A lower leg structure of a lower extremity exoskeleton and an exoskeleton robot

Abstract

The application belongs to the technical field of exoskeleton robots, and relates to a lower limb exoskeleton small leg structure and an exoskeleton robot. The lower limb exoskeleton small leg structure comprises a flexion / extension joint motor, which is installed on the upper part of a small leg structure member; the lower part of the small leg structure member is rotationally connected to an ankle connecting member; the output end of the flexion / extension joint motor is connected to a motor output member; the motor output member is hinged to the upper end of a connecting rod; the lower end of the connecting rod is hinged to the front end of the ankle connecting member; and the rear end of the ankle connecting member is installed with a adduction / eversion joint motor. The flexion / extension joint motor transmits power to the ankle connecting member through the output member and the connecting rod, so as to realize the flexion / extension movement of the foot. The lower limb exoskeleton small leg structure can realize the flexion / extension and adduction / eversion movement of the ankle under the driving of the motor, can maximally fit the natural movement of the human small leg, and can improve the flexibility and adaptability of the exoskeleton small leg.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton robot technology, and relates to a lower leg structure of a lower limb exoskeleton and an exoskeleton robot. Background Technology

[0002] Lower limb exoskeleton robots are widely used in rehabilitation medicine, mobility aids, and military fields. Their core function is to provide power support for lower limb movement. Traditional exoskeleton lower leg structures generally suffer from insufficient decoupling of ankle joint degrees of freedom, poor support rigidity, and low motion stability. For example, in existing technologies, mechanical adjustment schemes rely on hinges and locking devices, which are laborious to adjust and lack flexibility; while electric drive schemes offer high precision, they are complex in structure, bulky, and their multi-degree-of-freedom control is susceptible to motion interference. In addition, traditional designs place the motors near the ankle joint, causing a downward shift in the center of gravity and affecting motion stability.

[0003] In existing patents, some technologies improve ankle joint adaptability through spring energy storage or spherical joints, but they suffer from drawbacks such as low assist efficiency and poor load-bearing capacity (e.g., publication number CN118453355A, entitled "An Ankle Joint Variable Stiffness Torque Simulation Device and Its Ankle Joint Assist Exoskeleton"). Other technologies adopt a single-degree-of-freedom design, which cannot meet the multi-directional movement requirements of the foot (e.g., publication number CN221331813U, entitled "A Lower Limb Exoskeleton Ankle Joint Assistor"). Therefore, there is an urgent need for an exoskeleton lower leg structure that can achieve two-degree-of-freedom decoupled control of the ankle joint and has high impact resistance and movement stability. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention proposes a lower limb exoskeleton lower leg structure that can achieve ankle flexion / extension and adduction / exversion movements under motor drive, maximally mimicking the natural movements of the human lower leg and improving the flexibility and adaptability of the exoskeleton lower leg.

[0005] The technical solution of this invention to solve the above problems is: a lower leg structure of a lower limb exoskeleton, which is characterized by:

[0006] This includes a flexion / extension joint motor, which is mounted on the upper part of the lower leg structure, and the lower part of the lower leg structure is rotatably connected to the ankle connector.

[0007] The output end of the flexion / extension joint motor is connected to the motor output component. The motor output component is hinged to the upper end of the connecting rod. The lower end of the connecting rod is hinged to the front end of the ankle connector. The adduction / valgus joint motor is installed at the rear end of the ankle connector.

[0008] The flexion / extension joint motor transmits power to the ankle connector through the output component and connecting rod, thereby realizing the flexion / extension movement of the foot.

[0009] Further, the ankle connector is installed between the lower leg structure and the lower leg auxiliary connector through the cross roller bearing I and the cross roller bearing II, forming a frame structure and improving the impact resistance of the lower leg.

[0010] Further, the lower leg structure of the lower limb exoskeleton further comprises a foot bottom assembly and an ankle auxiliary connector, the foot bottom assembly is installed on the ankle connector through the cross roller bearing III, and an adduction / everting joint motor directly drives the foot bottom assembly to rotate to realize the adduction / everting movement of the foot; one end of the ankle auxiliary connector is installed on the cross roller bearing III, and the other end is installed on the ankle connector, forming a frame structure and improving the impact resistance of the ankle.

[0011] Further, the foot bottom assembly comprises an upper foot bottom plate, a lower foot bottom plate and a force sensor, the force sensor is installed between the upper foot bottom plate and the lower foot bottom plate and is used for monitoring the foot bottom pressure in real time.

[0012] Further, the ankle connector is an L-shaped structure, the connecting rod and the lower leg structure are located on one side of the L-shaped structure, and the foot bottom assembly is located on the other side of the L-shaped structure.

[0013] Further, the rear end of the upper foot bottom plate is provided with a connecting end, and the upper foot bottom plate is installed on the ankle connector through the hole position on the connecting end and the cross roller bearing III.

[0014] Further, the lower foot bottom plate and the force sensor are installed on the bottom of the upper foot bottom plate through screws.

[0015] Further, the lower leg structure and the lower leg auxiliary connector adopt a hollow design to reduce the weight.

[0016] Further, the upper and lower ends of the connecting rod are connected with the motor output and the ankle connector through pin shaft combination I and pin shaft combination II respectively, forming a rotating pair.

[0017] Further, the lower leg auxiliary connector and the ankle auxiliary connector are fixed on the lower leg structure and the ankle connector respectively through screws.

[0018] In addition, the application also provides an exoskeleton robot, which is characterized in that the lower limb exoskeleton is used.

[0019] The application has the following advantages:

[0020] 1) The two degrees of freedom of the ankle joint are driven by the flexion / extension joint motor and the adduction / everting joint motor respectively, realizing two-degree-of-freedom decoupling movement and maximizing the fitting of the human ankle joint movement;

[0021] 2) The frame structure is adopted, and the overall structural rigidity is improved;

[0022] 3) The cross roller bearing is adopted to improve the anti-impact ability of the ankle joint and prolong the service life;

[0023] 4) The joint series-parallel hybrid structure is adopted to make the two degrees of freedom of the ankle joint have a large enough range of motion and not produce motion interference;

[0024] 5) The motor driving form is adopted to provide better calf assistance effect for the user, and the ankle motor directly drives the upper foot plate, simplifies the transmission chain, and improves the response speed;

[0025] 6) The motor upper remote transmission form is adopted to move the overall centroid of the calf upward, and improve the stability of the calf movement;

[0026] 7) The space at the ankle joint is reserved to avoid interference with the human foot. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a schematic diagram of a human wearing an exoskeleton lower leg;

[0028] Figure 2 is a schematic diagram of the overall structure of the right exoskeleton lower leg;

[0029] Figure 3 is a schematic diagram of the exploded structure of the right exoskeleton lower leg;

[0030] Figure 4 is a schematic diagram of the exoskeleton lower leg ankle joint in the flexion state;

[0031] Figure 5 is a schematic diagram of the exoskeleton lower leg ankle joint in the adduction state.

[0032] Wherein: flexion / extension joint motor-1, lower leg structural member-2, adduction / eversion joint motor-3, motor output member-4, pin shaft combination I-5, connecting rod-6, pin shaft combination II-7, ankle connecting member-8, cross roller bearing I-9, cross roller bearing II-10, calf auxiliary connecting member-11, cross roller bearing III-12, ankle auxiliary connecting member-13, upper foot plate-14, force sensor-15, lower foot plate-16. DETAILED DESCRIPTION

[0033] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only 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 those of ordinary skill in the art without creative effort belong to the scope of protection of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application.

[0034] The present application provides a lower limb exoskeleton calf structure, which applies motor drive to the design of the lower limb exoskeleton calf structure, simulates the two-degree-of-freedom motion of the human ankle joint, and helps the lower limb paralyzed patient to realize flexible movement of the calf when wearing the lower limb exoskeleton, such as Figure 1 As shown in the figure, the exoskeleton calf is arranged on the outside of the human calf and interacts with the human body by being tied to the human body. The exoskeleton calf has the corresponding degrees of freedom of adduction / abduction and flexion / extension to the degrees of freedom of the human calf ankle joint, so as to realize the humanoid motion of the exoskeleton calf.

[0035] The overall structure of the right exoskeleton calf is shown in Figure 2 Since the calf structure is designed in a left-right symmetrical manner, only the right calf structure is described here.

[0036] Referring to the drawings of Figure 2 and Figure 3 The lower limb exoskeleton calf structure provided by the present application includes a flexion / extension joint motor 1, which is installed on the upper part of a calf structure member 2 through a bolt, and the lower part of the calf structure member 2 is rotationally connected to an ankle connecting member 8. The output end of the flexion / extension joint motor 1 is connected to a motor output member 4, the motor output member 4 is hinged to the upper end of a connecting rod 6, the lower end of the connecting rod 6 is hinged to the front end of the ankle connecting member 8, and the rear end of the ankle connecting member 8 is installed with an adduction / abduction joint motor 3; the flexion / extension joint motor 1 transmits power to the ankle connecting member 8 through the output member 4 and the connecting rod 6, so as to realize the flexion / extension motion of the foot. The calf structure member 2, the motor output member 4, the connecting rod 6 and the ankle connecting member 8 are connected in sequence to form a four-bar linkage structure, and the joint motor is arranged on the upper part to move the overall center of mass of the calf upward, thereby improving the stability of the calf movement.

[0037] The power output end of the flexion / extension joint motor 1 transmits power to the foot through a series of transmission connecting rods to realize the flexion / extension movement of the foot, which concentrates the mass center of the lower leg on the upper part of the lower leg, making the lower leg movement more stable. The adduction / eversion joint motor 3 is installed at the rear end of the lower leg ankle joint, and its power output end is directly connected with the foot to directly drive the adduction / eversion movement of the foot. The two motors are connected through a series of connecting rods, which prevents the interference of the two different direction movements and increases the flexibility of the foot movement. The motor can be a servo motor or a stepping motor.

[0038] Specifically, referring to Figure 3 , the ankle connecting piece 8 is installed between the lower leg structural member 2 and the lower leg auxiliary connecting piece 11 through the cross roller bearing I 9 and the cross roller bearing II 10, forming a frame structure, which improves the impact resistance of the lower leg.

[0039] Specifically, referring to Figure 3 , the lower leg structure of the lower limb exoskeleton further includes a foot bottom assembly and an ankle auxiliary connecting piece 13. The foot bottom assembly is installed on the ankle connecting piece 8 through the cross roller bearing III 12, and the adduction / eversion joint motor 3 directly drives the foot bottom assembly to rotate to realize the adduction / eversion movement of the foot. The ankle auxiliary connecting piece 13 is installed on the cross roller bearing III 12 at one end and on the ankle connecting piece 8 at the other end, forming a frame structure, which improves the impact resistance of the ankle.

[0040] The auxiliary support structure is adopted at the lower leg ankle joint of the exoskeleton, forming a double support frame structure, which improves the impact resistance of the lower leg root and the ankle joint to the external environment and improves the safety of the movement.

[0041] Specifically, referring to Figure 3 , the foot bottom assembly includes an upper foot bottom plate 14, a lower foot bottom plate 16, and a force sensor 15. The force sensor 15 is installed between the upper foot bottom plate 14 and the lower foot bottom plate 16 to monitor the foot bottom pressure in real time.

[0042] Through the above connection mode, the power output by the flexion / extension joint motor 1 is transmitted to the connecting rod 6 and then to the front end of the ankle connecting piece 8 through the revolute pair. Since the middle part of the ankle connecting piece 8 is connected to the lower leg structural member 2 through the cross roller bearing, the connecting rod 6 will drive the connecting piece 8 to make circular motion around the middle revolute pair, thereby realizing the flexion / extension movement of the ankle joint. The adduction / eversion joint motor 3 directly drives the upper foot bottom plate 14 to rotate, realizing the adduction / eversion movement of the ankle joint.

[0043] Specifically, referring to Figure 3 and Figure 4The ankle connecting piece 8 is L-shaped structure, the connecting rod 6 and the lower leg structural member-2 are located on one side of the L-shaped structure, and the foot bottom assembly is located on the other side of the L-shaped structure.

[0044] Specifically, referring to Figure 4 The rear end of the upper foot bottom plate 14 is provided with a connecting end, and the upper foot bottom plate 14 is installed on the ankle connecting piece 8 in cooperation with the cross roller bearing III 12 through the hole position on the connecting end. The lower foot bottom plate 16 and the force sensor 15 are installed at the bottom of the upper foot bottom plate 14 through screws.

[0045] Specifically, referring to Figure 4 The lower leg structural member 2 and the lower leg auxiliary connecting piece 11 are designed to be hollow to reduce weight. The upper and lower ends of the connecting rod 6 are connected with the motor output 4 and the ankle connecting piece 8 through the pin shaft combination I 5 and the pin shaft combination II 7 respectively to form a rotating pair. The lower leg auxiliary connecting piece 11 and the ankle auxiliary connecting piece 13 are fixed on the lower leg structural member 2 and the ankle connecting piece 8 respectively through screws.

[0046] The schematic view of the exoskeleton lower leg ankle joint in the flexion state is shown in Figure 4 Under the drive of the flexion / extension joint motor 1, the exoskeleton lower leg drives the human lower leg to realize the foot flexion movement. The schematic view of the exoskeleton lower leg ankle joint in the adduction state is shown in Figure 5 Under the drive of the adduction / eversion joint motor 3, the exoskeleton lower leg drives the human lower leg to realize the foot adduction movement.

[0047] The application also provides an exoskeleton robot comprising the lower leg structure of the lower limb exoskeleton, so that the exoskeleton robot also has all the functions and effects of the lower leg structure of the lower limb exoskeleton, which will not be repeated here.

[0048] In summary, the two motors are arranged on the exoskeleton lower leg, and the exoskeleton ankle joint is driven to realize the foot adduction / eversion, flexion / extension movement, and the maximum degree of simulation of human ankle joint movement. The flexion / extension joint motor is installed on the upper part of the lower leg structure, and the motor output end transmits power to the lower leg ankle joint through the connecting piece and connecting rod to realize the flexion / extension movement of the foot bottom. Through this long-distance transmission mode of the motor on the top, the overall centroid of the lower leg can be moved up, so that the lower leg can be more effectively and stably controlled during the movement. The adduction / eversion joint motor is arranged at the rear end of the ankle joint, and the adduction / eversion movement of the foot bottom is realized through the direct driving form. The adduction / eversion joint motor and the flexion / extension joint motor are connected in series through a series of transmission linkages, so that the adduction / eversion movement and the flexion / extension movement of the ankle joint are decoupled and do not affect each other, and the two degrees of freedom of the ankle joint have a larger movement range, so that the foot movement is more flexible. The ankle joint connecting part of the lower leg is designed as a frame structure, specifically, a cross roller bearing is installed at the power output end of the ankle joint, and then each auxiliary support member is installed on the bearing, so that the auxiliary support member can move with the motor output end, thereby forming a frame structure. Since the cross roller bearing has the ability to withstand a large axial impact load, the impact resistance of this ankle joint structure is significantly improved.

[0049] The above only describes the embodiments of the present application, and does not limit the protection scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related system fields, which is based on the content of the specification and drawings, is also included in the protection scope of the present application.

Claims

1. A lower leg structure of a lower extremity exoskeleton, characterized in that: a flexion / extension joint motor (1) is mounted on the upper part of a lower leg structure member (2), and the lower part of the lower leg structure member (2) is rotatably connected to an ankle connector (8); the output end of the flexion / extension joint motor (1) is connected to a motor output member (4), the motor output member (4) is hingedly connected to the upper end of a connecting rod (6), the lower end of the connecting rod (6) is hingedly connected to the front end of the ankle connector (8), and the rear end of the ankle connector (8) is mounted with a adduction / eversion joint motor (3); the flexion / extension joint motor (1) transmits power to the ankle connector (8) through the output member (4) and the connecting rod (6), thereby realizing the flexion / extension movement of the foot; the ankle connector (8) is mounted between the lower leg structure member (2) and a lower leg auxiliary connector (11) through a cross roller bearing I (9) and a cross roller bearing II (10), thereby forming a frame structure; further comprising a foot bottom assembly and an ankle auxiliary connector (13), the foot bottom assembly is mounted on the ankle connector (8) through a cross roller bearing III (12), the adduction / eversion joint motor (3) directly drives the foot bottom assembly to rotate, thereby realizing the adduction / eversion movement of the foot; the ankle auxiliary connector (13) is mounted on the cross roller bearing III (12) at one end and mounted on the ankle connector (8) at the other end, thereby forming a frame structure; the ankle connector (8) is in an L-shaped structure, the connecting rod (6) and the lower leg structure member (2) are located on one side of the L-shaped structure, and the foot bottom assembly is located on the other side of the L-shaped structure.

2. The lower leg structure of the lower extremity exoskeleton according to claim 1, characterized in that: the foot bottom assembly comprises an upper foot bottom plate (14), a lower foot bottom plate (16) and a force sensor (15), the force sensor (15) is mounted between the upper foot bottom plate (14) and the lower foot bottom plate (16) and is used for monitoring the foot bottom pressure in real time.

3. The lower leg structure of the lower extremity exoskeleton according to claim 2, characterized in that: the rear end of the upper foot bottom plate (14) is provided with a connecting end, and the upper foot bottom plate (14) is mounted on the ankle connector (8) through the hole position on the connecting end and the cross roller bearing III (12).

4. The lower leg structure of the lower extremity exoskeleton according to claim 3, characterized in that: the lower foot bottom plate (16) and the force sensor (15) are mounted on the bottom of the upper foot bottom plate (14) through screws.

5. The lower leg structure of the lower extremity exoskeleton according to claim 1 or 2, characterized in that: the lower leg structure member (2) and the lower leg auxiliary connector (11) are designed to be hollow to reduce weight; the lower leg auxiliary connector (11) and the ankle auxiliary connector (13) are respectively fixed on the lower leg structure member (2) and the ankle connector (8) through screws.

6. The lower leg structure of the lower extremity exoskeleton according to claim 1, characterized in that: the upper and lower ends of the connecting rod (6) are respectively connected to the motor output member (4) and the ankle connector (8) through a pin shaft combination I (5) and a pin shaft combination II (7), thereby forming a rotating pair.

7. An exoskeleton robot, characterized in that: ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ A lower leg structure for a lower leg exoskeleton as claimed in any one of claims 1-6. A lower leg structure for a lower leg exoskeleton as claimed in any one of claims 1-6.

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