Wearable lower limb training exoskeleton and control method thereof

Abstract

The invention discloses a wearable lower limb training exoskeleton and a control method thereof.The wearable lower limb training exoskeleton comprises a back cushion, a waist fixing assembly is fixedly connected to the lower portion of the front end of the back cushion, and thigh supporting assemblies are fixedly connected to the outer surfaces of two fixing plates through bolts; knee joint bending limiting mechanisms are fixedly connected to the lower ends of the two thigh supporting assemblies, shank supporting assemblies are fixedly connected to the outer surfaces of the two knee joint bending limiting mechanisms, and training movement mechanisms are fixedly clamped to the rear ends of the two thigh supporting assemblies through bolts. According to the wearable lower limb training exoskeleton and the control method thereof, when the legs swing forwards, the training motion adaptation air cylinders extend to drive the shank supports to move, and when the shanks bend backwards, the training motion adaptation air cylinders contract to pull the shank supports, and walking action circulation is smoothly completed; the patient can conveniently form a correct walking gait, and the rehabilitation training effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton equipment, and in particular to a wearable lower limb training exoskeleton and a control method thereof. Background Art

[0002] In the field of modern medical rehabilitation, there are a large number of patients with lower limb dysfunction, including those with mobility problems due to nerve damage (such as stroke, spinal cord injury, cerebral palsy, etc.), orthopedic diseases (lower limb fractures, joint replacement surgery), and physical decline in the elderly. These patients are facing an urgent need to restore their walking ability and improve their ability to take care of themselves.

[0003] With the development of science and technology, lower limb exoskeleton training equipment has emerged. However, existing lower limb exoskeleton training equipment adopts a fixed-size wearable structure, which is difficult to adapt to the physical differences of different users. The waist fixed part often cannot be flexibly adjusted. For users with different waist circumferences, it is either too tight to cause discomfort and affect blood circulation, or too loose to provide stable support. It is easy to shake during training, interfere with training movements, and reduce training effects. In addition, existing lower limb exoskeleton training equipment cannot effectively limit excessive bending of the knee joint during training, which can easily cause injuries to users, especially for patients with weak lower limb strength or those undergoing rehabilitation. Excessive bending can easily increase the burden on the joints and affect the rehabilitation process. Therefore, we propose a wearable lower limb training exoskeleton and a control method thereof. Summary of the invention

[0004] The main purpose of the present invention is to provide a wearable lower limb training exoskeleton and a control method thereof, which can effectively solve the problems in the background technology.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] The wearable lower limb training exoskeleton includes a back pad. A waist fixing component is fixedly connected to the lower part of the front end of the back pad. Fixing plates are fixedly connected to the left outer surface and the right outer surface of the waist fixing component. The outer surfaces of the two fixing plates are fixedly connected with thigh support components through bolts. Knee joint bending limiting mechanisms are fixedly connected to the lower ends of the two thigh support components. Lower leg support components are fixedly connected to the outer surfaces of the two knee joint bending limiting mechanisms. Training motion mechanisms are fixedly clamped to the rear ends of the two thigh support components through bolts. Shoulder straps are fixedly connected to the left part and the right part of the front end of the back pad. An adjustable chest strap is fixedly connected between the two shoulder straps. A control box is fixedly installed on the upper part of the rear end of the back pad. Foot bottom plates are fixedly connected to the lower parts of the inner sides of the two lower leg support components. Adjustable foot straps are fixedly connected to the upper ends of the two foot bottom plates. Adjustable thigh straps are fixedly connected to the lower parts of the inner sides of the two thigh support components. Adjustable lower leg straps are fixedly connected to the middle parts of the inner sides of the two lower leg support components;

[0007] The waist fixing component includes a waist strap. A waist silicone pad is fixedly connected to the inner wall surface of the waist strap. An adjustable fixing strap is fixedly connected to the right end of the waist strap. A block is fixedly connected to the left part of the front end of the adjustable fixing strap. An adjustment groove is opened at the left end of the waist strap. A plurality of through slots penetrating inside and outside are opened on the front inner wall surface of the adjustment groove. The outer surface of the waist strap is fixedly connected to the front end of the back pad;

[0008] The knee joint bending limiting mechanism includes a knee joint mounting frame and a training motion gear. First knee joint rotating rods are fixedly connected to the left end and the right end of the training motion gear. A sector-shaped bending limiting gear is meshed and connected to the lower part of the outer surface of the training motion gear. Second knee joint rotating rods are fixedly connected to the left end and the right end of the sector-shaped bending limiting gear. The outer surface of the knee joint mounting frame is fixedly connected to the lower end of the thigh support component;

[0009] The training motion mechanism includes an upper U-shaped plate and a lower U-shaped plate. An upper mounting plate is fixedly connected to the rear end of the upper U-shaped plate. An upper moving block is inserted and movably installed through bearings on the left inner wall surface and the right inner wall surface of the upper mounting plate. A training motion adapting cylinder is fixedly installed at the lower end of the upper moving block. A lower mounting plate is fixedly connected to the rear end of the lower U-shaped plate. A lower moving block is inserted and movably installed through bearings on the left inner wall surface and the right inner wall surface of the lower mounting plate. The upper end of the lower moving block is fixedly connected to the output end of the training motion adapting cylinder.

[0010] As a further improvement of the above solution, the adjustable fixing strap is movably sleeved in the adjustment groove. The plurality of slots are distributed at equal distances in pairs. The block is movably clamped in the corresponding slot.

[0011] As a further improvement of the above solution, the outer sides of the two first knee joint rotation rods and the outer sides of the two second knee joint rotation rods are respectively inserted and movably connected to the left inner wall surface and the right inner wall surface of the knee joint mounting bracket through bearings.

[0012] As a further improvement of the above solution, the thigh support assembly includes a hip joint mounting bracket and a hip joint rotation block. Both the left end and the right end of the hip joint rotation block are fixedly connected with hip joint rotation rods. The lower part of the outer surface of the hip joint rotation block is fixedly connected with a thigh bracket. There are two hip joint mounting brackets, and the inner wall surfaces of the two hip joint mounting brackets are fixedly connected to the outer surface of the corresponding waist fixing assembly through bolts.

[0013] As a further improvement of the above solution, the outer sides of the two hip joint rotation rods are respectively inserted and movably connected to the inner side surfaces of the corresponding two hip joint mounting brackets through bearings, and the lower end of the thigh bracket is fixedly connected to the outer surface of the corresponding knee joint mounting bracket.

[0014] As a further improvement of the above solution, the calf support assembly includes a calf bracket and an ankle joint mounting bracket. The upper end of the calf bracket is fixedly connected with a mounting arm, the lower end of the calf bracket is fixedly connected with an ankle joint rotation block. Both the left end and the right end of the ankle joint rotation block are fixedly connected with ankle joint rotation rods. The front part of the outer surface of the ankle joint rotation block is fixedly connected with an upper spring bracket, and the middle part of the front end of the ankle joint mounting bracket is fixedly connected with a lower spring bracket. An ankle joint spring is fixedly connected between the upper spring bracket and the lower spring bracket.

[0015] As a further improvement of the above solution, the inner wall surface of the mounting arm is fixedly connected to the outer surface of the corresponding sector-shaped bending limit gear.

[0016] As a further improvement of the above solution, the outer sides of the two ankle joint rotation rods are respectively inserted and movably connected to the left inner wall surface and the right inner wall surface of the ankle joint mounting bracket through bearings. There is a gap between the ankle joint rotation block and the inner wall surface of the ankle joint mounting bracket. The left end of the right ankle joint mounting bracket is fixedly connected to the right end of the right foot bottom plate.

[0017] As a further improvement of the above solution, the upper U-shaped plate is fixedly clamped on the thigh bracket through bolts, the lower U-shaped plate is fixedly clamped on the calf bracket through bolts. There is a gap between the upper movable block and the inner wall surface of the upper mounting plate, and there is a gap between the lower movable block and the inner wall surface of the lower mounting plate.

[0018] The control method of the wearable lower limb training exoskeleton includes the following steps:

[0019] Step 1: Wearing preparation: Wear the back pad on the user through the shoulder straps and the adjustable chest strap, with the user's waist in the waist strap, adjust the length of the adjustable chest strap to make it comfortable and fit, then insert the adjustable fixing belt into the adjustment slot, and make the card block snap into the appropriate card slot according to the user's waist size to adjust the tightness of the waist strap, ensure that the waist silicone pad fits the waist skin and provides comfortable support for the waist, then wrap the adjustable thigh strap around the thigh and adjust it to the appropriate tightness, wrap the adjustable calf strap around the calf and adjust it to the appropriate tightness, wrap the adjustable foot strap around the foot and adjust it to the appropriate tightness, and then wear the exoskeleton;

[0020] Step 2, lower limb training: the user stands naturally and starts walking. During the walking process, the control box adjusts the working status of the two training motion adaptation cylinders. When the user's legs swing forward, the control box controls the training motion adaptation cylinder to extend, driving the calf bracket to move forward with the calf. At the same time, the calf bracket drives the fan-shaped bending limit gear to rotate through the mounting arm. The fan-shaped bending limit gear engages with the training motion gear, driving the training motion gear to rotate, limiting the bending degree of the calf bracket to avoid excessive bending. When the user's legs bend backward, the control box controls the training motion adaptation cylinder to contract, pulling the calf bracket to rotate backward with the calf to complete the walking action cycle. Repeat the above steps and perform multiple walking trainings. During this period, the ankle joint spring continues to provide auxiliary force to the ankle joint, helping the training process to reduce the user's fatigue.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. In the present invention, the waist strap of the waist fixing assembly is equipped with an adjustable fixing belt and a card slot design, which can be adjusted according to the waist circumference, and cooperates with the waist silicone pad to provide comfortable and stable support for the waist. In addition, the adjustable thigh strap, adjustable calf strap and adjustable foot strap can respectively adapt to the thickness differences of different parts, comprehensively guarantee the comfort and adaptability of wearing, reduce the interference of training caused by wearing discomfort, and can be worn through the shoulder strap and adjustable chest strap, which can be flexibly adjusted according to the user's body shape to ensure comfortable fit;

[0023] 2. In the present invention, during the training process, the control box regulates the working state of the training motion adaptation cylinder. When the leg swings forward, the training motion adaptation cylinder extends to drive the calf bracket to follow the movement. At the same time, the calf bracket drives the fan-shaped bending limit gear to rotate through the mounting arm, and cooperates with the training motion gear to limit the bending degree of the calf bracket, effectively avoiding excessive bending and ensuring sports safety. When the calf bends backward, the training motion adaptation cylinder contracts to pull the calf bracket to smoothly complete the walking action cycle. This motion auxiliary mechanism helps patients form a correct walking gait and improves the rehabilitation training effect.

[0024] 3. In the present invention, during the entire training process, the ankle joint spring can continuously provide auxiliary force for the ankle joint. This can not only effectively reduce the fatigue of the user, but also enhance the endurance of the patient for long-term training, enabling the patient to complete more walking training sessions, thereby accelerating the rehabilitation process and boosting the patient's confidence and enthusiasm for rehabilitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0026] Figure 1 is a schematic diagram of the overall structure of the wearable lower limb training exoskeleton of the present invention;

[0027] Figure 2 is a schematic diagram of the structure of the waist fixing component of the wearable lower limb training exoskeleton of the present invention;

[0028] Figure 3 is an exploded view of the structure of the waist fixing component of the wearable lower limb training exoskeleton of the present invention;

[0029] Figure 4 is of the wearable lower limb training exoskeleton of the present invention Figure 3 magnified view of the structure at position A;

[0030] Figure 5 is an exploded view of the structure of the thigh support component of the wearable lower limb training exoskeleton of the present invention;

[0031] Figure 6 is a sectional view of the structure of the knee joint bending limiting mechanism of the wearable lower limb training exoskeleton of the present invention (where the knee joint mounting bracket is sectioned);

[0032] Figure 7 is a rear sectional view of the structure of the knee joint bending limiting mechanism of the wearable lower limb training exoskeleton of the present invention (where the knee joint mounting bracket is sectioned);

[0033] Figure 8 is of the wearable lower limb training exoskeleton of the present invention Figure 7 magnified view of the structure at position B;

[0034] Figure 9 is a schematic diagram of the structure of the calf support component of the wearable lower limb training exoskeleton of the present invention;

[0035] Figure 10 is of the wearable lower limb training exoskeleton of the present inventionFigure 9 Enlarged view of the structure at position C in

[0036] Figure 11 Exploded view of the calf support component of the wearable lower limb training exoskeleton of the present invention (where the ankle mounting bracket is sectioned);

[0037] Figure 12 Schematic structural diagram of the training motion mechanism of the wearable lower limb training exoskeleton of the present invention.

[0038] In the figure: 1, back pad; 2, waist fixing component; 3, fixing plate; 4, thigh support component; 5, knee joint bending limit mechanism; 6, calf support component; 7, training motion mechanism; 8, shoulder strap; 9, adjustable chest strap; 10, control box; 11, foot base plate; 12, adjustable thigh strap; 13, adjustable calf strap; 14, adjustable foot strap; 21, waist belt; 22, waist silica gel pad; 23, adjustable fixing strap; 24, clamping block; 25, adjustment groove; 26, card slot; 41, hip joint mounting bracket; 42, hip joint rotating block; 43, hip joint rotating rod; 44, thigh bracket; 51, knee joint mounting bracket; 52, training motion gear; 53, first knee joint rotating rod; 54, sector-shaped bending limit gear; 55, second knee joint rotating rod; 61, calf bracket; 62, ankle mounting bracket; 63, mounting arm; 64, ankle rotating block; 65, ankle rotating rod; 66, upper spring bracket; 67, lower spring bracket; 68, ankle spring; 71, upper U-shaped plate; 72, lower U-shaped plate; 73, upper mounting plate; 74, upper movable block; 75, training motion adaptation cylinder; 76, lower mounting plate; 77, lower movable block. Detailed implementation manners

[0039] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific implementation manners.

[0040] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0041] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, terms such as "installation", "equipped with", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0042] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0043] Embodiment

[0044] The wearable lower limb training exoskeleton, such as Figure 1 shown, includes a back pad 1. A waist fixing component 2 is fixedly connected to the lower part of the front end of the back pad 1. Fixing plates 3 are fixedly connected to both the left and right outer surfaces of the waist fixing component 2. Thigh support components 4 are fixedly connected to the outer surfaces of the two fixing plates 3 through bolts. Knee joint bending limiting mechanisms 5 are fixedly connected to the lower ends of the two thigh support components 4. Calf support components 6 are fixedly connected to the outer surfaces of the two knee joint bending limiting mechanisms 5. Training motion mechanisms 7 are fixedly clamped to the rear ends of the two thigh support components 4 through bolts. Shoulder straps 8 are fixedly connected to both the left and right parts of the front end of the back pad 1. An adjustable chest strap 9 is fixedly connected between the two shoulder straps 8. A control box 10 is fixedly installed on the upper part of the rear end of the back pad 1. Foot bottom plates 11 are fixedly connected to the lower parts of the inner sides of the two calf support components 6. Adjustable foot straps 14 are fixedly connected to the upper ends of the two foot bottom plates 11. Adjustable thigh straps 12 are fixedly connected to the lower parts of the inner sides of the two thigh support components 4. Adjustable calf straps 13 are fixedly connected to the middle parts of the inner sides of the two calf support components 6.

[0045] Please refer to Figures 2 - 4 , the waist fixing component 2 includes a waist strap 21. A waist silica gel pad 22 is fixedly connected to the inner wall surface of the waist strap 21. An adjustable fixing strap 23 is fixedly connected to the right end of the waist strap 21. A block 24 is fixedly connected to the left part of the front end of the adjustable fixing strap 23. An adjustment groove 25 is opened at the left end of the waist strap 21. A plurality of through slots 26 penetrating inside and outside are opened on the front inner wall surface of the adjustment groove 25. The outer surface of the waist strap 21 is fixedly connected to the front end of the back pad 1; the adjustable fixing strap 23 is movably sleeved in the adjustment groove 25, and the plurality of slots 26 are equally spaced in pairs, and the block 24 is movably clamped in the corresponding slot 26.

[0046] Please refer to Figures 6 - 8, the knee joint bending limit mechanism 5 includes a knee joint mounting bracket 51 and a training movement gear 52. Both the left end and the right end of the training movement gear 52 are fixedly connected with a first knee joint rotating rod 53. The lower part of the outer surface of the training movement gear 52 is meshed and connected with a sector-shaped bending limit gear 54. Both the left end and the right end of the sector-shaped bending limit gear 54 are fixedly connected with a second knee joint rotating rod 55. The outer surface of the knee joint mounting bracket 51 is fixedly connected with the lower end of the thigh support assembly 4; the outer sides of the two first knee joint rotating rods 53 and the outer sides of the two second knee joint rotating rods 55 are respectively inserted and movably connected with the left inner wall surface and the right inner wall surface of the knee joint mounting bracket 51 through bearings.

[0047] Please refer to Figure 12 , the training movement mechanism 7 includes an upper U-shaped plate 71 and a lower U-shaped plate 72. The rear end of the upper U-shaped plate 71 is fixedly connected with an upper mounting plate 73. The left inner wall surface and the right inner wall surface of the upper mounting plate 73 are jointly inserted and movably installed with an upper moving block 74 through bearings. The lower end of the upper moving block 74 is fixedly installed with a training movement adaptation cylinder 75. The rear end of the lower U-shaped plate 72 is fixedly connected with a lower mounting plate 76. The left inner wall surface and the right inner wall surface of the lower mounting plate 76 are jointly inserted and movably installed with a lower moving block 77 through bearings, and the upper end of the lower moving block 77 is fixedly connected with the output end of the training movement adaptation cylinder 75; the upper U-shaped plate 71 is fixedly clamped on the thigh bracket 44 through bolts, the lower U-shaped plate 72 is fixedly clamped on the calf bracket 61 through bolts, there is a gap between the upper moving block 74 and the inner wall surface of the upper mounting plate 73, and there is a gap between the lower moving block 77 and the inner wall surface of the lower mounting plate 76.

[0048] Please refer to Figure 5 , the thigh support assembly 4 includes a hip joint mounting bracket 41 and a hip joint rotating block 42. Both the left end and the right end of the hip joint rotating block 42 are fixedly connected with a hip joint rotating rod 43. The lower part of the outer surface of the hip joint rotating block 42 is fixedly connected with a thigh bracket 44. There are two hip joint mounting brackets 41, and the inner wall surfaces of the two hip joint mounting brackets 41 are respectively fixedly connected with the outer surfaces of the corresponding waist fixing components 2 through bolts; the outer sides of the two hip joint rotating rods 43 are respectively inserted and movably connected with the inner sides of the corresponding two hip joint mounting brackets 41 through bearings, and the lower end of the thigh bracket 44 is fixedly connected with the outer surface of the corresponding knee joint mounting bracket 51.

[0049] Please refer to Figures 9 - 11, the calf support assembly 6 includes a calf bracket 61 and an ankle mounting bracket 62. An installation arm 63 is fixedly connected to the upper end of the calf bracket 61, and an ankle rotation block 64 is fixedly connected to the lower end of the calf bracket 61. An ankle rotation rod 65 is fixedly connected to both the left end and the right end of the ankle rotation block 64. A upper spring bracket 66 is fixedly connected to the front portion of the outer surface of the ankle rotation block 64, and a lower spring bracket 67 is fixedly connected to the middle of the front end of the ankle mounting bracket 62. An ankle spring 68 is fixedly connected between the upper spring bracket 66 and the lower spring bracket 67; the inner wall surface of the installation arm 63 is fixedly connected to the outer surface of the corresponding sector-shaped bending limit gear 54; the outer sides of the two ankle rotation rods 65 are respectively inserted and movably connected to the left inner wall surface and the right inner wall surface of the ankle mounting bracket 62 through bearings. There is a gap between the ankle rotation block 64 and the inner wall surface of the ankle mounting bracket 62. The left end of the right ankle mounting bracket 62 is fixedly connected to the right end of the right foot base plate 11.

[0050] During the specific use process of the embodiment, the backrest 1 is worn on the body through the shoulder straps 8 and the adjustable chest strap 9, so that the shoulder straps 8 naturally rest on the shoulders, and the adjustable chest strap 9 is adjusted to ensure that it fits comfortably against the chest. At this time, the user's waist is located within the waist strap 21. The adjustable fixing strap 23 is inserted into the adjustment slot 25, and according to the user's own waist circumference, the block 24 is snapped into the appropriate card slot 26 to adjust the tightness of the waist strap 21, so that the waist silicone pad 22 closely and comfortably fits the waist skin. The adjustable thigh strap 12 is wound around the thigh and adjusted to the appropriate tightness to ensure a firm fit. In the same way, the adjustable calf strap 13 is wound around the calf and adjusted to the appropriate tightness. Finally, the adjustable foot strap 14 is wound around the foot and adjusted to a comfortable and stable state. Thus, the exoskeleton is worn, and then stand naturally for walking training. Swing the leg forward. At this time, the control box 10 controls the training motion adaptation cylinder 75 to extend, driving the calf bracket 61 to move forward with the calf. At the same time, the calf bracket 61 drives the sector-shaped bending limit gear 54 to rotate through the installation arm 63. The sector-shaped bending limit gear 54 meshes with the training motion gear 52, driving the training motion gear 52 to rotate, restricting the bending degree of the calf bracket 61 and avoiding excessive bending. When the calf bends backward, the control box 10 controls the training motion adaptation cylinder 75 to contract, pulling the calf bracket 61 to rotate backward with the calf, completing one walking action. Continuously repeat the above forward swing and backward bending actions for multiple walking trainings. During this period, the ankle spring 68 continuously provides auxiliary force for the ankle, assisting the training process and reducing the sense of fatigue.

[0051] A control method for a wearable lower limb training exoskeleton includes the following steps:

[0052] Step 1. Wearable preparation: Wear the back pad 1 on the user through the shoulder strap 8 and the adjustable chest strap 9. At the same time, the user's waist is located inside the waist strap 21. Adjust the length of the adjustable chest strap 9 to make it fit comfortably. Then insert the adjustable fixing strap 23 into the adjustment slot 25, so that the clamping block 24 is clamped into the appropriate card slot 26 according to the user's waist size to adjust the tightness of the waist strap 21, ensuring that the waist silicone pad 22 fits the waist skin and provides comfortable support for the waist. Then, wrap the adjustable thigh strap 12 around the thigh and adjust it to the appropriate tightness, wrap the adjustable calf strap 13 around the calf and adjust it to the appropriate tightness, and wrap the adjustable foot strap 14 around the foot and adjust it to the appropriate tightness to complete the wearing of the exoskeleton;

[0053] Step 2. Lower limb training: The user stands naturally and starts walking. During the walking process, the control box 10 adjusts the working states of the two training motion adaptation cylinders 75. When the user's leg swings forward, the control box 10 controls the training motion adaptation cylinder 75 to extend, driving the calf bracket 61 to move forward with the calf. At the same time, the calf bracket 61 drives the sector-shaped bending limit gear 54 to rotate through the mounting arm 63. The sector-shaped bending limit gear 54 meshes with the training motion gear 52, driving the training motion gear 52 to rotate and restricting the bending degree of the calf bracket 61 to avoid excessive bending. When the user's leg bends backward, the control box 10 controls the training motion adaptation cylinder 75 to contract, pulling the calf bracket 61 to rotate backward with the calf to complete the cycle of the walking action. Repeat the above steps for multiple walking trainings. During this period, the ankle joint spring 68 continuously provides auxiliary force for the ankle joint, helping to reduce the fatigue of the user during the training process.

[0054] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A wearable lower limb training exoskeleton, comprising a back pad (1), characterized in that: The front lower part of the back pad (1) is fixedly connected to a waist fixing assembly (2); the left and right outer surfaces of the waist fixing assembly (2) are fixedly connected to fixing plates (3); the outer surfaces of the two fixing plates (3) are fixedly connected to thigh supporting assemblies (4) by bolts; the lower ends of the two thigh supporting assemblies (4) are fixedly connected to knee joint bending limiting mechanisms (5); the outer surfaces of the two knee joint bending limiting mechanisms (5) are fixedly connected to calf supporting assemblies (6); the rear ends of the two thigh supporting assemblies (4) are fixedly connected to training movement mechanisms (7) by bolts; the left and right outer surfaces of the front left and right outer surfaces of the back pad (1) are fixedly connected to thigh supporting assemblies (4) by bolts; The lower part and the right part of the front end are fixedly connected with shoulder straps (8), an adjustable chest strap (9) is fixedly connected between the two shoulder straps (8), a control box (10) is fixedly installed on the upper part of the rear end of the back pad (1), the lower parts of the inner sides of the two calf support components (6) are fixedly connected with foot bases (11), the upper ends of the two foot bases (11) are fixedly connected with adjustable foot straps (14), the lower parts of the inner sides of the two thigh support components (4) are fixedly connected with adjustable thigh straps (12), and the middle parts of the inner sides of the two calf support components (6) are fixedly connected with adjustable calf straps (13); The waist fixing assembly (2) comprises a waist belt (21), the inner wall surface of the waist belt (21) is fixedly connected with a waist silicone pad (22), the right end of the waist belt (21) is fixedly connected with an adjustable fixing belt (23), the front left part of the adjustable fixing belt (23) is fixedly connected with a clamping block (24), the left end of the waist belt (21) is provided with an adjustment groove (25), the front inner wall surface of the adjustment groove (25) is provided with a plurality of clamping grooves (26) passing through inside and outside, and the outer surface of the waist belt (21) is fixedly connected with the front end of the back pad (1); The knee joint bending limiting mechanism (5) comprises a knee joint mounting frame (51) and a training motion gear (52), the left and right ends of the training motion gear (52) are fixedly connected to a first knee joint rotating rod (53), the lower part of the outer surface of the training motion gear (52) is meshedly connected to a fan-shaped bending limiting gear (54), the left and right ends of the fan-shaped bending limiting gear (54) are fixedly connected to a second knee joint rotating rod (55), and the outer surface of the knee joint mounting frame (51) is fixedly connected to the lower end of the thigh support assembly (4); The training exercise mechanism (7) includes an upper U-shaped plate (71) and a lower U-shaped plate (72). A upper mounting plate (73) is fixedly connected to the rear end of the upper U-shaped plate (71). A upper movable block (74) is inserted and movably mounted through bearings on the left inner wall surface and the right inner wall surface of the upper mounting plate (73). A training exercise adaptation cylinder (75) is fixedly mounted at the lower end of the upper movable block (74). A lower mounting plate (76) is fixedly connected to the rear end of the lower U-shaped plate (72). A lower movable block (77) is inserted and movably mounted through bearings on the left inner wall surface and the right inner wall surface of the lower mounting plate (76). The upper end of the lower movable block (77) is fixedly connected to the output end of the training exercise adaptation cylinder (75).

2. The wearable lower limb training exoskeleton according to claim 1, characterized in that: The adjustable fixing belt (23) is movably sleeved in the adjustment groove (25). A plurality of the card slots (26) are equally spaced in pairs. The card block (24) is movably clamped in the corresponding card slot (26).

3. The wearable lower limb training exoskeleton according to claim 1, characterized in that: The outer sides of the two first knee joint rotating rods (53) and the outer sides of the two second knee joint rotating rods (55) are respectively inserted and movably connected to the left inner wall surface and the right inner wall surface of the knee joint mounting bracket (51) through bearings.

4. The wearable lower limb training exoskeleton according to claim 1, characterized in that: The thigh support assembly (4) includes a hip joint mounting bracket (41) and a hip joint rotating block (42). Hip joint rotating rods (43) are fixedly connected to both the left end and the right end of the hip joint rotating block (42). A thigh bracket (44) is fixedly connected to the lower part of the outer surface of the hip joint rotating block (42). There are two hip joint mounting brackets (41). The inner wall surfaces of the two hip joint mounting brackets (41) are fixedly connected to the outer surface of the corresponding waist fixing assembly (2) through bolts.

5. The wearable lower limb training exoskeleton according to claim 4, characterized in that: The outer sides of the two hip joint rotating rods (43) are respectively inserted and movably connected to the inner side surfaces of the corresponding two hip joint mounting brackets (41) through bearings. The lower end of the thigh bracket (44) is fixedly connected to the outer surface of the corresponding knee joint mounting bracket (51).

6. The wearable lower limb training exoskeleton according to claim 1, characterized in that: The calf support assembly (6) includes a calf bracket (61) and an ankle joint mounting bracket (62). A mounting arm (63) is fixedly connected to the upper end of the calf bracket (61). An ankle joint rotating block (64) is fixedly connected to the lower end of the calf bracket (61). Ankle joint rotating rods (65) are fixedly connected to both the left end and the right end of the ankle joint rotating block (64). An upper spring bracket (66) is fixedly connected to the front part of the outer surface of the ankle joint rotating block (64). A lower spring bracket (67) is fixedly connected to the middle of the front end of the ankle joint mounting bracket (62). An ankle joint spring (68) is fixedly connected between the upper spring bracket (66) and the lower spring bracket (67).

7. The wearable lower limb training exoskeleton according to claim 6, characterized in that: The inner wall surface of the mounting arm (63) is fixedly connected to the outer surface of the corresponding sector-shaped bending limit gear (54).

8. The wearable lower limb training exoskeleton according to claim 6, characterized in that: The outer side surfaces of the two ankle joint rotating rods (65) are respectively interlaced and movably connected with the left inner wall surface and the right inner wall surface of the ankle joint mounting frame (62) through bearings, and there is a gap between the ankle joint rotating block (64) and the inner wall surface of the ankle joint mounting frame (62), and the left end of the right ankle joint mounting frame (62) is fixedly connected to the right end of the right foot bottom plate (11).

9. The wearable lower limb training exoskeleton according to claim 1, characterized in that: The upper shaped plate (71) is fixedly connected to the thigh support (44) by bolts, and the lower shaped plate (72) is fixedly connected to the calf support (61) by bolts. There is a gap between the inner wall surface of the upper movable block (74) and the upper mounting plate (73), and there is a gap between the inner wall surface of the lower movable block (77) and the lower mounting plate (76).

10. A control method for a wearable lower limb training exoskeleton according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1, preparation for wearing: wear the back pad (1) on the user through the shoulder strap (8) and the adjustable chest strap (9), while the user's waist is located in the waist strap (21), adjust the length of the adjustable chest strap (9) to make it fit comfortably, then insert the adjustable fixing belt (23) into the adjustment slot (25), and make the card block (24) snap into the appropriate card slot (26) according to the waist size of the user to adjust the tightness of the waist strap (21), ensure that the waist silicone pad (22) fits the waist skin, and provides comfortable support for the waist, then surround the thigh with the adjustable thigh strap (12) and adjust it to a suitable tightness, surround the calf strap (13) and adjust it to a suitable tightness, surround the foot strap (14) and adjust it to a suitable tightness, and then wear the exoskeleton; Step 2, lower limb training: the user stands naturally and starts walking. During the walking process, the control box (10) adjusts the working state of the two training motion adaptation cylinders (75). When the user's legs swing forward, the control box (10) controls the training motion adaptation cylinder (75) to extend, driving the calf support (61) to move forward with the calf. At the same time, the calf support (61) drives the fan-shaped bending limit gear (54) to rotate through the mounting arm (63). The fan-shaped bending limit gear (54) is meshed with the training motion gear (52), driving the training motion gear (52) to rotate, limiting the bending degree of the calf support (61) to avoid excessive bending. When the user's legs bend backward, the control box (10) controls the training motion adaptation cylinder (75) to contract, pulling the calf support (61) to rotate backward with the calf, completing the walking action cycle. Repeat the above steps to perform multiple walking trainings. During this period, the ankle joint spring (68) continues to provide auxiliary force for the ankle joint, helping the training process to reduce the user's fatigue.

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