Lower limb walking aid exoskeleton robot

Abstract

The invention relates to a lower limb walking aid exoskeleton robot, and belongs to the technical field of medical equipment. Comprising a waist supporting mechanism; the leg supporting mechanism is connected with the waist supporting mechanism; the foot supporting mechanism is connected with the leg supporting mechanism; the driving mechanism is arranged at the joint of the leg supporting mechanism; buffering mechanisms are further arranged at the connecting positions of the waist supporting mechanism and the leg supporting mechanisms and the connecting positions of the leg supporting mechanisms, and when the driving mechanism outputs power, elastic buffering is conducted through the buffering mechanisms. The lower limb walking aid exoskeleton robot is simpler in structure and lower in manufacturing cost, the design of rigid direct-drive joints is achieved, and impact in the using process is avoided.

Description

Technical Field

[0001] The invention relates to a lower limb walking-assisting exoskeleton robot, belonging to the technical field of medical equipment. Background Art

[0002] With the transformation of my country's social structure, the trend of population aging is becoming increasingly significant, which has led to an increasing number of patients with lower limb motor dysfunction. The walking ability of such patients is impaired, which has a great impact on their daily quality of life. Scientific research shows that the human central nervous system is highly plastic, which means that targeted gait rehabilitation training can promote the recovery of lower limb motor function to a certain extent. Therefore, the field of rehabilitation medicine urgently needs equipment that can provide efficient and safe rehabilitation training.

[0003] As an innovative wearable walking aid, lower limb exoskeleton robots have attracted widespread attention in the field of rehabilitation medicine in recent years. This device can coordinate with the wearer to provide the necessary auxiliary torque for specific joints, thereby reducing or even replacing the burden of rehabilitation physicians in high-intensity rehabilitation therapy. However, despite the significant potential of lower limb exoskeleton robots in rehabilitation therapy, existing products still have some problems that need to be solved.

[0004] The existing Chinese invention patent with publication number CN109602582A relates to a walking-assisting exoskeleton robot, including a waist mechanism; a leg mechanism connected to the waist mechanism; a detection mechanism, the detection mechanism is connected to the leg mechanism and the waist mechanism and is used to detect the motion state of the leg mechanism and the waist mechanism; the connection between the waist mechanism and the leg mechanism and the connection between different leg mechanisms are provided with the driving mechanism, the driving mechanism receives the detection information of the detection mechanism, and drives the relative motion between the leg mechanisms and between the leg mechanisms and the waist mechanism. Through the detection and feedback of the mutual motion between the leg mechanism and the waist mechanism and the motion state of the leg mechanism by the detection mechanism, the driving mechanism can drive the leg mechanism according to the specific motion of the wearer, thereby improving the coordination of the walking-assisting exoskeleton robot with the human body and the flexibility of the wearer's motion, and the structure is simple, easy to wear, and highly comfortable.

[0005] There are at least the following technical problems in the prior art: First, from a structural point of view, most of the existing exoskeleton robots used for rehabilitation training are complex and bulky, which not only increases the manufacturing and maintenance costs of the equipment, but also limits its convenience and flexibility in practical applications. Secondly, the high cost makes it difficult for these devices to be popularized in ordinary medical institutions, thus limiting the opportunity for more patients to obtain efficient rehabilitation treatment.

[0006] In addition, existing rehabilitation robots also have certain limitations in terms of human-machine interaction force control. In particular, the design of rigid direct-drive joints is prone to impact problems during use, which not only affects the stability and safety of the equipment, but may also cause unnecessary damage to the wearer. Summary of the invention

[0007] The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art and provide a lower limb walking-assisting exoskeleton robot with a simpler structure and lower manufacturing cost, solve the design of rigid direct-drive joints, and avoid impact during use.

[0008] The lower limb walking-assisting exoskeleton robot of the present invention comprises: Lumbar support mechanism; A leg support mechanism, the leg support mechanism is connected to the waist support mechanism; A foot support mechanism, the foot support mechanism is connected to the leg support mechanism; A driving mechanism is provided at the connection of the leg supporting mechanism; The connection between the waist support mechanism and the leg support mechanism and the connection between the leg support mechanisms are also provided with a buffer mechanism, and when the driving mechanism outputs power, elastic buffering is performed through the buffer mechanism.

[0009] Furthermore, the buffer mechanism includes a spring guide rod installed at the connection point of the lumbar support mechanism or the leg support mechanism, a receiving groove opened on the leg support mechanism connected to the lumbar support mechanism or the leg support mechanism, the spring guide rod is installed in the receiving groove, and buffer springs are mounted on the spring guide rods on both sides of the receiving groove.

[0010] Furthermore, the lumbar support mechanism includes a back plate, on which a width adjustment component is provided, and on which a support frame is driven; The support frame is connected with a leg support mechanism.

[0011] Furthermore, the width adjustment assembly includes a first group of bearing seats mounted on the back plate, the first group of bearing seats are rotatably connected with a forward and reverse lead screw, a slider is provided on the forward and reverse lead screw, and a lead screw nut matched with the forward and reverse lead screw is provided on the slider; The slide block is connected with a supporting frame.

[0012] Furthermore, a parallel sliding shaft is provided on one side of the forward and reverse screws. The sliding shaft is slidably connected to the slider. Both ends of the sliding shaft are rotatably connected to a second set of bearing seats, and the second set of bearing seats is installed on the back plate.

[0013] Furthermore, the leg support mechanism includes a first thigh connecting frame connected to the waist support mechanism, the first thigh connecting frame is connected to a second thigh connecting frame through a driving mechanism and a buffer mechanism, the second thigh connecting frame is connected to a third thigh connecting frame movable relative to the second thigh connecting frame, the third thigh connecting frame is connected to a first calf connecting frame through a driving mechanism and a buffer mechanism, the first calf connecting frame is connected to a second calf connecting frame movable relative to the first calf connecting frame, and the second calf connecting frame is connected to the foot support mechanism.

[0014] Furthermore, a thigh wearing adjustment component is provided on the second thigh connecting frame.

[0015] Furthermore, a calf wearing adjustment component is provided on the first calf connecting frame.

[0016] Furthermore, the foot support mechanism includes an ankle joint elastic rotation assembly connected to the leg support mechanism, the ankle joint elastic rotation assembly is connected to a foot fixing frame, and the foot fixing frame is provided with a foot support frame and a flexible fastener.

[0017] Furthermore, the ankle joint elastic rotation component includes an ankle joint bracket, which is hingedly connected to an ankle joint fixing seat, an arc-shaped support rod is installed around the hinge point on the ankle joint bracket, and a groove for accommodating the arc-shaped support rod is opened on the ankle joint fixing seat corresponding to the arc-shaped support rod, and compression springs are installed at both ends of the groove.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The present invention has a simpler and more compact structure, which significantly reduces the manufacturing complexity and cost of the lower limb walking exoskeleton robot. This not only makes the device more economical and easy to popularize in medical institutions, but also improves the reliability and durability of the device.

[0019] The present invention effectively reduces the impact and vibration during the movement by arranging spring guide rods and buffer springs at key joints, thereby improving the stability and safety of the device, which is crucial for protecting the wearer from accidental injuries.

[0020] The present invention designs a width adjustment component and a wearing adjustment component in the waist support mechanism and the leg support mechanism, so that the device can be adjusted individually according to the wearer's body shape and rehabilitation needs. This not only improves the wearing comfort, but also ensures the effectiveness and applicability of the device at different rehabilitation stages.

[0021] The present invention realizes flexible support and assistance for the wearer's lower limb joints through a multi-level connecting frame design and an ankle joint elastic rotation component, which helps to improve the wearer's gait, promote the recovery of lower limb motor function, and enhance their autonomy and independence in daily life. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is one of the structural diagrams of Embodiment 1 of the present invention; Figure 2 This is the second structural diagram of Embodiment 1 of the present invention; Figure 3 This is one of the structural schematic diagrams of the leg support mechanism of Example 1 of the present invention; Figure 4 yes Figure 3 A partial enlarged view of the middle part; Figure 5 is a schematic structural diagram of the second thigh connecting frame of Example 1 of the present invention; Figure 6 is a schematic structural diagram of the first thigh connecting frame of Example 1 of the present invention; Figure 7 This is a partial enlarged view of point B in 3; Figure 8 is a schematic structural diagram of a foot support mechanism according to Embodiment 1 of the present invention; Fig. 9 is a schematic structural diagram of a lumbar support mechanism according to Embodiment 1 of the present invention; Fig.10 is a schematic structural diagram of a width adjustment assembly according to Embodiment 1 of the present invention; Fig.11 is a schematic diagram of the structure of the thigh wearing adjustment component of Example 1 of the present invention; Fig.12 is a schematic diagram of the structure of the calf wearing adjustment component of Example 1 of the present invention; Fig.13 This is the second structural schematic diagram of the leg support mechanism of Example 1 of the present invention; Fig.14 yes Fig.13 A partial enlarged view of point C in the middle; In the figure: 1. Lumbar support mechanism; 11. Back plate; 12. Battery compartment; 13. Width adjustment assembly; 131. First set of bearing seats; 132. Screw nut; 133. Second set of bearing seats; 134. Slider; 135. Positive and negative screws; 1351. Hand wheel; 136. Sliding shaft; 14. Support frame; 141. Card slot; 2. Driving mechanism; 3. Thigh wearing adjustment component; 31. Thigh wearing fixing frame; 32. First spring pin locking mechanism; 33. Thigh adjustment bracket; 34. Thigh wearing bracket; 4. Calf wearing adjustment component; 41. Calf wearing fixing frame; 42. Locking pin; 43. Calf wearing bracket; 5. Leg support mechanism; 51. First thigh connection frame; 511. Accommodation slot; 512. Locking pin; 52. Second thigh connection frame; 521. Adjustment fastening clip; 522. Second spring pin locking mechanism; 523. Adjustment fastener; 53. Third thigh connection frame; 54. First calf connection frame; 55. Second calf connection frame; 6. Foot support mechanism; 61. Ankle joint elastic rotation assembly; 611. Adjustment fixing nut; 612. Ankle joint support; 613. Arc support rod; 614. Compression spring; 615. Groove; 616. Ankle joint fixing seat; 62. Foot fixing frame; 63. Foot bracket; 64. Flexible fastener; 7. Buffer mechanism; 71. Spring guide rod; 72. Buffer spring. DETAILED DESCRIPTION

[0023] Example 1 like Figure 1 to Figure 14 As shown, the lower limb walking-assisting exoskeleton robot of the present invention comprises: Lumbar support mechanism 1; A leg support mechanism 5, the leg support mechanism 5 is connected to the waist support mechanism 1; A foot support mechanism 6, which is connected to the leg support mechanism 5; A driving mechanism 2 is provided at the connection between the driving mechanism 2 and the leg supporting mechanism 5; The connection between the waist support mechanism 1 and the leg support mechanism 5 and the connection between the leg support mechanism 5 and the leg support mechanism 5 are both provided with a buffer mechanism 7. When the driving mechanism 2 outputs power, elastic buffering is performed through the buffer mechanism 7.

[0024] The buffer mechanism 7 includes a spring guide rod 71 installed at the connection point of the lumbar support mechanism 1 or the leg support mechanism 5, a receiving groove 511 opened on the leg support mechanism 5 connected to the lumbar support mechanism 1 or the leg support mechanism 5, the spring guide rod 71 is installed in the receiving groove 511, and the spring guide rods 71 ​​located on both sides of the receiving groove 511 are both equipped with buffer springs 72.

[0025] like Figure 5 and Figure 6 As shown, a spring guide rod 71 is installed on the second thigh connecting frame 52, and a receiving groove 511 is opened on the first thigh connecting frame 51. The driving mechanism 2 includes at least a power component, and the power component can be a servo motor. The second thigh connecting frame 52 is connected to the servo motor, and the first thigh connecting frame 51 is connected to the output shaft of the servo motor.

[0026] The spring guide rod 71 is of annular design and is installed on the inner circle of the second thigh connecting frame 52 connected to the driving mechanism 2. The accommodating groove 511 opened on the first thigh connecting frame 51 is installed on the spring guide rod 71. The buffer spring 72 is used to buffer the driving mechanism 2 during rotation, and at the same time, axial rotation buffering is achieved, which is in the same direction as the force of the driving mechanism 2. This design ensures the movement stability of the driving mechanism 2 while protecting the driving mechanism 2. It greatly optimizes the design, realizes buffering using a simple structure, and greatly reduces the manufacturing cost.

[0027] The first calf connecting frame 54 is also provided with a spring guide rod 71, the third thigh connecting frame 53 is provided with a receiving groove 511, the first calf connecting frame 54 is connected to the servo motor, and the third thigh connecting frame 53 is connected to the output shaft of the servo motor.

[0028] The lumbar support mechanism 1 comprises a back plate 11, on which a width adjustment component 13 is provided, and on which a support frame 14 is driven; The support frame 14 is connected to the leg support mechanism 5 .

[0029] The battery compartment 12 and the circuit control board are installed on the side of the back plate 11 which is away from the width adjustment assembly 13 , thereby largely avoiding the need to provide a circuit control board on the leg support mechanism 5 and greatly optimizing the structure of the leg support mechanism 5 .

[0030] The width adjustment assembly 13 includes a first set of bearing seats 131 mounted on the back plate 11, a forward and reverse lead screw 135 is rotatably connected to the first set of bearing seats 131, a slider 134 is provided on the forward and reverse lead screw 135, and a lead screw nut 132 matched with the forward and reverse lead screw 135 is provided on the slider 134; The slider 134 is connected to the support frame 14 .

[0031] A parallel sliding shaft 136 is also provided on one side of the forward and reverse screw 135 . The sliding shaft 136 is slidably connected to the slider 134 . The two ends of the sliding shaft 136 are rotatably connected to a second set of bearing seats 133 . The second set of bearing seats 133 are installed on the back plate 11 .

[0032] The threads on both sides of the forward and reverse lead screw 135 rotate in opposite directions and adopt trapezoidal thread transmission. One end of the forward and reverse lead screw 135 is connected to a hand-cranked wheel 1351.

[0033] The leg support mechanism 5 includes a first thigh connecting frame 51 connected to the waist support mechanism 1, the first thigh connecting frame 51 is connected to the second thigh connecting frame 52 through the driving mechanism 2 and the buffer mechanism 7, the second thigh connecting frame 52 is connected to the third thigh connecting frame 53 which is movable relative to the second thigh connecting frame 52, the third thigh connecting frame 53 is connected to the first calf connecting frame 54 through the driving mechanism 2 and the buffer mechanism 7, the first calf connecting frame 54 is connected to the second calf connecting frame 55 which is movable relative to the first calf connecting frame 54, and the second calf connecting frame 55 is connected to the foot support mechanism 6.

[0034] The first thigh connecting frame 51 is sleeved and connected to the support frame 14 in the waist support mechanism 1. A U-shaped slot 141 is provided on the end of the support frame 14. A square sleeve for sleeved support frame 14 is provided at the upper end of the first thigh connecting frame 51. A locking pin 512 is hingedly connected to the sleeve. A butterfly nut is threadedly connected to the end of the locking pin 512 away from the hinge point. The butterfly nut is used to fix the locking pin 512. When the sleeve slides to the position where the slot 141 is provided, the locking pin 512 is pressed into the slot 141. Finally, the butterfly nut is tightened to achieve locking, thereby completing the distance adjustment between the leg support mechanism 5 and the waist support mechanism 1.

[0035] like Fig.14 As shown, the second thigh connecting frame 52 and the first calf connecting frame 54 are both installed with an adjustment fastening clamp 521 and an adjustment fastener 523, and the adjustment fastening clamp 521 is installed with a second spring pin locking mechanism 522. The second spring pin locking mechanism 522 has the same structure as the first spring pin locking mechanism 32. The corresponding third thigh connecting frame 53 and the second calf connecting frame 55 are provided with locking holes for use with the second spring pin locking mechanism 522.

[0036] A thigh wearing adjustment component 3 is provided on the second thigh connecting frame 52 .

[0037] The thigh wear adjustment assembly 3 includes a thigh wear fixing frame 31 connected to the second thigh connecting frame 52, a thigh adjustment bracket 33 is slidably connected to the thigh wear fixing frame 31, a thigh wear bracket 34 is connected to the thigh adjustment bracket 33, and a first spring pin locking mechanism 32 is installed on the thigh wear fixing frame 31. A locking hole is provided on the thigh adjustment bracket 33 corresponding to the first spring pin locking mechanism 32. When the user needs to adjust the position of the thigh adjustment bracket 33, they will hold the adjustment handle or pull rod and pull or rotate it to control the pin in the first spring pin locking mechanism 32. This action will cause the pin to disengage from the locking hole, thereby releasing the thigh adjustment bracket 33; after the adjustment is completed, the user releases the adjustment handle or pull rod. At this time, the spring or other reset mechanism will push the pin in the first spring pin locking mechanism 32 back into the locking hole, thereby completing the locking.

[0038] The calf first connecting frame 54 is provided with a calf wearing adjustment component 4.

[0039] The calf wearing adjustment component 4 includes a calf wearing fixing frame 41 connected to the calf first connecting frame 54, and a calf wearing bracket 43 is hingedly connected to the calf wearing fixing frame 41. A locking pin 42 is provided at the hinge between the calf wearing fixing frame 41 and the calf wearing bracket 43. A control button is connected to one side of the locking pin 42. The locking pin is elastically connected to the inside of the calf wearing bracket 43. A locking hole is opened in the calf wearing fixing frame 41 corresponding to the locking pin 42. When the control button is pressed down, the locking pin 42 withdraws from the locking hole, and the calf wearing bracket 43 can be adjusted at this time.

[0040] A friction reducing ring is arranged in the locking hole to reduce the wear of the locking pin on the calf wearing bracket 43, and a rotating shaft ring is also installed at the hinge point to reduce friction.

[0041] The foot support mechanism 6 includes an ankle joint elastic rotation component 61 connected to the leg support mechanism 5 , the ankle joint elastic rotation component 61 is connected to a foot fixing frame 62 , and the foot fixing frame 62 is provided with a foot bracket 63 and a flexible fastener 64 .

[0042] The ankle joint elastic rotation component 61 includes an ankle joint support 612, which is hingedly connected to an ankle joint fixing seat 616. An arc-shaped support rod 613 is installed around the hinge point on the ankle joint support 612. A groove 615 for accommodating the arc-shaped support rod 613 is opened on the ankle joint fixing seat 616 corresponding to the arc-shaped support rod 613, and compression springs 614 are installed at both ends of the groove 615.

[0043] The arc-shaped support rod 613 cooperates with the compression spring 614 to better adapt to the ankle joint and conform to the movement of the human foot.

[0044] The upper end of the ankle joint support 612 is threadedly connected with an adjustment fixing nut 611, and the ankle joint support 612 is fixed to the second calf connecting frame 55 through the adjustment fixing nut 611.

[0045] The second thigh connecting frame 52 and the first calf connecting frame 54 are of detachable design and are connected together by screws to facilitate later assembly; the third thigh connecting frame 53 also adopts a detachable design, which is achieved by adopting the same structure as the adjusting fixing nut 611.

[0046] The ends of the third thigh connecting frame 53, the second calf connecting frame 55, the support frame 14 and the thigh adjustment bracket 33 are all connected with stoppers to prevent the slidingly connected parts from sliding out.

[0047] Working process or working principle: When in use, adjust the distance between the waist support mechanism 1 and the leg support mechanism 5 through the locking pin 512. After the adjustment is completed, adjust the distance between the two leg support mechanisms 5 through the width adjustment component 13 to better adapt to the human legs; finally, adjust the length of the thigh and the length of the calf appropriately through the second spring pin locking mechanism 522 on the second thigh connecting frame 52 and the first calf connecting frame 54.

[0048] The description of the direction and relative position relationship of the structure in the present invention, such as the description of front, back, left, right, up, and down, does not constitute a limitation of the present invention, but is only for the convenience of description.

Claims

1. A lower limb walking-assisting exoskeleton robot, comprising: Lumbar support mechanism (1); A leg support mechanism (5), the leg support mechanism (5) being connected to the waist support mechanism (1); A foot support mechanism (6), the foot support mechanism (6) being connected to the leg support mechanism (5); It is characterized in that A driving mechanism (2) is provided at a connection between the driving mechanism (2) and the leg support mechanism (5); A buffer mechanism (7) is also provided at the connection between the waist support mechanism (1) and the leg support mechanism (5), and at the connection between the leg support mechanism (5) and the leg support mechanism (5). When the driving mechanism (2) outputs power, elastic buffering is performed through the buffer mechanism (7).

2. The lower limb walking-assisting exoskeleton robot according to claim 1, characterized in that: The buffer mechanism (7) comprises a spring guide rod (71) installed at a connection point on the waist support mechanism (1) or the leg support mechanism (5), a receiving groove (511) provided on the leg support mechanism (5) connected to the waist support mechanism (1) or the leg support mechanism (5), the spring guide rod (71) being installed in the receiving groove (511), and buffer springs (72) being mounted on the spring guide rods (71) located on both sides of the receiving groove (511).

3. The lower limb walking-assisting exoskeleton robot according to claim 1, characterized in that: The lumbar support mechanism (1) comprises a back plate (11), a width adjustment component (13) is provided on the back plate (11), and a support frame (14) is driven by the width adjustment component (13); The support frame (14) is connected to a leg support mechanism (5).

4. The lower limb walking-assisting exoskeleton robot according to claim 3, characterized in that: The width adjustment assembly (13) comprises a first group of bearing seats (131) mounted on the back plate (11), a forward and reverse lead screw (135) being rotatably connected to the first group of bearing seats (131), a slider (134) being provided on the forward and reverse lead screw (135), and a lead screw nut (132) matching the forward and reverse lead screw (135) being provided on the slider (134); The slider (134) is connected to a support frame (14).

5. The lower limb walking-assisting exoskeleton robot according to claim 4, characterized in that: A sliding shaft (136) arranged in parallel is also provided on one side of the forward and reverse lead screws (135). The sliding shaft (136) is slidably connected to the slider (134). Both ends of the sliding shaft (136) are rotatably connected to a second set of bearing seats (133). The second set of bearing seats (133) are mounted on the back plate (11).

6. The lower limb walking-assisting exoskeleton robot according to claim 1, characterized in that: The leg support mechanism (5) comprises a first thigh connection frame (51) connected to the waist support mechanism (1); the first thigh connection frame (51) is connected to a second thigh connection frame (52) via a driving mechanism (2) and a buffer mechanism (7); the second thigh connection frame (52) is connected to a third thigh connection frame (53) movable relative to the second thigh connection frame (52); the third thigh connection frame (53) is connected to a first calf connection frame (54) via the driving mechanism (2) and the buffer mechanism (7); the first calf connection frame (54) is connected to a second calf connection frame (55) movable relative to the first calf connection frame (54); and the second calf connection frame (55) is connected to a foot support mechanism (6).

7. The lower limb walking-assisting exoskeleton robot according to claim 4, characterized in that: A thigh wearing adjustment component (3) is provided on the second thigh connecting frame (52).

8. The lower limb walking-assisting exoskeleton robot according to claim 4, characterized in that: A calf wearing adjustment component (4) is provided on the calf first connecting frame (54).

9. The lower limb walking-assisting exoskeleton robot according to claim 1, characterized in that: The foot support mechanism (6) comprises an ankle joint elastic rotation assembly (61) connected to the leg support mechanism (5); the ankle joint elastic rotation assembly (61) is connected to a foot fixing frame (62); and the foot fixing frame (62) is provided with a foot support frame (63) and a flexible fastener (64).

10. The lower limb walking-assisting exoskeleton robot according to claim 1, characterized in that: The ankle joint elastic rotation component (61) comprises an ankle joint support (612), the ankle joint support (612) is hingedly connected to an ankle joint fixing seat (616), an arc-shaped support rod (613) is installed around the hinge point on the ankle joint support (612), and a groove (615) for accommodating the arc-shaped support rod (613) is formed on the ankle joint fixing seat (616) corresponding to the arc-shaped support rod (613), and compression springs (614) are mounted on both ends of the groove (615).

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