Lightweight lower limb exoskeleton control system

Abstract

The light-weight lower limb exoskeleton control system comprises a backrest assembly, leg assemblies are arranged on the two sides of the backrest assembly, and each leg assembly comprises a hip joint movement mechanism, a thigh exoskeleton mechanism, a shank exoskeleton mechanism and a foot mechanism which are sequentially arranged from top to bottom; a knee joint energy storage mechanism is connected between the thigh exoskeleton mechanism and the shank exoskeleton mechanism; the knee joint energy storage mechanism comprises an upper mounting seat, a lower mounting seat, a telescopic sleeve and an energy storage spring sleeving the telescopic sleeve; the upper mounting seat is fixedly connected with the thigh exoskeleton mechanism and is connected with the upper end of the telescopic sleeve through a rotating pair; the lower mounting seat is fixedly connected with the shank exoskeleton mechanism and is connected with the lower end of the telescopic sleeve; a plurality of mounting holes are formed in the upper mounting seat, and the elastic strength of the knee joint energy storage mechanism is changed according to the elongation of the energy storage spring when the telescopic sleeve is mounted at different positions. Compared with the prior art, the method has the requirements of light weight and low control complexity.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and in particular to a lightweight lower limb exoskeleton control system. Background Art

[0002] Exoskeleton robots are mechanical devices that can be worn by operators and integrate technologies such as sensing, control, information, and mobile computing. With the rapid development of exoskeleton technology, exoskeleton robots are increasingly used as auxiliary support and rehabilitation treatment for patients with lower limb movement disorders. At the same time, wearable exoskeletons that assist wearers in labor production are also emerging.

[0003] Currently, exoskeleton robots mainly use motors to drive the joints of the exoskeleton to move. This technology can match the normal gait of the human body, but multiple motors controlling movement make its control system complicated, and the use of a large number of motors also increases the cost.

[0004] After searching, Chinese invention patent application CN 116059085 A discloses an adjustable lower limb exoskeleton rehabilitation robot, which is respectively provided with a back plate adjustment motor, two sets of hip joint motors and two sets of knee joint motors. Chinese invention patent application CN 118593301 A discloses a lower limb rehabilitation exercise device and its operation method, which uses an electric cylinder push rod to realize the movement of the exoskeleton joint.

[0005] In terms of mechanical structure, exoskeleton robots usually include different motion mechanisms to achieve multiple degrees of freedom of movement. After searching, Chinese invention patent application CN 118161382 A discloses a mechanical lower limb exoskeleton walking aid device, which realizes the movement of the exoskeleton thigh and calf through a cam mechanism.

[0006] Existing lower limb exoskeleton robots have complex motion mechanisms and are difficult to control. Due to the presence of multiple motion mechanisms and drive devices, lower limb exoskeleton robots are usually heavy, difficult to wear and walk, and reduce the endurance of the exoskeleton. Summary of the invention

[0007] The purpose of the present invention is to provide a lightweight lower limb exoskeleton control system in order to overcome the defects of the above-mentioned prior art.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] A lightweight lower limb exoskeleton control system, comprising a backrest assembly with a control box, leg assemblies are arranged on both sides of the backrest assembly, and each leg assembly includes a hip joint motion mechanism, a thigh exoskeleton mechanism, a calf exoskeleton mechanism and a foot mechanism arranged in sequence from top to bottom;

[0010] A knee joint energy storage mechanism is connected between the thigh exoskeleton mechanism and the calf exoskeleton mechanism, and the knee joint energy storage mechanism includes an upper mounting seat, a lower mounting seat, a telescopic sleeve and an energy storage spring sleeved on the telescopic sleeve; the upper mounting seat is fixedly connected to the thigh exoskeleton mechanism and connected to the upper end of the telescopic sleeve through a rotating pair; the lower mounting seat is fixedly connected to the calf exoskeleton mechanism and connected to the lower end of the telescopic sleeve; a plurality of mounting holes are arranged in the upper mounting seat, and the elastic strength of the knee joint energy storage mechanism is changed according to the elongation of the energy storage spring when the telescopic sleeve is installed at different positions.

[0011] Preferably, the thigh exoskeleton mechanism comprises a first end and a second end, and the distance between the first end and the second end is adjusted by a first length adjustment component; the calf exoskeleton mechanism comprises a third end and a fourth end, and the distance between the third end and the fourth end is adjusted by a second length adjustment component;

[0012] The first end of the thigh exoskeleton mechanism is connected to the hip joint motion mechanism, the second end of the thigh exoskeleton mechanism is connected to the third end of the calf exoskeleton mechanism through the provided knee joint motion mechanism, and the fourth end of the calf exoskeleton mechanism is connected to the foot mechanism.

[0013] Preferably, the backrest assembly comprises a backrest board and movable long boards arranged on both sides;

[0014] A coaxially fixed gear and an adjustment knob are respectively installed on each side of the backrest. A rack for meshing with the gear is provided on the movable long board. The meshing position of the gear and the rack is controlled by the knob to adjust the distance between the movable long boards on both sides to achieve hip joint width adjustment.

[0015] Preferably, the control box is arranged on the rear side of the backrest.

[0016] Preferably, the hip joint motion mechanism comprises a connecting seat, a motor mounting seat, a motor, a connecting flange and a torque sensor device;

[0017] The connecting seat is fixedly connected to the outer side of the movable long board, the motor mounting seat is rotatably connected to the connecting seat, the output end face of the motor is fixedly connected to the connecting flange, the end of the connecting flange is kept relatively fixed with the first end of the thigh exoskeleton mechanism through a torque sensor, and the motor drives the thigh exoskeleton to move when working;

[0018] The torque sensor device is connected to the control box circuit and is used to adjust the output strength of the motor according to the torque value of the thigh exoskeleton collected by the torque sensor device.

[0019] Preferably, the motor mounting seat is connected to the connecting seat via a connecting shaft, and a stepped hole is provided on the motor mounting seat to cooperate with the connecting shaft. After the connection is completed, the motor mounting seat and the connecting seat generate relative rotation.

[0020] Preferably, the knee joint rotation mechanism is a four-bar linkage mechanism, the upper end of which is connected to the thigh exoskeleton mechanism, and the lower end of which is connected to the calf exoskeleton mechanism.

[0021] Preferably, a dead point of movement is provided on the knee joint rotation mechanism to limit the calf exoskeleton mechanism from continuing to rotate forward after being extended beyond the straight position.

[0022] Preferably, the foot mechanism and the fourth end of the calf exoskeleton mechanism are connected via a spherical revolute pair;

[0023] The foot mechanism comprises a foot support plate for support, and a strap for binding the foot is arranged on the foot support plate.

[0024] Preferably, the thigh exoskeleton mechanism is provided with a first binding device for binding to the wearer's thigh; and / or, the calf exoskeleton mechanism is provided with a second binding device for binding to the wearer's calf.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) The spring-type knee joint energy storage mechanism improves the wearer's movement assistance effect. The entire system has a small number of motors and low system complexity, which not only helps to reduce the failure rate, but also improves reliability and maintenance convenience. It has a light weight and low power consumption, which can effectively extend the system's battery life, allowing the exoskeleton to support the wearer's walking for a longer period of time.

[0027] (2) The present invention makes the lower limb bone structure adaptable to wearers of different body shapes through the adjustable backrest assembly, thigh exoskeleton mechanism and calf exoskeleton mechanism.

[0028] (3) The backrest and the movable long boards on both sides of the backrest assembly of the present invention use gear rack meshing transmission to adjust the hip joint width. After the hip joint width is in place, it is locked by a knob. It has a purely mechanical structure, which is easy to operate and has high reliability. The control box is arranged on the back side of the backrest and does not interfere with the wearing operation.

[0029] (4) The output torque of the motor is adjusted in real time according to the torque value of the thigh exoskeleton collected by the torque sensor device in the hip joint movement mechanism, which can realize adaptive adjustment of the force of the wearer in different action scenarios and improve the coordination and responsiveness of the movement.

[0030] (5) The knee joint rotation mechanism adopts a four-bar linkage mechanism, which allows the knee joint to complete flexion and extension movements. The dead point of movement is set to limit the calf exoskeleton mechanism from continuing to rotate forward after extending beyond the straight position, which is consistent with the movement direction of the human leg bones.

[0031] (6) The calf exoskeleton is connected to the foot mechanism through a spherical revolute joint, which can realize various movements such as plantar flexion, dorsiflexion, inversion, and eversion, ensuring flexibility and stability during walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the overall structure of the lightweight lower limb exoskeleton;

[0033] Figure 2 It is a schematic diagram of the structure of the backrest component of the lightweight lower limb exoskeleton;

[0034] Figure 3 A rear view of the backrest assembly of the lightweight lower limb exoskeleton;

[0035] Figure 4 Schematic diagram of the hip joint motion mechanism of the lightweight lower limb exoskeleton;

[0036] Figure 5 This is a schematic diagram of the leg structure of the lightweight lower limb exoskeleton;

[0037] Figure 6 Schematic diagram of the knee joint energy storage mechanism of the lightweight lower limb exoskeleton;

[0038] Figure 7 Schematic diagram of the foot mechanism of the lightweight lower limb exoskeleton;

[0039] Reference numerals:

[0040] 1-backrest assembly, 11-movable long board, 12-backrest board, 13-control box, 14-gear, 15-rack, 16-knob; 2-hip joint movement mechanism, 21-connecting seat, 22-motor, 23-thigh exoskeleton mechanism connecting seat, 24-motor mounting seat, 25-connecting flange, 26-torque sensor, 27-connecting shaft; 3-thigh exoskeleton mechanism, 31-first end, 32-first length adjustment assembly, 33-second end, 34-first binding device; 4-knee joint movement mechanism; 5-calf exoskeleton mechanism, 51-third end, 52-second length adjustment assembly, 53-fourth end, 54-second binding device; 6-foot, 61-foot support plate, 62-strap; 7, knee joint energy storage mechanism, 71-upper mounting seat, 711-mounting hole, 72-energy storage spring, 73-telescopic sleeve, 74-lower mounting seat. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0042] Example

[0043] like Figure 1 As shown, this embodiment provides a lightweight lower limb exoskeleton control system, including a backrest assembly 1 with a control box 13, and leg assemblies are arranged on both sides of the backrest assembly 1. The leg assembly on each side includes a hip joint motion mechanism 2, a thigh exoskeleton mechanism 3, a calf exoskeleton mechanism 5 and a foot mechanism 6 arranged in sequence from top to bottom;

[0044] like Figure 6 As shown, a knee joint energy storage mechanism 7 is connected between the thigh exoskeleton mechanism 3 and the calf exoskeleton mechanism 5, and the knee joint energy storage mechanism 7 includes an upper mounting seat 71, a lower mounting seat 72, a telescopic sleeve 73, and an energy storage spring 72 sleeved (outer sleeve or inner sleeve) on the telescopic sleeve 73; the upper mounting seat 71 is fixedly connected to the thigh exoskeleton mechanism 3, and connected to the upper end of the telescopic sleeve 73 through a rotating pair; the lower mounting seat 72 is fixedly connected to the calf exoskeleton mechanism 5, and connected to the lower end of the telescopic sleeve 73; a plurality of mounting holes 711 are provided in the upper mounting seat 71, and the elastic strength of the knee joint energy storage mechanism 7 is changed according to the elongation of the energy storage spring 72 when the telescopic sleeve 73 is installed at different positions. The knee joint energy storage mechanism is used to improve the power-assisting effect on the wearer.

[0045] Next, each component is introduced in detail.

[0046] (1) Backrest assembly

[0047] like Figure 2 and Figure 3 As shown, in this embodiment, the backrest assembly 1 includes a control box 13, a backrest board 12 and movable long boards 11 arranged on both sides. The control box 13 is arranged on the back side of the backrest board 12 and is arranged in the center. Specifically, a coaxially fixedly connected gear 14 and an adjusting knob 16 are respectively installed on each side of the backrest board 12, and a rack 15 for meshing with the gear 14 is arranged on the movable long board 11.

[0048] The distance between the movable long plates 11 on both sides is adjusted by rotating the knob 16 to control the meshing position of the gear 14 and the rack 15, so as to achieve hip joint width adjustment.

[0049] (2) Hip joint movement mechanism

[0050] like Figure 4As shown, the hip joint motion mechanism 2 in this embodiment includes a connecting seat 21, a motor mounting seat 24, a motor 22, a connecting flange 25 and a torque sensing device 26. Specifically, the connecting seat 21 is fixedly connected to the outer side of the movable long board 11, the motor mounting seat 24 is rotatably connected to the connecting seat 21, the output end face of the motor 22 is fixedly connected to the connecting flange 25, and the end of the connecting flange 25 is kept in a relative position with the first end 31 of the thigh exoskeleton mechanism 3 through the torque sensor 19 (the torque sensor 19 is connected to the first end 31 through the thigh exoskeleton mechanism connecting seat 23), and the motor 22 drives the thigh exoskeleton to move when working; the torque sensing device 26 is connected to the control box 13 circuit, and is used to feed back to the control box according to the torque value of the thigh exoskeleton collected by the torque sensing device 26 to adjust the output strength of the motor 22.

[0051] Specifically, the motor mounting seat 24 is connected to the connecting seat 21 via a connecting shaft 27 . A stepped hole is provided on the motor mounting seat 24 to cooperate with the connecting shaft 27 . After the connection is completed, the motor mounting seat 24 and the connecting seat 21 rotate relative to each other.

[0052] The hip joint movement mechanism 2 can realize the flexion, extension, adduction, abduction, internal rotation and external rotation of the hip joint.

[0053] (3) Thigh exoskeleton

[0054] like Figure 5 As shown, in this embodiment, the thigh exoskeleton mechanism 3 includes a first end 31 and a second end 33, and the distance between the first end 31 and the second end 33 is adjusted by a first length adjustment component 32. The upper mounting seat 71 is fixedly connected to the first length adjustment component 32 of the thigh exoskeleton mechanism 3.

[0055] In addition, the thigh exoskeleton mechanism 3 is provided with a first binding device 34 for binding to the wearer's thigh, and the binding to the wearer's thigh is completed by a strap (which can be Velcro or an elastic strap).

[0056] (4) Calf exoskeleton

[0057] In this embodiment, the calf exoskeleton mechanism 5 includes a third end 51 and a fourth end 53, and the distance between the third end 51 and the fourth end 53 is adjusted by a second length adjustment component 52; the first end 31 of the thigh exoskeleton mechanism 3 is connected to the hip joint motion mechanism 2, the second end 33 of the thigh exoskeleton mechanism 3 is connected to the third end 51 of the calf exoskeleton mechanism 5 through the provided knee joint motion mechanism 4, and the fourth end 53 of the calf exoskeleton mechanism 5 is connected to the foot mechanism 6. The lower mounting seat 72 is fixedly connected to the second length adjustment component 52 of the calf exoskeleton mechanism 5. In addition, the calf exoskeleton mechanism 5 is provided with a second binding device 54 for binding to the wearer's calf, and the binding to the wearer's calf is completed by a strap (which can be a Velcro or elastic strap).

[0058] (5) Knee joint rotation mechanism

[0059] In this embodiment, the knee joint rotation mechanism 4 is a four-bar linkage, specifically a double rocker mechanism. The upper end is connected to the thigh exoskeleton mechanism 3, and nodes A and B are distributed at the upper end; the lower end is connected to the calf exoskeleton mechanism 5, and nodes C and D are distributed at the lower end. The connecting rod AB, the frame CD, the rocker AC and the rocker BD form a double rocker mechanism, the rocker AC is the shortest rod in the mechanism, the rocker BD is the longest rod, and the sum of the lengths of AC and BD is greater than the sum of the lengths of AB and CD (satisfying the formation conditions of the double rocker mechanism). The swing range of the two rockers on the knee joint rotation mechanism 4 can limit the flexion and extension amplitude of the calf exoskeleton mechanism 5, specifically allowing the knee joint to complete the flexion and extension movement, but not allowing the calf exoskeleton to extend beyond the straight position and continue to rotate forward. The flexion and extension movement of the knee joint is achieved by the four-bar linkage.

[0060] (6) Foot mechanism

[0061] In this embodiment, Figure 7 As shown, the foot mechanism 6 is connected to the fourth end 53 of the calf exoskeleton mechanism through a spherical revolute pair, which can realize plantar flexion, dorsiflexion, inversion, eversion, adduction, and abduction of the foot. The foot mechanism 6 includes a foot support plate 61 for support, and a strap 62 for binding the foot is provided on the foot support plate 61, and the foot is bound by passing through the strap 62 (which can be a Velcro or elastic strap).

[0062] Compared with the prior art, the lower limb exoskeleton provided by the present invention has a simple structure, is easy to control, has multiple degrees of freedom of movement, and its lightweight design reduces the dead weight of the structure, which is beneficial to extending the battery life of the equipment.

[0063] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A lightweight lower limb exoskeleton control system, characterized in that: It comprises a backrest assembly (1) with a control box (13), wherein leg assemblies are arranged on both sides of the backrest assembly (1), and each leg assembly comprises a hip joint movement mechanism (2), a thigh exoskeleton mechanism (3), a calf exoskeleton mechanism (5) and a foot mechanism (6) which are arranged in sequence from top to bottom; A knee joint energy storage mechanism (7) is connected between the thigh exoskeleton mechanism (3) and the calf exoskeleton mechanism (5), and the knee joint energy storage mechanism (7) comprises an upper mounting seat (71), a lower mounting seat (72), a telescopic sleeve (73), and an energy storage spring (72) sleeved on the telescopic sleeve (73); the upper mounting seat (71) is fixedly connected to the thigh exoskeleton mechanism (3) and connected to the upper end of the telescopic sleeve (73) via a rotating pair; the lower mounting seat (72) is fixedly connected to the calf exoskeleton mechanism (5) and connected to the lower end of the telescopic sleeve (73); a plurality of mounting holes (711) are provided in the upper mounting seat (71), and the elastic strength of the knee joint energy storage mechanism (7) is changed according to the elongation of the energy storage spring (72) when the telescopic sleeve (73) is installed at different positions.

2. A lightweight lower limb exoskeleton control system according to claim 1, characterized in that: The thigh exoskeleton mechanism (3) comprises a first end (31) and a second end (33), and the distance between the first end (31) and the second end (33) is adjusted by a first length adjustment component (32); the calf exoskeleton mechanism (5) comprises a third end (51) and a fourth end (53), and the distance between the third end (51) and the fourth end (53) is adjusted by a second length adjustment component (52); The first end (31) of the thigh exoskeleton mechanism (3) is connected to the hip joint motion mechanism (2), the second end (33) of the thigh exoskeleton mechanism (3) is connected to the third end (51) of the calf exoskeleton mechanism (5) via a provided knee joint motion mechanism (4), and the fourth end (53) of the calf exoskeleton mechanism (5) is connected to the foot mechanism (6).

3. A lightweight lower limb exoskeleton control system according to claim 1, characterized in that: The backrest assembly (1) comprises a backrest board (12) and movable long boards (11) arranged on both sides; A coaxially fixed gear (14) and an adjusting knob (16) are respectively installed on each side of the backrest plate (12); a rack (15) for meshing with the gear (14) is arranged on the movable long board (11); the meshing position of the gear (14) and the rack (15) is controlled by the knob (16) to adjust the distance between the movable long boards (11) on both sides, thereby achieving hip joint width adjustment.

4. A lightweight lower limb exoskeleton control system according to claim 3, characterized in that: The control box (13) is arranged on the back side of the backrest plate (12).

5. A lightweight lower limb exoskeleton control system according to claim 2, characterized in that: The hip joint motion mechanism (2) comprises a connecting seat (21), a motor mounting seat (24), a motor (22), a connecting flange (25) and a torque sensor (26); The connecting seat (21) is fixedly connected to the outer side of the movable long board (11), the motor mounting seat (24) is rotatably connected to the connecting seat (21), the output end surface of the motor (22) is fixedly connected to the connecting flange (25), the end of the connecting flange (25) is kept in a fixed relative position with the first end (31) of the thigh exoskeleton mechanism (3) through a torque sensor (19), and the motor (22) drives the thigh exoskeleton to move when working; The torque sensor device (26) is connected to the control box (13) circuit and is used to adjust the output strength of the motor (22) according to the torque value of the thigh exoskeleton collected by the torque sensor device (26).

6. A lightweight lower limb exoskeleton control system according to claim 5, characterized in that: The motor mounting seat (24) is connected to the connecting seat (21) via a connecting shaft (27). A stepped hole is provided on the motor mounting seat (24) to cooperate with the connecting shaft (27). After the connection is completed, the motor mounting seat (24) and the connecting seat (21) rotate relative to each other.

7. A lightweight lower limb exoskeleton control system according to claim 2, characterized in that: The knee joint rotation mechanism (4) is a four-bar linkage mechanism, the upper end of which is connected to the thigh exoskeleton mechanism (3), and the lower end of which is connected to the calf exoskeleton mechanism (5).

8. A lightweight lower limb exoskeleton control system according to claim 7, characterized in that: The knee joint rotation mechanism (4) is provided with a movement dead point, which is used to limit the calf exoskeleton mechanism (5) from continuing to rotate forward after being extended beyond the straight position.

9. The lightweight lower limb exoskeleton control system according to claim 2, characterized in that: The foot mechanism (6) is connected to the fourth end (53) of the calf exoskeleton mechanism via a spherical revolute pair; The foot mechanism (6) comprises a foot support plate (61) for supporting, and a strap (62) for binding the foot is arranged on the foot support plate (61).

10. The lightweight lower limb exoskeleton control system according to claim 1, characterized in that: The thigh exoskeleton mechanism (3) is provided with a first binding device (34) for binding to the wearer's thigh; and / or the calf exoskeleton mechanism (5) is provided with a second binding device (54) for binding to the wearer's calf.

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