A wearable lower limb exoskeleton rehabilitation and assistance robot

Abstract

The present invention relates to the technical field of medical rehabilitation equipment, and discloses a wearable lower limb exoskeleton rehabilitation and power-assistance robot, comprising a waist component, a thigh component, a calf component, and a foot component connected sequentially from top to bottom. The present invention utilizes a modular design of the waist, legs, and feet to simplify the structure of the lower limb exoskeleton robot and facilitate its installation and disassembly. The robot is available in two modes: a powered lower limb exoskeleton robot and an unpowered lower limb exoskeleton robot, serving as an auxiliary device for rehabilitation training for patients at different stages, or for assisting elderly people with insufficient muscle strength in walking. The unpowered wearable robot also recycles and stores energy during walking, saving energy. A length adjustment method and strap design are provided to improve body shape adaptability and interactive comfort during wear.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation equipment, and in particular to a wearable lower limb exoskeleton rehabilitation and power-assisting robot. Background Art

[0002] The number of people suffering from lower limb motor impairments due to traffic accidents and other factors is increasing year by year, creating urgent challenges in assisting the elderly (walking assistance) and the disabled (rehabilitation training). Currently, rehabilitation training for disabled patients relies primarily on manual intervention. Compared to traditional manual intervention, robot-assisted training offers greater effectiveness, cuts costs in half, and reduces the number of medical staff.

[0003] A lower-limb exoskeleton robot is a wearable device that integrates artificial intelligence, mechanical power, and mechanical energy. It can be divided into two types based on application: 1. It is used to enhance the wearer's athletic ability and load-bearing capacity, primarily to help soldiers and workers perform weight-bearing walking tasks; 2. It is used to assist the elderly and people with muscular injuries, achieving assisted walking and rehabilitation training. Based on whether or not there is a power source, it can be divided into powered (active) lower-limb exoskeleton robots and unpowered (passive) lower-limb exoskeleton robots. Powered (active) lower-limb exoskeleton robots use motors, pneumatics, or hydraulic drives as their power sources, and transmit the wearer's movement intentions through bioelectric signal sensors, mechanical signal sensors, etc., and complete assistance to the wearer under the guidance of control strategies. Unpowered (passive) exoskeletons do not require external energy sources, converting their own gravitational potential energy or kinetic energy of limb movement into elastic elements, and using energy switching devices to assist lower-limb movement.

[0004] Powered (active) lower limb exoskeletons can generate significant driving force, but their drive mechanisms are bulky and difficult to wear. Unpowered (passive) lower limb exoskeletons suffer from insufficient driving force. Furthermore, existing lower limb exoskeletons also suffer from limited functionality. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a wearable lower limb exoskeleton rehabilitation and assistance robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solutions:

[0007] A wearable lower limb exoskeleton rehabilitation and power-assist robot comprises a waist assembly, a thigh assembly, a calf assembly and a foot assembly connected in sequence from top to bottom, wherein the thigh assembly, the calf assembly and the foot assembly each comprise two symmetrically arranged groups, the front end portion of the waist assembly is connected to the upper end portion of the thigh assembly via a hip joint adjustment rod, the hip joint adjustment rod is connected to an adjustment fixing block, and the vertical sliding and position fixation of the hip joint adjustment rod are achieved through the installation and disassembly of four bolts; the calf assembly comprises a calf sleeve rod, the thigh assembly and the calf assembly are connected via a knee joint transmission fixing plate, the knee joint transmission fixing plate is connected to the inner upper end of the calf sleeve rod, the calf insertion rod is installed inside the calf sleeve rod, and the length of the calf insertion rod is adjusted by clamping the calf insertion rod via a telescopic adjustment knob installed at the rear end of the calf sleeve rod.

[0008] Furthermore, the thigh assembly includes a hip joint Z-shaped connecting rod and a thigh insertion rod, the adjustment fixing block is connected to the hip joint Z-shaped connecting rod, the lower end of the hip joint Z-shaped connecting rod is sleeved on a rolling bearing and a bearing washer, the rolling bearing and the bearing washer are slidably connected and sleeved on the hip joint transmission shaft; one end of the hip joint transmission shaft is connected to the first bevel gear II, and the other end is hinged to the hinge hole at the top of the hip joint transmission fixing plate, and the end of the hip joint transmission fixing plate is clamped with a nut and a washer; the hip joint transmission fixing plate is bolted to the thigh sleeve rod, and the inner side of the thigh sleeve rod It is connected to the thigh strap fixing block, and the thigh strap is connected to the thigh strap fixing block; the thigh insertion rod is installed inside the thigh sleeve rod, and there are holes and grooves on the outside of the thigh insertion rod and the two fixed support plates. The outer side of the upper end is directly connected to the first fixed support plate, and the outer side of the lower end is directly connected to the second fixed support plate; the two fixed support plates are connected to the external thigh fixing plate, and the external thigh fixing plate is fixed to the thigh sleeve rod, thigh insertion rod and two fixed support plates by four bolts at the upper and lower ends; the upper and lower ends of the external thigh fixing plate are respectively connected to the first fixed sealing plate and the second fixed sealing plate.

[0009] Furthermore, the wearable lower limb exoskeleton rehabilitation and power-assist robot also includes a drive energy storage integrated device, which includes two drive motors, two energy storage units and two generators. The first drive motor is connected to the first energy storage unit, the drive shaft of the first drive motor is connected to the first generator, the second drive motor is connected to the second energy storage unit, and the drive shaft of the second drive motor is connected to the second generator; the upper and lower ends of the drive energy storage integrated device are respectively connected to the first reduction output member and the second reduction output member, the first reduction output member includes a first reducer and a first adapter plate connected to each other, and the second reduction output member includes a second reducer and a second adapter plate connected to each other. Specifically, the first drive motor is connected to the first adapter plate, and the second drive motor is connected to the second adapter plate; the first bevel gear I is connected to the drive shaft of the first reducer, the first bevel gear II is meshed at a right angle with the first bevel gear I, the second bevel gear I is connected to the drive shaft of the second reducer, and the second bevel gear II is meshed at a right angle with the second bevel gear I.

[0010] Furthermore, the lower end of the thigh insertion rod is sleeved on the rolling bearing and the bearing washer, and the rolling bearing and the bearing washer are slidably connected and sleeved on the knee joint transmission shaft; one end of the knee joint transmission shaft is connected to the second bevel gear II, and the other end is hinged to the hinge hole at the top of the knee joint transmission fixing plate, and the end of this end is clamped to the knee joint transmission fixing plate by a nut and a washer.

[0011] Furthermore, the calf assembly also includes a calf strap, the inner side of the calf sleeve is connected to the calf strap fixing block, and the calf strap is connected to the calf strap fixing block; the lower end of the calf insertion rod is sleeved on the ankle joint rolling bearing and the bearing washer, the rolling bearing and the bearing washer are slidably connected and sleeved on the ankle joint transmission shaft, and the outer side of the lower end of the calf insertion rod is slidably connected to the ankle joint elastic element through two connecting pins; one end of the ankle joint transmission shaft is connected to the ankle joint elastic element through a spring, and the other end is hinged to the hinge hole at the top of the ankle joint transmission fixing plate and fixed by a connecting pin.

[0012] Furthermore, the foot assembly includes a plantar plate, a top strap and a heel strap, the bottom end of the ankle joint transmission fixing plate is connected to the plantar plate, and the inner and outer sides of the plantar plate are respectively connected to the inner arc support plate and the outer arc support plate; the two ends of the top strap are connected to a group of buckles on the arc surface of the inner arc support plate and the outer arc support plate, and the two ends of the heel strap are connected to another group of buckles on the arc surface of the inner arc support plate and the outer arc support plate.

[0013] Furthermore, the waist assembly includes a waist support, a waist side plate and a waist support plate. The waist support plate is connected to the waist support and fixed at the center of the concave surface of the waist side plate. Two strap fixing plates are installed on the left and right sides of the waist side plate. The waist strap is connected to the two holes of the strap fixing plate, and the buckle is installed at the center of the waist strap.

[0014] Furthermore, the wearable lower limb exoskeleton rehabilitation and assistance robot also includes a control box, and the first drive motor, the second drive motor, the first reducer, the second reducer, the first energy storage unit and the second energy storage unit are all electrically connected to the control box and connected through control signals.

[0015] Furthermore, acceleration sensors, inclination sensors or gyroscopes are installed on the waist side panels; acceleration sensors are installed on the inner side of the upper end of the thigh sleeve, the outer side of the lower end of the thigh insertion rod, the outer side of the upper end of the calf sleeve and the outer side of the lower end of the calf insertion rod; pressure sensors and acceleration sensors are installed on the soles of the feet; all sensors are connected to the control box signal.

[0016] Furthermore, the waist strap, thigh strap, calf strap and foot strap are all made of soft elastic material.

[0017] Furthermore, the lower ends of the hip joint Z-shaped connecting rod, thigh insertion rod and calf insertion rod are hinged to the hip joint transmission shaft, knee joint transmission shaft and ankle joint transmission shaft respectively; two safety pins are provided on the inner side of the hinged lower ends of the hip joint Z-shaped connecting rod, thigh insertion rod and calf insertion rod.

[0018] Furthermore, two pairs of bevel gears (first bevel gear II, first bevel gear I, second bevel gear I and second bevel gear II), two fixed sealing plates (second fixed sealing plate and first fixed sealing plate), a drive energy storage integrated device and two reduction output components (first reduction output component and second reduction output component) are all vertically installed on the outside of the external thigh fixing plate.

[0019] Furthermore, the waist side plate is set to be U-shaped, with connection holes at both ends matched with the hip joint adjustment rod. The hip joint adjustment rod is cylindrical, with a T-shaped upper end cross-section matched with the connection holes at both ends of the waist side plate.

[0020] Furthermore, the control box includes a detachable battery, an external interface component and a controller, and the control box is connected to the center of the convex surface of the waist side plate.

[0021] The drive-energy storage integrated device of the present invention includes a dual-purpose module for drive and energy storage. The specific principles are as follows:

[0022] Power drive module: The first drive motor drives the first bevel gear I to rotate via the first adapter plate and the first reducer, and then drives the first bevel gear II to drive the thigh sleeve rod and the thigh insertion rod via the hip joint transmission shaft and the hip joint transmission fixing plate, thereby completing the movement of the thigh assembly in the sagittal plane; the second drive motor drives the second bevel gear I to rotate via the second adapter plate and the second reducer, and then drives the second bevel gear II to drive the calf sleeve rod and the calf insertion rod via the knee joint transmission shaft and the knee joint transmission fixing plate, thereby completing the movement of the calf assembly in the sagittal plane;

[0023] Unpowered energy storage module: When the thigh assembly moves in the sagittal plane under human control, the hip joint drives the first bevel gear II to rotate in the reverse direction, and stores energy in the first energy storage unit through the first bevel gear I and the first generator; when the calf assembly moves in the sagittal plane under human control, the knee joint drives the second bevel gear II to rotate in the reverse direction, and stores energy in the second bevel gear I and the second generator to the second energy storage unit.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The modular design of the waist, legs, and feet makes the lower limb exoskeleton robot simple in structure and easy to install and disassemble. The transmission of the hip and knee joints is integrated in the thigh component, and the ankle joint adopts a non-powered elastic element design. The calf component is driven by the power source of the knee joint to complete the accompanying movement. The overall lightness and comfort are suitable for patients undergoing rehabilitation training and elderly people with insufficient muscle strength who need assisted walking.

[0026] 2. The system uses two modes: a powered (active) lower limb exoskeleton robot and a non-powered (passive) lower limb exoskeleton robot. These robots can be used as assistive devices for patients at different stages of rehabilitation training, or to help elderly people with insufficient muscle strength walk. The non-powered (passive) exoskeleton robot can also recycle and store energy during walking to save energy.

[0027] 3. Set the length adjustment method and strap design to improve body adaptability and interactive comfort during wearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0029] Figure 1-2 This is a schematic diagram of the overall structure of an embodiment of a wearable lower limb exoskeleton rehabilitation and assistance robot provided by the present invention;

[0030] Figure 3 A schematic structural diagram of the waist component of an embodiment of the wearable lower limb exoskeleton rehabilitation and power-assistance robot provided by the present invention;

[0031] Figure 4 A schematic structural diagram of the thigh component of an embodiment of the wearable lower limb exoskeleton rehabilitation and power-assistance robot provided by the present invention;

[0032] Figure 5 A schematic side view of the overall structure of an embodiment of a wearable lower limb exoskeleton rehabilitation and assistance robot provided by the present invention;

[0033] In the figure, 1-waist assembly, 2-thigh assembly (2a-left thigh exoskeleton, 2b-right thigh exoskeleton), 3-calf assembly (3a-left calf exoskeleton, 3b-right calf exoskeleton), 4-foot assembly (4a-left foot exoskeleton, 4b-right foot exoskeleton), 101-lumbar support, 102-lumbar side plate, 103-strap fixing plate, 104-control box, 105-waist strap, 106-buckle, 107-lumbar support plate, 108-detachable lithium battery, 109-external interface assembly, 201-hip joint adjustment rod, 202-adjustment fixing block, 203-hip joint Z-type connecting rod, 204-rolling bearing, 205- Bearing washer, 206-hip joint transmission shaft, 207-first bevel gear II, 208-first bevel gear I, 209-first reduction output member, 210-drive energy storage integrated device, 211-second reduction output member, 212-second bevel gear I, 213-second bevel gear II, 214-hip joint transmission fixing plate, 215-thigh sleeve rod, 216-thigh strap fixing block, 217-thigh strap, 218-first fixed support plate, 219-second fixed support plate, 220-thigh external fixing plate, 221-first reducer, 222-first adapter plate, 223-first generator, 224-first energy storage unit, 225-first drive motor, 226-second drive motor, 227-second energy storage unit, 228-second generator, 229-second adapter plate, 230-second reducer, 231-second fixed sealing plate, 232- First fixed sealing plate, 233-thigh insertion rod, 234-knee joint transmission shaft, 301-knee joint transmission fixing plate, 302-calf sleeve rod, 303-calf strap fixing block, 304-calf strap, 305-calf insertion rod, 306-telescopic adjustment knob, 307-ankle joint elastic element, 308-ankle joint transmission shaft, 309-spring, 310-ankle joint rolling bearing, 311-connecting pin, 401-ankle joint transmission fixing plate, 402-plantar plate, 403-lateral arc support plate, 404-medial arc support plate, 405-foot strap, 406-heel strap. DETAILED DESCRIPTION

[0034] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several variations and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0035] like Figures 1 to 5 As shown, a wearable lower limb exoskeleton rehabilitation and power-assistance robot includes, from top to bottom, a waist component 1, a thigh component 2, a calf component 3, and a foot component 4. The thigh component 2 includes a left thigh exoskeleton 2a and a right thigh exoskeleton 2b, which are symmetrically mounted on the left and right ends of the waist component. The calf component 3 includes a left calf exoskeleton 3a and a right calf exoskeleton 3b, which are symmetrically mounted on the left and right ends of the thigh component. The foot component 4 includes a left foot exoskeleton 4a and a right foot exoskeleton 4b, which are symmetrically mounted on the left and right ends of the calf component. The lower limb exoskeleton robot can move in the sagittal plane at the hip, knee, and ankle joints, with three degrees of freedom.

[0036] The front end of the waist component 1 is connected to the upper end of the thigh component 2 through a hip joint adjustment rod 201, the thigh component 2 and the calf component 3 are bolted together through a knee joint transmission fixing plate 301, and the calf component 3 is connected to the foot component 4 with screws through an ankle joint transmission fixing plate 401.

[0037] The waist assembly 1 includes a waist support 101, waist side panels 102, a strap fixing plate 103, a control box 104, a waist strap 105, and a buckle 106. The waist support plate 107 is connected to the waist support 101 and fixed to the center of the concave surface of the waist side panels 102 with screws. The control box 104 includes a removable battery 108, an external interface assembly 109, and a controller. The control box 104 is connected to the center of the convex surface of the waist side panels 102. The two strap fixing plates 103 are screwed to the left and right sides of the waist side panels 102. The waist strap 105 is connected to the two holes of the strap fixing plate 103, and the buckle 106 is installed at the center of the waist strap 105. The waist strap 105 and the U-shaped waist side panels 102 ensure a perfect fit between the human waist and the device. The waist side plate 102 is set to be U-shaped, with connection holes at both ends thereof matched with the hip joint adjustment rod 201 . The hip joint adjustment rod 201 is cylindrical, with a T-shaped upper end cross-section matched with the connection holes at both ends of the waist side plate 102 .

[0038] The thigh assembly 2 comprises a hip joint adjustment rod 201, two pairs of bevel gears, two speed reduction output members, a drive energy storage integrated device 210, a thigh sleeve rod 215, a thigh strap 217 and a thigh insertion rod 233; the hip joint adjustment rod 201 is connected to the adjustment fixing block 202, and the hip joint adjustment rod 201 is fixed in position and can be adjusted by vertical sliding up and down by installing and disassembling four bolts; the adjustment fixing block (202) is connected to the hip joint Z-shaped connecting rod (203), and the lower end of the hip joint Z-shaped connecting rod 203 is sleeved on a rolling bearing 204 and a bearing washer 205, and the rolling bearing 204 and the bearing washer 205 are slidably connected and sleeved on a hip joint transmission shaft 206; the hip joint transmission shaft 20 One end of 6 is screwed to the first bevel gear II 207, and the other end is hinged to the hinge hole at the top of the hip joint transmission fixing plate 214 and fixed by a key connection. The end of this end is clamped to the hip joint transmission fixing plate 214 by a nut and a washer; the hip joint transmission fixing plate 214 is bolted to the thigh sleeve rod 215, and the inner side of the thigh sleeve rod 215 is connected to the thigh strap fixing block 216, and the thigh strap 217 is connected to the thigh strap fixing block 216 by four screws; the thigh insertion rod 233 is installed inside the thigh sleeve rod 215, and the outer side of the thigh insertion rod 233 is provided with a hole groove at the matching position with the two fixed support plates. The outer side of the upper end is directly connected to the first fixed support plate 218, and the outer side of the lower end is connected to the second fixed support plate 219. Directly connected; the two fixed support plates are connected to the external thigh fixing plate 220, and the external thigh fixing plate 220 is fixed to the thigh sleeve rod 215, the thigh insertion rod 233 and the two fixed support plates by four bolts at the upper and lower ends; the upper and lower ends of the external thigh fixing plate 220 are respectively connected to the first fixed sealing plate 232 and the second fixed sealing plate 231 by two bolts, and the included angles are all 90 degrees; two pairs of bevel gears, two fixed sealing plates, a drive energy storage device and two reduction output components are vertically installed on the outside of the external thigh fixing plate 220.

[0039] The upper and lower ends of the driving energy storage integrated device 210 are respectively connected to the first reduction output member 209 and the second reduction output member 211. The first reduction output member 209 includes a first reducer 221 and a first adapter disk 222, and the first reducer 221 and the first adapter disk 222 are connected. The second reduction output member 211 includes a second reducer 230 and a second adapter disk 229, and the second reducer 230 and the second adapter disk 229 are connected.

[0040] The first bevel gear I 208 is connected to the transmission shaft of the first reducer 230, the first bevel gear II 207 is meshed with the first bevel gear I 208 at a right angle, the second bevel gear I 212 is connected to the transmission shaft of the second reducer 230, and the second bevel gear II 213 is meshed with the second bevel gear I 212 at a right angle; the drive energy storage device 210 includes two drive motors, two energy storage units and two generators, the first drive motor 225 is connected to the first energy storage unit 224, the transmission shaft of the first drive motor 225 is connected to the first generator 223, the second drive motor 226 is connected to the first energy storage unit 227, and the transmission shaft of the first drive motor 226 is connected to the first generator 226; the lower end of the thigh insertion rod 233 is sleeved on the rolling bearing and the bearing washer, the rolling bearing and the bearing washer are slidably connected and sleeved on the knee joint transmission shaft 234 one end of the knee drive shaft 234 is screwed to the second bevel gear Ⅱ213, and the other end is hinged to the hinge hole at the top of the knee drive fixing plate 301 and fixed by a key connection, and the end end is clamped by a nut and a washer to the knee drive fixing plate 301.

[0041] The calf assembly 3 includes a knee joint transmission fixing plate 301, a calf sleeve rod 302, a calf strap 304 and a calf insertion rod 305; the knee joint transmission fixing plate 301 is bolted to the upper end of the inner side of the calf sleeve rod 302, the inner side of the calf sleeve rod 302 is connected to the calf strap fixing block 303, and the calf strap 304 is connected to the calf strap fixing block 303 by four screws; the calf insertion rod 305 is installed inside the calf sleeve rod 302, and its length is adjusted by clamping the calf insertion rod 305 with a telescopic adjustment knob 306 installed at the rear end of the calf sleeve rod 302; the lower end of the calf insertion rod 305 is sleeved on the ankle joint rolling bearing 310 and the bearing washer, the rolling bearing and the bearing washer are slidably connected and sleeved on the ankle joint transmission shaft 308, and the outer side of the lower end of the calf insertion rod 305 is connected to the ankle joint elastic element 307 by two connecting pins 311 one end of the ankle joint transmission shaft 308 is connected to the ankle joint elastic element 307 via a spring 309, and the other end is hinged to the hinge hole at the top of the ankle joint transmission fixing plate 401 and fixed by a connecting pin.

[0042] The foot assembly 4 includes an ankle joint transmission fixing plate 401, a plantar plate 402, two arc-shaped support plates, and two straps. The bottom end of the ankle joint transmission fixing plate 401 is screwed to the plantar plate 402, and the inside and outside sides of the plantar plate 402 are respectively connected to the inner arc support plate 404 and the outer arc support plate 403. The two ends of the instep strap 405 are connected to a set of buckles on the arc surface of the inner arc support plate 404 and the outer arc support plate 403, and the two ends of the heel strap 406 are connected to another set of buckles on the arc surface of the inner arc support plate 404 and the outer arc support plate 403. The present invention has no power source at the ankle joint, and utilizes the kinetic energy of the movement of the lower leg component to be converted into an elastic element, which drives the plantar plate 402 to complete energy release through the ankle joint transmission shaft 308 and the ankle joint transmission fixing plate 401. The leg strap and instep strap ensure the compatibility of the human lower limb with the assistive device.

[0043] The lower ends of the hip joint Z-shaped connecting rod 203, the thigh insertion rod 233 and the calf insertion rod 305 are hinged to the hip joint, knee joint and ankle joint transmission shafts respectively; two safety pins are set on the inner side of the hinged lower ends of the hip joint Z-shaped connecting rod 203, the thigh insertion rod 233 and the calf insertion rod 305 to prevent the thigh component 2 at the hip joint, the calf component 3 at the knee joint and the foot component 4 at the ankle joint from rotating at excessive angles, and to perform physical limitations to ensure sufficient safety.

[0044] The lumbar side plate 102 is installed with an acceleration sensor, an inclination sensor or a gyroscope to detect the change pattern of the patient's center of gravity during movement; acceleration sensors are installed on the inner side of the upper end of the thigh sleeve 215, the outer side of the lower end of the thigh insertion rod 233, the outer side of the upper end of the calf sleeve 302 and the outer side of the lower end of the calf insertion rod 305. During walking, it is impossible to rely on the motor encoder to obtain the precise movement speed of each joint, and an accelerometer sensor is installed to obtain the real-time movement parameters of each joint; the plantar plate 402 is installed with a pressure sensor and an acceleration sensor; the sensors are all connected to the control box signal to more accurately control the overall coordination stability of the auxiliary device.

[0045] The first drive motor 225 , the second drive motor 226 , the first reducer 221 , the second reducer 230 , the first energy storage unit 224 and the second energy storage unit 229 are all electrically connected to the control box 104 and connected via control signals.

[0046] The waist strap 105, thigh strap 217, calf strap 304 and foot strap are all made of soft elastic materials, such as TPU material. The TPU elastic belt is environmentally friendly and non-toxic, mildew-proof and antibacterial, elastic, soft to the touch, wear-resistant, washable, and yellowing-resistant.

[0047] The drive energy storage integrated device 210 includes a dual-purpose module for drive and energy storage functions:

[0048] In the driving mode, the device is in the power type (active) mode, and the first driving motor 225 drives the first bevel gear I 208 to rotate through the first adapter plate 222 and the first reducer 221, and then drives the first bevel gear II 207 through the hip joint transmission shaft 206 and the hip joint transmission fixing plate 214 to drive the thigh sleeve rod 215 and the thigh insertion rod 233, thereby completing the movement of the thigh component 2 in the sagittal plane; the second driving motor 226 drives the second bevel gear I 212 to rotate through the second adapter plate 229 and the second reducer 230, and then drives the second bevel gear II 213 through the knee joint transmission shaft 234 and the knee joint transmission fixing plate 301 to drive the calf sleeve rod 302 and the calf insertion rod 305, thereby completing the movement of the calf component 3 in the sagittal plane; wherein the motor drive and energy storage are used as the power source, and the wearer's movement intention is transmitted with the help of bioelectric signal sensors, mechanical signal sensors, etc., and the wearer is assisted under the guidance of the control strategy; this mode is mainly used for rehabilitation medicine to help people with lower limb motor dysfunction to conduct rehabilitation training.

[0049] In the energy storage mode, the device is in a non-powered (passive) mode, and the thigh component 2 is controlled by human power to move in the sagittal plane. At the same time, the hip joint drives the first bevel gear II 207 to rotate in the reverse direction, and stores energy in the first energy storage unit 224 through the first bevel gear I 208 and the first generator 223; the calf component 3 is controlled by human power to move in the sagittal plane, and at the same time, the knee joint drives the second bevel gear II 213 to rotate in the reverse direction, and stores energy in the second energy storage unit 229 through the second bevel gear I 212 and the second generator 228; no external energy is required, and the device stores its own gravitational potential energy or kinetic energy of limb movement, and assists lower limb movement with the help of an energy switching device; this mode is mainly used for assisted walking, helping patients with lower limb recovery of certain motor functions in the later stage of rehabilitation training, or elderly people with insufficient muscle strength to perform assisted walking.

[0050] The present invention designs the adjustment method in a targeted manner according to the different characteristics of the thigh and calf parts to improve the matching with the patient's height; through the modular design of the waist, legs and feet, the lower limb exoskeleton robot has a simple structure and is easy to install and disassemble; the transmission of the hip joint and knee joint adopts an integrated design in the thigh component, and the ankle joint adopts a non-powered elastic element design, which is light and comfortable as a whole; with two modes of powered (active) lower limb exoskeleton robot and non-powered (passive) lower limb exoskeleton robot, it can be used as an auxiliary device for patients in different stages of rehabilitation training, or to help elderly people with insufficient muscle strength to walk; and the energy consumed by the non-powered (passive) wearable walking process is recovered and stored to save energy.

[0051] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various variations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A wearable lower limb exoskeleton rehabilitation and assistance robot, characterized in that: The invention relates to a walking shoe comprising a waist assembly (1), a thigh assembly (2), a calf assembly (3), a foot assembly (4) and a driving energy storage integrated device (210) connected in sequence from top to bottom, wherein the thigh assembly (2), the calf assembly (3) and the foot assembly (4) each comprise two symmetrically arranged groups, the front end of the waist assembly (1) is connected to the upper end of the thigh assembly (2) via a hip joint adjustment rod (201), the hip joint adjustment rod (201) is connected to an adjustment fixing block (202), and the hip joint adjustment rod (201) is vertically slidable up and down and fixed in position by installing and removing four bolts; the calf assembly comprises a calf sleeve rod (302), the thigh assembly (2) and the calf assembly (303) are connected to each other, and the hip joint adjustment rod (201) is ... ) is connected through a knee joint transmission fixing plate (301), the knee joint transmission fixing plate (301) is connected to the inner upper end of the calf sleeve rod (302), the calf insertion rod (305) is installed inside the calf sleeve rod (302), and the length of the calf insertion rod is adjusted by clamping the calf insertion rod (305) through a telescopic adjustment knob (306) installed at the rear end of the calf sleeve rod (302). The thigh component (2) includes a hip joint Z-type connecting rod (203) and a thigh insertion rod (233). The adjustment fixing block (202) is connected to the hip joint Z-type connecting rod (203), and the lower end of the hip joint Z-type connecting rod (203) is sleeved on a rolling bearing (204) and a bearing washer (205). The rolling shaft The bearing (204) and the bearing washer (205) are slidably connected and sleeved on the hip joint transmission shaft (206); one end of the hip joint transmission shaft (206) is connected to the first bevel gear II (207), and the other end is hinged to the hinge hole at the top of the hip joint transmission fixing plate (214), and the end of the hip joint transmission fixing plate (214) is clamped by a nut and a washer; the hip joint transmission fixing plate (214) is bolted to the thigh sleeve rod (215), and the thigh insertion rod (233) is installed inside the thigh sleeve rod (215), and the lower end of the thigh insertion rod (233) is sleeved on the rolling bearing and the bearing washer, and the rolling bearing and the bearing washer are slidably connected and sleeved on the knee joint transmission shaft (234); the One end of the knee joint transmission shaft (234) is connected to the second bevel gear II (213), and the other end is hinged to the hinge hole at the top of the knee joint transmission fixing plate (301), and the end of the knee joint transmission fixing plate (301) is clamped by a nut and a washer. The driving energy storage integrated device (210) includes two driving motors, two energy storage units and two generators, the first driving motor (225) is connected to the first energy storage unit (224), the transmission shaft of the first driving motor (225) is connected to the first generator (223), the second driving motor (226) is connected to the second energy storage unit (227), and the transmission shaft of the second driving motor (226) is connected to the second generator (228);The upper and lower ends of the driving energy storage integrated device (210) are respectively connected to the first reduction output member (209) and the second reduction output member (211), the first reduction output member (209) includes a first reducer (221) and a first adapter plate (222) connected to each other, and the second reduction output member (211) includes a second reducer (230) and a second adapter plate (229) connected to each other. Specifically, the first driving motor (225) is connected to the first adapter plate (222), and the second driving motor (226) is connected to the second adapter plate (229); the first bevel gear I (208) is connected to the transmission shaft of the first reducer (221), the first bevel gear II (207) is meshed at a right angle with the first bevel gear I (208), the second bevel gear I (212) is connected to the transmission shaft of the second reducer (230), and the second bevel gear II (213) is meshed at a right angle with the second bevel gear I (212); Two pairs of bevel gears, a drive energy storage device and two reduction output members are vertically mounted on the outside of the thigh external fixing plate 220. The two pairs of bevel gears include a first bevel gear I (208) and a first bevel gear II (207) and a second bevel gear I (212) and a second bevel gear II (213). The two reduction output members include a first reduction output member (209) and a second reduction output member (211).

2. The wearable lower limb exoskeleton rehabilitation and assistance robot according to claim 1, characterized in that: The inner side of the thigh sleeve rod (215) is connected to the thigh strap fixing block (216), and the thigh strap (217) is connected to the thigh strap fixing block (216); the outer side of the thigh insertion rod (233) is provided with a hole groove at the position where it cooperates with the two fixed support plates, the outer side of the upper end is directly connected to the first fixed support plate (218), and the outer side of the lower end is directly connected to the second fixed support plate (219); the two fixed support plates are connected to the thigh external fixing plate (220), and the thigh external fixing plate (220) is fixed to the thigh sleeve rod (215), the thigh insertion rod (233) and the two fixed support plates by four bolts at the upper and lower ends; the upper and lower ends of the thigh external fixing plate (220) are respectively connected to the first fixed sealing plate (232) and the second fixed sealing plate (231).

3. The wearable lower limb exoskeleton rehabilitation and assistance robot according to claim 1, characterized in that: The calf assembly (3) further comprises a calf strap (304), the inner side of the calf sleeve rod (302) is connected to the calf strap fixing block (303), and the calf strap (304) is connected to the calf strap fixing block (303); the lower end of the calf insertion rod (305) is sleeved on the ankle joint rolling bearing (310) and the bearing washer, the rolling bearing and the bearing washer are slidably connected and sleeved on the ankle joint transmission shaft (308), and the outer side of the lower end of the calf insertion rod (305) is slidably connected to the ankle joint elastic element (307) through two connecting pins (311); one end of the ankle joint transmission shaft (308) is connected to the ankle joint elastic element (307) through a spring (309), and the other end is hinged to the hinge hole at the top of the ankle joint transmission fixing plate (401) and fixed by a connecting pin.

4. The wearable lower limb exoskeleton rehabilitation and assistance robot according to claim 3, characterized in that: The foot assembly (4) comprises a sole plate (402), a foot strap (405) and a heel strap (406); the bottom end of the ankle joint transmission fixing plate (401) is connected to the sole plate (402); the inner and outer sides of the sole plate (402) are respectively connected to the inner arc support plate (404) and the outer arc support plate (403); the two ends of the foot strap (405) are connected to a group of buckles on the arc surface of the inner arc support plate (404) and the outer arc support plate (403); the two ends of the heel strap (406) are connected to another group of buckles on the arc surface of the inner arc support plate (404) and the outer arc support plate (403).

5. The wearable lower limb exoskeleton rehabilitation and assistance robot according to claim 1, characterized in that: The waist assembly (1) comprises a waist support (101), a waist side plate (102) and a waist support plate (107), wherein the waist support plate (107) is connected to the waist support (101) and fixed at the center of the concave surface of the waist side plate (102), two strap fixing plates (103) are installed on the left and right sides of the waist side plate (102), a waist strap (105) is connected to two holes of the strap fixing plate (103), and a buckle (106) is installed at the center of the waist strap (105).

6. The wearable lower limb exoskeleton rehabilitation and assistance robot according to claim 1, characterized in that: It also includes a control box (104), wherein the first drive motor (225), the second drive motor (226), the first reducer (221), the second reducer (230), the first energy storage unit (224), and the second energy storage unit (227) are all electrically connected to the control box (104) and connected via control signals.

7. The wearable lower limb exoskeleton rehabilitation and assistance robot according to claim 6, characterized in that: The waist side plate (102) is installed with an acceleration sensor, an inclination sensor or a gyroscope; the inner side of the upper end of the thigh sleeve rod (215), the outer side of the lower end of the thigh insertion rod (233), the outer side of the upper end of the calf sleeve rod (302) and the outer side of the lower end of the calf insertion rod (305) are all installed with acceleration sensors; the sole plate (402) is installed with a pressure sensor and an acceleration sensor; all sensors are connected to the control box signal.

8. The wearable lower limb exoskeleton rehabilitation and assistance robot according to claim 5, characterized in that: The waist strap (105), thigh strap (217), calf strap (304) and foot strap (405) are all made of soft elastic material.

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