A continuously adjustable lower extremity exoskeleton robot

Abstract

The application discloses a continuously adjustable lower extremity exoskeleton robot, and belongs to the technical field of medical rehabilitation instruments, which comprises a waist supporting part, two hip height adjusting devices and two exoskeleton devices; the exoskeleton device comprises a hip joint connecting plate, a thigh driving mechanism, a shank driving mechanism and a foot bottom supporting mechanism; the two hip joint connecting plates are fixedly connected with two ends of the waist supporting part; the hip joint connecting plate is rotatably connected with the thigh driving mechanism, the thigh driving mechanism is rotatably connected with the shank driving mechanism, and the foot bottom supporting mechanism is rotatably connected with the shank driving mechanism; the thigh driving mechanism and the shank driving mechanism are both realized with stepless length adjustment through length adjusting assemblies; the hip height adjusting device is installed at the joint of the waist supporting part and the hip joint connecting plate. The application conforms to the height change of the human hip joint during walking, can realize stepless length adjustment of the mechanical leg, makes the lower extremity exoskeleton robot more suitable for human characteristics, and improves the rehabilitation training effect.

Description

Technical Field

[0001] This invention belongs to the field of medical rehabilitation equipment technology, specifically relating to a steplessly adjustable lower limb exoskeleton robot. Background Technology

[0002] Traditional rehabilitation methods rely on therapists to manually assist patients with rehabilitation training, which suffers from problems such as a shortage of therapists, high costs, and long treatment cycles. Lower limb exoskeleton robots, however, can effectively assist individuals with lower limb disabilities in their rehabilitation training. A typical lower limb exoskeleton robot includes a lumbar support structure, hip struts, thigh struts, calf struts, foot components, hip joints, knee joints, and ankle joints. However, in typical lower limb exoskeleton robots, the hip joint height is fixed during rehabilitation training. Since the center of gravity changes during walking, a fixed hip joint height prevents the exoskeleton robot's hip joint from precisely aligning with the patient's hip joint, impacting the effectiveness of rehabilitation training. Furthermore, some lower limb exoskeleton robots lack adjustable leg length, while others offer adjustable lengths but only in fixed increments, failing to adapt to all wearers' heights. Therefore, current lower limb exoskeleton robots still require further improvement. Summary of the Invention

[0003] In view of this, the present invention provides a steplessly adjustable lower limb exoskeleton robot that conforms to the height changes of the human hip joint during walking, and can achieve stepless adjustment of the mechanical leg length, making the lower limb exoskeleton robot more adaptable to human characteristics and improving the rehabilitation training effect.

[0004] This invention is achieved through the following technical solution:

[0005] A steplessly adjustable lower limb exoskeleton robot includes: a waist support, two hip height adjustment devices, and two exoskeleton devices;

[0006] The exoskeleton device includes: a hip joint connecting plate, a thigh drive mechanism, a lower leg drive mechanism, and a foot support mechanism;

[0007] Two hip joint connecting plates are fixedly connected to both ends of the lumbar support member; the hip joint connecting plates are rotatably connected to the thigh drive mechanism, the thigh drive mechanism is rotatably connected to the calf drive mechanism, and the foot support mechanism is rotatably connected to the calf drive mechanism.

[0008] The thigh drive mechanism adjusts its length via length adjustment component a, and the calf drive mechanism adjusts its length via length adjustment component b; both adjustment components a and b can achieve stepless adjustment of the length of the thigh drive mechanism and the calf drive mechanism.

[0009] The hip height adjustment device is installed at the junction of the waist support and the hip joint connecting plate to adjust the height of the exoskeleton robot so that the exoskeleton robot conforms to the changes in the center of gravity height when the human body walks.

[0010] Furthermore, both the length adjustment component a and the length adjustment component b are composed of an outer rod, an inner rod, a sleeve, and a rotating cylinder;

[0011] The outer rod is a cylindrical structure, and the inner rod is a circular rod, with one end of the inner rod inserted into one end of the outer rod;

[0012] The sleeve is integrally formed from a cylindrical section and a frustum section. The large-diameter end of the frustum section and one end of the cylindrical section are coaxially intersected. The frustum section is machined with external threads. The sleeve is fitted onto the insertion point of the outer rod and the inner rod, with the frustum section of the sleeve located outside the inner rod and the cylindrical section of the sleeve located outside the outer rod. The external threads of the sleeve are machined with one or more grooves along the edge of the frustum section.

[0013] The rotating cylinder is machined with an internal tapered thread hole, which engages with the external thread of the sleeve. The engagement between the rotating cylinder and the sleeve locks and secures the outer and inner rods. The slope of the internal tapered thread hole of the rotating cylinder is consistent with the slope of the frustum section of the sleeve. The radius of the large diameter end of the internal tapered thread hole of the rotating cylinder is smaller than the radius of the large diameter end of the frustum section of the sleeve.

[0014] Furthermore, in addition to the length adjustment component a, the thigh drive mechanism also includes: a thigh connector, a knee joint connector, and a motor a;

[0015] In addition to the length adjustment component b, the lower leg drive mechanism also includes: a lower leg connector, an ankle joint connector, and a motor b;

[0016] The foot support mechanism includes: a foot connecting plate and a shoe sole;

[0017] The housing of motor a is fixed to the thigh connector, and the output shaft of motor a is fixedly connected to the hip joint connecting plate. Motor a is used to drive the thigh connector and the hip joint connecting plate to rotate relative to each other. Motor a corresponds to the human hip joint.

[0018] The housing of motor b is fixed to the lower leg connector, and the output shaft of motor b is fixedly connected to the knee joint connector. Motor b is used to drive the lower leg connector and the knee joint connector to rotate relative to each other. Motor b corresponds to the human knee joint.

[0019] The foot sole connecting plate is hinged to the ankle joint connecting piece, and the shoe sole is fixed to the foot sole connecting plate; the hinge point between the foot sole connecting plate and the ankle joint connecting piece corresponds to the human ankle joint.

[0020] Furthermore, the thigh connector is integrally formed from a flat plate a and a sleeve a, with the open end of the sleeve a facing vertically downwards;

[0021] The other end of the outer rod of the length adjustment component a is inserted into the sleeve a of the thigh connector and fixedly connected to the sleeve a;

[0022] The knee joint connector is integrally formed from a plate b and a sleeve b, with the open end of the sleeve b facing vertically upward; the sleeve b is fitted onto the other end of the inner rod of the length adjustment component a;

[0023] The lower leg connector is integrally formed from a flat plate c and a sleeve c, with the open end of the sleeve c facing vertically downwards; the other end of the outer rod of the length adjustment component b is inserted into the sleeve c of the lower leg connector and fixedly connected to the sleeve c.

[0024] The ankle joint connector is integrally formed from a flat plate d and a sleeve d, with the open end of the sleeve d facing vertically upward; the sleeve d is fitted onto the other end of the inner rod of the length adjustment component b.

[0025] Furthermore, the lower limb exoskeleton robot also includes several straps;

[0026] Two straps are installed at both ends of the lumbar support, and the human waist is fixed to the lumbar support by the straps;

[0027] The other two straps are installed on the two opposite sides of the thigh connector, and the human thigh is fixed to the thigh drive mechanism by the straps;

[0028] The other two straps are installed on the two opposite sides of the lower leg connector, and the human lower leg is fixed to the lower leg drive mechanism by the straps;

[0029] Two other straps are installed on two opposite sides of the sole, and the human foot is fixed to the foot support mechanism by the straps.

[0030] Furthermore, the hip height adjustment device includes: a height adjustment assembly and a center of gravity floating device;

[0031] The center of gravity floating device is mounted on the height adjustment assembly, which is used to make initial adjustments to the height of the center of gravity floating device.

[0032] Furthermore, the center of gravity floating device includes: a U-shaped frame, a hip connecting rod, and one or more guide rails;

[0033] The U-shaped frame is mounted on the height adjustment assembly, and the guide rail is mounted on the U-shaped frame, with the guide rail arranged in the vertical direction;

[0034] The hip connecting rod consists of a long rod and a mounting plate; the mounting plate is located at one end of the long rod and is fixedly connected to the connection between the lumbar support and the hip joint connecting plate; the long rod has several through holes that are evenly arranged side by side along the length of the long rod; the hip connecting rod is installed on the guide rail through the through holes and floats up and down along the guide rail.

[0035] Furthermore, the center of gravity floating device also includes several copper sleeves;

[0036] Each through hole of the hip connecting rod is fitted with a copper sleeve; the hip connecting rod with the copper sleeve is mounted on the guide rail, and the through hole of the hip connecting rod with the copper sleeve and the guide rail are clearance fit.

[0037] Furthermore, the height adjustment assembly includes: a bearing plate, a support base, a motor mounting plate, a slider, a profile, a lead screw, a coupling, a motor, one or more square rails, and two bearings;

[0038] The bearing plate is installed at the top of the profile, and the bearing plate has a mounting hole a; the motor c fixing plate is installed at the bottom of the profile; the motor fixing plate has a mounting hole c, and the mounting hole c is coaxial with the mounting hole a.

[0039] One or more of the square rails are installed on the side of the profile, and each square rail is arranged in a vertical direction; the two ends of each square rail abut against the bearing plate and the motor fixing plate, respectively.

[0040] The support base is fixed to the side of the profile equipped with square rails and close to the motor mounting plate; the support base has a mounting hole b, and the mounting hole b is coaxial with the mounting hole a.

[0041] The lead screw is located between the bearing plate and the support seat, and the lead screw is arranged in a vertical direction; the two ends of the lead screw are respectively installed on the mounting hole a of the bearing plate and the mounting hole b of the support seat through two bearings, and there is relative rotation between the lead screw and the bearing plate and the support seat.

[0042] The slider is located between the bearing plate and the support seat and is mounted on the lead screw, while the slider is slidably connected to the square rail; the slider is machined with internal threads, and the internal threads of the slider are engaged with the threads of the lead screw.

[0043] The motor c is fixedly mounted on the motor mounting plate, and the output shaft of the motor c passes through the mounting hole c of the motor mounting plate and is coaxially connected to the lead screw through a coupling; the motor c is used to drive the lead screw to rotate.

[0044] The U-shaped frame of the center of gravity floating device is mounted on the slider of the height adjustment device.

[0045] Beneficial effects:

[0046] (1) The present invention provides a steplessly adjustable lower limb exoskeleton robot, comprising: a lumbar support, two hip height adjustment devices, and two exoskeleton devices. The thigh drive mechanism adjusts its length through length adjustment component a, and the lower leg drive mechanism adjusts its length through length adjustment component b. The lower limb exoskeleton robot achieves stepless adjustment of the length of the thigh drive mechanism and the lower leg drive mechanism within a certain range through the two length adjustment components, so that the thigh drive mechanism and the lower leg drive mechanism can perfectly adapt to the thigh and lower leg lengths of different wearers, avoiding secondary injury to the patient caused by unsuitable length, and achieving better rehabilitation training effect. The hip height adjustment device is used to adjust the height of the exoskeleton robot so that the exoskeleton robot conforms to the center height change of the human body when walking, which can further improve the rehabilitation training effect.

[0047] (2) The present invention provides a steplessly adjustable lower limb exoskeleton robot, wherein the outer thread of the sleeve is machined with one or more grooves along the ridge line of the frustum section, and the radius of the large diameter end of the conical thread hole in the inner cylinder is smaller than the radius of the large diameter end of the frustum section of the sleeve. The cylinder can be screwed onto the sleeve, and as the cylinder is screwed in, the threads on both sides of the groove on the sleeve approach each other, thereby achieving a locking effect.

[0048] (3) The present invention provides a steplessly adjustable lower limb exoskeleton robot, wherein motor a drives the thigh connector and hip joint connector to rotate relative to each other, motor b drives the lower leg connector and knee joint connector to rotate relative to each other, and the foot connector is hinged to the ankle joint connector. Motor a, motor b and the hinge point correspond to the human hip joint, knee joint and ankle joint respectively, so that the lower limb exoskeleton robot can correspond to the rotation of the human hip joint, knee joint and ankle joint.

[0049] (4) The present invention provides a steplessly adjustable lower limb exoskeleton robot, including a hip height adjustment device and an exoskeleton device. The hip height adjustment device includes a height adjustment component and a center of gravity floating device. In the center of gravity floating device, the hip connecting rod can float up and down along the guide rail. The center of gravity floating device enables the lower limb exoskeleton robot to float up and down within a certain range as the patient's hip moves up and down when walking. Since this floating conforms to the characteristics of the change in center of gravity height when the human body walks, it can further improve the effect of rehabilitation training.

[0050] (5) The present invention provides a steplessly adjustable lower limb exoskeleton robot with a gap fit between the through hole of the hip connecting rod equipped with a copper sleeve and the guide rail. The use of the copper sleeve can reduce friction, prevent wear on the hip connecting rod and the guide rail, and extend the service life of the lower limb exoskeleton robot.

[0051] (6) The present invention provides a steplessly adjustable lower limb exoskeleton robot. In the height adjustment component, the two ends of the lead screw are respectively mounted on the bearing plate and the support seat through two bearings. There is relative rotation between the lead screw and the bearing plate and the support seat. The slider is mounted on the lead screw and simultaneously slidably connected to the square rail. The internal thread of the slider is engaged with the thread of the lead screw. The height adjustment component makes the height of the lower limb exoskeleton robot suitable for different patients. Attached Figure Description

[0052] Figure 1 This is a schematic diagram of the connection structure of the present invention;

[0053] Figure 2 This is a schematic diagram of the exoskeleton device of the present invention;

[0054] Figure 3 This is a schematic diagram of the hip height adjustment device of the present invention;

[0055] Among them, 1-hip height adjustment device, 2-exoskeleton device, 3-lumbar support, 4-strap, 5-hip joint connecting plate, 6-thigh connector, 7-knee joint connector, 8-lower leg connector, 9-ankle joint connector, 10-foot connecting plate, 11-shoe sole, 12-motor, 13-outer rod, 14-inner rod, 15-sleeve, 16-rotating cylinder, 17-bearing plate, 18-support seat, 19-motor fixing plate, 20-bearing, 21-slider, 22-profile, 23-square rail, 24-lead screw, 25-coupling, 26-guide rail, 27-U-shaped frame, 28-hip connecting rod, 29-copper sleeve. Detailed Implementation

[0056] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0057] This embodiment provides a wearable lower limb exoskeleton robot, such as Figure 1 As shown, it includes: a lumbar support 3, two hip height adjustment devices 1, two exoskeleton devices 2 and several straps 4;

[0058] The lumbar support 3 is used to support the human waist; two straps 4 are installed at both ends of the lumbar support 3, and the human waist is fixed to the lumbar support 3 by the straps 4.

[0059] The two exoskeleton devices 2 are respectively installed on the left and right ends of the waist support 3;

[0060] like Figure 2 As shown, each of the exoskeleton devices 2 includes: a hip joint connecting plate 5, a thigh connector 6, a knee joint connector 7, a calf connector 8, an ankle joint connector 9, a foot connecting plate 10, a shoe sole 11, two length adjustment components, and two motors 12;

[0061] The two hip joint connecting plates 5 of the exoskeleton device 2 are fixedly connected to the two ends of the waist support 3 respectively, and the joint between the hip joint connecting plates 5 and the waist support 3 is located at the human hip joint.

[0062] The thigh connector 6 is integrally formed from a flat plate a and a sleeve a, with the open end of the sleeve a facing vertically downwards.

[0063] Both motors 12 are rotary motors, and are referred to as motor a and motor b respectively. The housing of motor a is fixed on the plate a of the thigh connector 6, and the output shaft of motor a is fixedly connected to the hip joint connecting plate 5. Motor a is used to drive the thigh connector 6 and the hip joint connecting plate 5 to rotate relative to each other. Motor a corresponds to the human hip joint.

[0064] The other two straps 4 are installed on the two opposite sides of the thigh connector 6, and the human thigh is fixed to the thigh connector 6 by the straps 4;

[0065] Both length adjustment components consist of an outer rod 13, an inner rod 14, a sleeve 15, and a rotating cylinder 16;

[0066] The outer rod 13 is a cylindrical structure, and the inner rod 14 is a circular rod; the radius of the inner rod 14 is smaller than the inner diameter of the outer rod 13, and the difference between the radius of the inner rod 14 and the inner diameter of the outer rod 13 is 1mm; one end of the inner rod 14 is inserted into one end of the outer rod 13.

[0067] The sleeve 15 is integrally formed from a cylindrical section and a frustum section, with the large-diameter end of the frustum section coaxially intersecting with one end of the cylindrical section. The frustum section has an external thread, and one or more grooves are machined along the edge of the frustum section on the external thread. The inner diameter of the cylindrical section of the sleeve 15 is larger than the outer diameter of the outer rod 13, and the inner diameter of the small-diameter end of the frustum section of the sleeve 15 is larger than the radius of the inner rod 14. The small-diameter end of the frustum section of the sleeve 15 is vertically fitted downwards at the insertion point of the inner rod 14 and the outer rod 13, with the frustum section of the sleeve 15 located outside the inner rod 14. The cylindrical section is located outside the outer rod 13; the inner diameter of the cylindrical section of the sleeve 15 is larger than the outer diameter of the outer rod 13, and the difference between the inner diameter of the cylindrical section of the sleeve 15 and the outer diameter of the outer rod 13 is 1mm; the inner diameter of the small diameter end of the frustum section of the sleeve 15 is larger than the radius of the inner rod 14, and the difference between the inner diameter of the small diameter end of the frustum section of the sleeve 15 and the radius of the inner rod 14 is 1mm; the sleeve 15 is made of resin material and can deform; in this embodiment, four grooves are machined on the external thread of the frustum section of the sleeve 15, and the four grooves are evenly distributed circumferentially on the side wall of the frustum section.

[0068] The rotating cylinder 16 is machined with an internal tapered thread hole; the internal tapered thread hole of the rotating cylinder 16 and the external thread of the sleeve 15 are threaded together to lock and fix the outer rod 13 and the inner rod 14; the slope of the internal tapered thread hole of the rotating cylinder 16 is consistent with the slope of the frustum section of the sleeve 15; the radius of the large diameter end of the internal tapered thread hole of the rotating cylinder 16 is smaller than the radius of the large diameter end of the frustum section of the sleeve 15, and the difference between the radius of the large diameter end of the internal tapered thread hole of the rotating cylinder 16 and the radius of the large diameter end of the frustum section of the sleeve 15 is 1mm, which can tighten the rotating cylinder 16 onto the sleeve 15; and as the rotating cylinder 16 is screwed in, the resin material sleeve 15 deforms, and the threads on both sides of the groove on the sleeve 15 move closer to each other, thereby improving the locking effect;

[0069] Let the two length adjustment components be length adjustment component a and length adjustment component b, respectively; the other end of the outer rod 13 of the length adjustment component a is inserted into the sleeve a of the thigh connector 6 and fixed by bolts;

[0070] The knee joint connector 7 is integrally formed from a flat plate b and a sleeve b, with the open end of the sleeve b facing vertically upward; the sleeve b is fitted onto the other end of the inner rod 14 of the length adjustment component a and fixed by bolts.

[0071] The lower leg connector 8 is integrally formed from a flat plate c and a sleeve c, with the open end of the sleeve c facing vertically downwards.

[0072] The outer casing of the motor b is fixed on the plate c of the lower leg connector 8, and the output shaft of the motor b is fixedly connected to the plate b of the knee joint connector 7; the motor b is used to drive the lower leg connector 8 and the knee joint connector 7 to rotate relative to each other; the motor b corresponds to the human knee joint.

[0073] The other two straps 4 are installed on the two opposite sides of the lower leg connector 8, and the human lower leg is fixed to the lower leg connector 8 by the straps 4;

[0074] The other end of the outer rod 13 of the length adjustment component b is inserted into the sleeve c of the lower leg connector 8 and fixed by bolts;

[0075] The ankle joint connector 9 is integrally formed from a flat plate d and a sleeve d, with the open end of the sleeve d facing vertically upward; the sleeve d is fitted onto the other end of the inner rod 14 of the length adjustment component b and fixed by bolts;

[0076] The foot connecting plate 10 is hinged to the ankle joint connector 9 by bolts. The hinge point corresponds to the human ankle joint. There is relative rotation between the foot connecting plate 10 and the ankle joint connector 9.

[0077] The sole 11 is fixedly connected to the foot connecting plate 10 by bolts;

[0078] The other two straps 4 are installed on two opposite sides of the sole 11 to secure the human foot;

[0079] The lengths of the outer rod 13 and inner rod 14 of the length adjustment component a are greater than the lengths of the outer rod 13 and inner rod 14 of the length adjustment component b;

[0080] In the exoskeleton device 2, the thigh connector 6, motor a, length adjustment component a, and knee joint connector 7 form a thigh drive mechanism; the calf connector 8, motor b, length adjustment component b, and ankle joint connector 9 form a calf drive mechanism; and the foot joint connector 10 and shoe sole 11 form a foot support mechanism. The thigh drive mechanism supports and drives the patient's thigh movement, the calf drive mechanism supports and drives the patient's calf movement, and the foot support mechanism supports the patient's leg. The exoskeleton device 2 can support patients with impaired lower limb mobility for rehabilitation training. It can drive the patient's thigh and calf to walk through the thigh drive mechanism, calf drive mechanism, and foot support mechanism, which helps patients with rehabilitation training. In this embodiment, the exoskeleton device 2 adjusts the length of the thigh drive mechanism through the length adjustment component a and adjusts the length of the calf drive mechanism through the length adjustment component b. Both the length adjustment components a and b adopt a stepless adjustment method, which can be adjusted to the required length according to the length of the patient's thigh and calf, making the exoskeleton device 2 suitable for different patients and avoiding secondary injury to the patient due to misalignment of the joint positions.

[0081] The hip height adjustment device 1 is installed at the junction of the lumbar support 3 and the hip joint connecting plate 5;

[0082] like Figure 3 As shown, the hip height adjustment device 1 includes: a height adjustment component and a center of gravity floating device;

[0083] The height adjustment assembly includes: a bearing plate 17, a support base 18, a motor fixing plate 19, a slider 21, a profile 22, a lead screw 24, a coupling 25, a motor c, one or more square rails 23, and a bearing 20.

[0084] The bearing plate 17 is installed on the top end of the profile 22 by screws, and a mounting hole a is machined on the bearing plate 17; the motor fixing plate 19 is installed on the bottom end of the profile 22 by screws; a mounting hole c is machined on the motor fixing plate 19, and the mounting hole c is coaxial with the mounting hole a.

[0085] One or more of the square rails 23 are installed on the side of the profile by screws, and each square rail 23 is arranged in a vertical direction; the two ends of each square rail 23 respectively abut against the bearing plate 17 and the motor fixing plate 19; in this embodiment, the number of square rails 23 is two.

[0086] The support base 18 is fixed to the side of the profile 22 with the square rail 23 by screws, and is close to the motor mounting plate 19; the support base 18 has a mounting hole b, and the mounting hole b is coaxial with the mounting hole a; the lead screw 24 is located between the bearing plate 17 and the support base 18, and the lead screw 24 is arranged vertically; one end of the lead screw 24 is mounted in the mounting hole a of the bearing plate 17 through a bearing 20, and the other end of the lead screw 24 is mounted in the mounting hole b of the support base 18 through another bearing 20, and the lead screw 24 can rotate relative to the bearing plate 17 and the support base 18 respectively; the slider 21 is located at The bearing plate 17 and the support seat 18 are mounted on the lead screw 24, while the slider 21 is slidably connected to the square rail 23. The slider 21 is machined with internal threads, which are threaded with the lead screw 24. As the lead screw 24 rotates, the slider 21 moves up and down along the square rail 23 between the bearing plate 17 and the support seat 18. The position of the slider 21 can be set according to the height of the patient's hip joint from the ground, which is used to initially adjust the height of the center of gravity floating device. After the height is adjusted, the slider 21 is fixed and locked to the profile 22 with screws to prevent the height of the slider 21 from changing during use.

[0087] The motor c is fixedly mounted on the motor mounting plate 19. The output shaft of the motor c passes through the mounting hole c of the motor mounting plate 19 and is coaxially connected to the lead screw 24 through the coupling 25. The motor c is used to drive the lead screw 24 to rotate.

[0088] The center of gravity floating device is fixedly installed on the slider 21 by screws; the center of gravity floating device includes: U-shaped frame 27, hip connecting rod 28, one or more guide rails 26 and several copper sleeves 29;

[0089] The U-shaped frame 27 of the center of gravity floating device is fixedly installed on the slider 21 by screws. The U-shaped frame 27 consists of a support base and two mounting plates. The support base is arranged vertically, and the two mounting plates are arranged horizontally and installed at the top and bottom of the support base, respectively. The two mounting plates are used to install guide rails 26. One or more guide rails 26 are respectively installed on the two mounting plates at both ends. In this embodiment, the guide rails 26 are preferably two.

[0090] The hip connecting rod 28 consists of a long rod and a mounting plate. The mounting plate is located at one end of the long rod and is fixedly connected to the connection between the waist support 3 and the hip joint connecting plate 5. Several through holes are machined on the long rod and are evenly arranged side by side along the length of the long rod. Several copper sleeves 29 are installed in the through holes on the hip connecting rod 28. The hip connecting rod 28 is installed on the guide rail 26 through the through holes containing the copper sleeves 29, and the copper sleeves 29 and the guide rail 26 are in clearance fit. The copper sleeves 29 are used to reduce friction and prevent wear on the guide rail 26 or the hip connecting rod 15. In this embodiment, by using two guide rails 26, the stability of the hip connecting rod 28 when moving up and down is improved without affecting the adjustment effect of the hip connecting rod 28.

[0091] The hip connecting rod 28 rests against the patient's waist via the waist connecting rod 16. The hip connecting rod 28 moves up and down along the two guide rails 26 as the patient's center of gravity changes while walking, and drives the waist connecting rod 16 to move up and down.

[0092] Working principle:

[0093] When a person walks, the hips move up and down, causing a change in the height of the body's center of gravity. The up-and-down movement of the hips also causes the waist to move up and down.

[0094] In this embodiment, the waist support 3 and hip joint connecting plate 5 of the lower limb exoskeleton robot are connected to the waist of the patient's body through straps 4. The height of the waist support 3 and hip joint connecting plate 5 from the ground can be changed according to the change of the patient's center of gravity height during walking.

[0095] The opposite surface of the hip joint connecting plate 5, which is connected to the hip connecting rod 28 of the center of gravity floating device, abuts against the patient's waist. The patient's waist moves up and down according to the change in the center of gravity height when the patient walks. The hip connecting rod 28 can move up and down with the change in the center of gravity of the human body, driving the waist support 3 of the exoskeleton device 2 to move up and down, so that the movement of the lower limb exoskeleton robot conforms to the characteristics of the change in the center of gravity height when the human body walks. Therefore, the lower limb exoskeleton robot in this embodiment can ensure that the joint of the lower limb exoskeleton robot and the human body can be completely aligned even when the human body is walking, which can improve the rehabilitation training effect.

[0096] In this embodiment, the thigh drive mechanism contacts the human thigh, the calf drive mechanism contacts the human calf, and the foot support mechanism contacts the human foot. The length of the thigh drive mechanism of the exoskeleton device 2 can be adjusted by the length adjustment component a, and the length of the calf drive mechanism can be adjusted by the length adjustment component b. The length adjustment of both the length adjustment components a and b is achieved through the cooperation between the outer rod 13, the inner rod 14, the sleeve 15, and the rotating cylinder 16. The inner rod 14 is inserted into the outer rod 13, and as the inner rod 14 moves up and down within the outer rod 13 and is locked in place by the sleeve 15 and the rotating cylinder 16, it can be positioned at any length. The lengths of the thigh drive mechanism and the calf drive mechanism adjusted by the length adjustment components a and b are closer to the actual lengths of the patient's thigh and calf, so that the motors a and b located on the thigh drive mechanism and the calf drive mechanism can fit more perfectly with the patient's hip and knee joints, further improving the rehabilitation training effect for the patient and preventing secondary injury to the patient due to misalignment of the joints.

[0097] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A steplessly adjustable lower limb exoskeleton robot, characterized in that, include: Lumbar support (3), two hip height adjustment devices (1) and two exoskeleton devices (2); The exoskeleton device (2) includes: a hip joint connecting plate (5), a thigh drive mechanism, a lower leg drive mechanism, and a foot support mechanism; Two hip joint connecting plates (5) are fixedly connected to the two ends of the waist support (3); the hip joint connecting plate (5) is rotatably connected to the thigh drive mechanism, the thigh drive mechanism is rotatably connected to the calf drive mechanism, and the foot support mechanism is rotatably connected to the calf drive mechanism. The thigh drive mechanism adjusts its length via length adjustment component a, and the calf drive mechanism adjusts its length via length adjustment component b; both adjustment components a and b can achieve stepless adjustment of the length of the thigh drive mechanism and the calf drive mechanism. The hip height adjustment device (1) is installed at the junction of the waist support (3) and the hip joint connecting plate (5) to adjust the height of the exoskeleton robot so that the exoskeleton robot conforms to the change in center of gravity height when the human body walks. The hip height adjustment device includes: a height adjustment component and a center of gravity floating device; the center of gravity floating device is mounted on the height adjustment component, and the height adjustment component is used to make preliminary adjustments to the height of the center of gravity floating device; The center of gravity floating device includes: a U-shaped frame (27), a hip connecting rod (28), and one or more guide rails (26). The U-shaped frame (27) is mounted on the height adjustment assembly, and the guide rail (26) is mounted on the U-shaped frame (27), and the guide rail (26) is set in the vertical direction; The hip connecting rod (28) consists of a long rod and a mounting plate; the mounting plate is located at one end of the long rod and is fixedly connected to the connection between the waist support (3) and the hip joint connecting plate (5); the long rod has several through holes that are evenly arranged side by side along the length of the long rod; the hip connecting rod (28) is installed on the guide rail (26) through the through holes, and the hip connecting rod (28) floats up and down along the guide rail (26); The center of gravity floating device also includes several copper sleeves (29). Each through hole of the hip connecting rod (28) is fitted with a copper sleeve (29); the hip connecting rod (28) fitted with the copper sleeve (29) is mounted on the guide rail (26), and the through hole of the hip connecting rod fitted with the copper sleeve (29) and the guide rail (26) are clearance fit.

2. The steplessly adjustable lower limb exoskeleton robot as described in claim 1, characterized in that, Both the length adjustment component a and the length adjustment component b are composed of an outer rod (13), an inner rod (14), a sleeve (15), and a rotating cylinder (16); The outer rod (13) is a cylindrical structure, and the inner rod (14) is a circular rod. One end of the inner rod (14) is inserted into one end of the outer rod (13). The sleeve (15) is integrally formed from a cylindrical section and a frustum section. The large-diameter end of the frustum section is coaxially intersected with one end of the cylindrical section. The frustum section is machined with external threads. The sleeve (15) is fitted onto the insertion point of the outer rod (13) and the inner rod (14). The frustum section of the sleeve (15) is located outside the inner rod (14), and the cylindrical section of the sleeve (15) is located outside the outer rod (13). The external threads of the sleeve (15) are machined with one or more grooves along the edge of the frustum section. The rotary cylinder (16) is machined with an internal tapered thread hole, which is threaded with the external thread of the sleeve (15); the rotary cylinder (16) and the sleeve (15) cooperate to lock and fix the outer rod (13) and the inner rod (14); the slope of the internal tapered thread hole of the rotary cylinder (16) is consistent with the slope of the frustum section of the sleeve (15); the radius of the large diameter end of the internal tapered thread hole of the rotary cylinder (16) is smaller than the radius of the large diameter end of the frustum section of the sleeve (15).

3. The steplessly adjustable lower limb exoskeleton robot as described in claim 1, characterized in that, In addition to the length adjustment component a, the thigh drive mechanism also includes: a thigh connector (6), a knee joint connector (7), and a motor a; In addition to the length adjustment component b, the lower leg drive mechanism also includes: a lower leg connector (8), an ankle joint connector (9), and a motor b; The foot support mechanism includes: a foot connecting plate (10) and a shoe sole (11); The outer casing of motor a is fixed on the thigh connector (6), and the output shaft of motor a is fixedly connected to the hip joint connecting plate (5). Motor a is used to drive the thigh connector (6) and the hip joint connecting plate (5) to rotate relative to each other. Motor a corresponds to the hip joint of the human body. The outer casing of the motor b is fixed on the lower leg connector (8), and the output shaft of the motor b is fixedly connected to the knee joint connector (7). The motor b is used to drive the lower leg connector (8) and the knee joint connector (7) to rotate relative to each other. The motor b corresponds to the human knee joint. The foot connecting plate (10) is hinged to the ankle joint connector (9), and the shoe sole (11) is fixed to the foot connecting plate (10); the hinge point between the foot connecting plate (10) and the ankle joint connector (9) corresponds to the ankle joint of the human body.

4. The steplessly adjustable lower limb exoskeleton robot as described in claim 3, characterized in that, The thigh connector (6) is integrally formed from a flat plate a and a sleeve a, with the open end of the sleeve a facing vertically downwards; The other end of the outer rod (13) of the length adjustment component a is inserted into the sleeve a of the thigh connector (6) and fixedly connected to the sleeve a; The knee joint connector (7) is integrally formed from a flat plate b and a sleeve b, with the open end of the sleeve b facing vertically upward; the sleeve b is fitted onto the other end of the inner rod (14) of the length adjustment component a; The lower leg connector (8) is integrally formed from a flat plate c and a sleeve c, with the open end of the sleeve c facing vertically downwards; the other end of the outer rod (13) of the length adjustment component b is inserted into the sleeve c of the lower leg connector (8) and fixedly connected to the sleeve c. The ankle joint connector (9) is integrally formed from a flat plate d and a sleeve d, with the open end of the sleeve d facing vertically upward; the sleeve d is fitted onto the other end of the inner rod (14) of the length adjustment component b.

5. A steplessly adjustable lower limb exoskeleton robot as described in claim 3 or 4, characterized in that, The lower limb exoskeleton robot also includes several straps (4); Two straps (4) are installed at both ends of the waist support (3), and the waist of the human body is fixed to the waist support (3) by the straps (4); Two other straps (4) are installed on the two opposite sides of the thigh connector (6), and the human thigh is fixed to the thigh drive mechanism by the straps (4); The other two straps (4) are installed on the two opposite sides of the lower leg connector (8), and the human lower leg is fixed to the lower leg drive mechanism by the straps (4); Two other straps (4) are installed on the two opposite sides of the sole (11), and the human foot is fixed to the foot support mechanism by the straps (4).

6. The steplessly adjustable lower limb exoskeleton robot as described in claim 1, characterized in that, The height adjustment assembly includes: a bearing plate (17), a support base (18), a motor fixing plate (19), a slider (21), a profile (22), a lead screw (24), a coupling (25), a motor, one or more square rails (23), and two bearings (20). The bearing plate (17) is installed on the top of the profile (22), and the bearing plate has a mounting hole a; the motor c fixing plate is installed on the bottom of the profile (22); the motor fixing plate (19) has a mounting hole c, and the mounting hole c is coaxial with the mounting hole a; One or more of the square rails (23) are installed on the side of the profile (22), and each square rail (23) is arranged in a vertical direction; the two ends of each square rail (23) abut against the bearing plate (17) and the motor fixing plate (19) respectively. The support base is fixed on the side of the profile (22) with the square rail (23) and close to the motor fixing plate (19); the support base has a mounting hole b, and the mounting hole b is coaxial with the mounting hole a; The lead screw (24) is located between the bearing plate (17) and the support seat (18), and the lead screw (24) is arranged in a vertical direction; the two ends of the lead screw (24) are respectively installed on the mounting hole a of the bearing plate (17) and the mounting hole b of the support seat (18) through two bearings (20), and there is relative rotation between the lead screw (24) and the bearing plate (17) and the support seat (18); The slider (21) is located between the bearing plate (17) and the support seat (18) and is mounted on the lead screw (24). At the same time, the slider (21) is slidably connected to the square rail (23). The slider (21) is machined with an internal thread, and the internal thread of the slider (21) is threaded with the lead screw (24). The motor c is fixedly installed on the motor mounting plate (19). The output shaft of the motor c passes through the mounting hole c of the motor mounting plate (19) and is coaxially connected to the lead screw (24) through the coupling (25). The motor c is used to drive the lead screw (24) to rotate. The U-shaped frame (27) of the center of gravity floating device is mounted on the slider (21) of the height adjustment device.

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