Lower extremity exoskeleton

Abstract

This invention relates to the field of wearable equipment technology and discloses a lower limb exoskeleton, comprising: joint components and a bone structure. The bone structure includes: multiple fasteners, with the bone structure connected to the hip, knee, and ankle joints via the fasteners; multiple connectors, positioned between adjacent fasteners; and spring plates inserted into the connectors and fasteners to connect between them, as well as between adjacent connectors. The side of the bone structure facing the limb is designated as the inner side, and the side away from the limb is designated as the outer side. When the spring plates bend towards the inner or outer side, relative deflection occurs between the connectors and fasteners, and between adjacent connectors, causing the bone structure to bend and deform to conform to the limb. The bone structure of this invention achieves rigid-flexible coupling through spring plates, improving the wearing comfort and ergonomics of the lower limb exoskeleton. Furthermore, the lower limb exoskeleton can be modularly assembled for structural reconstruction, thereby enhancing its versatility.

Description

Technical Field

[0001] This invention belongs to the field of wearable equipment technology, specifically relating to a lower limb exoskeleton. Background Technology

[0002] Exoskeletons, also known as wearable robots, are intelligent devices that integrate mechanical structures with the human body to enhance, assist, or restore human motor functions. They can be widely used in medical rehabilitation, industrial operations, military operations, and daily mobility assistance. By mechanically interacting with and applying forces to the human limbs, exoskeletons can enhance the user's load-bearing capacity, reduce muscle load, lower the risk of injury from long-term high-intensity work, and assist patients with paraplegia, hemiplegia, and other limb motor dysfunctions in rehabilitation training, helping them regain limb motor abilities.

[0003] Currently, the main structure of exoskeletons generally adopts rigid linkages and single-axis hinge joints. The rigid linkages provide sufficient structural strength and load-bearing capacity for the exoskeleton. Among them, the rigid linkages are fixed to the lower limbs of the human body by straps or leg supports to realize power transmission and movement assistance.

[0004] However, due to individual differences in the contours of the human leg and dynamic deformation during movement, exoskeletons suffer from poor fit. The rigid structure formed by rigid links of the exoskeleton can easily generate unexpected interaction forces and torques with the human limbs, causing abnormal friction and compression between the exoskeleton and the human skin, leading to abrasion and swelling. If a purely flexible or soft exoskeleton is used, there are problems with difficult drive control and low force transmission efficiency. Exoskeletons suffer from the dual limitations of poor comfort in rigid structures and weak drive performance in purely flexible structures. At the same time, the main structure of the exoskeleton, composed of rigid links and single-axis hinge joints, is difficult to restructure according to human body size, resulting in insufficient adaptation between the exoskeleton and the human limbs. Summary of the Invention

[0005] To address the shortcomings of the prior art, the present invention provides a lower limb exoskeleton that uses flexible springs for connection. The skeletal structure can support the human lower limbs while conforming to the contours of the human leg and dynamic deformation during movement, thereby conforming to the human leg and improving the dynamic comfort and human-machine compatibility of the lower limb exoskeleton during long-term wear.

[0006] The technical effects to be achieved by this invention are realized through the following technical aspects: This invention provides a lower limb exoskeleton, comprising: a joint assembly and a bone structure, wherein the bone structure includes: multiple fixators, the bone structure being connected to the joint assembly via the fixators; multiple connectors, the connectors being disposed between two adjacent fixators; and spring pieces, respectively inserted into the connectors and fixators to connect between the connectors and fixators, and between two adjacent connectors; the side of the bone structure facing the limb is the inner side, and the side away from the limb is the outer side. When the spring pieces bend towards the inner or outer side, relative deflection occurs between the connectors and fixators, and between two adjacent connectors, respectively, causing the bone structure to bend and deform to conform to the limb.

[0007] In some implementations, the joint assembly includes a hip joint, a knee joint, and an ankle joint, with the skeletal structure connecting the hip joint and the knee joint, and the knee joint and the ankle joint.

[0008] In some implementations, the two adjacent connectors include a first connector and a second connector. The first connector has a splicing groove, and the second connector includes a splicing end that is inserted into the splicing groove. The first connector and the second connector are spliced ​​together.

[0009] In some implementations, a guide structure for deflection guidance is provided between the first connector and the second connector.

[0010] In some implementations, the guide structure includes a deflection shaft disposed in the splicing groove and connected to the first connector. The second connector has a deflection groove, and the deflection shaft is movably inserted into the deflection groove. When the spring bends, the deflection shaft slides in the deflection groove.

[0011] In some implementations, the hip joint includes: an adjustment plate disposed on the skeletal structure, the adjustment plate including a first adjustment segment and a second adjustment segment; a first pivot is disposed between the first adjustment segment and the second adjustment segment, the second adjustment segment rotating relative to the first adjustment segment at the first pivot, the hip joint performing adduction or abduction; and a lumbar plate disposed on the second adjustment segment, the lumbar plate being disposed between the lumbar plate and the second adjustment segment at a third pivot, the lumbar plate rotating relative to the second adjustment segment at the third pivot, the hip joint performing internal rotation or external rotation.

[0012] In some implementations, the ankle joint includes: a sole plate for conforming to the human foot; a movable component disposed between the fixed member and the sole plate, the movable component including a free rod slidably mounted on the fixed member for vertical movement relative to the fixed member, allowing the ankle joint to dorsiflex or plantarflex; a first rotating rod on one side of the free rod, a fourth rotating shaft between the first rotating rod and the free rod, the first rotating rod rotating relative to the free rod via the fourth rotating shaft, a second rotating rod on the first rotating rod, a fifth rotating shaft between the second rotating rod and the first rotating rod, the second rotating rod and the first rotating rod rotating relative to each other at the fifth rotating shaft, allowing the ankle joint to internally or externally rotate; and a flipping component disposed between the second rotating rod and the sole plate, the second rotating rod and the sole plate rotating relative to each other via the flipping component, allowing the ankle joint to invert or evert.

[0013] In some implementations, both the hip joint and the knee joint are provided with quick-release drive assemblies; the quick-release drive assembly includes: a transition structure for connecting to the skeletal structure, the transition structure including a first transition piece and a second transition piece; a deceleration structure detachably connected to the first transition piece; and a drive member, which is driven by the deceleration structure to rotate the first transition piece relative to the second transition piece, thereby causing the hip joint or the knee joint to flex or extend.

[0014] In some implementations, the deceleration structure includes: a decelerator connected to the drive component, the decelerator having a connector and a circumferential component, the connector being connected to the first adapter plate, and the circumferential component being connected to the second adapter plate; a fixed disk disposed on the second adapter plate, the fixed disk being located between the second adapter plate and the decelerator, the fixed disk having an elastic component; and a chuck rotatably disposed between the fixed disk and the adapter structure, the chuck having a clamping hole and a locking hole, the elastic component being disposed in the clamping hole and abutting against the inner wall of the clamping hole, the locking hole having a first aperture position and a second aperture position, and the circumferential component penetrating the fixed disk and the locking hole; when the chuck rotates, the chuck compresses the elastic component against the inner wall of the clamping hole, the circumferential component moves from the first aperture position to the second aperture position, and the deceleration structure switches from the locked state to the unlocked state.

[0015] In some implementations, the speed reducer is provided with a moving joint and a stationary joint, wherein the plug is provided on the moving joint, the driving member drives the first adapter plate to rotate via the speed reducer and the moving joint, the stationary joint is sleeved on the outside of the moving joint, and the circumferential member is provided on the stationary joint.

[0016] In summary, the present invention has at least the following advantages: The lower limb exoskeleton provided by this invention allows for elastic bending of the spring plates inward or outward during use to conform to the human limb. When the spring plates bend, relative deflection occurs between the fixing components and the connecting components, and relative deflection also occurs between adjacent connecting components, causing the exoskeleton to bend into a shape that conforms to the human limb. While achieving flexible connection between the fixing components and the connecting components, as well as between adjacent connecting components, through the spring plates, a certain degree of rigid support is ensured in the exoskeleton structure. This exoskeleton structure overcomes the problems of poor comfort in rigid structures and weak driving performance in purely flexible structures, thus achieving rigid-flexible coupling.

[0017] Compared to traditional exoskeletons, the rigid-flexible coupling exoskeleton structure possesses excellent flexibility and adaptive deformation capabilities. It can adapt to individual differences in the leg contour and dynamic deformation during movement, achieving uniform pressure distribution. The exoskeleton structure always conforms to the synchronous movement of the limb, reducing unexpected interaction forces and torques, thereby minimizing abnormal friction between the exoskeleton and the skin. Furthermore, when adapted to the human leg, the exoskeleton structure ensures that auxiliary torques are transmitted to the body efficiently, reliably, and rapidly, improving the comfort of wearing the exoskeleton.

[0018] Meanwhile, the skeletal structure is connected to the joint components through fixation devices, enabling structural reconstruction and modular assembly. The lower limb exoskeleton can be adjusted according to the size of the limb, which helps to improve versatility and human-machine compatibility. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the lower limb exoskeleton according to a specific embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the skeletal structure according to a specific embodiment of the present invention.

[0021] Figure 3 This is a side view of the skeletal structure according to a specific embodiment of the present invention.

[0022] Figure 4 for Figure 3 A schematic diagram of the AA section.

[0023] Figure 5 This is a schematic diagram of the knee joint according to a specific embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of the adapter structure according to a specific embodiment of the present invention.

[0025] Figure 7 This is an exploded view of the quick-release drive assembly at the knee joint, according to a specific embodiment of the present invention.

[0026] Figure 8 for Figure 7 A structural diagram from another angle.

[0027] Figure 9 This is a schematic diagram of the quick-release drive assembly in a locked state according to a specific embodiment of the present invention.

[0028] Figure 10 This is a schematic diagram of the quick-release drive assembly in the unlocked state according to a specific embodiment of the present invention.

[0029] Figure 11 This is an exploded view of the quick-release drive assembly at the hip joint, according to a specific embodiment of the present invention.

[0030] Figure 12 This is a schematic diagram of the hip joint according to a specific embodiment of the present invention.

[0031] Figure 13 This is a schematic diagram of the ankle joint according to a specific embodiment of the present invention.

[0032] Figure 14 for Figure 13 A structural diagram from another angle.

[0033] Marked in the image: 1. Hip joint; 11. Adjustment plate; 111. First adjustment section; 112. Second adjustment section; 1121. Slide groove; 1122. Slide table; 113. First rotating shaft; 114. Second rotating shaft; 12. Waist plate; 13. Third rotating shaft; 2. Knee joint; 3. Skeletal structure; 31. Fixing component; 311. Fixing hole; 312. Bottom groove; 313. Adapter end; 314. Straight hole; 315. Binding part; 32. Connecting component; 321. First connecting component; 3211. Splicing groove; 322. Second connecting component; 3221. Splicing end; 323. Reinforcing rib; 33. Spring piece; 331. Bending surface; 332. Rigid surface; 34. Guide structure; 341. Deflection shaft; 342. Deflection groove; 35. Inner side; 36. Outer side; 4. Ankle joint; 41. Sole plate; 42. Movable component; 421. Free rod; 4211. Free part; 422. First rotating rod; 423. Fourth pivot; 424. Second rotating rod; 425. Fifth pivot; 43. Flip assembly; 431. First rotating component; 432. Sixth pivot; 433. Seventh pivot; 434. Second rotating component; 435. Eighth pivot; 5. Quick-release drive assembly; 51. Adapter structure; 511. First adapter piece; 5111. Insertion hole; 5112. Sliding column; 512. Second adapter piece; 5121. Circumferential hole; 5122. Sliding groove; 5123. Rotation hole; 513. First snap ring; 514. Bearing; 515. Second snap ring; 516. Baffle; 52. Reduction component; 521. Insertion piece; 522. Circumferential component; 523. Moving joint; 524. Stationary joint; 53. Fixed plate; 531. Elastic component; 54. Chuck; 541. Abutment hole; 542. Locking hole; 5421. First hole diameter position; 5422. Second hole diameter position; 55. Drive component; 56. Fixed flange. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are some, but not all, of the embodiments of the present invention.

[0035] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0036] Example 1: Please see Figure 1 The lower limb exoskeleton of the present invention includes joint components and bone structure 3. Please refer to [link / reference]. Figures 2-4 The skeletal structure 3 includes multiple fasteners 31, which connect to the joint assembly. Specifically, each fastener 31 includes a binding part 315 with a strap threaded through it. The strap secures the binding part 315 to the user's limb, thus achieving the binding of the fasteners 31 to the user's limb. Several connectors 32 are provided between adjacent fasteners 31. Specifically, the user can adjust the number of connectors 32 according to the length of their thigh and calf to achieve a precise size match for the skeletal structure 3.

[0037] A spring clip 33 is provided between the fixing member 31 and the connecting member 32, as well as between two adjacent connecting members 32. The spring clip 33 connects the fixing member 31 and the connecting member 32, as well as two adjacent connecting members 32, and is inserted into the connecting member 32 and the fixing member 31. The side of the skeletal structure 3 facing the limb is the inner side 35, and the side away from the limb is the outer side 36. When the spring clip 33 bends inward 35 or outward 36, the connecting member 32 and the fixing member 31, as well as two adjacent connecting members 32, undergo relative deflection, so that the skeletal structure 3 can fit closely to the human limb.

[0038] In some specific embodiments, the spring plate 33 includes a curved surface 331 and a rigid surface 332, which are arranged perpendicularly to each other. The curved surface 331 bends inward 35 or outward 36 to make the bone structure 3 closer to the human limb, while the rigid surface 332 is difficult to deform and approaches rigidity, providing a certain degree of support for the human limb and ensuring that the auxiliary torque can be reliably and responsively transmitted to the human body. Compared with traditional lower limb exoskeletons, it is beneficial to overcome the limitations of poor comfort of rigid linkages and weak driving force of purely flexible structures. The bone structure 3 is rigid-flexible coupled, and the lower limb exoskeleton significantly improves the dynamic comfort and human-machine compatibility during long-term wear while ensuring high strength force transmission efficiency. Specifically, multiple spring plates 33 are provided between the fixing member 31 and the connecting member 32, as well as between two adjacent connecting members 32. Multiple spring plates 33 help to improve the overall strength of the bone structure 3.

[0039] In a preferred embodiment, two adjacent connectors 32 include a first connector 321 and a second connector 322. The first connector 321 has a splicing groove 3211, and the second connector 322 includes a splicing end 3221, which is inserted into the splicing groove 3211. The first connector 321 and the second connector 322 are then spliced ​​together. It is understood that the first connector 321 and the second connector 322 are only used to distinguish two adjacent connectors 32.

[0040] Specifically, the multiple fasteners 31 include an initial fastener and an end fastener. The hip joint 1 is connected to the initial fastener, and the knee joint 2 is connected to the end fastener. The skeletal structure 3 can connect the hip joint 1 and the knee joint 2. The knee joint 2 is connected to the initial fastener, and the ankle joint 4 is connected to the end fastener. The skeletal structure 3 can connect the knee joint 2 and the ankle joint 4. The connector 32 is located between the initial fastener and the end fastener. The initial fastener has a bottom groove 312. When the splicing end 3221 is inserted into the bottom groove 312, the initial fastener and the connector 32 are spliced ​​together. The end fastener includes an adapter end 313. When the adapter end 313 is inserted into the splicing groove 3211, the end fastener and the connector 32 are spliced ​​together. The skeletal structure 3 is spliced ​​together through the fasteners 31, the connector 32, and the spring piece 33, which can reduce the pressure of the skeletal structure 3 on the human body and has appropriate flexibility when in contact with and fitting the human skin.

[0041] In some specific embodiments, a guide structure 34 for deflection guidance is provided between the first connector 321 and the second connector 322. Specifically, the guide structure 34 includes a deflection shaft 341, which is disposed in the splicing groove 3211 and connected to the first connector 321. A deflection groove 342 is provided on the second connector 322, and the deflection shaft 341 is movably inserted into the deflection groove 342. The deflection groove 342 can be an arc-shaped groove. When the spring piece 33 bends, the deflection shaft 341 slides in the deflection groove 342. The deflection shaft 341 and the deflection groove 342 cooperate to guide and limit the relative deflection between the first connector 321 and the second connector 322.

[0042] Specifically, the connecting member 32 can be deflected and guided by the guide structure 34 between the starting fixing member and the connecting member 32, and between the ending fixing member and the connecting member 32. Specifically, between the starting fixing member and the connecting member 32, the deflection shaft 341 can be located in the bottom groove 312 of the starting fixing member, and the deflection groove 342 is located on the splicing end 3221. Between the ending fixing member and the connecting member 32, the deflection shaft 341 can be located in the splicing groove 3211, and the deflection groove 342 is located on the adapter end 313 of the ending fixing member.

[0043] The skeletal structure 3 achieves a close fit with the human limb through the flexible deformation characteristics of the spring 33. The joint axis of the lower limb exoskeleton is continuously and precisely aligned with the complex physiological joint centers of the human body. The unexpected interaction forces and torques generated by the skeletal structure 3 on the human limb are reduced, thereby reducing wear and compression with the human skin. Compared with the rigid linkages of traditional lower limb exoskeletons that directly contact the human skin, it can reduce the risk of skin abrasion, redness, and inflammation caused by abnormal friction, ensuring the comfort of the lower limb exoskeleton during long-term wear. Furthermore, while ensuring high-strength force transmission efficiency, it significantly improves the dynamic comfort and ergonomics of long-term wear. In addition, the skeletal structure 3 is simple and can achieve good ergonomic adaptation without complex calibration mechanisms, ensuring a smoother and more coordinated mechanical transmission between the skeletal structure 3 and the human body.

[0044] Example 2: The difference between this embodiment and Embodiment 1 is that this embodiment further optimizes the structure of the joint component of the present invention. Please refer to [link to embodiment 1]. Figure 1 and Figures 5-11 .

[0045] Please see Figure 1 The joint components of this embodiment include: a hip joint 1, a knee joint 2, and an ankle joint 4, wherein a skeletal structure 3 is connected between the hip joint 1 and the knee joint 2, and between the knee joint 2 and the ankle joint 4.

[0046] Specifically, the skeletal structure 3 is connected to the hip joint 1, knee joint 2, and ankle joint 4 via fasteners 31. The skeletal structure 3, hip joint 1, knee joint 2, and ankle joint 4 can be modularly assembled and disassembled independently. The number of skeletal structures 3 can be adjusted according to differences in human body size, or the hip joint 1, knee joint 2, and ankle joint 4 can be flexibly assembled and disassembled to meet different usage scenarios and needs. The reconfigurable lower limb exoskeleton solves the problems of fixed parameters, fixed posture, and poor adaptability of traditional exoskeletons, significantly improving the versatility and scenario adaptability of lower limb exoskeletons.

[0047] Both hip joint 1 and knee joint 2 are equipped with quick-release drive assembly 5, which drives hip joint 1 or knee joint 2 to flex and extend. Please refer to [link to relevant documentation]. Figure 5 and Figure 6 The quick-release drive assembly 5 includes a transition structure 51 for connection with the bone structure 3. The transition structure 51 includes a first transition piece 511 and a second transition piece 512, with the first transition piece 511 rotating relative to the second transition piece 512. The shape of the first transition piece 11 and the second transition piece 12 is not specifically defined here. When the quick-release joint is applied to the hip and knee joints, the shape of the second transition piece 12 may be different to conform to the human limb.

[0048] In a preferred embodiment, the second adapter piece 512 has a rotating hole 5123, and a bearing 514 is provided in the rotating hole 5123. The first adapter piece 511 is rotatably connected to the second adapter piece 512 through the bearing 514. Specifically, a first retaining ring 513 is provided at one end of the bearing 514 in the axial direction, and a second retaining ring 515 is provided at the other end. The first retaining ring 513 and the second retaining ring 515 are respectively engaged with the second adapter piece 512 in the rotating hole 5123. The first retaining ring 513 and the second retaining ring 515 cooperate to fix the bearing 514 in the rotating hole 5123.

[0049] In some specific embodiments, a sliding post 5112 is provided on the first adapter piece 511, and a sliding groove 5122 is provided on the second adapter piece 512. Specifically, the sliding groove 5122 is an arc-shaped groove. When the first adapter piece 511 rotates relative to the second adapter piece 512, the sliding post 5112 slides within the sliding groove 5122. The sliding post 5112 and the sliding groove 5122 cooperate to form a hidden physical limit, which can guide and limit the rotation of the first adapter piece 511. Compared with exoskeletons that rely on software limits, when the electronic control system fails, the lower limb exoskeleton, through the physical limits of the sliding post 5112 and the sliding groove 5122, can directly prevent joint movement from exceeding the set physiological safety range, thereby fundamentally ensuring the user's limb safety.

[0050] Please see Figure 5 , Figure 7 and Figure 8 The first adapter plate 511 is provided with a speed reduction structure, which is detachably connected to the first adapter plate 511. The speed reduction structure is connected to a driving component 55, which drives the first adapter plate 511 to rotate relative to the second adapter plate 512 via the speed reduction structure, so that the hip joint 1 and the knee joint 2 can be adjusted for flexion and extension. Specifically, the driving component 55 can be a motor.

[0051] In some specific embodiments, the deceleration structure includes a deceleration component 52, which may be a speed reducer, and the deceleration component 52 is connected to the driving component 55 in a transmission manner. Specifically, a fixing flange 56 is provided between the deceleration component 52 and the driving component 55, and the deceleration component 52 is fixedly mounted on the driving component 55 through the fixing flange 56.

[0052] The reducer 52 is provided with a connector 521 and a circumferential member 522. Specifically, the connector 521 can be a bolt, and it is located on the output end of the reducer 52. The first adapter plate 511 has a connector hole 5111, and the connector 521 is inserted into the connector hole 5111 to connect with the first adapter plate 511. The drive member 55 can drive the first adapter plate 511 to rotate via the reducer 52 and the connector 521. The circumferential member 522 can be a screw, and it is located on the housing of the reducer 52. The second adapter plate 512 has a circumferential hole 5121, and the circumferential member 522 is inserted into the circumferential hole 5121 to connect with the second adapter plate 512.

[0053] A fixing plate 53 is provided on the second adapter plate 512. Specifically, the fixing plate 53 is detachably connected to the second adapter plate 512, and the fixing plate 53 is located between the reduction component 52 and the second adapter plate 512. An elastic element 531 is provided on the fixing plate 53. The elastic element 531 is preferably, but not limited to, a spring. A circumferential element 522 passes through the fixing plate 53 and is connected to the second adapter plate 512 at the circumferential hole 5121. The circumferential element 522 serves to circumferentially position the fixing plate 53.

[0054] A chuck 54 is rotatably disposed between the fixed disk 53 and the second adapter piece 512. Specifically, the chuck 54 is provided with a lever, which can drive the chuck 54 to rotate relative to the fixed disk 53 by moving the lever. The chuck 54 has a clamping hole 541 and a locking hole 542. The elastic member 531 is disposed in the clamping hole 541 and abuts against the inner wall of the clamping hole 541. The locking hole 542 is provided with a first diameter position 5421 and a second diameter position 5422. The circumferential member 522 passes through the fixed disk 53, the locking hole 542 and the circumferential hole 5121 in sequence. Specifically, the diameter of the locking hole 542 at the first diameter position 5421 is smaller than the diameter of the circumferential member 522. When the circumferential member 522 is at the first diameter position 5421, it is locked in the locking hole 542. The diameter of the locking hole 542 at the second diameter position 5422 is larger than the diameter of the circumferential member 522. When the circumferential member 522 is at the second diameter position 5422, it is in a free state and can be pulled out from the circumferential hole 5121 and the locking hole 542 in sequence.

[0055] By rotating the chuck 54, the chuck 54 compresses the elastic member 531 on the inner wall of the clamping hole 541, and the circumferential member 522 moves from the first hole position 5421 to the second hole position 5422, and the deceleration structure switches from the locked state to the unlocked state.

[0056] Please see Figure 9 and Figure 10Specifically, when the deceleration structure is in the locked state, the circumferential member 522 is locked in the first diameter position 5421 of the locking hole 542, and the elastic member 531 is in the natural state. In the natural state, the elastic member 531 abuts against the inner wall of the clamping hole 541, which can restrict the chuck 54 from rotating freely. When the user moves the chuck 54, the chuck 54 rotates relative to the fixed plate 53 to switch from the locked state to the unlocked state. As the chuck 54 rotates, the inner wall of the clamping hole 541 gradually compresses the elastic member 531, and the circumferential member 522 moves from the first diameter position 5421 into the second diameter position 5422. The circumferential member 522 is unrestrained, and the circumferential member 522 can be disassembled to realize the convenient installation, replacement or removal of the deceleration member 52 and the drive member 55.

[0057] During the wearing process of the lower limb exoskeleton, the lower limb exoskeleton is inconvenient to wear because the reverse driving torque of the reducer 52 and the drive 55 is too large. Before wearing, simply move and rotate the chuck 54 to remove the reducer 52 and the drive 55. After reducing the impact of the reducer 52 and the drive 55 on the lower limb exoskeleton, the lower limb exoskeleton can be easily worn.

[0058] Please see Figure 11 In some specific embodiments, the reducer 52 is provided with a moving connector 523 and a stationary connector 524. A plug-in 521 is disposed on the moving connector 523, which can be located on the output end of the reducer 52. The drive member 55 drives the first adapter plate 511 to rotate via the reducer 52 and the moving connector 523. The stationary connector 524 is sleeved on the outside of the moving connector 523, and a circumferential member 522 is disposed on the stationary connector 524. The stationary connector 524 is connected to the housing of the reducer 52. Specifically, the stationary connector 524 can be assembled to the housing of the reducer 52 using screws. By adding the stationary connector 524 and the moving connector 523, reducers 52 and drive members 55 of different specifications can be adapted to the fixed plate 53 and the chuck 54. The hip joint 1 and the knee joint 2 can be fitted with reducers 52 and drive members 55 of different specifications, or the reducers 52 and drive members 55 can be removed without a drive source, meeting various usage scenarios.

[0059] Specifically, when the drive component 55 uses a small motor, the connector 521 and the circumferential component 522 can be directly mounted on the reducer 52. In this embodiment, the knee joint 2 can use a small motor. When the drive component 55 uses a large motor, a moving connector 523 and a stationary connector 524 are added to the reducer 52. The connector 521 is located on the moving connector 523, and the circumferential component 522 is located on the stationary connector 524. In this embodiment, the hip joint 1 can use a large motor. The moving connector 523 and the stationary connector 524 have simple structures and strong versatility.

[0060] The lower limb exoskeleton uses a chuck 54 and a fixing plate 53 to lock or release the circumferential component 522, forming a modular quick-release drive assembly 5. This quick-release drive assembly 5, as an independent functional module, makes the power system of the lower limb exoskeleton reconfigurable. By disassembling and assembling the drive assembly 55, daily maintenance and upgrades of the hip joint 1 and knee joint 2 are more convenient. Furthermore, it allows users to flexibly configure the drive assembly 55 according to rehabilitation stages or activity needs, such as switching between active and passive modes, which comprehensively enhances the maintainability, lifecycle adaptability, and versatility of the lower limb exoskeleton.

[0061] Example 3: The difference between this embodiment and the above embodiments is that this embodiment optimizes the structure of the hip joint 1 of the present invention. Please refer to [link to previous embodiments]. Figure 12 .

[0062] In this embodiment, the hip joint 1 includes an adjustment plate 11, which is disposed on the second adapter plate 512. The adjustment plate 11 includes a first adjustment section 111 and a second adjustment section 112. The first adjustment section 111 is detachably connected to the first adapter plate 511. Specifically, the first adjustment section 111 has a waist-shaped hole, and the first adjustment section 111 is assembled with the second adapter plate 512 at the waist-shaped hole by bolts. The connection position of the first adjustment section 111 with the second adapter plate 512 can be adjusted according to the length from the user's waist to the hip joint 1.

[0063] A first pivot 113 is provided between the first adjustment segment 111 and the second adjustment segment 112. The second adjustment segment 112 rotates relative to the first adjustment segment 111 at the first pivot 113, and the hip joint 1 performs adduction or abduction. In some specific embodiments, a second pivot 114 is provided between the first adjustment segment 111 and the second adjustment segment 112. The second pivot 114 is arranged parallel to the first pivot 113, which helps to improve the stability of the rotational connection between the first adjustment segment 111 and the second adjustment segment 112.

[0064] The second adjustment section 112 is equipped with a waist board 12, and a strap is threaded through the waist board 12. The waist board 12 can be fixed to the waist of the human body by the strap. Specifically, the strap can connect the waist boards 12 on both sides of the human body's waist. The length of the strap can be adjusted so that the lower limb exoskeleton can adapt to the pelvic width of different users.

[0065] A third pivot 13 is provided between the waist plate 12 and the second adjustment section 112. The waist plate 12 rotates relative to the second adjustment section 112 at the third pivot 13, and the hip joint 1 rotates internally or externally. Furthermore, a slide groove 1121 is provided on the second adjustment section 112, and a slide table 1122 is provided in the slide groove 1121. The slide table 1122 is slidably disposed in the slide groove 1121. The third pivot 13 is rotatably connected to the second adjustment section 112. At this time, the waist plate 12 can rotate and slide relative to the second adjustment section 112 to adapt to the situation where the distance between the waist and the hip joint becomes shorter when the hip joint 1 has a degree of freedom of adduction or abduction.

[0066] At the hip joint 1, the flexion and extension degrees of freedom are adjusted via the quick-release drive assembly 5, the adduction and abduction degrees of freedom are adjusted via the first pivot 113 and the second pivot 114, and the internal rotation and external rotation degrees of freedom are adjusted via the third pivot 13. The hip joint 1 has a compact, simple, and reliable structure, is easy to adapt to different users' wear, and can achieve better waist fit.

[0067] In some specific embodiments, the fixing member 31 has multiple fixing holes 311, which are arranged vertically. For ease of description, the bone structure 3 between the hip joint 1 and the knee joint 2 is the thigh bone structure that cooperates with the human thigh, and the bone structure 3 between the knee joint 2 and the ankle joint 4 is the lower leg bone structure that cooperates with the human lower leg.

[0068] In the thigh bone structure, the second adapter piece 512 in the hip joint 1 is assembled with the fixing member 31 at the fixing hole 311 by bolts, and the second adapter piece 512 in the knee joint 2 is assembled with the fixing member 31 at the fixing hole 311 by bolts. Depending on the different lengths of the user's thigh, the bolts are selected to assemble and fix the user in different fixing holes 311 on the fixing member 31.

[0069] In the lower leg bone structure, the first adapter piece 511 in the knee joint 2 is assembled with the fixing member 31 at the fixing hole 311 by bolts. According to the different lengths of the user's lower leg, the bolts are selected to assemble and fix it in different fixing holes 311 on the fixing member 31. Specifically, the connector 32 can be adjusted in 10mm increments with the fixing hole 311 of the fixing member 31 to adjust according to the length of the human limb.

[0070] The lower limb exoskeleton has a wide range of adjustment capabilities, which significantly improves its universality and ease of wear.

[0071] Example 4: The difference between this embodiment and the above embodiments is that this embodiment optimizes the structure of the ankle joint 4 of the present invention. Please refer to [link to previous embodiments]. Figure 13 and Figure 14 .

[0072] In this embodiment, the ankle joint 4 includes a sole plate 41 for conforming to the human foot. A movable component 42 is provided between the sole plate 41 and the fixing member 31, thereby connecting the skeletal structure 3 and the sole plate 41. The movable component 42 includes a free rod 421, which is slidably disposed on the fixing member 31. In some specific embodiments, the fixing member 31 has a straight hole 314, and the free rod 421 has a free part 4211. The free part 4211 is movably inserted into the straight hole 314 to move up and down relative to the fixing member 31, allowing the ankle joint 4 to dorsiflex or plantarflex.

[0073] A first rotating rod 422 is provided on one side of the free rod 421. The first rotating rod 422 is specifically an arc-shaped rod. A fourth rotating shaft 423 is provided between the first rotating rod 422 and the free rod 421. The first rotating rod 422 rotates relative to the free rod 421 via the fourth rotating shaft 423. A second rotating rod 424 is provided on the first rotating rod 422. The second rotating rod 424 is specifically an arc-shaped rod. A fifth rotating shaft 425 is provided between the second rotating rod 424 and the first rotating rod 422. Specifically, the fifth rotating shaft 425 is arranged parallel to the fourth rotating shaft 423. The second rotating rod 424 and the first rotating rod 422 rotate relative to each other at the fifth rotating shaft 425. Through the fourth rotating shaft 423 and the fifth rotating shaft 425, the ankle joint 4 can be adjusted by internal or external rotation.

[0074] A flipping assembly 43 is provided between the second rotating rod 424 and the sole plate 41. The second rotating rod 424 and the sole plate 41 rotate relative to each other via the flipping assembly 43, causing the ankle joint 4 to invert or evert.

[0075] In some specific embodiments, the flipping assembly 43 includes a first rotating member 431, a sixth rotating shaft 432 disposed between the first rotating member 431 and the second rotating rod 424, specifically, the sixth rotating shaft 432 is perpendicular to the fifth rotating shaft 425, and the first rotating member 431 and the second rotating rod 424 rotate relative to each other at the sixth rotating shaft 432. A second rotating member 434 is disposed between the first rotating member 431 and the sole plate 41, a seventh rotating shaft 433 is disposed between the second rotating member 434 and the first rotating member 431, specifically, the seventh rotating shaft 433 is parallel to the sixth rotating shaft 432, and the second rotating member 434 and the first rotating member 431 rotate relative to each other at the seventh rotating shaft 433. An eighth rotating shaft 435 is disposed between the second rotating member 434 and the sole plate 41, specifically, the eighth rotating shaft 435 is parallel to the seventh rotating shaft 433, and the second rotating member 434 and the sole plate 41 rotate relative to each other at the eighth rotating shaft 435.

[0076] The ankle joint 4 can achieve three degrees of freedom: dorsiflexion and plantarflexion, inversion and eversion, and internal rotation and external rotation. The full degree of freedom of movement of the ankle joint 4 makes the ankle joint 4 more comfortable when walking and reduces the restraint force of the ankle joint 4 on the human body. The ankle joint 4 has a simple and compact structure.

[0077] The lower limb exoskeleton, through its flexible skeletal structure 3 and fully free hip and ankle joints 1 and 4, can solve the problems of stiff and unnatural movement in lower limb exoskeletons, enabling multidimensional movement. The gait assisted by the lower limb exoskeleton is closer to the gait pattern of natural people, improving the effectiveness of rehabilitation training.

[0078] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0079] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0080] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0081] In this invention, unless otherwise expressly specified and limited, "above or below" a first feature may include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on" the first feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the first feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0082] Although the description of the invention has been given in conjunction with the specific embodiments described above, it will be apparent to those skilled in the art that many substitutions, modifications, and variations can be made based on the foregoing. Therefore, all such substitutions, modifications, and variations are included within the spirit and scope of the appended claims.

Claims

1. A lower limb exoskeleton, characterized in that, include: Joint components and bone structure (3), wherein the bone structure (3) includes: Multiple fasteners (31) are provided, and the bone structure (3) is connected to the joint assembly via the fasteners (31); A plurality of connectors (32) are provided, wherein the connectors (32) are located between two adjacent fasteners (31); The spring clip (33) is inserted into the connector (32) and the fixing member (31) respectively, so as to connect between the connector (32) and the fixing member (31), and between two adjacent connectors (32); The side of the skeletal structure (3) facing the limb is the inner side (35), and the side away from the limb is the outer side (36). When the spring piece (33) bends toward the inner side (35) or the outer side (36), the connector (32) and the fixing member (31) and the two adjacent connectors (32) undergo relative deflection, and the skeletal structure (3) bends and deforms to fit the limb.

2. The lower limb exoskeleton according to claim 1, characterized in that, The two adjacent connectors (32) include a first connector (321) and a second connector (322). The first connector (321) has a splicing groove (3211), and the second connector (322) includes a splicing end (3221). The splicing end (3221) is inserted into the splicing groove (3211), and the first connector (321) and the second connector (322) are spliced ​​together.

3. The lower limb exoskeleton according to claim 2, characterized in that, A guide structure (34) for deflection guidance is provided between the first connector (321) and the second connector (322).

4. The lower limb exoskeleton according to claim 3, characterized in that, The guide structure (34) includes a deflection shaft (341), which is located in the splicing groove (3211) and connected to the first connector (321). The second connector (322) has a deflection groove (342), and the deflection shaft (341) is movably inserted in the deflection groove (342). When the spring piece (33) bends, the deflection shaft (341) slides in the deflection groove (342).

5. The lower limb exoskeleton according to claim 1, characterized in that, The joint assembly includes a hip joint (1), a knee joint (2) and an ankle joint (4), and the skeletal structure (3) is connected between the hip joint (1) and the knee joint (2), and between the knee joint (2) and the ankle joint (4).

6. The lower limb exoskeleton according to claim 5, characterized in that, The hip joint (1) includes: An adjustment plate (11) is provided on the bone structure (3), and the adjustment plate (11) includes a first adjustment section (111) and a second adjustment section (112). A first pivot (113) is provided between the first adjusting segment (111) and the second adjusting segment (112). The second adjusting segment (112) rotates relative to the first adjusting segment (111) at the first pivot (113), and the hip joint (1) performs adduction or abduction. A waist plate (12) is provided on the second adjustment section (112). A third rotating shaft (13) is provided between the waist plate (12) and the second adjustment section (112). The waist plate (12) rotates relative to the second adjustment section (112) at the third rotating shaft (13), and the hip joint (1) rotates internally or externally.

7. The lower limb exoskeleton according to claim 5, characterized in that, The ankle joint (4) includes: The sole plate (41) is designed to conform to the human foot. The movable component (42) is located between the fixing member (31) and the sole plate (41). The movable component (42) includes a free rod (421), which is slidably disposed on the fixing member (31) to move up and down relative to the fixing member (31), and the ankle joint (4) is dorsiflexed or plantarflexed. A first rotating rod (422) is provided on one side of the free rod (421). A fourth rotating shaft (423) is provided between the first rotating rod (422) and the free rod (421). The first rotating rod (422) rotates relative to the free rod (421) via the fourth rotating shaft (423). A second rotating rod (424) is provided on the first rotating rod (422). A fifth rotating shaft (425) is provided between the second rotating rod (424) and the first rotating rod (422). The second rotating rod (424) and the first rotating rod (422) rotate relative to each other at the fifth rotating shaft (425). The ankle joint (4) performs internal or external rotation. A flipping assembly (43) is disposed between the second rotating rod (424) and the sole plate (41). The second rotating rod (424) and the sole plate (41) rotate relative to each other via the flipping assembly (43), and the ankle joint (4) performs inversion and eversion.

8. The lower limb exoskeleton according to claim 5, characterized in that, Both the hip joint (1) and the knee joint (2) are provided with quick-release drive components (5); The quick-release drive assembly (5) includes: A connecting structure (51) is used to connect with the bone structure (3), the connecting structure (51) includes a first connecting piece (511) and a second connecting piece (512). The deceleration structure is detachably connected to the first adapter plate (511); and The drive member (55) is connected to the reduction structure. The drive member (55) drives the first adapter plate (511) to rotate relative to the second adapter plate (512) via the reduction structure, so that the hip joint (1) or the knee joint (2) can be flexed or extended.

9. The lower limb exoskeleton according to claim 8, characterized in that, The deceleration structure includes: The speed reducer (52) is connected to the drive (55) in a transmission manner. The speed reducer (52) is provided with a plug (521) and a circumferential part (522). The plug (521) is connected to the first adapter piece (511), and the circumferential part (522) is connected to the second adapter piece (512). A fixed disk (53) is disposed on the second adapter plate (512), the fixed disk (53) being located between the second adapter plate (512) and the speed reducer (52), and an elastic element (531) is provided on the fixed disk (53); and A chuck (54) is rotatably disposed between the fixed disk (53) and the adapter structure (51). The chuck (54) has a clamping hole (541) and a locking hole (542). The elastic member (531) is disposed in the clamping hole (541) and abuts against the inner wall of the clamping hole (541). The locking hole (542) has a first diameter position (5421) and a second diameter position (5422). The circumferential member (522) passes through the fixed disk (53) and the locking hole (542). When the chuck (54) rotates, the chuck (54) compresses the elastic member (531) on the inner wall of the abutment hole (541), the circumferential member (522) moves from the first aperture position (5421) to the second aperture position (5422), and the deceleration structure switches from the locked state to the unlocked state.

10. The lower limb exoskeleton according to claim 9, characterized in that, The speed reducer (52) is provided with a moving connector (523) and a stationary connector (524). The plug-in (521) is provided on the moving connector (523). The driving member (55) drives the first adapter plate (511) to rotate via the speed reducer (52) and the moving connector (523). The stationary connector (524) is sleeved on the outside of the moving connector (523). The circumferential member (522) is provided on the stationary connector (524).

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