A lower limb exoskeleton

Abstract

The present invention provides a lower limb exoskeleton, including a leg connecting rod mechanism, which includes a base, an active part, a first driving connecting rod, a second driving connecting rod, a hip joint swing rod, a thigh connecting rod, a thigh, and a calf; the active part is rotatably arranged on the base; the first ends of the first driving connecting rod and the second driving connecting rod are both hinged on the active part; the second end of the first driving connecting rod is hinged on the second hinge point of the hip joint swing rod; the two ends of the thigh connecting rod are respectively hinged on the third hinge point of the hip joint swing rod and the sixth hinge point of the calf; the first end of the thigh and the fourth hinge point of the hip joint swing rod are hinged at the same position of the base, and the second end of the thigh is hinged on the fifth hinge point of the calf; the second end of the second driving rod is hinged on the seventh hinge point of the thigh; the length of the second driving connecting rod is adjustable to change the maximum flexion angle of the thigh; the active part rotates to drive the thigh and calf to move, which can simulate the gait movement of the human body; the maximum flexion angle of the thigh is changed, and the difficulty of wearing is reduced.

Description

Technical Field

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

[0002] Lower limb exoskeletons are widely used in the fields of assisting the elderly and the disabled, as well as in rehabilitation medicine, to assist people in walking. However, existing lower limb exoskeletons basically use motors to independently control the hip and knee joints to simulate human gait. This makes control difficult and costly, making it difficult to promote and apply. Summary of the Invention

[0003] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a lower limb exoskeleton that does not require an additional knee joint drive source and can simulate the movement of the human lower limbs by simply driving the active parts to rotate, thereby greatly reducing costs.

[0004] To achieve the above-mentioned and other related purposes, the present invention provides a lower limb exoskeleton, including a leg link mechanism, the leg link mechanism including a base, an active member, a first driving link, a second driving link, a hip joint swing arm, a thigh link, a thigh, a calf and a foot sole mechanism; the active member is rotatably arranged on the base; the active member is provided with a first hinge point offset relative to the rotation center line of the active member; the first end of the first driving link and the first end of the second driving link are both hinged on the first hinge point of the active member; the hip joint swing arm is provided with a second hinge point, a third hinge point and a fourth hinge point; the upper end of the calf is provided with a fifth hinge point and a sixth hinge point, and the foot sole mechanism is hinged at the lower end of the calf; the second end of the first driving link is hinged on the second hinge point of the hip joint swing arm; the first end of the thigh link is hinged on the third hinge point of the hip joint swing arm, and the second end of the thigh link is hinged on the sixth hinge point of the calf; the first end of the thigh and the fourth hinge point of the hip joint swing arm The hinge point is hinged at the same position of the base, and the second end of the thigh is hinged at the fifth hinge point of the calf; the second end of the second drive link is hinged at the seventh hinge point of the thigh, and the seventh hinge point is located between the fourth hinge point and the fifth hinge point; the length of the second drive link is adjustable to change the maximum flexion angle of the thigh; when the active part rotates, it drives the first drive link and the second drive link to move, and the first drive link drives the hip joint swing arm to rotate, and then drives the thigh link to move; the second drive link drives the thigh to move, and the thigh link and the thigh drive the calf to move, thereby simulating the gait movement of the human body; since the flexion angles of the thighs in the human body's walking gait and the human body's shallow sitting state are different, by changing the length of the second drive link to adjust the maximum flexion angle of the lower limb exoskeleton, it is convenient for the user to wear the lower limb exoskeleton while sitting shallowly on a support (such as a stool, chair, bedside, wheelchair stool), reducing the difficulty of wearing the lower limb exoskeleton, and it is convenient for the user who has worn the exoskeleton to sit shallowly on the support to rest.

[0005] Preferably, the second driving link includes a second fixed part, a second movable part and a second locking part, and the second fixed part and the second movable part slide together in the length direction of both; a second fixing hole is provided on the second fixed part, and the second movable part is provided with a plurality of second movable holes that can cooperate with the second fixed hole at intervals along its length direction, and the second locking part passes through the second fixed hole and cooperates with different second movable holes to adjust the relative position of the second fixed part and the second movable part, thereby achieving the purpose of changing the length of the second driving link.

[0006] Preferably, the lengths of the thigh connecting rod, thigh and calf are all adjustable to meet the needs of users with different thigh lengths and different calf lengths.

[0007] Preferably, the thigh includes a thigh fixing part, a thigh movable part and a thigh locking part, and the thigh fixing part and the thigh movable part are slidably matched in the length direction of both; the thigh fixing part is provided with a thigh fixing hole, and the thigh movable part is provided with a plurality of thigh movable holes that can match with the thigh fixing holes at intervals along its length direction; the thigh locking part passes through the thigh fixing hole and matches with different thigh movable holes to adjust the relative position of the thigh fixing part and the thigh movable part, thereby achieving the purpose of changing the thigh length.

[0008] Preferably, the thigh link includes a thigh link fixing part, a thigh link movable part and a thigh link locking part, and the thigh link fixing part and the thigh link movable part slide and cooperate in the length direction of both; a thigh link fixing hole is provided on the thigh link fixing part, and the thigh link movable part is provided with a plurality of thigh link movable holes that can cooperate with the thigh link fixing hole at intervals along its length direction; the thigh link locking part passes through the thigh link fixing hole and cooperates with different thigh link movable holes to adjust the relative position of the thigh link fixing part and the thigh link movable part, thereby achieving the purpose of changing the length of the thigh link.

[0009] Preferably, the calf includes a knee joint swing arm, a calf fixing part, a calf movable part and a calf locking part; the fifth hinge point and the sixth hinge point are located on the knee joint swing arm, the calf fixing part is fixed on the knee joint swing arm, and the calf movable part and the calf fixing part are slidably matched in the length direction of both; a calf fixing hole is provided on the calf fixing part, and the calf movable part is provided with a plurality of calf movable holes that match the calf fixing holes at intervals along its length direction; the calf locking part passes through different calf movable holes and matches the calf fixing holes to adjust the relative position of the calf fixing part and the calf movable part, thereby achieving the purpose of changing the length of the calf.

[0010] Preferably, a knee support assembly is fixed to the knee joint swing arm to prevent the wearer from collapsing due to bending of the legs when walking.

[0011] Preferably, there are two leg-link mechanisms, and each base is provided with a limit switch for detecting the position of the first drive link; when both limit switches detect the corresponding first drive link, the rotational phase difference between the two active parts is 180 degrees, so that the two leg-link mechanisms are in a front-to-back cross-standing state (i.e., the walking starting state), reducing the difficulty of walking control.

[0012] Preferably, the two active members are driven by the same driving source or by different driving sources to simulate the gait of the lower limbs of the human body.

[0013] As described above, the lower limb exoskeleton of the present invention has the following beneficial effects:

[0014] (1) The present invention has a simple structure and low control difficulty. It only needs to drive the active part to rotate to drive the thigh and calf to move, realizing the simulation of human gait walking, greatly reducing the cost and facilitating promotion and application;

[0015] (2) By adjusting the length of the second driving link, the maximum flexion angle of the thigh of the lower limb exoskeleton can be changed, so that the lower limb exoskeleton is in a shallow squat state, which makes it easier for the wearer who sits shallowly on a support to wear the lower limb exoskeleton without the help of others, thereby reducing the difficulty of wearing the lower limb exoskeleton;

[0016] (3) The length of the thigh connecting rod, thigh and calf are adjustable, effectively meeting the needs of wearers with different leg lengths. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the leg connecting rod mechanism in the present invention.

[0018] Figure 2 Schematic diagram of the lower limb exoskeleton of the present invention.

[0019] Description of Reference Numerals

[0020] Base 1, active part 11, motor 11a, limit switch 12, first drive link 2, second drive link 3, second fixing part 31, second movable part 32, second locking part 33, hip joint rocker arm 4, thigh link 5, thigh link fixing part 51, thigh link fixing part 52, thigh 6, thigh fixing part 61, thigh movable part 62, calf 7, knee joint rocker arm 71, calf movable part 72, knee top assembly 73, sole mechanism 8, control backpack 9, first hinge point A, second hinge point B, third hinge point C, fourth hinge point D, fifth hinge point E, sixth hinge point F, seventh hinge point G. DETAILED DESCRIPTION

[0021] The following describes the implementation of the present invention through specific embodiments. People skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0022] See also Figure 1 and Figure 2 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0023] like Figure 1 As shown, the present invention provides a lower limb exoskeleton, including a leg linkage mechanism, which includes a base 1, an active member 11, a first drive link 2, a second drive link 3, a hip joint swing link 4, a thigh link 5, a thigh 6 and a calf 7; the active member 11 is rotatably arranged on the base 1; the active member 11 is provided with a first hinge point A offset relative to the rotation center line of the active member 11; the first end of the first drive link 2 and the first end of the second drive link 3 are both hinged to the first hinge point A of the active member 11; the hip joint swing link 4 is a triangular frame structure or a triangular plate structure or a bent rod structure with three vertices, and the three vertices of the hip joint swing link 4 are respectively provided with a second hinge point B, a third hinge point C and a fourth hinge point D; a fifth hinge point E and a sixth hinge point F are provided at the upper end of the calf 7; the second end of the first drive link 2 is hinged on the second hinge point B of the hip joint swing link 4; the first end of the thigh link 5 is hinged on the third hinge point C of the hip joint swing link 4, and the second end of the thigh link 5 is hinged on the sixth hinge point F of the calf 7; the first end of the thigh 6 and the fourth hinge point D of the hip joint swing link 4 are hinged at the same position of the base 1, and the second end of the thigh 6 is hinged on the fifth hinge point E of the calf 7; the second end of the second drive link 3 is hinged on the seventh hinge point G of the thigh 6, and the seventh hinge point G is located between the fourth hinge point D and the fifth hinge point E; the length of the second drive link 3 is adjustable to adjust the maximum flexion angle of the thigh 6.

[0024] The leg link mechanism is mainly divided into two states, namely the standing and walking state (including the stationary standing state and the standing walking state) and the sitting state, both of which are determined by the length of the second driving link 3.

[0025] When the second driving link 3 is adjusted to the shortest length, the leg link mechanism is in a standing and walking state. Since the active member 11, the base 1, the first driving link 2 and the hip joint rocker 4 constitute a first crank rocker mechanism, the active member 11, the base 1, the second driving link 3 and the thigh 6 constitute a second crank rocker mechanism; when the active member 11 rotates under the action of external power, it will drive the first driving link 2 and the second driving link 3 to move, and then drive the hip joint rocker 4 and the thigh 6 to rotate relative to the base 1, so that the thigh link 5 and the calf 7 move accordingly, thereby simulating the human gait movement, not only omitting the knee power source, but also reducing the control difficulty.

[0026] Since the length of the second drive link 3 is limited in standing and walking states, the maximum flexion angle that the thigh 6 can reach is limited (i.e., the angle at which the thigh 6 can swing forward is limited). Therefore, when the user wears the lower limb exoskeleton, multiple people are required to assist the user in standing and wearing the exoskeleton, which makes it difficult to wear the exoskeleton. Based on this, in order to reduce the number of assistants and reduce the difficulty of wearing the lower limb exoskeleton, the length of the second drive link 3 needs to be adjusted to increase the maximum flexion angle that the thigh 6 can reach, so that the leg link mechanism can be adapted to the user's leg sitting shallowly on a support (such as a chair, stool or other auxiliary support), making it easier for the user to wear the exoskeleton by themselves, greatly reducing the difficulty of wearing the exoskeleton. In addition, when the user needs to rest after training for a period of time, the length of the second drive link 3 can also be adjusted to increase the maximum flexion angle that the thigh 6 can reach, making it easier for the user to sit on the support and rest, thus achieving a combination of work and rest.

[0027] It can be understood that the triangular frame structure is a triangular frame structure (also called a triangular connecting rod) formed by three connecting rods connected end to end; the triangular plate structure is a plate-like structure with a triangular cross-section; and the bending rod structure is a two-section bending rod formed by connecting one end of two connecting rods.

[0028] like Figure 1 As shown, the second driving link 3 includes a second fixing member 31, a second movable member 32 and a second locking member 33. The second fixing member 31 and the second movable member 32 slide together in the length direction of both. A second fixing hole is provided on the second fixing member 31, and the second movable member 32 is provided with a plurality of second movable holes that can cooperate with the second fixing hole at intervals along its length direction. The second locking member 33 passes through the second fixing hole and cooperates with different second movable holes to adjust the relative position of the second fixing member 31 and the second movable member 32, thereby achieving the purpose of adjusting the second driving link 3.

[0029] It is understandable that the length adjustment of the second drive link 3 can also be achieved directly by using structures such as a linear cylinder, a hydraulic rod, a screw nut, etc., as long as the length adjustment and locking of the second drive link 3 can be achieved, there is no limitation on this.

[0030] Furthermore, the lengths of the thigh link 5 and the thigh 6 are adjustable to meet the needs of users with different thigh and leg lengths, ensuring that the gait simulated by the leg link mechanism is as consistent as possible with the user's gait.

[0031] like Figure 1 As shown, the thigh 6 includes a thigh fixing part 61, a thigh movable part 62 and a thigh locking part. The thigh fixing part 61 and the thigh movable part 62 are slidably matched in the length direction of both. A thigh fixing hole is provided on the thigh fixing part 61, and the thigh movable part 62 is provided with a plurality of thigh movable holes that can be matched with the thigh fixing holes at intervals along its length direction. The thigh locking part passes through the thigh fixing holes and cooperates with different thigh movable holes to adjust the relative positions of the thigh fixing part 61 and the thigh movable part 62.

[0032] In order to accurately adjust the length of the thigh 6, scale lines are provided on the thigh movable member 62.

[0033] It is understandable that the adjustment of the thigh 6 length can also be achieved directly by using structures such as a linear cylinder, a hydraulic rod, a screw nut, etc., as long as the adjustment and locking of the thigh 6 length can be achieved, there is no limitation on this.

[0034] like Figure 1 As shown, the thigh link 5 includes a thigh link fixing part 51, a thigh link movable part 52 and a thigh link locking part, and the thigh link fixing part 51 and the thigh link movable part 52 are slidingly matched in the length direction of both; a thigh link fixing hole is provided on the thigh link fixing part 51, and the thigh link movable part 52 is provided with a plurality of thigh link movable holes that can match with the thigh link fixing hole at intervals along its length direction; the thigh link locking part passes through the thigh link fixing hole and matches with different thigh link movable holes to adjust the relative position of the thigh link fixing part 51 and the thigh link movable part 52.

[0035] In order to accurately adjust the length of the thigh connecting rod 5, scale lines are provided on the thigh connecting rod movable part 52.

[0036] It is understandable that the length adjustment of the thigh connecting rod 5 can also be achieved directly by using structures such as a linear cylinder, a hydraulic rod, a screw nut, etc., as long as the length adjustment and locking of the thigh connecting rod 5 can be achieved, there is no limitation on this.

[0037] like Figure 1 As shown, a foot mechanism 8 is hinged to the bottom of the calf 1 .

[0038] Furthermore, the length of the calf 7 is adjustable to meet the needs of users with different calf lengths.

[0039] like Figure 1As shown, the calf 7 includes a knee joint swing rod 71, a calf fixing part, a calf movable part 72 and a calf locking part; the fifth hinge point E and the sixth hinge point F are spaced apart at the upper end of the knee joint swing rod 71, the calf fixing part is fixed to the lower end of the knee joint swing rod 71, and the calf movable part 72 and the calf fixing part are slidably matched in the length direction of both; a calf fixing hole is provided on the calf fixing part, and the calf movable part 72 is spaced apart along its length direction. A plurality of calf movable holes that match the calf fixing holes are provided; the calf locking part passes through different calf movable holes and matches the calf fixing holes to adjust the relative position of the calf fixing part and the calf movable part 72.

[0040] In order to accurately adjust the length of the calf 7, scale lines are provided on the calf movable member 72.

[0041] It is understandable that the length adjustment of the calf 7 can also be achieved directly by using structures such as a linear cylinder, a hydraulic rod, a screw nut, etc., as long as the length adjustment and locking of the calf 7 can be achieved, there is no limitation on this.

[0042] Furthermore, a knee support assembly 73 is fixed to the knee joint swing arm 71 to prevent the wearer from collapsing due to bending of the legs when walking.

[0043] It can be understood that there are one or two leg connecting rod mechanisms to assist people with single-leg weakness in walking (i.e., single-leg assistance) or people with double-leg weakness in walking (i.e., double-leg assistance). There is no limitation on this. In this embodiment, the number of leg connecting rod mechanisms is preferably set to two to meet the walking needs of people with double-leg weakness.

[0044] like Figure 1 As shown, a limit switch 12 for detecting the position of the first drive link 2 is provided on the base 1; when both limit switches 12 detect the corresponding first drive link 2, the rotation phase difference of the two active parts 11 is 180 degrees. At this time, the two leg link mechanisms stand crosswise front and back, ready to walk, ensuring that when walking, the movement of the two leg link mechanisms is consistent with the movement of the two legs when walking.

[0045] It is understandable that the two active members 11 are driven by the same driving source or by different driving sources (ie, the two active members 11 are driven jointly or independently), and this is not limited.

[0046] like Figure 2 As shown, the two base bodies 1 are connected via a control backpack 9 , and each base body 1 is provided with a motor 11 a for driving the corresponding active member 11 to rotate.

[0047] It is understandable that the motor 11a can also be replaced by a hand-cranked wheel or a transmission wheel, which is not limited to this.

[0048] When each base plate 1 is provided with a transmission wheel that drives the corresponding active component 11 to rotate, the transmission power of the transmission wheel can come from the rolling power of the walking frame casters (such as the rolling power of the wheelchair casters, the rolling power of the follower hanger casters, etc.) or the power transmitted by the motor through the transmission mechanism, and there is no limitation on this.

[0049] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A lower limb exoskeleton, characterized in that: The invention comprises a leg connecting rod mechanism, wherein the leg connecting rod mechanism comprises a base (1), an active member (11), a first driving connecting rod (2), a second driving connecting rod (3), a hip joint swing rod (4), a thigh connecting rod (5), a thigh (6), a calf (7) and a foot sole mechanism (8); the active member (11) is rotatably arranged on the base (1); the active member (11) is provided with a first hinge point (A) offset relative to the rotation center line of the active member (11); the first end of the first driving connecting rod (2) and the first end of the second driving connecting rod (3) are both hinged on the first hinge point (A) of the active member (11); the hip joint swing rod (4) is provided with a second hinge point (B), a third hinge point (C) and a fourth hinge point (D); the upper end of the calf (7) is provided with a fifth hinge point (E) and a sixth hinge point (F), and the foot sole mechanism (8) is hinged on the lower end of the calf (7); the second end of the first driving connecting rod (2) is hinged on the hip joint swing rod (4); The first end of the thigh connecting rod (5) is hinged on the third hinge point (C) of the hip joint rocker (4), and the second end of the thigh connecting rod (5) is hinged on the sixth hinge point (F) of the shank (7); the first end of the thigh (6) and the fourth hinge point (D) of the hip joint rocker (4) are hinged on the same position of the base (1), and the second end of the thigh (6) is hinged on the fifth hinge point (E) of the shank (7); the second The second end of the driving link (3) is hinged to the seventh hinge point (G) of the thigh (6), and the seventh hinge point (G) is located between the fourth hinge point (D) and the fifth hinge point (E); the length of the second driving link (3) is adjustable to change the maximum flexion angle of the thigh (6); a limit switch (12) for detecting the position of the first driving link (2) is provided on the base (1), and the lengths of the thigh link (5), thigh (6) and calf (7) are all adjustable.

2. A lower limb exoskeleton according to claim 1, characterized in that: The second driving connecting rod (3) comprises a second fixing member (31), a second movable member (32) and a second locking member (33), wherein the second fixing member (31) and the second movable member (32) are slidably matched in the length direction thereof; a second fixing hole is provided on the second fixing member (31), and the second movable member (32) is provided with a plurality of second movable holes that can be matched with the second fixing hole at intervals along the length direction thereof; the second locking member (33) passes through the second fixing hole and is matched with different second movable holes to adjust the relative position of the second fixing member (31) and the second movable member (32).

3. A lower limb exoskeleton according to claim 1, characterized in that: The thigh (6) comprises a thigh fixing part (61), a thigh movable part (62) and a thigh locking part. The thigh fixing part (61) and the thigh movable part (62) are slidably matched in the length direction of the thigh fixing part (61). The thigh fixing part (61) is provided with a thigh fixing hole. The thigh movable part (62) is provided with a plurality of thigh movable holes that can be matched with the thigh fixing hole at intervals along the length direction thereof. The thigh locking part passes through the thigh fixing hole and is matched with different thigh movable holes to adjust the relative position of the thigh fixing part (61) and the thigh movable part (62).

4. A lower limb exoskeleton according to claim 1, characterized in that: The thigh link (5) comprises a thigh link fixing part (51), a thigh link movable part (52) and a thigh link locking part, wherein the thigh link fixing part (51) and the thigh link movable part (52) are slidably matched in the length direction of both parts; a thigh link fixing hole is provided on the thigh link fixing part (51), and a plurality of thigh link movable holes that can be matched with the thigh link fixing hole are provided on the thigh link movable part (52) at intervals along its length direction; the thigh link locking part passes through the thigh link fixing hole and is matched with different thigh link movable holes to adjust the relative position of the thigh link fixing part (51) and the thigh link movable part (52).

5. A lower limb exoskeleton according to claim 1, characterized in that: The calf (7) comprises a knee joint swing rod (71), a calf fixing part, a calf movable part (72) and a calf locking part; the fifth hinge point (E) and the sixth hinge point (F) are located on the knee joint swing rod (71); the calf fixing part is fixed on the knee joint swing rod (71), and the calf movable part (72) and the calf fixing part are slidably matched in the length direction of both parts; the calf fixing part is provided with a calf fixing hole, and the calf movable part (72) is provided with a plurality of calf movable holes that match the calf fixing holes at intervals along the length direction thereof; the calf locking part passes through different calf movable holes and matches the calf fixing holes to adjust the relative position of the calf fixing part and the calf movable part (72).

6. A lower limb exoskeleton according to claim 5, characterized in that: A knee-supporting assembly (73) is fixed on the knee joint swing rod (71).

7. A lower limb exoskeleton according to claim 1, characterized in that: There are two leg connecting rod mechanisms; when the two limit switches (12) detect the corresponding first driving connecting rods (2), the rotation phase difference between the two active members (11) is 180 degrees.

8. A lower limb exoskeleton according to claim 7, characterized in that: The two active members (11) are driven by the same driving source or by different driving sources.

Images