High-degree-of-freedom light lower limb assisting exoskeleton

Abstract

The invention relates to the technical field of exoskeletons, in particular to a high-degree-of-freedom light lower limb assisting exoskeleton. The invention provides a high-degree-of-freedom light lower limb assisting exoskeleton. The high-degree-of-freedom light lower limb assisting exoskeleton comprises a back assembly, a waist assembly, hip joint motors, thigh assemblies, knee joint motors, shank assemblies and ankle joint and foot assemblies which are sequentially connected. Wherein the thigh assembly comprises a hip joint motor connecting piece, a thigh rod and a knee joint motor connecting piece which are connected in sequence, and the end, close to the hip joint motor connecting piece, of the thigh rod is hinged to the hip joint motor connecting piece through a first hinge shaft. The multi-degree-of-freedom hip joint mechanism and the multi-degree-of-freedom knee joint mechanism are adopted, so that the exoskeleton can better coincide with contour curves of all parts of a human body and better adapt to complex movement of human joints, and the problems that the exoskeleton is poor in wearing comfort, effective assisting force is lost and the like due to man-machine discordance are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeletons, and in particular to a high-freedom lightweight lower limb power-assisted exoskeleton. Background Art

[0002] In recent years, exoskeleton robots have continued to become a research hotspot at home and abroad. Among them, lower limb exoskeletons can enhance the walking ability of the elderly, and assist patients with impaired lower limb motor ability to perform rehabilitation training for gait, squatting, and stairs with the help of medical professionals; in the field of industrial logistics, lower limb exoskeletons can protect the lumbar muscles during high-frequency reciprocating transportation; in industrial assembly line operations, they can assist workers to complete long-term assembly posture maintenance and relieve muscle soreness; in the military field, this exoskeleton has a high degree of freedom and can assist soldiers to achieve complex tactical movements and carry weights to march. Therefore, lower limb exoskeletons have broad prospects in the fields of medicine, industry, and military.

[0003] Existing lower limb exoskeletons generally have problems such as low flexibility and poor human-machine coordination. After the user puts on the exoskeleton robot, it cannot adapt to the user's actual movements due to the limited degrees of freedom of the exoskeleton at the human joints. Summary of the invention

[0004] (1) The problem to be solved by the present invention is that the existing lower limb exoskeletons generally have problems such as low flexibility and poor human-machine coordination. After the user puts on the exoskeleton robot, the exoskeleton has limited degrees of freedom at the human joints, which makes it unable to adapt to the user's actual movements.

[0005] (II) Technical solution

[0006] A high-freedom lightweight lower limb assist exoskeleton comprises a back component, a waist component, a hip joint motor, a thigh component, a knee joint motor, a calf component, an ankle joint and a foot component which are connected in sequence; wherein:

[0007] The thigh assembly comprises a hip joint motor connector, a thigh rod and a knee joint motor connector which are connected in sequence, one end of the thigh rod close to the hip joint motor connector is hinged to the hip joint motor connector via a first hinge axis, one end of the thigh rod close to the knee joint motor connector is hinged to the knee joint motor connector via a second hinge axis, the hip joint motor connector is used to be connected to a hip joint motor housing, and the knee joint motor connector is used to be connected to the knee joint motor;

[0008] A hip joint hinge connector is hingedly connected to the waist component via a hip joint shaft, and one end of the hip joint hinge connector away from the waist component is connected to an output end of the hip joint motor;

[0009] A knee joint calf connector is fixed to the output end of the knee joint motor, and one end of the knee joint calf connector away from the knee joint motor is hinged to the calf assembly via a knee joint rotating shaft;

[0010] The axes of the first hinge axis, the second hinge axis, the hip joint rotation axis and the knee joint rotation axis are all perpendicular to the extension direction of the thigh component and the arrangement direction of the thigh component.

[0011] According to one embodiment of the present invention, it also includes a serpentine joint, the back component, the serpentine joint and the waist component are connected in sequence, the back component has a shoulder strap, and through the serpentine joint, the back component can perform pitch and side bending movements relative to the waist component.

[0012] According to one embodiment of the present invention, the serpentine joint has at least one first movable joint and one second movable joint, through the first movable joint, the back component can make pitch movement relative to the waist component; through the second movable joint, the back component can make lateral bending movement relative to the waist component.

[0013] According to one embodiment of the present invention, the serpentine joint comprises a lumbar plate, a first lumbar connection seat, a second lumbar connection seat, a third lumbar connection seat and a lumbar base which are connected in sequence;

[0014] The lumbar plate is fixedly connected to the back component, the lumbar plate and the first lumbar connecting seat are hinged via a lumbar axis to form the first movable joint, one end of the first lumbar connecting seat away from the lumbar plate and the second lumbar connecting seat are hinged via a scoliosis axis to form the second movable joint, one end of the second lumbar connecting seat away from the first lumbar connecting seat and the third lumbar connecting seat are hinged via a first pin shaft to form the first movable joint, the third lumbar connecting seat and the lumbar base are hinged via a second pin shaft to form the first movable joint, and the lumbar base and the waist component are fixedly connected;

[0015] The lateral bending axis is perpendicular to the back component, and the axes of the lumbar axis, the first pin axis and the second pin axis are respectively perpendicular to the axis of the lateral bending axis.

[0016] According to one embodiment of the present invention, the waist component includes an elastic waist belt and a connecting mechanism corresponding to the hip joint hinge connector one by one, the connecting mechanism includes two flexible waist connectors and a waist fixing member, the two flexible waist connectors are fixed on the waist belt, the waist fixing member is respectively connected to the two flexible waist connectors through a rotating screw, and the waist fixing member is hinged to the hip joint hinge connector through the hip joint rotation axis.

[0017] According to one embodiment of the present invention, the thigh assembly further comprises a thigh binding arranged on the thigh rod and a flexible thigh binding lining, wherein the thigh binding lining is arranged on the inner side of the thigh binding.

[0018] According to one embodiment of the present invention, the calf assembly includes a calf connecting rod, a calf plate, a calf ankle connecting rod and an ankle joint connecting rod which are connected in sequence, the calf connecting rod is higher than the calf ankle connecting rod, the calf connecting rod and the knee calf connecting member are hinged through the knee joint shaft, the ankle joint connecting rod is hinged to the ankle joint and foot assembly, and the relative position of the calf ankle connecting rod and the ankle joint connecting rod is adjustable.

[0019] According to an embodiment of the present invention, a plurality of first mounting holes are provided on the calf ankle joint connecting rod along its length direction, and at least one second mounting hole is provided on the ankle joint connecting rod along its length direction.

[0020] According to one embodiment of the present invention, the calf assembly also includes a flexible calf binding and a calf restraint lining arranged on the calf panel, the calf binding is a semi-enclosed shell structure, the calf binding and the calf panel form a accommodating cavity for accommodating the human calf, the surface of the calf binding is provided with a notch, the two ends of the calf restraint lining are respectively connected to the calf panel, and the calf restraint lining is used to tighten the human calf through the notch.

[0021] According to one embodiment of the present invention, the back assembly includes a back panel, a back shell, a battery and a control panel, the shoulder strap is arranged on the back panel, the battery and the control panel are both installed on the back side of the back panel, and the back shell is installed on the back side of the back panel to cover the battery and the control panel.

[0022] Beneficial effects of the present invention:

[0023] The hip joint motor and the knee joint motor both have the freedom of movement, so that the ankle and knee joints can meet the requirements of human activities, increase comfort and improve the efficiency of assistance, and the thigh and calf components can better fit the human legs, making the entire lower limb assistance exoskeleton more flexible and more agile, so that the exoskeleton can better fit the actual movement of the user. That is, the use of multi-degree-of-freedom hip and knee joint mechanisms allows the exoskeleton to better overlap the contour curves of various parts of the human body, better adapt to the complex movements of human joints, and reduce the problems of poor wearing comfort and loss of effective assistance caused by the lack of coordination between the human and the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of a lower limb power-assisted exoskeleton provided in an embodiment of the present invention;

[0026] Figure 2 A structural diagram of a back assembly provided by an embodiment of the present invention;

[0027] Figure 3 An internal schematic diagram of a back assembly provided by an embodiment of the present invention;

[0028] Figure 4 A structural diagram of a serpentine joint and a back plate provided in an embodiment of the present invention;

[0029] Figure 5 A structural diagram of a waist component provided by an embodiment of the present invention;

[0030] Figure 6 A structural diagram of a waist belt, a flexible waist connector, a waist fixing member, a hip joint shaft, a hip joint hinge connector, and a hip joint motor provided in an embodiment of the present invention;

[0031] Figure 7 A structural diagram of a thigh assembly and a hip joint motor provided in an embodiment of the present invention;

[0032] Figure 8 A schematic diagram of a thigh assembly provided by an embodiment of the present invention with the thigh shell removed;

[0033] Fig. 9 A schematic diagram of the connection between the hip joint motor, the thigh assembly and the knee joint motor provided in an embodiment of the present invention;

[0034] Fig.10 A structural diagram of a calf assembly provided by an embodiment of the present invention;

[0035] Fig.11 A schematic diagram of the connection between the knee joint motor, the calf component, the ankle joint and the foot component provided in an embodiment of the present invention;

[0036] Fig.12 A structural diagram of the ankle joint and foot components provided in an embodiment of the present invention.

[0037] Icons: 1. Back component; 2. Waist component; 3. Thigh component; 4. Calf component; 5. Ankle and foot component; 6. Back shell; 7. Backboard sponge; 8. Backboard; 9. Straps; 11. Lumbar plate; 12. Lumbar axis; 13. Scoliosis axis; 14. Third lumbar connection seat; 15. Lumbar base; 17. Battery pressure strip; 18. Metal fixing strip; 19. Battery; 20. Control panel; 21. Charging plug; 22. Flexible waist connector; 23. Waist fixing; 24. Hip hinge connector; 25. Back storage plate; 26. Load support plate; 27. Support connecting shaft; 28. Back support; 29. ​​Hip motor housing; 30. Thigh binding; 31. Knee motor connector; 32. Thigh shell; 34. Hip motor; 36. Leg sensor; 39. Thigh Binding lining; 40, thigh rod; 41, knee joint motor; 43, calf ankle joint connecting rod shell; 44, calf restraint lining; 45, ankle joint first rotation axis; 46, knee joint calf connecting piece; 47, calf connecting rod; 48, foot and leg sensor; 49, ankle joint connecting rod; 50, knee joint rotation axis; 51, calf plate; 52, calf binding; 53, calf ankle joint connecting rod; 57, calf adjustment rod; 58, insole; 59, ankle joint third rotation axis; 61, ankle joint adapter; 62, ankle joint vertical rod; 63, shoe backrest; 65, first lumbar vertebra connecting seat; 66, second lumbar vertebra connecting seat; 67, first pin shaft; 68, second pin shaft; 69, belt; 70, rotation screw; 71, hip joint rotation axis; 72, hip joint motor connecting piece; 73, first hinge axis; 74, second hinge axis. DETAILED DESCRIPTION

[0038] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than 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 are within the scope of protection of the present invention.

[0039] like Figure 1-Figure 12 As shown, one embodiment of the present invention provides a high-degree-of-freedom lightweight lower limb assist exoskeleton, comprising a back component 1, a waist component 2, a hip joint motor 34, a thigh component 3, a knee joint motor 41, a calf component 4 and an ankle joint and foot component 5 connected in sequence; wherein,

[0040] The thigh assembly 3 includes a hip joint motor connector 72, a thigh rod 40 and a knee joint motor connector 31 which are connected in sequence. One end of the thigh rod 40 close to the hip joint motor connector 72 is hinged to the hip joint motor connector 72 via a first hinge shaft 73. One end of the thigh rod 40 close to the knee joint motor connector 31 is hinged to the knee joint motor connector 31 via a second hinge shaft 74. The hip joint motor connector 72 is used to be connected to the hip joint motor housing 29. The knee joint motor connector 31 is used to be connected to the knee joint motor 41.

[0041] A hip joint hinge connector 24 is hingedly connected to the waist component 2 via a hip joint shaft 71, and one end of the hip joint hinge connector 24 away from the waist component 2 is connected to the output end of the hip joint motor 34;

[0042] A knee joint calf connector 46 is fixed to the output end of the knee joint motor 41, and one end of the knee joint calf connector 46 away from the knee joint motor 41 is hinged to the calf assembly 4 via a knee joint shaft 50;

[0043] The axes of the first hinge axis 73 , the second hinge axis 74 , the hip joint rotation axis 71 and the knee joint rotation axis 50 are all perpendicular to the extension direction of the thigh component 3 and the arrangement direction of the thigh component 3 .

[0044] In this embodiment, the waist component 2 is hinged with a hip joint hinge connector 24 through a hip joint shaft 71, and the end of the hip joint hinge connector 24 away from the waist component 2 is connected to the output end of the hip joint motor 34, so that the hip joint motor 34 can rotate relative to the waist component 2 to achieve the freedom of movement of hip adduction and abduction. The end of the thigh rod 40 close to the hip joint motor connector 72 is hinged to the hip joint motor connector 72 through a first hinge shaft 73, and the end of the hip joint motor connector 72 away from the thigh rod 40 is connected to the knee joint motor 41, so that the thigh component 3 can better fit the contour of the human thigh, with higher flexibility and better human-machine coordination.

[0045] One end of the thigh rod 40 close to the knee joint motor connector 31 is hinged to the knee joint motor connector 31 through the second hinge shaft 74, while the end of the knee joint motor connector 31 away from the thigh rod 40 is connected to the knee joint motor 41, so that the knee joint motor 41 has the freedom of movement of adduction and abduction. Furthermore, a knee joint calf connector 46 is fixed to the output end of the knee joint motor 41, and the end of the knee joint calf connector 46 away from the knee joint motor is hinged to the calf assembly 4 through the knee joint shaft 50, so that the calf assembly 4 can better fit the contour of the human calf, with higher flexibility and better human-machine coordination.

[0046] In summary, in this embodiment, the hip joint motor 34 and the knee joint motor 41 both have freedom of movement, so that the range of freedom of the ankle joint and the knee joint meets the requirements of human activities, increasing comfort while improving the power assistance efficiency, and the thigh component 3 and the calf component 4 can better fit the human leg (thigh and calf), and the entire lower limb power assistance exoskeleton is more flexible and more agile, so that the exoskeleton can better fit the user's actual movement.

[0047] That is, the present embodiment adopts a multi-degree-of-freedom hip joint mechanism and a knee joint mechanism, so that the exoskeleton can better overlap the contour curves of various parts of the human body, better adapt to the complex movements of human joints, and reduce the problems of poor wearing comfort and loss of effective assistance caused by the incoordination between man and machine.

[0048] As a preferred embodiment, Figure 5 and Figure 6 As shown, the waist component 2 includes an elastic waist belt 69 and a connecting mechanism. There are two connecting mechanisms, which include two flexible waist connectors 22 and a waist fixing member 23. The two flexible waist connectors 22 are fixed on the outer side of the waist belt 69. The waist fixing member 23 is block-shaped and is arranged between the two flexible waist connectors 22. The waist fixing member 23 is respectively connected to the two flexible waist connectors 22 through two rotating screws 70. The waist fixing member 23 is hinged to the hip joint hinge connector 24 through a hip joint rotation axis 71.

[0049] It should be noted that the waist belt 69 itself is flexible, so people can do internal and external rotation of the hip joint, and the flexible waist belt 69 can adapt to different people, so that people with different waist widths can wear it. In addition, since the flexible waist connector 22 itself is also flexible, it can perfectly deform with the deformation of the waist belt 69, and the waist fixing member 23 is respectively connected to the two flexible waist connectors 22 through two rotating screws 70, so that when the two ends of the waist belt 69 are pried apart to stretch the waist belt 69, the flexible waist connector 22 and the waist fixing member 23 can better adapt to the waist belt 69, and there will be no problem of the waist fixing member 23 resting on the waist of the human body.

[0050] More specifically, the flexible waist connector 22 is provided with a plurality of screw holes, and the sides of the two ends of the waist belt 69 are also provided with screw holes corresponding to the screw holes, and the waist belt 69 is fixed to the flexible waist connector 22 by means of parent-child screws. The waist fixing member 23 and the flexible waist connector 22 are rotatably connected by means of a hinge-like structure.

[0051] In this embodiment, a flexible waist belt 69 is designed to make the exoskeleton fit the human body better, meet the freedom of movement of the hip joint of the human body, and improve the flexibility of the hip joint movement of the exoskeleton.

[0052] As a preferred embodiment, Figure 2 As shown, the lower limb power-assisting exoskeleton also includes a serpentine joint, and the back component 1, the serpentine joint and the waist component 2 are connected in sequence. A strap 9 is installed on the back component 1, and the serpentine joint allows the back component 1 to perform pitching and lateral bending relative to the waist component 2. The back component 1 can be worn on the back of the human body through the strap 9, and the serpentine joint allows the person to still bend, lean back, and lateral bending after wearing the lower limb power-assisting exoskeleton, which greatly improves the flexibility and freedom of the lower limb power-assisting exoskeleton.

[0053] Among them, the serpentine joint has at least a first movable joint and a second movable joint. Through the first movable joint, the back component 1 can make pitching movements relative to the waist component 2, that is, bending and leaning back; through the second movable joint, the back component 1 can make lateral bending movements relative to the waist component 2.

[0054] Specifically, Figure 2 , Figure 3 and Figure 4 As shown, the serpentine joint includes a lumbar plate 11, a first lumbar connecting seat 65, a second lumbar connecting seat 66, a third lumbar connecting seat 14 and a lumbar base 15 which are connected in sequence; wherein the lumbar plate 11 is fixedly connected to the back component 1, the lumbar plate 11 and the first lumbar connecting seat 65 are hinged via a lumbar axis 12 to form a first movable joint, an end of the first lumbar connecting seat 65 away from the lumbar plate 11 is hinged to the second lumbar connecting seat 66 via a scoliosis axis 13 to form a second movable joint, an end of the second lumbar connecting seat 66 away from the first lumbar connecting seat 65 is hinged to the third lumbar connecting seat 14 via a first pin shaft 67 to form a first movable joint, the third lumbar connecting seat 14 and the lumbar base 15 are hinged via a second pin shaft 68 to form a first movable joint, and the lumbar base 15 is fixedly connected to the waist component 2. Figure 4 It can be seen that the axis of the lateral bending axis 13 is perpendicular to the back component 1, while the axes of the lumbar axis 12, the first pin 67 and the second pin 68 are respectively perpendicular to the axis of the lateral bending axis 13.

[0055] The present lower limb assisting exoskeleton is different from the conventional lower limb assisting exoskeleton. Through the provided serpentine joint, the back component 1 can bend, lean back, lean left and lean right with the human body, which greatly improves the flexibility and freedom of the present lower limb assisting exoskeleton. Moreover, through the multiple first movable joints, the present serpentine joint has the function of continuous bending similar to the lumbar spine, so that the pitching angle of the serpentine joint is larger, and the human body can bend or lean back with greater movements.

[0056] As a preferred embodiment, Figure 2As shown, the back assembly 1 includes a back plate 8, a back strap 9 and a back shell 6. The back strap 9 is mounted on the back plate 8 and has an adjustable length. The back shell 6 is mounted on the back of the back plate 8. A protective cavity is formed between the back shell 6 and the back of the back plate 8. Figure 3 As shown, a battery 19, a control panel 20 and a charging plug 21 are installed on the back of the back panel 8. The battery 19 is used to power the sensors, control panel 20 and various joint motors and other electrical equipment on the lower limb power-assisted exoskeleton. The control panel 20 is responsible for controlling the movement of the exoskeleton. It receives signals from the sensor system and uses the intention recognition algorithm to analyze and calculate to form target parameters, such as torque values ​​or position values. It performs corresponding compliance control on the actuator through the compliance control algorithm, thereby achieving motion control of the exoskeleton. The back shell 6 covers the control panel 20 and the battery 19 to prevent external dust from falling on the control panel 20 and the battery 19, which plays a protective role.

[0057] Furthermore, a charging interface is provided on the lower surface of the back shell 6, and the charging plug 21 extends into the charging interface. When charging the battery 19, the external charging socket is inserted into the charging interface on the lower surface of the back shell 6, so that the external charging socket and the charging plug 21 are connected.

[0058] For example, Figure 3 A metal fixing strip 18 is fixedly installed on the back plate 8. The metal fixing strip 18 is arranged around the edge of the back plate 8. The two ends of the metal fixing strip 18 extend from the bottom of the back shell 6. Figure 4 As shown, the lumbar plate 11 and the two ends of the metal fixing strip 18 are fixed by fixing bolts.

[0059] Exemplarily, two battery pressure strips 17 for fixing the battery 19 are installed on the back plate 8. The battery pressure strips 17 are installed to ensure the installation stability of the battery 19 and prevent it from shaking in the installation cavity.

[0060] For example, Figure 1 As shown, in order to improve the comfort of the wearer's back when wearing it, a back plate sponge 7 is installed on the front side of the back plate 8.

[0061] As an optional embodiment, Figure 5 As shown, the waist component 2 also includes a back support 28 fixedly mounted on the back of the waist belt 69, and the back support 28 is used to be fixedly connected to the lumbar base 15 of the serpentine joint, that is, the bottom end of the lumbar base 15 and the back support 28 are fixedly connected by bolts.

[0062] As an optional embodiment, a back storage plate 25 is hingedly mounted on the back support 28, and the bottom of the back storage plate 25 is axially connected to the back support 28 via a support connecting shaft 27, so that the back storage plate 25 can rotate relative to the back support 28. A load support plate 26 is mounted on the back of the back support 28, and the load support plate 26 is lower than the back storage plate 25 and perpendicular to the back support 28, and is used to support the back storage plate 25. The back storage plate 25 is used to assist in bearing the load, and specifically, the back storage plate 25 is rotated until it is unable to continue to rotate due to the load support plate 26, and at this time, the back storage plate 25 is perpendicular to the back of the waist belt 69.

[0063] As a preferred embodiment, Figure 7 and Figure 8 As shown, the thigh assembly 3 includes a thigh rod 40, a thigh shell 32, a thigh binding 30 and a thigh binding lining 39, wherein the top of the thigh rod 40 is hinged with a hip joint motor connector 72 through a first hinge shaft 73, the hip joint motor connector 72 is fixedly connected to the shell of the hip joint motor 34, and the bottom end of the thigh rod 40 is rotatably mounted with a knee joint motor connector 31 through a second hinge shaft 74, and the knee joint motor connector 31 is fixedly connected to the knee joint motor 41. Since the top end of the thigh rod 40 is hinged with the hip joint motor connector 72 through the first hinge shaft 73, and the bottom end thereof is hinged with the knee joint motor connector 31 through the second hinge shaft 74, the thigh rod 40 has space to move inward or outward, so that the thigh rod 40 can better fit the contour of the human thigh to adapt to different groups of people.

[0064] Furthermore, the thigh binding 30 is fixedly mounted on the thigh rod 40, the thigh shell 32 wraps around the thigh rod 40, the thigh shell 32 is provided with a hole for the thigh binding 30 to pass through, the thigh binding lining 39 is fixed to the inner side of the thigh binding 30, the thigh binding lining 39 is made of flexible material and is U-shaped.

[0065] When the user wears it, he opens the thigh binding lining 39, and the thigh part of the human body enters into the thigh binding lining 39 through the gap of the thigh binding lining 39. Since the thigh binding lining 39 has good elasticity, it can fit on the human thigh.

[0066] In addition, a leg sensor 36 is installed on the thigh rod 40. The leg sensor 36 is an IMU sensor. The leg sensor 36 is signal-connected to the control board 20 mentioned above.

[0067] As a preferred embodiment, Fig.10 and Fig.11As shown, the calf assembly 4 includes a calf plate 51, a calf binding 52, a calf connecting rod 47, a calf ankle connecting rod 53 and an ankle connecting rod 49. The calf connecting rod 47 is fixed to the side of the calf plate 51 near the top, the knee calf connecting member 46 is hinged to the top of the calf connecting rod 47 through the knee joint shaft 50, the calf ankle connecting rod 53 is fixed to the side of the calf plate 51 near the bottom, the calf ankle connecting rod 53 is connected to the ankle connecting rod 49, and the ankle connecting rod 49 is hinged to the ankle joint and the foot assembly 5.

[0068] Exemplarily, the calf binding 52 is installed on the calf plate 51. The calf binding 52 is a flexible binding. The cross-section of the calf binding 52 is U-shaped. A gap is provided in the middle of the calf binding 52 to pass through the calf binding 52, that is, the calf binding 52 consists of two completely symmetrical parts, and a U-shaped notch is provided on the side of the calf binding 52.

[0069] Preferably, a calf restraint lining 44 is provided at the U-shaped notch on the side of the calf binding 52. The cross section of the calf restraint lining 44 is U-shaped, that is, the calf restraint lining 44 is composed of two completely symmetrical parts, and there is a gap between the two parts. The two ends of the calf restraint lining 44 are fixed on the calf plate 51, so that the calf restraint lining 44 covers the U-shaped notch. When wearing, the calf binding 52 and the calf restraint lining 44 are simultaneously opened to put the human calf into the calf binding 52, so that the human calf fits the calf plate 51. The calf restraint lining 44 has a certain elasticity and can play the role of lightly tightening the human calf.

[0070] As a preferred embodiment, in order to meet the needs of users of different heights and reduce the discomfort caused by the mismatch between human and machine sizes, Fig.11 As shown, a plurality of first mounting holes are provided on the calf ankle joint connecting rod 53 along its length direction, and a plurality of second mounting holes corresponding to the first mounting holes are provided on the ankle joint connecting rod 49 along its length direction. The first mounting holes on the calf ankle joint connecting rod 53 and the second mounting holes on the ankle joint connecting rod 49 are fixed by bolts. In this way, when adjusting the distance between the calf component 4 and the ankle joint and the foot component 5, it is only necessary to remove the bolts between the calf ankle joint connecting rod 53 and the ankle joint connecting rod 49, and then adjust the relative position between the calf ankle joint connecting rod 53 and the ankle joint connecting rod 49, and finally fix the bolts. In this way, by changing the hole positions of the calf ankle joint connecting rod 53 and the ankle joint connecting rod 49, the overall length of the calf component 4 can be changed to meet the needs of users of different heights and reduce the discomfort caused by the mismatch of human-machine size.

[0071] In addition, a foot and leg sensor 48 is installed on the inner surface of the calf plate 51. The foot and leg sensor 48 is an IMU sensor. The foot and leg sensor 48 is signal-connected to the control board 20 mentioned above.

[0072] Optional, such as Fig.10 The calf ankle joint connecting rod shell 43 is wrapped on the calf ankle joint connecting rod 53.

[0073] As a preferred embodiment, Fig.12 As shown, the ankle joint and foot component 5 includes an ankle joint component and a foot component, wherein the foot component includes a sole component, and the ankle joint component includes an internal and external rotation motion mechanism and a flexion and extension motion mechanism connected in sequence, and the sole component, the internal and external rotation motion mechanism and the flexion and extension motion mechanism are connected in sequence.

[0074] The flexion and extension mechanism includes an ankle joint adapter 61 and an ankle joint first rotation shaft 45. The ankle joint adapter 61 is a U-shaped foot support, and the ankle joint first rotation shaft 45 is installed on the U-shaped foot support. Fig.11 As shown, a shaft sleeve is provided at the bottom of the calf ankle joint connecting rod 53, and the shaft sleeve is rotatably connected to the first ankle joint shaft 45, and the axis direction of the first ankle joint shaft 45 is the same as the width direction of the sole member, or in other words, the axis direction of the first ankle joint shaft 45 extends along the arrangement direction of the inner and outer sides of the wearer's calf. In this way, the ankle joint assembly has the ability of dorsiflexion or plantar flexion, improves flexibility, and improves human-machine movement coordination and comfort.

[0075] Further, such as Fig.12 The internal and external rotation mechanism includes a calf adjustment rod 57 and an ankle joint vertical rod 62, wherein the calf adjustment rod 57 and the ankle joint vertical rod 62 are fixed by screws. The ankle joint vertical rod 62 is an inverted L-shaped plate, a first pin hole is provided on the upper surface of the ankle joint vertical rod 62, a second pin hole is provided on the inner bottom wall of the ankle joint adapter 61, and the first pin hole and the second pin hole are rotatably connected by a rotating shaft, so that the ankle joint adapter 61 and the ankle joint vertical rod 62 can rotate with each other. In this way, the ankle joint assembly has the ability of internal rotation or external rotation, and the flexibility is improved.

[0076] Preferably, Fig.12 As shown, a shaft sleeve is integrally formed on the lower end surface of the calf adjustment rod 57, and a third ankle joint shaft 59 is installed on the side end surface of the sole member, and the shaft sleeve is rotatably connected to the third ankle joint shaft 59. Fig.12 It can be clearly seen that the axial direction of the third rotation axis 59 of the ankle joint is the same as the length direction of the sole member. This will enable the internal and external rotation movement mechanism to rotate around the third rotation axis, so that the ankle joint assembly has the ability to adduct or abduct, thereby improving flexibility.

[0077] Compared with the ankle joint in the traditional lower limb exoskeleton with only one degree of freedom, the ankle joint assembly in this embodiment has three degrees of freedom, so that the ankle joint assembly can realize internal rotation, external rotation, dorsiflexion, plantar flexion, and adduction and abduction movements, thereby improving the flexibility of the ankle joint, simulating the natural movement of the human ankle joint, and improving the coordination and comfort of human-machine movement.

[0078] In addition, a foot HV belt 56 is installed on the sole member, a sockliner 58 is provided on the upper surface of the sole member, and a rear sole support 63 is provided at the heel of the sole member.

[0079] Exemplarily, a sole sensor is installed on the insole 58 of the sole member, and the sole sensor is connected to the control board 20 by signal.

[0080] It should be noted that all joint motors in this lower limb assist exoskeleton are lightweight motors, such as AK80-9 motors. This exoskeleton adopts a lightweight, high-strength frame structure design to ensure structural strength while reducing the weight of the entire machine.

[0081] In summary, the back component 1, waist component 2, hip joint, knee joint and ankle joint in this embodiment all have multi-degree-of-freedom mechanisms, so that the exoskeleton can better overlap the contour curves of various parts of the human body, better adapt to the complex movements of human joints, and reduce the problems of poor wearing comfort and loss of effective assistance caused by human-machine incoordination in the exoskeleton.

[0082] In the description of the present invention, it should be noted that the terms "upper", "lower", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0083] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the inside of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A high degree of freedom lightweight lower limb power-assisting exoskeleton, characterized in that: It comprises a back component (1), a waist component (2), a hip joint motor (34), a thigh component (3), a knee joint motor (41), a calf component (4) and an ankle joint and foot component (5) which are connected in sequence; wherein: The thigh assembly (3) comprises a hip joint motor connector (72), a thigh rod (40) and a knee joint motor connector (31) which are connected in sequence, wherein one end of the thigh rod (40) close to the hip joint motor connector (72) is hinged to the hip joint motor connector (72) via a first hinge shaft (73), and one end of the thigh rod (40) close to the knee joint motor connector (31) is hinged to the knee joint motor connector (31) via a second hinge shaft (74), the hip joint motor connector (72) is used to be connected to a hip joint motor housing (29), and the knee joint motor connector (31) is used to be connected to the knee joint motor (41); A hip joint hinge connector (24) is hingedly connected to the waist component (2) via a hip joint shaft (71); an end of the hip joint hinge connector (24) away from the waist component (2) is connected to an output end of the hip joint motor (34); A knee joint calf connector (46) is fixed to the output end of the knee joint motor (41), and one end of the knee joint calf connector (46) away from the knee joint motor is hinged to the calf assembly (4) via a knee joint rotating shaft (50); The axes of the first hinge axis (73), the second hinge axis (74), the hip joint rotation axis (71) and the knee joint rotation axis (50) are all perpendicular to the extension direction of the thigh component (3) and perpendicular to the arrangement direction of the thigh component (3).

2. A high degree of freedom lightweight lower limb assist exoskeleton according to claim 1, characterized in that: It also includes a serpentine joint, wherein the back component (1), the serpentine joint and the waist component (2) are connected in sequence, and the back component (1) has a shoulder strap (9). Through the serpentine joint, the back component (1) can perform pitching and lateral bending movements relative to the waist component (2).

3. A high degree of freedom lightweight lower limb assist exoskeleton according to claim 2, characterized in that: The serpentine joint has at least a first movable joint and a second movable joint. The first movable joint enables the back component (1) to perform pitching motion relative to the waist component (2); and the second movable joint enables the back component (1) to perform lateral bending motion relative to the waist component (2).

4. A high degree of freedom lightweight lower limb assist exoskeleton according to claim 3, characterized in that: The serpentine joint comprises a lumbar plate (11), a first lumbar connection seat (65), a second lumbar connection seat (66), a third lumbar connection seat (14) and a lumbar base (15) which are connected in sequence; The lumbar plate (11) and the back component (1) are fixedly connected, the lumbar plate (11) and the first lumbar connecting seat (65) are hingedly connected via a lumbar axis (12) to form the first movable joint, one end of the first lumbar connecting seat (65) away from the lumbar plate (11) and the second lumbar connecting seat (66) are hingedly connected via a scoliosis axis (13) to form the second movable joint, one end of the second lumbar connecting seat (66) away from the first lumbar connecting seat (65) and the third lumbar connecting seat (14) are hingedly connected via a first pin shaft (67) to form the first movable joint, the third lumbar connecting seat (14) and the lumbar base (15) are hingedly connected via a second pin shaft (68) to form the first movable joint, and the lumbar base (15) and the waist component (2) are fixedly connected; The lateral bending axis (13) is perpendicular to the back component (1), and the axes of the lumbar axis (12), the first pin axis (67) and the second pin axis (68) are respectively perpendicular to the axis of the lateral bending axis (13).

5. The high-freedom lightweight lower limb assist exoskeleton according to claim 1, characterized in that: The waist component (2) comprises an elastic waist belt (69) and a connection mechanism corresponding to the hip joint hinge connection member (24) one by one, the connection mechanism comprises two flexible waist connection members (22) and a waist fixing member (23), the two flexible waist connection members (22) are fixed on the waist belt (69), the waist fixing member (23) is respectively connected to the two flexible waist connection members (22) through a rotating screw (70), and the waist fixing member (23) and the hip joint hinge connection member (24) are hinged through the hip joint rotating shaft (71).

6. A high degree of freedom lightweight lower limb assist exoskeleton according to claim 1, characterized in that: The thigh assembly (3) further comprises a thigh binding (30) arranged on the thigh rod (40) and a flexible thigh binding lining (39), wherein the thigh binding lining (39) is arranged on the inner side of the thigh binding (30).

7. A high degree of freedom lightweight lower limb assist exoskeleton according to claim 1, characterized in that: The calf assembly (4) includes a calf connecting rod (47), a calf plate (51), a calf ankle connecting rod (53) and an ankle connecting rod (49) which are connected in sequence. The calf connecting rod (47) is higher than the calf ankle connecting rod (53). The calf connecting rod (47) and the knee calf connecting member (46) are hinged via the knee joint pivot (50). The ankle connecting rod (49) and the ankle and foot assembly (5) are hinged. The relative positions of the calf ankle connecting rod (53) and the ankle connecting rod (49) are adjustable.

8. A high degree of freedom lightweight lower limb assist exoskeleton according to claim 7, characterized in that: The calf ankle joint connecting rod (53) is provided with a plurality of first mounting holes along its length direction, and the ankle joint connecting rod (49) is provided with at least one second mounting hole along its length direction.

9. A high degree of freedom lightweight lower limb assist exoskeleton according to claim 7, characterized in that: The calf assembly (4) further comprises a flexible calf binding (52) and a calf restraint lining (44) arranged on the calf plate (51); the calf binding (52) is a semi-enclosed shell structure; a receiving cavity for accommodating a human calf is formed between the calf binding (52) and the calf plate (51); a notch is provided on the surface of the calf binding (52); the two ends of the calf restraint lining (44) are respectively connected to the calf plate (51), and the calf restraint lining (44) is used to tighten the human calf through the notch.

10. The high-freedom lightweight lower limb assist exoskeleton according to claim 2, characterized in that: The back assembly (1) comprises a back plate (8), a back shell (6), a battery (19) and a control panel (20); the shoulder strap (9) is arranged on the back plate (8); the battery (19) and the control panel (20) are both installed on the back side of the back plate (8); and the back shell (6) is installed on the back side of the back plate (8) to cover the battery (19) and the control panel (20).

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