Flexible assistive lower limb motion robot

Abstract

The application provides a flexible assisted lower limb motion robot, and relates to the field of motion robots, which comprises a thigh motion assembly, a shank motion assembly and a foot connecting assembly, the shank motion assembly is located below the thigh motion assembly, and the foot connecting assembly is located below the shank motion assembly, the motor in the thigh motion assembly controls the contraction and release of each rope, cooperates with the tensioning mechanism, realizes the lifting and lowering of the thigh belts on both sides, and assists in motion; the driving muscle in the shank motion assembly simulates the natural motion process, provides power, and drives the shank belt to move through the rope, so that the shank motion is realized; through the cooperation of the rope and the pulley set in the shank assembly, the distance between the sliding table and the sliding table support is adjusted, the freedom degree in the lower limb motion can be met to a large extent, and through the flexible connection of the spring and the foot connecting frame, the flexible adaptation of the foot to the leg during walking is realized.

Description

Technical Field

[0001] This invention relates to the field of motion robots, specifically to a flexible assistive lower limb motion robot. Background Technology

[0002] Most existing lower limb movement robots employ exoskeleton-like structures for movement, and some are quite large, requiring large spaces for operation. Furthermore, their rigid structures can cause discomfort to patients during movement. While flexible lower limb movement robots exist, they mostly provide assistance rather than resistance, thus failing to contribute to subsequent muscle training for patients.

[0003] Chinese patent application CN 117898919 A ​​discloses a lower limb exercise device, which includes a support frame, a leg rod assembly, and a leg rod transmission mechanism. When the rotating rod rotates, the first and second connecting rods can provide the leg rod assembly with the power for movement. The connection method of each component in the leg rod transmission mechanism is optimized, which can provide additional energy to assist the user's movement. It can simulate the correct walking gait, provide training for users, and meet different training needs. It solves the problems of high cost and low load-bearing capacity of joint-driven lower limb training devices that use motors and harmonic reducers, and the unreasonable connection structure design of linkage-driven lower limb training devices that cannot simulate the correct walking gait.

[0004] The aforementioned lower limb exercise devices employ a rigid structure, which may cause discomfort to the user during exercise and makes it difficult to achieve axis alignment during movement, potentially leading to secondary injuries. Therefore, it is necessary to propose a flexible assistive lower limb exercise robot that can provide walking assistance for the elderly in the early stages of walking and also provide resistance for muscle training in the later stages. Summary of the Invention

[0005] To address the problems of existing technologies, this invention provides a flexible assistive lower limb movement robot. The thigh movement component uses a motor to control the contraction and release of various ropes, which, in conjunction with a tensioning mechanism, elevate and lower the thigh straps to assist movement. The calf movement component uses a drive muscle to simulate the natural movement of muscles, providing power and using ropes to move the calf straps, thus enabling calf movement. The calf component uses ropes and pulleys to adjust the distance between the slide and its support, maximizing the freedom of movement for the lower limbs. Furthermore, the flexible connection between the spring and the foot connector allows the foot to adapt flexibly to the leg during walking.

[0006] This invention provides a flexible assistive lower limb movement robot, comprising a thigh movement component, a lower leg movement component, and a foot connection component. The lower leg movement component is located below the thigh movement component, and the foot connection component is also located below the lower leg movement component. The thigh movement component includes a flexible waist belt, a back strap, a pulley bracket, pulleys, a drive box, a motor, a reel, a first rope, a tensioning mechanism, a second rope, a connecting seat, and a thigh strap. The two ends of the back strap are connected to the flexible waist belt. The pulley bracket is disposed on both sides of the outer end face of the flexible waist belt, and the pulley is rotatably connected to the pulley bracket. The drive box is connected to the shoulder strap. The motors are symmetrically arranged at equal intervals inside the drive box. The reel is connected to the output shaft of the motor. The first end of the first rope is evenly wound around the reel. The second end of the first rope passes over the pulley and connects to the first end of the tensioning housing in the tensioning mechanism. The first end of the second rope is connected to the slider of the tensioning mechanism. The connecting seats are symmetrically arranged on both sides of the thigh strap. The thigh strap is connected to the second end of the second rope through the connecting seats. The calf movement assembly includes a driving muscle, a third rope, a calf strap, and a stroke adjustment seat. The system includes a fixed pulley, a guide rail, a slide table, a movable pulley, a first connecting rope post, a second connecting rope post, a third connecting rope post, and an adjusting seat cover. The first end of the driving muscle is connected to the drive box of the thigh movement assembly. The first end of the third rope is connected to the second end of the driving muscle. The calf strap is connected to the first end of the stroke adjusting seat. The fixed pulleys are evenly spaced on one side of the second end face of the stroke adjusting seat. The guide rail is symmetrically arranged on the second end face of the stroke adjusting seat. The slide table is slidably connected to the guide rail. The movable pulleys are evenly spaced on the slide table. The first connecting rope post is located on the... At the center of one side of the stroke adjustment seat, the second connecting rope post and the third connecting rope post are disposed at both ends of one side of the stroke adjustment seat. The second end of the third rope passes sequentially around the first connecting rope post, the second connecting rope post, the movable pulley, and the fixed pulley and connects to the third connecting rope post. The adjustment seat cover plate is connected to the second end of the stroke adjustment seat. The foot connection assembly includes a foot rope, a foot spring, and a foot connection frame. The first end of the foot rope is connected to the slide of the lower leg movement assembly. The first end of the foot spring is connected to the second end of the foot rope. The foot connection frame is connected to the second end of the foot spring.

[0007] Preferably, the tensioning mechanism includes a tensioning housing, a slider, and a spring. The slider and the spring are both disposed inside the tensioning housing. The slider is slidably connected to the tensioning housing. The first end of the spring is connected to the slider, and the second end of the spring is connected to the tensioning housing.

[0008] Preferably, two sets of the calf movement components are provided, symmetrically arranged below the thigh movement components, and two sets of the foot connection components are also provided, both of which are connected to the calf movement components through the foot ropes.

[0009] Preferably, three fixed pulleys and three movable pulleys are provided, and the fixed pulleys and movable pulleys are staggered.

[0010] Preferably, the motor is provided in four groups, with two in each group, arranged symmetrically in the drive box. The number of pulley brackets and pulleys is eight, divided into two groups and arranged on both sides of the flexible waist belt. Anti-slip rope retainers are provided on both sides of the pulleys. The number of the first rope, tensioning mechanism and second rope is also eight, divided into four groups, with each group arranged crosswise, connecting the flexible waist belt and the thigh strap.

[0011] Preferably, two thigh straps are provided, symmetrically arranged below the flexible strap, and two sets of connecting seats are provided on both sides of each thigh strap in a mirror image.

[0012] Preferably, the second end of the tensioning shell is provided with a through hole, and the second rope passes through the through hole and the spring in sequence to connect with the slider.

[0013] Preferably, the rotation axes of the fixed pulley and the movable pulley are parallel.

[0014] Preferably, the output end of the motor is also equipped with an angular displacement sensor.

[0015] The features and beneficial effects of this invention are:

[0016] 1. The present invention is a flexible assistive lower limb movement robot. Through the cooperation of each rope and tensioning mechanism in the thigh movement component, and the rotation of the motor to drive the rope to contract and release, the lifting and lowering of the thigh straps on both sides can be independently controlled to simulate the walking process and assist movement.

[0017] 2. The flexible assisted lower limb movement robot of the present invention provides power by driving the muscles in the lower leg movement component to simulate the natural movement process of muscles, and uses ropes to drive the lower leg straps to move, thereby realizing the movement of the lower leg.

[0018] 3. The flexible assisted lower limb movement robot of the present invention, through the cooperation of ropes in the lower leg assembly with fixed pulleys and movable pulleys, adjusts the distance between the slide and the slide support, which can satisfy the degree of freedom in lower limb movement to a large extent. Furthermore, through the flexible connection between the spring and the foot connection frame in the foot connection assembly, the foot can flexibly adapt to the leg during walking. Attached Figure Description

[0019] Figure 1This is a schematic diagram of the overall structure of the flexible assistive lower limb movement robot of the present invention;

[0020] Figure 2 This is a partial cross-sectional schematic diagram of the tensioning mechanism in this invention;

[0021] Figure 3 This is a schematic diagram of the thigh movement component in this invention;

[0022] Figure 4 This is a schematic diagram of the layout structure of the motor in the thigh motion component of the present invention;

[0023] Figure 5 This is a schematic diagram of the lower leg movement component in this invention;

[0024] Figure 6 This is a partial structural schematic diagram of the lower leg movement component in this invention;

[0025] Figure 7 This is a schematic diagram of the foot connection component in this invention.

[0026] Key reference numerals:

[0027] Thigh movement component 1, flexible waist belt 101, back strap 102, pulley bracket 103, pulley 104, drive box 105, motor 106, spool 107, first rope 108, tensioning mechanism 109, tensioning housing 1091, slider 1092, spring 1093, second rope 110, connecting seat 111, thigh strap 112; calf movement component 2, driving muscle 201, third rope 202, calf strap 203, stroke adjustment seat 204, fixed pulley 205, guide rail 206, slide table 207, moving pulley 208, first connecting rope post 209, second connecting rope post 210, third connecting rope post 211, adjustment seat cover 212; foot connection component 3, foot rope 31, foot spring 32, foot connecting frame 33. Detailed Implementation

[0028] To fully describe the technical content, structural features, objectives, and effects of this invention, a detailed description will be provided below in conjunction with the accompanying drawings.

[0029] This invention relates to a flexible assistive lower limb movement robot, such as... Figures 1-4As shown, it includes a thigh motion component 1, a calf motion component 2, and a foot connection component 3. The calf motion component 2 is located below the thigh motion component 1, and the foot connection component 3 is located below the calf motion component 2. The thigh motion component 1 includes a flexible waist belt 101, a back strap 102, a pulley bracket 103, a pulley 104, a drive box 105, a motor 106, a reel 107, a first rope 108, a tensioning mechanism 109, a second rope 110, a connecting seat 111, and a thigh strap 112. The two ends of the back strap 102 are connected to the flexible waist belt 101. The pulley bracket 103 is disposed on both sides of the outer end face of the flexible waist belt 101. The pulley 104 is rotatably connected to the pulley bracket 103. The drive box 105 is connected to the back strap 102. The motor 106... The first rope 108 is symmetrically arranged at equal intervals inside the drive box 105. The reel 107 is connected to the output shaft of the motor 106. The first end of the first rope 108 is evenly wound on the reel 107. The second end of the first rope 108 passes around the pulley 104 and is connected to the first end of the tensioning housing 1091 in the tensioning mechanism 109. The first end of the second rope 110 is connected to the slider 1092 of the tensioning mechanism 109. The connecting seat 111 is symmetrically arranged on both sides of the thigh strap 112. The thigh strap 112 is connected to the second end of the second rope 110 through the connecting seat 111. The tensioning mechanism 109 includes a tensioning housing 1091, a slider 1092, and a spring 1093. Both the slider 1092 and the spring 1093 are located inside the tensioning housing 1091, and are slidably connected. The first end of the spring 1093 is connected to the slider 1092, and the second end is connected to the tensioning housing 1091. A through hole is provided at the second end of the tensioning housing 1091. A second rope 110 passes through the through hole and the spring 1093 sequentially and connects to the slider 1092. Tension is obtained by the slider 1092 and the second rope 110 working together to compress the spring 1093. This tension can be manually adjusted before exercise, making the motor force received by the thigh safer. Four sets of motors 106 are provided, with two motors in each set, mirror-symmetrically arranged inside the drive box 105. The rotation axes of the fixed pulley 205 and the movable pulley 208 are parallel. An angular displacement sensor is also installed at the output end of motor 106, which can obtain the rotation angle of motor 106 during robot movement and calculate the angle information of the thigh. Based on the obtained angle information, the rotation angle of motor 106 is adjusted in real time, thereby adjusting the movement angle of the lower limbs to achieve better movement effect. There are eight pulley brackets 103 and pulleys 104, which are evenly divided into two groups and set on both sides of flexible waist belt 101. Anti-slip rope retainers are set on both sides of the pulleys. There are also eight first ropes 108, tensioning mechanism 109 and second ropes 110, which are evenly divided into four groups and each group is arranged crosswise to connect flexible waist belt 101 and thigh straps 112. There are two thigh straps 112, which are symmetrically set below flexible straps 101, and two sets of connecting seats 111 are mirror-symmetrically set on both sides of each thigh strap 112.Two sets of calf movement components 2 are symmetrically arranged below the thigh movement components 1. Two sets of foot connection components 3 are also arranged, both of which are connected to the calf movement components 2 via foot ropes 31.

[0030] like Figure 5 and Figure 6 As shown, the calf movement component 2 includes a driving muscle 201, a third rope 202, a calf strap 203, a stroke adjustment seat 204, fixed pulleys 205, a guide rail 206, a slide table 207, a movable pulley 208, a first connecting rope post 209, a second connecting rope post 210, and a third connecting rope post 211. The first end of the driving muscle 201 is connected to the drive box 105 of the thigh movement component 1, the first end of the third rope 202 is connected to the second end of the driving muscle 201, the calf strap 203 is connected to the first end of the stroke adjustment seat 204, and the fixed pulleys 205 are evenly spaced on the second end face of the stroke adjustment seat 204. On one side, guide rails 206 are symmetrically arranged on the second end face of stroke adjustment seat 204. Slide table 207 is slidably connected to guide rails 206. Movable pulleys 208 are evenly spaced on slide table 207. First connecting rope post 209 is located in the middle of one side of stroke adjustment seat 204. Second connecting rope post 210 and third connecting rope post 211 are located at both ends of one side of stroke adjustment seat 204. The second end of third rope 202 passes through first connecting rope post 209, second connecting rope post 210, movable pulley 208, and fixed pulley 205 in sequence and connects to third connecting rope post 211. Adjustment seat cover plate 212 is connected to the second end of stroke adjustment seat 204. Three fixed pulleys 205 and three movable pulleys 208 are provided, and the fixed pulleys 205 and movable pulleys 208 are staggered to avoid interference with the third rope 202 during winding. The driving stroke of the driving muscle 201 is transmitted to the foot connection component 3 by a certain multiple through the cooperation of the movable pulleys 208 and the fixed pulleys 205 via the third rope 202, thereby driving the movement of the lower leg and foot. The multiple of the increased stroke can be adjusted by changing the winding method, which is suitable for different training programs.

[0031] like Figure 7 As shown, the foot connection assembly 3 includes a foot rope 31, a foot spring 32, and a foot connection frame 33. The first end of the foot rope 31 is connected to the slide 206 of the lower leg movement assembly 2, the first end of the foot spring 32 is connected to the second end of the foot rope 31, and the foot connection frame 33 is connected to the second end of the foot spring 32.

[0032] The following describes a flexible assistive lower limb movement robot of the present invention in further detail with reference to embodiments. The usage process of the flexible assistive lower limb movement robot of the present invention is as follows:

[0033] First, before the robot runs, adjust the reel 107 to put the tensioning mechanism 109 in a taut state, preventing the first and second ropes from being slack before the robot runs.

[0034] Then, when the machine is in assisted mode, when the user needs to lift their leg forward, the motor 106 activates the rope located on the front of the user's thigh, applying a forward-diagonal force to the thigh to lift the hip joint. To achieve a lateral leg lift, the motor 106 activates two ropes located in front of and behind the thigh, moving from the inside out, applying an outward force to the leg to achieve a lateral leg lift. To achieve rotation along a horizontal plane, the motor 106 activates two ropes located in opposite directions on the front and back of the user's thigh to achieve hip joint rotation. When the machine is in motion mode, the ropes for each movement are opposite to those in the assisted mode, creating a resistance effect to the movement and achieving the desired motion.

[0035] Finally, when performing knee joint movements, the pneumatic muscle 201 inflates and contracts, driving the movable pulley 208 to bend the user's lower leg. When the user finishes lifting their leg, the pneumatic muscle 201 deflates and extends, allowing the lower leg to return to its initial state, thus completing the exercise training.

[0036] This invention relates to a flexible, assisted lower limb movement robot. The motor 106 in the thigh movement component 1 controls the contraction and release of the first rope 108, which, in conjunction with the tensioning mechanism 109, elevates and lowers the thigh straps 112, assisting in movement. The driving muscles 201 in the lower leg movement component 2 simulate the natural movement of muscles, providing power, and the third rope 202 drives the lower leg straps 203 to move, thus achieving lower leg movement. By coordinating the third rope 202 with the pulley system in the lower leg component 2, the distance between the slide 207 and the slide support 204 is adjusted, maximizing the freedom of movement for the lower limbs. Furthermore, the flexible connection between the spring 32 and the foot connecting frame 33 allows the foot to adapt flexibly to the leg during walking.

[0037] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A flexible assistive lower limb movement robot, characterized in that, It includes a thigh motion component, a calf motion component, and a foot connection component, wherein the calf motion component is located below the thigh motion component, and the foot connection component is located below the calf motion component; The thigh movement assembly includes a flexible waist belt, a back strap, a pulley bracket, a pulley, a drive box, a motor, a spool, a first rope, a tensioning mechanism, a second rope, a connecting seat, and a thigh strap. The two ends of the back strap are connected to the flexible waist belt. The pulley bracket is disposed on both sides of the outer end face of the flexible waist belt, and the pulley is rotatably connected to the pulley bracket. The drive box is connected to the back strap. The motor is symmetrically disposed at equal intervals within the drive box. The spool is connected to the output shaft of the motor. The first end of the first rope is evenly wound around the spool. The second end of the first rope passes around the pulley and connects to the first end of the tensioning housing in the tensioning mechanism. The first end of the second rope is connected to the slider of the tensioning mechanism. The connecting seats are symmetrically disposed on both sides of the thigh strap, and the thigh strap is connected to the second end of the second rope through the connecting seats. The calf movement assembly includes a driving muscle, a third rope, a calf strap, a stroke adjustment seat, a fixed pulley, a guide rail, a slide, a movable pulley, a first connecting rope post, a second connecting rope post, a third connecting rope post, and an adjustment seat cover. The first end of the driving muscle is connected to the drive box of the thigh movement assembly. The first end of the third rope is connected to the second end of the driving muscle. The calf strap is connected to the first end of the stroke adjustment seat. The fixed pulleys are evenly spaced on one side of the second end face of the stroke adjustment seat. The guide rail is symmetrically arranged on the second end face of the stroke adjustment seat. The slide is slidably connected to the guide rail. The movable pulleys are evenly spaced on the slide. The first connecting rope post is located in the middle of one side of the stroke adjustment seat. The second and third connecting rope posts are located at both ends of one side of the stroke adjustment seat. The second end of the third rope passes sequentially around the first connecting rope post, the second connecting rope post, the movable pulley, and the fixed pulley and connects to the third connecting rope post. The adjustment seat cover is connected to the second end of the stroke adjustment seat. The foot connection assembly includes a foot rope, a foot spring, and a foot connection frame. The first end of the foot rope is connected to the slide of the lower leg movement assembly, the first end of the foot spring is connected to the second end of the foot rope, and the foot connection frame is connected to the second end of the foot spring.

2. The flexible assistive lower limb movement robot according to claim 1, characterized in that, The tensioning mechanism includes a tensioning housing, a slider, and a spring. The slider and the spring are both disposed inside the tensioning housing. The slider is slidably connected to the tensioning housing. The first end of the spring is connected to the slider, and the second end of the spring is connected to the tensioning housing.

3. The flexible assistive lower limb movement robot according to claim 1, characterized in that, Two sets of calf movement components are provided, symmetrically arranged below the thigh movement components. Two sets of foot connection components are also provided, both of which are connected to the calf movement components through the foot ropes.

4. The flexible assistive lower limb movement robot according to claim 1, characterized in that, Three fixed pulleys and three movable pulleys are provided, and the fixed pulleys and movable pulleys are staggered.

5. The flexible assistive lower limb movement robot according to claim 1 or 2, characterized in that, The motor is set in four groups, with two in each group, and is arranged in a mirror image symmetrically in the drive box. There are eight pulley brackets and pulleys, which are evenly divided into two groups and set on both sides of the flexible waist belt. Anti-slip rope retainers are set on both sides of the pulleys. There are also eight first ropes, tensioning mechanisms and second ropes, which are evenly divided into four groups and each group is arranged crosswise to connect the flexible waist belt and the thigh straps.

6. The flexible assistive lower limb movement robot according to claim 1, characterized in that, Two thigh straps are provided, symmetrically arranged below the flexible waistband, and two sets of connecting seats are mirror-symmetrically arranged on both sides of each thigh strap.

7. The flexible assistive lower limb movement robot according to claim 1 or 2, characterized in that, The second end of the tensioning shell is provided with a through hole, and the second rope passes through the through hole and the spring in sequence to connect with the slider.

8. The flexible assistive lower limb movement robot according to claim 1, characterized in that, The rotation axes of the fixed pulley and the movable pulley are parallel.

9. The flexible assistive lower limb movement robot according to claim 1, characterized in that, The fixed pulley, guide rail, slide table, movable pulley, first connecting rope column, second connecting rope column and third connecting rope column are all arranged between the stroke adjustment seat and the adjustment seat cover plate.

10. The flexible assistive lower limb movement robot according to claim 1, characterized in that, An angular displacement sensor is also installed at the output end of the motor.

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