Lower extremity assistive exoskeleton robot

Abstract

The application discloses a lower limb assisting exoskeleton robot and belongs to the technical field of robots. The robot comprises a hip joint assembly for being worn at a human hip joint, a left leg assembly for being worn on a left leg and a right leg assembly for being worn on a right leg which are located on both sides of the hip joint assembly. The left leg assembly and the right leg assembly each comprise a thigh link, a shank link and a shoe body assembly which are sequentially hinged. The upper end of the thigh link is hinged to the side of the hip joint assembly, and the side of the hip joint assembly is provided with a first driving mechanism for driving the thigh link to rotate. A diagonal driving member for driving the shank link to move is arranged between the hip joint assembly and the shank link. The upper end of the diagonal driving member is hinged to the side of the hip joint assembly, and the lower end of the diagonal driving member is hinged to the middle of the shank link. The lower limb assisting exoskeleton robot further comprises a sensor for detecting the lifting of the thigh and / or the shank. The application has the advantages of simple structure, reasonable layout, low cost and good assisting effect.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a lower limb assistive exoskeleton robot. Background Technology

[0002] An exoskeleton robot is a wearable mechanical device that assists in load carrying and enhances human function. However, exoskeleton robots generally suffer from problems such as complex structure, heavy weight, insignificant assistive efficiency, and unreasonable structural layout that restricts human motor function. These factors severely limit the practical application of exoskeleton robots. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a lower limb assistive exoskeleton robot with simple structure, reasonable layout, low cost and good assistive effect.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0005] A lower limb assistive exoskeleton robot includes a hip joint assembly for wearing on the human hip joint, a left leg assembly located on either side of the hip joint assembly for wearing on the left leg, and a right leg assembly for wearing on the right leg, wherein:

[0006] Both the left leg assembly and the right leg assembly include a thigh link, a calf link and a shoe assembly that are hinged together in sequence. The upper end of the thigh link is hinged to the side of the hip joint assembly. The side of the hip joint assembly is provided with a first drive mechanism for driving the thigh link to rotate.

[0007] An oblique drive member is provided between the hip joint assembly and the lower leg link for driving the lower leg link to move. The upper end of the oblique drive member is hinged to the side of the hip joint assembly, and the lower end is hinged to the middle of the lower leg link.

[0008] The lower limb assistive exoskeleton robot also includes sensors for detecting the lifting of the thigh and / or calf.

[0009] Furthermore, the hip joint assembly is an integral U-shaped bracket with an opening facing forward;

[0010] Alternatively, the hip joint assembly may be a split, forward-facing U-shaped support, comprising a left support and a right support, which are hinged together by a rotating hinge.

[0011] Furthermore, the thigh link includes a first straight rod portion located directly in front of the thigh, a first upper curved portion located above the first straight rod portion, and a first lower curved portion located below the first straight rod portion; the calf link includes a second straight rod portion located directly in front of the calf, and a second upper curved portion located above the second straight rod portion; the upper end of the first upper curved portion is hinged to the side of the hip joint assembly, the lower end of the first lower curved portion is hinged to the upper end of the second upper curved portion, and the lower end of the second straight rod portion is hinged to the shoe assembly;

[0012] Alternatively, the thigh link includes a third straight rod portion located directly in front of the thigh and a third side upper curved portion located above the third straight rod portion; the lower leg link includes a fourth straight rod portion located directly in front of the lower leg; a knee joint curved rod is also hinged between the thigh link and the lower leg link; the upper end of the third side upper curved portion is hinged to the side of the hip joint assembly, the lower end of the third straight rod portion is hinged to the upper end of the knee joint curved rod, the lower end of the knee joint curved rod is hinged to the upper part of the fourth straight rod portion, and the lower end of the fourth straight rod portion is hinged to the shoe assembly.

[0013] Furthermore, both the left leg assembly and the right leg assembly include a thigh auxiliary link, wherein:

[0014] The thigh auxiliary link includes an upper straight rod portion located on the outer side of the thigh, an annular portion located below the upper straight rod portion and surrounding the thigh, a lower straight rod portion connected to the annular portion and located behind the thigh, and a fifth side lower curved portion located below the lower straight rod portion.

[0015] The upper end of the lower leg connecting rod is also provided with a sixth side upper curved part;

[0016] The upper end of the upper straight rod is hinged to the side of the hip joint assembly, and the lower end of the fifth lower curved part is hinged to the upper end of the sixth upper curved part.

[0017] Furthermore, the thigh linkage is provided with a thigh fixing device, which includes a thigh clamping bracket for placement in front of the thigh, a first slider disposed opposite to the thigh clamping bracket, and a first drive motor for driving the first slider to move relative to the thigh clamping bracket, wherein:

[0018] The upper and lower ends of the thigh clamping bracket are respectively hinged with a pair of first clamping arc plates for clamping the thigh.

[0019] The thigh clamping bracket has U-shaped connecting rods on both sides of the side away from the thigh along the length direction. The two ends of the U-shaped connecting rods are respectively hinged to two first clamping arc plates on the same side, and the middle part of the U-shaped connecting rods is hinged to the side of the first slider.

[0020] Furthermore, the first slider is a nut slider, and the first drive motor is connected to the middle of the first slider via a lead screw;

[0021] And / or, the thigh clamping bracket has a protective frame spanning across the middle of the upper and lower ends on the side away from the thigh;

[0022] And / or, the sensor includes a thigh force sensor disposed on the thigh clamp bracket.

[0023] Furthermore, the lower leg connecting rod is provided with a lower leg fixing device, which includes a lower leg bracket for placing in front of the lower leg, a second slider disposed opposite to the lower leg bracket, and a drive screw for driving the second slider to move relative to the lower leg bracket; a pair of second clamping arc plates for clamping the lower leg are hinged to both sides of the lower leg bracket; connecting rods are provided on both sides of the lower leg bracket away from the lower leg, one end of the connecting rod is hinged to the second clamping arc plate, and the other end is hinged to the side of the second slider, wherein:

[0024] The second slider is a nut slider, and the drive screw is threaded to the second slider and passes through the second slider. The end of the drive screw is axially fixed and circumferentially rotatable on the lower leg bracket.

[0025] And / or, the lower leg connecting rod is provided with a groove extending along the length direction, and the side of the lower leg bracket near the lower leg is provided with a guide rail that mates with the groove;

[0026] And / or, the sensor includes a calf force sensor disposed on the calf support.

[0027] Furthermore, the shoe assembly includes a top plate, a sole plate located below the top plate, and a shoe rack connecting the top plate and the sole plate on the side. The top plate, sole plate, and shoe rack together form a shoe housing space, wherein:

[0028] The lower end of the lower leg connecting rod is connected to the front of the shoe top plate via a universal joint;

[0029] And / or, a limiting block is provided above the center of the shoe top plate;

[0030] And / or, the rear part of the shoe top plate is provided with an arc-shaped groove, and a cushioning pad is provided in the arc-shaped groove;

[0031] And / or, shoe straps are provided on the shoe rack behind the shoe body assembly.

[0032] Furthermore, the first drive mechanism includes a thigh drive motor, an active pulley is provided on the output shaft of the thigh drive motor, a driven pulley is provided at the hinge point between the side of the hip joint assembly and the thigh link, and a synchronous belt is provided on the active pulley and the driven pulley.

[0033] Furthermore, the oblique drive component includes an oblique connecting rod, a slider bracket, a third slider that can move along the length direction of the slider bracket, and a second drive motor for driving the third slider to move relative to the slider bracket; the lower end of the oblique connecting rod is hinged to the middle of the lower leg connecting rod, and the upper end of the oblique connecting rod is fixed to the third slider; the upper end of the slider bracket is hinged to the side of the hip joint assembly.

[0034] Alternatively, the oblique drive component includes a first oblique link and a second oblique link, the lower end of the first oblique link is hinged to the middle of the lower leg link, the upper end of the first oblique link is hinged to the lower end of the second oblique link, the upper end of the second oblique link is hinged to the side of the hip joint assembly, and the side of the hip joint assembly is further provided with a second drive mechanism for driving the second oblique link to rotate.

[0035] The lower limb assistive exoskeleton robot of this invention uses a thigh link and an oblique drive component as two input axes. The entire device is a spatial two-degree-of-freedom closed-chain structure, which is more rigid, more stable, and easier to control compared to other open-chain mechanisms. This mechanism innovates and expands the research on mechanisms, provides design reference experience for future research on various walking robots, and broadens thinking. The lower limb assistive exoskeleton robot of this invention has a simple structure, reasonable layout, low cost, and good assistive effect. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the lower limb assistive exoskeleton robot of the present invention, wherein (a) is a structural diagram in one direction and shows the human leg, (b) is a structural diagram in another direction, and (c) is a structural diagram in yet another direction;

[0037] Figure 2 for Figure 1 Schematic diagram of the mid-hip joint assembly;

[0038] Figure 3 for Figure 1 A schematic diagram of the mid-thigh fixation device;

[0039] Figure 4 for Figure 1 Schematic diagram of the lower leg fixation device;

[0040] Figure 5 for Figure 1 Schematic diagram of the midshoe body component;

[0041] Figure 6 for Figure 1 A partial structural schematic diagram of the inclined drive component;

[0042] Figure 7 for Figure 1 The diagram shows the effect of using Example 1.

[0043] Figure 8 This is a schematic diagram of the overall structure of Embodiment 2 of the lower limb assistive exoskeleton robot of the present invention, wherein (a) is a structural diagram in one direction and shows the human leg, (b) is a structural diagram in another direction, and (c) is a structural diagram in yet another direction;

[0044] Figure 9 for Figure 8 Schematic diagram of the mid-hip joint assembly;

[0045] Figure 10 for Figure 8 The diagram shows a partial dissection of one leg of the lower limb assistive exoskeleton robot.

[0046] Figure 11 for Figure 8 The diagram shows the effect of using Example 2. Detailed Implementation

[0047] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0048] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0049] This invention provides a lower limb assistive exoskeleton robot, such as Figure 1-11 As shown, it includes a hip joint assembly 1 for wearing on the human hip joint (specifically, behind the buttocks), a left leg assembly located on both sides of the hip joint assembly 1 for wearing on the left leg, and a right leg assembly for wearing on the right leg, wherein:

[0050] Both the left leg assembly and the right leg assembly include a thigh link 2, a lower leg link 3 and a shoe assembly 4 that are hinged in sequence. The upper end of the thigh link 2 is hinged to the side of the hip joint assembly 1. The side of the hip joint assembly 1 is provided with a first drive mechanism 10 for driving the thigh link 2 to rotate.

[0051] An oblique drive member 5 (with power) for driving the lower leg link 3 to move is provided between the hip joint assembly 1 and the lower leg link 3. The upper end of the oblique drive member 5 is hinged to the side of the hip joint assembly 1, and the lower end is hinged to the middle of the lower leg link 3.

[0052] The lower limb assistive exoskeleton robot also includes sensors for detecting the lifting of the thigh and / or lower leg.

[0053] In use, the user (such as an elderly person) first puts on and secures the lower limb assistive exoskeleton robot of this invention; then, after the user raises their legs, the device is signaled by the sensor, and the device starts to work, applying force in the direction of movement to the thigh and calf respectively; after completing the stepping of one foot, the other foot performs the same movement; then this series of actions is repeated to complete walking or climbing the entire floor, which can realize assisted manual operation, safely, conveniently and efficiently completing assisted walking or climbing stairs.

[0054] The lower limb assistive exoskeleton robot of this invention uses the thigh link (at the first drive mechanism) and the oblique drive component as two (power) input axes. The entire device is a spatial two-degree-of-freedom closed-chain structure, which is more rigid, more stable, and easier to control compared to other open-chain mechanisms. This mechanism innovates and expands the research on mechanisms, provides design reference experience for future research on various walking robots, and broadens thinking. The lower limb assistive exoskeleton robot of this invention has a simple structure, reasonable layout, low cost, and good assistive effect.

[0055] Depending on the specific structure of the lower limb assistive exoskeleton robot, the present invention can have the following embodiments:

[0056] Example 1

[0057] like Figure 1-2 As shown, the hip joint assembly 1 can be a split U-shaped bracket with an opening facing forward, including a left bracket 12 and a right bracket 13. The left bracket 12 and the right bracket 13 are hinged by a rotating hinge 14 to facilitate the user wearing the entire device.

[0058] The thigh link 2 and the lower leg link 3 can adopt various structural forms readily conceived by those skilled in the art, such as conventional rods. However, for ease of implementation and to improve the assistive effect, this embodiment preferably adopts the following structural form:

[0059] like Figure 1 As shown, the thigh link 2 includes a first straight rod portion 21 located in front of the thigh, a first side upper curved portion 22 located above the first straight rod portion 21, and a first side lower curved portion 23 located below the first straight rod portion 22.

[0060] The lower leg link 3 includes a second straight rod portion 31 located directly in front of the lower leg, and a second side-upward curved portion 32 located above the second straight rod portion 31;

[0061] The upper end of the first side upper curved portion 22 is hinged to the side of the hip joint assembly 1, the lower end of the first side lower curved portion 23 is hinged to the upper end of the second side upper curved portion 32, and the lower end of the second straight portion 31 is hinged to the shoe body assembly 4.

[0062] To facilitate thigh fixation, a thigh fixation device 8 can be provided on the thigh link 2. The thigh fixation device 8 can adopt various structural forms that are easily conceived by those skilled in the art, such as straps, etc. However, for ease of implementation, the following structural form is preferred in this embodiment:

[0063] like Figure 3 As shown, the thigh fixation device 8 includes a thigh clamping bracket 81 for placement in front of the thigh, a first slider 82 disposed opposite to the thigh clamping bracket 81, and a first drive motor 83 for driving the first slider 82 to move relative to the thigh clamping bracket 81, wherein:

[0064] The upper and lower ends of the thigh clamping bracket 81 are respectively hinged (specifically, they can be hinged through the rotating shaft 84) and there is a pair of first clamping arc plates 85 for clamping the thigh.

[0065] The thigh clamping bracket 81 has U-shaped connecting rods 86 on both sides along the length direction on the side away from the thigh. The two ends of the U-shaped connecting rod 86 are respectively hinged to two first clamping arc plates 85 on the same side, and the middle part of the U-shaped connecting rod 86 is hinged to the side of the first slider 82.

[0066] In use, the first drive motor 83 drives the first slider 82 to move relative to the thigh clamping bracket 81 (i.e., move up and down in the figure), thereby driving the two U-shaped connecting rods 86 and the four first clamping arc plates 85 to move, realizing clamping on the four circumferential surfaces. The thigh clamping bracket 81, the four first clamping arc plates 85, the two U-shaped connecting rods 86, and the first slider 82 constitute a spatial eight-bar linkage.

[0067] In a specific implementation, the first slider 82 can be a nut slider, and the first drive motor 83 is connected to the middle of the first slider 82 via a lead screw 87 (the first drive motor 83 can be connected to the lead screw 87 via a coupling 88). Thus, the first drive motor 83 drives the lead screw 87 to rotate, causing the first slider 82 to move relative to the thigh clamping bracket 81 (i.e., move up and down as shown in the figure). A protective frame 89 can be provided across the middle of the upper and lower ends of the thigh clamping bracket 81 on the side away from the thigh to protect the relevant mechanisms on the thigh clamping bracket 81 from accidental contact or clothing entanglement, while also serving to connect and support the lead screw 87. In this case, the sensor can include a thigh force sensor 61 mounted on the thigh clamping bracket 81 for detecting thigh lifting.

[0068] The aforementioned thigh fixation device 8 is fixed to the thigh link 2 and includes a completely innovative spatial eight-bar linkage, comprising a thigh clamping bracket 81, four first clamping arc plates 85, two U-shaped links 86, and a first slider 82, all driven by a single actuator. During clamping, the first slider 82 simultaneously acts on the four first clamping arc plates 85 to clamp the thigh, achieving clamping across four arc-shaped surfaces. This is a completely innovative spatial closed-loop eight-bar linkage; research on this mechanism can significantly enrich mechanism development and enable innovative applications.

[0069] To facilitate lower leg fixation, a lower leg fixing device 9 can be provided on the lower leg connecting rod 3. The lower leg fixing device 9 can adopt various structural forms that are easily conceived by those skilled in the art, such as straps, etc. However, for ease of implementation, the following structural form is preferred in this embodiment:

[0070] like Figure 4 As shown, the lower leg fixing device 9 includes a lower leg bracket 91 for placing in front of the lower leg, a second slider 92 disposed opposite to the lower leg bracket 91, and a drive screw 93 for driving the second slider 92 to move relative to the lower leg bracket 91.

[0071] A pair of second clamping arc plates 94 for clamping the lower leg are hinged to both sides of the lower leg support 91;

[0072] The lower leg support 91 has connecting rods 95 on both sides of the side away from the lower leg. One end of the connecting rod 95 is hinged to the second clamping arc plate 94, and the other end is hinged to the side of the second slider 92.

[0073] In use, by tightening or loosening the drive screw 93 by hand, the second slider 92 moves relative to the calf support 91 (i.e., moves up and down in the figure), thereby clamping the calf part with the second clamping arc plate 94.

[0074] In specific implementation, to facilitate the movement of the second slider 92, the second slider 92 can be a nut slider. The driving screw 93 is threadedly connected to the second slider 92 and passes through it. The end of the driving screw 93 is axially fixed and rotatably mounted on the calf support 91. The calf connecting rod 3 may have a groove (not shown) extending along its length. The side of the calf support 91 near the calf has a guide rail 96 that mates with the groove. In this way, the guide rail 96 can be adjusted to a certain position along the groove on the calf connecting rod 3, thereby adjusting the position of the calf fixing device 9 and improving the calf fixing effect. At this time, the sensor may include a calf force sensor 62 set on the calf support 91 for detecting calf lifting.

[0075] The aforementioned calf fixing device 9 serves as a moving device on the calf connecting rod 3. It includes a planar six-bar mechanism, comprising a calf support 91, a second slider 92, two connecting rods 95, and two second clamping arc plates 94 that clamp the calf portion. By simply manually turning the screws, the second slider 92 can simultaneously act on the two second clamping arc plates 94 to clamp the calf portion, thus flexibly achieving clamping of two arc surfaces around the circumference.

[0076] The shoe body component 4 can adopt various structural forms readily conceived by those skilled in the art. For ease of implementation, the following structural form is preferred in this embodiment:

[0077] like Figure 5 As shown, the shoe body assembly 4 includes a top plate 41, a sole plate 42 located below the top plate 41, and a shoe rack 43 connecting the top plate 41 and the sole plate 42 on the side. The top plate 41, the sole plate 42 and the shoe rack 43 together form a shoe body accommodating space.

[0078] In practice, the lower end of the lower leg connecting rod 3 can be connected to the front of the shoe top plate 41 via a universal joint 44. A limiting block 45 is provided above the middle of the shoe top plate 41 (specifically behind the universal joint 44). The universal joint 44 and the limiting block 45 can help the foot make slight or moderate adjustments to its forward and backward, left and right positions, making the foot more comfortable. The rear of the shoe top plate 41 can be provided with an arc-shaped groove (not shown), and a cushioning pad 411 is provided in the arc-shaped groove to improve wearing comfort. A shoe strap 431 can be provided on the shoe rack 43 at the rear of the shoe body assembly 4 to prevent the shoe body from falling off.

[0079] The first drive mechanism 10 used to drive the thigh linkage 2 to rotate in this invention can take various forms. For ease of implementation, such as... Figure 2 As shown, the preferred embodiment includes a thigh drive motor 101. A drive pulley 102 is mounted on the output shaft of the thigh drive motor 101. A driven pulley 103 is mounted at the hinge point between the side of the hip joint assembly 1 and the thigh link 2. A synchronous belt 104 is mounted on both the drive pulley 102 and the driven pulley 103. In use, the thigh drive motor 101 sequentially drives the drive pulley 102 and the driven pulley 103 to rotate, thereby driving the thigh link 2 to move up and down.

[0080] In this invention, the oblique driving component 5 can take various forms; for ease of implementation, such as... Figure 1 and Figure 6 As shown, the preferred embodiment includes an inclined connecting rod 51, a slider support 52, a third slider 53 that can move along the length of the slider support 52, and a second drive motor 54 for driving the third slider 53 to move relative to the slider support 52.

[0081] The lower end of the inclined connecting rod 51 is hinged to the middle of the lower leg connecting rod 3 (specifically, the middle of the lower leg connecting rod 3 may be provided with a horizontally extending crossbar 36, and the lower end of the inclined connecting rod 51 is hinged to the end of the crossbar 36), and the upper end of the inclined connecting rod 51 is fixed to the third slider 53.

[0082] The upper end of the slider support 52 is hinged to the side of the hip joint assembly 1.

[0083] In use, the second drive motor 54 drives the third slider 53 to move relative to the slider bracket 52, which in turn moves the inclined connecting rod 51, thereby causing the lower leg connecting rod 3 to move up and down.

[0084] In a specific implementation, the third slider 53 can be a nut slider, and the second drive motor 54 drives the third slider 53 to move relative to the slider bracket 52 via a lead screw 55. Specifically, the second drive motor 54 can be connected to the lead screw 55 via a coupling 56. The slider bracket 52 may also be provided with a connecting plate 57 for supporting the lead screw 55.

[0085] Therefore, the usage process of this embodiment 1 can be referred to as follows:

[0086] When using, refer to Figure 7 First, the user puts on the lower limb assistive exoskeleton robot of this embodiment 1 and is fixed to the legs by the thigh fixation device 8 and the calf fixation device 9. Then, when the user raises their thigh, it touches the thigh force sensor 61 installed on the thigh fixation device 8, thereby giving a signal to the hip joint component 1. The thigh drive motor 101 on it drives the thigh link 2 to move, thereby causing the thigh to lift and fall. The user's calf lifting will trigger the calf force sensor 62, causing the oblique drive component 5 to drive the oblique link 51, making the calf move up and down, and at the same time realizing the adjustment of the horizontal position of the shoe component 4. After completing the stepping of one foot, the other foot moves forward in the same way. Then, this series of actions is repeated to complete walking or climbing the entire floor, which can realize assisted manual operation, safely, conveniently and efficiently completing assisted walking or climbing stairs.

[0087] In summary, the lower limb assistive exoskeleton robot of Embodiment 1 includes a spatially closed five-bar linkage, comprising a thigh link 2, a lower leg link 3, an oblique link 51, a lead screw 55, a second drive motor 54, and a hip joint assembly 1. The thigh link 2 and the oblique drive component 5 serve as two input axes. The entire device is a spatial two-degree-of-freedom closed-chain structure, exhibiting stronger rigidity, better stability, and easier control compared to other open-chain mechanisms. This mechanism innovates and expands upon mechanical research, providing design reference experience for future research on various walking robots and broadening perspectives. The lower limb assistive exoskeleton robot of Embodiment 1 features a simple structure, reasonable layout, low cost, and good assistive effect.

[0088] Example 2

[0089] like Figure 8-9 As shown, the hip joint assembly 1 can be an integral U-shaped bracket with the opening facing forward.

[0090] The thigh link 2 and the lower leg link 3 can adopt various structural forms readily conceived by those skilled in the art; however, for ease of implementation and to improve the assistive effect, this embodiment preferably adopts the following structural form:

[0091] like Figure 8 and Figure 10 As shown, the thigh link 2 includes a third straight rod portion 24 located directly in front of the thigh and a third side upper curved portion 25 located above the third straight rod portion 24;

[0092] The lower leg link 3 includes a fourth straight link 33 located directly in front of the lower leg;

[0093] A knee joint bend 34 is also hinged between thigh link 2 and lower leg link 3;

[0094] The upper end of the third side upper curved part 25 is hinged to the side of the hip joint assembly 1, the lower end of the third straight rod part 24 is hinged to the upper end of the knee joint curved rod 34, the lower end of the knee joint curved rod 34 is hinged to the upper part of the fourth straight rod part 33, and the lower end of the fourth straight rod part 33 is hinged to the shoe body assembly 4.

[0095] In this embodiment, the thigh link 2 may be provided with a thigh fixing device 8, and the calf link 3 may be provided with a calf fixing device 9. Both the thigh fixing device 8 and the calf fixing device 9 may be in the form of a strap as shown in the figure.

[0096] To better assist in thigh fixation, both the left and right leg components may include a thigh auxiliary link 7, wherein:

[0097] The thigh auxiliary link 7 includes an upper straight rod portion 71 located on the outside of the thigh, an annular portion 72 (specifically, a three-quarter circle) located below the upper straight rod portion 71 and surrounding the thigh, a lower straight rod portion 73 connected to the annular portion 72 and located behind the thigh, and a fifth side lower curved portion 74 located below the lower straight rod portion 73.

[0098] The upper end of the lower leg connecting rod 3 is also provided with a sixth side upper curved part 35;

[0099] The upper end of the upper straight rod 71 is hinged to the side of the hip joint assembly 1, and the lower end of the fifth side lower curved part 74 is hinged to the upper end of the sixth side upper curved part 35.

[0100] The shape design of the thigh auxiliary link 7 described above can better fix the thigh area, and can better protect the thigh and make the structure more robust.

[0101] In this embodiment, the sensors may include a thigh force sensor 61 located on the annular portion 72 of the thigh auxiliary link 7 for detecting thigh lifting, and a calf force sensor 62 located on the fourth straight portion 33 of the calf link 3 for detecting calf lifting. The shoe assembly 4 and the first drive mechanism 10 are the same as in Embodiment 1 above, and will not be described again here.

[0102] The oblique drive component 5 can adopt various structural forms readily conceived by those skilled in the art. For ease of implementation, this embodiment preferably adopts the following structural form:

[0103] like Figure 1 As shown, the oblique drive component 5 includes a first oblique link 58 and a second oblique link 59. The lower end of the first oblique link 58 is hinged to the middle of the lower leg link 3, and the upper end of the first oblique link 58 is hinged to the lower end of the second oblique link 59. The upper end of the second oblique link 59 is hinged to the side of the hip joint assembly 1. The side of the hip joint assembly 1 is also provided with a second drive mechanism 11 for driving the second oblique link 59 to rotate.

[0104] In specific implementation, the second drive mechanism 11 can adopt the same structure as the aforementioned first drive mechanism 10, that is, as follows: Figure 9 As shown, it may include a calf drive motor 111, an active pulley 112 on the output shaft of the calf drive motor 111, a driven pulley 113 at the hinge point between the side of the hip joint assembly 1 and the second inclined connecting rod 59, and a synchronous belt 114 on the active pulley 112 and the driven pulley 113.

[0105] In use, the thigh drive motor 101 drives the thigh link 2 up and down through the synchronous belt 104, and can also drive the lower leg link 3 up and down to a certain extent. The lower leg drive motor 111 drives the second inclined link 59 and the first inclined link 58 through the synchronous belt 114, thereby causing the lower leg link 3 to move up and down. In this way, the thigh drive motor 101 and the lower leg drive motor 111 work together to drive the lower leg link 3 to determine its position, resulting in better control and ultimately determining the position and posture of the shoe body assembly 4.

[0106] The usage process of Example 2 is basically the same as that of Example 1, and the main difference in structure is:

[0107] 1. Unlike the two-degree-of-freedom five-bar linkage of Embodiment 1, Embodiment 2 is a two-degree-of-freedom seven-bar linkage, including a hip joint assembly 1 as a frame, a thigh link 2, a knee joint bending link 34, a lower leg link 3, a thigh auxiliary link 7, a first oblique link 58, and a second oblique link 59, wherein the thigh link 2 and the oblique drive member 5 serve as two input axes;

[0108] 2. According to Figure 9As shown, the hip joint assembly 1 is an integral unit. The four drive motors (i.e., the thigh drive motor 101 of the first drive mechanism 10 and the calf drive motor 111 of the second drive mechanism 11) that drive the movement of the thigh and calf in the lower limb assistive exoskeleton robot are all located on the hip joint assembly 1. The arc-shaped design on the thigh link 2 makes it easier for the elderly to wear.

[0109] 3. The leg fixation devices (thigh fixation device 8 and calf fixation device 9) are mainly achieved through straps;

[0110] 4. The thigh force sensor 61 is installed on the annular part 72 of the thigh auxiliary link 7, which makes it easier to detect signals; the shape design of the thigh auxiliary link 7 can better fix the thigh.

[0111] In summary, this invention uses a two-degree-of-freedom drive based on a spatial multi-bar mechanism, combined with flexible control and safety features, to help the elderly climb stairs conveniently while reducing costs, achieving multiple benefits in one fell swoop.

[0112] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A lower limb assistive exoskeleton robot, characterized in that, This includes a hip joint assembly for wearing on the human hip joint, a left leg assembly located on either side of the hip joint assembly for wearing on the left leg, and a right leg assembly for wearing on the right leg, wherein: Both the left leg assembly and the right leg assembly include a thigh link, a calf link and a shoe assembly that are hinged together in sequence. The upper end of the thigh link is hinged to the side of the hip joint assembly. The side of the hip joint assembly is provided with a first drive mechanism for driving the thigh link to rotate. An oblique drive member is provided between the hip joint assembly and the lower leg link for driving the lower leg link to move. The upper end of the oblique drive member is hinged to the side of the hip joint assembly, and the lower end is hinged to the middle of the lower leg link. The lower limb assistive exoskeleton robot also includes sensors for detecting the lifting of the thigh and / or lower leg; The thigh link includes a first straight rod portion located directly in front of the thigh, a first upper curved portion located above the first straight rod portion, and a first lower curved portion located below the first straight rod portion; the calf link includes a second straight rod portion located directly in front of the calf, and a second upper curved portion located above the second straight rod portion; the upper end of the first upper curved portion is hinged to the side of the hip joint assembly, the lower end of the first lower curved portion is hinged to the upper end of the second upper curved portion, and the lower end of the second straight rod portion is hinged to the shoe assembly; Alternatively, the thigh link includes a third straight rod portion located directly in front of the thigh and a third side upper curved portion located above the third straight rod portion; the lower leg link includes a fourth straight rod portion located directly in front of the lower leg; a knee joint curved rod is also hinged between the thigh link and the lower leg link; the upper end of the third side upper curved portion is hinged to the side of the hip joint assembly, the lower end of the third straight rod portion is hinged to the upper end of the knee joint curved rod, the lower end of the knee joint curved rod is hinged to the upper part of the fourth straight rod portion, and the lower end of the fourth straight rod portion is hinged to the shoe assembly.

2. The lower limb assistive exoskeleton robot according to claim 1, characterized in that, The hip joint assembly is an integral U-shaped bracket with an opening facing forward; Alternatively, the hip joint assembly may be a split, forward-facing U-shaped support, comprising a left support and a right support, which are hinged together by a rotating hinge.

3. The lower limb assistive exoskeleton robot according to claim 1, characterized in that, Both the left leg assembly and the right leg assembly include a thigh auxiliary link, wherein: The thigh auxiliary link includes an upper straight rod portion located on the outer side of the thigh, an annular portion located below the upper straight rod portion and surrounding the thigh, a lower straight rod portion connected to the annular portion and located behind the thigh, and a fifth side lower curved portion located below the lower straight rod portion. The upper end of the lower leg connecting rod is also provided with a sixth side upper curved part; The upper end of the upper straight rod is hinged to the side of the hip joint assembly, and the lower end of the fifth lower curved part is hinged to the upper end of the sixth upper curved part.

4. The lower limb assistive exoskeleton robot according to claim 1, characterized in that, The thigh linkage is equipped with a thigh fixing device, which includes a thigh clamping bracket for placement in front of the thigh, a first slider disposed opposite to the thigh clamping bracket, and a first drive motor for driving the first slider to move relative to the thigh clamping bracket, wherein: The upper and lower ends of the thigh clamping bracket are respectively hinged with a pair of first clamping arc plates for clamping the thigh. The thigh clamping bracket has U-shaped connecting rods on both sides of the side away from the thigh along the length direction. The two ends of the U-shaped connecting rods are respectively hinged to two first clamping arc plates on the same side, and the middle part of the U-shaped connecting rods is hinged to the side of the first slider.

5. The lower limb assistive exoskeleton robot according to claim 4, characterized in that, The first slider is a nut slider, and the first drive motor is connected to the middle of the first slider via a lead screw; And / or, the thigh clamping bracket has a protective frame spanning across the middle of the upper and lower ends on the side away from the thigh; And / or, the sensor includes a thigh force sensor disposed on the thigh clamp bracket.

6. The lower limb assistive exoskeleton robot according to claim 1, characterized in that, The lower leg connecting rod is equipped with a lower leg fixing device, which includes a lower leg bracket for placing in front of the lower leg, a second slider disposed opposite to the lower leg bracket, and a drive screw for driving the second slider to move relative to the lower leg bracket; a pair of second clamping arc plates for clamping the lower leg are hinged to both sides of the lower leg bracket; connecting rods are provided on both sides of the lower leg bracket away from the lower leg, one end of which is hinged to the second clamping arc plate, and the other end is hinged to the side of the second slider, wherein: The second slider is a nut slider, and the drive screw is threaded to the second slider and passes through the second slider. The end of the drive screw is axially fixed and circumferentially rotatable on the lower leg bracket. And / or, the lower leg connecting rod is provided with a groove extending along the length direction, and the side of the lower leg bracket near the lower leg is provided with a guide rail that mates with the groove; And / or, the sensor includes a calf force sensor disposed on the calf support.

7. The lower limb assistive exoskeleton robot according to claim 1, characterized in that, The shoe assembly includes a top plate, a sole plate located below the top plate, and a shoe rack connecting the top plate and the sole plate on the side. The top plate, sole plate, and shoe rack together form a shoe housing space, wherein: The lower end of the lower leg connecting rod is connected to the front of the shoe top plate via a universal joint; And / or, a limiting block is provided above the center of the shoe top plate; And / or, the rear part of the shoe top plate is provided with an arc-shaped groove, and a cushioning pad is provided in the arc-shaped groove; And / or, shoe straps are provided on the shoe rack behind the shoe body assembly.

8. The lower limb assistive exoskeleton robot according to claim 1, characterized in that, The first drive mechanism includes a thigh drive motor, an active pulley on the output shaft of the thigh drive motor, a driven pulley at the hinge point between the side of the hip joint assembly and the thigh link, and a synchronous belt on the active pulley and the driven pulley.

9. The lower limb assistive exoskeleton robot according to any one of claims 1-8, characterized in that, The oblique drive component includes an oblique connecting rod, a slider bracket, a third slider that can move along the length direction of the slider bracket, and a second drive motor for driving the third slider to move relative to the slider bracket; the lower end of the oblique connecting rod is hinged to the middle of the lower leg connecting rod, and the upper end of the oblique connecting rod is fixed to the third slider; the upper end of the slider bracket is hinged to the side of the hip joint assembly. Alternatively, the oblique drive component includes a first oblique link and a second oblique link, the lower end of the first oblique link is hinged to the middle of the lower leg link, the upper end of the first oblique link is hinged to the lower end of the second oblique link, the upper end of the second oblique link is hinged to the side of the hip joint assembly, and the side of the hip joint assembly is further provided with a second drive mechanism for driving the second oblique link to rotate.

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