Multi-dimensional adjustable bionic lower limb exoskeleton device

Abstract

The invention relates to a multi-dimensional adjustable bionic lower limb exoskeleton device which comprises a hip mechanism, and the two sides of the hip mechanism are each sequentially connected with a driving motor, an adjustable thigh part, a bionic knee joint, an adjustable shank part and a foot part. The adjustable thigh part and the adjustable shank part are detached and separated or locked and connected after the length is adjusted through the thigh quick-locking key and the shank quick-locking key respectively; an elastic extension assisting element is connected between the adjustable thigh part and the bionic knee joint, the adjustable thigh part further comprises a torque adjusting gear, a plurality of gear holes or grooves with different distances from the thigh telescopic pipe are formed in the torque adjusting gear, and the lower elastic end of the elastic extension assisting element is rotationally connected with the bionic knee joint; and the upper elastic end of the elastic extension-assisting element is rotationally connected with one gear hole or groove. Compared with the prior art, the wearable assisting device can be quickly combined and connected or disassembled into independent modules for independent use or free combination use, and can meet the requirements of efficient weight-bearing wearing and assisting in individualized and different scenes.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton robots, and in particular to a multidimensional adjustable bionic lower limb exoskeleton device. Background Technology

[0002] In recent years, with economic development and technological progress, the continuous improvement of social production and living standards, the express delivery industry has grown rapidly, and the demand for the reintegration of people with functional impairments into society has increased. Increased outdoor activities such as tourism, mountain climbing, military operations, disaster relief, and material handling have also raised the requirements for health, work efficiency, and quality of life. People often experience increased weight-bearing, prolonged wear and tear, joint diseases, soft tissue injuries, fractures, and the global aging population, leading to the rapid popularity and development of wearable exoskeletons for assistive walking. However, whether for healthy individuals or those with functional impairments, wearing exoskeletons for assisted walking still faces many challenges. For example, lower limb exoskeletons use motors for propulsion. While this provides assistance, the greater the driving force and the more joints involved, the heavier and larger the motor and exoskeleton need to be. This introduces new problems such as increased moment of inertia, inconvenience in wearing, higher energy consumption, and difficulty in carrying. Furthermore, timely donning, doffing, or sitting down for rest requires fully disengaging the motor. While unpowered energy-storage exoskeletons avoid being overly bulky, they present new problems and challenges due to insufficient driving force and fixed elasticity, making them unable to adapt to the varying gait patterns of wearers in different scenarios. More and more scientists are researching lower limb exoskeletons, and new control methods are emerging. However, these methods are costly, complex, have short battery life, and are difficult to popularize. They rely on one or a few parameters and perform specific controls according to preset programs, neglecting the wearer's subjective initiative and willingness to choose, and failing to adjust in a timely manner to respond to current or impending situations based on the surrounding environment.

[0003] Although researchers have made many beneficial improvements, existing exoskeleton structures still struggle to quickly adapt to the efficient load-bearing and assistance needs of wearers under these challenging conditions, due to varying wearer heights and complex, ever-changing environments. Therefore, developing a flexible and driven exoskeleton that avoids excessive bulkiness and can adapt to wearers' assistance requirements more quickly, accurately, and efficiently has become an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects of the prior art and provide a multidimensional adjustable bionic lower limb exoskeleton device.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] A multidimensional adjustable bionic lower limb exoskeleton device includes a hip mechanism, on both sides of which are sequentially connected a drive motor, an adjustable thigh, a bionic knee joint, an adjustable calf, and a foot.

[0007] The adjustable thigh section includes a thigh telescopic tube and a thigh quick-lock key. The thigh telescopic tube includes a hip tube and upper and lower thigh tubes. The hip tube is inserted into the thigh tube and the two are detached or locked together after length adjustment by the thigh quick-lock key.

[0008] The adjustable calf section includes a calf telescopic tube and a calf quick-lock key. The calf telescopic tube includes two parts: a calf tube and a foot tube. The foot tube is inserted into the calf tube and the two parts can be quickly disassembled or locked together after length adjustment via the calf quick-lock key.

[0009] An elastic extension element is connected between the adjustable thigh and the bionic knee joint. The adjustable thigh also includes a torque adjustment stop. The torque adjustment stop has multiple position holes or grooves at different distances from the thigh extension tube. The lower end of the elastic extension element is rotatably connected to the bionic knee joint, and the upper end of the elastic extension element is rotatably connected to one of the position holes or grooves.

[0010] Preferably, the device further includes a quick-connect fitting sleeved on the torque adjustment gear;

[0011] The quick-connector includes a pin, a slide, and a compression spring;

[0012] The pins are divided into two, left and right, which are cross-located across the left and right sides of the slide block. There are two compression springs, left and right, which press against the left and right pins respectively. The pins are equipped with a pin and a pull rod.

[0013] The slide includes a pin hole, a spring hole, and an ear seat. The ear seat is connected to the upper end of the elastic extension element. The compression spring is installed in the spring hole. The pin of the pin is inserted into the pin hole and points to the torque adjustment gear hole or groove.

[0014] The spring pushes against the pull rod, causing the pin to automatically insert into the pin hole in its natural state; when it is opposite to the gear hole or groove, it can be inserted into the gear hole or groove simultaneously to lock the quick connector in the torque adjustment position; when the pull rod is pressed by hand, the pin is pulled out of the pin hole and disengaged from the gear hole or groove, thereby unlocking the quick connector so that it can slide along the torque adjustment position.

[0015] Preferably, the quick-connect head further includes a rotating wheel, which is rotatably mounted on a wheel seat provided on the slide.

[0016] The rotary wheel includes a drive wheel and a meshing wheel. A rack is provided on the torque adjustment gear at the position corresponding to the meshing teeth, which meshes with the meshing wheel. When the quick-connect head is unlocked, the rotary wheel is turned to drive the quick-connect head to slide on the torque adjustment gear.

[0017] Preferably, the bionic knee joint includes a simulated tibial condyle, an anterior elastic band, a posterior elastic band, a simulated femoral condyle, an upper tension spring, a lower tension spring, and a simulated patella;

[0018] The upper end face of the simulated tibial condyle is provided with a tibial condyle surface, which contacts and grinds together with the lower end face of the simulated tibial condyle provided with a femoral condyle surface. The upper tension spring and the lower tension spring are connected between the simulated tibial condyle and the simulated femoral condyle through the simulated patella. The anterior elastic band and the posterior elastic band are alternately connected on the lateral surface of the simulated tibial condyle and the simulated femoral condyle.

[0019] The lower bullet hole is located on the tibial condyle of the bionic knee joint.

[0020] Preferably, the foot includes a footplate, a foot seat, a flexion-extension spring pin, a connecting hole, and a foot strap. The footplate is fixed on the foot seat, the flexion-extension spring pin extends out of the foot seat and is eccentrically pushed against the foot connector, the connecting hole is located above the foot seat, and the foot connector is connected to the foot connector of the lower leg through the connecting hole.

[0021] The flexion-extension spring pin is offset from the axis of the connecting hole. The lower end of the flexion-extension spring pin is provided with an elastic element. The upper end of the flexion-extension spring pin pushes against one side of the foot connector, so that the foot connector relative to the adjustable lower leg always rotates in one direction.

[0022] Preferably, the adjustable calf also includes a foot connector, which is fixed to the lower end of the foot tube. The lower part of the foot tube is provided with a rotating shaft. The rotating shaft and the foot connector are connected in the form of a joint bearing. A polygonal step that matches the size of the connecting hole of the foot is fixed on the rotating shaft. The end of the rotating shaft is threadedly fixed to the foot.

[0023] Preferably, the hip mechanism is an adjustable hip mechanism, which includes bat wings, a back plate, a base, an adjustment knob, and a locking knob. The two bat wings are symmetrically inserted into the two sides of the base and the length of the left and right bat wings extending out of the base is locked by the locking knob. The back plate is installed on the inner surface of the base by the adjustment knob.

[0024] Preferably, a drive motor is installed at the lower end of the bat wing; a hip actuator is fixedly installed on the motor shaft of the drive motor, and the rotation center of the hip actuator is aligned with the large rotor position of the user's hip to drive the adjustable thigh to rotate back and forth; a detachable long pin is provided at the lower end of the hip actuator, and the hip connector of the adjustable thigh is rotatably connected to the hip actuator through the long pin.

[0025] Preferably, the back panel includes an adjusting bolt, a tension spring seat, and a connecting ear seat; the box seat includes a hip seat hole, a box cover, an upper buckle, a waist base, a back panel mounting hole, a hip seat clamp, a tension spring hole, a lower buckle, and a fastening plate;

[0026] The fastening plate is connected to the waist base and hip seat hoop by bolts. The fastening plate has symmetrical elongated holes on the left and right. The limiting screw at the tip of the bat wing slides in the elongated holes. The elongated holes and the limiting screw cooperate to limit and guide the left and right adjustment of the bat wing.

[0027] The adjustment knob is installed at the lower end of the housing. The adjustment knob has a thread that cooperates with the adjustment bolt. One end of the back plate is installed in the back plate mounting hole of the housing through the connecting ear seat, and the adjustment bolt at the other end is installed in the adjustment knob. By rotating the adjustment knob, the angle between the back plate and the housing is adjusted, thereby changing the swing angle position of the drive motor installed at the lower end of the bat wing, and finally changing the front-back and up-down position of the back plate relative to the motor shaft of the drive motor, i.e., the large rotor at the hip.

[0028] The locking buttons are two in number and symmetrically installed in the hip holes in the waist base, and are respectively pushed against the left and right wings to restrict the wings from being pulled out or retracted.

[0029] The back plate is also provided with a tension spring on the tension spring seat, and the tension spring pulls the back plate toward the waist base through the tension spring hole.

[0030] Preferably, the device further includes leg supports and straps for auxiliary fixation.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] (1) It adopts a modular design, combining quick-lock buttons for the lower leg and thigh, allowing for rapid combination and connection or disassembly into independent hip, knee, and ankle modules, or two- or three-joint exoskeletons. This enables timely adjustments to hip height, hip depth, hip width, leg length, flexion and extension assist status, and walking style based on different users' anthropometric parameters, economic conditions, and walking environments. It not only adapts to different patients' heights and leg lengths but also allows for rapid changes in assistive power according to different walking environments, accommodating individualized needs and assistance in various scenarios. This allows it to adapt to different market conditions and price ranges, minimizing the impact of incompatibility and difficulty in flexibility. It can be combined and transformed in multiple ways according to the wearer's needs, adapting to the various joint and muscle conditions of patients with different functional impairments. Furthermore, its hybrid powered and unpowered design avoids both excessive bulkiness and the drawbacks of short battery life and lack of driving force.

[0033] (2) An adjustable hip mechanism, calf extension tube, and thigh extension tube are adopted to allow for adjustment according to the wearer's body size parameters, so that the invention can be used by wearers with different body widths, hip depths, and leg lengths. This makes the exoskeleton fit the human body better, enhances its stability, and reduces the defects of the device being empty and wobbly caused by the separation of the exoskeleton from the human body.

[0034] (3) The quick-connect head allows for the replacement of the support connection point of the elastic extension element at any time, enabling the exoskeleton to adjust and correct its gait in a timely manner according to the walking conditions; the slide design allows for quick replacement of the connection point of the elastic extension element with one hand. Combined with the multiple gear holes determined by prior experience in actual testing, this invention is suitable for both light and fast walking on flat ground and for stability and assistance when going up and down stairs. Different gears can also be selected according to different weights in order to change the assistance and stiffness of the elastic extension element in a timely manner.

[0035] (4) The bionic knee joint adopts a knee joint surface running-in mechanism, which can better imitate the movement characteristics of the human knee joint, making the exoskeleton knee joint more in line with the movement curve of the human knee joint, reducing human-machine confrontation and interference, and reducing the discomfort and increased energy consumption caused by the exoskeleton moving up and down relative to the thighs and calves when the wearer walks.

[0036] (5) The flexion-extension spring pin is offset from the axis of the connecting hole. The lower end of the flexion-extension spring pin is provided with an elastic element. The upper end of the flexion-extension spring pin pushes against one side of the foot connector, so that the foot connector relative to the adjustable lower leg always rotates in one direction, thereby continuously providing the user's ankle with flexion or extension torque, or providing the user's foot with a buffer torque, resulting in a better user experience. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0038] Figure 2 This is a schematic diagram of the foot structure in this invention.

[0039] Figure 3 This is a schematic diagram of the adjustable lower leg in this invention.

[0040] Figure 4 This is a schematic diagram of the bionic knee joint in this invention.

[0041] Figure 5 This is a schematic diagram of the structure of the simulated tibial condyle in this invention.

[0042] Figure 6 This is a schematic diagram of the structure of the simulated femoral condyle in this invention.

[0043] Figure 7 This is a schematic diagram of the patellar-like structure in this invention.

[0044] Figure 8 This is a schematic diagram of the elastic stretching element in this invention.

[0045] Figure 9 This is a schematic diagram of the adjustable thigh section in this invention.

[0046] Figure 10This is a schematic diagram of the structure in this invention where the bat wing is connected to the drive motor.

[0047] Figure 11 This is a schematic diagram of the backplate structure in this invention.

[0048] Figure 12 This is a schematic diagram of the structure in which the adjustment knob and locking knob of the present invention are installed on the housing.

[0049] Figure 13 This is a partial structural detail diagram of the adjustable hip mechanism in this invention.

[0050] Figure 14 This is a schematic diagram of the quick-connect head in this invention.

[0051] Figure 15 for Figure 14 A schematic diagram of the explosion structure.

[0052] Figure 16 This is a schematic diagram of the slide block in this invention.

[0053] Figure 17 This is a diagram illustrating the effect of using the slide block in this invention.

[0054] Figure 18 This is a schematic diagram of the rotating wheel in this invention.

[0055] Figure 19 This is a schematic diagram of the wheel seat on the slide in this invention.

[0056] Figure 20 This is a diagram illustrating the effect of using the rotating wheel in this invention.

[0057] Figure reference numerals: 1-Foot; 101-Stepplate; 102-Foot seat; 103-Flexion and extension spring pin; 104-Connecting hole; 105-Foot strap; 2-Adjustable lower leg; 201-Lower leg telescopic tube; 2011-Foot tube; 2012-Lower leg tube; 20121-Lower leg tube tip; 202-Foot connector head; 203-Lower leg quick-lock key; 3-Bionic knee joint; 301-Imitation tibial condyle; 3011-Lower knee end; 3012-Lower staggered column; 3013-Lower spring hole; 3014-Tibial condyle surface; 3015-Side guard; 3016-Limiting protrusion 3017 - Pull-down ring; 302 - Anterior elastic band; 303 - Posterior elastic band; 304 - Imitation of femoral condyle; 3041 - Upper knee; 3042 - Upper interlacing column; 3043 - Limiting groove; 3044 - Femoral condyle surface; 3045 - Retaining groove; 3046 - Upper pull-down ring; 305 - Sliding column; 306 - Pull-down spring; 307 - Imitation of patella; 3071 - Guide edge; 3072 - Condylar fossa surface; 3073 - Middle pull-down ring one; 3074 - Middle pull-down ring two; 4 - Elastic extension element; 401 - Lower elastic end; 402 - Upper elastic end; 5 - Adjustable thigh section; 501-Thigh telescopic tube; 5011-Thigh tube; 50111-Thigh tube bottom end; 5012-Hip tube; 502-Hip connector; 503-Thigh quick lock key; 504-Torque adjustment gear; 5041-Gear hole; 6-Drive motor; 601-Hip moving head; 6011-Long pin; 602-Heat shroud; 603-Cable routing box; 7-Adjustable hip mechanism; 71-Bat wing; 711-Cable outlet; 712-Limit screw; 72-Back plate; 721-Tension spring seat; 722-Adjusting bolt; 723-Connecting ear seat; 73-Box seat; 7 31-Hips seat hole; 732-Box cover; 733-Upper buckle; 734-Waist base; 735-Back plate mounting hole; 736-Hips seat clamp; 737-Tension spring hole; 738-Lower buckle; 739-Snap-on plate; 74-Adjusting knob; 75-Locking knob; 8-Quick connector; 801-Pin; 8011-Pin; 8012-Pull rod; 802-Slide seat; 8021-Pin hole; 8022-Spring hole; 8023-Ear seat; 8024-Wheel seat; 803-Compression spring; 804-Rotating wheel; 8041-Drive wheel; 8042-Meshing wheel. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0059] Example

[0060] like Figure 1As shown, this embodiment provides a multidimensional adjustable bionic lower limb exoskeleton device, including a foot 1, an adjustable lower leg 2, a bionic knee joint 3, an elastic extension element 4, an adjustable thigh 5, a drive motor 6, and an adjustable hip mechanism 7 connected in sequence.

[0061] The adjustable hip mechanism 7 is symmetrically connected to the left and right sides, with a drive motor 6, an adjustable thigh 5, a bionic knee joint 3, an adjustable calf 2, and a foot 1 connected in sequence. An elastic extension element 4 is connected between the elastic extension element 4 and the bionic knee joint 3.

[0062] like Figure 2 As shown, see also Figure 1 The foot part 1 includes a footplate 101, a foot seat 102, a flexion-extension spring pin 103, a connecting hole 104, and a foot strap 105. The footplate 101 is fixed to the foot seat 102. The flexion-extension spring pin 103 extends out of the foot seat 102 and is eccentrically positioned towards the foot connector 202. The connecting hole 104 is located above the foot seat 102, and the foot connector 202 is connected to the foot connector 202 of the lower leg part 2 through the connecting hole 104. The footplate 101 is narrow in width from front to back to facilitate placement under the foot below the ankle without affecting normal walking and running.

[0063] The flexion-extension spring pin 103 is offset from the axis of the connecting hole 104. The lower end of the flexion-extension spring pin 103 is provided with an elastic element, and the upper end of the flexion-extension spring pin 103 pushes against one side of the foot connector 202, so that the foot 1 rotates in one direction relative to the foot connector 202 of the adjustable lower leg 2, thereby continuously providing flexion-extension torque to the user's ankle, or providing cushioning torque to the user's foot. This is suitable for patients with foot drop, when external force is needed to provide dorsiflexion force to the foot, or when the ankle joint needs to be subjected to unidirectional resistance training.

[0064] like Figure 3 As shown, see also Figure 1 The adjustable lower leg section 2 includes a lower leg telescopic tube 201, a foot connector 202, and a lower leg quick-lock button 203. The lower leg telescopic tube 201 consists of two parts: a foot tube 2011 and a lower leg tube 2012. The foot tube 2011 is inserted into the lower leg tube 2012, and the two parts can be quickly detached or locked together via the lower leg quick-lock button 203. This allows for quick separation of the parts below the foot tube 2011 or adjustment of the length of the lower leg telescopic tube 201. The length of the lower leg telescopic tube 201 is adjustable to accommodate different lower leg lengths of different exoskeleton wearers.

[0065] The foot connector 202 of the adjustable lower leg 2 is fixed to the lower end of the foot tube 2011. The lower part of the foot tube 2011 is provided with a rotating shaft. The rotating shaft and the foot connector 202 are connected in the form of a joint bearing. A polygonal step is fixed on the rotating shaft to match the size of the connecting hole 104 of the foot 1. The end of the rotating shaft is provided with a thread, so that the rotating shaft and the foot 1 are firmly fixed together.

[0066] like Figure 4-7 As shown, see also Figure 1 The bionic knee joint 3 includes a simulated tibial condyle 301, an anterior elastic band 302, a posterior elastic band 303, a simulated femoral condyle 304, an upper tension spring 305, a lower tension spring 306, and a simulated patella 307. The upper end surface of the simulated tibial condyle 301 has a tibial condyle surface, which contacts and fits together with the lower end surface of the simulated tibial condyle 301 having a femoral condyle surface. The curved shape of the tibial condyle surface and the femoral condyle surface is obtained by medical imaging of the wearer's knee joint. The upper tension spring 305 and the lower tension spring 306 are connected between the simulated tibial condyle 301 and the simulated femoral condyle 304 through the simulated patella 307. The anterior elastic band 302 and the posterior elastic band 303 are alternately connected on the lateral surfaces of the simulated tibial condyle 301 and the simulated femoral condyle 304. The lower end 3011 of the bionic knee joint 3 is fixedly connected to the top end 20121 of the lower leg extension tube 201. The bionic knee joint 3 adopts a knee joint curved surface running-in mechanism, which can better imitate the joint center movement characteristics of human knee joint rotation + sliding, and is more in line with the movement curve of human knee joint movement law, reducing human-machine confrontation and interference, reducing the poor comfort and high energy consumption caused by the exoskeleton moving up and down when the wearer walks, so that it can conform to the human body.

[0067] like Figure 5 As shown, the bionic knee joint 3's simulated tibial condyle 301 includes a lower knee end 3011, lower interlacing columns 3012, lower spring holes 3013, tibial condyle surface 3014, guard edge 3015, limiting protrusion 3016, and pull-down ring 3017; the lower interlacing columns 3012 are disposed on the outer surface of the simulated tibial condyle 301 and can rotate around their own axes, the tibial condyle surface 3014 is located on the upper end surface of the simulated tibial condyle 301, the guard edge 3015 is disposed on both upper end surfaces of the simulated tibial condyle 301, the limiting protrusion 3016 is also disposed on the upper end surface of the simulated tibial condyle 301, and the pull-down ring 3017 is disposed on the lower front side of the simulated tibial condyle 301.

[0068] like Figure 6As shown, the simulated femoral condyle 304 includes a superior knee end 3041, upper interlacing columns 3042, limiting grooves 3043, femoral condyle surface 3044, retaining grooves 3045, and upper pull rings 3046. The upper interlacing columns 3042 are disposed on the lateral surface of the simulated femoral condyle 304 and can rotate around their own axes. The femoral condyle surface 3044 is located on the lower end surface of the simulated femoral condyle 304. The retaining grooves 3045 are disposed on the outer periphery of the simulated femoral condyle 304 and cooperate with the retaining edge 3015 of the simulated tibial condyle 301 to limit the left and right sides of the simulated femoral condyle 304. The upper pull rings 3046 are disposed on the upper anterior side of the simulated femoral condyle 304. The tibial condyle surface 3014 and the femoral condyle surface 3044 engage with each other. Both are obtained by medical imaging of the exoskeleton wearer's knee joint, making them personalized. They can be obtained through 3D printing or CNC machining of complex curved surfaces to accurately simulate the wearer's knee joint and prevent human-machine asynchrony caused by asynchronous movement with the human knee joint. The limiting protrusion 3016 of the simulated tibial condyle 301 cooperates with the limiting groove 3043 of the simulated femoral condyle 304 to limit the rotation and slippage between them, thus protecting the wearer's joint.

[0069] like Figure 7 As shown, the simulated patella 307 includes a guide edge 3071, a condylar surface 3072, a first middle pull ring 3073, and a second middle pull ring 3074. The condylar surface 3072 is located on the rear end face of the simulated patella 307 and contacts and engages with the femoral condylar surface 3044 of the simulated femoral condyle 304. The guide edge 3071 is provided on both rear end faces of the simulated patella 307 and cooperates with the retaining groove 3045, so that the simulated patella 307 can only slide up and down along the femoral condyle 304, mimicking the human patella.

[0070] like Figure 4 As shown, the anterior elastic band 302 and the posterior elastic band 303 are respectively staggered on the upper staggered post 3042 and the lower staggered post 3012, and are stretched taut to allow the simulated femoral condyle 304 and the simulated tibial condyle 301 to slide and reposition. The staggered force also provides a certain pressure between the simulated femoral condyle 304 and the simulated tibial condyle 301, which is converted into frictional force, providing necessary damping for leg swing to simulate the movement of the anterior and posterior cruciate ligaments and knee joint of the human body.

[0071] like Figure 4 As shown, the upper and lower ends of the upper tension spring 305 are connected to the upper tension ring 3046 and the middle tension ring 3073, respectively; the upper and lower ends of the lower tension spring 306 are connected to the middle tension ring 3074 and the lower tension ring 3017, respectively. The upper tension spring 305 and the lower tension spring 306 are connected between the simulated femoral condyle 304 and the simulated tibial condyle 301 through the simulated patella 307. When the human knee joint or the bionic knee joint 3 is flexed, it can provide a restoring force to drive the wearer's knee joint to straighten.

[0072] To accommodate exoskeleton wearers, the bionic knee joint 3 will be individualized, meaning the exoskeleton's bionic knee joint 3 is replaceable.

[0073] like Figure 8 As shown, see also Figure 1 The elastic extension element 4 is connected between the elastic extension element 4 and the bionic knee joint 3. The bionic knee joint 3 has a lower spring hole 3013 on its simulated tibial condyle end 301. The adjustable thigh section 5 has multiple position holes 5041 or grooves at different distances from the thigh extension tube 501 on its torque adjustment plate 504. The lower spring end 401 of the elastic extension element 4 is rotatably connected to the lower spring hole 3013, and the upper spring end 402 is rotatably connected to one of the position holes 5041. The elastic extension element 4 can be a gas spring or compression spring, etc., used to counteract the user's lower leg flexion, thereby providing assistance for the wearer's knee extension and facilitating knee extension movements. The different position holes 5041 are designed to change the compression and extension assistance of the elastic extension element 4 to adapt to different road conditions, such as walking, running, climbing stairs, and going up and down slopes, or to adjust the assistance level according to the wearer's needs, thus adapting to wearers or patients with functional impairments with different assistance ratios. The different gear holes 5041 are the optimal support points obtained by combining virtual simulation analysis with trial experiments on different patients under different road conditions, and statistical analysis of the actual assistance provided by the elastic extension element 4, combined with energy consumption, comfort and other factors. The gear holes 5041 are labeled with numbers such as walking slowly on flat ground, going up stairs, going down stairs, running fast, light body, heavy body, and medium body.

[0074] like Figure 9 As shown, see also Figure 1 The adjustable thigh section 5 includes a hip connector 502, a thigh telescopic tube 501, a thigh quick-lock button 503, and a torque adjustment stop 504. The thigh telescopic tube 501 includes an upper and lower part, a hip tube 5012 and a thigh tube 5011. The hip tube 5012 is inserted into the thigh tube 5011, and the two can be quickly detached or locked together via the thigh quick-lock button 503, allowing for quick separation of components below the thigh tube 5011 or adjustment of the length of the thigh telescopic tube 501. The length of the thigh telescopic tube 501 is adjustable to accommodate exoskeleton wearers with different thigh lengths. The bottom end 50111 of the thigh tube of the adjustable thigh section 5 is fixedly connected to the top end 3041 of the bionic knee joint 3.

[0075] like Figure 10-13 As shown, see also Figure 1 The adjustable hip mechanism 7 includes interconnected bat wings 71, backplate 72, base 73, adjustment knob 74, and locking knob 75.

[0076] The adjustable hip mechanism 7 features a hollow bat wing 71 for internal wiring, with a cable outlet 711 at its upper end and a limiting screw 712 at its top. A drive motor 6 is mounted on the lower end of the bat wing 71, covered by a heat sink 602. A cable tray 603 is located on one side. A hip actuator 601 is fixedly mounted on the motor shaft of the drive motor 6, with its rotation center aligned with the user's hip trochanter. This allows the drive motor 6 to drive the adjustable hip trochanter. The leg 5 rotates back and forth to help the user swing their thigh in the sagittal plane of the human body, providing external power for the hip flexion and extension of the exoskeleton wearer; the lower end of the hip movement head 601 is provided with a detachable long pin 6011, and the hip connector 502 of the adjustable thigh 5 is rotatably connected to the hip movement head 601 through the long pin 6011; the long pin 6011 is oriented in the sagittal axis direction, so that the adjustable thigh 5 can swing freely in the frontal plane of the human body without restriction, so as not to restrict the abduction and retraction movements of the wearer's thigh.

[0077] The backplate 72 in the adjustable hip mechanism 7 includes an adjusting bolt 722, a tension spring seat 721, and a connecting lug 723.

[0078] The adjustable hip mechanism 7 includes a base 73 comprising a hip seat hole 731, a cover 732, an upper buckle 733, a waist base 734, a backplate mounting hole 735, a hip seat clamp 736, a tension spring hole 737, a lower buckle 738, and a fastening plate 739. The fastening plate 739 is connected to the waist base 734 and the hip seat clamp 736 by bolts. The fastening plate 739 has symmetrical elongated holes on both sides, in which the limiting screw 712 at the tip of the bat wing 71 slides. The elongated holes and the limiting screw 712 cooperate to limit and guide the left and right adjustment of the bat wing 71. The upper buckle 733 and the lower buckle 738 are connected to waist and shoulder straps, so that the exoskeleton is securely worn on the user. The backplate 72 is shaped to conform to the curve of the human back for more comfortable use and to reduce the load during use. The hip seat clamp 736 is used to strengthen the connection between the box base 73 and the bat wing 71, preventing excessive deformation of the box base 73 or insufficient connection stiffness of the bat wing 71. In addition, the waist base 734 and the box cover 732 also contain control circuit boards and batteries, etc. The control circuit board can control the drive motor 6 to perform swing assistance at different speeds and different bending and extension angles.

[0079] An adjustment knob 74 is installed at the lower end of the housing 73. The adjustment knob 74 has a thread that engages with the adjustment bolt 722. One end of the back plate 72 is installed in the back plate mounting hole 735 of the housing 73 via a connecting lug 723. The adjustment bolt 722 at the other end is installed in the adjustment knob 74. Rotating the adjustment knob 74 can adjust the angle between the back plate 72 and the housing 73, thereby changing the swing angle position of the drive motor 6 installed at the lower end of the bat wing 71. Ultimately, it changes the front-back and up-down position of the back plate 72 relative to the motor shaft of the drive motor 6, i.e., the large rotor of the hip, to accommodate users with different hip depths.

[0080] Two locking buttons 75 are symmetrically installed in the hip seat holes 731 of the waist base 734, and respectively press against the left and right bat wings 71 to restrict the extension or retraction of the bat wings 71. The extension or retraction of the bat wings 71 into the hip seat holes 731 changes the left and right spacing to accommodate exoskeleton wearers of different body widths. A tension spring is also provided on the tension spring seat 721 of the back plate 72, and the tension spring pulls the back plate 72 toward the waist base 734 through the tension spring hole 737.

[0081] The bat wings 71 are divided into two symmetrical parts, left and right, which are inserted into the two sides of the box base 73 respectively. The length of the left and right bat wings 71 extending out of the box base 73 is locked by the locking button 75. The back plate 72 is installed on the inner surface of the box base 73 by the adjusting button 74.

[0082] like Figure 14-17 As shown, see also Figure 1 It also includes a quick-connect head 8, which is installed and sleeved on the torque adjustment stop 504 of the adjustable thigh part 5. The quick-connect head 8 includes a pin 801, a slide 802, and a compression spring 803. There are two pins 801, left and right, which are cross-located on the left and right sides of the slide 802. There are two compression springs 803, left and right, which press against the left and right pins 801 respectively. And / or, the pin 801 is provided with a pin 8011 and a pull rod 8012. The slide 802 includes a pin hole 8021, a spring hole 8022, and an ear seat 8023. The ear seat 8023 is connected to the upper end of the elastic extension element 4. The compression spring 803 is installed in the spring hole 8022. The pin of the pin 801 is inserted into the spring hole 8022. The pin 8011 is inserted into the pin hole 8021 and points towards the gear hole 5041 or groove of the torque adjustment gear 504; the compression spring 803 pushes against the pull rod 8012, so that the pin 8011 is automatically inserted into the pin hole 8021 in its natural state. When it is opposite to the gear hole 5041 or groove, it can be inserted into the gear hole 5041 or groove at the same time, thereby locking the position of the quick connector 8 on the torque adjustment gear 504; when the pull rod 8012 is pressed by hand, the pin 8011 is pulled outward from the pin hole 8021, thereby disengaging the pin 8011 from the gear hole 5041 or groove, thus unlocking the locking quick connector 8 so that it can slide along the torque adjustment gear 504. The quick connector 8 allows for timely replacement of the support connection point of the elastic extension element 4, enabling the exoskeleton to adjust and correct its gait according to the walking conditions.

[0083] like Figure 18-20 As shown, see also Figure 1It also includes a rotating wheel 804, which includes a drive wheel 8041 and a meshing wheel 8042, a slide 802, and a wheel seat 8024 on the slide 802. The rotating wheel 804 is rotatably mounted on the wheel seat 8024. And / or, the outer diameter of the drive wheel 8041 is larger than the outer diameter of the meshing wheel 8042, and the meshing wheel 8042 is provided with meshing teeth. And / or, a rack 5042 is provided on the torque adjustment gear 504 at the position corresponding to the meshing teeth to mesh with the meshing wheel 8042, so that when the rotating wheel 804 is turned in the unlocked state of the quick connector 8, the quick connector 8 can be driven to slide on the torque adjustment gear 504 with less effort. The design of the rotating wheel 804 allows the wearer to easily change the support point of the elastic extension element 4 in the position hole 5041 according to the usage situation. For example, when the wearer needs to sit down to rest, he can turn the rotating wheel 804 to switch the elastic extension element 4 to the weak assistance position of the position hole 5041 to fully relax the knee joint. After resting, he can turn the rotating wheel 804 again to switch to the functional position of the position hole 5041.

[0084] As another preferred embodiment, the exoskeleton device of this embodiment is also provided with multiple leg supports and straps for assisting in fixing the exoskeleton to the human body, such as waist straps, thigh straps, calf straps and foot straps. The leg supports are fixed to the adjustable thigh 5 and the adjustable calf 2 respectively, and are securely fixed to the user's legs by the straps. In addition, the straps are also provided on and connected to the adjustable hip mechanism 7, so that the adjustable hip mechanism 7 is carried on the user's back.

[0085] This invention combines a lower leg quick-lock key 203 and a thigh quick-lock key 503 with multiple leg seats and straps, allowing for modular combinations based on patient conditions and economic circumstances. For example, it can provide hip joint assistance with "adjustable hip mechanism 7 + drive motor 6 + adjustable thigh 5 hip tube 5012" plus thigh leg seats and straps; provide knee joint assistance with "adjustable lower leg 2 lower leg tube 2012 + bionic knee joint 3 + elastic extension element 4 + adjustable thigh 5 thigh tube 5011" plus lower leg and thigh leg seats and straps; and provide ankle joint assistance with "adjustable lower leg 2 foot tube 2011 + foot 1" plus lower leg leg seats and straps, etc., for independent hip, knee, and ankle or two- or three-joint exoskeletons.

[0086] In summary, the multidimensional adjustable bionic lower limb exoskeleton described in this invention can be adjusted and locked according to the wearer's body width, leg length, and environmental conditions to adapt to different users' anthropometric parameters and walking use in various scenarios. The hip section adopts a hybrid design with powered and unpowered knee and ankle sections, avoiding both excessive bulkiness and the drawbacks of short battery life and lack of drive.

[0087] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multi-dimensional adjustable bionic lower limb exoskeleton device, comprising a hip mechanism, wherein two sides of the hip mechanism are respectively connected in sequence with a drive motor (6), an adjustable thigh part (5), a bionic knee joint (3), an adjustable calf part (2) and a foot (1), characterized in that: The adjustable thigh part (5) comprises a thigh telescopic tube (501) and a thigh quick lock key (503); the thigh telescopic tube (501) comprises a hip tube (5012) and a thigh tube (5011) in two parts; the hip tube (5012) is inserted into the thigh tube (5011) and the two parts are connected by the thigh quick lock key (503) to achieve disassembly or locking after adjusting the length; The adjustable calf part (2) comprises a calf telescopic tube (201) and a calf quick lock key (203); the calf telescopic tube (201) comprises a calf tube (2012) and a foot tube (2011) in two parts; the foot tube (2011) is inserted into the calf tube (2012) and the two parts can be quickly disassembled and separated or locked and connected after adjusting the length via the calf quick lock key (203); An elastic extension-assisting element (4) is connected between the adjustable thigh part (5) and the bionic knee joint (3); the adjustable thigh part (5) further comprises a torque adjustment gear (504); the torque adjustment gear (504) is provided with a plurality of gear holes (5041) or grooves at different distances from the thigh extension tube (501); the lower spring end (401) of the elastic extension-assisting element (4) is rotatably connected to the bionic knee joint (3); and the upper spring end (402) of the elastic extension-assisting element (4) is rotatably connected to one of the gear holes (5041) or grooves.

2. A multi-dimensional adjustable bionic lower limb exoskeleton device according to claim 1, characterized in that: The device also includes a quick connector (8) sleeved on the torque adjustment gear (504); The quick connector (8) comprises a pin (801), a sliding seat (802) and a compression spring (803); The pin (801) is divided into two left and right parts, which are cross-arranged on the left and right sides of the slide seat (802); the compression spring (803) is divided into two left and right parts, which press the left and right pins (801) respectively; the pin (801) is provided with a latch (8011) and a pull rod (8012); The sliding seat (802) comprises a pin hole (8021), a spring hole (8022) and an ear seat (8023), wherein the ear seat (8023) is connected to the upper end of the elastic extension-assisting element (4), the compression spring (803) is inserted into the spring hole (8022), and the latch (8011) of the pin (801) is inserted into the pin hole (8021) and points to the gear hole (5041) or groove of the torque adjustment gear (504); The compression spring (803) pushes against the pull rod (8012), so that the latch (8011) is automatically inserted into the pin hole (8021) in a natural state; when it is opposite to the gear hole (5041) or the groove, it can be inserted into the gear hole (5041) or the groove at the same time, locking the position of the quick connector (8) on the torque adjustment gear (504); when the pull rod (8012) is pressed by hand, the latch (8011) is pulled outward from the pin hole (8021), and the latch (8011) is withdrawn from the gear hole (5041) or the groove, so that the locking quick connector (8) is unlocked so that it can slide along the torque adjustment gear (504).

3. A multi-dimensional adjustable bionic lower limb exoskeleton device according to claim 2, characterized in that: The quick connector (8) further comprises a rotating wheel (804), wherein the rotating wheel (804) is rotatably mounted on a wheel seat (8024) provided on the slide seat (802); The rotating wheel (804) comprises a driving wheel (8041) and a meshing wheel (8042); a rack (5042) is provided at a position corresponding to the meshing teeth on the torque adjustment gear (504) and meshes with the meshing wheel (8042); when the quick-connect head (8) is unlocked, the rotating wheel (804) is turned to drive the quick-connect head (8) to slide on the torque adjustment gear (504).

4. The multi-dimensional adjustable bionic lower limb exoskeleton device according to claim 1, characterized in that: The bionic knee joint (3) comprises a simulated tibial condyle end (301), a front elastic band (302), a rear elastic band (303), a simulated femoral condyle end (304), an upper tension spring (305), a lower tension spring (306) and a simulated patella (307); The upper end surface of the simulated tibial condyle end (301) is provided with a tibial condyle surface which contacts and grinds with the femoral condyle surface provided on the lower end surface of the simulated tibial condyle end (301); the upper tension spring (305) and the lower tension spring (306) are connected between the simulated tibial condyle end (301) and the simulated femoral condyle end (304) through the simulated patella (307); the front elastic band (302) and the rear elastic band (303) are staggeredly connected on the outer sides of the simulated tibial condyle end (301) and the simulated femoral condyle end (304); The lower bullet hole (3013) is arranged on the simulated tibial condyle end (301) of the bionic knee joint (3).

5. The multi-dimensional adjustable bionic lower limb exoskeleton device according to claim 1, characterized in that: The foot (1) comprises a pedal plate (101), a foot seat (102), a flexion-extension elastic pin (103), a connecting hole (104) and a foot strap (105); the pedal plate (101) is fixed on the foot seat (102); the flexion-extension elastic pin (103) extends out of the foot seat (102) and eccentrically pushes toward a foot connector (202); the connecting hole (104) is located above the foot seat (102); and the foot connector (202) is connected to the foot connector (202) of the calf (2) through the connecting hole (104); The flexion-extension-assisting elastic pin (103) deviates from the axis of the connecting hole (104), an elastic element is provided at the lower end of the flexion-extension-assisting elastic pin (103), and the upper end of the flexion-extension-assisting elastic pin (103) presses toward one side of the foot connecting head (202), so that the foot (1) always rotates in one direction relative to the foot connecting head (202) of the adjustable calf (2).

6. The multi-dimensional adjustable bionic lower limb exoskeleton device according to claim 1, characterized in that: The adjustable calf part (2) further comprises a foot connection head (202), wherein the foot connection head (202) is fixed to the lower end of the foot tube (2011), and a rotating shaft is provided at the lower part of the foot tube (2011), wherein the rotating shaft and the foot connection head (202) are connected in the form of a joint bearing structure, and a polygonal step matching the size of the connection hole (104) of the foot (1) is fixed on the rotating shaft, and the end of the rotating shaft is fixedly connected to the foot (1) by a thread.

7. The multi-dimensional adjustable bionic lower limb exoskeleton device according to claim 1, characterized in that: The hip mechanism is an adjustable hip mechanism (7), which comprises a bat wing (71), a back plate (72), a box seat (73), an adjusting button (74) and a locking button (75). The left and right bat wings (71) are symmetrically inserted into the two sides of the box seat (73) and the length of the left and right bat wings (71) extending out of the box seat (73) is locked by the locking button (75). The back plate (72) is installed on the inner surface of the box seat (73) by the adjusting button (74).

8. The multi-dimensional adjustable bionic lower limb exoskeleton device according to claim 7, characterized in that: A driving motor (6) is installed at the lower end of the bat wing (71); a hip moving head (601) is fixedly installed on the motor shaft of the driving motor (6), and the rotation center of the hip moving head (601) faces the greater trochanter position of the user's hip to drive the adjustable thigh part (5) to rotate forward and backward; a detachable long pin (6011) is provided at the lower end of the hip moving head (601), and the hip connecting head (502) of the adjustable thigh part (5) is rotatably connected to the hip moving head (601) through the long pin (6011).

9. The multi-dimensional adjustable bionic lower limb exoskeleton device according to claim 7, characterized in that: The back plate (72) comprises an adjusting bolt (722), a tension spring seat (721) and a connecting ear seat (723); the box seat (73) comprises a hip seat hole (731), a box cover (732), an upper buckle (733), a waist base (734), a back plate mounting hole (735), a hip seat hoop (736), a tension spring hole (737), a lower buckle (738) and a buckle plate (739); The buckle plate (739) is connected to the waist base (734) and the hip seat hoop (736) by bolts. The buckle plate (739) is provided with long holes that are symmetrical on the left and right. The limiting screws (712) at the top of the bat wing (71) slide in the long holes. The long holes and the limiting screws (712) cooperate to limit and guide the left and right adjustment of the bat wing (71). The adjusting button (74) is mounted at the lower end of the box seat (73), and a thread is provided inside the adjusting button (74) to match the adjusting bolt (722). One end of the back plate (72) is mounted in the back plate mounting hole (735) of the box seat (73) through the connecting ear seat (723), and the adjusting bolt (722) at the other end is mounted in the adjusting button (74). By rotating the adjusting button (74), the angle between the back plate (72) and the box seat (73) is adjusted, thereby changing the swing angle position of the driving motor (6) installed at the lower end of the bat wing (71), and finally changing the front-back and up-down position of the back plate (72) relative to the motor shaft of the driving motor (6), i.e., the greater trochanter of the hip; The locking buttons (75) are provided in two symmetrical positions in the hip seat holes (731) in the waist base (734) and are respectively pressed against the left and right bat wings (71) to limit the bat wings (71) from being pulled out or retracted. A tension spring is also provided on the tension spring seat (721) of the back plate (72), and the tension spring pulls the back plate (72) toward the waist base (734) through the tension spring hole (737).

10. The multi-dimensional adjustable bionic lower limb exoskeleton device according to claim 1, characterized in that: The device also includes a leg rest and a strap for auxiliary fixation.

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