the right bracket 13 are hinged by a rotating hinge 14 to facilitate the user to wear the entire device.

[0060] The thigh connecting rod 2 and the calf connecting rod 3 can adopt various structural forms that can be easily thought of by those skilled in the art, such as conventional rods. However, in order to facilitate implementation and improve the power-assisting effect, the present embodiment preferably adopts the following structural form:

[0061] like Figure 1 As shown, the thigh connecting rod 2 includes a first straight rod portion 21 located in front of the thigh, a first upper curved portion 22 located above the first straight rod portion 21, and a first lower curved portion 23 located below the first straight rod portion 22;

[0062] The calf connecting rod 3 includes a second straight rod portion 31 located in front of the calf, and a second upper curved portion 32 located above the second straight rod portion 31;

[0063] The upper end of the first side upper curved portion 22 is hinged to the side of the hip joint assembly 1 , the lower end of the first side lower curved portion 23 is hinged to the upper end of the second side upper curved portion 32 , and the lower end of the second straight rod portion 31 is hinged to the shoe body assembly 4 .

[0064] To facilitate thigh fixation, a thigh fixing device 8 may be provided on the thigh connecting rod 2. The thigh fixing device 8 may adopt various structural forms that can be easily thought of by those skilled in the art, such as a strap, etc. However, for the convenience of implementation, the present embodiment preferably adopts the following structural form:

[0065] like Figure 3 As shown, the thigh fixing device 8 includes a thigh clamping bracket 81 for being placed in front of the thigh, a first slider 82 arranged opposite to the thigh clamping bracket 81, and a first driving motor 83 for driving the first slider 82 to move relative to the thigh clamping bracket 81, wherein:

[0066] The upper and lower ends of the thigh clamping bracket 81 are respectively hinged (specifically, they can be hinged through a rotating shaft 84) with a pair of first clamping arc plates 85 for clamping the thigh;

[0067] A U-shaped connecting rod 86 is provided on both sides of the thigh clamping bracket 81 away from the thigh along the length direction. The two ends of the U-shaped connecting rod 86 are respectively hinged to the two first clamping arc plates 85 on the same side, and the middle part of the U-shaped connecting rod 86 is hinged to the side of the first slider 82.

[0068] When in use, the first driving motor 83 drives the first slider 82 to move relative to the thigh clamping bracket 81 (i.e., move up and down in the figure), thereby driving the two U-shaped connecting rods 86 and the four first clamping arc plates 85 to move, thereby achieving the clamping of four circumferential surfaces. The thigh clamping bracket 81, the four first clamping arc plates 85, the two U-shaped connecting rods 86, and the first slider 82 constitute a spatial eight-bar mechanism.

[0069] In specific implementation, the first slider 82 can be a nut slider, and the first drive motor 83 is connected to the middle part of the first slider 82 through a screw 87 (the first drive motor 83 can be specifically connected to the screw 87 through a coupling 88), so that the first drive motor 83 drives the screw 87 to rotate, so that the first slider 82 can move relative to the thigh clamp bracket 81 (i.e., move up and down in the figure). A protective frame 89 can be provided across the middle of the upper and lower ends of the thigh clamp bracket 81 away from the thigh to protect the relevant mechanism on the thigh clamp bracket 81 to avoid accidental touch or clothing entanglement, etc., and at the same time play the role of connecting the support screw 87. At this time, the sensor can include a thigh force sensor 61 arranged on the thigh clamp bracket 81 to detect the lifting of the thigh.

[0070] The thigh fixing device 8 is fixed on the thigh connecting rod 2, which includes a completely innovative spatial eight-bar mechanism, including a thigh clamping bracket 81, four first clamping arc plates 85, two U-shaped connecting rods 86, and a first slider 82, and is only driven by one drive. When clamping, the first slider 82 can simultaneously act on the four first clamping arc plates 85 to clamp the thigh part, achieving the clamping of four arc-shaped surfaces in one circle. This is a completely innovative spatial closed-chain eight-bar mechanism, and the study of this mechanism can enrich the development of the mechanism and realize innovative applications.

[0071] To facilitate the fixation of the calf, a calf fixing device 9 may be provided on the calf connecting rod 3. The calf fixing device 9 may adopt various structural forms that can be easily thought of by those skilled in the art, such as a strap, etc. However, for the convenience of implementation, the present embodiment preferably adopts the following structural form:

[0072] like Figure 4As shown, the calf fixing device 9 includes a calf support 91 for being placed in front of the calf, a second slider 92 arranged opposite to the calf support 91, and a driving screw 93 for driving the second slider 92 to move relative to the calf support 91;

[0073] A pair of second clamping arc plates 94 for clamping the calf are hinged on both sides of the calf support 91;

[0074] Connecting rods 95 are provided on both sides of the side of the calf support 91 away from the calf. One end of the connecting rod 95 is hinged to the second clamping arc plate 94, and the other end is hinged to the side of the second sliding block 92.

[0075] When in use, by manually tightening or loosening the drive screw 93, the second slider 92 moves relative to the calf support 91 (i.e., moves up and down in the figure), thereby achieving the clamping of the calf area by the second clamping arc plate 94.

[0076] In specific implementation, in order to facilitate the movement of the second slider 92, the second slider 92 can be a nut slider, the driving screw 93 is threadedly connected to the second slider 92 and passes through the second slider 92, and the end of the driving screw 93 is axially fixed and circumferentially rotatably assembled on the calf support 91. The calf connecting rod 3 can be provided with a groove (not shown) extending along the length direction, and the side of the calf support 91 close to the calf is provided with a guide rail 96 that matches the groove, so that the guide rail 96 can be adjusted to a certain position along the groove on the calf connecting rod 3, thereby adjusting the position of the calf fixing device 9 and improving the calf fixing effect. At this time, the sensor can include a calf force sensor 62 arranged on the calf support 91 to detect the lifting of the calf.

[0077] The above-mentioned calf fixing device 9 serves as a movable device on the calf connecting rod 3, which includes a planar six-bar mechanism, including a calf support 91, a second slider 92, two connecting rods 95 and two second clamping arc plates 94 for clamping the calf part. Only by manually tightening the screws, the second slider 92 can act on the two second clamping arc plates 94 at the same time to clamp the calf part, so as to flexibly realize the clamping of two circular arc surfaces around a circle.

[0078] The shoe body assembly 4 can adopt various structural forms that can be easily thought of by those skilled in the art. For the convenience of implementation, this embodiment preferably adopts the following structural form:

[0079] like Figure 5 As shown, the shoe body assembly 4 includes a shoe top plate 41, a shoe bottom plate 42 located below the shoe top plate 41, and a shoe frame 43 connecting the shoe top plate 41 and the shoe bottom plate 42 at the side. The shoe top plate 41, the shoe bottom plate 42 and the shoe frame 43 together form a shoe body accommodating space.

[0080] In specific implementation, the lower end of the calf connecting rod 3 can be connected to the front of the shoe top plate 41 through a universal joint 44, and a limit block 45 is provided above the middle of the shoe top plate 41 (specifically, it can be behind the universal joint 44). The universal joint 44 and the limit block 45 can help the foot to make a small or moderate adjustment of the front and back, left and right positions, making the foot more comfortable. The rear of the shoe top plate 41 can be provided with an arc groove (not shown), and a buffer pad 411 is provided in the arc groove to improve wearing comfort. The shoe frame 43 at the rear of the shoe body assembly 4 can be provided with a shoe strap 431 to prevent the shoe body from falling off.

[0081] The first driving mechanism 10 for driving the thigh connecting rod 2 to rotate in the present invention can be in various forms. Figure 2 As shown, it preferably includes a thigh drive motor 101, a driving pulley 102 is provided on the output shaft of the thigh drive motor 101, a driven pulley 103 is provided at the hinge between the side of the hip joint assembly 1 and the thigh connecting rod 2, and a synchronous belt 104 is provided on the driving pulley 102 and the driven pulley 103. When in use, the thigh drive motor 101 drives the driving pulley 102 and the driven pulley 103 to rotate in turn, thereby driving the thigh connecting rod 2 to move up and down.

[0082] The oblique driving member 5 of the present invention can be in various forms for easy implementation, such as Figure 1 and Figure 6 As shown, it preferably includes an oblique connecting rod 51, a slider bracket 52, a third slider 53 capable of moving along the length direction of the slider bracket 52, and a second driving motor 54 for driving the third slider 53 to move relative to the slider bracket 52;

[0083] The lower end of the oblique connecting rod 51 is hinged to the middle part of the calf connecting rod 3 (specifically, the middle part of the calf connecting rod 3 may be provided with a cross bar portion 36 extending laterally outward, and the lower end of the oblique connecting rod 51 is hinged to the end of the cross bar portion 36), and the upper end of the oblique connecting rod 51 is fixed to the third slider 53;

[0084] The upper end of the slider bracket 52 is hinged to the side of the hip joint component 1 .

[0085] When in use, the second driving motor 54 drives the third slider 53 to move relative to the slider bracket 52, drives the oblique connecting rod 51 to move, and thus drives the calf connecting rod 3 to move up and down.

[0086] In specific implementation, the third slider 53 can be a nut slider, and the second drive motor 54 drives the third slider 53 to move relative to the slider bracket 52 through the screw 55. The second drive motor 54 can be connected to the screw 55 through a coupling 56. The slider bracket 52 can also be provided with a connecting plate 57 for mounting the screw 55.

[0087] At this point, the use process of this embodiment 1 can be referred to as follows:

[0088] When using, refer to Figure 7 First, the user wears the lower limb power-assisted exoskeleton robot of this embodiment 1 and fixes it to the leg through the thigh fixing device 8 and the calf fixing device 9; then the user lifts the thigh to touch the thigh force sensor 61 installed on the thigh fixing device 8, thereby giving a signal to the hip joint component 1, and the thigh drive motor 101 thereon drives the thigh connecting rod 2 to move, thereby driving the thigh to lift and fall; the lifting of the user's calf will trigger the calf force sensor 62, so that the oblique driving member 5 drives the oblique connecting rod 51, so that the calf part moves up and down, and at the same time realizes the adjustment of the horizontal position of the shoe body component 4; after completing the stepping position of one foot, the other foot moves forward in the same way; then this series of actions are repeated to complete walking or crawling of the entire floor, which can realize assisted manual operation and complete assisted walking or climbing safely, conveniently and efficiently.

[0089] In summary, the lower limb power-assisted exoskeleton robot of this embodiment 1 includes a space closed five-bar mechanism, which includes a thigh link 2, a calf link 3, an oblique link 51, a lead screw 55, a second drive motor 54 and a hip joint assembly 1, wherein the thigh link 2 and the oblique drive member 5 serve as two input shafts, and the entire device is a space two-degree-of-freedom closed chain structure, which is more rigid, more stable, and easier to control than other open chain mechanisms; this mechanism innovates and expands the research on the mechanism, and also provides design reference experience for future research on various walking robots, and expands thinking. The lower limb power-assisted exoskeleton robot of this embodiment 1 has a simple structure, reasonable layout, low cost, and good power-assisted effect.

[0090] Example 2

[0091] like Figure 8-9 As shown, the hip joint component 1 can be an integrated U-shaped bracket with an opening facing forward.

[0092] The thigh connecting rod 2 and the calf connecting rod 3 can adopt various structural forms that can be easily thought of by those skilled in the art. However, in order to facilitate implementation and improve the power-assisting effect, the present embodiment preferably adopts the following structural form:

[0093] like Figure 8 and Fig.10 As shown, the thigh link 2 includes a third straight rod portion 24 located in front of the thigh, and a third upper side curved portion 25 located above the third straight rod portion 24;

[0094] The calf connecting rod 3 includes a fourth straight rod portion 33 located directly in front of the calf;

[0095] A knee joint curved rod 34 is also hinged between the thigh connecting rod 2 and the shank connecting rod 3;

[0096] The upper end of the third side upper curved portion 25 is hinged to the side of the hip joint assembly 1, the lower end of the third straight rod portion 24 is hinged to the upper end of the knee joint curved rod 34, the lower end of the knee joint curved rod 34 is hinged to the upper part of the fourth straight rod portion 33, and the lower end of the fourth straight rod portion 33 is hinged to the shoe body assembly 4.

[0097] In this embodiment, a thigh fixing device 8 may be provided on the thigh connecting rod 2, and a calf fixing device 9 may be provided on the calf connecting rod 3. The thigh fixing device 8 and the calf fixing device 9 may both be in the form of straps as shown in the figure.

[0098] To better help fix the thigh area, both the left leg assembly and the right leg assembly may include a thigh auxiliary link 7, wherein:

[0099] The thigh auxiliary link 7 includes an upper straight rod portion 71 located on the outer side of the thigh, an annular portion 72 (specifically, a three-quarter circle) located below the upper straight rod portion 71 and surrounding the thigh, a lower straight rod portion 73 connected to the annular portion 72 and located behind the thigh, and a fifth side lower curved portion 74 located below the lower straight rod portion 73;

[0100] The upper end of the calf link 3 is also provided with a sixth side upper bending portion 35;

[0101] The upper end of the upper straight rod portion 71 is hinged to the side surface of the hip joint assembly 1 , and the lower end of the fifth side lower curved portion 74 is hinged to the upper end of the sixth side upper curved portion 35 .

[0102] The shape design of the thigh auxiliary connecting rod 7 can better fix the thigh part, better protect the thigh and make the structure more solid.

[0103] In this embodiment, the sensor may include a thigh force sensor 61 located on the annular portion 72 of the thigh auxiliary link 7 for detecting the lifting of the thigh, and a calf force sensor 62 located on the fourth straight rod portion 33 of the calf link 3 for detecting the lifting of the calf. The shoe body assembly 4 and the first drive mechanism 10 are the same as those in the above-mentioned embodiment 1 and are not described again here.

[0104] The oblique driving member 5 can adopt various structural forms that can be easily thought of by those skilled in the art. For the convenience of implementation, the present embodiment preferably adopts the following structural form:

[0105] like Figure 1 As shown, the oblique driving member 5 includes a first oblique link 58 and a second oblique link 59, the lower end of the first oblique link 58 is hinged to the middle part of the calf link 3, the upper end of the first oblique link 58 is hinged to the lower end of the second oblique link 59, the upper end of the second oblique link 59 is hinged to the side of the hip joint assembly 1, and the side of the hip joint assembly 1 is also provided with a second driving mechanism 11 for driving the second oblique link 59 to rotate.

[0106] In specific implementation, the second driving mechanism 11 can adopt the same structure as the first driving mechanism 10, that is, Fig. 9 As shown, it can include a calf drive motor 111, a driving pulley 112 is provided on the output shaft of the calf drive motor 111, a driven pulley 113 is provided at the hinge between the side of the hip joint assembly 1 and the second oblique link 59, and a synchronous belt 114 is provided on the driving pulley 112 and the driven pulley 113.

[0107] When in use, the thigh drive motor 101 is driven by the synchronous belt 104 to make the thigh connecting rod 2 move up and down, and at the same time can also drive the calf connecting rod 3 to move up and down to a certain extent; the calf drive motor 111 is driven by the synchronous belt 114 to drive the second oblique connecting rod 59 and the first oblique connecting rod 58 to move, thereby making the calf connecting rod 3 move up and down, so that the thigh drive motor 101 and the calf drive motor 111 jointly drive the calf connecting rod 3 to determine its position, the control effect is better, and finally determine the position and posture of the shoe body assembly 4.

[0108] The use process of this embodiment 2 is basically the same as that of embodiment 1, and the main difference in structure is:

[0109] 1. Different from the two-degree-of-freedom five-bar mechanism of embodiment 1, this embodiment 2 is a two-degree-of-freedom seven-bar mechanism, including a hip joint assembly 1 as a frame, a thigh connecting rod 2, a knee joint bending rod 34, a calf connecting rod 3, a thigh auxiliary connecting rod 7, a first oblique connecting rod 58, and a second oblique connecting rod 59, wherein the thigh connecting rod 2 and the oblique driving member 5 serve as two input shafts;

[0110] 2. According to Fig. 9 As shown, the hip joint assembly 1 is integrated, and the four drive motors on both sides of the lower limb assist exoskeleton robot that drive the thigh and calf movements (i.e., the thigh drive motor 101 of the first drive mechanism 10 and the calf drive motor 111 of the second drive mechanism 11) are all located on the hip joint assembly 1. The arc design on the thigh connecting rod 2 can make it more convenient for the elderly to wear;

[0111] 3. The device for fixing the legs (thigh fixing device 8 and calf fixing device 9) is mainly realized by straps;

[0112] 4. The thigh force sensor 61 is installed on the annular portion 72 of the thigh auxiliary link 7, which is more convenient for detecting signals; the shape design of the thigh auxiliary link 7 can better fix the thigh.

[0113] In summary, the present invention takes the two-degree-of-freedom drive of the spatial multi-rod mechanism as the core, combined with the characteristics of flexible control, safety and convenience, can help the elderly climb stairs conveniently while reducing the cost investment, which can be said to kill two birds with one stone.

[0114] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A lower limb power-assisted exoskeleton robot, characterized in that: It comprises a hip joint component for wearing at the hip joint of a human body, a left leg component for wearing on the left leg and a right leg component for wearing on the right leg located on both sides of the hip joint component, wherein: The left leg assembly and the right leg assembly each include a thigh connecting rod, a calf connecting rod and a shoe body assembly which are hinged in sequence, the upper end of the thigh connecting rod is hinged to the side of the hip joint assembly, and the side of the hip joint assembly is provided with a first driving mechanism for driving the thigh connecting rod to rotate; An oblique driving member for driving the calf connecting rod to move is provided between the hip joint assembly and the calf connecting rod, wherein the upper end of the oblique driving member is hinged to the side of the hip joint assembly, and the lower end is hinged to the middle of the calf connecting rod; The lower limb assist exoskeleton robot also includes a sensor for detecting the lifting of the thigh and / or calf.

2. The lower limb assist exoskeleton robot according to claim 1, characterized in that: The hip joint assembly is an integrated U-shaped bracket with an opening facing forward; Alternatively, the hip joint assembly is a split U-shaped bracket with an opening facing forward, comprising a left bracket and a right bracket, and the left bracket and the right bracket are hinged by a rotating hinge.

3. The lower limb assisting exoskeleton robot according to claim 1, characterized in that: The thigh link comprises a first straight rod portion located in front of the thigh, a first side upper curved portion located above the first straight rod portion, and a first side lower curved portion located below the first straight rod portion; the calf link comprises a second straight rod portion located in front of the calf, and a second side upper curved portion located above the second straight rod portion; the upper end of the first side upper curved portion is hinged to the side of the hip joint assembly, the lower end of the first side lower curved portion is hinged to the upper end of the second side upper curved portion, and the lower end of the second straight rod portion is hinged to the shoe body assembly; Alternatively, the thigh connecting rod includes a third straight rod portion located directly in front of the thigh, and a third upper side curved portion located above the third straight rod portion; the calf connecting rod includes a fourth straight rod portion located directly in front of the calf; a knee joint curved rod is also hinged between the thigh connecting rod and the calf connecting rod; the upper end of the third upper side curved portion is hinged to the side of the hip joint assembly, the lower end of the third straight rod portion is hinged to the upper end of the knee joint curved rod, the lower end of the knee joint curved rod is hinged to the upper part of the fourth straight rod portion, and the lower end of the fourth straight rod portion is hinged to the shoe body assembly.

4. The lower limb assisting exoskeleton robot according to claim 1, characterized in that: The left leg assembly and the right leg assembly both include a thigh auxiliary link, wherein: The thigh auxiliary link includes an upper straight rod portion located on the outer side of the thigh, a ring portion located below the upper straight rod portion and surrounding the thigh, a lower straight rod portion connected to the ring portion and located behind the thigh, and a fifth side lower curved portion located below the lower straight rod portion; The upper end of the calf connecting rod is also provided with a sixth upper bending portion; The upper end of the upper straight rod portion is hinged to the side of the hip joint component, and the lower end of the fifth side lower curved portion is hinged to the upper end of the sixth side upper curved portion.

5. The lower limb assisting exoskeleton robot according to claim 1, characterized in that: The thigh connecting rod is provided with a thigh fixing device, and the thigh fixing device comprises a thigh clamping bracket for being placed in front of the thigh, a first slider arranged opposite to the thigh clamping bracket, and a first driving motor for driving the first slider to move relative to the thigh clamping bracket, wherein: A pair of first clamping arc plates for clamping the thighs are respectively hinged at the upper and lower ends of the thigh clamping bracket; The thigh clamping bracket is provided with U-shaped connecting rods on both sides of the side away from the thigh along the length direction, the two ends of the U-shape of the U-shaped connecting rod are respectively hinged to the two first clamping arc plates on the same side, and the middle part of the U-shaped connecting rod is hinged to the side of the first sliding block.

6. The lower limb assisting exoskeleton robot according to claim 5, characterized in that: The first slider is a nut slider, and the first drive motor is connected to the middle part of the first slider via a lead screw; And / or, a protective frame is provided across the middle of the upper and lower ends of the thigh clamping bracket away from the thigh; And / or, the sensor includes a thigh force sensor arranged on the thigh clamping bracket.

7. The lower limb assisting exoskeleton robot according to claim 1, characterized in that: The calf connecting rod is provided with a calf fixing device, which includes a calf bracket for being placed in front of the calf, a second slider arranged opposite to the calf bracket, and a driving screw for driving the second slider to move relative to the calf bracket; a pair of second clamping arc plates for clamping the calf are hinged on both sides of the calf bracket; a connecting rod is provided on both sides of a side of the calf bracket away from the calf, one end of the connecting rod is hinged to the second clamping arc plate, and the other end is hinged to the side of the second slider, wherein: The second slider is a nut slider, the driving screw is threadedly connected to the second slider and passes through the second slider, and the end of the driving screw is axially fixed and circumferentially rotatably assembled on the calf support; And / or, the calf connecting rod is provided with a groove extending along the length direction, and the calf support is provided with a guide rail matching the groove on a side close to the calf; And / or, the sensor includes a calf force sensor arranged on the calf support.

8. The lower limb assisting exoskeleton robot according to claim 1, characterized in that: The shoe body assembly includes a shoe top plate, a shoe bottom plate located below the shoe top plate, and a shoe frame connecting the shoe top plate and the shoe bottom plate at the side, wherein the shoe top plate, the shoe bottom plate and the shoe frame together enclose a shoe body accommodating space, wherein: The lower end of the shank connecting rod is connected to the front part of the shoe top plate through a universal joint; And / or, a limiting block is provided above the middle portion of the shoe top plate; And / or, the rear portion of the shoe top plate is provided with an arc-shaped groove, and a buffer pad is provided in the arc-shaped groove; And / or, a shoe strap is provided on the shoe frame behind the shoe body assembly.

9. The lower limb assisting exoskeleton robot according to claim 1, characterized in that: The first driving mechanism comprises a thigh driving motor, a driving pulley is arranged on the output shaft of the thigh driving motor, a driven pulley is arranged at the hinge between the side of the hip joint assembly and the thigh connecting rod, and synchronous belts are arranged on the driving pulley and the driven pulley.

10. The lower limb assist exoskeleton robot according to any one of claims 1 to 9, characterized in that: The oblique driving member comprises an oblique connecting rod, a slider bracket, a third slider capable of moving along the length direction of the slider bracket, and a second driving motor for driving the third slider to move relative to the slider bracket; the lower end of the oblique connecting rod is hinged to the middle part of the calf connecting rod, and the upper end of the oblique connecting rod is fixed to the third slider; the upper end of the slider bracket is hinged to the side of the hip joint assembly; Alternatively, the oblique driving member includes a first oblique link and a second oblique link, the lower end of the first oblique link is hinged to the middle part of the calf link, the upper end of the first oblique link is hinged to the lower end of the second oblique link, the upper end of the second oblique link is hinged to the side of the hip joint assembly, and the side of the hip joint assembly is also provided with a second driving mechanism for driving the second oblique link to rotate.

Images