A flexible exoskeleton to assist hip and knee motion

Abstract

The application relates to the medical technical field, in particular to a flexible exoskeleton for assisting hip joint and knee joint movement, which comprises a waist controller, both ends of the waist controller are connected with waist ropes, two waist ropes pass through the waist and are connected and fastened in a detachable mode, two leg fasteners for binding thighs are arranged below the waist controller, and both ends of the waist controller are respectively matched with the two leg fasteners; the two leg fasteners are used for binding thighs of a user, then the waist controller is bound on the waist of the user through the two waist ropes, meanwhile, the waist controller is ensured to be located at the front end, and both ends of the waist controller are respectively connected and matched with the leg fasteners, so that the movement of the legs is controlled through the waist controller, the user can be assisted to walk and the user can be assisted to perform a leg lifting movement.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a flexible exoskeleton that assists in the movement of the hip and knee joints. Background Technology

[0002] An exoskeleton is a mechanical device that mimics the human skeleton and moves in tandem with the wearer to assist walking. Exoskeletons can be categorized into electric, pneumatic, hydraulic, and hybrid types based on their drive mechanisms. Electric actuators offer speed and precision, but they are overly sensitive to sudden power changes. Pneumatic and hydraulic actuators can perform various rotational movements and support heavier loads without overheating, but their heavier power sources reduce portability. Exoskeletons can also be classified by structure as rigid or flexible. Rigid exoskeletons are generally heavier and more complex, most are not portable, and often require professional installation. Therefore, the development of flexible exoskeleton devices has become an inevitable trend.

[0003] For example, a flexible exoskeleton robot with publication number CN108938340B that assists in hip and knee joint movement includes a pneumatic control system, a left hip joint motion assist component, a right hip joint motion assist component, a left knee joint motion assist component, and a right knee joint motion assist component. The left and right hip joint motion assist components use negative pressure contraction elastomer actuators as driving elements, which generate linear displacement and elastic force under negative pressure. The left and right knee joint motion assist components use negative pressure rotational elastomers as driving elements, which generate rotational torque under negative pressure. The pneumatic control system processes the user gait data collected and fed back by the detection and information transmission module in real time, and controls the negative pressure loading and unloading process of the negative pressure contraction elastomer actuators and negative pressure rotational elastomers in real time, providing assistance to the hip and knee joints according to gait patterns during walking.

[0004] The aforementioned existing technologies use pneumatic control systems and various actuators to control exoskeletons to simulate gait and walking, but some problems still exist:

[0005] 1. Although the aforementioned existing technology can assist in hip and knee joint movement, this movement is somewhat forced. Users cannot control the movement of the exoskeleton through their own subjective consciousness when wearing it and walking, thus lacking a certain degree of subjectivity.

[0006] 2. Since different user groups have different heights and body types, it would be very costly to customize a special exoskeleton according to different user body types, and it would also be difficult to replace various parts during subsequent maintenance. The existing technology mentioned above has not made any improvements to the exoskeleton so that a standard exoskeleton can be adapted to users of different heights and body types.

[0007] Based on this, this application optimizes and improves the aforementioned exoskeleton. Summary of the Invention

[0008] To address the aforementioned technical problems, this application provides a flexible exoskeleton that assists in hip and knee joint movement, employing the following technical solution:

[0009] A flexible exoskeleton for assisting hip and knee joint movement includes a waist controller with waist straps connected to both ends. The two waist straps are wrapped around the waist and fastened in a detachable manner. Two leg fasteners for securing the thighs are provided below the waist controller, and the two ends of the waist controller are respectively engaged with the two leg fasteners.

[0010] The leg fastener includes two fastening rings, and a plurality of fastening straps for connecting the two fastening rings are connected between the two fastening rings.

[0011] The fastening ring includes several opening and closing parts and telescopic parts arranged in a ring, and the telescopic parts and opening and closing parts are arranged in a ring-shaped staggered manner. An elastic band is connected between two adjacent telescopic parts and opening and closing parts for connection. The telescopic parts are used to adjust the length of the elastic band, and the opening and closing parts are used to open and close the fastening ring so that the fastening ring can wrap around the leg.

[0012] Preferably, the telescopic component includes a hollow telescopic frame. A vertically distributed adjusting shaft is rotatably mounted in the center of the telescopic frame. Two partition plates are arranged in the center of the telescopic frame along the arc of the telescopic frame, and the adjusting shaft is located between the two partition plates. Guide side plates are provided on both sides of the partition plates in the telescopic frame. A sliding strip connected to one end of an elastic band is slidably arranged between the guide side plate and the inner side wall of the telescopic frame. A sliding hole is opened in the side wall of the telescopic frame for the sliding strip to pass through. An adjusting belt is connected to the end of the sliding strip away from the elastic band, and the other end of the adjusting belt is connected to the adjusting shaft after passing around the end of the guide side plate away from the elastic band.

[0013] Preferably, the top of the adjusting shaft is provided with an anti-rotation mechanism. The anti-rotation mechanism includes a guide groove opened at one end of the adjusting shaft, a guide block that slides along the axis of the adjusting shaft is slidably disposed in the guide groove, an anti-rotation disc is installed at the end of the guide block away from the adjusting shaft, and a plurality of anti-rotation rods are evenly arranged around the adjusting shaft on the side of the anti-rotation disc facing the telescopic frame. A plurality of anti-rotation holes that are inserted and cooperate with the anti-rotation rods are evenly opened around the adjusting shaft on the side of the telescopic frame facing the anti-rotation disc.

[0014] Preferably, the opening and closing component includes a first opening and closing block and a second opening and closing block. The opposite ends of the first opening and closing block and the second opening and closing block are both connected to an elastic band. A vertical control cavity is opened inside the first opening and closing block facing the second opening and closing block. A control strip is slidably arranged in the control cavity. An opening and closing spring is connected between the control strip and the control cavity. A sliding handle for easy operation is connected to the control strip facing the outside of the first opening and closing block. A sliding groove is opened on the outer wall of the first opening and closing block, which communicates with the control cavity and allows the sliding handle to slide.

[0015] The first opening block has a mating groove communicating with the control cavity on the side facing the second opening block, and a locking block connected to the control strip is slidably disposed in the mating groove. The locking block has an upwardly protruding locking protrusion at the end facing the second opening block. The second opening block has an L-shaped locking groove on the side facing the first opening block to facilitate the sliding insertion of the locking protrusion. The locking protrusion has an inclined surface that abuts against the L-shaped opening groove at the end facing the L-shaped opening groove.

[0016] Preferably, the waist controller includes a waist plate, two waist straps are respectively connected to both ends of the waist plate, and a hollow control box is detachably installed on the end face of the waist plate. A power control source for simulating gait movement is provided in the center of the control box. Mutating blocks are slidably provided at the bottom of the control box and on both sides of the power control source. A guide strip is provided at the bottom of the control box to guide the sliding of the mating blocks. A control rope is connected to the end of the mating block away from the power control source, and the control rope passes through a through hole opened on the control box. A mating spring is connected between the mating block and the inner side wall of the control box to drive the mating block to move towards the power control source.

[0017] The two fastening rings of the leg fastener are equipped with auxiliary rings on their opening or telescopic parts. The end of the control rope away from the mating block passes through the auxiliary rings on the two fastening rings of the leg fastener in sequence and is fixed in a detachable manner.

[0018] Preferably, the power control source includes a power shaft, which is rotatably mounted in the center of the control box. A power sprocket is mounted on the power shaft, and a power button for controlling the rotation of the power shaft is provided on the power shaft. Matching shafts are also rotatably mounted inside the control box on both sides of the power shaft, and matching sprockets are mounted on the matching shafts. The power sprockets and the two matching sprockets are connected by a transmission chain. A control block is mounted on the matching shaft, a first permanent magnet is provided on one side of the control block, and a second permanent magnet with opposite magnetism to the first permanent magnet is provided on the end of the matching block facing the matching shaft.

[0019] Preferably, the power button includes a central circular hole opened in the power shaft, a button shaft slidably disposed in the central circular hole, a keycap disposed at the end of the button shaft opposite to the power shaft, a spiral groove disposed on the inner side wall of the central circular hole, a rolling shaft that slides in the spiral groove disposed on the outer side wall of the button shaft, and a reset spring that drives the button shaft to move in the direction opposite to the control box is connected between the central circular hole and the button shaft.

[0020] The outer wall of the control box has a through hole for the button shaft to slide through. The outer wall of the button shaft has a linear guide groove, and the inner wall of the through hole has a linear guide block that slides with the linear guide groove.

[0021] Preferably, the control box is provided with a drive mechanism for controlling the reciprocating rotation of the power source. The drive mechanism includes a drive gear mounted on the power shaft. A planar rack that meshes with the drive gear is slidably disposed on the bottom of the control box. A return spring is connected between one side of the planar rack and the control box. An electric push rod that contacts the planar rack and is installed on the bottom of the control box is disposed on the other side of the planar rack.

[0022] Preferably, the upper end of the control box has a vertically arranged insertion cavity, an insertion strip is slidably arranged in the insertion cavity, and an ejector spring that drives the insertion strip to move upward is connected between the insertion strip and the inner wall of the insertion cavity. The button shaft has an insertion hole that engages with the insertion strip.

[0023] The top of the control box has an L-shaped groove, and an L-shaped insert plate is slidably disposed in the L-shaped groove. The side wall of the insert strip has a limiting hole that is inserted and matched with the L-shaped insert plate. A control spring is connected between the L-shaped insert plate and the L-shaped groove to drive the L-shaped insert plate to move towards the limiting hole.

[0024] In summary, this application includes at least one of the following beneficial technical effects:

[0025] 1. This invention uses two leg fasteners to bind the user's thighs, and then uses two waist straps to bind the waist controller to the user's waist, while ensuring that the waist controller is located at the front of the user, and connecting both ends of the waist controller to the leg fasteners respectively, so that the waist controller can control the movement of the user's legs, which can assist the user in walking and assist the user in lifting leg movements.

[0026] 2. The present invention uses a number of opening and closing parts and telescopic parts arranged in an alternating ring to wrap around the patient's legs. At the same time, multiple opening and closing parts and telescopic parts are connected by an elastic band. The telescopic parts can adjust the length of the elastic band to adapt to the thickness of different users' legs, while the opening and closing parts can open the fastening ring so that the fastening ring can smoothly wrap around the user's legs.

[0027] 3. This invention uses a power control source to drive the mating blocks on both sides of the control box to move intermittently towards both sides of the control box. At the same time, under the action of the mating spring, both mating blocks can move intermittently back and forth within the control box, so that the control rope can drive the two leg fasteners to lift back and forth, thereby assisting the user in gait movement. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the present invention.

[0029] Figure 2 This is a schematic diagram of the fastening ring of the present invention. Figure 1 .

[0030] Figure 3 This is the present invention. Figure 2 A magnified view of part A.

[0031] Figure 4 This is the present invention. Figure 2 A magnified view of section B.

[0032] Figure 5 This is a schematic diagram of the fastening ring of the present invention. Figure 2 .

[0033] Figure 6 This is the present invention. Figure 5 A magnified view of a portion of point C.

[0034] Figure 7 This is a schematic diagram of the waist controller of the present invention.

[0035] Figure 8 This is a schematic diagram of the structure of the power button of the present invention.

[0036] Figure 9 This is a schematic diagram of the power control source of the present invention.

[0037] Figure 10 This is the present invention. Figure 9 A magnified view of a portion of point D.

[0038] Figure 11 This is the present invention. Figure 9 A magnified view of a portion at point E.

[0039] Explanation of reference numerals in the attached drawings: 1. Waist controller; 2. Waist strap; 3. Leg fastener; 4. Fastening ring; 5. Fastening strap; 6. Opening / closing component; 7. Telescopic component; 8. Elastic band; 71. Telescopic frame; 72. Adjusting shaft; 73. Divider plate; 74. Guide side plate; 75. Sliding strip; 76. Adjusting belt; 77. Anti-rotation mechanism; 771. Guide groove; 772. Guide block; 773. Anti-rotation disc; 774. Anti-rotation rod; 775. 61. Anti-rotation hole; 61. First opening and closing block; 62. Second opening and closing block; 611. Control cavity; 612. Control bar; 613. Opening and closing spring; 614. Sliding handle; 615. Sliding groove; 616. Mating groove; 617. Engaging block; 618. Engaging protrusion; 621. L-shaped engaging groove; 619. Inclined surface; 11. Waist plate; 12. Control box; 13. Power control source; 14. Mating block; 15. Guide bar; 16. 135. Control rope; 16. Through hole; 17. Matching spring; 18. Auxiliary ring; 131. Drive shaft; 132. Drive sprocket; 133. Drive button; 134. Matching shaft; 135. Matching sprocket; 136. Transmission chain; 137. Control block; 138. First permanent magnet block; 139. Second permanent magnet block; 1331. Center hole; 1332. Button shaft; 1333. Keycap; 1334. Spiral groove; 1335. Roller 1336. Moving shaft; 1337. Return spring; 1338. Linear guide groove; 1339. Linear guide block; 90. Drive mechanism; 91. Drive gear; 92. Planar rack; 93. Return spring; 94. Electric push rod; 1301. Insertion cavity; 1302. Insertion strip; 1303. Ejection spring; 1304. Insertion hole; 1305. L-shaped groove; 1306. L-shaped insert plate; 1307. Limiting hole; 1308. Control spring. Detailed Implementation

[0040] The following is in conjunction with the appendix Figures 1-11 This application will be described in further detail.

[0041] Example 1:

[0042] See Figure 1 This application discloses a flexible exoskeleton that assists in the movement of the hip and knee joints, including a waist controller 1. Both ends of the waist controller 1 are connected to waist straps 2, and the two waist straps 2 are wrapped around the waist and connected and fastened in a detachable manner. Two leg fasteners 3 for binding the thighs are provided below the waist controller 1, and both ends of the waist controller 1 are respectively engaged with the two leg fasteners 3.

[0043] The present invention uses two leg fasteners 3 to bind the user's thighs, and then uses two waist straps 2 to bind the waist controller 1 to the user's waist, while ensuring that the waist controller 1 is located at the front end of the user, and connecting both ends of the waist controller 1 to the leg fasteners 3 respectively, so that the waist controller 1 can control the movement of the user's legs, which can assist the user in walking and in performing leg lifting exercises.

[0044] The leg fastener 3 includes two fastening rings 4, and several fastening straps 5 are connected between the two fastening rings 4 for connecting the two fastening rings 4; the fastening ring 4 includes several opening and closing parts 6 and telescopic parts 7 arranged in a ring, and the telescopic parts 7 and opening and closing parts 6 are arranged in a ring-shaped staggered manner, and an elastic band 8 is connected between two adjacent telescopic parts 7 and opening and closing parts 6 for connecting; the telescopic parts 7 are used to adjust the length of the elastic band 8, and the opening and closing parts 6 are used to open and close the fastening ring 4 so that the fastening ring 4 can wrap around the leg.

[0045] The present invention uses a number of opening and closing parts 6 and telescopic parts 7 arranged in an alternating ring to wrap around the patient's legs. At the same time, multiple opening and closing parts 6 and telescopic parts 7 are connected by an elastic band 8. The telescopic parts 7 can adjust the length of the elastic band 8 to adapt to the thickness of different users' legs, while the opening and closing parts 6 can open the fastening ring 4 so that the fastening ring 4 can smoothly wrap around the user's legs.

[0046] See Figure 2 and Figure 3 The telescopic component 7 includes a hollow telescopic frame 71. A vertically distributed adjusting shaft 72 is rotatably mounted in the center of the telescopic frame 71. Two partition plates 73 are arranged in the center of the telescopic frame 71 in an arc shape, and the adjusting shaft 72 is located between the two partition plates 73. Guide side plates 74 are provided on both sides of the partition plates 73 in the telescopic frame 71. A sliding strip 75 connected to one end of the elastic band 8 is slidably arranged between the guide side plate 74 and the inner side wall of the telescopic frame 71. A sliding hole is opened in the side wall of the telescopic frame 71 for the sliding strip 75 to pass through. An adjusting belt 76 is connected to the end of the sliding strip 75 away from the elastic band 8, and the other end of the adjusting belt 76 passes around the end of the guide side plate 74 away from the elastic band 8 and is connected to the adjusting shaft 72.

[0047] After the fastening ring 4 is wrapped around the user's leg by the opening and closing member 6, the adjusting shaft 72 is turned to rotate, which causes the two adjusting belts 76 connected to the adjusting shaft 72 to begin to wrap around the adjusting shaft 72. This causes the adjusting belts 76 to pull the sliding strip 75 to move accordingly, so that the sliding strip 75 drives the elastic band 8 to move within the telescopic frame 71, thereby changing the length of the elastic band 8 outside the telescopic frame 71, and thus changing the diameter of the fastening ring 4 to accommodate different user leg sizes.

[0048] It should be noted that the separator plate 73 is provided in this invention to prevent the adjusting strips 76 on the two sliding strips 75 from getting tangled and knotted during the process of winding around the adjusting shaft 72.

[0049] See Figures 2-4 To prevent the adjusting shaft 72 from rotating in the opposite direction after adjustment, the present invention provides an anti-rotation mechanism 77 at the top of the adjusting shaft 72. The anti-rotation mechanism 77 includes a guide groove 771 opened at one end of the adjusting shaft 72. A guide block 772 that slides along the axis of the adjusting shaft 72 is slidably arranged in the guide groove 771. An anti-rotation disc 773 is installed at the end of the guide block 772 away from the adjusting shaft 72. Several anti-rotation rods 774 are evenly arranged around the adjusting shaft 72 on the side of the anti-rotation disc 773 facing the telescopic frame 71. Several anti-rotation holes 775 that are inserted and cooperate with the anti-rotation rods 774 are evenly opened around the adjusting shaft 72 on the side of the telescopic frame 71 facing the anti-rotation disc 773.

[0050] When preparing to adjust the length of the elastic band 8, the present invention needs to control the rotation of the adjusting shaft 72. Therefore, before the adjusting shaft 72 rotates, the anti-rotation disc 773 is pulled to drive the anti-rotation rod 774 to move away from the telescopic frame 71 until the anti-rotation rod 774 disengages from the anti-rotation hole 775. At the same time, the guide block 772 slides in the guide groove 771. Then, the anti-rotation disc 773 is controlled to rotate so that the adjusting shaft 72 can be driven to rotate synchronously with the cooperation of the guide groove 771 and the guide block 772, thereby changing the length of the elastic band 8 so that the fastening ring 4 of the present invention can be adapted to the thickness of different users' legs.

[0051] See Figures 5-6 The opening and closing component 6 includes a first opening and closing block 61 and a second opening and closing block 62. The opposite ends of the first opening and closing block 61 and the second opening and closing block 62 are both connected to the elastic band 8. A vertical control cavity 611 is opened inside the first opening and closing block 61 facing the second opening and closing block 62. A control bar 612 is slidably arranged in the control cavity 611. An opening and closing spring 613 is connected between the control bar 612 and the control cavity 611. A sliding handle 614 for easy operation is connected to the control bar 612 facing the outside of the first opening and closing block 61. A sliding groove 615 is opened on the outer wall of the first opening and closing block 61, which communicates with the control cavity 611 and allows the sliding handle 614 to slide.

[0052] The first opening block 61 has a mating groove 616 on the side facing the second opening block 62, which is connected to the control cavity 611. A locking block 617 connected to the control strip 612 is slidably disposed in the mating groove 616. The locking block 617 has an upwardly protruding locking protrusion 618 on the end facing the second opening block 62. The second opening block 62 has an L-shaped locking groove 621 on the side facing the first opening block 61, which facilitates the sliding insertion of the locking protrusion 618. The locking protrusion 618 has an inclined surface 619 that abuts against the L-shaped opening groove on the end facing the L-shaped opening groove.

[0053] like Figure 6 The diagram shows the first opening / closing block 61 and the second opening / closing block 62 in their locked state. When the fastening ring 4 needs to be wrapped around the user's leg, push the sliding handle 614 to move it within the sliding groove 615, thereby causing the control bar 612 to move towards the compression spring 613. This causes the control bar 612 to move the locking block 617 synchronously within the mating groove 616 until the opening / closing protrusion reaches the bottom of the L-shaped opening / closing groove. This releases the locking protrusion 618 from its contact with the L-shaped locking groove 621, at which point the first opening / closing block 61 and the second opening / closing block 62 are locked together. 62 can be separated, at which point the fastening ring 4 can be flattened, making it convenient for the fastening ring 4 to wrap around the user's thigh; then the first opening and closing block 61 and the second opening and closing block 62 are moved towards each other, so that the engaging protrusion 618 abuts against the L-shaped engaging groove 621 through the inclined surface 619, so that the control bar 612 drives the engaging block 617 to move in the direction of compressing the opening and closing spring 613, until the engaging protrusion 618 moves smoothly into the L-shaped engaging groove 621, and then, with the cooperation of the opening and closing spring 613, the engaging protrusion 618 is engaged in the L-shaped engaging groove 621.

[0054] Example 2:

[0055] Based on Embodiment 1, this invention assists the user's leg movement by cooperating with the waist controller 1 and the leg fastener 3. For details, please refer to... Figure 7 The waist controller 1 includes a waist plate 11, two waist straps 2 connected to the two ends of the waist plate 11 respectively, and a hollow control box 12 is detachably installed on the end face of the waist plate 11. A power control source 13 for simulating gait movement is set in the middle of the control box 12. A mating block 14 is slidably set at the bottom of the control box 12 and on both sides of the power control source 13. A guide strip 15 is set at the bottom of the control box 12 to guide the sliding of the mating block 14. A control rope 16 is connected to the end of the mating block 14 away from the power control source 13, and the control rope 16 passes through a through hole 19 opened on the control box 12. A mating spring 17 is connected between the mating block 14 and the inner side wall of the control box 12 to drive the mating block 14 to move towards the power control source 13.

[0056] Auxiliary rings 18 are provided on the opening / closing parts 6 or the telescopic parts 7 of the two fastening rings 4 of the leg fastener 3. Figure 1 (As shown in the image), the end of the control rope 16 away from the mating block 14 passes through the auxiliary rings 18 on the two fastening rings 4 of the leg fastener 3 and is fixed in a detachable manner. The auxiliary rings 18 are used to pull the fastening ring 4 located below to lift it upward.

[0057] This invention uses a power control source 13 to drive two mating blocks 14 to move intermittently within a control box 12. When one mating block 14 moves toward the center of the control box 12, the control rope 16 on that mating block 14 pulls the lower fastening ring 4 of the corresponding leg fastener 3, thereby raising the user's leg by pulling the leg fastener 3. Meanwhile, the other mating block 14 moves toward the end of the control box 12 under the action of the mating spring 17, so that the control rope 16 on that mating block 14 does not raise the user's other leg. After this, the power control source 13 reverses its direction, causing the two mating blocks 14 to move in opposite directions, thereby enabling the user to perform gait movements.

[0058] See Figures 7-9 The power control source 13 includes a power shaft 131, which is rotatably mounted in the center of the control box 12. A power sprocket 132 is mounted on the power shaft 131, and a power button 133 for controlling the rotation of the power shaft 131 is provided on the power shaft 131. A mating shaft 134 is also rotatably mounted inside the control box 12 on both sides of the power shaft 131, and a mating sprocket 135 is mounted on the mating shaft 134. The power sprocket 132 and the two mating sprockets 135 are connected by a transmission chain 136. A control block 137 is mounted on the mating shaft 134. A first permanent magnet block 138 is provided on one side of the control block 137, and a second permanent magnet block 139 with the opposite magnetism to the first permanent magnet block 138 is provided at the end of the mating block 14 facing the mating shaft 134.

[0059] This invention controls the reciprocating rotation of the power shaft 131 via the power button 133, which, in conjunction with the power sprocket 132, two cooperating sprockets 135, and the transmission chain 136, drives the two cooperating shafts 134 to reciprocate, thereby causing the control block 137 to reciprocate synchronously. When the control block 137 located on one side of the power shaft 131 rotates until its first permanent magnet block 138 is directly opposite the second permanent magnet block 139 on its cooperating cooperating block 14, it drives the cooperating block 14 to move towards the power shaft 131, thereby lifting one of the user's legs via the control rope 16. At the same time, the first permanent magnet block 138 on the other control block 137 is facing away from the second permanent magnet block 139 on its cooperating cooperating block 14, and the control rope 16 on the cooperating block 14 will not lift the other leg of the user. The situation is reversed when the power shaft 131 reverses direction, thus enabling the user's gait movement.

[0060] See Figure 8 The power button 133 includes a central circular hole 1331 opened in the power shaft 131, a button shaft 1332 slidably disposed in the central circular hole 1331, a keycap 1333 disposed at the end of the button shaft 1332 opposite to the power shaft 131, a spiral groove 1334 disposed on the inner side wall of the central circular hole 1331, a rolling shaft 1335 slidably disposed on the outer side wall of the button shaft 1332 within the spiral groove 1334, and a return spring 1336 connected between the central circular hole 1331 and the button shaft 1332 to drive the button shaft 1332 to move in the direction away from the control box 12;

[0061] The user presses the keycap 1333 to drive the key shaft 1332 to slide into the central hole 1331, so that the rolling shaft 1335 on the key shaft 1332 cooperates with the spiral groove 1334 to drive the power shaft 131 to rotate, thereby realizing the rotation of the two control blocks 137. When the user releases the keycap 1333, the return spring 1336 drives the key shaft 1332 to move away from the control box 12, so that the rolling shaft 1335 and the spiral groove 1334 cooperate to drive the power shaft 131 to rotate in the opposite direction, so that the control block 137 rotates in the opposite direction, thereby enabling the invention to realize the user's gait movement.

[0062] See Figure 11 The outer wall of the control box 12 has a through hole for the key shaft 1332 to slide through. The outer wall of the key shaft 1332 is provided with a linear guide groove 1337, and the inner wall of the through hole is provided with a linear guide block 1338 that slides with the linear guide groove 1337.

[0063] The present invention uses the cooperation of linear guide groove 1337 and linear guide block 1338 to restrict the key shaft 1332 to slide only along its axial direction, so as to prevent it from rotating and affecting the rotation of power shaft 131.

[0064] See Figure 9 The present invention achieves the reciprocating rotation of the power shaft 131 by the user pressing the key cap 1333. However, when the user needs to exercise or walk using the present invention, it is cumbersome. Therefore, the present invention provides a drive mechanism 9 for controlling the reciprocating rotation of the power shaft 131 in the control box 12. The drive mechanism 9 includes a drive gear 91 mounted on the power shaft 131. A planar rack 92 that meshes with the drive gear 91 is slidably mounted on the bottom of the control box 12. A return spring 93 is connected between one side of the planar rack 92 and the control box 12. An electric push rod 94 that contacts the planar rack 92 and is mounted on the bottom of the control box 12 is provided on the other side of the planar rack 92.

[0065] When the power shaft 131 is driven to reciprocate via the power button 133, the planar rack 92 will reciprocate via the drive gear 91. At this time, the planar rack 92 will not contact the electric push rod 94, that is, it will not affect the electric push rod 94. When the electric push rod 94 is needed to drive the power shaft 131 to rotate, the electric push rod 94 pushes the planar rack 92 to move in the direction of the compression return spring 93, so that the planar rack 92 meshes with the drive gear 91 to drive the power shaft 131 to rotate. When the output end of the electric push rod 94 returns to the initial position, the planar rack 92 is also driven to move towards the initial position under the action of the return spring 93, thereby controlling the power shaft 131 to rotate in the opposite direction, and finally realizing the user's gait movement.

[0066] See Figures 9-11 The upper end of the control box 12 is provided with a vertically arranged plug cavity 1301. A plug strip 1302 is slidably arranged in the plug cavity 1301. A push-out spring 1303 is connected between the plug strip 1302 and the inner wall of the plug cavity 1301 to drive the plug strip 1302 to move upward. A plug hole 1304 is provided on the button shaft 1332 to engage with the plug strip 1302.

[0067] The top of the control box 12 has an L-shaped groove 1305, and an L-shaped insert plate 1306 is slidably disposed in the L-shaped groove 1305. The side wall of the plug strip 1302 has a limiting hole 1307 that is inserted and matched with the L-shaped insert plate 1306. A control spring 1308 is connected between the L-shaped insert plate 1306 and the L-shaped groove 1305 to drive the L-shaped insert plate 1306 to move toward the limiting hole 1307.

[0068] When an emergency shutdown is required, press the connector 1302 so that its lower end is inserted into the connector hole 1304. This restricts the sliding of the button shaft 1332, thereby restricting the rotation of the power shaft 131 and thus limiting the gait movement of the invention. At this time, the L-shaped insert 1306 is inserted into the limiting hole 1307, thereby preventing the connector 1302 from moving upward and out of the connector hole 1304, which would prevent the connector 1302 from restricting the movement of the button shaft 1332. When it is necessary to release the restriction on the power shaft 131, push the L-shaped insert 1306 so that it moves out of the limiting hole 1307. Under the action of the ejector spring 1303, the connector 1302 is driven upward, so that the connector 1302 moves out of the connector hole 1304, releasing the restriction on the button shaft 1332.

[0069] The implementation principle of this invention is as follows:

[0070] (1): First, wrap the two fastening rings 4 of the leg fastener 3 around the user's leg, and adjust the diameter of the fastening rings 4 by means of the telescopic component 7 so that the fastening rings 4 of the present invention can fit the user's leg better. Then, connect the fastening strap 5 between the two fastening rings 4.

[0071] (2): Then, the waist controller 1 is tied to the user's waist by two waist straps 2, and then the control ropes 16 on both sides of the control box 12 are connected to the two leg fasteners 3 respectively, so that the present invention can pull the leg fasteners 3 to lift through the control ropes 16, thereby assisting the user in gait movement.

[0072] (3): The present invention can realize the user's gait movement through the power button 133. At the same time, the present invention can also realize the intermittent lifting movement of the two leg fasteners 3 through the drive mechanism 9, which has better usage options.

[0073] (4): When the user is performing gait exercises using the present invention, if an emergency stop is required, the user can press the plug bar 1302 to restrict the sliding of the button shaft 1332, thereby enabling the rotation of the power shaft 131 and thus stopping the operation of the waist controller 1 in an emergency.

[0074] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A flexible exoskeleton for assisting hip and knee joint movement, comprising a lumbar controller (1), characterized in that: The waist controller (1) is connected to waist straps (2) at both ends, and the two waist straps (2) are wrapped around the waist and fastened in a detachable manner. Two leg fasteners (3) for binding the thighs are provided below the waist controller (1), and the two ends of the waist controller (1) are respectively matched with the two leg fasteners (3). The leg fastener (3) includes two fastening rings (4), and a plurality of fastening straps (5) for connecting the two fastening rings (4) are connected between the two fastening rings (4). The fastening ring (4) includes a plurality of opening and closing parts (6) and telescopic parts (7) arranged in a ring, and the plurality of telescopic parts (7) and opening and closing parts (6) are arranged in a ring-shaped staggered manner. An elastic band (8) is connected between two adjacent telescopic parts (7) and opening and closing parts (6). The telescopic parts (7) are used to adjust the length of the elastic band (8), and the opening and closing parts (6) are used to open and close the fastening ring (4) so ​​that the fastening ring (4) can wrap around the leg. The telescopic component (7) includes a hollow telescopic frame (71). A vertically distributed adjusting shaft (72) is rotatably installed in the middle of the telescopic frame (71). Two partition plates (73) are arranged in the middle of the telescopic frame (71) in an arc shape. The adjusting shaft (72) is located between the two partition plates (73). Guide side plates (74) are provided on both sides of the partition plates (73) in the telescopic frame (71). A sliding strip (75) connected to one end of the elastic band (8) is slidably arranged between the guide side plate (74) and the inner side wall of the telescopic frame (71). A sliding hole is opened on the side wall of the telescopic frame (71) for the sliding strip (75) to pass through. An adjusting belt (76) is connected to one end of the sliding strip (75) away from the elastic band (8). The other end of the adjusting belt (76) passes around the end of the guide side plate (74) away from the side of the elastic band (8) and is connected to the adjusting shaft (72).

2. The flexible exoskeleton for assisting hip and knee joint movement according to claim 1, characterized in that: The top of the adjusting shaft (72) is provided with an anti-rotation mechanism (77). The anti-rotation mechanism (77) includes a guide groove (771) opened at one end of the adjusting shaft (72). A guide block (772) that slides along the axis of the adjusting shaft (72) is slidably arranged in the guide groove (771). An anti-rotation disc (773) is installed at the end of the guide block (772) away from the adjusting shaft (72). Several anti-rotation rods (774) are evenly arranged around the side of the anti-rotation disc (773) facing the telescopic frame (71) with the adjusting shaft (72) as the center. Several anti-rotation holes (775) that are inserted and cooperate with the anti-rotation rods (774) are evenly opened around the side of the telescopic frame (71) facing the anti-rotation disc (773) with the adjusting shaft (72) as the center.

3. The flexible exoskeleton for assisting hip and knee joint movement according to claim 1, characterized in that: The opening and closing component (6) includes a first opening and closing block (61) and a second opening and closing block (62). The opposite ends of the first opening and closing block (61) and the second opening and closing block (62) are both connected to the elastic band (8). The first opening and closing block (61) has a vertical control cavity (611) inside the side facing the second opening and closing block (62). A control strip (612) is slidably arranged in the control cavity (611). An opening and closing spring (613) is connected between the control strip (612) and the control cavity (611). A sliding handle (614) for easy operation is connected to the outside of the control strip (612) facing the first opening and closing block (61). A sliding groove (615) is opened on the outer wall of the first opening and closing block (611) and communicates with the control cavity (611) for the sliding handle (614) to slide. The first opening block (61) has a mating groove (616) communicating with the control cavity (611) on the side facing the second opening block (62), and a locking block (617) connected to the control bar (612) is slidably arranged in the mating groove (616). The locking block (617) has an upwardly protruding locking protrusion (618) at one end facing the second opening block (62). The second opening block (62) has an L-shaped locking groove (621) on the side facing the first opening block (61) to facilitate the sliding insertion of the locking protrusion (618). The locking protrusion (618) has an inclined surface (619) that abuts against the L-shaped opening groove at one end.

4. The flexible exoskeleton for assisting hip and knee joint movement according to claim 1, characterized in that: The waist controller (1) includes a waist plate (11), and two waist straps (2) are respectively connected to the two ends of the waist plate (11). The end face of the waist plate (11) is detachably equipped with an internally hollow control box (12). The control box (12) is provided with a power control source (13) that simulates gait movement in the middle. The bottom of the control box (12) and both sides of the power control source (13) are slidably provided with mating blocks (14). The bottom of the control box (12) is provided with a guide strip (15) for guiding the mating blocks (14) to slide. The end of the mating block (14) away from the power control source (13) is connected with a control rope (16), and the control rope (16) passes through a through hole (19) opened on the control box (12). A mating spring (17) is connected between the mating block (14) and the inner side wall of the control box (12) for driving the mating block (14) to move towards the power control source (13). The two fastening rings (4) of the leg fastener (3) are provided with auxiliary rings (18) on the opening and closing parts (6) or the telescopic parts (7). The control rope (16) is fixed in a detachable manner after passing through the auxiliary rings (18) on the two fastening rings (4) of the leg fastener (3) in sequence through the end opposite to the mating block (14).

5. A flexible exoskeleton for assisting hip and knee joint movement according to claim 4, characterized in that: The power control source (13) includes a power shaft (131), which is rotatably mounted in the center of the control box (12). A power sprocket (132) is mounted on the power shaft (131). A power button (133) for controlling the rotation of the power shaft (131) is provided on the power shaft (131). A mating shaft (134) is also rotatably mounted in the control box (12) on both sides of the power shaft (131). A mating sprocket (135) is mounted on the mating shaft (134). The power sprocket (132) and the two mating sprockets (135) are connected by a transmission chain (136). A control block (137) is mounted on the mating shaft (134). A first permanent magnet block (138) is provided on one side of the control block (137). A second permanent magnet block (139) with the opposite magnetism to the first permanent magnet block (138) is provided at one end of the mating block (14) facing the mating shaft (134).

6. The flexible exoskeleton for assisting hip and knee joint movement according to claim 5, characterized in that: The power button (133) includes a central circular hole (1331) opened in the power shaft (131), a button shaft (1332) is slidably arranged in the central circular hole (1331), a keycap (1333) is provided at the end of the button shaft (1332) away from the power shaft (131), a spiral groove (1334) is provided on the inner side wall of the central circular hole (1331), a rolling shaft (1335) is provided on the outer side wall of the button shaft (1332) that slides in the spiral groove (1334), and a return spring (1336) is connected between the central circular hole (1331) and the button shaft (1332) to drive the button shaft (1332) to move away from the control box (12). The outer wall of the control box (12) is provided with a through hole for the key shaft (1332) to slide through. A linear guide groove (1337) is provided on the outer wall of the key shaft (1332), and a linear guide block (1338) is provided on the inner wall of the through hole to slide with the linear guide groove (1337).

7. A flexible exoskeleton for assisting hip and knee joint movement according to claim 5, characterized in that: The control box (12) is provided with a drive mechanism (9) for controlling the reciprocating rotation of the power. The drive mechanism (9) includes a drive gear (91) mounted on the power shaft (131). A planar rack (92) that meshes with the drive gear (91) is slidably arranged on the bottom of the control box (12). A return spring (93) is connected between one side of the planar rack (92) and the control box (12). An electric push rod (94) that contacts the planar rack (92) and is installed on the bottom of the control box (12) is provided on the other side of the planar rack (92).

8. A flexible exoskeleton for assisting hip and knee joint movement according to claim 6, characterized in that: The control box (12) has a vertically arranged insertion cavity (1301) at its upper end. An insertion strip (1302) is slidably arranged inside the insertion cavity (1301). A push-out spring (1303) is connected between the insertion strip (1302) and the inner wall of the insertion cavity (1301) to drive the insertion strip (1302) to move upward. The button shaft (1332) has an insertion hole (1304) that engages with the insertion strip (1302). 12) An L-shaped groove (1305) is provided at the top, and an L-shaped insert plate (1306) is slidably arranged in the L-shaped groove (1305). A limiting hole (1307) is provided on the side wall of the insert strip (1302) to be inserted and cooperate with the L-shaped insert plate (1306). A control spring (1308) is connected between the L-shaped insert plate (1306) and the L-shaped groove (1305) to drive the L-shaped insert plate (1306) to move toward the limiting hole (1307).

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