Lower extremity exoskeleton robot with multi-dimensional adjustment function

Abstract

The application discloses a lower limb exoskeleton robot with multi-dimensional adjustment function, which comprises a back base, symmetrically distributed waist adjustment assemblies are connected to the two sides of the back base, hip joint driving modules are connected to the ends of the waist adjustment assemblies away from the back base, leg link assembly is connected to the ends of the hip joint driving modules away from the waist adjustment assemblies, and leg adjustment assemblies are connected to the ends of the leg link assembly away from the hip joint driving modules. The multi-dimensional adjustment mechanism of the waist and the leg realizes accurate alignment of the joint center of the exoskeleton robot, and has the advantages of compact structure, comfortable wearing, reliable locking and light weight.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton devices and technology, specifically to a lower limb exoskeleton robot with multi-dimensional adjustment capabilities. Background Technology

[0002] Lower limb exoskeleton robots, as wearable intelligent devices, have broad application prospects in medical rehabilitation, paraplegic mobility assistance, and motor assistance. One of the core principles of exoskeleton system design is to achieve "human-machine kinematic compatibility," that is, to ensure that the mechanical joint axis of the exoskeleton coincides as closely as possible with the biological joint axis of the human body. Because different users have significantly different body parameters, exoskeletons must have size adjustment capabilities to adapt to people of different body types.

[0003] Current traditional exoskeleton structures are typically of fixed dimensions, making it difficult for users of different body types to achieve the same experience. Especially in motion assistance scenarios, inflexible or inaccurate size adjustments can affect the exoskeleton's hip joint assistance, which relies on the precise transmission of motor torque. If the waist width or leg length is not properly adjusted, the mechanical joint rotation center of the exoskeleton will be offset from the human biological hip joint rotation center, resulting in significant geometric interference. The unintended internal forces generated by these size deviations not only fail to be converted into effective motion assistance but also become obstacles to human movement.

[0004] Therefore, this invention proposes a lower limb exoskeleton adjustment structure that can achieve precise alignment of the human-machine joint center and has a simple and reliable adjustment process. Summary of the Invention

[0005] In order to overcome the above-mentioned shortcomings and deficiencies of the prior art, the purpose of this invention is to provide a lower limb exoskeleton robot with multi-dimensional adjustment function. This invention can adjust the waist width and the leg support length.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A lower limb exoskeleton robot with multi-dimensional adjustment capabilities includes a back base. Symmetrically distributed waist adjustment components are connected to both sides of the back base. The end of each waist adjustment component away from the back base is connected to a hip joint drive module. The end of the hip joint drive module away from the waist adjustment components is connected to a leg linkage assembly. The end of the leg linkage assembly away from the hip joint drive module is connected to the leg adjustment component.

[0008] The back base is provided with an inner dovetail groove, and the waist adjustment component is provided with an inner tube adapted to the inner dovetail groove. The two are slidably engaged by a double dovetail guide rail structure. An inward-tilting self-locking tenon locking mechanism is provided between the back base and the waist adjustment component to realize the axial locking and unlocking of the waist adjustment component. The leg linkage component adopts a telescopic sleeve structure, and the lever-type pawl locking mechanism cooperates with the array of limiting grooves on the leg linkage to realize the rapid adjustment and locking of the leg length.

[0009] Furthermore, the back base includes a hollow tube, which is a rectangular tubular structure with openings at both ends. The inner walls on both sides of the tube are axially recessed with integrally formed dovetail grooves. The dovetail grooves are symmetrical double dovetail groove structures, which are slidably connected to the inner tube of the waist adjustment component. The left and right ends of the hollow tube are provided with locking bases, and the front of the hollow tube is fixed with a waist belt base. The waist belt base cooperates with the waist belt buckle to fix the waist belt.

[0010] Furthermore, the outer wall of the inner tube of the waist adjustment component is provided with a recessed structure that matches the dovetail groove protrusion inside the tube. The inner tube is inserted into the hollow tube on the back along the axial direction and embedded in the dovetail groove inside the tube, forming a sliding connection structure that has a limiting function in both the radial and axial directions.

[0011] The outer wall of the inner tube is provided with barbed grooves along the axial direction, and the lower part of the inner tube is also provided with a limiting groove extending along the axial direction.

[0012] Furthermore, the inward-tilting self-locking latch locking mechanism includes an L-shaped latch and a return spring. The L-shaped latch is installed at the latch base of the hollow tube on the back, and the return spring abuts against the mounting wall between the L-shaped latch and the latch base.

[0013] The reset spring applies an elastic preload force toward the inner tube to the L-shaped latch, allowing the L-shaped latch to reciprocate linearly in a direction perpendicular to the bottom surface of the latch base.

[0014] The L-shaped tenon is equipped with a tenon barb and a button. The tenon barb has a negative front angle barb structure. In the locked state, it is inserted into the barb groove of the inner tube to form an axial lock. Pressing the button compresses the reset spring, and the tenon barb disengages from the barb groove to unlock.

[0015] Furthermore, the hollow tube on the back has a hollow structure, forming a through-hole for wiring inside, and its back sidewall is provided with back wiring holes.

[0016] The inner tube of the waist adjustment component is hollow, and it is connected to the wiring cavity of the hollow tube on the back to form a fully enclosed hollow wiring channel in the waist. The waist adjustment component is also provided with a waist wiring hole. The cable is connected to the hip joint drive module through the wiring hole on the back, the hollow wiring channel, and the waist wiring hole, so as to realize the concealed wiring of the cable.

[0017] Furthermore, the leg link assembly includes a leg link, a limiting plate, and a limiting plate fixing bolt. The leg link is an integrated long strip-shaped load-bearing component with toothed grooves distributed along its length at its end and a limiting plate fixing hole at the bottom of its end.

[0018] The limiting piece is fastened to the limiting piece fixing hole by the limiting piece fixing bolt, thereby limiting the leg adjustment component;

[0019] One end of the leg link is hinged to the leg connection flange of the hip joint drive module via a flange hinge, and the other end extends into the leg adjustment assembly to form an axially adjustable sliding fit.

[0020] Furthermore, the lever-type ratchet locking mechanism includes a lever latch button, a lever latch fixing pin, and a return spring; the leg adjustment assembly includes a fixing bracket, the outer side wall of which is symmetrically provided with lever latch mounting grooves, and a fixing pin hole is radially provided through it.

[0021] The lever latch button is an integrated component. The upper part is a button structure, the lower part is a square pawl that matches the latch groove, and the middle part is hinged to the fixing pin hole by the lever latch fixing pin. A return spring is installed at the hinge, forming a lever structure that can swing around the lever latch fixing pin.

[0022] Furthermore, the lever tenon mounting groove of the fixed bracket is aligned with the tooth groove of the leg connecting rod, so that the square pawl of the lever tenon button is embedded in the tooth groove, forming a solid embedded locking fit.

[0023] The square pawl and the tooth groove are in surface contact engagement. The axial load is borne through the surface contact. Pressing the upper button of the lever latch button compresses the return spring, causing the square pawl to disengage from the tooth groove to unlock. After release, the return spring drives the square pawl to automatically engage with the tooth groove to complete the reset and lock.

[0024] Furthermore, the fixed bracket has an axially oriented sliding cavity that is adapted to the leg connecting rod, and the leg connecting rod extends into the sliding cavity to form a clearance fit.

[0025] The fixed support has symmetrical holes for nylon straps on both sides, which are used to thread nylon straps to achieve a close fit and fixation between the leg adjustment component and the human thigh.

[0026] Furthermore, it also includes a lumbar support seat, which is fixed to the inside of the lumbar adjustment assembly and is integrally formed with symmetrical abutment wings, nylon buckles and lumbar support seat mounting holes;

[0027] The symmetrical abutment wing is a concave arc structure adapted to the physiological curvature of the human waist. The nylon buckle provides a second support point for the waist belt in addition to the waist belt base. The waist support seat is detachably connected to the waist adjustment component through the waist support seat mounting hole.

[0028] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0029] The design combines double dovetail guide rails with negative front angle self-locking tenons, which effectively improves the rigidity of non-metallic structures, eliminates the risk of plastic buckle cantilever beam failure and tooth skipping, and achieves reliable locking. Combined with detachable high-strength limit bolts, it takes into account torsional rigidity, guiding and limiting and convenient maintenance.

[0030] The locking structure, which uses a lever-type pawl and an array of toothed grooves, withstands high-impact axial loads through physical embedding, greatly improving locking stability. The spring-return lever enables quick adjustment by blind operation with one hand, allowing for equal-length adaptation of both legs without visual assistance, significantly optimizing adjustment efficiency and wearing experience. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of a multidimensional adjustable lower limb exoskeleton robot according to an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the hollow tube at the back of an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the assembly structure of the back base according to an embodiment of the present invention;

[0034] Figure 4 This is a partially enlarged schematic diagram of the limiting mechanism of the waist adjustment component according to an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of the overall structure of the waist adjustment component according to an embodiment of the present invention;

[0036] Figure 6 This is a partially enlarged schematic diagram of the waist wiring hole in an embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram of the inner tube according to an embodiment of the present invention;

[0038] Figure 8 This is a schematic diagram illustrating the locking and closing state principle of the waist adjustment mechanism according to an embodiment of the present invention;

[0039] Figure 9 This is a schematic diagram illustrating the unlocking and opening state of the waist adjustment mechanism according to an embodiment of the present invention.

[0040] Figure 10 This is a schematic diagram illustrating the principle of the self-locking effect in an embodiment of the present invention;

[0041] Figure 11 This is a schematic diagram illustrating the cooperation principle between the limiting bolt and the limiting groove of the limiting component in an embodiment of the present invention;

[0042] Figure 12 This is a schematic diagram of the front structure of the hip joint drive module according to an embodiment of the present invention;

[0043] Figure 13 This is a schematic diagram of the rear structure of the hip joint drive module according to an embodiment of the present invention;

[0044] Figure 14 This is a schematic diagram of the front structure of the waist support seat according to an embodiment of the present invention;

[0045] Figure 15 This is a schematic diagram of the back structure of the waist support in an embodiment of the present invention;

[0046] Figure 16 This is a front structural assembly view of the hip joint drive module and waist adjustment component according to an embodiment of the present invention;

[0047] Figure 17 This is a side-surface structural assembly diagram of the hip joint drive module and waist adjustment component according to an embodiment of the present invention;

[0048] Figure 18 This is a schematic diagram of the leg linkage assembly according to an embodiment of the present invention;

[0049] Figure 19 This is an assembly diagram of the leg linkage assembly limiting device according to an embodiment of the present invention;

[0050] Figure 20 This is an exploded view of the leg adjustment component according to an embodiment of the present invention;

[0051] Figure 21 This is an assembly diagram of the leg adjustment assembly and the leg linkage assembly according to an embodiment of the present invention;

[0052] Figure 22 This is a schematic diagram illustrating the adjustment principle of the leg adjustment component according to an embodiment of the present invention;

[0053] Figure 23 This is a cross-sectional view of the locking mechanism between the leg adjustment assembly and the leg linkage assembly according to an embodiment of the present invention. Detailed Implementation

[0054] The present invention is further described below through specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0055] Example

[0056] like Figure 1As shown, a lower limb exoskeleton robot with multi-dimensional adjustment function includes a back base 1, which is connected to two symmetrically distributed waist adjustment components 2 on the left and right sides. The two inner tubes 21 of the waist adjustment components 2 are sleeved inside the back base 1. A waist belt base 16 and a waist belt buckle 17 are used to fix the waist belt on the back, forming the first support point of the waist belt.

[0057] like Figure 1 As shown, two hip joint drive modules 3 are located below the waist adjustment assembly, and are connected to the leg linkage assembly 5 via leg rotating pins 35. The leg linkage 51 extends from the hip to the thigh, forming the entire leg mechanism together with the leg adjustment assembly 6.

[0058] In addition, such as Figure 1 As shown, two waist support seats 4 are connected to the inside of the waist adjustment assembly 2 to fix the waist belt and provide a second support point. Two nylon strap holes 611 are symmetrically distributed on the fixing bracket 61 of the leg adjustment assembly 6 for fixing the nylon leg straps.

[0059] When the lower limb exoskeleton robot is worn by the user, the back base 1 is tightly attached to the user's back via a waist belt. The supporting nylon straps on the waist belt are fixed to the lumbar support 4, forming a stable triangular support, thus securing the main body of the exoskeleton to the human body. The axes of the two hip joint drive modules 3 coincide with the human hip joints and are perpendicular to the sagittal plane of the human body. The two leg adjustment components 6 are fixed to the user's thighs via nylon straps. The hip joint drive modules 3 drive the leg linkage components 5 to swing, which in turn drives the human thighs to swing through the leg adjustment components 6, thereby providing assistance.

[0060] like Figure 2 As shown, the back base includes a hollow tube 11. The hollow tube 11 serves as the core load-bearing base of the exoskeleton system. It is integrally formed using the MJF additive manufacturing process. Its main body is a rectangular tubular structure with openings at both ends, and a through-hole wiring cavity is formed inside.

[0061] On the inner walls of the left and right sides of the hollow tube 11 on the back, there are integrally formed dovetail grooves 113 recessed along the axial direction, which form a sliding connection with the two waist adjustment components 2. An inward-tilting self-locking tenon locking mechanism is provided between the back base and the waist adjustment components to realize the axial locking and unlocking of the waist adjustment components. The leg connecting rod assembly adopts a telescopic sleeve structure, which cooperates with the array limit grooves on the leg connecting rod through a lever-type pawl locking mechanism to realize the rapid adjustment and locking of the leg length.

[0062] The dovetail grooves inside the upper and lower tubes form a linear motion pair for adjusting the width of the exoskeleton. At the same time, their geometric configuration effectively constrains the degree of freedom of the adjustment component in the vertical direction, enhancing the torsional stiffness.

[0063] The hollow tube 11 on the back is provided with a tenon base 112 at both ends, which is connected to the internal hollow structure.

[0064] The hollow tube 11 on the back has a tenon base with a tenon pin hole 111 for installing a tenon limiting pin 14 for limiting the L-shaped tenon 12.

[0065] A back wiring hole 115 is provided at the center of the back side wall of the hollow tube 11, which connects to the hollow inner cavity inside the tube. External control cables enter the tube through the back wiring hole 115 and are then distributed to the hip joint drive modules 3 on the left and right sides through the hollow inner cavity.

[0066] The outer surface of the hollow tube 11 on the back is arrayed with reserved mounting holes 114 for fixing the main controller, battery pack and inertial measurement unit of the exoskeleton with bolts, thus realizing the compact integration of structure and electrical modules.

[0067] The hollow tube 11 on the back has limit bolt holes 116 at both ends of its bottom for installing limit screws. When the waist adjustment component is stretched outward to its maximum stroke, the limit screws abut against the end of the adjustment component, forming a mechanical hard limit to prevent the adjustment component from accidentally slipping out of the tube and ensuring wearing safety.

[0068] like Figure 3 As shown, the back base 1 is based on the hollow tube 11 on the back, and is an assembly structure consisting of an inward-tilting self-locking latch locking mechanism, a limiting component and a wearing component installed on it.

[0069] The limiting component includes a limiting bolt hole 116, a limiting bolt 15, and a limiting groove 212;

[0070] The wearing components include a belt base 16 and a belt buckle 17.

[0071] The inward-tilting self-locking latch mechanism includes an L-shaped latch and a return spring 13. L-shaped latches 12 are respectively installed at the latch bases 112 at both ends of the hollow tube 11 on the back. A return spring 13 is abutted between the L-shaped latch 12 and the mounting wall of the latch base 112.

[0072] The reset spring 13 applies an elastic preload force to the L-shaped latch 12 toward the inner tube 21, so that the L-shaped latch 12 can reciprocate linearly in a direction perpendicular to the bottom surface of the latch base 112, and reset after the user releases the button.

[0073] The waist belt base 16 has four mounting holes opposite to the back hollow tube 11 with embedded nuts, which are fixed to the front of the back hollow tube 11 by bolts.

[0074] The square groove in the middle of the waistline of the belt base 16 is used to clamp the belt body, and the belt is fixed to the back base 1 with the help of two belt buckles 17.

[0075] The lever-type ratchet locking mechanism includes a lever latch button 62, a lever latch fixing pin 63, and a return spring. The leg adjustment assembly includes a fixing bracket. The outer side wall of the fixing bracket is symmetrically provided with lever latch mounting grooves, and a fixing pin hole is radially provided through it.

[0076] The lever latch button is an integrated component. The upper part is a button structure, the lower part is a square pawl that matches the latch groove, and the middle part is hinged to the fixing pin hole by the lever latch fixing pin. A return spring is installed at the hinge, forming a lever structure that can swing around the lever latch fixing pin.

[0077] like Figure 4 As shown, the limit bolt hole 116 is essentially a countersunk threaded hole with an embedded nut, into which the limit bolt 15 can be screwed.

[0078] like Figure 5 As shown, the waist adjustment component 2 is integrally molded using the MJF process. Its internal hollow structure houses the power and signal cables from the hip joint drive module 3 to the back base 1. The cables slide within the cavity as the adjustment mechanism extends and retracts, eliminating the need for external redundant coils. This achieves a wireless design from an aesthetic perspective, enhancing system integration and safety.

[0079] The other end of the waist adjustment component is provided with a barb groove 211 for mechanical engagement with the L-shaped latch 12, thereby locking the waist adjustment component 2.

[0080] One end of the waist adjustment component 2 is provided with a drive module fixing hole 22 for fixing the hip joint drive module 3.

[0081] like Figure 6 As shown, a waist wiring hole 23 is provided below the drive module fixing hole 22 for wiring of the hip joint drive module 3, and the edges of the hole are rounded to prevent the insulation layer of the wire from being squeezed, worn or sheared.

[0082] like Figure 7 As shown, a limiting groove 212 is provided below the inner tube 21 for limiting the sliding fit between the waist adjustment component 2 and the back hollow tube 11.

[0083] like Figure 8 As shown, the inner tube 21 and the hollow tube 11 on the back are directly connected and fixed through the upper and lower double dovetail groove structure.

[0084] The protruding portions of the dovetail grooves 113 on both sides of the inner wall of the hollow tube 11 on the back side mate with the corresponding recessed portions on the outer wall of the inner tube 21. During assembly, the inner tube 21 is inserted axially into the hollow tube 11 on the back side, so that the inner tube 21 is embedded in the dovetail groove 113, thereby forming a reliable connection structure with limiting function in both the radial and axial directions. This double dovetail groove connection method can effectively improve the assembly coaxiality and torsional resistance between the inner tube 21 and the hollow tube 11 on the back side, and can withstand the bending moment and shear force from the hip joint drive module during robot movement. Furthermore, the mating surfaces of the dovetail grooves and dovetail protrusions are provided with transition fillets to reduce stress concentration and improve structural durability.

[0085] The L-shaped latch 12 is installed inside the latch base 112, and the latch limiting pin 14 is fixed to the latch pin hole 111 of the hollow tube 11 on the back. During the axial movement of the L-shaped latch 12 along the latch base 112, the latch limiting pin can move in the latch limiting groove 123. After touching the inner walls on both sides of the latch limiting groove 123, it stops moving due to shearing force, thereby achieving the limiting of the L-shaped latch 12. The return spring 13 is axially abutted between the L-shaped latch 12 and the back base 11, and always applies an elastic preload force toward the inner tube 21 to the L-shaped latch 12; the inner tube 21, as a movable part for waist adjustment, has barbed grooves 211 distributed axially on its outer wall.

[0086] like Figure 8 As shown, in the locked state, under the preload of the return spring 13, the hook 121 of the L-shaped latch 12 engages in the hook groove 211 of the inner tube 21, forming an axial lock.

[0087] like Figure 9 As shown, when button 122 is pressed, the L-shaped latch 12 is subjected to force, which compresses the return spring 13, thereby causing the latch barb 121 to disengage from the barb groove 211 of the inner tube 21. At this time, the inner tube and the hollow tube 11 on the back slide within the limit range.

[0088] like Figure 10 As shown, the tenon barb 121 is an inward-angled barb in the top view. It is designed with an inward angle of 5°. When the waist adjustment component 2 is pulled in the locked state, the geometric features of the barb will generate an inward meshing force, which forces the tenon barb 121 to mesh more deeply with the barb groove 211, thereby achieving a self-locking effect and completely eliminating the risk of tooth skipping caused by wear of the tenon barb 121.

[0089] like Figure 11 As shown, the limiting assembly includes a limiting bolt hole 116, a limiting bolt 15, and a limiting groove 212 formed on the outer wall of the waist-mounted adjusting inner tube 21.

[0090] The limiting bolt 15 is detachably inserted into the limiting bolt hole 116 of the hollow tube 11 at the back, and its rod section extends into the limiting groove 212 of the waist-adjusting inner tube 21. The limiting groove 212 is an elongated through groove extending axially along the inner tube 21, and its width is clearance-fitted with the diameter of the rod of the limiting bolt 15, so that the rod of the limiting bolt 15 and the limiting groove 212 form a sliding fit. When the waist-adjusting inner tube 21 is adjusted in length along the axial direction, the rod of the limiting bolt 15 slides synchronously along the length direction of the limiting groove 212.

[0091] Utilizing the high shear strength of the metal threaded fastener, the limiting bolt 15 can stably withstand the high-frequency forces and instantaneous impact loads during dynamic operations of the exoskeleton. Furthermore, the limiting bolt 15 features a detachable connection, allowing for quick replacement without disassembling the entire waist assembly.

[0092] like Figures 12-13 As shown, the hip joint drive module 3 uses the drive module base 31 as the core load-bearing component of the module. One side of the module is rigidly connected to the drive module fixing hole 22 of the waist adjustment component through the base mounting hole 311, so as to fix the module and the waist system.

[0093] The drive module base 31 has a motor housing mounting hole 312 on the other side, and the motor housing 32 is fixed to the drive module base 31 by bolts.

[0094] The drive module base 31 has a reserved control button hole 313 on its side wall for installing the motor driver button, which facilitates switching between different operating modes. The wiring is led out from the motor housing 32 and enters the waist wiring hole 23 of the waist adjustment component 2 through the semi-open square groove above the drive module base 31, avoiding cable exposure and interference.

[0095] The leg connection flange 33 is the connecting component between the module and the leg linkage assembly 5. One end of it cooperates with the rotating pin 34 through the flange hinge 332 to form a hinge pair that can rotate around the pin, adapting to the rotational freedom of the human hip joint during flexion and extension. The other end is connected to the motor housing 32 through the flange mounting hole 331 by bolts to realize the transmission of power to the leg. The rotation axis of the flange hinge 332 is adaptively aligned with the bio-axis of the human hip joint, eliminating the need for cumbersome axis calibration before wearing.

[0096] like Figures 14-15 As shown, the lumbar support 4 is an integrated molding structure, the core of which includes symmetrical abutment wing supports 42, nylon buckles 41 and lumbar support mounting holes 43, and the components work together to form an ergonomic support unit.

[0097] The symmetrical abutment wing support 42 is the core support component of the waist support seat 4. Its sagittal plane has a concave arc structure that matches the physiological curvature of the human waist, and its coronal plane has a symmetrical wing-shaped extension. The inner surfaces of the two wings fit the contour of the human waist muscles.

[0098] The nylon buckle 41 is located at the center of the waist support 4. Its buckle body has a strap channel that is compatible with the exoskeleton waist belt. The waist belt is detachably connected to the nylon buckle 41 through the strap channel, forming a multi-point fixing node for the waist belt.

[0099] The mounting hole 43 of the lumbar support is opened in the center area of ​​the back of the lumbar support 4. It is detachably connected to the driving module fixing hole 22 of the lumbar adjustment component 2 by means of bolt assembly, so as to fix the position of the lumbar support 4.

[0100] like Figures 16-17 As shown, an embedded nut is provided inside the waist support mounting hole 43 of the waist support 4. The fixing bolt is screwed into the embedded nut after passing through the base mounting hole 311 and the drive module fixing hole 22, thereby fixing the three together.

[0101] like Figure 18 As shown, the leg link assembly 5 is the core load-bearing and adjustment unit of the exoskeleton lower limb. The core includes the leg link 51, the limiting plate 52, and the limiting plate fixing bolt 53.

[0102] The leg link 51 is an integrated long strip-shaped load-bearing component. Its vertical end has a toothed groove 512 distributed along the length direction, and a limiting plate fixing hole 513 is opened at the bottom of the end. The leg hinge hole 511 of the leg link 51 is hinged to the leg connection flange 33 of the hip joint drive module 3 through the flange hinge 332, and the other end extends into the fixing bracket 61 of the leg adjustment component 6 to form an axially adjustable sliding fit.

[0103] like Figure 19 As shown, the limiting piece 52 is fastened to the limiting piece fixing hole 513 of the leg connecting rod 51 by the limiting piece fixing bolt 53, thereby limiting the leg adjustment component 6.

[0104] like Figure 20 -like Figure 21 As shown, the leg adjustment component 6 is based on an innovative ergonomic design. Its core components include a fixed support 61, a lever latch button 62, and a lever latch fixing pin 63, and it is equipped with a reset spring. The modular assembly of each component forms a functional collaborative system.

[0105] The fixed support 61 is an integrally formed thigh support component. Its interior has an axially formed end fixing groove 612 that matches the leg connecting rod 51. The outer side wall has symmetrically formed lever tenon mounting grooves 613 and a radially penetrating fixing pin hole 614. Nylon strap holes 611 are symmetrically formed on both sides for inserting thigh fixing nylon straps to achieve a close fit and fixation between the component and the human thigh.

[0106] The lever latch button 62 is an integrated component that combines an operation button and a locking pawl. Its upper part is a button with added anti-slip ridges on the surface, and its lower part is a square pawl that matches the locking groove 512 of the leg connecting rod 51. The middle part has a hinge hole corresponding to the fixing pin hole 614. The lever latch button 62 is hinged to the lever latch mounting groove 613 of the fixing bracket 61 through the lever latch fixing pin 63. A return spring is fitted at the hinge, forming a lever structure that can swing around the fixing pin.

[0107] like Figure 22 As shown, the free end of the leg link 51 of the leg link assembly 5 extends axially into the sliding cavity 612 of the fixed support 61 of the leg adjustment assembly 6, and the two are in clearance fit.

[0108] like Figure 23 As shown, the locking groove 512 on the outer wall of the leg link 51 aligns with the lever locking groove 613 of the fixed support 61, allowing the square pawl of the lever locking button 62 to precisely engage with the locking groove 512, forming a locking fit. The square pawl of the lever locking button and the locking groove of the leg link use a solid embedded locking fit, bearing axial load through surface contact, significantly improving load resistance under running and other high-impact conditions. When the user presses the arc-shaped pressing end of the lever locking button 62 with one hand, it rotates around the lever locking pin 63 through the lever principle. The pawl gradually disengages from the locking groove 512 as the lever swings, releasing the locking state. At this time, the fixed support 61 can be pulled or pushed axially, causing it to slide axially along the leg link 51. Discrete adjustment is achieved through the uniform array of locking grooves 512, allowing the user to perceive gear switching by touch, achieving blind operation.

[0109] The assembly sequence of the lower limb exoskeleton robot is explained below.

[0110] First, insert the L-shaped latch 12 with the reset spring 13 installed into the latch base, and then insert the latch limiting pin 14 into the latch pin hole 111.

[0111] The second step is to thread the wires of the left and right hip joint drive modules 3 into the waist wiring hole 23 of the waist adjustment component 2, and then out through the inner tube 21 to the outside of the cavity.

[0112] The third step is to install the left and right hip joint drive modules 3 and the lumbar support 4 into the drive module fixing holes 22 respectively.

[0113] Fourth step, press down the L-shaped latch 12, and insert the inner tubes 21 of the left and right waist adjustment components 2 into the hollow tube 11 in the back. After the inner tubes 21 are fully inserted, release the L-shaped latch 12 and install the two limit bolts respectively.

[0114] Fifth step, install the waist belt base 16, snap the waist belt buckle 17 into the back of the waist belt, and then insert the nylon strap on the waist belt into the nylon strap buckle 41 of the waist support seat 4.

[0115] Step 6: Hinge the leg link 51 onto the leg connection flange 33 of the hip joint drive module 3.

[0116] Step 7: Install the lever latch button 62 onto the fixed bracket 61 using the lever latch fixing pin 63.

[0117] Step 8: Insert the nylon tape into the nylon tape hole 611.

[0118] Step 9: Insert the leg connecting rod 51 into the sliding cavity 612.

[0119] Step 10: Install the limiting plate 52 to the limiting plate fixing hole 513 of the leg connecting rod 51 using the limiting plate fixing bolt 53.

[0120] The waist adjustment component of this invention adopts a double dovetail guide rail structure, which effectively decouples vertical bending moment and horizontal tension, improves the torsional stiffness of non-metallic structural components, eliminates the shaking problem caused by sliding fit clearance, and stabilizes the self-locking tenon of the locking mechanism to achieve a self-locking effect under load, completely eliminating the cantilever beam failure and tooth skipping risk of the locking component; the leg linkage component adopts a telescopic sleeve structure, and achieves rapid adjustment and locking of leg length through the cooperation of the lever-type pawl locking mechanism and the array limit groove on the linkage.

[0121] Those skilled in the art will readily understand that the above description is merely an embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A lower limb exoskeleton robot with multi-dimensional adjustment function, characterized in that, The device includes a back base, on both sides of which are symmetrically distributed lumbar adjustment components. The end of each lumbar adjustment component away from the back base is connected to a hip joint drive module. The end of the hip joint drive module away from the lumbar adjustment component is connected to a leg linkage assembly. The end of the leg linkage assembly away from the hip joint drive module is connected to a leg adjustment component. The back base is provided with an inner dovetail groove, and the waist adjustment component is provided with an inner tube adapted to the inner dovetail groove. The two are slidably engaged by a double dovetail guide rail structure. An inward-tilting self-locking tenon locking mechanism is provided between the back base and the waist adjustment component to realize the axial locking and unlocking of the waist adjustment component. The leg linkage component adopts a telescopic sleeve structure, and the leg length is adjusted and locked by a lever-type pawl locking mechanism cooperating with the array of limiting grooves on the leg linkage.

2. The lower limb exoskeleton robot according to claim 1, characterized in that, The back base includes a hollow tube, which is a rectangular tubular structure open at both ends. The inner walls on both sides are axially recessed with an integrally formed dovetail groove. The dovetail groove is a double dovetail groove structure that is symmetrical from top to bottom and forms a sliding connection with the inner tube of the waist adjustment component. The left and right ends of the hollow tube are provided with locking bases, and the front of the hollow tube is fixed with a waist belt base. The waist belt base cooperates with the waist belt buckle to fix the waist belt.

3. The lower limb exoskeleton robot according to claim 2, characterized in that, The outer wall of the inner tube of the waist adjustment component is provided with a recessed structure that matches the dovetail groove protrusion inside the tube. The inner tube is inserted into the hollow tube on the back along the axial direction and embedded in the dovetail groove inside the tube, forming a sliding connection structure that has a limiting function in both the radial and axial directions. The outer wall of the inner tube is provided with barbed grooves along the axial direction, and the lower part of the inner tube is also provided with a limiting groove extending along the axial direction.

4. The lower limb exoskeleton robot according to claim 3, characterized in that, The inward-tilting self-locking tenon locking mechanism includes an L-shaped tenon and a return spring. The L-shaped tenon is installed at the tenon base of the hollow tube on the back, and the return spring abuts against the mounting wall between the L-shaped tenon and the tenon base. The reset spring applies an elastic preload force toward the inner tube to the L-shaped latch, allowing the L-shaped latch to reciprocate linearly in a direction perpendicular to the bottom surface of the latch base. The L-shaped tenon is equipped with a tenon barb and a button. The tenon barb has a negative front angle barb structure. In the locked state, it is inserted into the barb groove of the inner tube to form an axial lock. Pressing the button compresses the reset spring, and the tenon barb disengages from the barb groove to unlock.

5. The lower limb exoskeleton robot according to claim 2, characterized in that, The hollow tube on the back has a hollow structure, forming a through-hole for wiring inside, and its back sidewall is provided with back wiring holes. The inner tube of the waist adjustment component is hollow, and it is connected to the wiring cavity of the hollow tube on the back to form a fully enclosed hollow wiring channel in the waist. The waist adjustment component is also provided with a waist wiring hole. The cable is connected to the hip joint drive module through the wiring hole on the back, the hollow wiring channel, and the waist wiring hole, so as to realize the concealed wiring of the cable.

6. The lower limb exoskeleton robot according to claim 1, characterized in that, The leg link assembly includes a leg link, a limiting plate, and a limiting plate fixing bolt. The leg link is an integrated long strip-shaped load-bearing component with toothed grooves distributed along its length at its end and a limiting plate fixing hole at the bottom of its end. The limiting piece is fastened to the limiting piece fixing hole by the limiting piece fixing bolt, thereby limiting the leg adjustment component; One end of the leg link is hinged to the leg connection flange of the hip joint drive module via a flange hinge, and the other end extends into the leg adjustment assembly to form an axially adjustable sliding fit.

7. The lower limb exoskeleton robot according to claim 2, characterized in that, The lever-type ratchet locking mechanism includes a lever latch button, a lever latch fixing pin, and a return spring. The leg adjustment assembly includes a fixing bracket. The outer side wall of the fixing bracket is symmetrically provided with lever latch mounting grooves, and a fixing pin hole is radially provided through it. The lever latch button is an integrated component. The upper part is a button structure, the lower part is a square pawl that matches the latch groove, and the middle part is hinged to the fixing pin hole by the lever latch fixing pin. A return spring is installed at the hinge, forming a lever structure that can swing around the lever latch fixing pin.

8. The lower limb exoskeleton robot according to claim 7, characterized in that, The lever latch mounting groove of the fixed bracket is aligned with the latch tooth groove of the leg connecting rod, so that the square pawl of the lever latch button is embedded in the latch tooth groove to form a solid embedded locking fit. The square pawl and the tooth groove are in surface contact engagement. The axial load is borne through the surface contact. Pressing the upper button of the lever latch button compresses the return spring, causing the square pawl to disengage from the tooth groove to unlock. After release, the return spring drives the square pawl to automatically engage with the tooth groove to complete the reset and lock.

9. The lower limb exoskeleton robot according to claim 7, characterized in that, The fixed bracket has an axially oriented sliding cavity that matches the leg connecting rod, and the leg connecting rod extends into the sliding cavity to form a clearance fit. The fixed support has symmetrical holes for nylon straps on both sides, which are used to thread nylon straps to achieve a close fit and fixation between the leg adjustment component and the human thigh.

10. The lower limb exoskeleton robot according to any one of claims 1-9, characterized in that, It also includes a lumbar support, which is fixed to the inside of the lumbar adjustment assembly and is integrally formed with symmetrical abutment wings, nylon buckles and lumbar support mounting holes; The symmetrical abutment wing is a concave arc structure adapted to the physiological curvature of the human waist, the nylon buckle provides a support point for the waist belt, and the waist support seat is detachably connected to the waist adjustment component through the waist support seat mounting hole.

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