Hip joint direct drive and knee joint line drive coupled active weight-bearing walking exoskeleton

Abstract

The application discloses a kind of hip joint direct drive and knee joint line drive coupling active weight-bearing walking exoskeleton, the waist back component of the exoskeleton is worn on human back, top end is used to hang the weight;Bowden wire reel is fixedly connected with the output shaft of knee joint motor;Two hip joint components are respectively connected to the two sides of waist back component terminal, so that hip joint component is adapted with human hip joint;Hip joint component includes hip joint motor and is used for wearing in human thigh thigh plate;Hip joint motor provides power for the flexion and extension movement of swing leg hip joint;Knee joint component includes symmetrically and is used for wearing in human calf calf plate;Bowden wire is connected between bowden wire reel and calf plate;Lower part of foot component is connected to knee joint component.The exoskeleton can provide active power for wearer at hip joint and knee joint, and can provide greater tension to knee joint, and load gravity can be better transmitted to ground by straightening knee joint, help human to save physical strength.

Description

Technical Field

[0001] This invention relates to the field of assistive exoskeleton robot technology, specifically to an active weight-bearing assistive walking exoskeleton with direct drive at the hip joint and linear drive at the knee joint. Background Technology

[0002] In the civilian sector, active weight-bearing walking exoskeletons can help firefighters bear greater weight during rescue operations. They also actively assist the hip and knee joints during walking, saving energy and enabling faster rescue operations. They can also improve workers' load-bearing capacity and reduce spinal damage from prolonged heavy lifting. In the medical field, active weight-bearing walking exoskeletons can help medical personnel reduce the pressure of carrying patients and improve work efficiency. In the military field, active weight-bearing walking exoskeletons can help soldiers carry more weapons and ammunition, improving their combat capabilities and protection levels, enabling them to cope with various complex environments, and conserving their energy.

[0003] Currently, exoskeletons are mainly divided into two categories. One type provides joint assistance to help disabled people and lower limb paralyzed patients walk. This type of exoskeleton can provide auxiliary torque to the moving joints, reducing the force exerted by muscles during movement. The other type is a weight-bearing walking exoskeleton that improves load-bearing capacity and reduces the pressure on the wearer's back. This type of exoskeleton uses a rigid structure to transfer the load to the ground, allowing the wearer to bear greater weight. Existing weight-bearing walking exoskeletons include powered and unpowered types. Powered exoskeletons mainly use a sensor system to detect joint angles and plantar pressure information, and use electric motors, hydraulic drives, or pneumatic drives to provide power for the movement of the exoskeleton. Unpowered exoskeletons do not contain energy systems, drive systems, and control systems. They rely solely on their own structure to convert the load into the force between the wearer and the exoskeleton. This can reduce the weight of the exoskeleton and improve reliability, and it is gradually playing an important role in the development of exoskeletons.

[0004] Although active weight-bearing walking exoskeletons can transfer weight to the ground through their structure, reducing the burden on the human body, and can also provide assistance during walking, saving the human body's energy, the human body's physiological structure is relatively complex, making it difficult to achieve a good match between the exoskeleton and the human body. Inappropriate design will increase local pressure on the human body's shoulders, back, waist, and lower limbs, causing discomfort to the wearer when walking with weight for a long time. Summary of the Invention

[0005] This invention provides an active weight-bearing walking exoskeleton with direct drive at the hip joint and linear drive at the knee joint. The exoskeleton can provide active assistance to the wearer at the hip and knee joints. Moreover, the use of Bowden linear drive can provide greater traction to the knee joint. Straightening the knee joint can better transfer the load to the ground and help the human body save energy.

[0006] The present invention adopts the following specific technical solution:

[0007] An active weight-bearing walking exoskeleton with direct drive at the hip joint and linear drive at the knee joint, the exoskeleton includes a lumbar and back assembly, two hip joint assemblies, two knee joint assemblies, and foot assemblies corresponding to the knee joint assemblies.

[0008] The back support assembly is designed to be worn on the back of the human body, with the top end for hanging weights; the back support assembly includes knee joint motors on the lower left and right sides and Bowden cable reels; the Bowden cable reels are fixedly connected to the output shafts of the knee joint motors; Bowden cable is wound on the Bowden cable reels;

[0009] The two hip joint components are respectively connected to both sides of the end of the lumbar and back component, so that the rotation center of the hip joint component is adapted to the human hip joint; the hip joint component includes a hip joint motor fixedly installed on the lumbar and back component and a thigh plate for wearing on the human thigh; the hip joint motor provides assistance for the flexion and extension movement of the swinging leg hip joint;

[0010] The two knee joint components are symmetrically arranged and connected to the hip joint component, and include a calf plate for wearing on the lower leg.

[0011] One end of the Bowden line is fixedly connected to the Bowden line reel, and the other end is fixedly connected to the calf plate to provide assistance for knee joint extension; when the knee joint motor rotates, it drives the Bowden line reel to rotate, thereby driving the Bowden line wound on the Bowden line reel to achieve the winding and unwinding of the line;

[0012] The foot assembly is connected to the lower part of the corresponding knee joint assembly for wearing on the ankle joint of the human body and is connected to the shoe fixation, thereby transferring the weight-bearing force to the ground.

[0013] Furthermore, the lumbar and back assembly includes a back plate, a back plate connecting plate, a lumbar plate, a back support plate, a control box, and a knee joint motor protective shell;

[0014] The back plate and the back plate connecting plate form a rotating pair; a knee joint motor is respectively installed on the lower left and right sides of the back plate;

[0015] The upper half of the back panel connecting plate has a V-shaped structure, with first straight slots on both sides of the upper end for fixing the shoulder straps to facilitate the user's wearing, and grooves on the left and right sides for fixing the shoulder straps.

[0016] The two waist plates are worn on the left and right sides of the waist, and the lower end is provided with two rows of second straight slots for passing through the waist belt and the shoulder strap respectively; the two waist plates are adjustablely installed on the back plate, and the position of the waist plates can be adjusted to adapt to the width of the waist;

[0017] The back plate is fixedly connected to a spool protective cover for the Bowden spool;

[0018] The back support plate is fixedly connected to the bottom of the back plate connecting plate and is used to support the load;

[0019] The main control box is fixedly installed below the back support plate. The main control box contains a main control board and a battery. The main control board is used to receive and send control signals.

[0020] The knee joint motor protective shell is fixedly installed on the back plate to prevent the knee joint motor from being affected during operation; the knee joint motor protective shell is provided with small holes for the Bowden wire to pass through;

[0021] The waist plate is equipped with a power switch button and a gear adjustment button. The power switch button is used to control the on / off state of the exoskeleton system, and the gear adjustment button is used to set the level of assistance for the hip and knee joints.

[0022] Furthermore, both the back plate and the back plate connecting plate are provided with connecting holes and are rotatably connected together by a pin passing through the connecting holes;

[0023] The back panel is provided with guide grooves; the two waist plates are installed on the back panel through the guide grooves, and the waist width is adjusted by the position of the waist plates in the guide grooves.

[0024] The back support plate is fixedly connected to the back plate connecting plate by countersunk screws;

[0025] The main control box is fixedly mounted to the back support plate using countersunk screws;

[0026] The knee joint motor protective shell is fixedly installed to the back plate by screws;

[0027] The Bowden cable reel is fixedly connected to the output shaft of the knee joint motor by screws.

[0028] Furthermore, the hip joint assembly also includes a hip joint motor protective housing and a hip joint adjuster;

[0029] Both the hip joint motor and the hip joint motor protective shell are fixedly installed on the waist plate;

[0030] The hip joint motor protective shell covers the outer periphery of the hip joint motor to protect the hip joint motor from being affected during use.

[0031] The top end of the hip joint adjuster is fixedly connected to the output shaft of the hip joint motor and forms a rotating pair with the waist plate to match the flexion and extension freedom of the wearer's hip joint; the bottom end of the hip joint adjuster is height-adjustably connected to the thigh plate to adjust the position of the thigh plate to accommodate people of different heights.

[0032] Furthermore, the hip joint motor protective shell is provided with a connection hole for fixed connection to the end of the waist plate, and the hip joint motor protective shell is installed on the waist plate by screws passing through the connection hole;

[0033] The hip joint adjuster is fixedly connected to the output shaft of the hip joint motor by screws;

[0034] The bottom end of the hip joint adjuster is provided with a guide rail that is connected to the thigh plate;

[0035] The thigh plate can be adjusted in position by sliding along the guide rail to accommodate people of different heights.

[0036] Furthermore, the knee joint assembly also includes a knee joint slide cover and a calf-high connection;

[0037] The thigh and calf connecting pieces form a rotating pair with both the thigh plate and the calf plate to match the flexion and extension freedom of the wearer's knee joint;

[0038] The upper and lower leg connector is provided with a pin to limit the upper side of the lower leg plate, which is used to prevent the exoskeleton from damaging the knee joint during the assistance process.

[0039] The two sides of the knee joint sliding cover form a rotating pair with the thigh and calf connecting parts;

[0040] The Bowden line passes through the knee joint slide.

[0041] Furthermore, the calf plate is provided with a straight groove for fixing it to the human calf by binding;

[0042] A wire clamp is fixedly installed on the upper end of the lower leg plate, and the wire clamp is fixedly connected to the Bowden wire.

[0043] Furthermore, the foot assembly includes an ankle joint connector and an ankle joint support base;

[0044] The ankle joint connector consists of an upper end and a lower end that are hinged together in the middle to form a rotating joint, which is used to match the degree of freedom of the ankle joint in the flexion and extension direction; the upper end is provided with multiple rows of through holes that can be fixedly connected to the calf plate, and the through holes are used to adjust the connection height with the calf plate to match wearers with different calf heights;

[0045] The ankle joint support base is hinged to the bottom end of the lower end via a pin, forming a rotating pair that matches the adduction and abduction degrees of freedom of the human ankle joint. The bottom end is fixed to the outside of the shoe sole by screws.

[0046] Beneficial effects:

[0047] The exoskeleton of this invention uses a direct-drive motor for the hip joint and a Bowden wire drive for the knee joint, which can provide active assistance to the wearer at the hip and knee joints, and can provide greater traction to the knee joint to straighten it, which can better transfer the load to the ground and help the human body save energy.

[0048] Compared with existing active load-bearing exoskeletons, the exoskeleton design of this invention is simpler and can better improve the wearer's work efficiency. Attached Figure Description

[0049] Figure 1 A three-dimensional structural diagram of an active weight-bearing assistive walking exoskeleton coupled with direct drive at the hip joint and linear drive at the knee joint.

[0050] Figure 2 A schematic diagram of the three-dimensional structure of the lumbar and back support components;

[0051] Figure 3 This is a structural diagram of the lumbar support component;

[0052] Figure 4 This is a three-dimensional structural diagram of the hip joint assembly;

[0053] Figure 5 This is a three-dimensional structural diagram of the knee joint assembly;

[0054] Figure 6 This is a three-dimensional structural diagram of the foot component.

[0055] Among them, 1-lower back assembly, 2-hip joint assembly, 3-knee joint assembly, 4-foot assembly, 11-back plate, 12-back plate connecting plate, 13-lumbar plate, 14-back support plate, 15-control box, 16-knee joint motor protective shell, 21-hip joint motor, 22-hip joint motor protective shell, 23-hip joint adjuster, 24-thigh plate, 31-knee joint sliding cover, 32-lower leg connector, 33-lower leg plate, 41-ankle joint connector, 42-ankle joint support base, 111-knee joint motor, 112-Bowden cable reel. Detailed Implementation

[0056] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and 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.

[0057] like Figure 1 As shown in the structure, this embodiment provides an active weight-bearing walking exoskeleton with direct drive of the hip joint and linear drive of the knee joint. The exoskeleton includes a back assembly 1, two hip joint assemblies 2, two knee joint assemblies 3, and foot assemblies 4 corresponding to the knee joint assemblies 3. The back assembly 1, hip joint assemblies 2, knee joint assemblies 3, and foot assemblies 4 are connected sequentially from top to bottom.

[0058] The back support component 1 is designed to be worn on the back of the human body, with the top for hanging weights. The back support component 1 includes knee joint motors 111 on the lower left and right sides and Bowden cable reels 112. The Bowden cable reels 112 and the output shaft of the knee joint motors 111 can be fixedly connected by screws. Bowden cable is wound on the Bowden cable reels 112. When the knee joint motors 111 rotate forward and backward, they simultaneously drive the Bowden cable reels 112 to rotate. The Bowden cable reels 112 are equipped with Bowden cable, and the rotation of the Bowden cable reels 112 can drive the Bowden cable to achieve cable winding and unwinding. A Bowden cable leading out of the Bowden cable reels 112 is connected to the calf plate 33 of the knee joint component 3 to provide assistance to the knee joint.

[0059] Two hip joint components 2 are respectively connected to the two sides of the end of the lumbar and back component 1, so that the rotation center of the hip joint component 2 is adapted to the human hip joint; the hip joint component 2 includes a hip joint motor 21 fixedly installed on the lumbar and back component 1 and a thigh plate 24 for wearing on the human thigh; the hip joint motor 21 provides assistance for the flexion and extension movement of the swinging leg hip joint.

[0060] Two knee joint components 3 are symmetrically arranged and connected to the hip joint component 2, and include a calf plate 33 for wearing on the lower leg;

[0061] One end of the Bowden line is fixedly connected to the Bowden line reel 112, and the other end is fixedly connected to the calf plate 33, which is used to provide assistance for knee joint extension; when the knee joint motor 111 rotates, it drives the Bowden line reel 112 to rotate, thereby driving the Bowden line wound on the Bowden line reel 112 to achieve the winding and unwinding of the line.

[0062] The foot component 4 is connected to the lower part of the corresponding knee component 3 for wearing on the ankle joint of the human body and is connected to the shoe fixture, thereby transferring the weight-bearing force to the ground.

[0063] like Figure 2 and Figure 3 As shown in the structure, the lumbar support assembly 1 includes a back panel 11, a back panel connecting plate 12, a lumbar support 13, a back support plate 14, a control box 15, and a knee joint motor protective shell 16; the back panel 11 and the back panel connecting plate 12 form a rotating joint; a knee joint motor 111 is installed on the lower left and right sides of the back panel 11; the upper half of the back panel connecting plate 12 has a V-shaped structure, with first straight slots on both sides of the upper end for fixing shoulder straps to facilitate user wearing, and grooves on the left and right sides for fixing shoulder straps; the grooves are used to fix shoulder straps, which can fix the shoulder straps of a backpack containing heavy objects and prevent the backpack from slipping off the back panel. The connecting plate 12 detaches from the left and right sides; two waist plates 13 are worn on the left and right sides of the waist, with two rows of second straight slots at the lower end for passing through the waist belt and shoulder strap respectively. The fixed connection position with the hip joint assembly 2 is adjusted forward and backward to achieve a good fit for wearers with different waist sizes; the two waist plates 13 are adjustablely mounted on the back plate 11, adapting to the width of the waist by adjusting the position of the waist plates 13; the front of the waist plate 13 is equipped with a waist belt to secure it to the wearer, and the width of the waist plate 13 can be adjusted to accommodate people of different body types; the back plate 11 is fixedly connected to a thread for the Bowden thread reel 112. A protective cover for the cable reel; for easy connection, the back plate 11 is provided with holes for connecting to the Bowden cable reel 112. The Bowden cable reel 112 is tightly connected to the back plate 11 with screws. The shape of the back plate 11 is designed according to the shape of the human thoracic spine, which can achieve a good fit to the human body; the back support plate 14 is fixedly connected to the bottom of the back plate connecting plate 12 to support the load; heavy objects can be placed on the back support plate 14, and the heavy objects can be separated from the wearer's shoulders, transferring the load to the ground through its own structure; holes for fixing the control box 15 are provided below the back support plate 14, and the main control box is connected via... The countersunk screws are fixedly installed under the back support plate 14. The main control box contains the main control board and battery. The main control board is used to receive and send control signals. The battery is used to power the entire system. The knee joint motor protective shell 16 can be fixedly installed on the back plate 11 with screws to prevent the knee joint motor 111 from being affected during operation. The knee joint motor protective shell 16 is provided with small holes for Bowden wires to pass through. The waist plate 13 is provided with a power switch button and a gear adjustment button. The power switch button is used to control the on / off of the exoskeleton system, and the gear adjustment button is used to set the assist level of the hip and knee joints.

[0064] In the aforementioned lumbar and back support assembly 1, both the back panel 11 and the back panel connecting plate 12 are provided with connecting holes, and are rotatably connected together by pins passing through the connecting holes to form a rotating pair. The pins connect the back panel 11 and the back panel connecting plate 12 together, thereby ensuring that the human lumbar and back can remain flexible under load. The back panel 11 is provided with guide grooves. The left and right lumbar panels 13 are fixedly installed on the back panel 11 through the guide grooves. The position of the lumbar panels 13 in the guide grooves allows for adjustment of the waist width, thereby adjusting the waist width to accommodate different body types. The back support plate 14 is fixedly connected to the back plate connecting plate 12 by countersunk screws; the lower part of the back plate connecting plate 12 is also provided with countersunk holes and is connected to the back support plate 14 by countersunk screws. The back support plate 14, which is used to support the load, is fixedly connected to the back plate connecting plate 12 by countersunk screws; the main control box is fixedly installed on the back support plate 14 by countersunk screws; the knee joint motor protective shell 16 is fixedly installed on the back plate 11 by screws; the Bowden cable reel 112 is fixedly connected to the output shaft of the knee joint motor 111 by screws.

[0065] like Figure 4 As shown in the structure, the hip joint assembly 2 also includes a hip joint motor protective shell 22 and a hip joint adjustment component 23; the hip joint motor protective shell 22 is provided with a connection hole for fixing to the end of the waist plate 13, and is hinged to the hip joint motor 21 to form a rotary pair to match the flexion and extension freedom of the wearer's hip joint.

[0066] Both the hip joint motor 21 and the hip joint motor protective shell 22 are fixedly mounted to the waist plate 13 with screws. The hip joint motor protective shell 22 has a connection hole for fixed connection with the end of the waist plate 13, and the hip joint motor protective shell 22 is installed on the waist plate 13 by screws passing through the connection hole. The hip joint motor protective shell 22 covers the outer periphery of the hip joint motor 21 to protect the hip joint motor 21 from being affected during use. The top end of the hip joint adjuster 23 is fixedly connected to the output shaft of the hip joint motor 21 with screws and forms a rotating pair with the waist plate 13 for fitting. The hip joint adjuster 23 has adjustable hip joint flexion and extension freedom. The bottom end of the hip joint adjuster 23 is height-adjustably connected to the thigh plate 24, allowing adjustment of the thigh plate 24's position to accommodate individuals of different heights. The lower end of the hip joint adjuster 23 has a guide rail connected to the thigh plate 24, allowing the thigh plate 24 to slide along the guide rail to adjust its position and accommodate individuals of different heights. The lower end of the hip joint adjuster 23 has multiple rows of through holes for fixed connection to the thigh plate 24, secured by screws installed in these holes. The top of the thigh plate 24 is located on the outer side of the wearer's hip joint, with a straight groove on its side. It can be connected to the wearer via strapping and is fixedly connected to the hip joint adjuster 23. The lower end is placed on the front of the thigh, and its sliding structure matches the wearer's hip joint's internal and external rotation freedom.

[0067] When the wearer walks with a load, the body needs to lean forward at a certain angle to maintain walking stability. The hip joint motor 21 can actively apply torque to counteract the overturning torque generated by part of the load weight relative to the hip joint position in the sagittal plane, reduce the angle of the body leaning forward, make walking more comfortable, and reduce the force between the exoskeleton and the human shoulder. At the same time, the hip joint motor 21 can assist the wearer's hip joint flexion and extension movements in the swinging and supporting states during walking, reducing the force between the exoskeleton and the human thigh.

[0068] like Figure 5 As shown in the structure, the knee joint assembly 3 also includes a knee joint slide cover 31 and a thigh-lower leg connector 32; the thigh-lower leg connector 32 forms a revolute joint with both the thigh plate 24 and the lower leg plate 33 to match the flexion and extension freedom of the wearer's knee joint; the thigh plate 24 is located directly in front of the wearer's thigh, and its two lower pin holes are located on both sides of the wearer's knee joint, hinged with the thigh-lower leg connector 32 to form a revolute joint; the two upper pin holes of the lower leg plate 33 are located on both sides of the wearer's knee joint, hinged with the thigh-lower leg connector 32 to form a revolute joint. The upper and lower ends of the thigh plate 24 and the lower leg plate 33 are provided with connecting holes for fixed connection with the thigh and lower leg connector 32. A rotating joint is formed by the pin to match the flexion and extension freedom of the wearer's knee joint. The thigh and lower leg connector 32 is provided with a pin to limit the upper side of the lower leg plate 33 to prevent the exoskeleton from causing damage to the knee joint during the assistance process. The pin of the thigh and lower leg connector 32 and the upper side of the lower leg plate 33 form a limit to prevent the exoskeleton from causing damage to the knee joint during the assistance process.

[0069] The two sides of the knee joint slide cover 31 form a rotating pair with the upper and lower leg connector 32; the end of the knee joint slide cover 31 is provided with a connecting hole for fixing with the upper and lower leg connector 32, forming a rotating pair; the Bowden wire passes through the knee joint slide cover 31, and the Bowden wire led out from the knee joint motor 111 passes through the knee joint slide cover 31 and is fixedly connected to the lower leg plate 33.

[0070] The calf plate 33 has a straight groove for securing it to the lower leg via a strap. A wire clip is fixed to the upper end of the calf plate 33 using a countersunk screw. The wire clip is connected to a Bowden wire. Rotating the knee joint motor 111 tightens the Bowden wire, thereby actuating the calf plate 33 and assisting in knee flexion and extension. The lower end of the calf plate 33 has a through hole for easy connection to the foot assembly 4.

[0071] like Figure 6As shown in the structure, the foot component 4 includes an ankle joint connector 41 and an ankle joint support base 42. The ankle joint connector 41 consists of an upper end and a lower end that are hinged together in the middle to form a rotating joint, which is used to match the degree of freedom of the ankle joint in the flexion and extension direction. The ankle joint connector 41 is located on the side of the human ankle. The upper end is provided with multiple rows of through holes that can be fixedly connected to the calf plate 33. The through holes are used to adjust the connection height with the calf plate 33 to match wearers with different calf heights. The ankle joint support base 42 is hinged to the bottom end of the lower end by a pin to form a rotating joint that matches the degree of freedom of the human ankle joint inward and outward adduction. The bottom end is fixed to the outside of the sole by screws.

[0072] The exoskeleton comes with standard shoes of various sizes. The ankle support base 42 is embedded in the sole of the shoe. The exoskeleton also comes with two plantar pressure sensors that can collect human gait data in real time and feed it back to the main control board as control signals.

[0073] The exoskeleton described above uses a motor-driven hip joint and a Bowden wire-driven knee joint, which can provide active assistance to the wearer at the hip and knee joints. It can also provide greater traction to the knee joint, straightening it and better transferring the load to the ground, helping the body save energy.

[0074] Compared with existing active load-bearing exoskeletons, the exoskeleton design of this invention is simpler and can better improve the wearer's work efficiency.

[0075] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. An active weight-bearing walking exoskeleton coupled with direct drive at the hip joint and linear drive at the knee joint, characterized in that, It includes a lumbar and back assembly, two hip joint assemblies, two knee joint assemblies, and foot assemblies corresponding to each of the knee joint assemblies; The back support assembly is designed to be worn on the back of the human body, with the top end for hanging weights; the back support assembly includes knee joint motors on the lower left and right sides and Bowden cable reels; the Bowden cable reels are fixedly connected to the output shafts of the knee joint motors; Bowden cable is wound on the Bowden cable reels; The two hip joint components are respectively connected to both sides of the end of the lumbar and back component, so that the rotation center of the hip joint component is adapted to the human hip joint; the hip joint component includes a hip joint motor fixedly installed on the lumbar and back component and a thigh plate for wearing on the human thigh; the hip joint motor provides assistance for the flexion and extension movement of the swinging leg hip joint; The two knee joint components are symmetrically arranged and connected to the hip joint component, and include a calf plate for wearing on the lower leg. One end of the Bowden line is fixedly connected to the Bowden line reel, and the other end is fixedly connected to the calf plate to provide assistance for knee joint extension; when the knee joint motor rotates, it drives the Bowden line reel to rotate, thereby driving the Bowden line wound on the Bowden line reel to achieve the winding and unwinding of the line; The foot component is connected to the lower part of the corresponding knee joint component for wearing on the ankle joint of the human body and is connected to the shoe fastener, thereby transferring the weight-bearing force to the ground; The knee joint assembly also includes a knee joint slide cover and a thigh and calf connector; The thigh and calf connecting pieces form a rotating pair with both the thigh plate and the calf plate to match the flexion and extension freedom of the wearer's knee joint; The upper and lower leg connector is provided with a pin to limit the upper side of the lower leg plate, which is used to prevent the exoskeleton from damaging the knee joint during the assistance process. The two sides of the knee joint sliding cover form a rotating pair with the thigh and calf connecting parts; The Bowden line passes through the knee joint slide.

2. The exoskeleton as described in claim 1, characterized in that, The lumbar and back support assembly includes a back plate, a back plate connecting plate, a lumbar plate, a back support plate, a control box, and a protective shell for the knee joint motor. The back plate and the back plate connecting plate form a rotating pair; a knee joint motor is respectively installed on the lower left and right sides of the back plate; The upper half of the back panel connecting plate has a V-shaped structure, with first straight slots on both sides of the upper end for fixing the shoulder straps to facilitate the user's wearing, and grooves on the left and right sides for fixing the shoulder straps. The two waist plates are worn on the left and right sides of the waist, and the lower end is provided with two rows of second straight slots for passing through the waist belt and the shoulder strap respectively; the two waist plates are adjustablely installed on the back plate, and the position of the waist plates can be adjusted to adapt to the width of the waist; The back plate is fixedly connected to a spool protective cover for the Bowden spool; The back support plate is fixedly connected to the bottom of the back plate connecting plate and is used to support the load; The control box is fixedly installed below the back support plate. The control box contains a main control board and a battery. The main control board is used to receive and send control signals. The knee joint motor protective shell is fixedly installed on the back plate to prevent the knee joint motor from being affected during operation; the knee joint motor protective shell is provided with small holes for the Bowden wire to pass through; The waist plate is equipped with a power switch button and a gear adjustment button. The power switch button is used to control the on / off state of the exoskeleton system, and the gear adjustment button is used to set the level of assistance for the hip and knee joints.

3. The exoskeleton as described in claim 2, characterized in that, Both the back plate and the back plate connecting plate are provided with connecting holes and are rotatably connected together by a pin passing through the connecting holes; The back panel is provided with guide grooves; the two waist plates are installed on the back panel through the guide grooves, and the waist width is adjusted by the position of the waist plates in the guide grooves. The back support plate is fixedly connected to the back plate connecting plate by countersunk screws; The control box is fixedly mounted to the back support plate using countersunk screws; The knee joint motor protective shell is fixedly installed to the back plate by screws; The Bowden cable reel is fixedly connected to the output shaft of the knee joint motor by screws.

4. The exoskeleton as described in claim 2, characterized in that, The hip joint assembly also includes a hip joint motor protective housing and a hip joint adjuster; Both the hip joint motor and the hip joint motor protective shell are fixedly installed on the waist plate; The hip joint motor protective shell covers the outer periphery of the hip joint motor to protect the hip joint motor from being affected during use. The top end of the hip joint adjuster is fixedly connected to the output shaft of the hip joint motor and forms a rotating pair with the waist plate to match the flexion and extension freedom of the wearer's hip joint; the bottom end of the hip joint adjuster is height-adjustably connected to the thigh plate to adjust the position of the thigh plate to accommodate people of different heights.

5. The exoskeleton as described in claim 4, characterized in that, The hip joint motor protective shell is provided with a connection hole for fixed connection to the end of the waist plate, and the hip joint motor protective shell is installed on the waist plate by screws passing through the connection hole; The hip joint adjuster is fixedly connected to the output shaft of the hip joint motor by screws; The bottom end of the hip joint adjuster is provided with a guide rail that is connected to the thigh plate; The thigh plate can be adjusted in position by sliding along the guide rail to accommodate people of different heights.

6. The exoskeleton as described in claim 1, characterized in that, The calf plate is provided with a straight groove for fixing to the human calf by binding; A wire clamp is fixedly installed on the upper end of the lower leg plate, and the wire clamp is fixedly connected to the Bowden wire.

7. The exoskeleton as described in claim 1, characterized in that, The foot assembly includes an ankle joint connector and an ankle joint support base; The ankle joint connector consists of an upper end and a lower end that are hinged together in the middle to form a rotating joint, which is used to match the degree of freedom of the ankle joint in the flexion and extension direction; the upper end is provided with multiple rows of through holes that can be fixedly connected to the calf plate, and the through holes are used to adjust the connection height with the calf plate to match wearers with different calf heights; The ankle joint support base is hinged to the bottom end of the lower end via a pin, forming a rotating pair that matches the adduction and abduction degrees of freedom of the human ankle joint. The bottom end is fixed to the outside of the shoe sole by screws.

Images