Exoskeleton walking booster with self-adaptive protection function

Abstract

The invention discloses an exoskeleton walking booster with a self-adaptive protection function, and relates to the field of exoskeletons.The exoskeleton walking booster comprises a wearing mechanism, the wearing mechanism comprises a mounting waistband, a first hook-and-loop fastener strap and a module mounting seat, the first hook-and-loop fastener strap and the module mounting seat are arranged on the mounting waistband, and a second universal movable ball and a mounting frame are mounted on the upper surface of the module mounting seat; the protection mechanism comprises a driving shaft arranged at the output end of the first driving part and a connecting slot formed in the connecting seat; by arranging the protection mechanism, the situation that the joints of a user are continuously pulled to rotate after the driving equipment breaks down can be avoided, when a torque sensor monitors that the torque of an output rotating shaft is abnormal, a telescopic piece can be started in a wireless control mode, the telescopic piece drives a movable sleeve to contract, and therefore the user can conveniently use the device. And at the moment, after the limiting effect of the limiting rail plate is lost, the driving shaft can idle in the connecting inserting groove.

Description

Technical Field

[0001] This invention relates to exoskeleton technology, specifically to an exoskeleton walking aid with adaptive protection function. Background Technology

[0002] An exoskeleton is an artificial mechanical structure worn on the outside of the human body. It provides the wearer with body support, enhances strength, or assists in movement. Driven by motors, hydraulics, or pneumatics, it helps the body bear weight, perform high-intensity movements, and can even assist paralyzed patients in walking again. Exoskeletons are widely used in military, medical rehabilitation, and industrial handling fields, both to enhance human function and as rehabilitation tools to help people with mobility impairments regain their motor abilities.

[0003] Exoskeleton devices typically provide joint mobility through motors or hydraulic telescopic devices. However, existing exoskeleton devices lack emergency disengagement capabilities in case of malfunction. When the motor or telescopic device fails, the assistive state cannot be released in time, causing the user's joints to continue rotating with the exoskeleton, which may lead to injury. Summary of the Invention

[0004] The purpose of this invention is to provide an exoskeleton walking assist device with adaptive protection function to solve the problem that existing exoskeleton devices lack emergency disengagement function in case of failure. When the motor or telescopic device fails, the assist state cannot be released in time, which will cause the user's joints to continue to rotate with the exoskeleton, potentially leading to user injury.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an exoskeleton walking aid with adaptive protection function, comprising:

[0006] The wearing mechanism includes a mounting belt, a first Velcro strap and a module mounting base mounted on the mounting belt. A second universal ball and a mounting frame are mounted on the upper surface of the module mounting base. The mounting frame is movably engaged with the module mounting base via the second universal ball. A lifting sliding seat is slidably mounted on the mounting frame. A first driving component is mounted on the lifting sliding seat. A large arm support is connected to the output end of the first driving component. A second driving component is mounted at one end of the large arm support. A connecting seat is connected to the output end of the second driving component. A forearm support is movably mounted on the connecting seat. A magnetic component and a third driving component are mounted on the lower surface of the module mounting base. The third driving component is connected to the module mounting base via the magnetic component. A lower limb assist component is mounted on the third driving component. A control panel is mounted on one side of the forearm support.

[0007] The protective mechanism includes a drive shaft disposed on the output end of a first drive member and a connecting slot disposed on a connecting seat. The drive shaft is inserted into the connecting slot. A movable sleeve is slidably mounted on the circumferential side of the drive shaft. A limiting rail plate is fixedly disposed on the circumferential side of the movable sleeve. A limiting rail groove is formed on the inner circumferential side of the connecting slot. The limiting rail plate is slidably engaged with the limiting rail groove. A telescopic member is disposed on the first drive member. A pusher is connected to the telescopic end of the telescopic member. The pusher is connected to the movable sleeve.

[0008] Furthermore, a positioning slot is provided on the circumferential side of the drive shaft, and a positioning rail plate is provided inside the movable sleeve. The positioning rail plate slides in conjunction with the positioning slot. A torque monitoring slot is provided at one end of the drive shaft, and a torque detector is provided inside the connecting seat. The output end of the torque detector is inserted into the torque monitoring slot.

[0009] Furthermore, the magnetic attraction component includes a magnetic attraction connecting block disposed on the lower surface of the module mounting base, wherein a magnetic attraction insertion shaft is magnetically connected inside the magnetic attraction connecting block, and a connecting plate is fixedly connected to the magnetic attraction insertion shaft.

[0010] Furthermore, the lower limb assistive device includes a third drive member disposed on the connecting plate, the output end of the third drive member is connected to a thigh support, one end of the thigh support is provided with a telescopic component, the telescopic component includes a telescopic frame and a telescopic rod slidably connected to one end of the telescopic frame, one end of the telescopic rod is provided with a fourth drive member, the output end of the fourth drive member is connected to a lower leg support.

[0011] Furthermore, the telescopic rod is provided with several positioning screw holes, and the telescopic frame is provided with positioning screws, which are screwed into the positioning screw holes.

[0012] Furthermore, both the thigh support and the calf support are provided with a third Velcro strap.

[0013] Furthermore, a first universal joint is provided between the connecting seat and the forearm support, and the connecting seat is movably engaged with the forearm support through the first universal joint. A second Velcro strap is fixedly installed on both the upper arm support and the forearm support.

[0014] Furthermore, a foot pedal is movably mounted on one end of the calf support, and an anti-slip base plate is fixedly mounted on the lower surface of the foot pedal.

[0015] Furthermore, a motherboard box is fixedly mounted on the mounting belt, and the motherboard box includes a receiving compartment, which contains a power motherboard integrated assembly.

[0016] Furthermore, a sealing plate is provided at one end of the receiving compartment, a fixed insert rod is provided at one end of the sealing plate, and a telescopic groove is provided at the other end of the sealing plate. A return spring and a movable insert rod are installed inside the telescopic groove. An adjusting slide groove is provided on one surface of the sealing plate, and the adjusting slide groove is connected to the telescopic groove. An adjusting slider is slidably installed in the adjusting slide groove, and the adjusting slider is connected to the movable insert rod. A first mounting slot and a second mounting slot are respectively provided at the upper and lower ends of the receiving compartment. The movable insert rod and the fixed insert rod are respectively inserted into the first mounting slot and the second mounting slot.

[0017] Compared with existing technologies, the beneficial effects of the exoskeleton walking aid with adaptive protection function provided by the present invention are:

[0018] (1) The present invention provides a wider range of arm movement by setting an installation belt with a first Velcro strap for wearing on the patient's waist, and the upper limb joints are mounted on the module mounting base by a second universal ball, and the lower limb joints are mounted on the module mounting base by a magnetic node. The magnetic connection node consists of a permanent magnet and a magnetic induction adjustment device. The permanent magnet provides the attraction force required for connection, and the magnetic induction adjustment device can automatically adjust the connection angle according to the force between the modules to ensure the coordination and stability between the modules during movement. In addition, the device is equipped with a protective mechanism on each skeletal joint to prevent the user's joints from being pulled and rotated after the drive device malfunctions. The monitoring end of the torque sensor is connected to the output shaft of the drive device through a torque monitoring slot. When the torque sensor detects an abnormal torque of the output shaft, the telescopic component can be activated by wireless control. The telescopic component drives the movable sleeve to retract, thereby releasing the insertion state between the limit rail plate and the limit rail groove. At this time, after losing the limiting effect of the limit rail plate, the drive shaft will rotate freely in the connecting slot, thereby preventing the user's joints from being pulled and assisted.

[0019] (2) This invention features a motherboard box with an integrated power supply motherboard assembly. The central processing unit within the motherboard box is equipped with a fault warning module, enabling real-time monitoring of the system's operating status. Upon detecting a fault, the fault information can be sent to a connected mobile application or remote monitoring platform via a wireless communication module. The remote monitoring platform consists of a server, database, and monitoring software. Family members or medical personnel can log in to the platform via a mobile application or webpage to view the user's exoskeleton status, walking data, and any abnormalities. The power supply provides power to all the electronic components of the device, and the packaging board uses a press-type quick-release design for easy power replacement. The device also includes a pressure sensor on the foot pedal. To sense the pressure distribution on the soles of the feet and obtain information on the center of gravity shift during walking, accelerometers are installed on the waist belt and the second Velcro strap to monitor walking speed, gait rhythm, and changes in body posture. Electromyography (EMG) sensors are installed at positions that fit the leg muscle groups to detect muscle activity signals and help determine the user's walking intentions. The central processing unit can receive data from various sensors, analyze and process it through deep learning algorithms and predictive assist algorithms, and generate control commands. At the same time, the device has padding at the contact points between the exoskeleton and the user's muscles. This padding is made of high-polymer memory foam material, covered with soft and breathable fabric, and also integrates pressure sensors inside. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0021] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the internal structure of the boom support provided in an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the specific structure of the connecting socket provided in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the specific structure of the movable shaft cylinder provided in an embodiment of the present invention;

[0025] Figure 5 This is a partial structural diagram at point A provided in an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the specific structure of the module mounting base provided in an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the internal structure of the motherboard enclosure provided in an embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of a partial structure at point B provided in an embodiment of the present invention.

[0029] Explanation of reference numerals in the attached figures:

[0030] 1. Install waist belt; 2. First Velcro strap; 3. Module mounting base; 4. Mounting bracket; 5. Lifting sliding base; 6. First drive component; 7. Boom support; 8. Connecting seat; 9. First universal ball joint; 10. Forearm support; 11. Control panel; 12. Second Velcro strap; 13. Second drive component; 14. Second universal ball joint; 15. Magnetic connecting block; 16. Magnetic insertion shaft; 17. Connecting plate; 18. Third drive component; 19. Third Velcro strap; 20. Mainboard box; 21. Thigh support; 22. Lower leg support; 23. Fourth drive component; 24. Telescopic frame; 25. Extension 26. Retractable rod; 27. Positioning screw hole; 28. Positioning screw; 29. ​​Movable sleeve; 30. Connecting slot; 31. Limiting rail groove; 32. Limiting rail plate; 33. Drive shaft; 34. Positioning slot; 35. Positioning rail plate; 36. Torque monitoring slot; 37. Telescopic component; 38. Push frame; 39. Receiving compartment; 40. Power mainboard integrated assembly; 41. First mounting slot; 42. Second mounting slot; 43. Fixed insert rod; 44. Encapsulation plate; 45. Telescopic groove; 46. Return spring; 47. Movable insert rod; 48. Adjusting slide; 49. Adjusting slider; 50. Foot pedal; 51. Anti-slip base plate. Detailed Implementation

[0031] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0032] As attached Figure 1 To be continued Figure 8 As shown:

[0033] Example 1:

[0034] This invention provides an exoskeleton walking assist device with adaptive protection function, comprising: a wearing mechanism, the wearing mechanism including a mounting belt 1 and a first Velcro strap 2 and a module mounting base 3 disposed on the mounting belt 1, a second universal ball 14 and a mounting frame 4 mounted on the upper surface of the module mounting base 3, the mounting frame 4 being movably engaged with the module mounting base 3 through the second universal ball 14, a lifting sliding seat 5 being slidably mounted on the mounting frame 4, a first driving member 6 being disposed on the lifting sliding seat 5, a large arm support 7 being connected to the output end of the first driving member 6, a second driving member 13 being disposed at one end of the large arm support 7, a connecting seat 8 being connected to the output end of the second driving member 13, a forearm support 10 being movably mounted on the connecting seat 8, a magnetic suction component and a third driving member 18 being disposed on the lower surface of the module mounting base 3, the third driving member 18 being connected to the module mounting base 3 through the magnetic suction component, a lower limb assist component being disposed on the third driving member 18, and a control panel 11 being disposed on one side of the forearm support 10;

[0035] The protective mechanism includes a drive shaft 32 located at the output end of the first drive member 6 and a connecting slot 29 located on the connecting seat 8. The drive shaft 32 is inserted into the connecting slot 29. A movable sleeve 28 is slidably mounted on the circumferential side of the drive shaft 32. A limiting rail plate 31 is fixedly provided on the circumferential side of the movable sleeve 28. A limiting rail groove 30 is provided on the inner circumferential side of the connecting slot 29. The limiting rail plate 31 and the limiting rail groove 30 are slidably engaged. A telescopic member 36 is provided on the first drive member 6. A pusher frame 37 is connected to the telescopic end of the telescopic member 36. The pusher frame 37 is connected to the movable sleeve 28.

[0036] Specifically, the drive shaft 32 has a positioning slot 33 on its circumferential side, and the movable sleeve 28 has a positioning rail plate 34 inside. The positioning rail plate 34 slides with the positioning slot 33. One end of the drive shaft 32 has a torque monitoring slot 35, and the connecting seat 8 has a torque detector inside. The output end of the torque detector is plugged into the torque monitoring slot 35.

[0037] Specifically, the magnetic assembly includes a magnetic connector block 15 disposed on the lower surface of the module mounting base 3, a magnetic insertion shaft 16 magnetically connected inside the magnetic connector block 15, and a connector plate 17 fixedly connected to the magnetic insertion shaft 16.

[0038] Specifically, the lower limb assistive device includes a third drive member 18 mounted on the connecting plate 17. The output end of the third drive member 18 is connected to a thigh support 21. One end of the thigh support 21 is provided with a telescopic component. The telescopic component includes a telescopic frame 24 and a telescopic rod 25 slidably connected to one end of the telescopic frame 24. One end of the telescopic rod 25 is provided with a fourth drive member 23. The output end of the fourth drive member 23 is connected to a lower leg support 22.

[0039] Specifically, the telescopic rod 25 has several positioning screw holes 26, and the telescopic frame 24 is provided with positioning screws 27, which are screwed into the positioning screw holes 26.

[0040] Specifically, both the thigh support 21 and the calf support 22 are equipped with a third Velcro strap 19.

[0041] Working Principle: This invention uses a mounting belt 1 with a first Velcro strap 2 for wearing around the patient's waist. The upper limb joints are mounted on a modular mounting base 3 via a second universal ball joint 14, providing a greater range of arm movement. The lower limb joints are mounted on the modular mounting base 3 via magnetic nodes. These magnetic nodes consist of a permanent magnet and a magnetic induction adjustment device. The permanent magnet provides the necessary attraction force for the connection, and the magnetic induction adjustment device automatically adjusts the connection angle based on the force between the modules, ensuring coordination and stability between the modules during movement. Furthermore, this device is applied to each skeletal joint... All are equipped with protective mechanisms to prevent the user's joints from being pulled and rotated after the drive equipment malfunctions. The monitoring end of the torque sensor is connected to the output shaft of the drive equipment through the torque monitoring slot 35. When the torque sensor detects an abnormal torque on the output shaft, the telescopic component 36 can be activated wirelessly. The telescopic component 36 drives the movable sleeve 28 to retract, thereby releasing the insertion state between the limit rail plate 31 and the limit rail groove 30. At this time, after the limiting effect of the limit rail plate 31 is lost, the drive shaft 32 will rotate freely in the connecting slot 29, thus preventing the user's joints from being pulled and assisted.

[0042] Example 2:

[0043] As attached Figure 1 To be continued Figure 8 As shown:

[0044] A first universal ball joint 9 is provided between the connecting seat 8 and the forearm support 10. The connecting seat 8 is movably engaged with the forearm support 10 through the first universal ball joint 9. A second Velcro strap 12 is fixedly installed on both the upper arm support 7 and the forearm support 10.

[0045] Specifically, a foot pedal 49 is movably installed at one end of the lower leg support 22, and an anti-slip base plate 50 is fixedly installed on the lower surface of the foot pedal 49.

[0046] Specifically, a motherboard box 20 is fixedly installed on the mounting belt 1. The motherboard box 20 includes a receiving compartment 38, and the receiving compartment 38 contains a power motherboard integrated component 39.

[0047] Specifically, a sealing plate 43 is provided at one end of the receiving compartment 38, a fixed insert rod 42 is provided at one end of the sealing plate 43, and a telescopic groove 44 is provided at the other end of the sealing plate 43. A return spring 45 and a movable insert rod 46 are installed inside the telescopic groove 44. An adjusting slide groove 47 is provided on one surface of the sealing plate 43. The adjusting slide groove 47 is connected to the telescopic groove 44. An adjusting slider 48 is slidably installed in the adjusting slide groove 47. The adjusting slider 48 is connected to the movable insert rod 46. A first mounting slot 40 and a second mounting slot 41 are respectively provided at the upper and lower ends of the receiving compartment 38. The movable insert rod 46 and the fixed insert rod 42 are respectively inserted into the first mounting slot 40 and the second mounting slot 41.

[0048] Working Principle: This invention utilizes a motherboard box 20 with an integrated power supply motherboard assembly 39. The central processing unit within the motherboard box 20 is equipped with a fault warning module, capable of real-time monitoring of the system's operating status. Upon detecting a fault, it can send fault information to a linked mobile application or remote monitoring platform via a wireless communication module. The remote monitoring platform consists of a server, database, and monitoring software. Family members or medical personnel can log in to the platform via a mobile application or webpage to view the user's exoskeleton status, walking data, and any abnormalities. The power supply provides power to all the electronic components of the device. The encapsulation board 43 features a press-type quick-release design for easy power replacement. The device also includes pressure sensors on the foot pedals 49 to sense foot pressure distribution and obtain information on weight transfer during walking. The waist belt 1 and the second Velcro strap 12 are also installed. An accelerometer is installed on the device to monitor walking speed, gait rhythm, and changes in body posture. Electromyography (EMG) sensors are installed at positions that fit the leg muscle groups to detect muscle activity signals and help determine the user's walking intentions. The central processing unit can receive data from various sensors, analyze and process it through deep learning algorithms and predictive assist algorithms, and generate control commands. The device also has padding at the contact points between the exoskeleton and the user's muscles. This padding is made of high-polymer memory foam and covered with soft and breathable fabric. Pressure sensors are also integrated inside. The telescopic component 36 used in this device is a telescopic cylinder. The first drive component 6, the second drive component 13, the third drive component 18, and the fourth drive component 23 are all servo motors. The sensors used are all existing conventional devices, so they will not be described in detail here.

[0049] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An exoskeleton walking aid with adaptive protection function, characterized in that, include: The wearing mechanism includes a mounting belt (1), a first Velcro strap (2) and a module mounting base (3) disposed on the mounting belt (1). A second universal ball (14) and a mounting bracket (4) are mounted on the upper surface of the module mounting base (3). The mounting bracket (4) is movably engaged with the module mounting base (3) through the second universal ball (14). A lifting sliding seat (5) is slidably mounted on the mounting bracket (4). A first driving member (6) is disposed on the lifting sliding seat (5). The output end of the first driving member (6) is connected to... The upper arm support (7) is provided with a second drive component (13) at one end. The output end of the second drive component (13) is connected to a connecting seat (8). The forearm support (10) is movably installed on the connecting seat (8). The lower surface of the module mounting base (3) is provided with a magnetic suction component and a third drive component (18). The third drive component (18) is connected to the module mounting base (3) through the magnetic suction component. The third drive component (18) is provided with a lower limb assist component. The side of the forearm support (10) is provided with a control panel (11). The protective mechanism includes a drive shaft (32) disposed on the output end of the first drive member (6) and a connecting slot (29) disposed on the connecting seat (8). The drive shaft (32) is inserted into the connecting slot (29). A movable sleeve (28) is slidably installed on the periphery of the drive shaft (32). A limiting rail plate (31) is fixedly disposed on the periphery of the movable sleeve (28). A limiting rail groove (30) is opened on the inner periphery of the connecting slot (29). The limiting rail plate (31) and the limiting rail groove (30) are slidably engaged. A telescopic member (36) is disposed on the first drive member (6). A pusher frame (37) is connected to the telescopic end of the telescopic member (36). The pusher frame (37) is connected to the movable sleeve (28).

2. The exoskeleton walking aid with adaptive protection function according to claim 1, characterized in that, The drive shaft (32) has a positioning slot (33) on its circumferential side. The movable sleeve (28) has a positioning rail plate (34) inside. The positioning rail plate (34) slides with the positioning slot (33). The drive shaft (32) has a torque monitoring slot (35) at one end. The connecting seat (8) has a torque detector inside. The output end of the torque detector is inserted into the torque monitoring slot (35).

3. The exoskeleton walking aid with adaptive protection function according to claim 1, characterized in that, The magnetic assembly includes a magnetic connector block (15) disposed on the lower surface of the module mounting base (3). The magnetic connector block (15) is magnetically connected to a magnetic insertion shaft (16), and a connector plate (17) is fixedly connected to the magnetic insertion shaft (16).

4. The exoskeleton walking aid with adaptive protection function according to claim 1, characterized in that, The lower limb assistive component includes a third drive member (18) disposed on a connecting plate (17). The output end of the third drive member (18) is connected to a thigh support (21). One end of the thigh support (21) is provided with a telescopic component. The telescopic component includes a telescopic frame (24) and a telescopic rod (25) slidably connected to one end of the telescopic frame (24). One end of the telescopic rod (25) is provided with a fourth drive member (23). The output end of the fourth drive member (23) is connected to a lower leg support (22).

5. The exoskeleton walking aid with adaptive protection function according to claim 4, characterized in that, The telescopic rod (25) has several positioning screw holes (26), and the telescopic frame (24) is provided with positioning screws (27), which are screwed into the positioning screw holes (26).

6. The exoskeleton walking aid with adaptive protection function according to claim 5, characterized in that, Both the thigh support (21) and the calf support (22) are provided with a third Velcro strap (19).

7. The exoskeleton walking aid with adaptive protection function according to claim 1, characterized in that, A first universal ball (9) is provided between the connecting seat (8) and the forearm support (10). The connecting seat (8) is movably connected with the forearm support (10) through the first universal ball (9). A second Velcro strap (12) is fixedly installed on both the upper arm support (7) and the forearm support (10).

8. The exoskeleton walking aid with adaptive protection function according to claim 6, characterized in that, A foot pedal (49) is movably installed at one end of the lower leg support (22), and an anti-slip base plate (50) is fixedly installed on the lower surface of the foot pedal (49).

9. The exoskeleton walking aid with adaptive protection function according to claim 1, characterized in that, A motherboard box (20) is fixedly installed on the mounting belt (1). The motherboard box (20) includes a receiving compartment (38), and a power motherboard integrated component (39) is provided inside the receiving compartment (38).

10. An exoskeleton walking aid with adaptive protection function according to claim 9, characterized in that, The receiving chamber (38) is provided with a sealing plate (43) at one end, a fixed insert rod (42) at one end of the sealing plate (43), and a telescopic groove (44) at the other end of the sealing plate (43). A reset spring (45) and a movable insert rod (46) are installed inside the telescopic groove (44). An adjustment slide groove (47) is provided on one surface of the sealing plate (43). The adjustment slide groove (47) is connected to the telescopic groove (44). An adjustment slider (48) is slidably installed in the adjustment slide groove (47). The adjustment slider (48) is connected to the movable insert rod (46). The receiving chamber (38) is provided with a first mounting slot (40) and a second mounting slot (41) at the upper and lower ends, respectively. The movable insert rod (46) and the fixed insert rod (42) are respectively inserted into the first mounting slot (40) and the second mounting slot (41).

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