Lower limb assisting exoskeleton

Abstract

The utility model relates to the technical field of rehabilitation instruments, in particular to a lower limb assisting exoskeleton which comprises an upper limb mechanism, a lower limb assisting mechanism and a foot mechanism. The upper limb mechanism is provided with a control assembly, and the control assembly comprises a controller and an air pump assembly; the lower limb assisting mechanism is arranged on the rear side of the thigh of the human body and comprises an air bag driving component, and the air bag driving component is used for driving the lower limb of the human body to be lifted or put down; the foot mechanism comprises a sensor, the sensor is in signal connection with the controller, and the sensor is used for sensing the plantar pressure of the human body and sending the plantar pressure to the controller; the air pump assembly is used for providing air pressure for the air bag driving component, and the controller is electrically connected with the air pump assembly. The technical problems that in the prior art, comfort is poor, carrying is difficult and price is high are effectively solved, flexible texture is achieved, comfort of a user is improved, the structure cost is low, the weight is light, burden of the user is reduced, carrying is convenient, and use flexibility can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation equipment, in particular to a lower limb power-assisting exoskeleton. Background Art

[0002] The physical functions of the elderly decline with age, among which the decline of walking function is a problem faced by most elderly people, which further reduces the elderly's ability to adapt to the environment and increase the risk of falling and injury. Walking, as a complex behavioral action system, requires the coordination of nerves, bones and muscles, and comprehensive regulation of speed, frequency, height, step length, stride, direction and posture, and completes a series of walking cycles through the coordination between two multi-segment lower limbs and the whole body. The impact of aging on human bones, muscles, nerves, etc. is manifested in: decreased bone density, more fragile bones and easy to break; degenerative changes such as atrophy of muscle fibers; decreased reaction speed and cognitive ability. Physiological aging and pathological changes lead to changes in the gait of the elderly, with gait deformation phenomena such as leaning forward, slow and low foot lifting, dragging on the ground, arcing, foot inversion, swaying, etc., accompanied by looking down and stopping. The degeneration of walking function reduces the ability and quality of life of the elderly to live independently, and is more prone to accidents such as gait deformation and instability and falling.

[0003] Lower limb assisted exoskeleton is a good way to solve the above problems. Its typical form is a rigid link group arranged on the outside of the two thighs of the human body, which is fixed to the human body by waist, leg and foot fixing straps.

[0004] However, in the process of implementing the utility model technical solution in the embodiment of the present application, the utility model inventors found that the above technology has at least the following technical problems:

[0005] Traditional rigid lower limb assisted exoskeletons have some inevitable disadvantages: (1) Poor comfort: The rotation axes of the human body and the exoskeleton in the sagittal plane (i.e., the symmetry plane of the human body) must be aligned; if they are not completely aligned, the rigid connecting rods connected by the joints will hinder the movement of the biological joints, which may cause the user to fall or get injured; in addition, due to differences in user physiological size, force habits, etc., rigid exoskeletons must use a variety of sensors and mechanism designs to achieve compatibility with different groups of people; (2) Poor portability: Rigid lower limb assisted exoskeletons are mostly made of metal or aluminum alloy, which is heavy and bulky, and is not light and flexible, making it inconvenient for the elderly to use in daily activities; (3) Poor economy and maintainability: Components such as motors and hydraulic cylinders are expensive and complex in structure, and their reliability is difficult to guarantee in complex application scenarios. Utility Model Content

[0006] The embodiment of the present application solves the technical problems of poor comfort, difficulty in carrying and high price in the prior art by providing a lower limb power-assisting exoskeleton. Walking assistance is achieved through the cooperation between the sensor of the foot mechanism, the airbag drive component and the control component. The airbag drive component adopts an airbag structure, and the flexible texture improves the user comfort. The structure has low cost and light weight, which reduces the burden on users and is easy to carry, thereby improving the flexibility of use.

[0007] The embodiment of the present application provides a lower limb power-assisting exoskeleton, which includes an upper limb mechanism, a lower limb power-assisting mechanism, and a foot mechanism;

[0008] The upper limb mechanism is equipped with a control component, which includes a controller and an air pump component;

[0009] The lower limb power-assisting mechanism is installed on the back side of the human thigh, and the lower limb power-assisting mechanism includes an airbag driving component, and the airbag driving component is used to drive the lower limbs of the human body to be lifted or lowered;

[0010] The foot mechanism includes a sensor, the sensor is connected to the controller signal, and the sensor is used to sense the pressure of the human foot and send it to the controller;

[0011] The air pump assembly is used to provide air pressure for the airbag driving component, and the controller is electrically connected to the air pump assembly.

[0012] Among them, the upper limb mechanism also includes a backboard, the control component is installed on the backboard, and the backboard is also equipped with shoulder straps and waist straps. The shoulder straps are arranged corresponding to the shoulders of the human body, and the waist straps are arranged corresponding to the waist of the human body.

[0013] Wherein, the foot mechanism includes an insole, and a plurality of sensors are provided, and the plurality of sensors are arranged in the insole.

[0014] Among them, the foot mechanism also includes a foot ring, which is equipped with a built-in battery, a data transmission repeater and a lower computer. A foot strap is provided on one side of the foot ring. The built-in battery is used to power the data transmission repeater and the lower computer. The sensor is a pressure sensor, and the sensor is connected to the lower computer signal. The lower computer is used to read the pressure signal data of the sensor and transmit it to the data transmission repeater. The data transmission repeater is used to send the pressure signal data to the controller by wireless communication.

[0015] There are two airbag driving components, which are arranged at the back sides of two thighs of the human body respectively.

[0016] Wherein, the airbag driving component includes a leg baseband and an airbag expansion and contraction assembly installed on the back of the leg baseband. When the airbag expansion and contraction assembly is in an expanded state, the user's lower limbs are lifted, and when the airbag expansion and contraction assembly is in a contracted state, the user's lower limbs are lowered.

[0017] Among them, the airbag expansion and contraction assembly includes two L-shaped airbags and multiple intermediate airbags. The two L-shaped airbags and the multiple intermediate airbags are arranged in a row and evenly spaced on the back of the leg base band. The two L-shaped airbags are respectively arranged at the upper and lower ends of the back of the leg base band. One side of the L-shaped airbag is fixedly connected to the leg base band, and the other side of the L-shaped airbag is a free end. The multiple intermediate airbags are located between the two L-shaped airbags, and one end edge of the intermediate airbag is connected to the leg base band.

[0018] Among them, a plurality of movable brackets are movably arranged on the back of the leg base band, and the plurality of movable brackets are arranged in a row at equal intervals, and the movable brackets correspond to the intermediate airbags one by one, and the movable brackets are connected to one end edge of the intermediate airbag.

[0019] Wherein, the upper end and the lower end of the front end surface of the leg base band are respectively provided with leg fixing straps.

[0020] Among them, the control component also includes an air guide tube assembly, the air pump assembly includes an air pump body and an air valve assembly, the controller is electrically connected to the air pump body and the air valve assembly, the air pump body is connected to the air guide tube assembly through the air valve assembly, and the air guide tube assembly is connected to the airbag expansion and contraction assembly.

[0021] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0022] 1. The airbag driving component adopts an airbag structure, which effectively solves the technical problems of poor comfort, difficulty in carrying and high price in the prior art, thereby achieving a flexible texture to improve user comfort, and the structure has low cost, light weight, reduces the burden on users, is easy to carry, and is conducive to improving flexibility of use.

[0023] 2. Walking assistance is achieved through the cooperation between the sensors of the foot mechanism, the airbag drive components and the control components. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of a lower limb power-assisting exoskeleton of the utility model;

[0025] Figure 2 It is a schematic diagram of the structure of the control assembly and the lower limb assistant mechanism of the utility model;

[0026] Figure 3This is a schematic diagram of the structure of the airbag driving component of the utility model after the air guide pipe and the intermediate airbag are hidden;

[0027] Figure 4 It is a schematic diagram of the structure of the L-shaped airbag of the utility model;

[0028] Figure 5 It is a schematic structural diagram of the intermediate airbag of the utility model;

[0029] Figure 6 It is a schematic structural diagram of a portion of the L-shaped airbags and the middle airbag of the utility model when they are inflated.

[0030] Attached Figure 1-6 The markings include:

[0031] 100, upper limb mechanism; 200, lower limb power-assisting mechanism; 300, foot mechanism;

[0032] 1. Controller; 2. Sensor; 3. Backboard; 4. Shoulder straps; 5. Waist straps; 6. Insoles; 7. Foot rings; 8. Foot straps; 9. Leg base straps; 10. Airbag expansion and contraction assembly; 11. L-shaped airbag; 12. Middle airbag; 13. Movable bracket; 14. Leg fixing straps; 15. Air pump body; 16. Air duct; 17. Power module; 18. Proportional air valve; 19. Three-way pipe; 20. Switch air valve; 21. Movable connector. DETAILED DESCRIPTION

[0033] The embodiment of the present application solves the technical problems of poor comfort, difficulty in carrying and high price in the prior art by providing a lower limb power-assisting exoskeleton. Walking assistance is achieved through the cooperation between the sensor 2 of the foot mechanism, the airbag drive component and the control component. The airbag drive component adopts an airbag structure, and the flexible texture improves user comfort. The structure has low cost and light weight, which reduces the burden on users and is easy to carry, thereby improving flexibility of use.

[0034] The technical solution in the embodiment of the present application is to solve the above technical problems, and the overall idea is as follows:

[0035] like Figures 1 to 6As shown, the lower limb power-assisting exoskeleton includes an upper limb mechanism, a lower limb power-assisting mechanism and a foot mechanism; the upper limb mechanism is equipped with a control component, and the control component includes a controller 1 and an air pump component; the lower limb power-assisting mechanism is installed on the back side of the human thigh, and the lower limb power-assisting mechanism includes an airbag driving component, and the airbag driving component is used to drive the lower limb of the human body to be lifted or lowered; the foot mechanism includes a sensor 2, and the sensor 2 is connected to the controller 1 signal, and the sensor 2 is used to sense the pressure of the sole of the human body and send it to the controller 1; the air pump component is used to provide air pressure for the airbag driving component, and the controller 1 is electrically connected to the air pump component. Specifically, two airbag driving components are provided, and the two airbag driving components are respectively arranged on the back sides of the two thighs of the human body. When the embodiment of the present application is working, the controller 1 starts the air pump assembly, and provides gas to the two airbag driving components to expand them to lift the human thigh or exhausts gas to shrink them to lower the human thigh; the controller 1 drives the two airbag driving components to work separately, and the sensor 2 is used to sense the pressure of the human foot and send it to the controller 1, and judge whether the user intends to step or is taking a step according to the foot pressure signal; if so, the controller 1 drives the airbag driving component corresponding to the lower limb to expand through the air pump assembly , so that the airbag driving component drives the user's lower limbs to lift up in an expanded state; judge whether the user is about to end stepping or is not stepping according to the plantar pressure signal, and if so, the controller 1 discharges the gas in the airbag driving component through the air pump assembly, so that the airbag driving component lowers the user's lower limbs in a contracted state; the embodiment of the present application realizes walking assistance through the cooperation between the sensor 2 of the foot mechanism, the airbag driving component and the control assembly, and the airbag driving component adopts an airbag structure, and the flexible texture improves the user's comfort, and the structure has low cost and light weight, reduces the user's burden, is easy to carry, and is conducive to improving the flexibility of use.

[0036] In addition, human walking is a repetitive alternating step. Walking data can be decomposed into continuous and repetitive gait segments. The minimum non-repetitive gait action time interval composed of several continuous gait segments is called a gait cycle. A complete gait cycle can be simply divided into two gait phases, the support phase and the swing phase, depending on whether the foot is in contact with the ground. The time period from heel contact to toe lift-off is called the support phase, which accounts for about 62% of the length of a gait cycle; the time from toe lift-off to the next heel touchdown is called the swing phase, which accounts for about 38% of the length of a gait cycle.

[0037] When a person walks, the ground generates an interaction force on the sole of the foot, which can be decomposed into three components: the vertical support force of the sole of the foot on the human body, the tangential force of the sole of the foot in the left-right direction, and the tangential force of the sole of the foot in the front-back direction. Among them, the main function of the support force is to bear the weight of the human body, the main function of the tangential force in the left-right direction is to maintain the balance of the human body, and the tangential force in the front-back direction is mainly the acceleration and deceleration during walking. The vertical support force on the sole of the foot can reflect the change in pressure of the foot on the ground when a person walks, and then judge which gait cycle the person is currently in, thereby providing a reference for the flexible lower limb exoskeleton.

[0038] In the daily walking exercise of the elderly, if one foot is in the swing phase, the other foot must be in the support phase. The plantar pressure data of a single foot in the swing phase is approximately equal to zero and can be ignored, so it is only necessary to study the plantar pressure steps at different time nodes in the support phase. The support phase is further divided into four nodes and corresponding sub-phases: heel touchdown, toe touchdown, heel off and toe off. As mentioned earlier, walking is a regular movement, so the plantar pressure in the support phase also shows a periodic pattern. As long as the plantar pressure is analyzed, the current user's gait condition can be judged, thereby providing an effective, safe and accurate assistance effect.

[0039] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0040] Embodiment 1

[0041] In the first embodiment of the present application, the foot mechanism includes an insole 6, and a plurality of sensors 2 are provided, and the plurality of sensors 2 are arranged in the insole 6. The foot mechanism also includes a foot ring 7, and a built-in battery, a data transmission repeater and a lower computer are installed in the foot ring 7. A foot strap 8 is provided on one side of the foot ring 7. The built-in battery is used to power the data transmission repeater and the lower computer. The sensor 2 is a pressure sensor 2, and the sensor 2 is connected to the lower computer signal. The lower computer is used to read the pressure signal data of the sensor 2 and transmit it to the data transmission repeater, and the data transmission repeater is used to send the pressure signal data to the controller 1 in a wireless communication mode; further, the foot ring 7 has a built-in plantar pressure acquisition chip, and the plantar pressure acquisition chip is electrically connected to the built-in battery, the data transmission repeater and the lower computer respectively. The insole 6 is made of silicone material, and a plurality of sensors 2 are provided, and the plurality of sensors 2 are evenly embedded in the insole 6; wherein the foot strap 8 can be an elastic strap or an adjustable tightness strap.

[0042] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0043] Specifically, under the above setting, the foot strap 8 is used to conveniently fix the foot ring 7 at the user's ankle, which facilitates the communication between the lower computer and the sensor 2. When the lower computer reads the plantar pressure signal data detected by the sensor 2, the lower computer transmits the pressure signal data to the data transmission repeater, and the data transmission repeater sends the corresponding pressure signal data to the controller 1. The controller 1 controls the operation of the air pump assembly according to the plantar pressure signal data.

[0044] Embodiment 2

[0045] In the second embodiment of the present application, the upper limb mechanism also includes a back panel 3, which is made of polyurethane material and is both light and strong. A plurality of air holes are evenly arranged on the back panel 3, which is beneficial to improving the air permeability of the back of the human body. The control component is installed on the back panel 3, and the back panel 3 is provided with reserved installation holes for installing the control component. The back panel 3 is also equipped with shoulder straps 4 and waist straps 5. The shoulder straps 4 are arranged corresponding to the shoulders of the human body, and the waist straps 5 are arranged corresponding to the waist of the human body; wherein, the shoulder straps 4 and the waist straps 5 can be elastic straps or adjustable tightness straps.

[0046] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0047] Specifically, under the above arrangement, the upper limb mechanism can be conveniently hung on the back of the human body, is not easy to fall, and has a stable structure.

[0048] Embodiment 3

[0049] In the third embodiment of the present application, the airbag driving component includes a leg baseband 9 and an airbag expansion and contraction assembly 10 installed on the back of the leg baseband 9. When the airbag expansion and contraction assembly 10 is in an expanded state, the user's lower limbs are lifted, and when the airbag expansion and contraction assembly 10 is in a contracted state, the user's lower limbs are lowered. Among them, the upper and lower ends of the front end surface of the leg baseband 9 are respectively provided with leg fixing straps 14, and the leg fixing straps 14 can be elastic straps or adjustable tightness straps.

[0050] Furthermore, the airbag expansion and contraction assembly 10 includes two L-shaped airbags 11 and a plurality of intermediate airbags 12. The two L-shaped airbags 11 and the plurality of intermediate airbags 12 are arranged in a row and evenly spaced apart on the back side of the leg base band 9. The two L-shaped airbags 11 are respectively arranged at the upper and lower ends of the back side of the leg base band 9. One side of the L-shaped airbag 11 is fixedly connected to the leg base band 9, and the other side of the L-shaped airbag 11 is a free end. The plurality of intermediate airbags 12 are located between the two L-shaped airbags 11, and one end edge of the intermediate airbag 12 is connected to the leg base band 9.

[0051] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0052] Specifically, under the above settings, when using the embodiment of the present application, an airbag driving component is arranged on each of the user's thighs, and the airbag driving component is arranged on the back of the person's thigh, and the leg base band 9 fits tightly against the back of the person's thigh. Preferably, the upper end of the leg base band 9 is located at the buttocks or the waist or between the two; when the L-shaped airbag 11 and the middle airbag 12 are not inflated with gas, the airbags are not squeezed against each other; when working, the air pump assembly inputs gas into the upper L-shaped airbag 11 for inflation, and the gas then enters multiple middle airbags 12 for inflation, and finally enters the lower L-shaped airbag 11 for inflation. The upper ends of the L-shaped airbag 11 and the leg base band 9 are located at the buttocks or the waist or between the two, that is, the upper L-shaped airbag 11 is also located there, and when the L-shaped airbag 11 is inflated. The fixed end (the side where the L-shaped airbag 11 is fixedly connected to the leg base band 9) and the free end (the other side of the L-shaped airbag 11) of the L-shaped airbag 11 expand simultaneously, but the fixed end is constrained by the leg base band 9 and can only expand outward. The free end of the L-shaped airbag 11 is squeezed by the intermediate airbag 12 and the fixed end of the L-shaped airbag 11 at the same time, thereby transferring the force (torque) to the fixed end. In other words, the fixed end of the L-shaped airbag 11 provides a good fulcrum for the driving array. Furthermore, multiple intermediate airbags 12 expand sequentially from top to bottom according to the arrangement direction, and squeeze each other to generate squeezing pressure, forming a bridge-type continuous structure that can transmit force. Under the bridge-type continuous structure that can transmit force, force is transmitted from the waist or buttocks to the legs, assisting the user to lift his thighs and achieve walking assistance.

[0053] Embodiment 4

[0054] In the fourth embodiment of the present application, the control component also includes a power module 17 and an air guide tube component, the air pump component includes an air pump body 15 and an air valve component, the controller 1 is electrically connected to the air pump body 15 and the air valve component, the air pump body 15 is connected to the air guide tube component through the air valve component, the air guide tube component is connected to the airbag expansion and contraction component 10, and the power module 17 is used to supply power to the controller 1, the air pump body 15 and the air valve component; the air pump body 15, the air valve component and the air guide tube component are respectively provided with two, and the air pump body 15, the air valve component, the air guide tube component and the airbag driving component correspond to each other. Specifically, under the above setting, the air pump body 15 is connected to the air guide tube component through the air valve component, the air guide tube component is connected to the airbag driving component, and the controller 1 controls the expansion and contraction of the airbag driving component by controlling the start and shutdown of the air pump body 15 and the air valve component.

[0055] Of course, the controller 1 may also be provided with a wireless communication module; the wireless communication module may be connected to an external intelligent terminal for convenient control, and may also facilitate remote monitoring and control through an intelligent terminal to improve intelligence.

[0056] In the fourth embodiment of the present application, each air valve assembly includes only one proportional air valve 18, and each air guide tube assembly includes an air guide duct 16. An air guide duct 16 is connected to all L-shaped airbags 11 and intermediate airbags 12 in an airbag driving component. The air pump body 15 is connected to the air guide duct 16 through the proportional air valve 18, so as to provide an air source for all L-shaped airbags 11 and intermediate airbags 12 in an airbag driving component. Under the action of the proportional air valve 18, the flow rate and direction of the airflow are controlled, thereby realizing the expansion and contraction of the L-shaped airbags 11 and the intermediate airbags 12.

[0057] Embodiment 5

[0058] The fifth embodiment of the present application is different from the fourth embodiment in that: each air valve assembly includes a proportional air valve 18, a three-way pipe 19 and a switch air valve 20; each air guide pipe assembly includes two air guide pipes 16: a first air guide pipe 16 and a second air guide pipe 16; all L-shaped airbags 11 and intermediate airbags 12 in an airbag driving component are evenly divided into a first airbag group and a second airbag group. Preferably, the intermediate airbags 12 between the first airbag group and the second airbag group are arranged in staggered intervals, that is, between two adjacent intermediate airbags 12 in the first airbag group, an intermediate airbag 12 of the second airbag group is arranged, and similarly, between two adjacent intermediate airbags 12 in the second airbag group, an intermediate airbag 12 of the first airbag group is arranged (of course, multiple airbags 11 and intermediate airbags 12 can also be arranged in a staggered manner). The intermediate airbags 12 from top to bottom are divided into the first airbag group and the second airbag group according to odd numbers and even numbers); the output ends of the air pump body 15 are respectively connected to the input ends of the proportional air valve 18, and the output ends of the proportional air valve 18 are respectively connected to the second air guide duct 16 and the switch air valve 20 through the three-way pipe 19, the proportional air valve 18 is connected to the second airbag group through the second air guide duct 16, and the output end of the switch air valve 20 is connected to the first airbag group through the first air guide duct 16; further, the first air guide duct 16 is connected to the L-shaped airbag 11 at the upper end and the multiple intermediate airbags 12 in the second airbag group, and the first air guide duct 16 is connected to the multiple intermediate airbags 12 in the second airbag group and the L-shaped airbag 11 at the lower end; that is, the airflow between the first airbag group and the second airbag group is not connected.

[0059] Specifically, under the above settings, when working, in order to improve the inflation efficiency of the air pump body 15, a pre-inflation mode is adopted, that is, when starting to work, the air pump body 15 starts to output gas, the proportional air valve 18 and the switch air valve 20 are opened, and the airbags in the first airbag group are inflated. When the switch air valve 20 is in the closed state, the airbags in the first airbag group can be kept in an inflated state at all times to ensure constant air pressure; the airbags in the second airbag group, under the action of the proportional air valve 18, are alternately inflated and deflated as the user's gait is implemented, and the controller 1 performs feedback from the sensor 2. That is, when the thigh needs to be lifted, gas is introduced into the airbags in the second airbag group through the proportional air valve 18 to expand them to assist in lifting the thigh. When the thigh needs to be lowered, the proportional air valve 18 adjusts the gas pressure input into the second airbag group to facilitate the lowering of the thigh. Among them, the proportional air valve 18 receives the command signal from the controller 1, amplifies the power through the proportional amplifier, and outputs current proportionally to the proportional electromagnet of the proportional air valve 18. The proportional electromagnet outputs force and moves the position of the valve core proportionally, so that the proportional air valve 18 can proportionally control the flow rate and direction of the airflow.

[0060] Embodiment 6

[0061] In the sixth embodiment of the present application, a plurality of movable brackets 13 are also movably arranged on the back of the leg base band 9. The plurality of movable brackets 13 are arranged in a row at equal intervals. The movable brackets 13 correspond to the intermediate airbags 12 one by one, and the movable brackets 13 are connected to one end edge of the intermediate airbags 12. Preferably, the intermediate airbags 12 are rectangular, elliptical or circular. Specifically, under the above arrangement, the movable brackets 13 can be movably connected to the back of the leg base band 9. Of course, the movable brackets 13 can also be connected to the back of the leg base band 9 by sewing. The movable brackets 13 are connected to the intermediate airbags 12 one by one. When the intermediate airbags 12 are inflated, the mutual movement and squeezing between the plurality of intermediate airbags 12 is facilitated.

[0062] Furthermore, the movable bracket 13 includes two movable connecting parts 21 arranged opposite to each other, one end of the two movable connecting parts 21 is respectively connected to the back of the leg base band 9, a connection gap is formed between the other ends of the two movable connecting parts 21, and the edge of one end of the two intermediate airbags 12 is connected to the connection gap formed between the other ends of the two movable connecting parts 21. Specifically, the intermediate airbag 12 is formed by hot-pressing and bonding two pieces of non-retractable TPU flexible fabric, and the side of the intermediate airbag 12 penetrates the air guide tube assembly to realize the inflation and deflation of the airbag. The outer edge of the airbag is sealed by hot-pressing bonding and then connected to the connection gap formed between the other ends of the two movable connecting parts 21, and the installation is accurate and convenient. Preferably, the movable connecting part 21 is a deformable material, such as TPU flexible fabric.

[0063] In the embodiment of the present application, the two movable connecting members 21 are arranged in a triangle. Specifically, the above arrangement is conducive to improving the stability and reliability of the connection between the movable connecting member 21 and the intermediate airbag 12.

[0064] Of course, the movable connecting part 21 can be made of flexible fabric or elastic material; the movable connecting part 21 made of elastic material has elastic recovery ability, so that when the L-shaped airbag 11 and the middle airbag 12 expand and squeeze each other, the movable connecting part 21 will deform under its elasticity. When the L-shaped airbag 11 and the middle airbag 12 shrink, the movable connecting part 21 drives the middle airbag 12 to return to its original position under its elastic recovery force.

[0065] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0066] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A lower limb power-assisting exoskeleton, characterized in that: Including upper limb mechanism, lower limb power-assisting mechanism and foot mechanism; The upper limb mechanism is equipped with a control component, which includes a controller and an air pump component; The lower limb power-assisting mechanism is installed on the back side of the human thigh, and the lower limb power-assisting mechanism includes an airbag driving component, and the airbag driving component is used to drive the lower limbs of the human body to be lifted or lowered; The foot mechanism includes a sensor, the sensor is connected to the controller signal, and the sensor is used to sense the pressure of the human foot and send it to the controller; The air pump assembly is used to provide air pressure for the airbag driving component, and the controller is electrically connected to the air pump assembly.

2. A lower limb assisting exoskeleton according to claim 1, characterized in that: The upper limb mechanism also includes a back plate, the control component is installed on the back plate, and the back plate is also equipped with shoulder straps and waist straps, the shoulder straps are arranged corresponding to the shoulders of the human body, and the waist straps are arranged corresponding to the waist of the human body.

3. A lower limb assisting exoskeleton according to claim 1, characterized in that: The foot structure includes an insole, and a plurality of sensors are provided, wherein the plurality of sensors are arranged in the insole.

4. A lower limb assisting exoskeleton according to claim 1, characterized in that: The foot mechanism also includes a foot ring, which is equipped with a built-in battery, a data transmission repeater and a lower computer. A foot strap is provided on one side of the foot ring. The built-in battery is used to power the data transmission repeater and the lower computer. The sensor is a pressure sensor, which is connected to the lower computer signal. The lower computer is used to read the pressure signal data of the sensor and transmit it to the data transmission repeater. The data transmission repeater is used to send the pressure signal data to the controller in a wireless communication manner.

5. The lower limb assist exoskeleton according to claim 1, characterized in that: There are two airbag driving components, which are respectively arranged on the back sides of two thighs of the human body.

6. The lower limb assist exoskeleton according to claim 1, characterized in that: The airbag driving component includes a leg baseband and an airbag expansion and contraction component installed on the back of the leg baseband. When the airbag expansion and contraction component is in an expanded state, the user's lower limbs are lifted, and when the airbag expansion and contraction component is in a contracted state, the user's lower limbs are lowered.

7. A lower limb assisting exoskeleton according to claim 6, characterized in that: The airbag expansion and contraction assembly includes two L-shaped airbags and multiple intermediate airbags. The two L-shaped airbags and the multiple intermediate airbags are arranged in a row and evenly spaced on the back of the leg base band. The two L-shaped airbags are respectively arranged at the upper and lower ends of the back of the leg base band. One side of the L-shaped airbag is fixedly connected to the leg base band, and the other side of the L-shaped airbag is a free end. The multiple intermediate airbags are located between the two L-shaped airbags, and one end edge of the intermediate airbag is connected to the leg base band.

8. A lower limb assisting exoskeleton according to claim 7, characterized in that: A plurality of movable brackets are also movably arranged on the back of the leg base band. The plurality of movable brackets are arranged in a row at equal intervals. The movable brackets correspond to the intermediate airbags one by one and are connected to one end edge of the intermediate airbag.

9. A lower limb assisting exoskeleton according to claim 8, characterized in that: The upper end and the lower end of the front end surface of the leg base band are respectively provided with leg fixing straps.

10. The lower limb assist exoskeleton according to claim 6, characterized in that: The control component also includes an air guide tube component, the air pump component includes an air pump body and an air valve component, the controller is electrically connected to the air pump body and the air valve component, the air pump body is connected to the air guide tube component through the air valve component, and the air guide tube component is connected to the airbag expansion and contraction component.

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