Lower limb exoskeleton power assist device and motion control method thereof

Abstract

The present invention discloses a lower limb exoskeleton power-assisting device, which belongs to the technical field of human power-assisting. The present invention can provide power-assisting torque to the knee joint in real time during human body movement, and can automatically identify the terrain, and then adjust the power-assisting strategy according to the terrain change to improve the power-assisting effect. The present invention also designs a waist belt tightness fine-tuning device, which can effectively reduce the downward slippage of the power-assisting lower limb exoskeleton and ensure the power-assisting effect. In short, the present invention has a simple structure, is easy to wear, has a high degree of comfort, and has high flexibility while ensuring the power-assisting effect, and has broad application prospects.

Description

Technical Field

[0001] The present invention belongs to the technical field of human body assisting technology, and in particular relates to a lower limb exoskeleton assisting device and a motion control method thereof. Background Art

[0002] Lower limb exoskeleton assist devices are mechanical devices that imitate the physiological structure of the human body, can be worn by people, and assist the wearer in movement. They can imitate the movement of the lower limbs of the human body and enhance the wearer's athletic ability. They can also be used in disaster rescue and field construction. They can also be used for lower limb walking assistance and exercise rehabilitation for the elderly or people with mobility impairments.

[0003] Most of the existing lower limb exoskeleton power-assisting devices adopt a bionic design that simulates the human body in order to improve human-machine coordination. This makes the structure of the lower limb exoskeleton power-assisting device as complex as the human body and difficult to control. In addition, since the lower limb exoskeleton power-assisting device needs to be worn on the human body, the exoskeleton's own weight must be low and the structure must be as simple as possible. However, the lower limb exoskeleton power-assisting device in the prior art is not only complex in structure and bulky, making it difficult to control the robot, but also has a strong sense of weight when worn on the human body.

[0004] A Chinese patent (application number: CN202210373267.X) discloses a lower limb power-assist exoskeleton robot. The patent mainly provides a lower limb power-assist exoskeleton robot with two electric drive mechanisms. The thigh component drives the human thigh to swing back and forth under the drive of the first electric drive mechanism, and the calf component drives the human calf to swing back and forth under the drive of the second electric drive mechanism. By driving the thighs and calves to swing, the walking power-assist effect of the person is achieved. However, the lower limb power-assist exoskeleton provided by the patent has two drive motors, which makes the exoskeleton as a whole bulky. They must cooperate with the drive to achieve a certain power-assist effect when the human body walks, and the control requirements for the motor are relatively high. At the same time, the exoskeleton is not enough to rely solely on the normal waist and leg binding, because under the action of gravity, the exoskeleton will move downward along the waist and thighs, thereby affecting the power-assist effect.

[0005] A Chinese patent (application number: CN112060060A) discloses a lower limb assist exoskeleton robot and control method with active and passive hybrid drive. The patent mainly provides a lower limb assist exoskeleton robot and control method that can realize active and passive hybrid drive. The knee joint is driven by a knee joint motor to realize the flexion / extension of the knee joint, and the ankle joint is guaranteed by the ankle joint ball joint. The hip joint adopts a coil spring mechanism to realize the passive drive of the hip joint. However, the thigh rod and the calf rod of the patent can only rotate with each other on the sagittal plane of the human body, and the fit is poor when worn by different groups of people. Moreover, although the ball joint structure is used at the ankle joint with a higher degree of freedom, the presence of the foot bracket still hinders the movement of the human body to a certain extent, and is more suitable for assisting when walking slowly with weight. At the same time, the control method of the exoskeleton robot uses a thin film pressure sensor installed on the calf binding when measuring the human-machine interaction force. Due to the physiological characteristics of human muscles, such collection is inaccurate, and the interaction force of the calf is collected at the same time, which is more complicated to handle. Summary of the invention

[0006] In order to solve the above problems, the present invention discloses a lower limb exoskeleton power-assisting device, which has a simple structure, is easy to wear, and is highly comfortable. It can automatically identify the terrain and adjust the power-assisting strategy according to the terrain changes, thus ensuring the power-assisting effect while having high flexibility.

[0007] In order to achieve the above object, the technical solution of the present invention is as follows:

[0008] A lower limb exoskeleton power-assisting device, the device has a bilaterally symmetrical structure, including a waist mechanism, two thigh mechanisms, two control modules, two power modules, two calf mechanisms and two identification and measurement modules.

[0009] The waist mechanism includes a belt back plate, a belt, a reset spring, a belt slider, a slide groove, a belt slider fixing pin and a bearing roller. The belt back plate is installed in the middle of the belt, the slide groove is opened on the upper side of the belt, there are two belt sliders, which are symmetrically installed in the slide grooves on the upper sides of the two ends of the belt through the belt slider fixing pins, the bearing roller is installed on the upper side of the belt slider, and the bearing roller can roll in the slide groove, the reset spring is installed in the slide groove and is located on one side of the belt slider fixing pin.

[0010] The thigh mechanism includes a thigh tie and a thigh support rod.

[0011] The calf mechanism comprises a calf binding and a calf support rod, wherein the calf binding is installed on the inner side of the calf support rod.

[0012] The thigh binding is installed on the inner side of the thigh support rod, and the control module is installed on the outer side of the thigh support rod and is opposite to the thigh binding.

[0013] The power module includes a first bearing, a second bearing, a clutch transmission member, a third bearing, an end cover, a self-locking indexing pin, a drive motor and a connecting member. The upper end of the thigh support rod is detachably connected to the lower side of the waist belt slider, and the middle end is detachably connected to the thigh binding. After the lower end is sleeved on the outer periphery of the power shaft of the drive motor through a pre-opened bearing mounting hole, the first bearing, the second bearing, the clutch transmission member, the third bearing and the end cover are sequentially installed on the power shaft of the drive motor, and the self-locking indexing pin is sequentially inserted into the pin hole formed at the upper end of the clutch transmission member and the pin hole formed on the outer periphery of the power shaft of the drive motor, and the end cover is detachably installed on the front end of the power shaft of the drive motor, so that the first bearing, the second bearing, the clutch transmission member and the third bearing are fixed on the power shaft of the drive motor and are located on the inner side of the thigh support rod and directly below the control module. One end of the connecting member is connected to the upper end of the calf support rod, and the other end is detachably connected to the lower end of the clutch transmission member.

[0014] The identification and measurement module is electrically connected to the control module, and includes an angle identification device and an interactive force measurement device. The angle identification device includes a first inertial measurement unit and a second inertial measurement unit. The interactive force measurement device includes a first pressure sensor mounting block, a pressure sensor, and a second pressure sensor mounting block. The front and rear ends of the pressure sensor are respectively fixedly connected to the first pressure sensor mounting block and the second pressure sensor mounting block. The first pressure sensor mounting block is fixedly connected to the lower end of the thigh support rod, and the second pressure sensor mounting block is fixedly connected to the driving motor body housing. The first inertial measurement unit is installed on the control module, and the second inertial measurement unit is installed on the connecting piece.

[0015] The angle, angular velocity and angular acceleration information of the thigh and calf can be collected through the first inertial measurement unit and the second inertial measurement unit. The difference between the angles of the thigh and the calf is the knee joint angle.

[0016] When the belt slider fixing pin is pressed, the reset spring is compressed and the belt slider can slide freely. When the belt slider fixing pin is released, the reset spring is reset and the belt slider is fixed by the belt slider fixing pin, thereby ensuring that the thigh support rods and the power module on both sides are in a suitable position relative to the human body within a certain range.

[0017] As a further improvement of the present invention, the device also includes a waist belt tightness fine-tuning device, which includes a pressurized airbag, a rubber tube and a rubber airbag, one end of the rubber tube is connected to the rubber airbag, and the other end is connected to the inlet of the pressurized airbag, and one side of the rubber airbag is connected to the inner side of the waist belt and fits the waist of the human body. By pressing the pressurized airbag, compressed air passes through the rubber tube and enters the rubber airbag, thereby achieving the purpose of fine-tuning the tightness of the waist belt and the waist of the human body.

[0018] As a further improvement of the present invention, the rubber airbags are multiple, interconnected and evenly distributed on the inner side of the waist belt. After the multiple rubber airbags are arranged and distributed, the comfort of the waist belt when it fits the human waist is greatly increased.

[0019] As a further improvement of the present invention, the detachable mode is one or both of a screw connection mode and a pin connection mode. This connection mode is selected according to the needs, so that the whole structure connection is simple, convenient and fast.

[0020] The present invention also discloses a motion control method for the lower limb exoskeleton power-assisting device, and the control method comprises the following steps:

[0021] Step 1: The wearer puts on the lower limb exoskeleton assist device, fastens the waist belt and adjusts it to a suitable tightness, and adjusts the waist belt slider so that both thigh support rods are in the appropriate position;

[0022] Step 2: Turn on the device, and if the wearer starts walking, go to step 3; turn off the device, and go to step 8;

[0023] Step 3: The first inertial measurement unit and the second inertial measurement unit respectively collect the human body knee joint angle information, angular velocity, and angular acceleration information, and feed them back to the control module, and then proceed to step 4;

[0024] Step 4: The control module performs filtering preprocessing on the collected data, obtains the processed angle data and calculates the angle information of the lower limb knee joint, and then proceeds to step 5;

[0025] Step 5: Send the knee joint angle information to the control module, and then use the adaptive oscillator to estimate the gait phase. At the same time, use the neural network regression model, take the left and right leg lengths and the lower limb knee joint angles as input, and take the terrain slope as output to train the neural network model, obtain the trained neural network, and then go to step 6;

[0026] Step 6: Use the trained neural network to identify the terrain, then find and calculate the expected torque from the torque lookup table according to the current gait stage and the identified different terrains, send the expected torque at each moment to the power module, and go to step 7;

[0027] Step 7: Use the pressure sensor to collect the interaction force, convert it into torque and then feed it back to the control module. The encoder of the control module measures the rotation position of the drive motor and converts it into torque. The drive motor is realized through the cascade PID of torque and position, and then goes to step 3 to realize continuous movement between the wearer and the lower limb power-assisted exoskeleton.

[0028] Step 8: The wearer stops exercising.

[0029] The beneficial effects of the present invention are as follows:

[0030] 1. The present invention can provide assist torque to the knee joint in real time during human movement, and can automatically identify the terrain, and then adjust the assist strategy according to the terrain changes to improve the assist effect.

[0031] 2. The present invention can conveniently switch the power-assist mode and provide the choice of power-assist and non-power-assist. The output shaft of the driving motor is connected to the clutch transmission member through a self-locking indexing pin. By changing the angle of the indexing pin, the power-assist and non-power-assist modes can be switched.

[0032] 3. The present invention is designed with a waist belt tightness fine-tuning device, which can effectively reduce the downward slippage of the power-assisted lower limb exoskeleton and ensure the power-assisted effect.

[0033] In summary, the lower limb exoskeleton power-assisting device of the present invention has a simple structure, is easy to wear, and is highly comfortable. While ensuring the power-assisting effect, it also has high flexibility and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the overall structure of the lower limb exoskeleton power-assisting device;

[0035] Figure 2 for Figure 1 A front view of a lower limb exoskeleton power assist device;

[0036] Figure 3 This is a schematic diagram of the explosion of one side of the waist mechanism;

[0037] Figure 4 This is an exploded diagram of the power module;

[0038] Figure 5 A specific connection model diagram of the interactive force measurement device;

[0039] Figure 6 It is a specific connection model diagram of the calf mechanism and the power module;

[0040] Figure 7 Schematic diagram of the human body five-link model;

[0041] Figure 8 Neural network map for terrain slope identification;

[0042] Fig. 9 Specific control diagram for the drive motor;

[0043] List of Figure Symbols:

[0044] 1. Waist mechanism; 101. Pressurized airbag; 102. Rubber tube; 104. Rubber airbag; 103. Waist belt back plate; 105. Waist belt; 107. Reset spring; 108. Waist belt slider; 112. Slideway; 106. Waist belt slider fixing pin; 109. Hexagon socket head shoulder screw; 110. Internal thread pin; 111. Bearing roller; 6. Thigh binding; 2. Thigh support rod; 201. Bearing mounting hole; 5. Calf binding; 9. Calf support rod; 3. Control module Block; 4, power module; 401, first bearing; 402, second bearing; 403, clutch transmission member; 404, third bearing; 405, end cover; 406, self-locking indexing pin; 407, drive motor; 408, connecting member; 7, angle recognition device; 701, first inertial measurement unit; 702, second inertial measurement unit; 8, interactive force measurement device; 801, first pressure sensor mounting block; 802, pressure sensor; 803, second pressure sensor mounting block. DETAILED DESCRIPTION

[0045] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0046] like Figure 1-2 As shown, the lower limb exoskeleton power assist device of the present invention has a bilaterally symmetrical structure, including a waist mechanism 1, two thigh mechanisms, two control modules 3, two power modules 4, two calf mechanisms and two identification and measurement modules, as shown in FIG. Figure 3As shown, the waist mechanism 1 includes a waist belt back plate 103, a waist belt 105, a return spring 107, a waist belt slider 108, a slide groove 112, a waist belt slider fixing pin 106 and a bearing type roller 111. The waist belt back plate 103 is installed in the middle of the waist belt 105, the slide groove 112 is opened on the upper side of the waist belt 105, the waist belt slider 108 is two, and is symmetrically installed in the slide groove 112 on the upper side of the two ends of the waist belt 105 through the waist belt slider fixing pin 106, and the bearing type roller 111 is installed on the upper side of the waist belt slider 108. The bearing roller 111 can roll in the slide groove 112, the return spring 107 is installed in the slide groove 112 and is located on one side of the belt slider fixing pin 106. The process of installing the bearing roller 111 on the belt slider 108 is as follows: the hexagon socket head shoulder screw 109 is interference fit with the through hole on the side of the belt slider 108, and is fixedly connected to one end of the internal threaded pin 110. The bearing roller 111 comes with an external threaded pin, which is fixedly connected to the other end of the internal threaded pin 110, thereby realizing the fixed connection between the bearing roller 111 and the belt slider 108.

[0047] like Figure 3 As shown, the device also includes a waist belt tightness fine-tuning device, which includes a pressurized airbag 101, a rubber tube 102 and a rubber airbag 104. One end of the rubber tube 102 is connected to the rubber airbag 104, and the other end is connected to the entrance of the pressurized airbag 101. One side of the rubber airbag 104 is connected to the inner side of the waist belt 105 and fits the waist of the human body. By pressing the pressurized airbag 101, the compressed air passes through the rubber tube 102 and enters the rubber airbag 104, so as to achieve the purpose of fine-tuning the tightness of the waist belt 105 and the waist of the human body.

[0048] There are multiple rubber airbags 104, which are interconnected and evenly distributed on the inner side of the waist belt 105. After the multiple rubber airbags 104 are arranged and distributed, the comfort of the waist belt 105 when it fits the waist of the human body is greatly increased.

[0049] The thigh mechanism includes a thigh binding 6 and a thigh support rod 2, the calf mechanism includes a calf binding 5 and a calf support rod 9, the calf binding 5 is installed on the inner side of the calf support rod 9, the thigh binding 6 is installed on the inner side of the thigh support rod 2, the control module 3 is installed on the outer side of the thigh support rod 2 and is opposite to the thigh binding 6, the waist mechanism 1 is used to fix the overall assisted lower limb exoskeleton device to the human waist, and the thigh and calf mechanisms are used to fix the assisted lower limb exoskeleton device to the human thigh and calf.

[0050] like Figure 4As shown, the power module 4 includes a first bearing 401, a second bearing 402, a clutch transmission member 403, a third bearing 404, an end cover 405, a self-locking indexing pin 406, a drive motor 407 and a connecting member 408. The upper end of the thigh support rod 2 is detachably connected to the lower side of the waist belt slider 108. The best way is to suspend the upper end of the thigh support rod 2 on the lower side of the waist belt slider 108 through a high-strength steel wire rope, and the middle end is detachably connected to the thigh binding 6. After the lower end is sleeved on the outer periphery of the power shaft of the drive motor 407 through a pre-opened bearing mounting hole 201, the first bearing 401, the second bearing 402, the clutch transmission member 403, the third bearing 404 and the end cover 405 are After being installed on the power shaft of the driving motor 407 in sequence, the self-locking indexing pin 406 is inserted into the pin hole formed on the upper end of the clutch transmission member 403 and the pin hole formed on the outer periphery of the power shaft of the driving motor 407 in sequence. A countersunk hole is opened in the end cover 405, which is fixedly connected to the front end of the power shaft of the driving motor 407 by screws, so that the first bearing 401, the second bearing 402, the clutch transmission member 403, and the third bearing 404 are fixed on the power shaft of the driving motor 407 and are located on the inner side of the thigh support rod 2 and directly below the control module 3. One end of the connecting member 408 is connected to the upper end of the calf support rod 9, and the other end is detachably connected to the lower end of the clutch transmission member 403.

[0051] During human walking, the power shaft of the drive motor 407 drives the clutch transmission member 403 to rotate through the self-locking indexing pin 406, and then drives the calf mechanism to rotate through the connecting member 408, transmitting the torque to the calf to achieve the power-assisting effect. When the exoskeleton robot needs to be put on or taken off or when power assistance is not needed, the L-shaped rotating handle of the self-locking indexing pin 406 is pulled open and rotated 90 degrees. At this time, the self-locking indexing pin 406 is reset, and the power shaft of the drive motor 407 is separated from the clutch transmission member 403. At this time, the clutch transmission member 403 can rotate freely around the power shaft of the drive motor 407, completing the self-selection without power assistance.

[0052] The identification and measurement module is electrically connected to the control module 3, and includes an angle identification device 7 and an interaction force measurement device 8. The angle identification device 7 includes a first inertial measurement unit 701 and a second inertial measurement unit 702. Figure 5As shown, the interactive force measuring device 8 includes a first pressure sensor mounting block 801, a pressure sensor 802, and a second pressure sensor mounting block 803. The first pressure sensor mounting block 801 and the second pressure sensor mounting block 803 are both composed of two T-shaped mounting bases. The front and rear ends of the pressure sensor 802 are respectively fixedly connected to the first pressure sensor mounting block 801 and the second pressure sensor mounting block 803. The first pressure sensor mounting block 801 is fixedly connected to the lower end of the thigh support rod 2, and the second pressure sensor mounting block 803 is fixedly connected to the main body shell of the drive motor 407.

[0053] When the wearer is walking, the first pressure sensor mounting block 801 fixed to the thigh support rod 2 and the second pressure sensor mounting block 803 fixed to the drive motor 407 tend to move relative to each other, and a certain pressure is generated on the pressure sensor 802. The pressure data collected by the pressure sensor 802 is the interaction force between the human body and the power-assisted lower limb exoskeleton device. The control circuit feeds back the detection result of the pressure sensor 802 to the control module 3, and after processing, the feedback control strategy is adjusted to adjust the output of the drive motor 407 to achieve power assistance.

[0054] like Figure 6 As shown, the clutch transmission member 403 and the connecting member 408 are hinged by a pin, which retains the rotational freedom of the calf tied to the coronal plane of the human body, and is more suitable for people of different body shapes. The connecting member 408 is provided with a strip-shaped mounting countersunk hole for fixing the calf support rod 9 and the connecting member 408, and the strip-shaped mounting countersunk hole allows the calf support rod 9 to have a certain adjustment range in the horizontal direction relative to the connecting member 408.

[0055] The first inertial measurement unit 701 is installed on the control module 3 , and the second inertial measurement unit 702 is installed on the connecting member 408 .

[0056] The angle, angular velocity, and angular acceleration information of the thigh and calf can be collected through the first inertial measurement unit 701 and the second inertial measurement unit 702. The difference between the angles of the thigh and the calf is the knee joint angle.

[0057] When the belt slider fixing pin 106 is pressed, the return spring 107 is compressed, and the belt slider 108 can slide freely. When the belt slider fixing pin 106 is released, the return spring 107 is reset, and the belt slider 108 is fixed by the belt slider fixing pin 106, thereby ensuring that the thigh support rods 2 on both sides and the power module 4 are in a suitable position relative to the human body within a certain range.

[0058] like Figure 7 Schematic diagram of the human five-link model and Figure 8As shown in the terrain slope recognition neural network diagram, the human body can simplify it as follows during movement: Figure 7 For the five-link model shown in FIG. 1 , the slope of the terrain is the angle between the line connecting the two leg ends and the horizontal plane. The first inertial measurement unit 701 IMU1 and the second inertial measurement unit 702 IMU2 of the left leg and the right leg can collect the angle α in real time. L , α R , β L , β R Then the kinematic analysis of the human lower limbs is performed. The base coordinate system is set at point A, and then the transformation matrix Then we can get the position of point C at the end of one leg Similarly, the end position of the other leg can be obtained, and finally the slope can be obtained by calculating the geometric relationship. In order to further reduce the error of slope estimation, the neural network regression model is further used to identify the system. The entire neural network model has a 4-layer structure, which takes the lengths of the left and right thighs L1, L2, R1, R2 and the angle α L , α R , β L , β R As input, the terrain slope As output, the neural network model contains two hidden layers, using 64 and 32 nodes respectively.

[0059] like Fig. 9 The specific control diagram of the drive motor is as follows: when the wearer is walking, the first inertial measurement unit 701 and the second inertial measurement unit 702 of the lower limb exoskeleton assist device collect the angles of the left and right calves and thighs in real time. The difference between the angles of the calves and thighs is the knee angle, and then the knee angle information is sent to the control module 3. The gait phase is estimated by the adaptive oscillator, and the terrain slope is identified by the neural network model. Then, according to the gait phase and different terrain slopes at this time, the torque required by the human body, that is, the expected torque, is searched and calculated from the torque database, and then sent to the drive motor at this time. The expected torque. Finally, the closed-loop control of the drive motor is realized through the cascade PID of torque + position.

[0060] The detachable mode is one or both of a screw connection mode and a pin connection mode. This connection mode is selected according to the needs, so that the whole structure connection is simple, convenient and fast.

[0061] The present invention also discloses a motion control method for the lower limb exoskeleton power-assisting device, and the control method comprises the following steps:

[0062] Step 1: The wearer puts on the lower limb exoskeleton power assist device, fastens the waist belt 105 and adjusts it to a suitable tightness, and adjusts the waist belt slider 108 so that both thigh support rods 2 are in a suitable position;

[0063] Step 2: Turn on the device, and if the wearer starts walking, go to step 3; turn off the device, and go to step 8;

[0064] Step 3: The first inertial measurement unit 701 and the second inertial measurement unit 702 respectively collect the human body knee joint angle information, angular velocity, and angular acceleration information, and feed them back to the control module 3, and then proceed to step 4;

[0065] Step 4: The control module 3 performs filtering preprocessing on the collected data to obtain processed angle data and calculate the angle information of the lower limb knee joint, and then proceeds to step 5;

[0066] Step 5: Send the knee joint angle information to the control module 3, and then use the adaptive oscillator to estimate the gait phase. At the same time, use the neural network regression model, take the left and right leg lengths and the lower limb knee joint angles as inputs, and take the terrain slope as output to train the neural network model, obtain the trained neural network, and proceed to step 6;

[0067] Step 6: Use the trained neural network to identify the terrain, then find and calculate the expected torque from the torque lookup table according to the current gait stage and the identified different terrains, send the expected torque at each moment to the power module 4, and go to step 7;

[0068] Step 7: The interaction force is collected by the pressure sensor 802, converted into torque and fed back to the control module 3. The rotation position of the drive motor 407 is measured by the encoder of the control module 3 and converted into torque. The drive motor 407 is realized through the cascade PID of torque and position, and the process goes to step 3 to realize continuous movement between the wearer and the lower limb power-assisted exoskeleton.

[0069] Step 8: The wearer stops exercising.

[0070] The beneficial effects of the present invention are as follows:

[0071] 1. The present invention can provide assist torque to the knee joint in real time during human movement, and can automatically identify the terrain, and then adjust the assist strategy according to the terrain changes to improve the assist effect.

[0072] 2. The present invention can conveniently switch the power-assist mode and provide the choice of power-assist and non-power-assist. The output shaft of the driving motor is connected to the clutch transmission member through a self-locking indexing pin. By changing the angle of the indexing pin, the power-assist and non-power-assist modes can be switched.

[0073] 3. The present invention is designed with a waist belt tightness fine-tuning device, which can effectively reduce the downward slippage of the power-assisted lower limb exoskeleton and ensure the power-assisted effect.

[0074] In summary, the lower limb exoskeleton power-assisting device of the present invention has a simple structure, is easy to wear, and is highly comfortable. While ensuring the power-assisting effect, it also has high flexibility and has broad application prospects.

[0075] It should be noted that the above content only illustrates the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications all fall within the protection scope of the claims of the present invention.

Claims

1. A lower limb exoskeleton power-assisting device, characterized in that: The device has a bilaterally symmetrical structure, comprising a waist mechanism (1), two thigh mechanisms, two control modules (3), two power modules (4), two calf mechanisms and two identification and measurement modules. The waist mechanism (1) comprises a waist belt back plate (103), a waist belt (105), a return spring (107), a waist belt slider (108), a slide groove (112), a waist belt slider fixing pin shaft (106) and a bearing type roller (111). The waist belt back plate (103) is installed at the middle part of the waist belt (105). The slide groove (112) is opened on the upper side of the waist belt (105). There are two waist belt sliders (108), which are symmetrically installed on both ends of the waist belt (105) through the waist belt slider fixing pin shaft (106). The belt slider (108) is mounted in the slide groove (112) on the side thereof, the bearing roller (111) is mounted on the upper side thereof, and the bearing roller (111) can roll in the slide groove (112), the return spring (107) is mounted in the slide groove (112) and is located on one side of the belt slider fixing pin (106), the thigh mechanism comprises a thigh binding (6) and a thigh support rod (2), the calf mechanism comprises a calf binding (5) and a calf support rod (9), the calf binding (5) is mounted on the inner side of the calf support rod (9), the thigh binding (6) is mounted on the inner side of the thigh support rod (2), the control module (3) is mounted on the outer side of the thigh support rod (2) and is connected to the calf support rod (9). The thigh binding (6) is opposite to the thigh binding (6), the power module (4) comprises a first bearing (401), a second bearing (402), a clutch transmission member (403), a third bearing (404), an end cover (405), a self-locking indexing pin (406), a drive motor (407) and a connecting member (408), the upper end of the thigh support rod (2) is detachably connected to the lower side of the waist belt slider (108), the middle end is detachably connected to the thigh binding (6), and the lower end is sleeved on the outer periphery of the power shaft of the drive motor (407) through a pre-opened bearing mounting hole (201), and the first bearing (401), the second bearing (402), the clutch transmission member (403), the third bearing (404) and the end cover (405) are connected in accordance with After being installed on the power shaft of the drive motor (407) for the first time, the self-locking indexing pin (406) is inserted into the pin hole formed at the upper end of the clutch transmission member (403) and the pin hole formed on the outer periphery of the power shaft of the drive motor (407) in sequence, and the end cover (405) is detachably installed on the front end of the power shaft of the drive motor (407), thereby fixing the first bearing (401), the second bearing (402), the clutch transmission member (403), and the third bearing (404) on the power shaft of the drive motor (407) and being located on the inner side of the thigh support rod (2) and directly below the control module (3). One end of the connecting member (408) is connected to the upper end of the calf support rod (9).One end is detachably connected to the lower end of the clutch transmission member (403); the identification and measurement module is electrically connected to the control module (3), and comprises an angle identification device (7) and an interactive force measurement device (8); the angle identification device (7) comprises a first inertial measurement unit (701) and a second inertial measurement unit (702); the interactive force measurement device (8) comprises a first pressure sensor mounting block (801), a pressure sensor (802) and a second pressure sensor mounting block (803); the front and rear ends of the pressure sensor (802) are respectively fixed to the first pressure sensor mounting block (801) and the second pressure sensor mounting block (803); the first pressure sensor mounting block (801) is fixed to the lower end of the thigh support rod (2); the second pressure sensor mounting block (803) is fixed to the main body shell of the drive motor (407); the first inertial measurement unit (701) is mounted on the control module (3); and the second inertial measurement unit (702) is mounted on the connecting member (408).

2. A lower limb exoskeleton power assist device according to claim 1, characterized in that: The device also includes a waist belt tightness fine-adjusting device, including a pressurized airbag (101), a rubber tube (102) and a rubber airbag (104); one end of the rubber tube (102) is connected to the rubber airbag (104), and the other end is connected to the inlet of the pressurized airbag (101); one side of the rubber airbag (104) is in contact with the inner side of the waist belt (105) and fits against the waist of the human body.

3. A lower limb exoskeleton power assist device according to claim 2, characterized in that: The rubber airbags (104) are multiple, interconnected and evenly distributed on the inner side of the waist belt (105).

4. A lower limb exoskeleton power assist device according to claim 3, characterized in that: The detachable connection is one or both of a screw connection and a pin connection.

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