A passive wearable lower limb exoskeleton

Abstract

The present invention relates to a passive wearable lower limb exoskeleton. Hip joint adjusting rods are provided on both sides of the waist adjusting assembly. The hip joint adjusting rods are connected to the corresponding uppermost variable stiffness assist joint assemblies. The variable stiffness assist joint assemblies are connected by the first link. The lowermost variable stiffness assist joint assembly is connected to the corresponding ankle joint support assembly by the second link. The variable stiffness assist joint assembly includes an inner joint box body and an outer joint box body. An elastic part inner ring fixing sleeve, an elastic part outer ring fixing sleeve, an elastic part and an adjusting ring are provided between the inner joint box body and the outer joint box body. The elastic part inner ring fixing sleeve is fixedly connected to the outer joint box body and the inner ring of the elastic part. The outer ring of the elastic part is fixedly connected to the elastic part outer ring fixing sleeve and the adjusting ring. A pressing cover is provided on the outer side of the outer joint box body, and a pressing block on the pressing cover passes through the outer joint box body. A clamping block is provided on the outer side of the adjusting ring and is arranged in a corresponding clamping groove of the inner joint box body. The present invention can autonomously adjust the joint assist force and can adjust the height according to the user's height.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation devices, and more particularly to a passive wearable lower limb exoskeleton. Background Art

[0002] At present, most exoskeletons at home and abroad adopt a powered solution and use an integrated joint for joint assistance. This design of the exoskeleton makes the structure of the exoskeleton heavier, the cost higher, and the exoskeleton body is also relatively bulky, inconvenient to carry and transport, and the maintenance and repair costs are relatively high. In addition, since an external power supply is used for the exoskeleton, the battery life of the exoskeleton is relatively poor, and the full-load usage time is generally only 4 to 6 hours. Moreover, the introduction of a large number of electrical devices also increases the complexity of operation, making it very inconvenient for groups such as the elderly to operate. Summary of the Invention

[0003] The purpose of the present invention is to provide a passive wearable lower limb exoskeleton. The joints adopt a variable stiffness structure design, and the user can independently adjust the joint assistance according to their own situation and can adjust the height according to the user's height. The overall structure is compact and lightweight, and the operation is simple and convenient. Even the elderly and children can easily operate it.

[0004] The purpose of the present invention is achieved by the following technical solutions:

[0005] A passive wearable lower limb exoskeleton includes a waist adjustment assembly, a variable stiffness assist joint assembly, an ankle support assembly, a first link and a second link. Hip adjustment rods are provided on both sides of the waist adjustment assembly, and the hip adjustment rods are connected to the variable stiffness assist joint assembly at the uppermost end on the corresponding side. The variable stiffness assist joint assemblies on the same side are sequentially connected by the first link, and the lowermost variable stiffness assist joint assembly is connected to the ankle support assembly on the corresponding side by the second link. The variable stiffness assist joint assembly includes an inner joint box body and an outer joint box body. An installation shaft is provided on the inner joint box body and is rotatably connected to the outer joint box body. An elastic inner ring fixing sleeve, an elastic outer ring fixing sleeve, an elastic member and an adjustment ring are sequentially arranged between the inner joint box body and the outer joint box body. The elastic inner ring fixing sleeve is sleeved on the installation shaft and is fixed to the outer joint box body on one side and fixed to the inner ring of the elastic member on the other side. One side of the elastic outer ring is fixed to the elastic outer ring fixing sleeve and the other side is fixed to the adjustment ring. A kidney-shaped hole is provided in the outer joint box body, and a pressing cover is provided on the outside. A pressing block on the pressing cover passes through the corresponding kidney-shaped hole. A clamping block is provided on the outside of the adjustment ring, and a clamping groove is provided in the inner joint box body, and the clamping block is arranged in the corresponding clamping groove.

[0006] The elastic member includes an outer ring and folding elastic pieces disposed in the outer ring. An outer hole seat of the elastic member is provided on the inner wall of the outer ring. One end of the folding elastic piece is fixedly connected to the corresponding outer hole seat of the elastic member, and the other end is provided with an inner hole seat of the elastic member. A first hole seat is provided on the outer side of the fixed sleeve of the inner ring of the elastic member, and a second hole seat is provided on the inner side of the fixed sleeve of the outer ring of the elastic member. The inner hole seat of the elastic member, the first hole seat, and a threaded hole provided in the middle of the joint outer box body are respectively connected by first screws correspondingly. The outer hole seat of the elastic member, the second hole seat, and a connection hole provided on the adjusting ring are respectively connected by second screws correspondingly.

[0007] The folding elastic pieces are evenly distributed along the circumferential direction, and the folding elastic pieces are in a serpentine laminated structure.

[0008] An upper card slot seat is provided on the upper side of the joint inner box body, and an adjusting plate buckle is provided in the upper card slot seat. A first strap fixing member is provided on one side of the upper card slot seat, and a second strap fixing member is provided on the other side.

[0009] A lower card slot seat is provided on the lower side of the joint outer box body, and a plurality of ball holes are provided on the lower card slot seat.

[0010] The waist adjusting assembly includes a waist back plate, waist side rods, and waist armrests. Waist side rods are provided on both sides of the waist back plate, and waist armrests are provided at the free ends of the waist side rods. The upper end of the hip joint adjusting rod is hinged to the end of the corresponding waist armrest.

[0011] The adjacent ends of the two waist side rods are connected by a snap spring tube. The snap spring tube passes through a sleeve, and the sleeve is fixed in an installation card slot provided on the waist back plate through a back buckle.

[0012] An ear plate seat is provided at the free end of the waist armrest. An installation inner shell is provided on one side of the ear plate seat, and an installation outer shell is provided on the other side. A connecting shaft on the installation inner shell passes through the ear plate seat and a through hole at the upper end of the hip joint adjusting rod and is fixedly connected to the installation outer shell.

[0013] The ankle joint support assembly includes a calf side plate and a shoe support. A buckle fixing plate is provided at the upper end of the calf side plate, and a calf buckle is provided in the buckle fixing plate. The lower end of the calf side plate is rotatably connected to the shoe support. A first strap fixing member is provided on one side of the buckle fixing plate, and a second strap fixing member is provided on the other side.

[0014] On one side of the lower end of the calf side plate is an ankle joint outer shell, and on the other side is an ankle joint inner shell. An ankle joint connecting shaft is provided on the ankle joint inner shell, and the ankle joint connecting shaft sequentially passes through a side plate on one side of the shoe support and the lower end of the calf side plate and is fixedly connected to the ankle joint outer shell on the other side.

[0015] The advantages and positive effects of the present invention are:

[0016] 1. The present invention adopts a passive design concept, effectively solving the problem of the battery life of the exoskeleton caused by battery technology. The joints adopt a variable stiffness structure design, and users can adjust the joint assistance according to their own conditions. The operation is simple and convenient, and even the elderly and children can easily operate it.

[0017] 2. Each component of the present invention is easy to install and can be adjusted in height according to the user's height. In addition, the overall structure is compact and lightweight, which is convenient for carrying and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the present invention,

[0019] Figure 2 is Figure 1 a schematic structural diagram of the waist adjustment component in

[0020] Figure 3 is Figure 2 a schematic structural diagram of the waist back plate in

[0021] Figure 4 is Figure 2 a schematic installation diagram of the hip joint adjustment rod in

[0022] Figure 5 is Figure 2 another angle schematic diagram of the waist adjustment component in

[0023] Figure 6 is Figure 1 a schematic structural diagram of the variable stiffness assist joint component in

[0024] Figure 7 is Figure 6 another angle schematic diagram of the variable stiffness assist joint component in

[0025] Figure 8 is Figure 6 a disassembled schematic diagram of the variable stiffness assist joint component in

[0026] Figure 9 is Figure 8 a schematic structural diagram of the elastic member in

[0027] Figure 10 is Figure 6 a cross-sectional view of the variable stiffness assist joint component in

[0028] Figure 11 is Figure 6 a schematic diagram of the usage state of the variable stiffness assist joint component in Figure 1 ,

[0029] Figure 12 is Figure 6 a schematic diagram of the usage state of the variable stiffness assist joint component inFigure 2 ,

[0030] Figure 13 For the Figure 6 schematic diagram of the use state of the variable stiffness assist joint assembly in Figure 3 ,

[0031] Figure 14 For the Figure 1 schematic diagram of the structure of the ankle support assembly in

[0032] Figure 15 For the Figure 14 exploded schematic diagram of the ankle support assembly in

[0033] Figure 16 For the Figure 1 schematic diagram of the connection of the first link in

[0034] Figure 17 Schematic diagram of the use state of the present invention.

[0035] Among them, 1 is a circlip tube, 2 is a waist side rod, 3 is a back buckle, 4 is a tube sleeve, 5 is a waist back plate, 6 is a hip joint adjusting rod, 7 is a waist armrest, 8 is an installation inner shell, 9 is a connecting bushing, 10 is an installation outer shell, 11 is a cover plate, 12 is a joint inner box body, 121 is an installation shaft, 122 is an upper card slot seat, 13 is an adjusting plate buckle, 14 is a joint outer box body, 141 is a kidney-shaped groove, 142 is a lower card slot seat, 15 is a pressing cover, 151 is a pressing block, 16 is a first strap fixing member, 17 is a second strap fixing member, 18 is a bearing end cover, 19 is an inner bushing, 20 is an elastic member inner ring fixing sleeve, 201 is a first hole seat, 21 is an elastic member outer ring fixing sleeve, 211 is a second hole seat, 22 is an elastic member, 221 is an elastic member outer hole seat, 222 is a folding elastic piece, 223 is an elastic member inner hole seat, 224 is an outer ring, 23 is a washer, 24 is an adjusting ring, 241 is a clamping block, 25 is a buckle fixing plate, 26 is a calf buckle, 27 is a calf side plate, 28 is an ankle joint outer shell, 29 is an ankle joint cover plate, 30 is a shoe support, 31 is an ankle joint inner shell, 32 is a fixing block, 33 is a gasket, 34 is an ankle joint bushing, 35 is a first link, 36 is a second link, 37 is a waist adjusting assembly, 38 is a variable stiffness assist joint assembly, 39 is an ankle support assembly, 40 is a ball. Detailed implementation manners

[0036] The present invention will be further described in detail below with reference to the accompanying drawings.

[0037] As Figures 1 to 17 shown, the present invention includes a waist adjusting assembly 37, a variable stiffness assist joint assembly 38, an ankle support assembly 39, a first link 35 and a second link 36, among which as Figures 2 to 5As shown, hip joint adjusting rods 6 are provided on both sides of the waist adjusting assembly 37. Figure 1 As shown, the hip joint adjusting rod 6 is connected to the variable stiffness assist joint assembly 38 at the uppermost end on the corresponding side. The variable stiffness assist joint assemblies 38 on the same side are sequentially connected by a first connecting rod 35. The lowermost variable stiffness assist joint assembly 38 is connected to the ankle joint support assembly 39 on the corresponding side by a second connecting rod 36. Figures 6 to 10 As shown, the variable stiffness assist joint assembly 38 includes an inner joint box body 12 and an outer joint box body 14. An installation shaft 121 is provided on the inner joint box body 12 and is rotationally connected to the outer joint box body 14. An elastic inner ring fixing sleeve 20, an elastic outer ring fixing sleeve 21, an elastic member 22, and an adjusting ring 24 are sequentially arranged between the inner joint box body 12 and the outer joint box body 14. The elastic inner ring fixing sleeve 20 is sleeved on the installation shaft 121 and is fixedly connected to the middle part of the outer joint box body 14 on one side and the inner ring of the elastic member 22 on the other side. One side of the outer ring of the elastic member 22 is fixedly connected to the elastic outer ring fixing sleeve 21 and the other side is fixedly connected to the adjusting ring 24. A kidney-shaped hole 141 is provided inside the outer joint box body 14 along the circumferential direction, and a pressing cover 15 is provided on the outside. A pressing block 151 is provided on the pressing cover 15 and passes through the corresponding kidney-shaped hole 141. A clamping block 241 is provided on the outside of the adjusting ring 24 along the circumferential direction. A clamping groove is provided on the inner wall of the inner joint box body 12 along the circumferential direction, and the clamping block 241 is arranged in the corresponding clamping groove.

[0038] When the joint assist of the present invention is not adjusted, the elastic body 22 is not deformed. Figure 11 As shown, at this time, the variable stiffness assist joint assembly 38 is in a vertical state and there is no torque inside the joint, so there is no help in lifting the human leg upward. When the joint assist needs to be adjusted, the user can press the pressing cover 15. The pressing block 151 of the pressing cover 15 squeezes the elastic outer ring fixing sleeve 21, causing the elastic member 22 to deform and displace in the direction of the extrusion force, thereby driving the adjusting ring 24 to move in the direction of the extrusion force and causing the clamping block 241 on the adjusting ring 24 to disengage from the clamping groove on the inner wall of the inner joint box body 12. At this time, the outer joint box body 14 is rotated. Since the outer joint box body 14, the elastic inner ring fixing sleeve 20, and the inner ring of the elastic member 22 are fixedly connected, the rotation of the outer joint box body 14 drives the elastic member 22 to rotate. At the same time, the outer ring of the elastic member 22, the elastic outer ring fixing sleeve 21, and the adjusting ring 24 are also fixedly connected, and the rotation of the elastic member 22 drives the adjusting ring 24 to rotate. Therefore, the rotation of the outer joint box body 14 can drive the above-mentioned various components to rotate together, and the clamping block 241 on the adjusting ring 24 has disengaged from the clamping groove on the inner wall of the inner joint box body 12. At this time, the rotation of the adjusting ring 24 is not restricted and the elastic member 22 will not deform. When the outer joint box body 14 is rotated to an appropriate angle, for example Figure 12At an angle, release the pressing cover 15, the elastic member 22 returns to its original state, and drives the adjusting ring 24 and the pressing cover 15 to return to their original positions. At this time, the clamping block 241 on the adjusting ring 24 re-enters the corresponding card slot on the inner wall of the joint inner box body 12. At this time, the elastic member 22 is still not deformed, but at this time the joint is not in the vertical state as shown in Figure 12 shown. Since when the joint is used, as shown in Figure 13 shown, it is necessary for the user to turn the joint to the vertical state (the human body standing upright state). During this process, when the outer joint box body 14 rotates, it will still drive the inner ring fixing sleeve 20 of the elastic member and the inner ring of the elastic member 22 to rotate. However, since the adjusting ring 24 cannot rotate because the clamping block 241 is stuck in the corresponding card slot on the inner wall of the joint inner box body 12, the outer ring of the elastic member 22 fixedly connected to the adjusting ring 24 cannot rotate either. In this way, the inner and outer rings of the elastic member 22 will rotate relative to each other, thereby deforming the elastic member 22. The deformation will generate elastic potential energy. When the joint moves (the human leg bends), since the elastic member 22 returns to its original shape, it will provide a torque to the joint, and this torque realizes the joint assistance.

[0039] As shown in Figure 9 shown, the elastic member 22 includes an outer ring 224 and folding elastic pieces 222, and each folding elastic piece 222 is evenly distributed in the outer ring 224 along the circumferential direction. A plurality of elastic member outer hole seats 221 are evenly distributed on the inner wall of the outer ring 224 along the circumferential direction. One end of the folding elastic piece 222 is fixedly connected to the corresponding elastic member outer hole seat 221, and the other end is provided with an elastic member inner hole seat 223. As shown in Figure 10 shown, a plurality of first hole seats 201 are evenly distributed on the outer circumferential surface of the inner ring fixing sleeve 20 of the elastic member. A plurality of second hole seats 211 are evenly distributed on the inner circumferential surface of the outer ring fixing sleeve 21 of the elastic member. The elastic member inner hole seat 223, the first hole seat 201 and the threaded hole provided in the middle of the joint outer box body 14 are correspondingly connected by a first screw. The elastic member outer hole seat 221, the second hole seat 211 and the connection hole provided on the adjusting ring 24 are correspondingly connected by a second screw.

[0040] The structure of the elastic member 22 in the present invention adopts a large deformation structure with circumferential partiality. This structure is similar to a honeycomb structure. However, since the honeycomb structure is a hexagonal structure and has a large resistance to deformation when deforming, the present invention designs a structure of snake-shaped laminated folding elastic pieces 222. This structure has a greater deformation ability and recovery ability. As shown in Figure 9 shown, when the inner and outer rings of the elastic member 22 rotate relative to each other, the snake-shaped laminated elastic pieces can be deformed. At this time, the elastic potential energy generated by the deformation is stored in the elastic member 22, and the elastic member 22 releases the elastic potential energy during the recovery process, thereby completing the storage to release of energy. The elastic member 22 can be processed from materials such as carbon spring steel and 304 stainless steel.

[0041] As shown in Figure 8As shown, a bearing end cover 18 is provided at the outer end of the mounting shaft 121 to realize the connection and fixation between the mounting shaft 121 and the outer joint box body 14. In addition, an inner shaft sleeve 19 is provided on the mounting shaft 121, and an inner ring fixing sleeve 20 of the elastic member is sleeved on the inner shaft sleeve 19 to ensure rotation. A washer 23 is provided between the inner ring fixing sleeve 20 of the elastic member and the bottom surface of the inner joint box body 12. In this embodiment, both the inner shaft sleeve 19 and the washer 23 are made of plastic material.

[0042] As Figures 6 to 8 shown, an upper card slot seat 122 is provided on the upper side of the inner joint box body 12 and is connected to the lower end of the hip joint adjusting rod 6 or the lower end of the first connecting rod 35 on the corresponding side. An adjusting plate buckle 13 is provided in the upper card slot seat 122, and a plurality of lower buckle holes are provided on the bottom plate of the upper card slot seat 122. As Figure 2 shown, a plurality of upper buckle holes are provided at the lower ends of both the hip joint adjusting rod 6 and the first connecting rod 35. When connecting, the lower end of the hip joint adjusting rod 6 or the lower end of the first connecting rod 35 is inserted into the upper card slot seat 122 on the corresponding inner joint box body 12, and the head end flap of the adjusting plate buckle 13 sequentially passes through the corresponding upper buckle holes and lower buckle holes and is locked to achieve the connection. In addition, it is also convenient to adjust the height.

[0043] As Figure 7 shown, a first strap fixing member 16 is provided on one side of the upper card slot seat 122, and a second strap fixing member 17 is provided on the other side. As Figure 8 shown, openings are provided on both sides of the upper card slot seat 122. The upper ends of the first strap fixing member 16 and the second strap fixing member 17 are respectively inserted into the upper card slot seat 122 through the corresponding side openings and are snap-connected.

[0044] As Figures 6 to 8 shown, a lower card slot seat 142 is provided on the lower side of the outer joint box body 14, and a plurality of ball holes are provided on the lower card slot seat 142. As Figure 16 shown, balls 40 are provided at the upper ends of both the first connecting rod 35 and the second connecting rod 36, and the balls 40 are supported and installed on the corresponding connecting rods by springs. When connecting, first press down the balls 40, and then insert the upper end of the first connecting rod 35 (or the second connecting rod 36) into the lower card slot seat 142 on the lower side of the corresponding outer joint box body 14. After adjusting to the appropriate height, the balls 40 automatically pop out under the action of the springs and are stuck in the corresponding ball holes to achieve fixation. In addition, it is also convenient to adjust the height.

[0045] As Figures 2 to 5 shown, the waist adjusting assembly 37 includes a waist back plate 5, waist side rods 2 and a waist armrest 7. Among them, waist side rods 2 are provided on both sides of the waist back plate 5, and the adjacent ends of the two waist side rods 2 on both sides are connected by a clamping spring tube 1. The clamping spring tube 1 passes through a tube sleeve 4, and as Figure 3As shown, the tube sleeve 4 is fixed in the installation slot provided in the middle of the waist backboard 5 through the back buckle 3. The connecting end of the waist side rod 2 is provided with a round hole. The two ends of the snap spring tube 1 are provided with snap springs. After the connecting end of the waist side rod 2 is sleeved on the corresponding side end of the snap spring tube 1, the positioning and adjustment functions are realized through the cooperation of the snap spring and the round hole. In this embodiment, the snap spring tube 1 is a square snap spring tube, and the tube sleeve 4 is a square tube sleeve. As Figure 2 shown, the free ends of the two waist side rods 2 are both provided with waist armrests 7, and the upper end of the hip joint adjusting rod 6 is hinged to the end of the corresponding waist armrest 7.

[0046] As Figure 4 shown, the free end of the waist armrest 7 is provided with an ear plate seat, and the upper end of the hip joint adjusting rod 6 is rotatably installed in the ear plate seat. In this embodiment, an installation inner shell 8 is provided on one side of the ear plate seat, and an installation outer shell 10 is provided on the other side. A connecting shaft on the installation inner shell 8 passes through the ear plate seat and the through hole at the upper end of the hip joint adjusting rod 6 and is fixedly connected to the installation outer shell 10 through a cover plate 11. A connecting shaft sleeve 9 is sleeved on the connecting shaft to ensure rotation.

[0047] As Figures 14 to 15 shown, the ankle joint support assembly 39 includes a calf side plate 27 and a shoe support 30. The upper end of the calf side plate 27 is provided with a buckle fixing plate 25, and a calf buckle 26 is arranged in the buckle fixing plate 25. A plurality of first buckle holes are provided on the bottom plate of the buckle fixing plate 25, and a plurality of second buckle holes are provided at the lower end of the second connecting rod 36. After the lower end of the second connecting rod 36 is inserted into the buckle fixing plate 25 on the corresponding ankle joint support assembly 39, the connection is realized by the calf buckle 26 passing through the corresponding first buckle hole and the second buckle hole in sequence and being clamped, and the height can be conveniently adjusted. The lower end of the calf side plate 27 is rotatably connected to the shoe support 30. As Figure 15 shown, in this embodiment, one side of the lower end of the calf side plate 27 is provided with an ankle joint outer shell 28, and the other side is provided with an ankle joint inner shell 31. An ankle joint connecting shaft is arranged on the ankle joint inner shell 31. The ankle joint connecting shaft passes through the side plate on one side of the shoe support 31 and the lower end of the calf side plate 27 in sequence and is connected to the ankle joint outer shell 28 on the other side through an ankle joint cover plate 29. Gaskets 33 are arranged between the calf side plate 27 and the two outer shells. In addition, an ankle joint shaft sleeve 34 is arranged on the ankle joint connecting shaft to ensure rotation.

[0048] As Figure 15 shown, a fixing block 32 for installing the calf buckle 26 is arranged inside the upper end of the calf side plate 27. The two sides of the buckle fixing plate 25 are also provided with a first strap fixing member 16 and a second strap fixing member 17.

[0049] The working principle of the present invention is:

[0050] When the components of the present invention form an exoskeleton, the hip joint adjusting rods 6 in the waist adjusting component 37 are respectively inserted into the upper card slot seats 122 on the upper sides of the corresponding side upper variable stiffness assist joint components 38 and fixed by the adjusting plate fasteners 13. The upper end of the first connecting rod 35 is inserted into the lower card slot seat 142 on the lower side of the corresponding variable stiffness assist joint component 38 and fixed after the length gear is adjusted by the ball 40. The lower end of the first connecting rod 35 is inserted into the upper card slot seat 122 in the corresponding variable stiffness assist joint component 38 and also fixed by the adjusting plate fastener 13. The lower side of the lowermost variable stiffness assist joint component 38 is connected to the upper end of the second connecting rod 36 after the length gear is adjusted through the ball 40 structure. The second connecting rod 36 is inserted into the buckle fixing plate 25 on the upper side of the ankle support component 39 and then connected through the calf buckle 26. Each component of the present invention is not only convenient to install but also convenient to adjust the height, so that the exoskeleton is suitable for users of different heights. In addition, since the present invention is in contact with the ground, it can effectively conduct the weight of the body and the exoskeleton to the ground, can effectively support the thighs and calves, and the whole mechanism is compact and light, which is convenient to carry and transport.

[0051] The present invention adopts a non-power supply design concept, and the joints adopt a variable stiffness structure design. Users can independently adjust the joint assistance according to their own conditions. When adjusting the joint assistance of the present invention, the user can press the pressing cover 15. The pressing block 151 of the pressing cover 15 squeezes the outer ring fixing sleeve 21 of the elastic member, and causes the elastic member 22 to deform and displace in the direction of the extrusion force, thereby driving the adjusting ring 24 to move in the direction of the extrusion force, and making the block 241 on the adjusting ring 24 disengage from the card slot on the inner wall of the joint inner box body 12. At this time, rotate the joint outer box body 14. Since the joint outer box body 14, the inner ring fixing sleeve 20 of the elastic member and the inner ring of the elastic member 22 are fixedly connected, and at the same time, the outer ring of the elastic member 22, the outer ring fixing sleeve 21 of the elastic member and the adjusting ring 24 are also fixedly connected, the rotation of the joint outer box body 14 can drive the above-mentioned various elements to rotate together, and the block 241 on the adjusting ring 24 has disengaged from the card slot on the inner wall of the joint inner box body 12. At this time, the adjusting ring 24 is not restricted and the elastic member 22 will not deform. When the joint outer box body 14 is rotated by an appropriate angle, such as Figure 12 the angle, release the pressing cover 15, the elastic member 22 returns to its original state, and drives the adjusting ring 24 to return to its original position. At this time, the block 241 on the adjusting ring 24 re-enters the corresponding card slot on the inner wall of the joint inner box body 12. At this time, the elastic member 22 still has not deformed, but at this time the joint is as Figure 12 shown and is no longer in a vertical state. Since when the joint is used, such as Figure 13As shown, it is necessary to manually bend the joint to the vertical state. During this process, although the rotation of the outer joint box body 14 will still drive the rotation of the inner fixing sleeve 20 of the elastic member and the inner ring of the elastic member 22, the adjusting ring 24 cannot rotate because the clamping block 241 is stuck in the corresponding card slot on the inner wall of the inner joint box body 12. Therefore, the outer ring of the elastic member 22 fixedly connected to the adjusting ring 24 cannot rotate either. In this way, the elastic member 22 will deform, and the deformation will generate elastic potential energy. When the joint moves, since the elastic member 22 will provide a torque to the joint when it returns to its original shape, this torque realizes the joint assistance. The operation of the present invention is simple and convenient, and even the elderly and children can easily operate it.

Claims

1. A passive wearable lower limb exoskeleton, characterized in that: It includes a waist adjustment component (37), a variable stiffness assist joint component (38), an ankle support component (39), a first link (35) and a second link (36). Hip adjustment rods (6) are provided on both sides of the waist adjustment component (37), and the hip adjustment rods (6) are connected to the variable stiffness assist joint components (38) at the uppermost end on the corresponding side. The variable stiffness assist joint components (38) on the same side are sequentially connected through the first link (35), and the lowermost variable stiffness assist joint component (38) is connected to the ankle support component (39) on the corresponding side through the second link (36). The variable stiffness assist joint component (38) includes an inner joint box body (12) and an outer joint box body (14), and a mounting shaft (121) is provided on the inner joint box body (12) for rotatable connection with the outer joint box body (14). An elastic inner ring fixing sleeve (20), an elastic outer ring fixing sleeve (21), an elastic member (22) and an adjusting ring (24) are sequentially arranged between the inner joint box body (12) and the outer joint box body (14). The elastic inner ring fixing sleeve (20) is sleeved on the mounting shaft (121) and is fixedly connected to the outer joint box body (14) on one side and the inner ring of the elastic member (22) on the other side. One side of the outer ring of the elastic member (22) is fixedly connected to the elastic outer ring fixing sleeve (21) and the other side is fixedly connected to the adjusting ring (24). A kidney-shaped hole (141) is provided in the outer joint box body (14), and a pressing cover (15) is provided on the outside. A pressing block (151) is provided on the pressing cover (15) and passes through the corresponding kidney-shaped hole (141). A clamping block (241) is provided on the outside of the adjusting ring (24). A clamping groove is provided in the inner joint box body (12), and the clamping block (241) is arranged in the corresponding clamping groove.

2. The passive wearable lower limb exoskeleton according to claim 1, wherein: The elastic member (22) includes an outer ring (224) and folding elastic pieces (222) arranged in the outer ring (224). Elastic outer hole seats (221) are provided on the inner wall of the outer ring (224). One end of the folding elastic piece (222) is fixedly connected to the corresponding elastic outer hole seat (221), and the other end is provided with an elastic inner hole seat (223). A first hole seat (201) is provided on the outside of the elastic inner ring fixing sleeve (20). A second hole seat (211) is provided on the inside of the elastic outer ring fixing sleeve (21). The elastic inner hole seat (223), the first hole seat (201) and a threaded hole provided in the middle of the outer joint box body (14) are respectively connected by first screws correspondingly. The elastic outer hole seat (221), the second hole seat (211) and a connection hole provided on the adjusting ring (24) are respectively connected by second screws correspondingly.

3. The passive wearable lower limb exoskeleton according to claim 2, characterized in that: The folding elastic pieces (222) are evenly distributed along the circumferential direction, and the folding elastic pieces (222) are in a serpentine laminated structure.

4. The passive wearable lower limb exoskeleton according to claim 1, wherein: An upper clamping groove seat (122) is provided on the upper side of the inner joint box body (12), and an adjusting plate buckle (13) is provided in the upper clamping groove seat (122). A first strap fixing member (16) is provided on one side of the upper clamping groove seat (122), and a second strap fixing member (17) is provided on the other side.

5. The passive wearable lower limb exoskeleton according to claim 1, wherein: A lower card slot base (142) is provided on the lower side of the extra-articular box body (14), and a plurality of ball holes are provided on the lower card slot base (142).

6. The passive wearable lower limb exoskeleton according to claim 1, characterized in that: The waist adjustment assembly (37) includes a waist back plate (5), waist side rods (2) and waist armrests (7). Waist side rods (2) are provided on both sides of the waist back plate (5), and waist armrests (7) are provided at the free ends of the waist side rods (2). The upper end of the hip joint adjustment rod (6) is hinged to the end of the corresponding side waist armrest (7).

7. The passive wearable lower limb exoskeleton according to claim 6, characterized in that: The adjacent ends of the two waist side rods (2) are connected by a circlip tube (1). The circlip tube (1) passes through a sleeve (4), and the sleeve (4) is fixed in the installation card slot provided on the waist back plate (5) by a back buckle (3).

8. The passive wearable lower limb exoskeleton according to claim 6, characterized in that: An ear plate seat is provided at the free end of the waist armrest (7). An installation inner shell (8) is provided on one side of the ear plate seat, and an installation outer shell (10) is provided on the other side. A connecting shaft on the installation inner shell (8) passes through the ear plate seat and the through hole at the upper end of the hip joint adjustment rod (6) and is fixedly connected to the installation outer shell (10).

9. The passive wearable lower limb exoskeleton according to claim 1, wherein: The ankle joint support assembly (39) includes a lower leg side plate (27) and a shoe support (30). A buckle fixing plate (25) is provided at the upper end of the lower leg side plate (27), and a lower leg buckle (26) is provided inside the buckle fixing plate (25). The lower end of the lower leg side plate (27) is rotatably connected to the shoe support (30). A first strap fixing member (16) is provided on one side of the buckle fixing plate (25), and a second strap fixing member (17) is provided on the other side.

10. The passive wearable lower limb exoskeleton according to claim 9, wherein: An ankle joint outer shell (28) is provided on one side of the lower end of the lower leg side plate (27), and an ankle joint inner shell (31) is provided on the other side. An ankle joint connecting shaft is provided on the ankle joint inner shell (31), and the ankle joint connecting shaft sequentially passes through the side plate on one side of the shoe support (30) and the lower end of the lower leg side plate (27) and is fixedly connected to the ankle joint outer shell (28) on the other side.

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