Exoskeleton mechanical joint with walking assisting function and control method of exoskeleton mechanical joint

Abstract

The invention discloses an exoskeleton mechanical joint with a walking assisting function and a control method thereof.The exoskeleton mechanical joint comprises a left connecting frame and a right connecting frame, and knee joint power transmission mechanisms are installed on the outer side faces of the two knee joint connecting frames in a penetrating and inserting mode; the lower portions of the outer surfaces of the two knee joint power transmission mechanisms are fixedly connected with shank adjusting supporting pieces, and the two shank adjusting supporting pieces and the two thigh adjusting supporting pieces are the same in structure. Ankle joint power transmission mechanisms are installed on the outer side faces of the two ankle joint connecting frames in a penetrating and inserting mode, and the two ankle joint power transmission mechanisms and the two knee joint power transmission mechanisms are the same in structure. According to the exoskeleton mechanical joint with the walking assistance function and the control method of the exoskeleton mechanical joint, the knee joint power transmission mechanism and the ankle joint power transmission mechanism control the flexion and extension angles and speeds of the knee joints and the ankle joints, so that when the exoskeleton assists a user in walking, the natural walking posture of the human body can be better simulated, and actions are more coordinated and smoother.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton devices, and particularly relates to an exoskeleton mechanical joint with walking assistance and a control method thereof. Background Art

[0002] In the field of medical rehabilitation, many patients have lower limb dysfunction due to various reasons. For example, patients with neurological diseases such as stroke, spinal cord injury, and cerebral palsy, and orthopedic patients after lower limb fractures and joint replacements all need to undergo long-term and difficult rehabilitation training to restore walking function. Currently, there are many exoskeleton devices on the market, which are used to assist patients in gait training, promote bone healing and muscle strength recovery, help nerve remodeling, and significantly shorten the rehabilitation cycle.

[0003] However, the existing exoskeleton devices still have the following deficiencies in use: 1. In the existing invention patent with the patent number "CN112388617B", an "exoskeleton robot for lower limbs" is applied. This patent includes a thigh support, a knee harmonic reducer, a knee servo motor, a driving shaft, a driving pulley, a synchronous belt, a driven shaft, and a driven pulley. It uses a synchronous belt to drive the rotating shaft (driven shaft) to complete the flexion and extension movement of the knee joint. However, the stretching deformation of the synchronous belt during power transmission will affect the effective transmission of power, causing the exoskeleton to consume more energy when assisting walking, prone to energy loss, resulting in low power transmission efficiency and jamming phenomena, and also reducing the assistance effect. 2. In the existing invention patent with the patent number "CN104434470B", an "exoskeleton robot for lower limbs for assisting walking" is applied. The thigh link of this patent is provided with a thigh length adjustable mechanism, and a length adjustable nylon sleeve is provided at the telescopic part of the thigh length adjustable mechanism, which is designed to be applicable to users of different body shapes. However, the length adjustable nylon sleeve structure at the telescopic part of the thigh length adjustable mechanism is simple, the adjustment method is inconvenient to operate, and the support stability of this structure is not good. Therefore, we propose an exoskeleton mechanical joint with walking assistance and a control method thereof. Summary of the Invention

[0004] The main purpose of the present invention is to provide an exoskeleton mechanical joint with walking assistance and a control method thereof, which can effectively solve the problems in the background art.

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

[0006] Exoskeleton mechanical joint with walking assistance, including a left connecting frame and a right connecting frame. The left connecting frame and the right connecting frame have the same structure and are distributed symmetrically left and right. A waist fixing component is fixedly connected between the left connecting frame and the right connecting frame. Lower parts of the outer surfaces of the left connecting frame and the right connecting frame are both fixedly connected with thigh adjusting support members. Lower ends of both thigh adjusting support members are fixedly connected with knee joint connecting frames. Outer sides of both knee joint connecting frames are inserted and installed with knee joint power transmission mechanisms. Lower parts of the outer surfaces of both knee joint power transmission mechanisms are both fixedly connected with calf adjusting support members, and the two calf adjusting support members and the two thigh adjusting support members have the same structure. Lower ends of both calf adjusting support members are fixedly connected with ankle joint connecting frames. Outer sides of both ankle joint connecting frames are inserted and installed with ankle joint power transmission mechanisms, and the two ankle joint power transmission mechanisms and the two knee joint power transmission mechanisms have the same structure. Lower parts of the outer surfaces of both ankle joint power transmission mechanisms are both fixedly connected with foot plates. Upper ends of both foot plates are fixedly connected with foot fixing velcro. Inner sides of both thigh adjusting support members are fixedly connected with thigh fixing rings. Inner sides of both calf adjusting support members are fixedly connected with calf fixing rings. Inner wall surfaces of both thigh fixing rings and inner wall surfaces of both calf fixing rings are both fixedly connected with a plurality of silica gel cushion strips. Inner sides of both thigh fixing rings and inner sides of both calf fixing rings are both fixedly connected with leg fixing velcro;

[0007] The knee joint power transmission mechanism includes an installation frame. A connection groove is opened on the inner wall surface of the installation frame. A servo motor is fixedly installed at the right end of the right installation frame, and the output end of the servo motor penetrates through the right end of the right installation frame and extends into the right installation frame. A flange is fixedly installed at the output end of the servo motor. A main transmission gear is fixedly connected to the left end of the right flange. Four inner transmission gears are meshed and connected to the outer surface of the main transmission gear. An outer transmission gear is meshed and connected to the outer surfaces of the four inner transmission gears. A connection ring is fixedly sleeved on the outer surface of the outer transmission gear. A transmission component is fixedly connected to the left end of the right outer transmission gear. The left end of the right installation frame is fixedly connected to the right end of the right knee joint connecting frame;

[0008] The waist fixing component includes a front waist fixing ring, a rear waist fixing ring and a first fixing bolt. Silica gel sleeves are fixedly sleeved on the outer surfaces of the front waist fixing ring and the rear waist fixing ring. A plurality of silica gel rings are fixedly sleeved on the outer surfaces of both silica gel sleeves. Fixing rods are fixedly connected to the left front part and the right front part of the front end of the rear waist fixing ring. Adjusting rods are fixedly connected to the left rear part and the right rear part of the rear end of the rear waist fixing ring. A plurality of first fixing holes are opened on the outer sides of both adjusting rods. Second fixing holes that penetrate through inside and outside are opened on the front parts of the outer sides of both fixing rods;

[0009] The thigh adjustment support member includes a support frame. A connection card slot is formed in the middle of the lower end of the support frame. Two through slots for stability are formed in the front inner wall surface and the rear inner wall surface of the connection card slot. A plurality of through third fixing holes are formed in the left inner wall surface of the right connection card slot. An adjustment assembly is movably clamped in the connection card slot and the four stability slots. The inner wall surface of the right support frame is fixedly connected to the outer surface of the right connection frame.

[0010] As a further improvement of the above solution, there is a gap between the outer transmission gear and the inner wall surface of the installation frame, and the outer transmission gear is movably sleeved in the connection slot.

[0011] As a further improvement of the above solution, the transmission assembly includes a gear cover. A transmission rod is fixedly connected to the left end of the right gear cover. A transmission frame is fixedly connected to the left end of the right transmission rod. A stabilizing rod is fixedly connected to the left end of the right transmission frame. The right end of the right gear cover is fixedly connected to the left end of the right outer transmission gear.

[0012] As a further improvement of the above solution, the left end of the right transmission rod is inserted and movably connected to the right end of the right knee joint connection frame through a bearing, and the left end of the right stabilizing rod is movably connected to the left inner wall surface of the right knee joint connection frame through a rotating shaft.

[0013] As a further improvement of the above solution, the right connection frame includes a connection cover, a front connection plate and a rear connection plate. Activity rods are fixedly connected to the lower parts of the outer side surfaces of the front connection plate and the rear connection plate. A connecting rod is jointly and movably installed between the front connection plate and the rear connection plate through a rotating shaft at the lower part.

[0014] As a further improvement of the above solution, the outer side surfaces of the two activity rods are respectively movably connected to the left inner wall surface and the right inner wall surface of the connection cover through rotating shafts. The upper end of the front connection plate is fixedly connected to the lower end of the front waist fixing ring. The upper end of the rear connection plate is fixedly connected to the lower end of the rear waist fixing ring.

[0015] As a further improvement of the above solution, a plurality of the silica gel rings are distributed at equal distances in pairs. The two adjusting rods are respectively movably sleeved in the corresponding two fixing rods. There are two first fixing bolts. The outer surfaces of the two first fixing bolts are respectively threadedly connected to the inner wall surfaces of the corresponding two second fixing holes and respectively extend into the corresponding first fixing holes.

[0016] As a further improvement of the above solution, the adjusting assembly includes an adjusting frame and a second fixing bolt. In the middle of the left end of the right adjusting frame, a connecting clamping plate is fixedly connected. At the front and rear ends of the connecting clamping plate, stabilizing clamping plates are fixedly connected. On the right end of the right adjusting frame, a plurality of fourth fixing holes penetrating from left to right are opened, and the plurality of fourth fixing holes extend to the left end of the right connecting clamping plate. The inner wall surface of the adjusting frame is fixedly connected to the outer surface of the corresponding knee joint connecting frame.

[0017] As a further improvement of the above solution, the connecting clamping plate is movably clamped in the connecting clamping groove. The two stabilizing clamping plates are both set in a "U" shape, and the two stabilizing clamping plates are respectively movably clamped in the corresponding stabilizing clamping grooves. The outer surface of the second fixing bolt is threadedly connected to the inner wall surface of the corresponding fourth fixing hole and extends into the corresponding third fixing hole.

[0018] The control method of the exoskeleton mechanical joint with walking assistance includes the following steps:

[0019] Step 1. Preparation for wearing the waist: Wear the waist fixing assembly on the user's waist. By adjusting the positions of the two adjusting rods in the fixing rod, make the front waist fixing ring and the rear waist fixing ring fit the user's waist circumference. Then, screw the two first fixing bolts into the corresponding second fixing holes and extend them into the first fixing holes to complete the fastening of the waist fixing assembly.

[0020] Step 2. Preparation for adjusting the support length: By loosening the second fixing bolt in the adjusting assembly, slide the adjusting frame together with the connecting clamping plate and the stabilizing clamping plates in the connecting clamping groove and the stabilizing clamping grooves to a suitable position, and then tighten the second fixing bolt so that it passes through the fourth fixing hole and is screwed into the corresponding third fixing hole to realize the adjustment of the thigh support length. The adjustment method of the calf adjusting support is the same as that of the thigh adjusting support, so as to meet the needs of users of different heights and different walking scenarios for the leg support length.

[0021] Step 3. Preparation for wearing the legs and feet: Put the thigh into the thigh fixing ring, use the leg fixing magic tape and the silicone pad strip to fit the leg to fix the thigh. Put the calf into the calf fixing ring, and also use the leg fixing magic tape and the silicone pad strip to fit the calf to fix the calf. Put the foot on the foot board and use the foot fixing magic tape to fix the foot.

[0022] Step 4. Activate joint power: Turn on the servo motor in the knee joint power transmission mechanism. The output end of the servo motor drives the flange to rotate, which in turn drives the main transmission gear to rotate. The rotation of the main transmission gear drives the four internal transmission gears meshing with it to rotate. The four internal transmission gears jointly drive the external transmission gear to rotate. When the external transmission gear rotates, the connecting ring rotates synchronously, and the transmission component connected to the left end of the external transmission gear also rotates accordingly, driving the knee joint to move. The ankle joint power transmission mechanism has the same structure as the knee joint power transmission mechanism, and the starting method and power transmission principle are the same, which can realize the power drive of the ankle joint and drive the sole of the foot to move.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. In the present invention, the knee joint power transmission mechanism and the ankle joint power transmission mechanism are driven by a servo motor. Through the flange, the main transmission gear is driven. The main transmission gear meshes with four internal transmission gears, and then jointly drives the external transmission gear in a multi-stage gear transmission structure. Compared with the traditional simple gear or chain transmission, this transmission method can effectively reduce energy loss and improve power transmission efficiency. The servo motor can control the output speed and rotation direction. By controlling the rotation speed and direction of the main transmission gear, internal transmission gears and external transmission gear, the flexion and extension angles and speeds of the knee joint and ankle joint can be controlled. This motion control enables the exoskeleton to better simulate the natural walking posture of the human body when assisting the user to walk, making the movements more coordinated and smooth, avoiding jamming phenomena, greatly improving the comfort and smoothness of the user's walking, and enhancing the auxiliary walking effect of the exoskeleton.

[0025] 2. In the present invention, the waist fixing component can adapt the front waist fixing ring and the rear waist fixing ring to the waist circumferences of different users through the sliding adjustment of the adjusting rod in the fixing rod. This adjustable design, combined with the silicone sleeve and silicone ring, increases the friction and comfort with the waist, ensuring that the exoskeleton can closely fit the waists of people with different body types, improving the wearing adaptability and comfort, reducing the shaking of the exoskeleton during walking, and enhancing the use safety.

[0026] 3. In the present invention, the left connecting frame and the right connecting frame are fixedly connected to the front waist fixing ring and the rear waist fixing ring respectively through the front connecting plate and the rear connecting plate, and the front connecting plate and the rear connecting plate are movably connected through the movable rod and the connecting rod, forming a stable connection structure. During walking, this structure can effectively reduce the relative displacement between the exoskeleton and the human waist, enhance the stability of the exoskeleton during complex movements, improve the power transmission efficiency, and better assist the human body to walk.

[0027] 4. In the present invention, for the thigh adjustment support member and the calf adjustment support member, by loosening the second fixing bolt, the adjustment frame together with the connecting clamping plate and the stabilizing clamping plate can slide within the connecting card slot and the stabilizing card slot, quickly adjusting the support length. This adjustment method is simple to operate and does not require professional tools. The user can quickly adjust the support lengths of the thigh and calf in different scenarios to adapt to their own height and walking assistance needs, greatly improving the usability of the exoskeleton.

[0028] 5. In the present invention, the clamping method of the connecting clamping plate and the stabilizing clamping plate of the adjustment assembly with the connecting card slot and the stabilizing card slot, as well as the fastening effect of the second fixing bolt, enable the thigh adjustment support member and the calf adjustment support member to provide stable support after being adjusted to the appropriate length. During walking, this stable support can effectively disperse the body weight, reduce the local stress on the legs, reduce the fatigue feeling of the user's legs, improve the comfort of walking and the use effect of the exoskeleton, and maintain good support performance even during long-term walking or high-intensity activities. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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 describing 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.

[0030] Figure 1 It is a schematic diagram of the overall structure of the exoskeleton mechanical joint with walking assistance of the present invention;

[0031] Figure 2 It is an exploded view of the structure of the right connecting frame of the exoskeleton mechanical joint with walking assistance of the present invention (wherein the connecting cover is sectioned);

[0032] Figure 3 It is a schematic diagram of the structure of the waist fixing assembly of the exoskeleton mechanical joint with walking assistance of the present invention;

[0033] Figure 4 It is an exploded view of the structure of the waist fixing assembly of the exoskeleton mechanical joint with walking assistance of the present invention;

[0034] Figure 5 It is an exploded view of the structure of the thigh adjustment support member of the exoskeleton mechanical joint with walking assistance of the present invention;

[0035] Figure 6 It is an exploded view of the structure of the adjustment assembly of the exoskeleton mechanical joint with walking assistance of the present invention;

[0036] Figure 7Schematic structural diagram of the knee joint power transmission mechanism of the exoskeleton mechanical joint with walking assistance according to the present invention;

[0037] Figure 8 Sectional view of the knee joint power transmission mechanism of the exoskeleton mechanical joint with walking assistance according to the present invention (wherein the installation frame is sectioned);

[0038] Figure 9 Schematic combined connection structure diagram of the main transmission gear, inner transmission gear, outer transmission gear and connection ring of the exoskeleton mechanical joint with walking assistance according to the present invention;

[0039] Figure 10 Schematic structural diagram of the transmission assembly of the exoskeleton mechanical joint with walking assistance according to the present invention.

[0040] In the figure: 1, left connection frame; 2, right connection frame; 3, waist fixing assembly; 4, thigh adjustment support; 5, knee joint connection frame; 6, knee joint power transmission mechanism; 7, calf adjustment support; 8, ankle joint connection frame; 9, ankle joint power transmission mechanism; 10, foot plate; 11, thigh fixing ring; 12, calf fixing ring; 13, silica gel cushion strip; 14, leg fixing magic tape; 15, foot fixing magic tape; 21, connection cover; 22, movable rod; 23, front connection plate; 24, rear connection plate; 25, connecting rod; 31, front waist fixing ring; 32, rear waist fixing ring; 33, silica gel sleeve; 34, silica gel ring; 35, fixing rod; 36, adjusting rod; 37, first fixing hole; 38, second fixing hole; 39, first fixing bolt; 41, support frame; 42, connection card slot; 43, stable card slot; 44, third fixing hole; 45, adjusting assembly; 451, adjusting frame; 452, second fixing bolt; 453, connection card plate; 454, stable card plate; 455, fourth fixing hole; 61, installation frame; 62, connection slot; 63, servo motor; 64, flange; 65, main transmission gear; 66, inner transmission gear; 67, outer transmission gear; 68, connection ring; 69, transmission assembly; 691, gear cover; 692, transmission rod; 693, transmission frame; 694, stable rod. Detailed implementation manners

[0041] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with the specific implementation manners.

[0042] 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. It 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 should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" 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 elements. 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 circumstances.

[0044] The technical solution of the present invention will be further described below with reference to the drawings.

[0045] Embodiment

[0046] An exoskeleton mechanical joint with walking assistance, such as Figure 1As shown, it includes a left connecting frame 1 and a right connecting frame 2. The left connecting frame 1 and the right connecting frame 2 have the same structure and are distributed in a left-right mirror image. A waist fixing component 3 is fixedly connected between the left connecting frame 1 and the right connecting frame 2. At the lower part of the outer surface of the left connecting frame 1 and the lower part of the outer surface of the right connecting frame 2, thigh adjusting and supporting members 4 are fixedly connected. At the lower ends of the two thigh adjusting and supporting members 4, knee joint connecting frames 5 are fixedly connected. On the outer sides of the two knee joint connecting frames 5, knee joint power transmission mechanisms 6 are inserted and installed. At the lower part of the outer surface of the two knee joint power transmission mechanisms 6, calf adjusting and supporting members 7 are fixedly connected, and the two calf adjusting and supporting members 7 and the two thigh adjusting and supporting members 4 have the same structure. At the lower ends of the two calf adjusting and supporting members 7, ankle joint connecting frames 8 are fixedly connected. On the outer sides of the two ankle joint connecting frames 8, ankle joint power transmission mechanisms 9 are inserted and installed, and the two ankle joint power transmission mechanisms 9 and the two knee joint power transmission mechanisms 6 have the same structure. At the lower part of the outer surface of the two ankle joint power transmission mechanisms 9, foot plates 10 are fixedly connected. At the upper ends of the two foot plates 10, foot fixing magic tapes 15 are fixedly connected. On the inner sides of the two thigh adjusting and supporting members 4, thigh fixing rings 11 are fixedly connected. On the inner sides of the two calf adjusting and supporting members 7, calf fixing rings 12 are fixedly connected. A number of silica gel cushion strips 13 are fixedly connected to the inner wall surfaces of the two thigh fixing rings 11 and the inner wall surfaces of the two calf fixing rings 12. Leg fixing magic tapes 14 are fixedly connected to the inner sides of the two thigh fixing rings 11 and the inner sides of the two calf fixing rings 12.

[0047] Please refer to Figures 2 - 4, the waist fixing assembly 3 includes a front waist fixing ring 31, a rear waist fixing ring 32 and a first fixing bolt 39. Silicone sleeves 33 are fixedly sleeved on the outer surfaces of both the front waist fixing ring 31 and the rear waist fixing ring 32. A number of silicone rings 34 are fixedly sleeved on the outer surfaces of the two silicone sleeves 33. Fixing rods 35 are fixedly connected to the left and right fronts of the front end of the rear waist fixing ring 32, and adjusting rods 36 are fixedly connected to the left and right rears of the rear end of the rear waist fixing ring 32. A number of first fixing holes 37 are formed on the outer sides of the two adjusting rods 36, and second fixing holes 38 that penetrate through inside and outside are formed on the front parts of the outer sides of the two fixing rods 35; the right connecting frame 2 includes a connecting cover 21, a front connecting plate 23 and a rear connecting plate 24. Moving rods 22 are fixedly connected to the lower parts of the outer sides of both the front connecting plate 23 and the rear connecting plate 24. A connecting rod 25 is jointly movably installed between the front connecting plate 23 and the rear connecting plate 24 through a rotating shaft at the lower part; the outer sides of the two moving rods 22 are movably connected to the left inner wall surface and the right inner wall surface of the connecting cover 21 through rotating shafts respectively. The upper end of the front connecting plate 23 is fixedly connected to the lower end of the front waist fixing ring 31, and the upper end of the rear connecting plate 24 is fixedly connected to the lower end of the rear waist fixing ring 32; the number of silicone rings 34 are distributed at equal distances in pairs. The two adjusting rods 36 are respectively movably sleeved in the corresponding two fixing rods 35. There are two first fixing bolts 39, and the outer surfaces of the two first fixing bolts 39 are respectively threadedly connected to the inner wall surfaces of the corresponding two second fixing holes 38 and extend into the corresponding first fixing holes 37.

[0048] Please refer to Figures 5 - 6 , the thigh adjusting and supporting member 4 includes a support frame 41. A connecting card slot 42 is formed in the middle of the lower end of the support frame 41. Two through holes for fixing that penetrate through inside and outside are formed on both the front inner wall surface and the rear inner wall surface of the connecting card slot 42. A number of through holes for fixing that penetrate through inside and outside are formed on the left inner wall surface of the right connecting card slot 42. An adjusting assembly 45 is jointly movably clamped in the connecting card slot 42 and the four fixing card slots 43. The inner wall surface of the right support frame 41 is fixedly connected to the outer surface of the right connecting frame 2; the adjusting assembly 45 includes an adjusting frame 451 and a second fixing bolt 452. A connecting card plate 453 is fixedly connected to the middle of the left end of the right adjusting frame 451. Fixing card plates 454 are fixedly connected to both the front end and the rear end of the connecting card plate 453. A number of left-right through fourth fixing holes 455 are formed in the right end of the adjusting frame 451 and the number of fourth fixing holes 455 extend to the left end of the right connecting card plate 453. The inner wall surface of the adjusting frame 451 is fixedly connected to the outer surface of the corresponding knee joint connecting frame 5; the connecting card plate 453 is movably clamped in the connecting card slot 42. The two fixing card plates 454 are both set in a "U" shape and the two fixing card plates 454 are respectively movably clamped in the corresponding fixing card slots 43. The outer surface of the second fixing bolt 452 is threadedly connected to the inner wall surface of the corresponding fourth fixing hole 455 and extends into the corresponding third fixing hole 44.

[0049] Please refer toFigures 7 - 10 , the knee joint power transmission mechanism 6 includes a mounting frame 61. A connecting groove 62 is formed on the inner wall surface of the mounting frame 61. A servo motor 63 is fixedly installed at the right end of the right mounting frame 61, and the output end of the servo motor 63 penetrates through the right end of the right mounting frame 61 and extends into the right mounting frame 61. A flange 64 is fixedly installed at the output end of the servo motor 63. A main transmission gear 65 is fixedly connected to the left end of the right flange 64. Four inner transmission gears 66 are meshed with the outer surface of the main transmission gear 65. An outer transmission gear 67 is meshed with the outer surfaces of the four inner transmission gears 66. A connecting ring 68 is fixedly sleeved on the outer surface of the outer transmission gear 67. A transmission component 69 is fixedly connected to the left end of the right outer transmission gear 67. The left end of the right mounting frame 61 is fixedly connected to the right end of the right knee joint connecting frame 5; there is a gap between the outer transmission gear 67 and the inner wall surface of the mounting frame 61, and the outer transmission gear 67 is movably sleeved in the connecting groove 62; the transmission component 69 includes a gear cover 691. A transmission rod 692 is fixedly connected to the left end of the right gear cover 691. A transmission frame 693 is fixedly connected to the left end of the right transmission rod 692. A stabilizing rod 694 is fixedly connected to the left end of the right transmission frame 693. The right end of the right gear cover 691 is fixedly connected to the left end of the right outer transmission gear 67; the left end of the right transmission rod 692 is inserted and movably connected to the right end of the right knee joint connecting frame 5 through a bearing, and the left end of the right stabilizing rod 694 is movably connected to the left inner wall surface of the right knee joint connecting frame 5 through a rotating shaft.

[0050] In the specific use of the embodiment, pick up the waist fixing assembly 3, place the front waist fixing ring 31 corresponding to the abdomen of the human body, and the rear waist fixing ring 32 corresponding to the back of the human body, hold the two adjustment rods 36 with both hands, slide and adjust them in the fixing rod 35, so that the distance between the front waist fixing ring 31 and the rear waist fixing ring 32 is adapted to the waist circumference of the user. During the adjustment process, feel the comfort of the silicone sleeve 33 and the silicone ring 34 fitting the waist, and pay attention to the relative position between the fixing rod 35 and the adjusting rod 36. Take out the two first fixing bolts 39, align them with the two second fixing holes 38 respectively, rotate the first fixing bolt 39, so that its outer surface is threadedly connected with the inner wall of the second fixing hole 38, and gradually extends into the corresponding first fixing hole 37 until it is tightened. , complete the fastening of the waist fixing component 3, then loosen the second fixing bolt 452, hold the adjustment frame 451 with both hands, and slowly slide the connecting card plate 453 together with the fixing card plate 454 in the connecting card slot 42 and the fixing card slot 43, and determine the appropriate position according to the user's height and the walking scene's requirements for the thigh support length. After the position is determined, rotate the second fixing bolt 452 so that its outer surface is threadedly connected with the inner wall of the fourth fixing hole 455, and pass through the fourth fixing hole 455 and screw it into the corresponding third fixing hole 44 until it is tightened to complete the adjustment of the thigh support length. For the calf adjustment support 7, repeat the above steps to complete the adjustment of the calf support length to meet the needs of users of different heights and leg support lengths in different walking scenes. , and then slowly put the thigh into the thigh fixing ring 11, make sure that the thigh is in the center of the thigh fixing ring 11, then unfold the leg fixing Velcro 14 to make it fit the thigh tightly, and at the same time feel the comfort brought by the silicone pad 13, adjust the pasting position of the leg fixing Velcro 14 to ensure that the thigh is firmly and comfortably fixed, in the same way, put the calf into the calf fixing ring 12, use the leg fixing Velcro 14 and the silicone pad 13 to fit the calf, fix the calf, and then put the foot steadily on the sole 10, so that the sole of the foot is in full contact with the sole 10, then pull up the foot fixing Velcro 15, stick it firmly on the instep, fix the foot, and ensure that the foot will not fall off the sole 10 during walking. After putting it on, start the servo The output end of the motor 63 starts to rotate, driving the flange 64 fixed thereto to rotate synchronously. The rotation of the flange 64 causes the main transmission gear 65 fixed thereto to start to rotate. The teeth of the main transmission gear 65 mesh with the teeth of the four internal transmission gears 66, thereby driving the four internal transmission gears 66 to rotate around their respective central axes. The four internal transmission gears 66 mesh with the external transmission gear 67 together to transmit power to the external transmission gear 67. When the external transmission gear 67 rotates, the connecting ring 68 fixedly sleeved on its outer surface also rotates accordingly. With the rotation of the external transmission gear 67, the gear cover 691 drives the transmission rod 692 to rotate. The transmission rod 692 is movably connected to the knee joint connection frame 5 through the bearing, and the rotation is transmitted to the transmission frame 693.The transmission frame 693 drives the stabilizing rod 694 to rotate. The stabilizing rod 694 is movably connected to the left inner wall surface of the knee joint connection frame 5 through a rotating shaft, ultimately realizing the movement assistance of the knee joint. The ankle joint power transmission mechanism 9 has the same structure as the knee joint power transmission mechanism 6. According to the same power transmission principle as the knee joint power transmission mechanism 6, it realizes the power-assisted drive of the ankle joint, drives the sole 10 to move, and adjusts the rotation speed of the servo motor 63 in the knee joint power transmission mechanism 6 and the ankle joint power transmission mechanism 9 according to the walking speed and posture requirements of the user. When walking normally, the servo motor 63 is set to medium speed. When walking fast or running, the rotation speed of the servo motor 63 is appropriately increased. By adjusting the rotation speed of the servo motor 63, the rotation speeds of the main transmission gear 65, the inner transmission gear 66, and the outer transmission gear 67 are changed, thereby controlling the flexion and extension speeds of the knee joint and the ankle joint, and realizing different walking speed assistance.,

[0051] A control method for an exoskeleton mechanical joint with walking assistance includes the following steps:

[0052] Step 1. Preparation for wearing on the waist: Wear the waist fixing component 3 on the user's waist. By adjusting the positions of the two adjusting rods 36 in the fixing rod 35, make the front waist fixing ring 31 and the rear waist fixing ring 32 fit the user's waist circumference, and then screw the two first fixing bolts 39 into the corresponding second fixing holes 38 and extend them into the first fixing holes 37 to complete the fastening of the waist fixing component 3;

[0053] Step 2. Preparation for adjusting the support length: By loosening the second fixing bolt 452 in the adjusting component 45, slide the adjusting frame 451 together with the connecting clamping plate 453 and the stabilizing clamping plate 454 in the connecting card slot 42 and the stabilizing card slot 43 to a suitable position, and then tighten the second fixing bolt 452 so that it passes through the fourth fixing hole 455 and is screwed into the corresponding third fixing hole 44 to realize the adjustment of the thigh support length. The adjustment method of the calf adjustment support member 7 is the same as that of the thigh adjustment support member 4, so as to adapt to the needs of users of different heights and different walking scenarios for the leg support length;

[0054] Step 3. Preparation for wearing on the legs and feet: Put the thigh into the thigh fixing ring 11, use the leg fixing magic tape 14 and the silicone pad strip 13 to fit the leg to fix the thigh. Put the calf into the calf fixing ring 12, and also use the leg fixing magic tape 14 and the silicone pad strip 13 to fit the calf to fix the calf. Put the foot on the sole 10 and use the foot fixing magic tape 15 to fix the foot;

[0055] Step 4. Activate joint power: Turn on the servo motor 63 in the knee joint power transmission mechanism 6. The output end of the servo motor 63 drives the flange 64 to rotate, and then drives the main transmission gear 65 to rotate. The rotation of the main transmission gear 65 drives the four internal transmission gears 66 meshing with it to rotate. The four internal transmission gears 66 jointly drive the external transmission gear 67 to rotate. When the external transmission gear 67 rotates, the connecting ring 68 rotates synchronously, and the transmission assembly 69 connected to the left end of the external transmission gear 67 also rotates accordingly, driving the knee joint to move. The ankle joint power transmission mechanism 9 has the same structure as the knee joint power transmission mechanism 6, and the starting method and power transmission principle are the same, which can realize the power drive of the ankle joint and drive the sole 10 to move.

[0056] 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 by the above embodiments. The above embodiments and the descriptions in the specification are only used to illustrate 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. An exoskeleton mechanical joint with walking assistance, comprising a left connecting frame (1) and a right connecting frame (2), characterized in that: The left connecting frame (1) and the right connecting frame (2) have the same structure and are distributed in a left-right mirror image. A waist fixing assembly (3) is fixedly connected between the left connecting frame (1) and the right connecting frame (2). The lower parts of the outer surfaces of the left connecting frame (1) and the lower parts of the outer surfaces of the right connecting frame (2) are fixedly connected with thigh adjustment supports (4). The lower ends of the two thigh adjustment supports (4) are fixedly connected with knee joint connection frames (5). The outer sides of the two knee joint connection frames (5) are interspersed with knee joint power transmission mechanisms (6). The lower parts of the outer surfaces of the two knee joint power transmission mechanisms (6) are fixedly connected with calf adjustment supports (7). The two calf adjustment supports (7) have the same structure as the two thigh adjustment supports (4). The lower ends of the two calf adjustment supports (7) are fixedly connected with ankle joint connection frames (8). The two ankle joint connection frames (8) The outer side surfaces of the two ankle joint power transmission mechanisms (9) are interspersed and installed, and the two ankle joint power transmission mechanisms (9) and the two knee joint power transmission mechanisms (6) have the same structure. The lower parts of the outer surfaces of the two ankle joint power transmission mechanisms (9) are fixedly connected to the soles of the feet (10), and the upper ends of the two soles of the feet (10) are fixedly connected to the foot fixing Velcro (15). The inner side surfaces of the two thigh adjustment support members (4) are fixedly connected to the thigh fixing ring (11), and the inner side surfaces of the two calf adjustment support members (7) are fixedly connected to the calf fixing ring (12). The inner wall surfaces of the two thigh fixing rings (11) and the inner wall surfaces of the two calf fixing rings (12) are fixedly connected to a plurality of silicone pads (13), and the inner side surfaces of the two thigh fixing rings (11) and the inner side surfaces of the two calf fixing rings (12) are fixedly connected to the leg fixing Velcro (14); The knee joint power transmission mechanism (6) comprises a mounting frame (61), the inner wall surface of the mounting frame (61) is provided with a connection groove (62), a servo motor (63) is fixedly mounted on the right end of the right mounting frame (61), and the output end of the servo motor (63) passes through the right end of the right mounting frame (61) and extends into the right mounting frame (61), a flange (64) is fixedly mounted on the output end of the servo motor (63), a main transmission gear (65) is fixedly connected to the left end of the right flange (64), the outer surface of the main transmission gear (65) is meshedly connected to four internal transmission gears (66), the outer surfaces of the four internal transmission gears (66) are meshedly connected to an external transmission gear (67), the outer surface of the external transmission gear (67) is fixedly sleeved with a connection ring (68), the left end of the right external transmission gear (67) is fixedly connected to a transmission assembly (69), and the left end of the right mounting frame (61) is fixedly connected to the right end of the right knee joint connection frame (5); The waist fixing assembly (3) comprises a front waist fixing ring (31), a rear waist fixing ring (32) and a first fixing bolt (39); the outer surfaces of the front waist fixing ring (31) and the outer surfaces of the rear waist fixing ring (32) are both fixedly sleeved with a silicone sleeve (33); the outer surfaces of the two silicone sleeves (33) are both fixedly sleeved with a plurality of silicone rings (34); the front left and right parts of the rear waist fixing ring (32) are both fixedly connected with a fixing rod (35); the rear left and right parts of the rear waist fixing ring (32) are both fixedly connected with an adjusting rod (36); the outer side surfaces of the two adjusting rods (36) are both provided with a plurality of first fixing holes (37); the outer front parts of the two fixing rods (35) are both provided with a second fixing hole (38) that penetrates inside and outside; The thigh adjustment support member (4) comprises a support frame (41), a connecting slot (42) is provided in the middle of the lower end of the support frame (41), the front inner wall surface and the rear inner wall surface of the connecting slot (42) are both provided with two inner and outer penetrating stabilizing slots (43), the left inner wall surface of the right connecting slot (42) is provided with a plurality of inner and outer penetrating third fixing holes (44), the connecting slot (42) and the four stabilizing slots (43) are movably connected with an adjustment component (45), and the inner wall surface of the right supporting frame (41) is fixedly connected to the outer surface of the right connecting frame (2).

2. The exoskeleton mechanical joint with walking assistance according to claim 1, characterized in that: There is a gap between the external transmission gear (67) and the inner wall surface of the installation frame (61), and the external transmission gear (67) is movably sleeved in the connecting groove (62).

3. The exoskeleton mechanical joint with walking assistance according to claim 1, characterized in that: The transmission assembly (69) comprises a gear cover (691), the left end of the right gear cover (691) is fixedly connected to a transmission rod (692), the left end of the right transmission rod (692) is fixedly connected to a transmission frame (693), the left end of the right transmission frame (693) is fixedly connected to a stabilizing rod (694), and the right end of the right gear cover (691) is fixedly connected to the left end of the right external transmission gear (67).

4. The exoskeleton mechanical joint with walking assistance according to claim 3, characterized in that: The left end of the transmission rod (692) on the right side is movably connected to the right end of the right knee joint connection frame (5) through a bearing, and the left end of the stabilizing rod (694) on the right side is movably connected to the left inner wall surface of the right knee joint connection frame (5) through a rotating shaft.

5. The exoskeleton mechanical joint with walking assistance according to claim 1, characterized in that: The right connecting frame (2) comprises a connecting cover (21), a front connecting plate (23) and a rear connecting plate (24); the lower parts of the outer sides of the front connecting plate (23) and the rear connecting plate (24) are fixedly connected with movable rods (22); and the lower parts between the front connecting plate (23) and the rear connecting plate (24) are movably mounted with a connecting rod (25) via a rotating shaft.

6. The exoskeleton mechanical joint with walking assistance according to claim 5, characterized in that: The outer side surfaces of the two movable rods (22) are movably connected to the left inner wall surface and the right inner wall surface of the connecting cover (21) through a rotating shaft, the upper end of the front connecting plate (23) is fixedly connected to the lower end of the front waist fixing ring (31), and the upper end of the rear connecting plate (24) is fixedly connected to the lower end of the rear waist fixing ring (32).

7. The exoskeleton mechanical joint with walking assistance according to claim 1, characterized in that: A plurality of the silica gel rings (34) are equidistantly distributed in pairs. Two of the adjusting rods (36) are respectively movably sleeved in the corresponding two fixing rods (35). There are two first fixing bolts (39). The outer surfaces of the two first fixing bolts (39) are respectively threadedly connected to the inner wall surfaces of the corresponding two second fixing holes (38) and respectively extend into the corresponding first fixing holes (37).

8. The exoskeleton mechanical joint with walking assistance according to claim 1, characterized in that: The adjusting assembly (45) includes an adjusting frame (451) and a second fixing bolt (452). A connecting clamping plate (453) is fixedly connected to the middle of the left end of the right adjusting frame (451). Firming clamping plates (454) are fixedly connected to both the front end and the rear end of the connecting clamping plate (453). A plurality of left-right penetrating fourth fixing holes (455) are formed in the right end of the right adjusting frame (451), and the plurality of fourth fixing holes (455) extend to the left end of the right connecting clamping plate (453). The inner wall surface of the adjusting frame (451) is fixedly connected to the outer surface of the corresponding knee joint connecting frame (5).

9. The exoskeleton mechanical joint with walking assistance according to claim 8, characterized in that: The connecting clamping plate (453) is movably clamped in the connecting clamping groove (42). The two firming clamping plates (454) are both in a "U" shape, and the two firming clamping plates (454) are respectively movably clamped in the corresponding firming clamping grooves (43). The outer surface of the second fixing bolt (452) is threadedly connected to the inner wall surface of the corresponding fourth fixing hole (455) and extends into the corresponding third fixing hole (44).

10. A method for controlling an exoskeleton mechanical joint with walking assistance according to any one of claims 1 to 9, characterized in that: It includes the following steps: Step 1. Preparation for wearing on the waist: Wear the waist fixing assembly (3) on the user's waist. By adjusting the positions of the two adjusting rods (36) in the fixing rods (35), make the front waist fixing ring (31) and the rear waist fixing ring (32) fit the user's waist circumference. Then, screw the two first fixing bolts (39) into the corresponding second fixing holes (38) respectively and extend them into the first fixing holes (37) to complete the fastening of the waist fixing assembly (3). Step 2. Preparation for adjusting the support length: By loosening the second fixing bolt (452) in the adjusting assembly (45), slide the adjusting frame (451) together with the connecting clamping plate (453) and the firming clamping plates (454) in the connecting clamping groove (42) and the firming clamping grooves (43) to a proper position, and then tighten the second fixing bolt (452) so that it passes through the fourth fixing hole (455) and is screwed into the corresponding third fixing hole (44) to realize the adjustment of the thigh support length. The adjustment method of the calf adjusting support (7) is the same as that of the thigh adjusting support (4) to meet the needs of users of different heights and different walking scenarios for the leg support length. Step 3. Preparation for wearing on the legs and feet: Put the thighs into the thigh fixing rings (11), use the leg fixing magic tapes (14) and the silica gel pad strips (13) to fit the legs to fix the thighs. Put the calves into the calf fixing rings (12), and also use the leg fixing magic tapes (14) and the silica gel pad strips (13) to fit the calves to fix the calves. Put the feet on the foot plates (10), and use the foot fixing magic tapes (15) to fix the feet. Step 4, start the joint power: turn on the servo motor (63) in the knee joint power transmission mechanism (6), the output end of the servo motor (63) drives the flange (64) to rotate, and then drives the main transmission gear (65) to rotate, the main transmission gear (65) rotates and drives the four internal transmission gears (66) meshing with it to rotate, the four internal transmission gears (66) jointly drive the external transmission gear (67) to rotate, when the external transmission gear (67) rotates, the connecting ring (68) rotates synchronously, and the transmission assembly (69) connected to the left end of the external transmission gear (67) also rotates, driving the knee joint to move, the ankle joint power transmission mechanism (9) and the knee joint power transmission mechanism (6) have the same structure, the same starting method and the same power transmission principle, can realize the power drive of the ankle joint, and drive the sole (10) to move.

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