Wearable lower limb training exoskeleton and control method thereof

Abstract

The application discloses a wearable lower limb training exoskeleton and a control method thereof. The wearable lower limb training exoskeleton comprises a back pad, a waist fixing assembly is fixedly connected to the lower part of the front end of the back pad, a thigh support assembly is fixedly connected to the outer surface of each of two fixing plates through bolts, a knee joint bending limiting mechanism is fixedly connected to the lower end of each of the two thigh support assemblies, a calf support assembly is fixedly connected to the outer surface of each of the two knee joint bending limiting mechanisms, and a training movement mechanism is fixedly connected to the rear end of each of the two thigh support assemblies through bolts. When the leg swings forward, the training movement adaptive air cylinder is elongated to drive the calf support to move. When the calf bends backward, the training movement adaptive air cylinder is contracted to pull the calf support, and the walking action cycle is smoothly completed. The movement assisting mechanism is helpful for patients to form correct walking gaits and improve the rehabilitation training effect.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and in particular to a wearable lower limb training exoskeleton and its control method. Background Technology

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

[0003] With the development of technology, lower limb exoskeleton training devices have emerged. However, existing lower limb exoskeleton training devices use a fixed-size wearable structure, which is difficult to adapt to the different body differences of different users. The waist fixation part is often not flexible enough to adjust. For users with different waist sizes, it is either too tight, causing discomfort and affecting blood circulation, or too loose, which cannot provide stable support and is prone to shaking during training, interfering with training movements and reducing training effect. In addition, existing lower limb exoskeleton training devices cannot effectively limit excessive bending of the knee joint during training, which can easily lead to user injury, especially for patients with weak lower limb strength or those in rehabilitation. Excessive bending can easily increase the burden on the joint and affect the rehabilitation process. Therefore, we propose a wearable lower limb training exoskeleton and its control method. Summary of the Invention

[0004] The main objective of this invention is to provide a wearable lower limb training exoskeleton and its control method, which can effectively solve the problems in the background art.

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

[0006] A wearable lower limb training exoskeleton includes a back pad. A waist fixation component is fixedly connected to the lower front end of the back pad. Fixing plates are fixedly connected to the left and right outer surfaces of the waist fixation component. Thigh support components are fixedly connected to the outer surfaces of the two fixing plates by 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 movement mechanisms are fixedly snapped to the rear ends of the two thigh support components by bolts. Shoulder straps are fixedly connected to the left and right front ends 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 rear end of the back pad. Foot plates are fixedly connected to the lower inner surfaces of the two lower leg support components. Adjustable foot straps are fixedly connected to the upper ends of the two foot plates. Adjustable thigh straps are fixedly connected to the lower inner surfaces of the two thigh support components. Adjustable lower leg straps are fixedly connected to the middle inner surfaces of the two lower leg support components.

[0007] The waist fixation assembly includes a waist belt, a waist silicone pad is fixedly connected to the inner wall of the waist belt, an adjustable fixing strap is fixedly connected to the right end of the waist belt, a locking block is fixedly connected to the left front end of the adjustable fixing strap, an adjustment groove is opened at the left end of the waist belt, a number of through-holes are opened on the front inner wall of the adjustment groove, and the outer surface of the waist belt 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. The left and right ends of the training motion gear are fixedly connected to a first knee joint rotating rod. The lower part of the outer surface of the training motion gear is meshed with a sector-shaped bending limiting gear. The left and right ends of the sector-shaped bending limiting gear are fixedly connected to a second knee joint rotating rod. The outer surface of the knee joint mounting frame is fixedly connected to the lower end of the thigh support assembly.

[0009] The training motion mechanism includes an upper flange and a lower flange. An upper mounting plate is fixedly connected to the rear end of the upper flange. An upper movable block is movably mounted on the left and right inner walls of the upper mounting plate through bearings. A training motion adaptation cylinder is fixedly mounted on the lower end of the upper movable block. A lower mounting plate is fixedly connected to the rear end of the lower flange. A lower movable block is movably mounted on the left and right inner walls of the lower mounting plate through bearings. The upper end of the lower movable block is fixedly connected to the output end of the training motion adaptation cylinder.

[0010] As a further improvement to the above solution, the adjustable fixing strap is movably sleeved in the adjustment groove, and several of the slots are distributed at equal intervals in pairs, with the locking block movably locking into the corresponding slot.

[0011] As a further improvement to the above solution, the outer surfaces of the two first knee joint rotating rods and the outer surfaces of the two second knee joint rotating rods are respectively connected to the left inner wall and right inner wall of the knee joint mounting frame through bearings.

[0012] As a further improvement to the above solution, the thigh support assembly includes a hip joint mounting bracket and a hip joint rotating block. The left and right ends of the hip joint rotating block are fixedly connected to hip joint rotating rods. The lower part of the outer surface of the hip joint rotating block is fixedly connected to a thigh bracket. Two hip joint mounting brackets are provided, and the inner walls of the two hip joint mounting brackets are fixedly connected to the outer surface of the corresponding lumbar fixation assembly by bolts.

[0013] As a further improvement to the above solution, the outer surfaces of the two hip joint rotation rods are respectively connected to the inner surfaces of the two corresponding 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 to the above solution, the calf support assembly includes a calf bracket and an ankle joint mounting bracket. An mounting arm is fixedly connected to the upper end of the calf bracket, and an ankle joint rotating block is fixedly connected to the lower end of the calf bracket. An ankle joint rotating rod is fixedly connected to both the left and right ends of the ankle joint rotating block. An upper spring frame is fixedly connected to the front part of the outer surface of the ankle joint rotating block, and a lower spring frame is fixedly connected to the middle of the front end of the ankle joint mounting bracket. An ankle joint spring is fixedly connected between the upper spring frame and the lower spring frame.

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

[0016] As a further improvement to the above solution, the outer surfaces of the two ankle joint rotating rods are respectively connected to the left and right inner walls of the ankle joint mounting frame through bearings. There is a gap between the ankle joint rotating block and the inner wall of the ankle joint mounting frame. The left end of the right ankle joint mounting frame is fixedly connected to the right end of the right foot plate.

[0017] As a further improvement to the above solution, the upper U-shaped plate is fixedly fastened to the thigh support by bolts, the lower U-shaped plate is fixedly fastened to the calf support by 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] A control method for a wearable lower limb training exoskeleton includes the following steps:

[0019] Step 1: Wearing Preparation: Put the back pad on the user's body through the shoulder straps and adjustable chest straps. At the same time, the user's waist is located inside the waist belt. Adjust the length of the adjustable chest strap to make it comfortable and close-fitting. Then insert the adjustable fixing strap into the adjustment slot so that the buckle is locked into the appropriate slot according to the user's waist size to adjust the tightness of the waist belt. Ensure that the silicone pad of the waist fits the skin of the waist and provides comfortable support for the waist. Then wrap the adjustable thigh strap around the thigh and adjust it to a suitable tightness. Wrap the adjustable calf strap around the calf and adjust it to a suitable tightness. Wrap the adjustable foot strap around the foot and adjust it to a suitable tightness. The exoskeleton is now worn.

[0020] Step Two, Lower Limb Training: The user stands naturally and begins to walk. During walking, the control box adjusts the working state of the two training motion adaptation cylinders. When the user's leg swings forward, the control box controls the training motion adaptation cylinder to extend, causing the lower leg support to move forward with the lower leg. At the same time, the lower leg support drives the sector-shaped bending limit gear to rotate through the mounting arm. The sector-shaped bending limit gear meshes with the training motion gear, causing the training motion gear to rotate and limiting the degree of bending of the lower leg support to avoid excessive bending. When the user's leg bends backward, the control box controls the training motion adaptation cylinder to contract, pulling the lower leg support to rotate backward with the lower leg, completing the cycle of walking. Repeat the above steps for multiple walking training sessions. During this period, the ankle joint spring continuously provides auxiliary force to the ankle joint, helping to reduce the user's fatigue during the training process.

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

[0022] 1. In this invention, the waist support component is equipped with an adjustable fixing strap and a slot design, which can be adjusted according to the waist circumference. Together with the waist silicone pad, it provides comfortable and stable support for the waist. In addition, the adjustable thigh strap, adjustable calf strap and adjustable foot strap can adapt to the differences in thickness of different parts, ensuring the comfort and fit of wearing in all aspects, reducing the interference of training caused by wearing discomfort. Wearing through the shoulder strap and adjustable chest strap can be flexibly adjusted according to the user's body shape to ensure a comfortable fit.

[0023] 2. In this 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, causing the lower leg support to move accordingly. At the same time, the lower leg support drives the fan-shaped bending limit gear to rotate through the mounting arm, which cooperates with the training motion gear to limit the bending degree of the lower leg support, effectively avoiding excessive bending and ensuring exercise safety. When the lower leg bends backward, the training motion adaptation cylinder contracts and pulls the lower leg support, smoothly completing the walking action cycle. This motion assistance mechanism helps patients form a correct walking gait and improves the rehabilitation training effect.

[0024] 3. In this invention, the ankle spring can continuously provide auxiliary force to the ankle joint throughout the training process. This can not only effectively reduce the user's fatigue, but also enhance the patient's endurance for long-term training, enabling them to complete more walking training sessions, thereby accelerating the rehabilitation process and improving the patient's confidence and enthusiasm for rehabilitation. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0028] Figure 3 This is an exploded view of the lumbar fixation component of the wearable lower limb training exoskeleton of the present invention.

[0029] Figure 4 The wearable lower limb training exoskeleton of the present invention Figure 3 Enlarged view of the structure at point A in the image;

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

[0031] Figure 6 This is a cross-sectional view of the knee joint flexion limiting mechanism of the wearable lower limb training exoskeleton of the present invention (the knee joint mounting frame is cut out).

[0032] Figure 7 This is a rear sectional view of the knee joint flexion limiting mechanism of the wearable lower limb training exoskeleton of the present invention (the knee joint mounting frame is sectionally cut).

[0033] Figure 8 The wearable lower limb training exoskeleton of the present invention Figure 7 Enlarged view of the structure at point B in the image;

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

[0035] Figure 10 The wearable lower limb training exoskeleton of the present invention Figure 9 Enlarged view of the structure at point C in the image;

[0036] Figure 11 This is an exploded view of the lower leg support component of the wearable lower limb training exoskeleton of the present invention (with the ankle joint mounting frame cut out).

[0037] Figure 12 This is a schematic diagram of the training movement mechanism of the wearable lower limb training exoskeleton of the present invention.

[0038] In the diagram: 1. Back pad; 2. Lumbar support assembly; 3. Fixing plate; 4. Thigh support assembly; 5. Knee flexion limiting mechanism; 6. Lower leg support assembly; 7. Training movement mechanism; 8. Shoulder straps; 9. Adjustable chest strap; 10. Control box; 11. Foot plate; 12. Adjustable thigh strap; 13. Adjustable lower leg strap; 14. Adjustable foot strap; 21. Lumbar belt; 22. Lumbar silicone pad; 23. Adjustable fixing strap; 24. Locking block; 25. Adjustment groove; 26. Locking slot; 41. Hip joint mounting bracket; 42. Hip joint rotation block; 43. Hip joint 44. Thigh support; 51. Knee joint mounting bracket; 52. Training exercise gear; 53. First knee joint rotation rod; 54. Sector-shaped bending limiting gear; 55. Second knee joint rotation rod; 61. Lower leg support; 62. Ankle joint mounting bracket; 63. Mounting arm; 64. Ankle joint rotation block; 65. Ankle joint rotation rod; 66. Upper spring frame; 67. Lower spring frame; 68. Ankle joint spring; 71. Upper U-shaped plate; 72. Lower U-shaped plate; 73. Upper mounting plate; 74. Upper movable block; 75. Training exercise adaptation cylinder; 76. Lower mounting plate; 77. Lower movable block. Detailed Implementation

[0039] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0040] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. 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 a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

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

[0043] Example

[0044] Wearable lower limb training exoskeletons, such as Figure 1 As shown, the back pad 1 is included. A lumbar support component 2 is fixedly connected to the lower front end of the back pad 1. Fixing plates 3 are fixedly connected to the left and right outer surfaces of the lumbar support component 2. Thigh support components 4 are fixedly connected to the outer surfaces of the two fixing plates 3 by bolts. Knee joint bending limiting mechanisms 5 are fixedly connected to the lower ends of the two thigh support components 4. Lower leg support components 6 are fixedly connected to the outer surfaces of the two knee joint bending limiting mechanisms 5. Training exercise mechanisms 7 are fixedly fastened to the rear ends of the two thigh support components 4 by bolts. Shoulder straps 8 are fixedly connected to the left and right front ends 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 rear end of the back pad 1. Foot plates 11 are fixedly connected to the lower inner sides of the two calf support components 6. Adjustable foot straps 14 are fixedly connected to the upper ends of the two foot plates 11. Adjustable thigh straps 12 are fixedly connected to the lower inner sides of the two thigh support components 4. Adjustable calf straps 13 are fixedly connected to the middle inner sides of the two calf support components 6.

[0045] Please see Figure 2-4 The waist support assembly 2 includes a waist belt 21, a waist silicone pad 22 fixedly connected to the inner wall of the waist belt 21, an adjustable fixing strap 23 fixedly connected to the right end of the waist belt 21, a locking block 24 fixedly connected to the left front end of the adjustable fixing strap 23, an adjustment groove 25 opened at the left end of the waist belt 21, a number of through slots 26 opened on the front inner wall of the adjustment groove 25, and the outer surface of the waist belt 21 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 number of slots 26 are distributed in pairs at equal distances. The locking block 24 is movably locked in the corresponding slot 26.

[0046] Please see Figure 6-8The knee joint bending limiting mechanism 5 includes 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 meshed with a sector-shaped bending limiting gear 54. The left and right ends of the sector-shaped bending limiting gear 54 are fixedly connected to a second knee joint rotating rod 55. The outer surface of the knee joint mounting frame 51 is fixedly connected to the lower end of the thigh support assembly 4. The outer surfaces of the two first knee joint rotating rods 53 and the two second knee joint rotating rods 55 are respectively connected to the left and right inner walls of the knee joint mounting frame 51 through bearings.

[0047] Please see Figure 12 The training exercise mechanism 7 includes an upper flange 71 and a lower flange 72. An upper mounting plate 73 is fixedly connected to the rear end of the upper flange 71. An upper movable block 74 is movably mounted on the left and right inner walls of the upper mounting plate 73 through bearings. 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 flange 72. A lower movable block 77 is movably mounted on the left and right inner walls of the lower mounting plate 76 through bearings, and the upper end of the lower movable block 77 is fixedly connected to the output end of the training exercise adaptation cylinder 75. The upper flange 71 is fixedly fastened to the thigh support 44 by bolts, and the lower flange 72 is fixedly fastened to the calf support 61 by bolts. There is a gap between the upper movable block 74 and the inner wall of the upper mounting plate 73, and there is a gap between the lower movable block 77 and the inner wall of the lower mounting plate 76.

[0048] Please see Figure 5 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 the left and right ends of the hip joint rotating block 42. A thigh support 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 walls of the two hip joint mounting brackets 41 are fixedly connected to the outer surface of the corresponding lumbar fixation assembly 2 by bolts. The outer sides of the two hip joint rotating rods 43 are respectively connected to the inner sides of the two corresponding hip joint mounting brackets 41 by bearings. The lower end of the thigh support 44 is fixedly connected to the outer surface of the corresponding knee joint mounting bracket 51.

[0049] Please see Figure 9-11The calf support assembly 6 includes a calf bracket 61 and an ankle joint mounting bracket 62. An mounting arm 63 is fixedly connected to the upper end of the calf bracket 61, and an ankle joint rotating block 64 is fixedly connected to the lower end of the calf bracket 61. An ankle joint rotating rod 65 is fixedly connected to both the left and right ends of the ankle joint rotating block 64. An upper spring frame 66 is fixedly connected to the front surface of the outer surface of the ankle joint rotating block 64. A lower spring frame 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 frame 66 and the lower spring frame 67. The inner wall surface of the mounting arm 63 is fixedly connected to the outer surface of the corresponding sector-shaped curved limiting gear 54. The outer surfaces of the two ankle joint rotating rods 65 are respectively connected to the left and right inner walls of the ankle joint mounting bracket 62 via bearings. There is a gap between the ankle joint rotating block 64 and the inner wall surface of the ankle joint mounting bracket 62. The left end of the right ankle joint mounting bracket 62 is fixedly connected to the right end of the right foot plate 11.

[0050] In practical use, the back pad 1 is worn on the body via the shoulder straps 8 and the adjustable chest strap 9. The shoulder straps 8 are placed naturally on the shoulders, and the adjustable chest strap 9 is adjusted to ensure a comfortable fit to the chest. At this time, the user's waist is located within the waist belt 21. The adjustable fixing strap 23 is inserted into the adjustment slot 25, and the buckle 24 is inserted into the appropriate slot 26 according to the user's waist circumference. The tightness of the waist belt 21 is adjusted so that the waist silicone pad 22 fits snugly and comfortably against the waist skin. The adjustable thigh strap 12 is wrapped around the thighs and adjusted to a suitable tightness to ensure a secure fit. In the same way, the adjustable calf strap 13 is wrapped around the calf and adjusted to a suitable tightness. Finally, the adjustable foot strap 14 is wrapped around the foot and adjusted to a comfortable and secure state. This completes the wearing of the exoskeleton, and then the user can naturally... During standing walking training, the leg swings forward. At this time, the control box 10 controls the extension of the training motion adaptation cylinder 75, which drives the lower leg support 61 to move forward with the lower leg. Simultaneously, the lower leg support 61 drives the fan-shaped bending limit gear 54 to rotate through the mounting arm 63. The fan-shaped bending limit gear 54 meshes with the training motion gear 52, driving the training motion gear 52 to rotate and limiting the bending degree of the lower leg support 61 to avoid excessive bending. When the lower leg bends backward, the control box 10 controls the contraction of the training motion adaptation cylinder 75, pulling the lower leg support 61 to rotate backward with the lower leg, completing one walking action. The above forward swinging and backward bending actions are repeated continuously for multiple walking training sessions. During this period, the ankle joint spring 68 continuously provides auxiliary force to the ankle joint, assisting the training process and reducing fatigue.

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

[0052] Step 1, Wearing Preparation: Put the back pad 1 on the user's body through the shoulder straps 8 and the adjustable chest strap 9. At the same time, the user's waist is located in the waist belt 21. Adjust the length of the adjustable chest strap 9 to make it comfortable and fit. Then insert the adjustable fixing strap 23 into the adjustment slot 25 so that the buckle 24 is locked into the appropriate slot 26 according to the user's waist size to adjust the tightness of the waist belt 21. Ensure 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 a suitable tightness. Wrap the adjustable calf strap 13 around the calf and adjust it to a suitable tightness. Wrap the adjustable foot strap 14 around the foot and adjust it to a suitable tightness. The exoskeleton is now worn.

[0053] Step 2, Lower Limb Training: The user stands naturally and begins to walk. During walking, the control box 10 adjusts the working state 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, causing the lower leg support 61 to move forward with the lower leg. At the same time, the lower leg support 61 drives the fan-shaped bending limit gear 54 to rotate through the mounting arm 63. The fan-shaped bending limit gear 54 meshes with the training motion gear 52, causing the training motion gear 52 to rotate, limiting the bending degree of the lower leg support 61 and preventing excessive bending. When the user's leg bends backward, the control box 10 controls the training motion adaptation cylinder 75 to retract, pulling the lower leg support 61 to rotate backward with the lower leg, completing the cycle of walking. Repeat the above steps for multiple walking training sessions. During this period, the ankle joint spring 68 continuously provides auxiliary force to the ankle joint, helping to reduce the user's fatigue during the training process.

[0054] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this 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 lower front end of the back pad (1) is fixedly connected to a lumbar fixation component (2). Fixing plates (3) are fixedly connected to the left and right outer surfaces of the lumbar fixation component (2). Thigh support components (4) are fixedly connected to the outer surfaces of both fixing plates (3) via bolts. Knee joint bending limiting mechanisms (5) are fixedly connected to the lower ends of both thigh support components (4). Lower leg support components (6) are fixedly connected to the outer surfaces of both knee joint bending limiting mechanisms (5). Training movement mechanisms (7) are fixedly fastened to the rear ends of both thigh support components (4) via bolts. The lower front end of the back pad (1) is fixedly connected to the lower front end of the lumbar fixation component (2). Shoulder straps (8) are fixedly connected to the front right side of the back pad (1), and an adjustable chest strap (9) is fixedly connected between the two shoulder straps (8). A control box (10) is fixedly installed on the upper rear end of the back pad (1). Foot plates (11) are fixedly connected to the lower inner side of the two calf support components (6). An adjustable foot strap (14) is fixedly connected to the upper end of the two foot plates (11). An adjustable thigh strap (12) is fixedly connected to the lower inner side of the two thigh support components (4). An adjustable calf strap (13) is fixedly connected to the middle inner side of the two calf support components (6). The waist fixing component (2) includes a waist belt (21), a waist silicone pad (22) is fixedly connected to the inner wall of the waist belt (21), an adjustable fixing strap (23) is fixedly connected to the right end of the waist belt (21), a locking block (24) is fixedly connected to the left front end of the adjustable fixing strap (23), an adjustment groove (25) is opened at the left end of the waist belt (21), and several through-holes (26) are opened on the front inner wall of the adjustment groove (25). The outer surface of the waist belt (21) is fixedly connected to the front end of the back pad (1). The knee joint bending limiting mechanism (5) includes a knee joint mounting bracket (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 meshed with 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). The outer surface of the knee joint mounting bracket (51) is fixedly connected to the lower end of the thigh support assembly (4). The training motion mechanism (7) includes an upper flange plate (71) and a lower flange plate (72). An upper mounting plate (73) is fixedly connected to the rear end of the upper flange plate (71). An upper movable block (74) is movably mounted on the left and right inner walls of the upper mounting plate (73) through bearings. A training motion adaptation cylinder (75) is fixedly mounted on the lower end of the upper movable block (74). A lower mounting plate (76) is fixedly connected to the rear end of the lower flange plate (72). A lower movable block (77) is movably mounted on the left and right inner walls of the lower mounting plate (76) through bearings. The upper end of the lower movable block (77) is fixedly connected to the output end of the training motion adaptation cylinder (75). The thigh support assembly (4) includes a thigh support (44); the calf support assembly (6) includes a calf support (61). Wherein: the upper saddle plate (71) is fixedly fastened to the thigh support (44) by bolts, the lower saddle plate (72) is fixedly fastened to the calf support (61) by bolts, there is a gap between the upper movable block (74) and the inner wall of the upper mounting plate (73), and there is a gap between the lower movable block (77) and the inner wall of the lower mounting plate (76).

2. The wearable lower limb training exoskeleton according to claim 1, characterized in that: The adjustable fixing band (23) is movably sleeved in the adjustment groove (25), and several of the slots (26) are distributed at equal distances in pairs, and the locking block (24) is movably locked in the corresponding slot (26).

3. The wearable lower limb training exoskeleton according to claim 1, characterized in that: The outer surfaces of the two first knee joint rotating rods (53) and the outer surfaces of the two second knee joint rotating rods (55) are respectively connected to the left inner wall and the right inner wall 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). The left and right ends of the hip joint rotating block (42) are fixedly connected to a hip joint rotating rod (43). The lower part of the outer surface of the hip joint rotating block (42) is fixedly connected to a thigh support (44). There are two hip joint mounting brackets (41). The inner walls of the two hip joint mounting brackets (41) are fixedly connected to the outer surface of the corresponding waist fixation assembly (2) by bolts.

5. The wearable lower limb training exoskeleton according to claim 4, characterized in that: The outer surfaces of the two hip joint rotation rods (43) are connected to the inner surfaces of the corresponding two hip joint mounting brackets (41) by bearings, and the lower end of the thigh support (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 lower leg support assembly (6) includes an ankle joint mounting bracket (62), an mounting arm (63) is fixedly connected to the upper end of the lower leg support (61), an ankle joint rotating block (64) is fixedly connected to the lower end of the lower leg support (61), an ankle joint rotating rod (65) is fixedly connected to the left and right ends of the ankle joint rotating block (64), an upper spring frame (66) is fixedly connected to the front part of the outer surface of the ankle joint rotating block (64), a lower spring frame (67) is fixedly connected to the middle of the front end of the ankle joint mounting bracket (62), and an ankle joint spring (68) is fixedly connected between the upper spring frame (66) and the lower spring frame (67).

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

8. The wearable lower limb training exoskeleton according to claim 6, characterized in that: The outer surfaces of the two ankle joint rotating rods (65) are connected to the left and right inner walls of the ankle joint mounting bracket (62) respectively by bearings. There is a gap between the ankle joint rotating block (64) and the inner wall of the ankle joint mounting bracket (62). The left end of the right ankle joint mounting bracket (62) is fixedly connected to the right end of the right foot plate (11).

9. The control method for the wearable lower limb training exoskeleton according to claim 7, characterized in that: Includes the following steps: Step 1, Wearing Preparation: Put the back pad (1) on the user's body through the shoulder straps (8) and the adjustable chest strap (9). At the same time, the user's waist is located in the waist belt (21). Adjust the length of the adjustable chest strap (9) to make it comfortable and fit. Then insert the adjustable fixing strap (23) into the adjustment slot (25) so that the buckle (24) is inserted into the appropriate slot (26) according to the user's waist size to adjust the tightness of the waist belt (21). Ensure 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. Wrap the adjustable foot strap (14) around the foot and adjust it to the appropriate tightness to complete the wearing of the exoskeleton. Step 2, Lower Limb Training: The user stands naturally and begins to walk. During the walking process, the control box (10) adjusts the working state 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, causing the lower leg support (61) to move forward with the lower leg. At the same time, the lower leg support (61) drives the fan-shaped bending limit gear (54) to rotate through the mounting arm (63). The fan-shaped bending limit gear (54) meshes with the training motion gear (52), causing the training motion gear (52) to rotate, limiting the bending degree of the lower leg support (61) and avoiding excessive bending. When the user's leg bends backward, the control box (10) controls the training motion adaptation cylinder (75) to contract, pulling the lower leg support (61) to rotate backward with the lower leg, completing the cycle of walking. Repeat the above steps to perform multiple walking training sessions. During this period, the ankle joint spring (68) continuously provides auxiliary force to the ankle joint, helping to reduce the user's fatigue during the training process.

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