A multi-dimensional adjustable bionic lower limb exoskeleton device

Abstract

The present application relates to a kind of multi-dimensional adjustable bionic lower limb exoskeleton device, including hip mechanism, the two sides of the hip mechanism are sequentially connected with driving motor, adjustable thigh, bionic knee joint, adjustable shank and foot respectively, adjustable thigh and adjustable shank are respectively connected by thigh quick lock key and shank quick lock key to realize disassembly separation or length adjustment and then lock connection;Adjustable thigh and bionic knee joint are connected with elastic extension element, adjustable thigh also includes torque profile, and multiple gear holes or grooves different from the distance of thigh telescopic pipe are provided on torque profile, the lower elastic end of elastic extension element is rotatably connected with bionic knee joint, and the upper elastic end of the elastic extension element is rotatably connected with one of gear holes or grooves.Compared with prior art, the present application can be quickly combined or disassembled into independent module, and be used independently or freely combined, can be adapted to individualization, different scene efficient weight-bearing wearing and power required.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of exoskeleton robots, in particular to a multi-dimensional adjustable bionic lower limb exoskeleton device. BACKGROUND

[0002] In recent years, with the development of economy and technology, the continuous improvement of social production and living standards, the rapid growth of express industry, the increasing demand of patients with functional disorders to return to society, the increase of outdoor activities such as tourism, mountain climbing, battlefield military, rescue and disaster relief, and the increase of material handling, the requirements for health status, work efficiency and quality of life are also increasing. People often have problems such as weight gain, long-term wear and tear, joint disease, soft tissue injury, fracture, and global population aging, so that wearable exoskeletons for walking are rapidly popular and developed. Whether healthy people or people with functional disorders, wearing exoskeletons to assist walking still faces many challenges, such as the use of motors to drive lower limb exoskeletons, which can provide driving assistance, but the greater the driving force and the more joints, the larger the size of the motor and exoskeleton device need to be designed, which increases the inertia moment of the wearer, makes it inconvenient to wear, and increases the energy consumption ratio, making it inconvenient to carry, etc. Problems such as the need for the wearer to completely unlock the clutch motor for timely dressing or sitting down to rest. Although the passive energy storage exoskeleton avoids the problem of too bulky device, it still has new problems and challenges due to insufficient driving force and fixed elastic stiffness, which cannot adapt to the different characteristics of the wearer's gait in different scenarios. More and more technology workers have begun to study lower limb exoskeletons, and new control methods have emerged in an endless stream, but they have high cost, high difficulty, short endurance, and are difficult to popularize, and they rely on one or a few parameters to control according to the preset program, ignoring the wearer's subjective initiative to choose, and cannot adjust in time according to the surrounding environment to respond to the situation that has occurred or is about to occur.

[0003] Although researchers have made many beneficial improvements, due to the different heights of different wearers and the influence of complex and variable environment, the existing exoskeleton structure device is still difficult to quickly adapt to the efficient weight bearing and assistance requirements of the wearer under the above-mentioned conditions. In view of this, how to develop an exoskeleton that avoids being too bulky, flexible and has driving force, and more quickly, accurately and efficiently meets the assistance requirements of the wearer, has become a problem that needs to be solved. SUMMARY

[0004] The purpose of the present application is to overcome the defects of the prior art and provide a multi-dimensional adjustable bionic lower limb exoskeleton device.

[0005] The purpose of the present application can be achieved by the following technical solutions:

[0006] A multi-dimensional adjustable bionic lower limb exoskeleton device, comprising a hip mechanism, two sides of the hip mechanism are sequentially connected with a driving motor, an adjustable thigh, a bionic knee joint, an adjustable shank and a foot respectively,

[0007] The adjustable thigh comprises a thigh telescopic pipe and a thigh quick-locking key, the thigh telescopic pipe comprises a hip pipe and a thigh pipe upper and lower two parts, the hip pipe is inserted into the thigh pipe and the two are detachable or adjustable in length and then locked by the thigh quick-locking key.

[0008] The adjustable shank comprises a shank telescopic pipe and a shank quick-locking key, the shank telescopic pipe comprises a shank pipe and a foot pipe upper and lower two parts, the foot pipe is inserted into the shank pipe and the two are detachable or adjustable in length and then locked by the shank quick-locking key.

[0009] The adjustable thigh and the bionic knee joint are connected with an elastic extension assisting element, the adjustable thigh further comprises a torque adjusting rack, a plurality of gear holes or grooves with different distances from the thigh telescopic pipe are arranged on the torque adjusting rack, a lower elastic end of the elastic extension assisting element is rotationally connected with the bionic knee joint, and an upper elastic end of the elastic extension assisting element is rotationally connected with one of the gear holes or grooves.

[0010] Preferably, the device further comprises a quick connection head sleeved on the torque adjusting rack;

[0011] The quick connection head comprises a pin bolt, a sliding seat and a compression spring.

[0012] The pin bolt is divided into left and right two parts and is cross arranged on the left and right sides of the sliding seat, and the compression spring is also divided into left and right two parts and is pressed towards the left and right pin bolts respectively; the pin bolt is provided with a latch and a pull rod;

[0013] The sliding seat comprises a pin hole, a spring hole and an ear seat, the ear seat is connected with the upper end of the elastic extension assisting element, the compression spring is arranged in the spring hole, and the latch of the pin bolt is inserted into the pin hole and points to the gear hole or groove of the torque adjusting rack;

[0014] The compression spring is pressed towards the pull rod, so that the latch is automatically inserted into the pin hole in a natural state; when the latch is opposite to the gear hole or groove, the latch can be simultaneously inserted into the gear hole or groove to lock the position of the quick connection head on the torque adjusting rack; when the pull rod is pressed by hand, the latch is pulled outwards from the pin hole, the latch is withdrawn from the gear hole or groove, and the locked quick connection head is unlocked so that the quick connection head can slide along the torque adjusting rack.

[0015] Preferably, the quick connection head further comprises a rotating wheel, the rotating wheel is rotationally installed on a wheel seat arranged on the sliding seat.

[0016] The rotating wheel comprises a driving wheel and an engaging wheel, a rack corresponding to the position of the engaging tooth is arranged on the torque adjusting rack and is engaged with the engaging wheel, and in the unlocked state of the quick connection head, the rotating wheel is actuated to drive the quick connection head to slide on the torque adjusting rack.

[0017] Preferably, the bionic knee joint comprises a bionic tibial condyle, a front elastic band, a rear elastic band, a bionic femoral condyle, an upper tension spring, a lower tension spring and a bionic patella;

[0018] The upper end surface of the bionic tibial condyle is provided with a tibial condyle surface which is in contact and ground together with the femoral condyle surface provided on the lower end surface of the bionic tibial condyle, the upper tension spring and the lower tension spring are connected between the bionic tibial condyle and the bionic femoral condyle through the bionic patella, and the front elastic band and the rear elastic band are connected on the outer side surfaces of the bionic tibial condyle and the bionic femoral condyle in an interlaced manner;

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

[0020] Preferably, the foot part comprises a pedal plate, a foot base, an assist flexion and extension elastic pin, a connecting hole and a foot band, the pedal plate is fixed on the foot base, the assist flexion and extension elastic pin extends out of the foot base and eccentrically points to the foot connecting head, the connecting hole is located above the foot base, and the foot connecting head is connected with the foot connecting head of the lower leg part through the connecting hole;

[0021] The assist flexion and extension elastic pin is offset from the axis of the connecting hole, the lower end of the assist flexion and extension elastic pin is provided with an elastic element, and the upper end of the assist flexion and extension elastic pin points to one side of the foot connecting head, so that the foot part is always rotated in one direction relative to the foot connecting head of the adjustable lower leg part.

[0022] Preferably, the adjustable lower leg part further comprises a foot connecting head, the foot connecting head is fixed on the lower end of the foot pipe, the lower part of the foot pipe is provided with a rotating shaft, the rotating shaft and the foot connecting head are connected in a form of articulated bearing structure, the rotating shaft is fixedly provided with a polygonal step which is matched with the size of the connecting hole of the foot part, and the end of the rotating shaft is fixedly connected with the foot part in a threaded manner.

[0023] Preferably, the hip part mechanism is an adjustable hip part mechanism, the adjustable hip part mechanism comprises a bat wing, a back plate, a box seat, an adjusting knob and a locking knob, the left and right two symmetrical bat wings are respectively inserted into the two sides of the box seat and locked by the locking knob to lock the length of the bat wings extending out of the box seat, and the back plate is installed on the inner side surface of the box seat through the adjusting knob.

[0024] Preferably, the lower end of the bat wing is provided with a driving motor, a hip moving head is fixedly installed on the motor rotating shaft of the driving motor, the rotating center of the hip moving head is opposite to the position of the greater trochanter of the user's hip, so as to drive the adjustable thigh part to rotate forward and backward, and the lower end of the hip moving head is provided with a detachable long pin shaft, and the hip connecting head of the adjustable thigh part is rotatably connected with the hip moving head through the long pin shaft.

[0025] Preferably, the back plate comprises an adjusting bolt, a tension spring seat and a connecting ear seat, and the box seat comprises a hip seat hole, a box cover, an upper buckle, a waist base, a back plate mounting hole, a hip seat hoop, a tension spring hole, a lower buckle and a buckle plate.

[0026] The buckle plate is connected with the waist base and the hip base hoop by bolts, the buckle plate is provided with left-right symmetrical long holes, the limiting screw at the top end of the bat wing slides in the long hole, and the long hole cooperates with the limiting screw to limit and guide the left-right adjustment of the bat wing;

[0027] The adjusting knob is installed at the lower end of the box base, the adjusting knob is provided with a screw thread matched with the adjusting bolt, one end of the back plate is installed in the back plate mounting hole of the box base through the connecting lug base, and the adjusting bolt at the other end is installed in the adjusting knob, the included angle between the back plate and the box base is adjusted by rotating the adjusting knob, the swing angle position of the driving motor installed at the lower end of the bat wing is changed, and finally the front-back and up-down positions of the back plate relative to the motor shaft of the driving motor, i.e. the hip rotor, are changed;

[0028] The locking knobs are two and are installed in the hip base hole in the waist base in a left-right symmetrical mode, and respectively top the left and right bat wings to limit the pulling out or retraction of the bat wings;

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

[0030] Preferably, the device further comprises leg bases and a belt for auxiliary fixation.

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

[0032] (1) Modular design is adopted, the small leg quick lock key and the large leg quick lock key are combined, and the hip, knee and ankle independent modules can be quickly combined or disassembled for use, two-joint and three-joint exoskeletons can be used, so that the hip height, hip depth, hip width, leg length, flexion and extension state and walking mode can be adjusted in time according to different human body parameters, economic conditions and walking environments of different users, not only can adapt to different heights and leg lengths of different patients, but also can quickly change the assistive power according to different walking environments, adapt to the needs of individualization, different scenarios and power. Thus, it can adapt to different market situations, cope with different price configurations, minimize the impact of non-universal and flexible problems, and can be combined and changed according to the needs of the wearer, to meet the needs of different patients with multiple joints and muscle conditions. In addition, the power-on and power-off hybrid mode is adopted, which not only avoids being too heavy, but also avoids the defects of short endurance and no driving force.

[0033] (2) The adjustable hip mechanism, the small leg telescopic pipe and the large leg telescopic pipe are adopted, so that the device can be adjusted according to the human body size parameters of the wearer, so that the device can be used by wearers with different body widths, hip depths and leg lengths. Thus, the exoskeleton is more fitted to the human body, the stability is enhanced, and the defects of device spaciousness and shaking caused by separation of the exoskeleton and the human body are reduced.

[0034] (3) The quick connection head can replace the support connection point of the elastic extension assisting element at any time and anywhere, so that the exoskeleton can change and correct the gait according to the walking road conditions; the sliding seat can quickly replace the elastic extension assisting element connection point with one hand, and a plurality of gear holes determined by the actual test and use of the pre-test experience are combined, so that the application is suitable for both light walking on flat ground and stable and assisting power on stairs, and different gears can be selected according to different body weights, so as to change the elastic extension assisting element assisting power and stiffness in time.

[0035] (4) The bionic knee joint adopts a knee joint curved surface grinding mechanism, which can better simulate the motion characteristics of the human knee joint, so that the exoskeleton knee joint is more in line with the motion law and motion curve of the human knee joint, reduces the human-machine confrontation and interference, and reduces the discomfort and energy consumption increase caused by the up and down movement of the exoskeleton relative to the thigh during walking.

[0036] (5) The flexion and extension assisting spring pin deviates from the connection hole axis, the lower end of the flexion and extension assisting spring pin is provided with an elastic element, and the upper end of the flexion and extension assisting spring pin is arranged to top one side of the foot connecting head, so that the foot connecting head of the foot relative to the adjustable calf always rotates in one direction, thereby continuously providing the flexion or extension torque for the user's ankle, or providing a buffer torque for the user's foot, and the user experience is better. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 It is a schematic diagram of the overall structure of the application.

[0038] Figure 2 It is a schematic diagram of the structure of the foot in the application.

[0039] Figure 3 It is a schematic diagram of the structure of the adjustable calf in the application.

[0040] Figure 4 It is a schematic diagram of the structure of the bionic knee joint in the application.

[0041] Figure 5 It is a schematic diagram of the structure of the bionic tibial condyle end in the application.

[0042] Figure 6 It is a schematic diagram of the structure of the bionic femoral condyle end in the application.

[0043] Figure 7 It is a schematic diagram of the structure of the bionic patella in the application.

[0044] Figure 8 It is a schematic diagram of the structure of the elastic extension assisting element in the application.

[0045] Figure 9 It is a schematic diagram of the structure of the adjustable thigh in the application.

[0046] Figure 10Structure diagram of the structure connecting the bat wing and the driving motor in the application.

[0047] Figure 11 Structure diagram of the back plate in the application.

[0048] Figure 12 Structure diagram of the structure installing the adjusting knob and the locking knob on the box seat in the application.

[0049] Figure 13 Structure diagram of the partial detail of the adjustable hip mechanism in the application.

[0050] Figure 14 Structure diagram of the quick connecting head in the application.

[0051] Figure 15 Structure diagram of Figure 14 the explosion.

[0052] Figure 16 Structure diagram of the slide in the application.

[0053] Figure 17 Use effect diagram of the slide in the application.

[0054] Figure 18 Structure diagram of the rotating wheel in the application.

[0055] Figure 19 Structure diagram of the wheel seat on the slide in the application.

[0056] Figure 20 Use effect diagram of the rotating wheel in the application.

[0057] Figures: 1-foot; 101-treadle; 102-foot base; 103-assist flexion and extension elastic pin; 104-connection hole; 105-foot strap; 2-adjustable calf; 201-calf telescopic tube; 2011-foot tube; 2012-calf tube; 20121-top end of calf tube; 202-foot connecting head; 203-calf quick lock key; 3-bionic knee joint; 301-bionic tibial condyle end; 3011-knee lower end; 3012-lower staggered column; 3013-lower elastic hole; 3014-tibial condyle surface; 3015-stop edge; 3016-limiting convex; 3017-lower pull ring; 302-front elastic band; 303-rear elastic band; 304-bionic femoral condyle end; 3041-knee upper end; 3042-upper staggered column; 3043-limiting groove; 3044-femoral condyle surface; 3045-stop groove; 3046-upper pull ring; 305-sliding column; 306-lower pull spring; 307-imitation patella; 3071-guiding edge; 3072-condyle fossa surface; 3073-middle pull ring one; 3074-middle pull ring two; 4-elastic extension assisting element; 401-lower elastic end; 402-upper elastic end; 5-adjustable thigh; 501-thigh telescopic tube; 5011-thigh tube; 50111-bottom end of thigh tube; 5012-hip tube; 502-hip connecting head; 503-thigh quick lock key; 504-torque adjustment; 5041-gear hole; 6-driving motor; 601-hip moving head; 6011-long pin shaft; 602-radiator cover; 603-wiring box; 7-adjustable hip mechanism; 71-bat wing; 711-wire outlet hole; 712-limiting screw; 72-back plate; 721-pull spring seat; 722-adjusting bolt; 723-connection ear seat; 73-box seat; 731-hip seat hole; 732-box cover; 733-upper hasp; 734-waist base; 735-back plate mounting hole; 736-hip seat hoop; 737-pull spring hole; 738-lower hasp; 739-coupling plate; 74-adjusting knob; 75-locking knob; 8-quick connection head; 801-pin bolt; 8011-peg; 8012-pull rod; 802-sliding seat; 8021-pin hole; 8022-spring hole; 8023-ear seat; 8024-wheel seat; 803-pressing spring; 804-rotating wheel; 8041-driving wheel; 8042-engaging wheel. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work should fall within the protection scope of the present application.

[0059] EMBODIMENT

[0060] As 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 connecting head 202 of the adjustable lower leg 2 is fixed at the lower end of the foot pipe 2011, and the lower part of the foot pipe 2011 is provided with a rotating shaft which is connected with the foot connecting head 202 in the form of a joint bearing structure. A polygonal step is fixed on the rotating shaft and matches the size of the connecting hole 104 of the foot part 1. The end of the rotating shaft is provided with a thread, so that the rotating shaft and the foot part 1 are firmly connected together.

[0066] As shown in Figures 4-7 , see Figure 1 , the bionic knee joint 3 includes a tibial condyle end 301, a front elastic band 302, a rear elastic band 303, a femoral condyle end 304, an upper tension spring 305, a lower tension spring 306, and a patella 307. The tibial condyle surface on the upper end surface of the tibial condyle end 301 is in contact and grinding with the femoral condyle surface on the lower end surface of the tibial condyle end 301. The curved surface modeling of the tibial condyle surface and the femoral condyle surface is obtained by medical imaging method on the wearer's knee joint. The upper tension spring 305 and the lower tension spring 306 are connected between the tibial condyle end 301 and the femoral condyle end 304 through the patella 307. The front elastic band 302 and the rear elastic band 303 are connected on the outer side surface of the tibial condyle end 301 and the femoral condyle end 304 in an interlaced manner. The lower end 3011 of the bionic knee joint 3 is fixedly connected with the top end of the lower leg pipe 20121 of the lower leg telescopic pipe 201. The bionic knee joint 3 adopts the knee joint curved surface grinding mechanism, which can better simulate the joint center change motion characteristics of human knee joint rotation + sliding, better conform to the human knee joint motion law motion curve, reduce the human-machine confrontation and interference, reduce the problem of poor comfort and high energy consumption caused by the up-and-down movement of the exoskeleton when the wearer walks, and make it fit the human body.

[0067] As shown in Figure 5 , the tibial condyle end 301 of the bionic knee joint 3 includes a lower end 3011, a lower interlaced column 3012, a lower elastic hole 3013, a tibial condyle surface 3014, a stop edge 3015, a limiting convex 3016, and a lower pull ring 3017. The lower interlaced column 3012 is arranged on the outer side surface of the tibial condyle end 301 and can rotate around its own axis. The tibial condyle surface 3014 is located on the upper end surface of the tibial condyle end 301. The stop edge 3015 is arranged on both sides of the upper end surface of the tibial condyle end 301. The limiting convex 3016 is also arranged on the upper end surface of the tibial condyle end 301. The lower pull ring 3017 is arranged on the front lower end of the tibial condyle end 301.

[0068] As shown in Figure 6As shown, the femoral condyle end 304 includes an upper end 3041, an upper staggered column 3042, a limiting slot 3043, a condyle surface 3044, a blocking slot 3045, and an upper pull ring 3046. The upper staggered column 3042 is arranged on the outer side of the femoral condyle end 304 and can rotate around its own axis. The condyle surface 3044 is located on the lower end surface of the femoral condyle end 304. The blocking slot 3045 is arranged on the outer periphery of the femoral condyle end 304 and cooperates with the blocking edge 3015 of the tibial condyle end 301 to limit the left and right positions of the femoral condyle end 304. The upper pull ring 3046 is arranged on the front upper end of the femoral condyle end 304. The tibial condyle surface 3014 and the femoral condyle surface 3044 are engaged and obtained by shooting the knee joint of the exoskeleton wearer through a medical imaging method. They are personalized and customized, and can be obtained by 3D printing or complex curved surface numerical control machining to accurately simulate the knee joint of the wearer and prevent human-machine confrontation caused by different movements of the human knee joint. The limiting convexity 3016 of the tibial condyle end 301 cooperates with the limiting slot 3043 of the femoral condyle end 304 to provide limiting for rotation and sliding between them to protect the wearer's joint.

[0069] As shown in Figure 7 , the patella 307 includes a guide edge 3071, a condyle surface 3072, a middle pull ring one 3073, and a middle pull ring two 3074. The condyle surface 3072 is located on the rear end surface of the patella 307 and is in contact and grinding with the femoral condyle surface 3044 of the femoral condyle end 304. The guide edge 3071 is arranged on the rear end of the two sides of the patella 307 and cooperates with the blocking slot 3045, so that the patella 307 can only slide up and down along the femoral condyle end 304, simulating the human patella.

[0070] As shown in Figure 4 , the front elastic band 302 and the rear elastic band 303 are arranged on the upper staggered column 3042 and the lower staggered column 3012, respectively, and are cross-tensioned, so that the femoral condyle end 304 and the tibial condyle end 301 are reset and slide. The staggered force of the elastic band provides a certain pressure between the femoral condyle end 304 and the tibial condyle end 301, which is converted into friction, and can provide the necessary damping for the leg swing to simulate the human anterior and posterior cruciate ligaments and knee joint movement.

[0071] As shown in Figure 4 , the upper ends of the upper pull spring 305 and the lower ends of the lower pull spring 306 are connected to the upper pull ring 3046 and the middle pull ring one 3073, respectively. The upper ends of the upper pull spring 305 and the lower ends of the lower pull spring 306 are connected to the middle pull ring two 3074 and the lower pull ring 3017, respectively. The upper pull spring 305 and the lower pull spring 306 are connected between the femoral condyle end 304 and the tibial condyle end 301 through the patella 307. When the human knee joint or the bionic knee joint 3 is flexed, a reset force can be provided to straighten the wearer's knee joint.

[0072] In order to adapt to the exoskeleton wearer, the bionic knee joint 3 is different for different people, that is, the bionic knee joint 3 of the exoskeleton can be replaced.

[0073] As shown in Figure 8 , see Figure 1 , the elastic extension assisting element 4 is connected between the elastic extension assisting element 4 and the bionic knee joint 3; the bionic knee joint 3 is provided with a lower elastic hole 3013 on the bionic tibial condyle end 301; the adjustable thigh part 5 is provided with a plurality of gear holes 5041 or grooves with different distances from the thigh telescopic tube 501 on the adjustable torque gear 504; the lower elastic end 401 of the elastic extension assisting element 4 is rotatably connected with the lower elastic hole 3013, and the upper elastic end 402 is rotatably connected with one of the gear holes 5041. The elastic extension assisting element 4 can be an elastic element such as a gas spring or a compression spring, which is used to resist the user's calf flexion, thereby providing assistance for the wearer's knee extension, which is beneficial to the knee joint leg extension action. Different gear holes 5041 are provided to change the compression and extension assistance conditions of the elastic extension assisting element 4 to adapt to different road conditions, such as walking, running, going up and down stairs, uphill or downhill, or to change the assistance size according to the needs of the wearer, so as to adapt to different assistance ratio wearers or patients with functional disorders. Different gear holes 5041 are obtained according to different road conditions, combined with virtual simulation analysis, different patients try the experiment, and the optimal support point is obtained by combining the actual assistance of the elastic extension assisting element 4 with energy consumption, comfort and other factors. The gear holes 5041 are provided with labels beside them, such as slow walking on flat ground, going up stairs, going down stairs, fast running, light body, heavy body, medium body, etc.

[0074] As shown in Figure 9 , see Figure 1 , the adjustable thigh part 5 includes a hip connecting head 502, a thigh telescopic tube 501, a thigh quick lock key 503 and an adjustable torque gear 504. The thigh telescopic tube 501 includes a hip tube 5012 and a thigh tube 5011 upper and lower two parts. The hip tube 5012 is inserted into the thigh tube 5011 and the two are quickly detachable or locked connected through the thigh quick lock key 503, so as to quickly separate the thigh tube 5011 below or adjust the length of the thigh telescopic tube 501. The length of the thigh telescopic tube 501 is adjustable to adapt to exoskeleton wearers with different thigh lengths. The bottom end 50111 of the thigh tube of the adjustable thigh part 5 is fixedly connected with the top end 3041 of the bionic knee joint 3.

[0075] As shown in Figures 10-13 , see Figure 1 , the adjustable hip mechanism 7 includes a bat wing 71, a back plate 72, a box seat 73, an adjusting knob 74 and a locking knob 75 which are connected with each other.

[0076] The bat wing 71 in the adjustable hip mechanism 7 is a hollow structure, inside which wires are arranged, and an outlet hole 711 is formed in the upper end of the bat wing 71, and a limiting screw 712 is arranged at the top end of the bat wing 71; a driving motor 6 is arranged at the lower end of the bat wing 71, and a heat dissipation cover 602 is arranged outside the driving motor 6, and a wire box 603 is arranged on one side of the driving motor 6, and a hip moving head 601 is fixedly arranged on the motor rotating shaft of the driving motor 6, and the rotating center of the hip moving head 601 is opposite to the greater trochanter position of the user, so that the driving motor 6 can drive the adjustable thigh 5 to rotate forward and backward, to help the user to swing the thigh in the sagittal plane of the human body, to provide external power for the hip flexion and extension of the exoskeleton wearer; a detachable long pin shaft 6011 is arranged at the lower end of the hip moving head 601, and the hip connecting head 502 of the adjustable thigh 5 is rotatably connected with the hip moving head 601 through the long pin shaft 6011; the long pin shaft 6011 is oriented in the sagittal axis direction, so that the adjustable long thigh 5 can freely swing in the frontal plane of the human body without limitation, to avoid that the extension and retraction movement of the thigh of the wearer is limited.

[0077] The back plate 72 in the adjustable hip mechanism 7 comprises an adjusting bolt 722, a tension spring seat 721 and a connecting ear seat 723.

[0078] The box seat 73 in the adjustable hip mechanism 7 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 with the waist base 734 and the hip seat hoop 736 through bolts, the buckle plate 739 is provided with a long hole which is symmetrical left and right, the limiting screw 712 at the top end of the bat wing 71 slides in the long hole, and the long hole 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 with waist and shoulder belts, so that the exoskeleton is firmly worn on the user, the shape of the back plate 72 conforms to the back curve of the human body, to more comfortably meet the use of the wearer and reduce the weight during use. The hip seat hoop 736 is used to strengthen the connection strength of the box seat 73 and the bat wing 71, to prevent the box seat 73 from being deformed too much or the bat wing 71 from being connected too small. In addition, the waist base 734 and the box cover 732 also seal control circuit boards and batteries, and the control circuit boards can control the driving motor 6 to swing at different speeds and different flexion angles.

[0079] The adjusting knob 74 is arranged at the lower end of the box seat 73, the adjusting knob 74 is provided with a screw thread which cooperates with the adjusting bolt 722, one end of the back plate 72 is arranged 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 arranged in the adjusting knob 74, so that the adjusting knob 74 can be rotated to adjust the included angle between the back plate 72 and the box seat 73, to change the swing angle position of the driving motor 6 arranged at the lower end of the bat wing 71, and finally to change the front and back and up and down positions of the back plate 72 relative to the motor rotating shaft of the driving motor 6, i.e. the greater trochanter, to adapt to users with different hip depths.

[0080] Locking knobs 75 are two and symmetrical left and right installed in the hip seat hole 731 in the waist base 734, and top left and right wings 71 respectively, to limit the wing 71 pull out or shrink. Wing 71 pull out or shrink hip seat hole 731 to change the left and right distance, to adapt to different body width of exoskeleton wearer. Back plate 72 also has a tension spring on the tension spring seat 721, and the tension spring pulls the back plate 72 to the waist base 734 through the tension spring hole 737.

[0081] Wing 71 is divided into left and right two, two symmetrical, respectively inserted into the two sides of the box seat 73 and locked by the locking knob 75 to lock the length of the left and right wings 71 extending out of the box seat 73, and the back plate 72 is installed on the inner side surface of the box seat 73 through the adjusting knob 74.

[0082] As shown in Figures 14-17 , see Figure 1 , also includes a quick connection head 8, the quick connection head 8 is installed in the adjustable thigh 5 on the adjusting torque gear 504, the quick connection head 8 includes a pin 801, a slide 802 and a compression spring 803; the pin 801 is divided into left and right two, cross across the left and right sides of the slide 802, the compression spring 803 is left and right two, respectively, and the left and right two pins 801 are pressed; and / or, the pin 801 is provided with a latch 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 with the upper end of the elastic stretching element 4, the compression spring 803 is installed in the spring hole 8022, the latch 8011 of the pin 801 is inserted into the pin hole 8021 and points to the gear hole 5041 or the groove of the adjusting torque gear 504; the compression spring 803 is pressed to the pull rod 8012, so that the latch 8011 is automatically inserted into the pin hole 8021 in the natural state, and can be inserted into the gear hole 5041 or the groove at the same time when it is opposite to the gear hole 5041 or the groove, so as to lock the position of the quick connection head 8 on the adjusting torque gear 504; when the pull rod 8012 is pressed by hand, the latch 8011 is pulled out of the pin hole 8021, so that the latch 8011 is withdrawn from the gear hole 5041 or the groove, so that the locking quick connection head 8 is unlocked so that it can slide along the adjusting torque gear 504. The quick connection head 8 can replace the support connection point of the elastic stretching element 4 at any time and anywhere, so that the exoskeleton can timely replace and correct the gait according to the walking road condition.

[0083] As shown in Figures 18-20 , see Figure 1Further comprising a rotating wheel 804, the rotating wheel 804 comprises a driving wheel 8041 and a meshing wheel 8042, a sliding seat 802, the sliding seat 802 is provided with a wheel seat 8024, the rotating wheel 804 is rotatably installed on the wheel seat 8024; and / or, the outer diameter of the driving wheel 8041 is greater than the outer diameter of the meshing wheel 8042, the meshing wheel 8042 is provided with meshing teeth; and / or, a position corresponding to the meshing teeth on the torque adjusting gear 504 is provided with a rack 5042, the meshing wheel 8042 is engaged with the rack 5042, so that when the rotating wheel 804 is actuated in the unlocked state of the quick connection head 8, the quick connection head 8 can be driven to slide on the torque adjusting gear 504. By adopting the rotating wheel 804, the wearer can conveniently change the support point of the elastic extension assisting element 4 in the gear hole 5041 according to the use condition, for example, when the wearer needs to sit down and rest, the rotating wheel 804 can be actuated to switch the elastic extension assisting element 4 to the weak power gear of the gear hole 5041, so that the knee joint is completely relaxed, and after the rest is finished, the rotating wheel 804 can be actuated again to switch to the function point of the gear hole 5041.

[0084] As another preferred embodiment, the exoskeleton device of the embodiment is further provided with a plurality of leg seats and belts, such as a waist belt, a thigh belt, a lower leg belt and a foot belt, the leg seats are respectively fixed with the adjustable thigh part 5 and the adjustable lower leg part 2, and the belts firmly fix the left and right thighs of the user through the belts; in addition, the belts are arranged on and connected with the adjustable hip mechanism 7, so that the adjustable hip mechanism 7 is carried on the back of the user.

[0085] The lower leg quick lock key 203 and the thigh quick lock key 503 are combined with the plurality of leg seats and belts, so that the modular combination can be performed according to the patient condition and economic conditions, for example, a mode of "the adjustable hip mechanism 7 + the driving motor 6 + the hip pipe 5012 of the adjustable thigh part 5" is added to the thigh leg seat and the belt, a mode of "the lower leg pipe 2012 of the adjustable lower leg part 2 + the bionic knee joint 3 + the elastic extension assisting element 4 + the thigh pipe 5011 of the adjustable thigh part 5" is added to the thigh leg seat and the belt, a mode of "the foot pipe 2011 of the adjustable lower leg part 2 + the foot part 1" is added to the lower leg leg seat and the belt, and the hip, knee and ankle are independently or two-joint or three-joint exoskeletons.

[0086] In summary, the multi-dimensional adjustable bionic lower limb exoskeleton can be adjusted and locked according to the body width and leg length of the wearer and the environmental condition, so as to adapt to the human body parameters of different users and walking use in various scenes. The hip part adopts a mixed design mode of power and non-power of the knee and ankle, which avoids the defects of being too heavy and short endurance and non-driving force.

[0087] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any skilled person in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements shall be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A multi-dimensional adjustable bionic lower limb exoskeleton device, comprising a hip mechanism, the two sides of the hip mechanism are sequentially connected with a driving motor (6), an adjustable thigh (5), a bionic knee joint (3), an adjustable shank (2) and a foot (1) respectively, characterized in that, the adjustable thigh (5) comprises a thigh telescopic pipe (501) and a thigh quick lock key (503), the thigh telescopic pipe (501) comprises a hip pipe (5012) and a thigh pipe (5011) in two parts, the hip pipe (5012) is inserted into the thigh pipe (5011) and the two parts are detachable or locked after length adjustment through the thigh quick lock key (503); the adjustable shank (2) comprises a shank telescopic pipe (201) and a shank quick lock key (203), the shank telescopic pipe (201) comprises a shank pipe (2012) and a foot pipe (2011) in two parts, the foot pipe (2011) is inserted into the shank pipe (2012) and the two parts are detachable or locked after length adjustment through the shank quick lock key (203); a flexible extension assisting element (4) is connected between the adjustable thigh (5) and the bionic knee joint (3), the adjustable thigh (5) further comprises a torque adjusting gear (504), the torque adjusting gear (504) is provided with a plurality of gear holes (5041) or grooves with different distances from the thigh telescopic pipe (501), the lower elastic end (401) of the flexible extension assisting element (4) is rotationally connected with the bionic knee joint (3), and the upper elastic end (402) of the flexible extension assisting element (4) is rotationally connected with one of the gear holes (5041) or grooves; the bionic knee joint (3) comprises a bionic tibial condyle end (301), a front elastic belt (302), a rear elastic belt (303), a bionic femoral condyle end (304), an upper tension spring (305), a lower tension spring (306) and a bionic patella (307); the upper end surface of the bionic tibial condyle end (301) is provided with a tibial condyle surface, and the lower end surface of the bionic tibial condyle end (301) is provided with a femoral condyle surface, which are in contact and ground together, the upper tension spring (305) and the lower tension spring (306) are connected between the bionic tibial condyle end (301) and the bionic femoral condyle end (304) through the bionic patella (307), and the front elastic belt (302) and the rear elastic belt (303) are connected on the outer side surfaces of the bionic tibial condyle end (301) and the bionic femoral condyle end (304) in an interlaced manner; a lower elastic hole (3013) is arranged on the bionic tibial condyle end (301) of the bionic knee joint (3).

2. The multi-dimensional adjustable bionic lower extremity exoskeleton device according to claim 1, characterized in that, the device further comprises a quick connection head (8) sleeved on the torque adjusting gear (504); the quick connection head (8) comprises a pin bolt (801), a sliding seat (802) and a compression spring (803); the pin bolt (801) is divided into left and right two parts and is cross arranged on the left and right sides of the sliding seat (802), the compression spring (803) is also divided into left and right two parts and is pressed towards the left and right pin bolts (801) respectively, the pin bolt (801) is provided with a bolt (8011) and a pull rod (8012); The sliding seat (802) comprises a pin hole (8021), a spring hole (8022) and an ear seat (8023), the ear seat (8023) is connected with the upper end of the elastic extension assisting element (4), the compression spring (803) is installed in the spring hole (8022), the pin (8011) of the pin bolt (801) is inserted into the pin hole (8021) and points to the gear hole (5041) or the groove of the torque adjusting gear (504); The compression spring (803) pushes the pull rod (8012) to make the pin (8011) automatically inserted into the pin hole (8021) in the natural state, and when opposite to the gear hole (5041) or the groove, the pin (8011) can be inserted into the gear hole (5041) or the groove at the same time, and the position of the quick connection head (8) on the torque adjusting gear (504) is locked; when the pull rod (8012) is pressed by hand, the pin (8011) is pulled out of the pin hole (8021), the pin (8011) is withdrawn from the gear hole (5041) or the groove, so that the quick connection head (8) is unlocked so that it can slide along the torque adjusting gear (504).

3. The multi-dimensional adjustable bionic lower extremity exoskeleton device according to claim 2, characterized in that, The quick connection head (8) further comprises a rotating wheel (804), which is rotatably installed on the wheel seat (8024) provided on the sliding seat (802); The rotating wheel (804) comprises a driving wheel (8041) and an engaging wheel (8042), the torque adjusting gear (504) is provided with a rack (5042) corresponding to the engaging teeth, and the engaging wheel (8042) is engaged with the rack (5042); in the unlocked state of the quick connection head (8), the rotating wheel (804) is actuated to drive the quick connection head (8) to slide on the torque adjusting gear (504).

4. The multi-dimensional adjustable bionic lower extremity exoskeleton device according to claim 1, characterized in that, The foot (1) comprises a pedal plate (101), a foot seat (102), a flexion and extension assisting 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 and extension assisting elastic pin (103) protrudes out of the foot seat (102) and eccentrically pushes the foot connecting head (202), the connecting hole (104) is located above the foot seat (102), and the foot connecting head (202) is connected with the foot connecting head (202) of the lower leg (2) through the connecting hole (104); The flexion and extension assisting elastic pin (103) is offset from the axis of the connecting hole (104), the lower end of the flexion and extension assisting elastic pin (103) is provided with an elastic element, and the upper end of the flexion and extension assisting elastic pin (103) pushes 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 lower leg (2).

5. The multi-dimensional adjustable bionic lower extremity exoskeleton device according to claim 1, wherein, The adjustable lower leg (2) further comprises a foot connecting head (202), the foot connecting head (202) is fixed at the lower end of the foot pipe (2011), the lower part of the foot pipe (2011) is provided with a rotating shaft, the rotating shaft and the foot connecting head (202) are connected in the form of a knuckle bearing structure, the rotating shaft is fixed with a polygonal step matched with the size of the connecting hole (104) of the foot (1), and the end of the rotating shaft is threadedly fixed with the foot (1).

6. The multi-dimensional adjustable bionic lower extremity exoskeleton device according to claim 1, wherein, The hip mechanism is an adjustable hip mechanism (7), which comprises bat wings (71), a back plate (72), a box seat (73), an adjusting knob (74) and a locking knob (75), the bat wings (71) are symmetrically inserted into the two sides of the box seat (73) and locked by the locking knob (75) to adjust the length of the bat wings (71) extending out of the box seat (73), and the back plate (72) is installed on the inner side surface of the box seat (73) by the adjusting knob (74).

7. The multi-dimensional adjustable bionic lower extremity exoskeleton device according to claim 6, characterized in that, The lower end of the bat wing (71) is provided with a driving motor (6); the motor rotating shaft of the driving motor (6) is fixedly provided with a hip moving head (601), the rotating center of the hip moving head (601) is opposite to the trochanteric position of the user, so as to drive the adjustable thigh (5) to rotate forward and backward; the lower end of the hip moving head (601) is provided with a detachable long pin shaft (6011), and the hip connecting head (502) of the adjustable thigh (5) is rotatably connected with the hip moving head (601) through the long pin shaft (6011).

8. The multi-dimensional adjustable bionic lower extremity exoskeleton device according to claim 6, 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 with the waist base (734) and the hip seat hoop (736) by bolts, the buckle plate (739) is provided with left and right symmetrical long holes, the limiting screw (712) at the top end of the bat wing (71) slides in the long hole, and the long hole and the limiting screw (712) cooperate to limit and guide the left and right adjustment of the bat wing (71); The adjusting knob (74) is installed at the lower end of the box seat (73), the adjusting knob (74) is provided with a screw thread matched with the adjusting bolt (722), one end of the back plate (72) is installed in the back plate mounting hole (735) of the box seat (73) through the connecting ear seat (723), the adjusting bolt (722) at the other end is installed in the adjusting knob (74), the included angle between the back plate (72) and the box seat (73) is adjusted by rotating the adjusting knob (74), 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 and back and up and down positions of the back plate (72) relative to the motor rotating shaft of the driving motor (6) and the trochanter; The locking knob (75) is installed in the hip seat hole (731) in the waist base (734) and respectively faces the left and right bat wings (71) to limit the pulling out or retraction of the bat wings (71); The tension spring seat (721) of the back plate (72) is further provided with a tension spring, and the tension spring pulls the back plate (72) to the waist base (734) through the tension spring hole (737).

9. The multi-dimensional adjustable bionic lower extremity exoskeleton device according to claim 1, characterized in that, The device further comprises a leg seat and a belt for auxiliary fixation.

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