Intelligent walking assistance exoskeleton robot

Abstract

This utility model relates to the field of assistive walking robot technology and discloses an intelligent assistive walking exoskeleton robot, including an adjustable waist wearing device, thighs, joints, and lower legs. The adjustable waist wearing device has two axially symmetrically distributed thighs at its bottom. The two thighs are rotatably connected to the side wall of the adjustable waist wearing device. The bottom of the thighs is provided with joints, and the bottom of the joints is provided with lower legs. The top of the lower legs is rotatably connected to the joints. This exoskeleton robot has a simple structure, is easy to adjust, and can greatly improve the wearing experience, improve wearing comfort, and improve the walking assistance effect.

Description

Technical Field

[0001] This utility model relates to the field of assistive walking robot technology, specifically to an intelligent assistive walking exoskeleton robot. Background Technology

[0002] With the rapid development of technology, intelligent walking exoskeleton robots have gradually entered the public eye, bringing new hope to many people with mobility impairments. They integrate cutting-edge technologies from multiple fields such as mechanical engineering, electronic technology, computer science, and biomedical engineering. They are wearable intelligent mechanical devices that can assist or enhance the user's limb movements, helping them to restore or improve their walking ability.

[0003] However, in practical applications, the problems of wearing discomfort and inconvenience in adjustment are significant, which seriously limits their promotion and use. The existing mechanical structure design of exoskeleton robots is mostly based on the average human body size and movement characteristics. The size of traditional exoskeleton robots is difficult to adjust and it is difficult to fit the body curves and sizes of different users. For users who are short or tall, the joint connection parts, leg supports and other components may not be able to fit accurately, resulting in uneven local stress. Wearing them for a long time can easily cause discomfort symptoms such as pain and pressure sores. In addition, the complicated adjustment operation process also increases the threshold of use, requiring the assistance of professionals and reducing the convenience of use. For this reason, we have proposed an intelligent mobility exoskeleton robot. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides an intelligent walking-assistive exoskeleton robot, which solves the aforementioned problems.

[0006] (II) Technical Solution

[0007] To achieve the above-mentioned objectives, this utility model provides the following technical solution: an intelligent walking-assistive exoskeleton robot, comprising an adjustable waist wearing device, thighs, joints, and lower legs. The adjustable waist wearing device has two axially symmetrically distributed thighs at its bottom. The two thighs are rotatably connected to the sidewall of the adjustable waist wearing device. The bottom of the thighs is provided with a joint, and the bottom of the joint is provided with a lower leg. The top of the lower leg is rotatably connected to the joint.

[0008] Preferably, the adjustable waist wearing device consists of three parts: a back-fitting component, two sets of axially symmetrically distributed side supports, and an adjustment component. The main body of the adjustable waist wearing device is the back-fitting component, the back of which is slidably connected to the opposite axial ends of the two side supports. Each of the two side supports is provided with an adjustment component on the opposite axial end, and the adjustment component is snapped into the back of the back-fitting component.

[0009] Preferably, the back of the backing piece is provided with two axially symmetrically distributed adjustment strips, and the adjustment strips are provided with adjustment locking grooves, which are serrated.

[0010] Preferably, the main body of the side bracket is a curved rod, and the inner side of the curved side bracket is provided with an arc-shaped rubber pad. The side wall of the side bracket is provided with a rotating block, and the rotating block is rotatably connected to the top end of the thigh. The two side brackets have mating cavities inside their opposite side shaft ends, and the mating cavities are slidably connected to the adjustment strip. The side bracket is provided with a hollow assembly block on the side away from the back-attaching piece. The hollow assembly block communicates with the mating cavity, and the adjustment piece is placed inside the hollow assembly block.

[0011] Preferably, the adjusting component consists of two parts: an elastic element and a clamping block. The elastic element is connected to the inside of the hollow assembly block, and the clamping block is sleeved on the outside of the elastic element. The side wall of the clamping block is provided with two pillars that are connected to the adjusting clamping groove.

[0012] Preferably, the lower leg component consists of three parts: a connector, a height adjustment component, and a pedal. The top of the lower leg component is the connector, and the shaft end of the connector is provided with a connecting rotating block that is rotatably connected to the joint component. The shaft end of the connector opposite to the connecting rotating block is provided with a sliding height clamping component. The bottom of the connector is provided with a binding strap on the side opposite to the sliding height clamping component. The bottom of the connector is provided with a height adjustment component that passes through the interior of the sliding height clamping component. The side wall of the height adjustment component has a set of equidistantly distributed adjustment holes that are engaged with the interior of the sliding height clamping component. The shaft end of the height adjustment component opposite to the connector is a pedal that is rotatably connected to the height adjustment component at a fixed angle.

[0013] (III) Beneficial Effects

[0014] Compared with the prior art, this utility model provides an intelligent walking-assistive exoskeleton robot, which has the following beneficial effects:

[0015] 1. This intelligent walking assistive exoskeleton robot improves wearing comfort and fit. Through an adjustable waist-mounted device, users can freely adjust the width of the two side supports according to their waist circumference. The flexible material of the back support conforms to the curve of the lower back, and the arc-shaped rubber pads on the inner side of the side supports reduce friction on the sides of the lower back, greatly improving wearing comfort. Simultaneously, the height of the lower leg components is adjustable to accommodate people of different heights, ensuring the robot fits closely to the user's body curves. This avoids problems such as pain and pressure sores caused by uneven pressure, making it less likely for users to experience discomfort even after prolonged wear, significantly optimizing the wearing experience.

[0016] 2. This intelligent walking assistive exoskeleton robot simplifies adjustment operations and improves ease of use. The adjustable waist-mounted device features a cleverly designed adjustment mechanism. By pressing the elastic element, the locking block and adjustment slot become disengaged, allowing for easy width adjustment. After adjustment, releasing the elastic element re-locks the device. The operation is simple and easy to understand. The height adjustment of the lower leg components is equally convenient. The sliding height locking element works with the adjustment hole, allowing users to quickly adjust the height themselves without professional assistance. This simple and convenient adjustment method lowers the barrier to entry, enabling users with different needs to easily get started and adjust the robot according to their own circumstances, thus improving the convenience and flexibility of use. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the intelligent mobility assistive exoskeleton robot of this utility model;

[0018] Figure 2 This is a schematic diagram of the adjustable waist-mounted wearing device of this utility model;

[0019] Figure 3 This is a schematic diagram of the backing component of this utility model;

[0020] Figure 4 This is a schematic diagram of the side bracket of this utility model;

[0021] Figure 5 This is a schematic diagram of the adjusting component of this utility model;

[0022] Figure 6 This is a schematic diagram of the lower leg component of this utility model;

[0023] Figure 7 This is a cross-sectional view of the lower leg component of this utility model.

[0024] In the diagram: 1. Adjustable waist support; 2. Thigh support; 3. Joint; 4. Lower leg support; 5. Back support; 6. Side support; 7. Adjustment component; 8. Rotating block; 9. Adjustment strip; 10. Adjustment locking groove; 11. Mating cavity; 12. Hollow assembly block; 13. Arc-shaped rubber pad; 14. Elastic component; 15. Locking block; 16. Connecting component; 17. Height adjustment component; 18. Connecting rotating block; 19. Sliding buckle height locking component; 20. Binding strap; 21. Adjustment hole; 22. Pedal. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Please see Figure 1-7 The intelligent walking assistive exoskeleton robot includes an adjustable waist wearing device 1, thighs 2, joints 3, and lower legs 4. The adjustable waist wearing device 1 has two axially symmetrically distributed thighs 2 at its bottom. The two thighs 2 are rotatably connected to the side wall of the adjustable waist wearing device 1. The bottom end of the thighs 2 is provided with joints 3, and the bottom of the joints 3 is provided with lower legs 4. The top of the lower legs 4 is rotatably connected to the joints 3.

[0027] Furthermore, the adjustable waist-worn device 1 consists of three parts: a back-fitting component 5, two sets of symmetrically distributed side supports 6, and an adjustment component 7. The main body of the adjustable waist-worn device 1 is the back-fitting component 5. The back of the back-fitting component 5 is slidably connected to the two side supports 6 at their respective axial ends. Each of the two side supports 6 is provided with an adjustment component 7 at its respective axial end. The adjustment component 7 is engaged with the back of the back-fitting component 5. The user can freely adjust the width between the two side supports 6 by adjusting the adjustment component 7 according to their own waist circumference, thereby achieving the optimal wearing width, preventing discomfort caused by wearing too loosely or too tightly, and improving the quality and efficiency of walking assistance.

[0028] Furthermore, the backrest piece 5 has two symmetrically distributed adjustment strips 9 on its back, and the adjustment strips 9 have an adjustment locking groove 10 inside, and the adjustment locking groove 10 is serrated. The backrest piece 5 is made of flexible material, which makes it fit the curvature of the waist and back better when the user wears it, thus improving wearing comfort. The adjustment strips 9 play a connecting and adjusting role.

[0029] Furthermore, the main body of the side support 6 is a curved rod, and the inner side of the curved side support 6 is provided with an arc-shaped rubber pad 13. The side wall of the side support 6 is provided with a rotating block 8, and the rotating block 8 is rotatably connected to the top end of the thigh 2. The two side supports 6 have mating cavities 11 inside the opposite side shaft ends, and the mating cavities 11 are slidably connected to the adjustment strip 9. The side support 6 is provided with a hollow assembly block 12 on the side away from the backrest 5. The hollow assembly block 12 is connected to the mating cavity 11, and the adjustment piece 7 is placed inside the hollow assembly block 12. The arc-shaped rubber pad 13 is used to reduce friction on the side of the waist and back and improve the wearing experience.

[0030] Furthermore, the adjusting component 7 consists of two parts: an elastic element 14 and a locking block 15. The elastic element 14 is connected to the hollow assembly block 12. The locking block 15 is sleeved on the outside of the elastic element 14. The side wall of the locking block 15 has two pillars that are engaged with the adjusting locking groove 10. By pressing the elastic element 14, the user can disable the engagement between the two pillars of the locking block 15 and the adjusting locking groove 10. After the width is adjusted to the appropriate level, the user can release the elastic element 14 and re-engage it. The adjustment is convenient and the operation is simple.

[0031] Furthermore, the lower leg component 4 consists of three parts: a connector 16, a height adjustment component 17, and a pedal 22. The top of the lower leg component 4 is the connector 16, and the shaft end of the connector 16 is provided with a connecting rotating block 18 that is rotatably connected to the joint component 3. The shaft end of the connector 16 opposite to the connecting rotating block 18 is provided with a sliding buckle height clamping component 19. The bottom of the connector 16 opposite to the sliding buckle height clamping component 19 is provided with a binding strap 20. The bottom of the connector 16 is provided with a height adjustment component 17, which corresponds to the height of the sliding buckle. Inside the clamping member 19, and on the side wall of the height adjustment member 17, there is a set of adjustment holes 21 that are equidistantly distributed. The adjustment holes 21 are engaged with the inside of the sliding height clamping member 19. The side of the height adjustment member 17 facing away from the connector 16 has a pedal 22. The pedal 22 is engaged with the height adjustment member 17 at a fixed angle. The user can adjust the connection position between the height adjustment member 17 and the connector 16 through the sliding height clamping member 19, so that the overall height is adjustable, thereby increasing the usability of the wearer.

[0032] Structural Description:

[0033] Adjustable waist wearing device 1: The adjustable waist wearing device 1 is the core wearable structure of the intelligent walking assistive exoskeleton robot. It consists of a back support 5, a side support 6, and an adjustment component 7. The width can be adjusted as needed to ensure wearing comfort and walking assistive effect.

[0034] Thigh 2: Thigh 2 is axially symmetrically distributed at the bottom of the adjustable waist-wearing device 1, and is rotatably connected to the rotating block 8 on the side wall of the side bracket 6. It is an important component connecting the waist and the knee joint 3, and assists in realizing leg movement.

[0035] Joint 3: Joint 3 is located at the bottom of thigh 2 and rotates with the top of lower leg 4 to simulate human joint movement, providing flexible rotation function for robot walking, leg lifting and other movements, and ensuring smooth movement;

[0036] Lower leg component 4: Lower leg component 4 consists of connector 16, height adjustment component 17 and pedal 22. The top is connected to joint component 3, and the bottom pedal 22 can rotate and its height can be adjusted to accommodate users of different heights and expand the application range.

[0037] Backrest component 5: The backrest component 5 serves as the main body of the adjustable waist wearing device 1. It is made of flexible material and conforms to the curve of the waist and back. An adjustment strip 9 is provided on the back to provide comfort for wearing and participate in waist width adjustment.

[0038] Side support 6: The side support 6 is a curved rod with an arc-shaped rubber pad 13 on the inside to reduce friction. The rotating block 8 on the side wall is connected to the thigh 2. The internal mating cavity 11 slides with the adjusting strip 9 to participate in waist width adjustment and leg movement.

[0039] Adjustment component 7: The adjustment component 7 consists of an elastic element 14 and a locking block 15, which are placed inside the hollow assembly block 12. By engaging with the adjustment locking groove 10, the width of the waist adjustable wearing device 1 can be adjusted, which is easy to operate.

[0040] Rotating block 8: Rotating block 8 is installed on the side wall of the side bracket 6 and is rotatably connected to the top of the thigh 2, providing a fulcrum for the thigh 2 so that the leg can move flexibly during walking and other actions;

[0041] Adjustment strip 9: The adjustment strip 9 is symmetrically arranged on the back of the back-fitting piece 5. It has a serrated adjustment locking groove 10 inside, which cooperates with the adjustment piece 7 to connect and adjust the width of the adjustable waist-wearing device 1.

[0042] Adjustment locking groove 10: The adjustment locking groove 10 is serrated inside the adjustment strip 9 and engages with the locking block 15 of the adjustment component 7 to realize the function of fixing and adjusting the width of the waist wearing device;

[0043] Matching cavity 11: The matching cavity 11 is opened inside the opposite side shaft end of the side bracket 6, and slides with the adjusting strip 9 to provide space for the movement of the adjusting strip 9 and assist in completing the width adjustment of the waist wearing device;

[0044] Hollow assembly block 12: Hollow assembly block 12 is located on the side of the side bracket 6 away from the backing piece 5 and is connected to the mating cavity 11. It is used to place the adjustment piece 7 and provides structural support for adjusting the width of the waist wearing device.

[0045] Curved rubber pad 13: The curved rubber pad 13 is installed on the inside of the bend of the side bracket 6. By reducing friction on the side of the waist and back, it improves wearing comfort and reduces discomfort caused by prolonged use.

[0046] Elastic element 14: The elastic element 14 is connected to the hollow assembly block 12 and the outer side is fitted with the clamping block 15. By pressing the elastic element 14, the clamping block 15 can be disengaged from the adjusting clamping groove 10, thereby realizing the adjustment function.

[0047] Clamping block 15: Clamping block 15 is sleeved on the outside of elastic member 14, and the side wall column block is engaged with the adjusting clamping groove 10. Under the action of elastic member 14, the waist wearing device is fixed after the width is adjusted.

[0048] Connector 16: Connector 16 is the top part of the lower leg part 4. The shaft end is provided with a connecting rotating block 18 connected to the joint part 3, and the other end is provided with a sliding height clamping part 19, which is used to connect the height adjustment part 17 to realize the connection and adjustment of the lower leg part.

[0049] Height adjustment component 17: The height adjustment component 17 is located at the bottom of the connector 16, passes through the sliding buckle height clamping component 19, and the side wall adjustment hole 21 cooperates with the sliding buckle height clamping component 19 to realize the height adjustment of the lower leg component 4 to adapt to different heights;

[0050] Connecting rotating block 18: Connecting rotating block 18 is located at the shaft end of connector 16 and is rotatably connected to joint 3, so that lower leg 4 and joint 3 can rotate flexibly, ensuring that lower leg movements are natural and smooth during walking.

[0051] Sliding height clamping component 19: The sliding height clamping component 19 is installed on the connector 16 and engages with the adjustment hole 21 on the side wall of the height adjustment component 17 to achieve convenient adjustment and fixation of the height of the lower leg component 4;

[0052] Fastening strap 20: Enhances wearing stability and ensures that the exoskeleton robot fits the human body in a safe and reliable manner during use;

[0053] Adjustment holes 21: Adjustment holes 21 are evenly distributed on the side wall of the height adjustment component 17 and cooperate with the sliding height clamping component 19 to realize the height adjustment of the lower leg component 4 through snap-fit, so as to meet the needs of different users;

[0054] Foot pedal 22: Foot pedal 22 is located at one end of the height adjustment component 17 and rotates at a fixed angle with the height adjustment component 17 to simulate the movement of the human foot, providing support and flexible rotation function for the user's walking.

[0055] Working principle: After correctly installing the intelligent walking exoskeleton robot according to the diagram, the user first adjusts the adjustable waist-mounted wearing device 1 according to their waist circumference. The backrest piece 5 is made of flexible material to conform to the curve of the lower back. The two side supports 6 are width-adjustable via the adjustment piece 7. Pressing the elastic element 14 in the adjustment piece 7 disengages the locking block 15 from the serrated adjustment locking groove 10 inside the adjustment strip 9. Adjust the position of the side supports 6, and once it is suitable, release the elastic element 14 to re-lock it, ensuring comfortable and stable wear. Simultaneously, the lower leg piece 4 can be height-adjusted via the sliding height locking piece 19. The sliding height locking piece 19 engages with the adjustment hole 21 on the side wall of the height adjustment piece 17, changing the connection position between the height adjustment piece 17 and the connecting piece 16 to accommodate users of different heights. The pedal 22 can rotate at a fixed angle to ensure the feet move freely during walking. In its current state, once the device is worn, when the user intends to move, such as lifting their leg to take a step, the built-in sensor system detects changes in the body's muscle electrical signals and posture, and transmits the data to the control system. After processing the data, the control system sends a command to the power system, which drives the joint component 3 to move. The thigh part 2 and the adjustable waist wearing device 1 are engaged by rotating blocks 8, and the connecting rotating block 18 at the top of the calf component 4 is engaged by rotating blocks 3. Under the action of the power system, all components move in coordination to provide assistance to the user. The side support 6 of the adjustable waist wearing device 1 drives the thigh part 2 to move through rotating blocks 8, enabling the user to walk smoothly with the cooperation of the adjustable waist wearing device 1, thigh part 2, joint component 3, and calf component 4. During the process, each adjustment structure ensures that the robot always fits the user's body, ensuring the accuracy and comfort of the assistance.

[0056] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent walking aid exoskeleton robot, comprising a waist-adjustable wearing device (1), a thigh part (2), a joint part (3) and a shank part (4), characterized in that: The adjustable waist wearing device (1) has two thigh parts (2) arranged symmetrically at the bottom. The two thigh parts (2) are rotatably connected to the side wall of the adjustable waist wearing device (1). The bottom end of the thigh part (2) is provided with a joint (3). The bottom of the joint (3) is provided with a calf part (4). The top of the calf part (4) is rotatably connected to the joint (3).

2. The intelligent walking aid exoskeleton robot according to claim 1, characterized in that: The adjustable waist wearing device (1) consists of three parts: a back-fitting piece (5), two sets of symmetrically distributed side supports (6), and an adjustment piece (7). The main body of the adjustable waist wearing device (1) is the back-fitting piece (5). The back of the back-fitting piece (5) is slidably connected to the two side supports (6) at their respective axial ends. The two side supports (6) are provided with adjustment pieces (7) at their respective axial ends. The adjustment pieces (7) are snapped into the back of the back-fitting piece (5).

3. The intelligent walking stick exoskeleton robot according to claim 2, characterized in that: The backing piece (5) has two symmetrically distributed adjustment strips (9) on its back, and the adjustment strips (9) have an adjustment locking groove (10) inside, and the adjustment locking groove (10) is serrated.

4. The intelligent walking stick exoskeleton robot according to claim 2, characterized in that: The main body of the side bracket (6) is a curved rod, and the inner side of the side bracket (6) is provided with an arc-shaped rubber pad (13). The side wall of the side bracket (6) is provided with a rotating block (8), and the rotating block (8) is rotatably connected to the top end of the thigh (2). The two side brackets (6) have mating cavities (11) inside the opposite side shaft ends. The mating cavities (11) are slidably connected to the adjusting strip (9). The side bracket (6) is provided with a hollow assembly block (12) on the side away from the backing piece (5). The hollow assembly block (12) is connected to the mating cavity (11), and the adjusting piece (7) is placed inside the hollow assembly block (12).

5. The intelligent walking stick exoskeleton robot according to claim 4, characterized in that: The adjusting component (7) consists of two parts: an elastic component (14) and a clamping block (15). The elastic component (14) is connected to the hollow assembly block (12) inside. The clamping block (15) is sleeved on the outside of the elastic component (14). The side wall of the clamping block (15) is provided with two pillars that are connected to the adjusting clamping groove (10).

6. The intelligent mobility exoskeleton robot according to claim 1, characterized in that: The lower leg component (4) consists of three parts: a connector (16), a height adjustment component (17), and a pedal (22). The top of the lower leg component (4) is the connector (16). The shaft end of the connector (16) is provided with a connecting rotating block (18) that is rotatably connected to the joint component (3). The shaft end of the connector (16) facing away from the connecting rotating block (18) is provided with a sliding buckle height clamping component (19). The bottom of the connector (16) facing away from the sliding buckle height clamping component (19) is provided with a binding strap (20). The bottom of the component (16) is provided with a height adjustment component (17), which passes through the interior of the sliding buckle height clamping component (19). The side wall of the height adjustment component (17) is provided with a set of adjustment holes (21) that are evenly distributed. The adjustment holes (21) are engaged with the interior of the sliding buckle height clamping component (19). The shaft end of the height adjustment component (17) facing away from the connector (16) is a pedal (22), which is connected to the height adjustment component (17) by a fixed angle rotation.

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