A lower limb rehabilitation walking-assisting exoskeleton with wheels and legs and its control method

Abstract

The present invention is a lower limb rehabilitation walking aid exoskeleton and control method that can be used for both wheels and legs. It includes two groups of exoskeleton mechanisms symmetrically arranged on the outside of a middle back plate mechanism, each group of exoskeleton mechanisms includes a hip joint mechanism, a thigh mechanism, a knee joint mechanism, a calf mechanism, and an ankle joint mechanism; a wheel-leg switching mechanism and a hip-wheel drive device are installed on the hip plate of the back plate mechanism, a wheel-leg supporting structure is installed on the wheel-leg switching mechanism, and a driving wheel structure is installed on the wheel-leg supporting structure, and the driving wheel structure is connected to the hip-wheel drive device through a flexible shaft. The present invention can realize two states of exoskeleton movement and wheeled movement; it can provide wheelchair-like walking assistance to patients while helping them to recover upright; the mode switching is simple and easy to operate, and suitable for patients to use; it realizes the sharing of structure and drive parts, reduces the weight of the overall device, and improves the stability of the exoskeleton in the upright walking mode, and can be used for patients' rehabilitation training and daily walking assistance.

Description

Technical Field

[0001] The present invention belongs to the field of medical rehabilitation robots, and in particular relates to a lower limb rehabilitation walking-assistance exoskeleton with wheels and legs and a control method thereof. Background Art

[0002] With the advancement of science and technology, exoskeleton systems, as electromechanical wearable devices that enhance the wearer's physical abilities, have been increasingly used in the medical field. Lower-limb exoskeleton robots primarily aim to assist disabled and elderly people in walking and provide functional rehabilitation training for those with temporary motor impairments. However, existing lower-limb rehabilitation exoskeletons are mostly limited to gait rehabilitation training and are not suitable for daily mobility assistance for patients and the elderly. Therefore, dual-purpose wheel-leg rehabilitation exoskeletons capable of both gait rehabilitation training and wheeled mobility have become a research hotspot.

[0003] The design of lower limb exoskeletons for medical rehabilitation has been plagued by the incompatibility between medical rehabilitation and daily mobility assistance, leading to a series of problems in actual use:

[0004] (1) Most of the existing bipedal autonomous mobility rehabilitation exoskeletons have two active degrees of freedom at the hip and knee, and one passive degree of freedom at the ankle. Dynamic stability control has always been a difficult problem in rehabilitation training. Existing mature rehabilitation products all rely on external support to maintain dynamic stability during the rehabilitation process.

[0005] (2) Existing lower limb rehabilitation exoskeletons are difficult to wear and carry, and their functionality is limited, which brings great inconvenience to the lives of disabled patients.

[0006] (3) Existing lower limb rehabilitation exoskeletons cannot be worn for a long time in actual use and are not suitable for daily walking assistance. That is, rehabilitation training and daily walking assistance require different equipment.

[0007] (4) Although the existing wheel-leg dual-purpose rehabilitation training exoskeletons can be used as wheelchairs to help patients live a normal life while undergoing rehabilitation training, many of these rehabilitation systems have large and heavy structures, which make the patient's range of motion very small, greatly limiting the patient's freedom of movement.

[0008] Chinese patent application number CN 108309593 A discloses a wheeled-leg isomorphic wheelchair exoskeleton robot. This robot addresses the issues of mechanical redundancy and low portability faced by existing wheeled-leg medical rehabilitation lower limb exoskeleton robots during the transformation process between wheelchair mobility mode and exoskeleton rehabilitation training mode. However, its shortcomings include: first, the entire wheeled-leg exoskeleton has six drive motors, resulting in a high mass and cost for the entire drive system; second, the rear wheel support structure of the entire wheeled-leg system remains as a "load" worn on the patient's lower limb when transformed into rehabilitation training mode, resulting in a heavy lower limb structure that is detrimental to patient recovery.

[0009] In the Chinese patent application with application number 201510574365.X, a walking-assisting exoskeleton robot with wheeled mobility function is disclosed. Although the exoskeleton can realize the function of wheeled mobility and walking-assistance, it also has obvious disadvantages. The entire structure is more suitable for wheeled mobility mode. In the upright walking-assistance mode, the wheeled mode structure becomes a redundant structure.

[0010] In the Chinese patent application with application number 201910526296.3, a lower limb exoskeleton wheeled rehabilitation robot and its use method are disclosed. The robot can help patients with lower limb disabilities or walking disorders to stand independently and walk indoors and outdoors. However, it also has obvious disadvantages: first, the entire standing mechanism and the upright mechanism are completely independent, and the patient is always in an upright state; second, the user can only choose wheeled movement when moving, and can only move on flat roads; in addition, the exoskeleton is used for squat rehabilitation training and cannot be used for gait training.

[0011] In the Chinese patent application with application number 201910582953.6, a lower limb exoskeleton with dual functions of wheels and legs is disclosed. The transmission design of the wheel-leg exoskeleton can realize both exoskeleton movement and wheeled movement.

[0012] However, it also has obvious disadvantages: first, the entire wheeled motion structure uses deformable wheels, which has a large overall mass and is not conducive to wearing and walking assistance; second, the entire exoskeleton system has too many redundant structures and does not achieve structural sharing. In addition, the wheeled exoskeleton is mainly used to assist healthy wearers in walking and is not suitable for medical rehabilitation.

[0013] Based on this, it is necessary to provide a lower limb rehabilitation walking aid exoskeleton with both wheels and legs for patients who need lower limb rehabilitation training to perform rehabilitation training and walking assistance. Summary of the Invention

[0014] The purpose of the present invention is to provide a lower limb rehabilitation walking aid exoskeleton with wheels and legs and a control method thereof, which can solve the problem of dynamic stability during the training and rehabilitation process of hemiplegic patients; and solve the problem that the lower limb rehabilitation exoskeleton system with wheels and legs is heavy and has limited use.

[0015] The technical solution to achieve the purpose of the present invention is: a lower limb rehabilitation walking aid exoskeleton with dual functions of wheels and legs, comprising a backboard mechanism, a wheel-leg support mechanism, and a bilaterally symmetrically arranged hip joint mechanism, thigh mechanism, knee joint mechanism, calf mechanism, ankle joint mechanism, wheel-leg switching mechanism, hip-wheel drive device, driving wheel mechanism, and flexible shaft;

[0016] The backboard mechanism comprises a backrest, two hip boards and a center board, the hip board is L-shaped, one end of the hip board is connected to the center board, and the other end is equipped with a hip joint mechanism, which is sequentially connected to the thigh mechanism, the knee joint mechanism, the calf mechanism and the ankle joint mechanism; the wheel-leg support mechanism is detachably connected to the backboard mechanism through a wheel-leg switching mechanism, and two hip-wheel drive devices are respectively installed on one side of the hip board, and the hip-wheel drive devices respectively drive the hip joint mechanism or the active wheel mechanism to actuate through a lasso and a soft shaft (9).

[0017] Furthermore, the back plate is connected to the center plate by screws, the hip plate is installed in the connecting groove of the center plate, and the hip plate adjusts the hip distance by relative movement in the installation groove of the center plate.

[0018] Furthermore, the hip joint mechanism includes an end cap, a rotating plate I, a bearing I, a locking bolt, a compression spring, a washer, a hip abduction connector, a rotating plate II, a bearing II, a lasso driven disc I, a lasso, a lasso driven disc II, and a locking nut;

[0019] The rotating plate I and the rotating plate II are respectively connected to the two sides of the axis of the hip plate through bearings I and bearings II; the hip abduction connector is connected between the rotating plate I and the rotating plate II by screws; the end cover is connected to the rotating plate I by screws; the lasso is installed between the lasso driven disc I and the lasso driven disc II through the mounting holes set on the lasso driven disc I and the lasso driven disc II; the lasso driven disc I and the lasso driven disc II are connected by screws; the locking bolt is sequentially provided with a threaded section, a cylindrical section and a polygonal section. After passing through the compression spring and the gasket, the locking bolt passes through the hip plate, the rotating plate II, the bearing II, the lasso driven disc I, the lasso driven disc II and is threadedly connected to the locking nut.

[0020] Further, the hip-wheel drive device is threadedly connected to the side of the hip plate located on the same side of the center plate via the mounting plate, and the hip-wheel drive device includes a motor housing, a flange plate, a hip joint motor, a planetary gear, a sun gear, a ring gear, a lasso mounting plate, a bearing, a planetary carrier, a planetary mechanism housing, and a locking sleeve;

[0021] The hip joint motor is fixed in the motor housing by screws; the flange plate is connected to the motor housing by screws; the three planetary gears and the sun gear are meshed in the ring gear; the planetary carrier is connected to the planetary gear gap through the mounting hole set in the center of the planetary gear; the two lasso mounting plates are connected to the ring gear screws through the mounting holes set on the outer edge of the ring gear; the active end of the lasso passes through the mounting groove designed on the outer edge of the ring gear and is fixed between the two lasso mounting plates; the bearing passes through the planetary carrier and is installed in the mounting hole of the planetary mechanism housing; the planetary mechanism housing is connected to the flange plate with screws; the locking sleeve is designed with two-step hexagonal holes, which are respectively socketed with the output end of the planetary carrier and the shaft end of the planetary mechanism housing.

[0022] Furthermore, the wheel-leg switching mechanism includes a worm gear mechanism, a claw-type pressure plate, a U-shaped clamping block I and a U-shaped clamping block II;

[0023] The output shaft of the worm gear mechanism is connected to the U-shaped clamp block I through a key; the worm gear mechanism is pressed against the hip plate through a claw-type pressure plate and connected to the hip plate screw; the U-shaped clamp block I and the U-shaped clamp block II are connected by a pin, and the U-shaped clamp block II can rotate around the pin axis on either side.

[0024] Furthermore, the wheel-leg support structure includes a support rod and a handrail; wherein the handrail includes a fastening ring, a fastening sleeve, a ratchet connector, a ratchet, a hexagonal pin and a handrail;

[0025] The support rod is threadedly connected by multiple pipe fittings; the fastening sleeve passes through the support rod and is fixed to the support rod by a fastening ring; the ratchet connector passes through the fastening sleeve and is fixed by a fastening bolt; the ratchet is connected to the ratchet connector through a hexagonal pin; the other end of the ratchet is connected to the handrail rod by a bolt.

[0026] Furthermore, the flexible shaft serves as a power transmission component to connect the planetary carrier and the driving wheel structure.

[0027] Further, the knee joint includes a knee joint motor, a lower thigh connection piece, and an upper calf connection piece;

[0028] The lower thigh connector and the upper calf connector are connected to the knee joint motor through screws; the lower thigh connector (on the plane of one side connected to the upper calf connector) is provided with a boss as a mechanical limit to limit the rotation range of the knee joint.

[0029] A control method for the above-mentioned walking-assist exoskeleton, the method steps are as follows:

[0030] Step (1): Select an information acquisition unit as a fixed reference point and construct an exoskeleton mathematical model;

[0031] Step (2): After the wearer puts on the exoskeleton, he remains still and performs initial information collection and calibration;

[0032] Step (3): When the wearer starts exercising, the plantar pressure data acquisition subunit, the human-computer interaction force data acquisition subunit, and the position and posture data acquisition subunit collect information about the human body during exercise;

[0033] Step (4): The controller receives the data collected in step (3) and calculates the actual output torque of the exoskeleton according to the control rate;

[0034] Step (5): The actual output torque calculated in step (4) is transmitted to the embedded controller; the embedded controller controls the underlying servo system to drive the corresponding motor to realize the movement of the exoskeleton system;

[0035] Step (6): The information acquisition unit measures the kinematic information of the exoskeleton in real time, monitors whether the output of the underlying servo system is correct, and inputs it into the controller as feedback to complete the closed-loop control of the exoskeleton movement.

[0036] Furthermore, the step (4) of "calculating the actual output torque of the exoskeleton according to the control rate" is specifically as follows:

[0037] The controller is based on the system's inertia matrix M0(θ), the system's centrifugal force and the Coriolis force component matrix The gravity vector matrix G0(θ) and the joint position θ are used to calculate the actual torque output curve τ, which is based on formula (1-1);

[0038]

[0039] In formula (1-1), τ is the control torque at the joint; M0(θ) is the inertia matrix of the system; is the centrifugal force and Coriolis force component matrix of the system; G0(θ) is the gravity vector matrix; θ, are the position vector, velocity vector and acceleration vector of each joint; θd, The position vector, velocity vector and acceleration vector given for each joint; τ C is the torque compensation term; K p and K d is the proportional and differential feedback matrix;

[0040] The torque compensator is designed by combining robust control and adaptation to suppress the influence of system uncertainty and improve trajectory tracking accuracy.

[0041] The torque compensation robust controller of the system is as follows:

[0042]

[0043] K is the coefficient vector, X is the variable parameter of the system, and the parameter ε of the compensation controller is calculated as follows:

[0044]

[0045]

[0046] Compared with the prior art, the present invention has the following significant advantages:

[0047] (1) The existing lower limb rehabilitation exoskeleton mechanism only has an upright gait rehabilitation training movement mode, which is inconvenient to wear for a long time and requires an additional wheelchair for walking assistance. The present invention designs a movement switching mechanism to enable the exoskeleton to have two modes: an exoskeleton upright rehabilitation training mode and a wheeled walking movement mode, thereby realizing the structural integration of rehabilitation training and walking assistance.

[0048] (2) The hip-wheel drive device proposed in the present invention can realize the shared drive system of the exoskeleton hip joint and the wheeled walking movement mode, reducing the number of motors in the entire wheel-leg shared exoskeleton system, simplifying the entire system structure, and achieving lightweighting of the entire wearable exoskeleton system;

[0049] (3) The wheel-leg dual-purpose lower limb rehabilitation walking aid exoskeleton mechanism proposed in the present invention can help the wearer adapt to various scenarios and environments. When the road environment is complex and not suitable for wheeled movement, the upright gait rehabilitation training movement mode can be used, and when the road environment is flat, the wheeled walking mode can be used. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 Schematic diagram of the overall structure of the wheeled walking-assistance mode of the wheeled walking-assistance exoskeleton for lower limb rehabilitation;

[0051] Figure 2 Schematic diagram of the overall structure of the wheeled leg lower limb rehabilitation walking aid exoskeleton upright rehabilitation model;

[0052] Figure 3 Schematic diagram of the backboard structure of the wheel-leg lower limb rehabilitation walking aid exoskeleton;

[0053] Figure 4 Schematic diagram of the hip joint structure of the wheeled leg lower limb rehabilitation walking aid exoskeleton;

[0054] Figure 5 Schematic diagram of the knee joint structure of the wheeled leg lower limb rehabilitation walking aid exoskeleton;

[0055] Figure 6 Schematic diagram of the hip-wheel drive device of the wheel-leg lower limb rehabilitation walking exoskeleton;

[0056] Figure 7 Schematic diagram of the wheel-leg switching structure of the wheel-leg type lower limb rehabilitation walking aid exoskeleton;

[0057] Figure 8 Schematic diagram of the thigh structure of the wheeled leg lower limb rehabilitation walking aid exoskeleton;

[0058] Figure 9 Schematic diagram of the wheel-leg support structure of the wheel-leg lower limb rehabilitation walking aid exoskeleton;

[0059] Figure 10 Schematic diagram of the handrail structure of the wheel-leg lower limb rehabilitation walking exoskeleton;

[0060] Figure 11 Schematic diagram of the soft shaft structure of the wheel-leg lower limb rehabilitation walking aid exoskeleton;

[0061] Figure 12 Schematic diagram of the calf wheel structure of the wheel-leg lower limb rehabilitation walking aid exoskeleton;

[0062] Figure 13 Schematic diagram of the wheel-leg lower limb rehabilitation walking aid exoskeleton control system;

[0063] Figure 14 Flowchart of the adaptive torque trajectory tracking control algorithm.

[0064] Description of reference numerals:

[0065] 1-ankle joint mechanism, 2-calf mechanism, 3-knee joint mechanism, 4-thigh mechanism, 5-wheel-leg support mechanism, 6-backboard mechanism, 7-hip joint mechanism, 8-hip-wheel drive device, 9-flexible shaft, 10-driving wheel mechanism, 11-wheel-leg switching mechanism, 21-calf rod, 22-movable connector, 23-fixed connector, 24-passive wheel, 31-knee joint motor, 32-lower thigh connector, 33-upper calf connector, 41-upper thigh connector, 42-connector, 43-binding plate, 51-support rod mechanism, 52-handrail rod mechanism, 521-fastening ring, 522-fastening sleeve, 523-ratchet connector, 524-ratchet, 525-hexagonal pin, 526-handrail rod, 61-backrest, 62-hip plate, 63-center plate, 71-end cover, 72-rotating plate I, 73-bearing I, 74-locking bolt, 75-compression spring, 76-gasket, 77-hip abduction connector, 78-rotating plate II, 79-bearing II, 710-lasso driven disc I, 711-lasso mechanism, 712-lasso driven disc II, 713-locking nut, 81-motor housing, 82-flange plate, 83-hip joint motor, 84-planetary gear, 85-sun gear, 86-ring gear, 87-lasso mounting plate, 88-bearing, 89-planet carrier, 810-planetary mechanism housing, 811-locking sleeve, 111-worm gear mechanism, 112-claw pressure plate, 113-U-type clamp I, 114-U-type clamp II. DETAILED DESCRIPTION

[0066] The following further describes the specific embodiments of the present invention in conjunction with the accompanying drawings. The exemplary embodiments are only provided to facilitate a better understanding of the present invention and are not intended to limit the present invention. The accompanying drawings are for illustrative purposes only and are not drawn to scale.

[0067] like Figure 1-14 As shown, a wheel-leg dual-purpose lower limb rehabilitation walking aid exoskeleton and control method, the wheel-leg dual-purpose lower limb rehabilitation exoskeleton includes a backboard mechanism 6, two hip joint mechanisms 7, two thigh mechanisms 4, two knee joint mechanisms 3, two calf mechanisms 2, two ankle joint mechanisms 1, two wheel-leg switching mechanisms 11, two hip-wheel drive devices 8, a wheel-leg support structure 5 as the rear support rod of the wheelchair, supporting two active wheel structures 10 and two flexible shafts 9. Figure 1 、 Figure 2 .

[0068] As an embodiment, the backrest mechanism 6 includes a backrest 61, a hip plate 62 and a center plate 63; the hip plate 62 is installed in the installation groove of the center plate 63, and the distance between the left and right hip plates can be adjusted by moving in the installation groove; the screws on the center plate 63 are used to fix the hip plate 62; the backrest 61 is installed on the center plate 63 by screws. Figure 3 .

[0069] As an embodiment, the hip joint mechanism 7 includes an end cover 71, a rotating plate I72, a bearing I73, a locking screw 74, a compression spring 75, a gasket 76, a hip abduction connector 77, a rotating plate II78, a bearing II79, a lasso driven disc I710, a lasso 711, a lasso driven disc II712 and a locking nut 713.

[0070] The end cap 71 is connected to the rotating plate I72 by screws. The rotating plate I72 and the rotating plate II78 are connected to the two sides of the axis of the hip plate 62 by bearings I73. The hip abduction connector 77 is connected to the rotating plate I72 and the rotating plate II78 by screws. The lasso 711 is installed between the lasso driven disk I710 and the lasso driven disk II712 through the lasso mounting hole. The lasso driven disk I710 and the lasso driven disk II712 are connected by screws. The threaded end of the locking screw 74 passes through the compression spring 75 and the washer 76 in sequence, and then passes through the hip plate 62, the rotating plate II78, the bearing II79, the lasso driven disk I710, the lasso driven disk II712 and the locking nut 713. Figure 4 .

[0071] The hip joint mechanism 7 can limit the rotation of the rotating plate around the hip plate through the locking nut 713, thereby realizing the switching of movement; the specific implementation method is that when the locking nut 713 is tightened, the locking bolt 74 will move toward the lasso end when the compression spring 75 is compressed, and the polygonal axis of the locking bolt 74 will pass through the polygonal hole in the center of the lasso driven disk I710 and the lasso driven disk II712, and the hip plate 62 will be fixed to the lasso driven disk I710 and the lasso driven disk II712. , the rotating plate I72 and the rotating plate II78 will not be able to rotate around the hip plate 62; when the locking nut 713 is loosened, the locking bolt 74 will move toward the side of the end cover 71 under the action of the compression spring 75, and the polygonal axis of the locking bolt 74 will withdraw from the polygonal hole in the center of the lasso driven disk I710 and the lasso driven disk II712, and the lasso driven disk I710 and the lasso driven disk II712 will be able to drive the rotating plate I72 and the rotating plate II78 to rotate around the hip plate.

[0072] As an embodiment, the knee joint 3 includes a knee joint motor 31, a lower thigh connection 32, and an upper calf connection 33; the lower thigh connection 32 and the upper calf connection 33 are connected to the motor via screws; a boss is designed on one side of the lower thigh connection 32 connected to the upper calf connection 33 as a mechanical limit to limit the rotation range of the knee joint. Figure 5 .

[0073] As an embodiment, the hip-wheel drive device 8 includes a motor housing 81, a flange plate 82, a hip joint motor 83, a planetary gear 84, a sun gear 85, a ring gear 86, a lasso mounting plate 87, a bearing 88, a planetary carrier 89, a planetary mechanism housing 810 and a locking sleeve 811. The hip joint motor 83 is fixed to the motor housing 81 by screws, and the flange plate 82 is installed on the motor housing 81 by screws. The three planetary gears 84 and the sun gear 85 are meshed in the ring gear 86. The planetary carrier 89 is connected to the planetary gear 84 through the mounting hole set in the center of the planetary gear 84. The two lasso mounting plates 87 are installed on the outer edge of the ring gear 86 by screws. The end of the lasso 711 is fixed between the two lasso mounting plates 87 through the mounting groove on the outer edge of the ring gear 86. The bearing 88 passes through the planetary carrier 89 and is installed in the mounting hole of the planetary mechanism housing 810. The planetary mechanism housing 810 is installed on the flange plate 82 by screws. The hexagonal stepped hole in the locking sleeve 811 can be socketed with the output end of the planetary carrier 89 and the shaft end of the planetary mechanism housing 810. Figure 6 .

[0074] Switching between wheeled and legged motion is achieved through the cooperation of the locking sleeve 811 of the hip-wheel drive 8 and the locking nut 713 in the hip joint mechanism 7. Specifically, when the locking sleeve 811 is sleeved between the output end of the planetary carrier 89 and the shaft end of the planetary mechanism housing 810, and the locking nut 713 is in an untightened state, the hip-wheel drive 8 drives the hip joint mechanism 7 via the lasso 711. When the output end of the planetary carrier 89 is connected to the flexible shaft 9, the locking nut 713 is in a tightened and locked state, and the hip-wheel drive 8 drives the active wheel structure 10 via the flexible shaft 9.

[0075] As an embodiment, the wheel-leg switching mechanism 11 includes a worm gear mechanism 111, a claw-type pressure plate 112, a U-shaped clamp block I113 and a U-shaped clamp block II114. The output shaft of the worm gear mechanism 111 is connected to the U-shaped clamp block I113 via a key; the worm gear mechanism is pressed against the hip plate 62 via the claw-type pressure plate 112 and is threadedly connected to the hip plate; the U-shaped clamp block I113 and the U-shaped clamp block II114 are connected by two pins; the specific implementation method is to change the angle of the U-shaped clamp block through the worm gear mechanism 111 to adjust the support angle of the wheel-leg support structure 5; and to open, remove or fix the wheel-leg support structure 5 through the pin between the two U-shaped clamp blocks. Figure 7 .

[0076] As an embodiment, the thigh structure 4 includes a thigh connection 41, a connector 42, and a binding plate 43. The connector 42 is fixed to the mounting slot of the thigh connection 41 by screws, and the binding plate 43 is connected to the thigh connection 41 by pins; the connector 42 is connected to the hip abduction connector 77 by pins. Figure 8 .

[0077] As an embodiment, the wheel-leg support structure 5 includes a support rod 51 and a handrail 52; wherein the handrail 52 includes a fastening ring 521, a fastening sleeve 522, a ratchet connector 523, a ratchet 524, a hexagonal pin 525 and a handrail 526; the fastening sleeve 522 is fixed to the support rod 51 through the fastening ring 521; the ratchet connector 523 is tightened on the fastening sleeve 522 by screws; the ratchet 524 and the handrail 526 are connected by pins. Figure 9 , Figure 10 .

[0078] As an embodiment, the flexible shaft 9 is used as a power transmission component to connect the planet carrier 89 and the driving wheel structure 10. Figure 11 .

[0079] As an embodiment, the calf wheel structure includes a calf rod 21, a movable connecting member 22, a fixed connecting member 23, and a driven wheel 24. The movable connecting member 22 is first placed on the connecting rod between the calf rod 21 and the driven wheel 24, and then tightened to fix the calf rod 21 and the driven wheel 24 by screws; the fixed connecting member 23 passes through the driven wheel 24 and is connected to the calf rod 21 by screws. The position of the driven wheel 24 can be adjusted by bolts on the movable connecting member 22 and the fixed connecting member 23. Figure 12 .

[0080] Control method:

[0081] After the wearer puts on the lower limb exoskeleton robot, they remain stationary for a certain period of time to perform initial information collection and calibration of each information collection unit. When the wearer begins to move, the plantar pressure data collection subunit, the human-machine interaction force data collection subunit composed of force / torque sensors strapped to the thighs and calves, and the position and posture data collection subunit composed of encoders and IMUs collect information about the human body during movement. The control system diagram is as follows: Figure 13 shown.

[0082] The controller receives data collected by the sensors and calculates the actual output torque of the exoskeleton based on the designed adaptive robust controller. The controller controls the underlying servo system to drive the corresponding motor to realize the movement of the exoskeleton system. The information acquisition unit then measures the kinematic information of the exoskeleton in real time, monitors whether the output of the underlying servo system is correct, and inputs it into the controller as feedback to complete the closed-loop control of the exoskeleton movement. The control algorithm flow chart is shown in the figure below. Figure 14 shown.

[0083] Directions:

[0084] When the wheel-leg dual-purpose lower limb rehabilitation walking aid exoskeleton works in the exoskeleton rehabilitation training mode, the wheel-leg support mechanism 5 is removed from the wheel-leg switching mechanism 11 and serves as a stabilization auxiliary mechanism during gait rehabilitation training; in the hip-wheel drive device 8, the locking sleeve 811 connects and fixes the planetary mechanism housing 810 and the planetary carrier 89; the locking nut 713 in the hip joint mechanism 7 is in an untightened state; at this time, the knee joint motor 31 and the hip joint motor 83 respectively drive the knee joint and hip joint output controller to give a given torque.

[0085] When the wheel-leg dual-purpose lower limb rehabilitation walking aid exoskeleton works in the wheeled walking mode, the wheel-leg support mechanism 5 is installed in the U-shaped pressure block in the wheel-leg switching mechanism 11, serving as the active wheel support mechanism of the wheeled walking mode; in the hip-wheel drive device 8, the output shaft of the planetary carrier 89 is connected to the flexible shaft 9; the locking nut 713 in the hip joint mechanism 7 is in a tightened and locked state; at this time, the knee joint motor 31 is not driven, and the hip joint motor 83 drives the flexible shaft 9 to drive the active wheel mechanism 10 to perform wheeled movement.

Claims

1. A lower limb rehabilitation walking aid exoskeleton with wheels and legs, characterized by: It comprises a back plate mechanism (6), a wheel-leg support mechanism (5), and a hip joint mechanism (7), a thigh mechanism (4), a knee joint mechanism (3), a calf mechanism (2), an ankle joint mechanism (1), a wheel-leg switching mechanism (11), a hip-wheel driving device (8), a driving wheel mechanism (10), and a flexible shaft (9) that are symmetrically arranged on both sides. The backboard mechanism (6) includes a backrest (61), two hip boards (62) and a center board (63), the hip board (62) is L-shaped, one end of the hip board (62) is connected to the center board (63), and the other end is installed with a hip joint mechanism (7), and the hip joint mechanism (7) is connected to the thigh mechanism (4), the knee joint mechanism (3), the calf mechanism (2) and the ankle joint mechanism (1) in sequence; the wheel-leg support mechanism (5) is detachably connected to the backboard mechanism (6) through the wheel-leg switching mechanism (11), and two hip-wheel drive devices (8) are respectively installed on one side of the hip board (62), and the hip-wheel drive device (8) drives the hip joint mechanism (7) or the active wheel mechanism (10) to actuate through a lasso and a soft shaft (9); The hip-wheel drive device (8) is connected by screws on one side of the mounting plate and the hip plate (62) located on the same side of the center plate. The hip-wheel drive device (8) includes a motor housing (81), a flange plate (82), a hip joint motor (83), planetary gears (84), a sun gear (85), a gear ring (86), a lasso mounting plate (87), a bearing (88), a planetary carrier (89), a planetary mechanism housing (810) and a locking sleeve (811); the hip joint motor (83) is fixed in the motor housing (81) by screws; the flange plate (82) is connected to the motor housing (81) by screws; the three planetary gears (84) and the sun gear (85) are meshed in the gear ring (86); the planetary carrier (89) is gap-connected to the planetary gear (84) through the mounting hole provided at the center of the planetary gear (84); the two lasso mounting plates (87) are screw-connected to the gear ring (86) through the mounting hole provided at the outer edge of the gear ring (86); the active end of the lasso (711) passes through the mounting groove designed at the outer edge of the gear ring (86) and is fixed between the two lasso mounting plates (87); the bearing (88) passes through the planetary carrier (89) and is installed in the mounting hole of the planetary mechanism housing (810); the planetary mechanism housing (810) is screw-connected to the flange plate (82); a two-step hexagonal hole is designed in the locking sleeve (811), which is respectively sleeved with the output end of the planetary carrier (89) and the shaft end of the planetary mechanism housing (810); The wheel-leg switching mechanism (11) includes a worm gear mechanism (111), a claw-type pressure plate (112), a U-shaped clamping block I (113) and a U-shaped clamping block II (114); the output shaft of the worm gear mechanism (111) and the U-shaped clamping block I (113) are connected by a key; the worm gear mechanism (111) is pressed against the hip plate (62) by the claw-type pressure plate (112) and is screwed to the hip plate (62); the U-shaped clamping block I (113) and the U-shaped clamping block II (114) are connected by a pin, and the U-shaped clamping block II (114) can rotate around the pin axis on either side; The wheel-leg support mechanism (5) comprises a support rod (51) and an armrest mechanism (52); wherein the armrest mechanism (52) comprises a fastening ring (521), a fastening sleeve shaft (522), a ratchet connector (523), a ratchet (524), a hexagonal pin (525) and an armrest rod (526); the support rod (51) is threadedly connected by a plurality of pipe fittings; the fastening sleeve shaft (522) passes through the support rod (51) and is fixed to the support rod (51) by the fastening ring (521); the ratchet connector (523) passes through the fastening sleeve shaft (522) and is fixed by a fastening bolt; the ratchet (524) is connected to the ratchet connector (523) by a hexagonal pin (525); and the other end of the ratchet (524) is connected to the armrest rod (526) by a bolt.

2. The walking-assisting exoskeleton according to claim 1, characterized in that: The backrest (61) is connected to the center plate (63) by screws, the hip plate (62) is installed in the connection groove of the center plate (63), and the hip plate (62) adjusts the hip distance by relative movement in the installation groove of the center plate (63).

3. The walking-assisting exoskeleton according to claim 2, characterized in that: The hip joint mechanism (7) includes an end cover (71), a rotating plate I (72), a bearing I (73), a locking bolt (74), a compression spring (75), a gasket (76), a hip abduction connector (77), a rotating plate II (78), a bearing II (79), a lasso driven disc I (710), a lasso (711), a lasso driven disc II (712) and a locking nut (713); The rotating plate I (72) and the rotating plate II (78) are connected to both sides of the axis of the hip plate (62) through bearings I (73) and bearings II (79), respectively; the hip abduction connector (77) is connected between the rotating plate I (72) and the rotating plate II (78) through screws; the end cover (71) is connected to the rotating plate I (72) through screws; the lasso (711) is installed on the lasso driven disk I (710) and the lasso driven disk II (712) through the mounting holes provided on the lasso driven disk I (710) and the lasso driven disk II (712). The lasso driven disc II (712) is connected to the lasso driven disc I (710) and the lasso driven disc II (712) by screws; the locking bolt (74) is provided with a threaded section, a cylindrical section and a polygonal section in sequence, and the locking bolt (74) passes through the compression spring (75) and the gasket (76) and then passes through the hip plate (62), the rotating plate II (78), the bearing II (79), the lasso driven disc I (710), the lasso driven disc II (712) and is threadedly connected to the locking nut (713).

4. The walking-assisting exoskeleton according to claim 3, characterized in that: The flexible shaft (9) serves as a power transmission component to connect the planet carrier (89) and the driving wheel mechanism (10).

5. The walking-assisting exoskeleton according to claim 4, characterized in that: The knee joint mechanism (3) includes a knee joint motor (31), a lower thigh connecting piece (32) and an upper calf connecting piece (33); The lower thigh connecting piece (32) and the upper calf connecting piece (33) are connected to the knee joint motor (31) via screws; the lower thigh connecting piece (32) is provided with a boss on a plane on one side connected to the upper calf connecting piece (33) as a mechanical limit to limit the rotation range of the knee joint.

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