Mechanical touch-to-ground self-locking support exoskeleton lower limbs

Abstract

This invention discloses a mechanically ground-contact self-locking support exoskeleton for the lower limbs, belonging to the field of exoskeleton mechanical technology. It includes a thigh link, a lower leg link, a knee joint spindle, a frame, a friction pad bracket, a lower leg main rod, and friction pads. The knee joint spindle is fixed to the top of the lower leg link, and the thigh link is rotatably mounted to the knee joint spindle via a ring column fixed to its bottom. The friction pad bracket is rotatably connected to the frame fixed to the knee joint spindle, and friction pads are installed on its inner side. The lower leg main rod slides with the lower leg link, and its top is rotatably connected to the friction pad bracket. This invention inherently locks the knee joint rotation joint when the bottom of the lower leg main rod touches the ground during the wearer's weight-bearing walking operation, entering a support state and providing effective support. When the wearer lifts their leg, the bottom of the lower leg main rod follows, lifting off the ground and releasing the locking of the knee joint rotation joint under gravity, entering a free state without affecting the wearer's walking movements, thus effectively enhancing the wearer's lower limb strength.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton mechanical technology, specifically to a mechanical ground-contact self-locking support exoskeleton lower limb structure for enhancing human strength, flexibility, and endurance or assisting human movement. Background Technology

[0002] Exoskeletons are wearable robotic devices designed to enhance human strength, flexibility, and endurance or assist in human movement. They are widely used in various modern scientific fields, including biomechanics, human-computer interaction, electronic engineering, and materials science. With continuous advancements in technology, exoskeletons are playing an increasingly important role in medical rehabilitation, military industrial production, and daily life.

[0003] Mechanical exoskeleton devices come in a wide variety of types and structures. Passive lower limb exoskeletons are the most common type, specifically designed to enhance the strength and flexibility of the lower limbs. They are often used to assist in tasks or movements such as lifting heavy objects and climbing stairs. However, existing passive lower limb exoskeletons lack ideal integration and comfort, and suffer from insufficient support during user movement. Furthermore, their high cost hinders widespread adoption. Summary of the Invention

[0004] To avoid the shortcomings of the prior art, the present invention provides a mechanically ground-contact self-locking support exoskeleton for the lower limbs.

[0005] To solve the technical problem, the present invention adopts the following technical solution: a mechanically ground-contact self-locking support exoskeleton for the lower limbs, comprising a thigh connecting rod with a thigh wearing part installed at the top and a lower leg connecting rod with a lower leg wearing part installed at the bottom. It also includes a knee joint spindle, a shaft frame, a friction pad support, a lower leg main rod, and friction pads; The knee joint spindle is fixed at the top of the lower leg link, and the thigh link is rotatably mounted on the knee joint spindle through the annular column fixed at its bottom end, so that the lower leg link and the thigh link form a knee joint rotation pair that supports the flexion and extension movements of the two. The friction pad bracket is located on the outer cylindrical surface of the ring column and has a structure that matches the outer cylindrical surface. A friction pad that matches the shape of the outer cylindrical surface is installed and fixed on the side facing the outer cylindrical surface. The friction pad bracket is rotatably connected to the shaft bracket that is installed and fixed on the main shaft of the knee joint. The two form a friction pad rotating pair with the rotating shaft parallel to the rotating shaft of the knee joint rotating pair. The friction pad rotating pair supports the friction pad to rotate away from the outer cylindrical surface or rotate to press against the outer cylindrical surface. The lower leg main rod and the lower leg connecting rod are slidably installed together, forming a sliding pair along their own length; the top end of the lower leg main rod is rotatably connected to the friction plate bracket, forming a lower leg main rod rotating pair with a rotating axis parallel to the rotating axis of the knee joint rotating pair, supporting the lower leg main rod and the thigh connecting rod to perform flexion and extension movements.

[0006] Furthermore, a buffer pad is fixed at the bottom end of the lower leg main rod.

[0007] Furthermore, the buffer pad is a rubber pad.

[0008] Furthermore, a long groove is formed along the length of the lower leg connecting rod, and a corresponding slider is provided on the lower leg main rod. The lower leg main rod and the lower leg connecting rod are slidably installed through the long groove and the slider, so that the two form a sliding pair along their own length.

[0009] Furthermore, it also includes anti-slip restraint plates; The anti-detachment limiting plate and the lower leg main rod are located on both sides of the long groove, and are both connected and fixed to the slider.

[0010] Furthermore, the thigh wearing part and the calf wearing part are respectively a thigh strap and a calf strap.

[0011] Furthermore, the thigh strap and calf strap are respectively installed and connected to the thigh link and calf link by bolts.

[0012] This invention provides a mechanically ground-contact self-locking support exoskeleton for the lower limbs, which has the following beneficial effects: This invention locks the knee joint rotation joint when the bottom of the lower leg main rod touches the ground during the wearer's weight-bearing walking process, entering a support state and providing effective support; when the wearer lifts their leg, the bottom of the lower leg main rod follows off the ground and releases the locking of the knee joint rotation joint under the action of gravity, entering a free state without affecting the wearer's walking movements, and can effectively enhance the wearer's lower limb strength; this invention is free from complex electronic control components, and the entire structure is mechanical, which is highly reliable, fast-responding, energy-saving and low-cost. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the isometric structure of the present invention; Figure 2 This is a partial isometric structural schematic diagram of the present invention; Figure 3 This is a partial front view structural diagram of the present invention.

[0014] In the picture: 1. Thigh connecting rod; 11. Thigh strap; 12. Ring post; 2. Lower leg connecting rod; 21. Lower leg strap; 22. Long groove; 3. Knee joint spindle; 4. Shaft bracket; 5. Friction pad bracket; 6. Lower leg main rod; 61. Buffer pad; 62. Slider; 7. Friction pad. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] like Figures 1-3 As shown, its structural relationship is as follows: it includes a thigh connecting rod 1 with a thigh wearing part installed at the top and a lower leg connecting rod 2 with a lower leg wearing part installed at the bottom. When wearing the exoskeleton lower limbs, the user puts the thigh wear part and the calf wear part on the thigh and calf respectively to fix the exoskeleton lower limbs; It also includes a knee joint main shaft 3, a shaft frame 4, a friction pad support 5, a lower leg main rod 6, and a friction pad 7; The knee joint spindle 3 is fixed at the top of the lower leg link 2, and the thigh link 1 is rotatably mounted on the knee joint spindle 3 through the ring column 12 fixed at its bottom end, so that the lower leg link 2 and the thigh link 1 form a knee joint rotation pair that supports the flexion and extension movements of the two. The friction plate bracket 5 is located on the outer cylindrical surface of the ring column 12 and has a structure that matches the outer cylindrical surface. A friction plate 7 that matches the shape of the outer cylindrical surface is installed and fixed on the side facing the outer cylindrical surface. The friction plate bracket 5 is rotatably connected to the shaft bracket 4 that is installed and fixed on the knee joint main shaft 3. The two form a friction plate rotating pair with the rotating shaft parallel to the rotating shaft of the knee joint rotating pair. The friction plate rotating pair supports the friction plate 7 to rotate away from the outer cylindrical surface or rotate to press against the outer cylindrical surface. The lower leg main rod 6 and the lower leg connecting rod 2 are slidably installed together, forming a sliding pair along their own length. The top of the lower leg main rod 6 is rotatably connected to the friction plate bracket 5, forming a lower leg main rod rotating pair with a rotating shaft parallel to the rotating shaft of the knee joint rotating pair, supporting the lower leg main rod 6 and the thigh connecting rod 1 to perform flexion and extension movements.

[0017] Preferably, a buffer pad 61 is fixed at the bottom end of the lower leg main rod 6.

[0018] The buffer pad 61 replaces the lower leg main rod 6 and directly contacts the ground, playing a role in buffering, shock absorption and anti-slip.

[0019] Preferably, the buffer pad 61 is a rubber pad.

[0020] Preferably, a long groove 22 is provided on the lower leg connecting rod 2 along its length, and a corresponding slider 62 is provided on the lower leg main rod 6. The lower leg main rod 6 and the lower leg connecting rod 2 are slidably installed through the long groove 22 and the slider 62, so that a sliding pair along its own length is formed between the two.

[0021] Preferably, it also includes an anti-detachment limiting piece; The anti-detachment limiting plate and the lower leg main rod 6 are located on both sides of the long groove 22, and are both connected and fixed to the slider 62.

[0022] The anti-detachment limiting piece is used to limit the slider 62 to prevent the slider 62 from detaching from the long groove 22.

[0023] Preferably, the thigh wearing part and the calf wearing part are thigh strap 11 and calf strap 21, respectively.

[0024] Preferably, the thigh strap 11 and the calf strap 21 are respectively installed and connected to the thigh link 1 and the calf link 2 by bolts.

[0025] In actual use, the wearer wears and fixes the thigh strap 11 and the calf strap 21 to the root of the thigh and the ankle joint of the calf, respectively.

[0026] When the wearer lands, the cushioning pad 61 touches the ground before the foot, and then the ground exerts an upward force on the cushioning pad 61, pushing the lower leg main rod 6 to slide upward relative to the lower leg connecting rod 2. During this process, the slider 62 slides upward along the long groove 22. At the same time, the lower leg main rod 6 pushes the friction plate bracket 5 to rotate under the support of the friction plate rotating pair, so that the friction plate 7 is pressed against the outer cylindrical surface and locked when the wearer's foot lands. The exoskeleton lower limbs switch to the support state, enhance the wearer's lower limb strength, and provide effective support for the wearer's standing posture.

[0027] When the wearer lifts their leg, the cushioning pad 61 moves upward with the wearer's leg movement and detaches from the ground. Subsequently, the lower leg main rod 6 slides down relative to the lower leg connecting rod 2 under the action of gravity. During this process, the slider 62 slides down along the long groove 22. At the same time, the lower leg main rod 6 pulls the friction plate bracket 5 to rotate under the support of the friction plate rotating pair, so that the friction plate 7 is released from the outer cylindrical surface after the wearer lifts their leg. The exoskeleton lower limb is converted to a free state and becomes a kind of movable joint, which does not affect the wearer's walking movement.

[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0029] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mechanically ground-contact self-locking support exoskeleton for the lower limbs, comprising a thigh link (1) with a thigh wear portion mounted at the top and a lower leg link (2) with a lower leg wear portion mounted at the bottom, characterized in that: It also includes a knee joint spindle (3), a shaft frame (4), a friction pad bracket (5), a lower leg main rod (6), and a friction pad (7); The knee joint spindle (3) is fixed at the top of the lower leg link (2), and the thigh link (1) is rotatably mounted on the knee joint spindle (3) through the ring column (12) fixed at its bottom end, so that the lower leg link (2) and the thigh link (1) form a knee joint rotation pair that supports the two to perform flexion and extension movements. The friction plate bracket (5) is located on the outer cylindrical surface of the ring column (12) and has a structure that matches the outer cylindrical surface. A friction plate (7) that matches the shape of the outer cylindrical surface is installed and fixed on the side facing the outer cylindrical surface. The friction plate bracket (5) is rotatably connected to the shaft bracket (4) that is installed and fixed on the knee joint main shaft (3). A friction plate rotating pair is formed between the two, and the rotating shaft is parallel to the rotating shaft of the knee joint rotating pair. The friction plate rotating pair supports the friction plate (7) to rotate away from the outer cylindrical surface or rotate to press against the outer cylindrical surface. The lower leg main rod (6) and the lower leg connecting rod (2) are slidably installed together, forming a sliding pair along their own length; the top end of the lower leg main rod (6) is rotatably connected to the friction plate bracket (5), forming a lower leg main rod rotating pair with the rotating axis parallel to the rotating axis of the knee joint rotating pair, supporting the lower leg main rod (6) and the thigh connecting rod (1) to perform flexion and extension movements; During the wearer's weight-bearing walking operation, the knee joint rotation joint is locked when the bottom of the lower leg main bar touches the ground, entering a support state and providing effective support; when the wearer lifts the leg, the bottom of the lower leg main bar follows off the ground and releases the locking of the knee joint rotation joint under the action of gravity, entering a free state.

2. The mechanical ground-contact self-locking support exoskeleton for lower limbs according to claim 1, characterized in that: The bottom end of the lower leg main rod (6) is fixed with a buffer pad (61).

3. The mechanical ground-contact self-locking support exoskeleton for lower limbs according to claim 2, characterized in that: The buffer pad (61) is a rubber pad.

4. The mechanical ground-contact self-locking support exoskeleton for lower limbs according to claim 1, characterized in that: The lower leg connecting rod (2) has a long groove (22) along its length, and the lower leg main rod (6) is provided with a corresponding slider (62). The lower leg main rod (6) and the lower leg connecting rod (2) are slidably fitted together through the long groove (22) and the slider (62) to form a sliding pair along their own length.

5. The mechanical ground-contact self-locking support exoskeleton for lower limbs according to claim 4, characterized in that: It also includes anti-slip restraint plates; The anti-detachment limiting plate and the lower leg main rod (6) are located on both sides of the long groove (22) and are both connected and fixed to the slider (62).

6. The mechanical ground-contact self-locking support exoskeleton for lower limbs according to claim 1, characterized in that: The thigh wearing part and the calf wearing part are respectively the thigh strap (11) and the calf strap (21).

7. The mechanical ground-contact self-locking support exoskeleton for lower limbs according to claim 6, characterized in that: The thigh strap (11) and calf strap (21) are respectively installed and connected to the thigh link (1) and calf link (2) by bolts.

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