Lower limb binding structure and lower limb exoskeleton

Abstract

The application discloses a lower limb binding structure and a lower limb exoskeleton. The binding structure comprises a fixed support with one end being open and an elastic air bag arranged inside the fixed support. The elastic air bag comprises a first elastic part and a second elastic part. The second elastic part is arranged on both sides of the opening and is communicated with both sides of the first elastic part respectively. The first elastic part and the second elastic part surround a containing space for binding the lower limb in the inflated state. The lower limb exoskeleton comprises a waist exoskeleton, a thigh exoskeleton, a shank exoskeleton and a foot exoskeleton which are connected in sequence. The lower limb exoskeleton further comprises the binding structure which is arranged inside the thigh exoskeleton and the shank exoskeleton respectively. The binding structure has better supporting and binding effects, is more convenient to operate and has higher comfort. The inflation can be electric or manual. The single hand can operate the binding structure with high comfort. The automatic binding can be realized by electric inflation, and the wearing is faster and more convenient.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a lower limb binding structure and a lower limb exoskeleton. Background Technology

[0002] Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, fusion, and mobile computing to provide a wearable mechanical mechanism for the operator. This article briefly introduces the current status and trends of exoskeleton robot technology in the military field. It refers to a robot worn on the outside of the human body, also known as a "wearable robot." In recent years, with the rapid development of exoskeleton technology, more and more exoskeletons have been invented for patient assistance and rehabilitation, and wearable exoskeletons for lower limb movement disorders are constantly emerging.

[0003] Existing lower limb exoskeleton robots, such as the active-passive combined lower limb exoskeleton robot mechanism with patent number CN202311091435.7, generally have a deformable binding mechanism to fix the human body. During the pulling of the Velcro, the human body can be well fixed. In this binding structure that relies on Velcro, one end of the Velcro needs to be completely removed before wearing to facilitate the human body to put it on. After the human body is put on, one end of the Velcro needs to be passed through the strip hole and then the Velcro needs to be pulled to deform the binding mechanism to fix the human body. Then the barbs of the Velcro are attached to the round hairs in the middle of the Velcro to complete the binding. However, this Velcro binding method is relatively complicated. Each binding point needs to be done in turn, which is inefficient. Moreover, the Velcro may become incomplete after long-term use. Summary of the Invention

[0004] The purpose of this invention is to provide a lower limb binding structure and a lower limb exoskeleton, which solves the problems of the complicated wearing method of the existing technology. When binding the thigh, calf and ankle, it is necessary to pass the Velcro straps with barbs at both ends through the strip holes on both sides in turn, and then stick the barbs at both ends of the Velcro to the round hair in the middle of the Velcro. Each binding place needs to be done in turn, which is inefficient and the Velcro will cause the binding to be incomplete after long-term use.

[0005] The present invention is implemented as follows: a lower limb binding structure includes a fixed support member with an opening at one end and an elastic airbag placed inside the fixed support member. The elastic airbag includes a first elastic part and a second elastic part. The second elastic part is placed on both sides of the opening and communicates with both sides of the first elastic part. When the first elastic part and the second elastic part are inflated, they form a receiving space for binding the lower limb.

[0006] Existing binding structures require loosening or adjusting the Velcro before putting them on, and then using both hands to assist in putting on the binding structure. This is cumbersome, and the binding effect of the Velcro deteriorates over time, sometimes resulting in incomplete binding. Furthermore, the Velcro binding provides only binding without support, leading to poor user experience. In this invention, one end of the fixed support is open, allowing the legs to directly enter the binding structure without prior adjustment. This is quick and convenient. When binding is needed, an elastic airbag inflates to create a space that conforms to the shape of the legs for binding, which can be operated with one hand. Compared to existing methods using Velcro binding, this invention offers better support and binding, is more convenient, and provides greater comfort. Inflation can be electric or manual, offering high comfort and one-handed operation. Electric inflation allows for automated binding, making it faster and more convenient to put on.

[0007] A further technical solution of the present invention is that the elastic airbag is provided with a vertical groove.

[0008] The vertical groove design ensures that the elastic airbag does not compress the body's blood vessels, guaranteeing blood flow and providing greater comfort.

[0009] A further technical solution of the present invention is that the fixed support member is a rigid structure.

[0010] The fixed support adopts a rigid structure, which provides a certain degree of support for the human body. Moreover, the rigid structure is not easily deformed after the elastic airbag is inflated, which makes the binding structure in this invention have a long service life.

[0011] A further technical solution of the present invention is that the accommodating space is cylindrical.

[0012] The cylindrical shape allows for a good fit to the lower limbs, providing excellent support and binding; moreover, the cylindrical shape ensures better uniform inflation.

[0013] A further technical solution of the present invention is: the fixed support member includes a first support part and a second support part, the first support part is semi-circular, and the second support part is placed on both sides of the first support part and is parallel to it.

[0014] The semi-circular first support and the parallel second support facilitate the entry of the lower limbs into the fixed support, allowing direct entry into the binding structure from the front.

[0015] The present invention also provides a lower limb exoskeleton, comprising a waist exoskeleton, a thigh exoskeleton, a lower leg exoskeleton, and a foot exoskeleton connected in sequence. The lower limb exoskeleton also includes the binding structure, which is respectively installed on the inner side of the thigh exoskeleton and the lower leg exoskeleton.

[0016] In existing technologies, lower limb exoskeletons need to be worn one by one, which is complicated. The binding structure in this invention can be electrically inflated. The human body enters the fixed support of the thigh exoskeleton and the lower leg exoskeleton at the same time, and then the thigh exoskeleton and the lower leg exoskeleton are inflated synchronously. Only two actions are needed to complete the wearing of the lower limb exoskeleton.

[0017] A further technical solution of the present invention is: the waist exoskeleton is symmetrically provided with thigh exoskeleton, calf exoskeleton and foot exoskeleton on both sides.

[0018] For situations where both sides of the human body need to be trained, symmetrical thigh exoskeletons, calf exoskeletons, and foot exoskeletons are set on both sides of the waist exoskeleton to meet the training needs of both lower limbs and can also be used for medical purposes.

[0019] A further technical solution of the present invention is: the binding structures on one side of the lumbar exoskeleton are connected by a first airway, and the binding structures on the other side of the lumbar exoskeleton are connected by a second airway, and the first airway and the second airway are connected to an air pump through a three-way valve.

[0020] The air pump can adjust the inflation of the binding structures on both sides via a three-way valve. After the body is placed in the fixed support, the air pump inflates the airbags, allowing multiple binding structures to be applied simultaneously. This is simple, quick, and user-friendly for the elderly, eliminating the need to bend over and put on each binding structure individually.

[0021] A further technical solution of the present invention is: a pressure monitoring valve and a venting valve are provided on the pipeline between the air pump and the three-way valve, and both the pressure monitoring valve and the air pump are electrically connected to the controller.

[0022] The controller controls the air pump to inflate the gas. The gas enters the binding structure on both sides through the three-way valve for inflation. The air pressure monitoring valve feeds back the air pressure signal to the controller. After inflation is complete, the controller controls the air pump to stop inflating. If deflation is needed, the air pump can be reversed to extract air or the air can be manually deflated through the deflation valve.

[0023] The beneficial effects of this invention are as follows: Existing binding structures require loosening or arranging the Velcro before wearing, and then both hands are needed to assist in putting on the binding structure for the lower limbs. This operation is complicated, and the binding effect of the Velcro deteriorates over time, sometimes resulting in incomplete binding. Furthermore, the Velcro binding provides only binding without support, leading to poor user experience. In this invention, one end of the fixed support is open, allowing the legs to directly enter the binding structure without prior adjustment of the fixed support structure, making it quick and convenient. When binding is needed, an elastic airbag inflates to create a space that conforms to the shape of the legs for binding, which can be operated with one hand. Compared to existing methods that directly use Velcro binding, this invention provides better support and binding, is more convenient to operate, and offers greater comfort. Inflation can be electric or manual, offering high comfort and single-handed operation. Electric inflation allows for automated binding, making it faster and more convenient to wear.

[0024] In existing technologies, lower limb exoskeletons need to be worn one by one, which is complicated. The binding structure in this invention can be electrically inflated. The human body enters the fixed support of the thigh exoskeleton and the lower leg exoskeleton at the same time, and then the thigh exoskeleton and the lower leg exoskeleton are inflated synchronously. Only two actions are needed to complete the wearing of the lower limb exoskeleton. Attached Figure Description

[0025] Figure 1 This is a perspective view of a lower limb binding structure provided by the present invention;

[0026] Figure 2 This is a top view of a lower limb binding structure provided by the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of a lower limb exoskeleton provided by the present invention;

[0028] Figure 4 This invention provides a control diagram for a lower limb exoskeleton.

[0029] Reference numerals: 1. Fixed support, 11. Groove, 12. First support, 13. Second support, 2. Elastic airbag, 21. First elastic part, 22. Second elastic part, 3. Accommodation space, 4. Waist exoskeleton, 5. Thigh exoskeleton, 6. Lower leg exoskeleton, 7. Foot exoskeleton. Detailed Implementation

[0030] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0031] It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding and reading. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0032] Example 1:

[0033] Figure 1-2 A lower limb binding structure is shown, including a fixed support 1 with an opening at one end and an elastic airbag 2 placed inside the fixed support 1. The elastic airbag 2 includes a first elastic part 21 and a second elastic part 22. The second elastic part 22 is placed on both sides of the opening and communicates with both sides of the first elastic part 21. When the first elastic part 21 and the second elastic part 22 are inflated, they form a receiving space 3 for binding the lower limb.

[0034] Existing binding structures require loosening or adjusting the Velcro before putting them on, and then using both hands to assist in putting on the binding structure. This is cumbersome, and the binding effect of the Velcro deteriorates over time, sometimes resulting in incomplete binding. Furthermore, the Velcro binding provides only binding without support, leading to poor user experience. In this invention, one end of the fixed support is open, allowing the legs to directly enter the binding structure without prior adjustment. This is quick and convenient. When binding is needed, an elastic airbag inflates to create a space that conforms to the shape of the legs for binding, which can be operated with one hand. Compared to existing methods using Velcro binding, this invention offers better support and binding, is more convenient, and provides greater comfort. Inflation can be electric or manual, offering high comfort and one-handed operation. Electric inflation allows for automated binding, making it faster and more convenient to put on.

[0035] In this embodiment, the elastic airbag 2 is provided with a vertical groove 11.

[0036] The vertical groove design ensures that the elastic airbag does not compress the body's blood vessels, guaranteeing blood flow and providing greater comfort.

[0037] In this embodiment, the fixed support 1 is a rigid structure.

[0038] The fixed support adopts a rigid structure, which provides a certain degree of support for the human body. Moreover, the rigid structure is not easily deformed after the elastic airbag is inflated, which makes the binding structure in this invention have a long service life.

[0039] In this embodiment, the fixed support includes a semi-circular first part and a parallel second part disposed on both sides of the first part. The first elastic part is disposed in the first part, and the second elastic part is disposed in the second part. The corner of the second part is rounded to ensure safety when wearing it.

[0040] In this embodiment, the outer side of the fixed support is connected to the fixed member.

[0041] In this embodiment, the accommodating space 3 is cylindrical.

[0042] The cylindrical shape allows for a good fit to the lower limbs, providing excellent support and binding; moreover, the cylindrical shape ensures better uniform inflation.

[0043] In this embodiment, the fixed support 1 includes a first support portion 12 and a second support portion 13. The first support portion 12 is semi-circular, and the second support portion 13 is placed on both sides of the first support portion 12 and is parallel to it.

[0044] The semi-circular first support and the parallel second support facilitate the entry of the lower limbs into the fixed support, allowing direct entry into the binding structure from the front.

[0045] In this embodiment, the first support portion and the second support portion are an integral structure.

[0046] In this embodiment, the inflatable end is connected to the second elastic part.

[0047] In this embodiment, the first elastic part and the second elastic part are connected and form an integral structure.

[0048] Example 2:

[0049] like Figure 1-4A lower limb exoskeleton is shown, comprising a waist exoskeleton 4, a thigh exoskeleton 5, a lower leg exoskeleton 6, and a foot exoskeleton 7 connected in sequence. The lower limb exoskeleton also includes the binding structure described in Embodiment 1, which is respectively installed on the inner side of the thigh exoskeleton 5 and the lower leg exoskeleton 6.

[0050] In existing technologies, lower limb exoskeletons need to be worn one by one, which is complicated. The binding structure in this invention can be electrically inflated. The human body enters the fixed support of the thigh exoskeleton and the lower leg exoskeleton at the same time, and then the thigh exoskeleton and the lower leg exoskeleton are inflated synchronously. Only two actions are needed to complete the wearing of the lower limb exoskeleton.

[0051] In this embodiment, the waist exoskeleton 4 is symmetrically provided with thigh exoskeleton 5, calf exoskeleton 6 and foot exoskeleton 7 on both sides.

[0052] For situations where both sides of the human body need to be trained, symmetrical thigh exoskeletons, calf exoskeletons, and foot exoskeletons are set on both sides of the waist exoskeleton to meet the training needs of both lower limbs and can also be used for medical purposes.

[0053] In this embodiment, the binding structures on one side of the lumbar exoskeleton 4 are connected by a first airway, and the binding structures on the other side of the lumbar exoskeleton 4 are connected by a second airway. The first airway and the second airway are connected to an air pump via a three-way valve.

[0054] The air pump can adjust the inflation of the binding structures on both sides via a three-way valve. After the body is placed in the fixed support, the air pump inflates the airbags, allowing multiple binding structures to be applied simultaneously. This is simple, quick, and user-friendly for the elderly, eliminating the need to bend over and put on each binding structure individually.

[0055] In this embodiment, a pressure monitoring valve and a vent valve are provided on the pipeline between the air pump and the three-way valve, and both the pressure monitoring valve and the air pump are electrically connected to the controller.

[0056] The controller controls the air pump to inflate the gas. The gas enters the binding structure on both sides through the three-way valve for inflation. The air pressure monitoring valve feeds back the air pressure signal to the controller. After inflation is complete, the controller controls the air pump to stop inflating. If deflation is needed, the air pump can be reversed to extract air or the air can be manually deflated through the deflation valve.

[0057] The working principle of this invention: Existing binding structures require loosening or arranging the Velcro before wearing, followed by putting on the binding structure with both hands. This is cumbersome, and over time, the binding effect of the Velcro deteriorates, sometimes resulting in incomplete binding. Furthermore, the Velcro binding provides only binding without support, leading to poor user experience. In this invention, one end of the fixed support is open, allowing the legs to directly enter the binding structure without prior adjustment. This is quick and convenient. When binding is needed, an elastic airbag inflates, forming a cylindrical space that conforms to the shape of the legs for binding, which can be operated with one hand. Compared to existing methods using Velcro binding, this invention offers better support and binding, is more convenient, and provides greater comfort. Inflation can be electric or manual, offering high comfort and one-handed operation. Electric inflation allows for automated binding, making it quick and easy to wear.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A lower limb binding structure, characterized in that, The device includes a fixed support member (1) with one end open and an elastic airbag (2) placed inside the fixed support member (1). The elastic airbag (2) includes a first elastic part (21) and a second elastic part (22). The second elastic part (22) is placed on both sides of the opening and communicates with both sides of the first elastic part (21). When the first elastic part (21) and the second elastic part (22) are inflated, they form a receiving space (3) for binding the lower limbs. The fixed support member (1) is a rigid structure.

2. The lower limb binding structure according to claim 1, characterized in that, The elastic airbag (2) is provided with a vertical groove (11).

3. The lower limb binding structure according to claim 1, characterized in that, The accommodating space (3) is cylindrical.

4. The lower limb binding structure according to claim 1, characterized in that, The fixed support member (1) includes a first support part (12) and a second support part (13). The first support part (12) is semi-circular, and the second support part (13) is placed on both sides of the first support part (12) and is parallel to it.

5. A lower limb exoskeleton, comprising a lumbar exoskeleton (4), a thigh exoskeleton (5), a lower leg exoskeleton (6), and a foot exoskeleton (7) connected in sequence, characterized in that, The lower limb exoskeleton also includes the binding structure described in any one of claims 1-4, wherein the binding structure is respectively installed on the inner side of the thigh exoskeleton (5) and the lower leg exoskeleton (6).

6. A lower limb exoskeleton according to claim 5, characterized in that, The waist exoskeleton (4) is symmetrically provided with a thigh exoskeleton (5), a lower leg exoskeleton (6) and a foot exoskeleton (7) on both sides.

7. A lower limb exoskeleton according to claim 6, characterized in that, The binding structures on one side of the lumbar exoskeleton (4) are connected by a first airway, and the binding structures on the other side of the lumbar exoskeleton (4) are connected by a second airway. The first airway and the second airway are connected to an air pump through a three-way valve.

8. A lower limb exoskeleton according to claim 7, characterized in that, An air release valve is provided on the pipeline between the air pump and the three-way valve, and the air pump is electrically connected to the controller.

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