Active bearing lower limb exoskeleton device

Abstract

The invention discloses an active lower limb exoskeleton bearing device which comprises a trunk assembly, a left leg assembly and a right leg assembly. The left leg assembly and the right leg assembly are fixedly connected to the two sides of the trunk assembly, the width between the left leg assembly and the right leg assembly can be adjusted, and the left leg assembly and the right leg assembly comprise thigh structures, shank structures and foot assemblies which are in mirror symmetry; the trunk assembly comprises a back frame, a wearing binding mechanism and a waist supporting mechanism. The length of the shank function module is adjusted, the influence on the walking gait is reduced, and the practical value and the comfort degree are greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of exoskeletons, and in particular relates to an active lower limb carrying exoskeleton device. Background Art

[0002] As a modern wearable device, lower limb exoskeleton is mainly used to enhance the human body's load-bearing and mobility capabilities. In recent years, with the progress of society and the acceleration of aging, human exoskeleton has developed rapidly. Traditional exoskeletons are isomorphic to the human body and keep pace with the human body during movement.

[0003] At present, the design of lower limb exoskeletons has achieved initial results, but there are still many problems in terms of portability and comfort. Due to the complex structure of the human body, exoskeletons that cannot be properly adjusted according to the proportions and curves of the human body will be greatly lacking in comfort. In addition, the existing active lower limb exoskeletons mostly adopt a series structure design in the design of the hip joint, knee joint and ankle joint, and the knee joint is directly driven by a motor, which has high requirements on the motor output force and speed, resulting in a large motor size and weight, and poor motor tracking.

[0004] Therefore, there is no effective solution to the above technical problems. Summary of the invention

[0005] The present invention aims to provide an active lower limb exoskeleton device to reduce the impact on walking gait and achieve the length adjustment of the lower leg function module.

[0006] In order to achieve the purpose of the present invention, the present invention provides an active lower limb carrying exoskeleton device, which includes a trunk component, a left leg component and a right leg component;

[0007] The left leg assembly and the right leg assembly are fixedly connected to both sides of the trunk assembly, the width between the left leg assembly and the right leg assembly can be adjusted, and the left leg assembly and the right leg assembly include a mirror-symmetrical thigh structure, a calf structure, and a foot assembly;

[0008] The trunk assembly includes a back frame, a wearing and binding mechanism, and a waist supporting mechanism;

[0009] The back frame is used to adapt to the curved surface of the human back and fix the load;

[0010] The wearing and binding mechanism is used to connect the human body and the backpack to prevent the backpack from shaking when the wearer is walking;

[0011] The waist support mechanism is used to install a power source and a control device, and provide support for the back load.

[0012] Compared with the prior art, the significant improvements of the present invention are as follows: (1) In the knee joint assist structure, the present invention arranges the driving motor at the hip to reduce the inertia of the knee joint, adopts a parallelogram mechanism to actively match the knee joint rotation point, and achieves lightweight by combining the characteristics of the parallelogram mechanism itself, thereby effectively achieving knee joint assist, reducing the interference of the exoskeleton on the human body and the load that the human leg needs to bear; (2) The calf structure of the present invention is provided with a length adjustment mechanism, which is suitable for adjusting the length of the lower limbs of people of different age groups and heights, and is convenient for wearers of different heights to perform various operations; (3) The present invention is equipped with a force sensor at the lower end of the calf function module, which can measure the calf structure pressure in real time through the force sensor, and can identify the walking gait according to the pressure change, and then control the motor to achieve assist.

[0013] In order to more clearly illustrate the functional characteristics and structural parameters of the present invention, further description is given below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0015] Figure 1 is a schematic diagram of the overall structure of the lower limb exoskeleton device of the present invention;

[0016] Figure 2 is a schematic structural diagram of a trunk assembly of the present invention;

[0017] Figure 3 It is a structural schematic diagram of the wearing and binding mechanism of the present invention;

[0018] Figure 4 is a schematic structural diagram of a lumbar support mechanism of the present invention;

[0019] Figure 5 is an exploded view of the lumbar support mechanism of the present invention;

[0020] Figure 6 It is a schematic structural diagram of a left leg assembly and a right leg assembly of the present invention;

[0021] Figure 7 is a schematic structural diagram of the right thigh structure of the present invention;

[0022] Figure 8 is an exploded view of the right thigh structure of the present invention;

[0023] Fig. 9 is an exploded view of the right calf structure of the present invention;

[0024] Fig.10is a schematic structural diagram of a right foot assembly of the present invention;

[0025] Fig.11 is an exploded view of the right foot assembly of the present invention;

[0026] Fig.12 is an exploded view of another embodiment of the right calf structure of the present invention;

[0027] Fig.13 Detailed description of the invention Fig. 2 is an exploded view of another embodiment of a right foot assembly of the present invention.

[0028] The reference numerals in the figure are: 1-trunk assembly; 2-left leg assembly; 3-right leg assembly; 110-back frame; 120-wearing binding mechanism; 130-waist support mechanism; 121-back strap; 122-back frame pad; 123-shoulder strap; 124-chest guard; 125-waist belt; 126-waist seal; 127-back frame mounting webbing; 131-support plate; 132-mounting seat; 133-cantilever pin; 134-support shell; 135-controller; 136-support frame; 137-battery; 138-support shell cover; 210-left thigh structure; 220-left calf structure; 230-left foot assembly; 310-right thigh structure; 320-right calf structure; 330-right foot assembly; 311-hip joint cover; 312-rocker; 313-motor; 314-motor cover; 315-first nut; 316-first shaft Bearing; 317-bearing cover; 318-connecting shaft; 319-quick release pin; 3110-connecting rod; 3111-thigh rod; 3112-knee joint cover; 3113-second bearing; 3114-circlip; 321-shoulder bolt; 322-second nut; 323-calf connecting block; 324-upper telescopic tube; 325-spring; 326-fixed tube clamp; 327-lower telescopic tube; 328-force sensor; 329-calf binding connection block; 331-first joint bearing; 332-pin; 333-foot connection block; 334-anti-slip rubber; 335-shoe cover frame; 336-rubber shoe cover; 341-calf rod body; 342-calf rod cover; 343-calf adjustment rod; 344-first screw; 351-second joint bearing; 352-connection block; 353-second screw; 354-rigid shoe cover. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0030] An active lower limb carrying exoskeleton device comprises a trunk component 1, a left leg component 2 and a right leg component 3;

[0031] The left leg assembly 2 and the right leg assembly 3 are fixedly connected to both sides of the trunk assembly 1, the width between the left leg assembly 2 and the right leg assembly 3 can be adjusted, and the left leg assembly 2 and the right leg assembly 3 include a mirror-symmetrical thigh structure, a calf structure, and a foot assembly;

[0032] The trunk assembly 1 includes a back frame 110, a wearing and binding mechanism 120 and a waist supporting mechanism 130;

[0033] The back frame 110 is used to adapt to the curved surface of the back of the human body and to fix the load carried;

[0034] The wearing and binding mechanism 120 is used to connect the human body and the back frame 110 to prevent the back frame 110 from shaking when the wearer is walking;

[0035] The waist support mechanism 130 is used to install a power source and a control device, and provide support for the back load.

[0036] The wearing and binding mechanism 120 is fixedly connected to the back frame 110 via webbing, Velcro, and buckles; the length of the buckles and webbing is adjusted to adapt to the size of the human body; the waist support mechanism 130 is connected to the back frame 110 via bolts.

[0037] The wearing and binding mechanism 120 includes a shoulder strap 121, a back frame pad 122, a shoulder strap 123, a chest guard 124, a waist belt 125 and a waist seal 126; the upper end of the shoulder strap 121 is connected to the back frame 120, the lower end of the shoulder strap 121 is connected to the shoulder strap 123, and the shoulder strap 121 is provided with a length adjustment buckle to adjust the length of the shoulder strap 121; the back frame pad 122 is designed with a back frame mounting webbing 127 with a spacing of 70 mm and connected to the back frame 110; the shoulder strap 123 connects the waist seal 126 and the back frame pad 122, and a position adjustment buckle is provided in the middle of the shoulder strap 123 The shoulder strap 123 is connected to the chest guard 124, and the lower part of the shoulder strap 123 is provided with a length adjustment buckle connected to the waist seal 126 for quick length adjustment; the two ends of the chest guard 124 are connected to the left and right shoulder straps 123, and the chest guard 124 is provided with an opening buckle and a length adjustment buckle for quick opening or length adjustment; the waist belt 125 is provided with a buckle and a length adjustment buckle for quick opening or length adjustment to adapt to different waist sizes; the waist seal 126 is fixed with standard webbing at intervals of 38 mm for connecting other accessories, and the waist seal 126 is connected to the back frame 110 and the waist support mechanism 130 by bolts;

[0038] The waist support mechanism 130 includes a support plate 131, a mounting seat 132, a cantilever pin 133, a support shell 134, a controller 135, a support frame 136, a battery 137, and a support shell cover 138; the support plate 131 is connected to the back frame 110 by bolts; the mounting seat 132 is tapped with threads and fixed to the support plate 131 by bolts; the cantilever pin 133 is inserted into the hole of the mounting seat 132 and is radially locked by screws; the support frame 136 is located in the support shell 134, the support frame 136 is tapped with threads, fixed to the support shell 134 by bolts, and clamps the support shell 134; the battery 137 is fixed between the left and right support frames 136; the support shell cover 138 is connected to the support shell 134 by a snap-on structure; the waist support mechanism 130 can support the backpack load and transfer the load to the ground through the left leg assembly 2 and the right leg assembly 3.

[0039] The left leg assembly 2 includes a left thigh structure 210, a left calf structure 220 and a left foot assembly 230, and the right leg assembly 3 corresponding to the left leg assembly 230 includes a right thigh structure 310, a right calf structure 320 and a right foot assembly 330;

[0040] The thigh structure is connected to the calf structure through a bearing to accommodate the flexion and extension of the knee joint; the thigh structure is connected to the waist support mechanism 130 through a cantilever pin to accommodate the abduction and adduction of the leg; the lower end of the calf structure is connected to the foot component through a ball joint bearing to accommodate the plantar flexion and dorsiflexion, inversion and eversion of the ankle joint; the calf structure is fixed to the human calf through binding straps, Velcro, and buckles; the lower end of the foot component is fixed to the human foot or shoe through a rubber shoe cover 336.

[0041] The right thigh structure 310 includes a hip joint cover 311, a rocker 312, a motor 313, a motor cover 314, a first and a second nut 322, a first bearing 316, a bearing cover 317, a connecting shaft 318, a quick release pin 319, a connecting rod 3110, a thigh rod 3111, a knee joint cover 3112, a second bearing 3113, and a retaining spring 3114; the hip joint cover 311 is connected to the upper end of the thigh rod 3111 by screws; the motor 313 connects the rocker 312 and the thigh rod 3111, the motor 313 housing is connected to the upper end of the thigh rod 3111 by bolts, and the motor 313 rotor is connected to the rocker 312 by bolts; the motor cover 314 is connected to the thigh rod 3111 by bolts. 111 is connected to the upper end and covered on the motor 313; the first bearing 316 is fixed to the motor cover 314 through the bearing cover 317; the connecting shaft 318 passes through the inner ring of the first bearing 316 from one side, and is locked by the first and second nuts 322 on the other side; the connecting rod 3110 connects the rocker 312 and the calf connecting block 323, the upper end of the connecting rod 3110 is connected to the rocker 312 through a joint bearing, and the lower end of the connecting rod 3110 is connected to the calf connecting block 323 through a joint bearing; the knee joint cover 3112 is fixed to the lower end of the thigh rod 3111 by screws; the second bearing 3113 is fixed to the lower end of the thigh rod 3111 by the retaining ring 3114.

[0042] The right calf structure 320 includes a shoulder bolt 321, a nut 322, a calf connection block 323, an upper telescopic tube 324, a spring piece 325, a fixed pipe clamp 326, a lower telescopic tube 327, a force sensor 328, and a calf binding connection block 328; the calf connection block 323 is connected to the right thigh structure 310 through the shoulder bolt 321 and the nut 322; the upper end of the upper telescopic tube 324 is connected to the lower end of the calf connection block 323 through a screw; the spring piece 325 is located in the lower telescopic tube 327, and the upper telescopic tube 324 has 8 axial openings with a spacing of 15 The lower telescopic tube 327 is inserted into the upper telescopic tube 324 and the spring sheet 325 is passed through different holes of the upper telescopic tube 327, so as to adjust the length of the right calf structure 320 to adapt to the leg length of different wearers; the upper telescopic tube 324 and the lower telescopic tube 327 can be relatively fixed by locking the fixed tube clamp 326; the force sensor 328 is connected to the lower telescopic tube 327 by screws, and the pressure of the right calf structure 320 can be measured in real time by the force sensor 327, and the walking gait can be identified according to the change of pressure. The calf binding connection block 329 is connected to the force sensor 328 by screws.

[0043] The right foot component 330 includes a first joint bearing 331, a pin 332, a foot connection block 333, an anti-skid rubber 334, a shoe cover frame 335, and a rubber shoe cover 336; the upper end of the first joint bearing 331 is connected to the right calf structure 320, and the lower end is connected to the foot connection block 333 through the pin 332; the anti-skid rubber 334 is connected to the lower end of the foot connection block 333 through a screw; the rubber shoe cover 336 is glued to the shoe cover frame 335; the rubber shoe cover 336 and the shoe cover frame 335 are connected to the foot connection block 333 as a whole through bolts.

[0044] Example

[0045] Example 1

[0046] like Fig.12 It is another form of the calf structure 320, including a shoulder bolt 321, a nut 322, a calf rod body 341, a calf rod cover 342, a calf adjustment rod 343, a first screw 344, a force sensor 328, and a calf binding connection block 329; the calf rod body 341 is connected to the right thigh structure 310 through the shoulder bolt 321 and the nut 322; the calf rod cover 342 is fixed to the calf rod body 341 by screws; the calf adjustment rod 343 is inserted into the calf rod body and the calf rod cover The cavity formed between the lower leg and the lower leg is fixed to the calf rod cover plate 342 by the first screw 344. The calf adjustment rod 343 has 2X10 threaded holes with a spacing of 15 to 20 mm along the axial direction. The length adjustment function of the calf structure can be realized by fixing the first screw 344 in different holes of the calf adjustment rod 343. The force sensor 328 is connected to the lower telescopic tube 327 by screws. The pressure of the right calf structure 320 can be measured in real time by the force sensor 327, and the walking gait can be identified according to the change of pressure. The calf binding connection block 329 is connected to the force sensor 328 by screws.

[0047] Example 2

[0048] like Fig.13 It is another form of the foot structure 330. The right foot component 330 includes a second joint bearing 351, a connecting block 352, a second screw 353, and a rigid shoe cover 354. The upper end of the second joint bearing 351 is connected to the right calf structure 320, and the lower end is connected to the connecting block 352 through the second screw 353. The rigid shoe cover 354 is fixed to the side of the connecting block 352 by screws, and the inner side of the rigid shoe cover 354 has convex points. When the rigid shoe cover is clamped on the heel, the convex points can play a fixing and anti-slip role.

[0049] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An active lower limb exoskeleton device, characterized in that: It comprises a trunk component (1), a left leg component (2) and a right leg component (3); The left leg assembly (2) and the right leg assembly (3) are fixedly connected to both sides of the trunk assembly (1); the width between the left leg assembly (2) and the right leg assembly (3) can be adjusted, and the left leg assembly (2) and the right leg assembly (3) include a mirror-symmetrical thigh structure, a calf structure, and a foot assembly; The trunk assembly (1) comprises a back frame (110), a wearing and binding mechanism (120) and a waist supporting mechanism (130); The back frame (110) is used to adapt to the curved surface of the human back and fix the load carried; The wearing and binding mechanism (120) is used to connect the human body and the back frame (110) to prevent the back frame (110) from shaking when the wearer is walking; The waist support mechanism (130) is used to install a power source and a control device, and to provide support for the back load.

2. The active lower limb exoskeleton device according to claim 1, characterized in that: The wearing and binding mechanism (120) comprises a shoulder strap (121), a back frame pad (122), a shoulder strap (123), a chest guard (124), a waist belt (125) and a waist seal (126); the upper end of the shoulder strap (121) is connected to the back frame (120), the lower end of the shoulder strap (121) is connected to the shoulder strap (123), and the shoulder strap (121) is provided with a length adjustment buckle; the back frame pad (122) is provided with a back frame mounting webbing (127) connected to the back frame (110); the shoulder strap (123) is connected to the waist seal (126) and the back frame pad (122) The shoulder strap (123) is provided with a position adjustment buckle in the middle part thereof and connected to the chest guard (124); the shoulder strap (123) is provided with a length adjustment buckle in the lower part thereof and connected to the waist seal (126); the two ends of the chest guard (124) are connected to the left and right shoulder straps (123); the chest guard (124) is provided with an opening buckle and a length adjustment buckle; the waist belt (125) is provided with a buckle and a length adjustment buckle; a standard webbing is fixed on the waist seal (126) and can be connected to other accessories; the waist seal (126) is connected to the back frame (110) and the waist support mechanism (130) by bolts.

3. The active lower limb exoskeleton device according to claim 1, characterized in that: The waist support mechanism (130) comprises a support plate (131), a mounting seat (132), a cantilever pin (133), a support shell (134), a controller (135), a support frame (136), a battery (137), and a support shell cover (138); the support plate (131) is connected to the back frame (110) by bolts; the mounting seat (132) is threaded and fixed to the support plate (131) by bolts; the cantilever pin (133) is inserted into the hole of the mounting seat (132) and is radially locked by screws; the support frame (136) is located in the support shell (134), the support frame (136) is threaded and fixed to the support shell (134) by bolts, and clamps the support shell (134); the battery (137) is fixed between the left and right support frames (136); the support shell cover (138) is connected to the support shell (134) by a snap-fit ​​structure.

4. The active lower limb exoskeleton device according to claim 1, characterized in that: The left leg assembly (2) includes a left thigh structure (210), a left calf structure (220) and a left foot assembly (230), and the right leg assembly (3) corresponding to the left leg assembly (210) includes a right thigh structure (310), a right calf structure (320) and a right foot assembly (330); The thigh structure is connected to the calf structure via a bearing; the thigh structure is connected to the waist support mechanism (130) via a cantilever pin; the lower end of the calf structure is connected to the foot component via a ball joint bearing; the calf structure is fixed to the human calf via a binding webbing, Velcro, or buckle; and the lower end of the foot component is fixed to the human foot or shoe via a binding structure.

5. The active lower limb exoskeleton device according to claim 4, characterized in that: The right thigh structure (310) comprises a hip joint cover (311), a rocker (312), a motor (313), a motor cover (314), first and second nuts (322), a first bearing (316), a bearing cover (317), a connecting shaft (318), a quick-release pin (319), a connecting rod (3110), a thigh rod (3111), a knee joint cover (3112), a second bearing (3113), and a retaining spring (3114); the hip joint cover (311) is connected to the upper end of the thigh rod (3111) by screws; the motor (313) is connected to the rocker (312) and the thigh rod (3111), the housing of the motor (313) is connected to the upper end of the thigh rod (3111) by bolts, and the rotor of the motor (313) is connected to the rocker (312) by bolts; the motor cover (314) is connected to the thigh rod (3111) by bolts. The upper end of the thigh rod (3111) is connected and covered on the motor (313); the first bearing (316) is fixed to the motor cover (314) through the bearing cover (317); the connecting shaft (318) passes through the inner ring of the first bearing (316) from one side and is locked by the first and second nuts (322) on the other side; the connecting rod (3110) connects the rocker (312) and the calf connecting block (323), the upper end of the connecting rod (3110) is connected to the rocker (312) through a joint bearing, and the lower end of the connecting rod (3110) is connected to the calf connecting block (323) through a joint bearing; the knee joint cover (3112) is fixed to the lower end of the thigh rod (3111) by screws; the second bearing (3113) is fixed to the lower end of the thigh rod (3111) by the retaining ring (3114).

6. The active lower limb exoskeleton device according to claim 4, characterized in that: The right calf structure (320) comprises a shoulder bolt (321), a nut (322), a calf connection block (323), an upper telescopic tube (324), a spring sheet (325), a fixed tube clamp (326), a lower telescopic tube (327), a force sensor (328), and a calf binding connection block (329); the calf connection block (323) is connected to the right thigh structure (310) via the shoulder bolt (321) and the nut (322); the upper end of the upper telescopic tube (324) is connected to the lower end of the calf connection block (323) via a screw; the spring sheet (325) is connected to the lower end of the calf connection block (323) via a screw; 25) is located in the lower telescopic tube (327), the upper telescopic tube (324) is provided with a hole along the axial direction, the lower telescopic tube (327) is inserted into the upper telescopic tube (324) and the spring piece (325) is passed through different holes of the upper telescopic tube (327); by locking the fixed tube clamp (326), the upper telescopic tube (324) and the lower telescopic tube (327) can be relatively fixed; the force sensor (328) is connected to the lower telescopic tube (327) by screws; the calf binding connection block (329) is connected to the force sensor (328) by screws.

7. The active lower limb exoskeleton device according to claim 4, characterized in that: The right foot component (330) comprises a first joint bearing (331), a pin (332), a foot connection block (333), an anti-skid rubber (334), a shoe cover frame (335), and a rubber shoe cover (336); the upper end of the first joint bearing (331) is connected to the right calf structure (320), and the lower end is connected to the foot connection block (333) through the pin (332); the anti-skid rubber (334) is connected to the lower end of the foot connection block (333) through a screw; the rubber shoe cover (336) is glued to the shoe cover frame (335); the rubber shoe cover (336) and the shoe cover frame (335) are connected to the foot connection block (333) as a whole through bolts.

8. The active lower limb exoskeleton device according to claim 1, characterized in that: The wearing and binding mechanism (120) is fixedly connected to the back frame (110) via a webbing, Velcro, or a buckle; and the waist supporting mechanism (130) is connected to the back frame (110) via bolts.

9. The active lower limb exoskeleton device according to claim 1, characterized in that: The waist support mechanism (130) transfers the load to the ground through the left leg assembly (2) and the right leg assembly (3), thereby supporting the backpack load.

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