A lower limb exoskeleton robot device with power steering

Abstract

The present invention relates to a lower limb exoskeleton robot device with power steering. The device comprises a guide rail, a gear, a rack, a servo motor, a laser sensor and a limit device. The servo motor provides power for the lower limb exoskeleton robot to turn. The guide rail, gear and rack are all fixed inside the U-shaped groove of the pressure sole shoe. They mesh with each other and rotate to drive the lower limb exoskeleton robot to turn. The laser sensor can adjust the speed of the servo motor to keep the patient's body balanced during the turning process. The limit device is to avoid the patient's body turning too much and causing sprain. The device of the present invention solves the problem of difficulty in turning when the hemiplegic patient wears the lower limb exoskeleton robot to walk.

Description

Technical Field

[0001] The invention relates to a lower limb exoskeleton robot, in particular to a lower limb exoskeleton robot device with power steering. Background Art

[0002] There are more and more patients with stroke, hemiplegia and bone lesions. These diseases can cause lower limb incoordination or leg joint pain when patients walk, making it difficult for patients to turn when walking. If there is no rehabilitation exoskeleton robot to assist in turning, they may fall, especially for the elderly, who have a high morbidity rate of falls and a high rate of hospitalization, which brings serious economic and social burdens. At present, the research on lower limb exoskeleton robot technology has made great progress, but it still faces many problems. For example, the existing lower limb exoskeleton mainly trains the wearer's ability to stand, walk and run, and there are few lower limb exoskeleton devices specifically for rehabilitation patients to power steering. Therefore, it is necessary to design a lower limb exoskeleton robot device with power steering, which can not only assist patients in walking but also help them walk and turn. Summary of the invention

[0003] The purpose of the present invention is to provide a lower limb exoskeleton robot device for power steering in view of the deficiencies of the prior art.

[0004] In order to solve the above problems, the present invention provides the following technical solutions.

[0005] The present invention relates to a lower limb exoskeleton robot device with power steering, the lower limb exoskeleton comprising: a back frame, a hip joint support, a thigh rod, a knee joint driver, a knee joint, a calf rod, a shock absorber, an ankle joint base, a pressure sole shoe, and a servo motor; the characteristics are: a U-shaped groove is provided inside the pressure sole shoe and is fixedly connected to the ankle joint base with two square holes on the side, wherein one end of the guide rail in the U-shaped groove is connected to the pressure sole shoe by a screw, and the other end is fixed to the square hole on the side of the ankle joint base by a screw, the rack in the groove is fixedly connected to the slide seat, the slide seat moves left and right along the guide rail, the idler wheel in the groove is meshed with the rack, the idler wheel is fixedly connected to the pressure sole shoe through a coupling, the idler wheel is meshed with the gear and the gear is meshed with the gear. The wheel is embedded in the pressure sole shoe, the rack and the driving wheel are meshed with each other, the driving wheel is fixedly connected to the servo motor, the servo motor is fixedly connected to the ankle joint base through the sheet metal, the lower limb exoskeleton is driven to turn by the servo motor, the servo motor drives the driving wheel to rotate, the driving wheel rotates to drive the rack to move left and right on the guide rail, the rack movement drives the idler wheel to rotate, the idler wheel meshes with the gear to drive the gear to rotate, the gear rotation drives the pressure sole shoe to rotate, so that the lower limb exoskeleton robot turns; the lower limb exoskeleton unit is two, the two lower limb exoskeletons are symmetrical about the back frame and are fixedly connected together by the hip joint bracket, and the two pressure sole shoes are arranged on the inner side of the two lower limb exoskeletons.

[0006] Preferably, the laser sensor in the U-shaped groove is fixedly connected to the side of the pressure sole shoe, one end of the piston rod of the knee joint driver is rotatably connected to the knee joint, and the other end is fixedly connected to the thigh rod through a hydraulic cylinder fixing block; when the piston rod contracts to lift the ankle joint, the laser sensor transmits a signal to the servo motor by detecting the displacement off the ground to control the speed of the motor. The speed of the servo motor is different according to the different lifting heights of the two feet, thereby keeping the body in a balanced state during the turning process of the lower limb exoskeleton.

[0007] Preferably, two limit protection devices are arranged on the rack; the limit protection device is composed of a limit block, two sliding sleeves, two sliding rods and two springs; the limit block is fixedly connected to the upper and lower sliding sleeves; the two springs are respectively sleeved on the upper and lower sliding rods and the end of each spring is fixedly connected to the base of the sliding rod; the upper and lower sliding sleeves are respectively sleeved on the upper and lower sliding rods and each sliding sleeve is fixedly connected to the top of the spring; the two limit protection devices are respectively fixedly connected to the middle of the rack and one end close to the servo motor; the first limit rod in the U-shaped groove is fixedly connected to the pressure sole shoe and keeps it level with the bottom surface of the U-shaped groove; the second limit rod is fixedly connected to The third limit rod is fixedly connected to the square hole on the side of the ankle joint base and keeps it level with the first limit rod; when the rack moves on the guide rail, the first limit rod contacts the second limit rod to stop the rack from moving, and the limit protection device on the left side of the servo motor starts to work to protect the servo motor from normal operation. Similarly, when the second limit rod contacts the third limit rod, the rack stops moving, and the limit protection device in the middle of the rack starts to work to protect the servo motor from normal operation. The lower limb exoskeleton can only rotate 180 degrees through limiting, thereby protecting people from excessive rotation angles during turning and causing body sprains.

[0008] Beneficial effects: The present invention provides a lower limb exoskeleton robot device with power steering, which includes a guide rail, a gear, a rack, a servo motor, a laser sensor and a limit device. The servo motor provides power for the steering of the lower limb exoskeleton robot. The rack on the guide rail is meshed with the driving wheel driven by the servo motor to generate left and right movement. The rack is meshed with the idler wheel inside the U-groove of the plantar pressure shoe, and the idler wheel is meshed with the gear embedded in the pressure plantar shoe. Therefore, the rack moves left and right to drive the lower limb exoskeleton robot to turn. In addition, when the toes are lifted, the laser sensor detects the displacement off the ground and feeds back the signal to the servo motor to control the speed of the servo motor. Therefore, the speed of the servo motor is different when the height of the two feet off the ground is different, thereby controlling the steering speed of the two feet to keep the body in a balanced state. By installing a limit device on the guide rail and the rack, the motor is protected and it is ensured that the human body can only turn from 0 to 180 degrees, thereby avoiding the patient's body sprain due to excessive turning amplitude. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0010] Figure 1 This is the overall schematic diagram of the lower limb exoskeleton robot;

[0011] Figure 2 This is a schematic diagram of the overall structure of the exoskeleton foot;

[0012] Figure 3 A top view of the exoskeleton foot;

[0013] Figure 4 This is an overall enlarged schematic diagram of the exoskeleton foot limit device; DETAILED DESCRIPTION

[0014] Reference Figures 1 to 4 A lower limb exoskeleton robot device for power steering, the lower limb exoskeleton comprising: a back frame 1, a hip joint support 2, a thigh rod 3, a knee joint driver 4, a knee joint 6, a calf rod 7, a shock absorber 8, an ankle joint base 9, a pressure sole shoe 10, and a servo motor 11; characterized in that: the pressure sole shoe 10 has a U-shaped groove inside and is fixedly connected to the ankle joint base 9 with two square holes on the side, wherein one end of a guide rail 17 in the U-shaped groove is connected to the pressure sole shoe 10 by a screw, and the other end is fixed to the square hole on the side of the ankle joint base 9 by a screw, a rack 15 is fixedly connected to a slide 16, the slide 16 moves left and right along the guide rail 17, an idler wheel 14 in the groove is meshed with the rack 15, and the idler wheel 14 is engaged with the rack 15 by The coupling is fixedly connected to the pressure sole shoe 10, the idler wheel 14 is meshed with the gear 13 and the gear 13 is embedded in the pressure sole shoe 10, the rack 15 is meshed with the driving wheel 12, the driving wheel 12 is fixedly connected to the servo motor 11, and the servo motor 11 is fixedly connected to the ankle joint base 9 through a sheet metal part. The lower limb exoskeleton is driven to turn by the servo motor 11, the servo motor 11 drives the driving wheel 12 to rotate, and the driving wheel 12 rotates to drive the rack 15 to move left and right on the guide rail 17, the rack 15 moves to drive the idler wheel 14 to rotate, the idler wheel 14 is meshed with the gear 13 to drive the gear 13 to rotate, and the rotation of the gear 13 drives the pressure sole shoe 10 to rotate, thereby making the lower limb exoskeleton robot turn.

[0015] There are two lower limb exoskeleton units, which are symmetrical about the back frame 1 and fixedly connected together through the hip joint support 2. The two pressure sole shoes 10 are both arranged on the inner sides of the two lower limb exoskeletons.

[0016] Reference Figure 3The laser sensor 18 in the U-shaped groove is fixedly connected to the side of the pressure sole shoe 10, one end of the piston rod of the knee joint driver 4 is rotatably connected to the knee joint 6, and the other end is fixedly connected to the thigh rod 3 through the hydraulic cylinder fixing block 5; when the piston rod contracts to lift the ankle joint, the laser sensor 18 transmits a signal to the servo motor 11 to control the speed of the motor by detecting the displacement off the ground. The speed of the servo motor 11 is different according to the different lifting heights of the two feet, so that the body can be kept in a balanced state during the turning process of the lower limb exoskeleton.

[0017] Reference Figure 4 Two limit protection devices 22 are arranged on the rack 15, and the limit protection device 22 is composed of a limit block 224, two sliding sleeves 221, two sliding rods 223, and two springs 222. The limit block 224 is fixedly connected to the upper and lower sliding sleeves 221, and the two springs 222 are respectively sleeved on the upper and lower sliding rods 223, and the end of each spring 222 is fixedly connected to the base of the sliding rod 223, and the upper and lower sliding sleeves 221 are respectively sleeved on the upper and lower sliding rods 223, and each sliding sleeve 221 is fixedly connected to the top of the spring 222. The two limit protection devices 22 are respectively fixedly connected to the middle of the rack 15 and one end close to the servo motor 11. The first limit rod 19 in the U-shaped groove is fixedly connected to the pressure sole shoe 10 and keeps level with the bottom surface of the U-shaped groove. The limit rod 20 is fixedly connected to the rack 15 and vertically downward, and the third limit rod 21 is fixedly connected to the square hole on the side of the ankle joint base 9 and keeps it horizontal with the first limit rod 19; when the rack 15 moves on the guide rail 17, the first limit rod 19 contacts the second limit rod 20 to stop the rack 15 from moving, and the limit protection device 22 on the left side of the servo motor 11 starts to work to protect the servo motor 11 from still operating normally. Similarly, when the second limit rod 20 contacts the third limit rod 21, the rack 15 stops moving, and the limit protection device 22 in the middle of the rack 15 starts to work to protect the servo motor 11 from still operating normally. The lower limb exoskeleton can only rotate 180 degrees through limiting, thereby protecting people from excessive rotation angles during turning and causing body sprains.

[0018] The above is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

[0019] Parts of the present invention that are not described in detail belong to common knowledge among those skilled in the art.

Claims

1. A lower limb exoskeleton robot device with power steering, the lower limb exoskeleton comprising: A back frame (1), a hip joint support (2), a thigh rod (3), a knee joint driver (4), a knee joint (6), a calf rod (7), a shock absorber (8), an ankle joint base (9), a pressure sole shoe (10), and a servo motor (11); characterized in that: the pressure sole shoe (10) has a U-shaped groove inside and is fixedly connected to the ankle joint base (9) with two square holes on the side, wherein one end of the guide rail (17) in the U-shaped groove is connected to the pressure sole shoe (10) by a screw, and the other end is fixed to the square hole on the side of the ankle joint base (9) by a screw, the rack (15) is fixedly connected to the slide seat (16), the slide seat (16) moves left and right along the guide rail (17), the idler wheel (14) in the groove is meshed with the rack (15), and the idler wheel (14) is fixedly connected to the pressure sole shoe (10) through a coupling The idler wheel (14) and the gear (13) are meshed with each other and the gear (13) is embedded in the pressure sole shoe (10). The rack (15) and the driving wheel (12) are meshed with each other. The driving wheel (12) is fixedly connected to the servo motor (11). The servo motor (11) is fixedly connected to the ankle joint base (9) through a sheet metal part. The lower limb exoskeleton is driven by the servo motor (11) to turn. The servo motor (11) drives the driving wheel (12) to rotate. The driving wheel (12) rotates to drive the rack (15) to move left and right on the guide rail (17). The movement of the rack (15) drives the idler wheel (14) to rotate. The idler wheel (14) is meshed with the gear (13) to drive the gear (13) to rotate. The rotation of the gear (13) drives the pressure sole shoe (10) to rotate, thereby causing the lower limb exoskeleton robot to turn. There are two lower limb exoskeleton units, which are respectively connected to the user's lower limbs when in use; the two lower limb exoskeleton units are symmetrical about the back frame (1) and are fixedly connected together through a hip joint support (2); and the two pressure sole shoes (10) are both arranged on the inner sides of the two lower limb exoskeleton units; In the lower limb exoskeleton robot device with power steering, the laser sensor (18) in the U-shaped groove is fixedly connected to the side of the pressure sole shoe (10), one end of the piston rod of the knee joint driver (4) is rotatably connected to the knee joint (6), and the other end is fixedly connected to the thigh rod (3) through the hydraulic cylinder fixing block (5); when the piston rod contracts to lift the ankle joint, the laser sensor (18) transmits a signal to the servo motor (11) to control the motor speed by detecting the displacement off the ground, and the speed of the servo motor (11) is different according to the different lifting heights of the two feet, so that the body is kept in a balanced state during the steering process of the lower limb exoskeleton; The present invention discloses a power-assisted steering lower limb exoskeleton robot device, wherein two limit protection devices (22) are arranged on the rack (15), and the limit protection device (22) is composed of a limit block (224), two sliding sleeves (221), two sliding rods (223), and two springs (222). The limit block (224) is fixedly connected to the upper and lower sliding sleeves (221), the two springs (222) are respectively sleeved on the upper and lower sliding rods (223), and the end of each spring (222) is fixedly connected to the base of the sliding rod (223), the upper and lower sliding sleeves (221) are respectively sleeved on the upper and lower sliding rods (223), and each sliding sleeve (221) is fixedly connected to the top of the spring (222), the two limit protection devices (22) are respectively fixedly connected to the middle of the rack (15) and one end close to the servo motor (11), and the first limit rod (19) in the U-shaped groove is fixedly connected to the pressure sole shoe (10) and is connected to the U-shaped groove. The bottom surface is kept horizontal, the second limiting rod (20) is fixedly connected to the rack (15) and is vertically downward, and the third limiting rod (21) is fixedly connected to the square hole on the side of the ankle joint base (9) and is kept horizontal with the first limiting rod (19); when the rack (15) moves on the guide rail (17), the first limiting rod (19) contacts the second limiting rod (20) to stop the rack (15) from moving, and the limiting protection device (22) on the left side of the servo motor (11) starts to work, thereby protecting the servo motor (11) from normal operation. Similarly, when the second limiting rod (20) contacts the third limiting rod (21), the rack (15) stops moving, and the limiting protection device (22) in the middle of the rack (15) starts to work, thereby protecting the servo motor (11) from normal operation. The lower limb exoskeleton can only rotate within 180 degrees through limiting, thereby protecting the lower limbs of a person from being sprained due to excessive rotation angle during the turning process.

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