Modularized flexible lower limb exoskeleton robot

Abstract

The utility model relates to medical rehabilitation training equipment, in particular to a modularized flexible lower limb exoskeleton robot. Comprising a control part, a driving part, a transmission part, a hip joint body part and an ankle joint body part, the driving part communicates with the control part, the driving part is connected with the hip joint body part and the ankle joint body part through the transmission part, and the hip joint body part is arranged at the hip joint of the human body. The ankle joint body part is arranged at the ankle joint of the human body, and the driving part controls the hip joint body part and the ankle joint body part through the transmission part to assist lower limb movement. The power assisting device is compact in structure, small and exquisite, easy to wear, light in weight, portable, adjustable in height and suitable for being worn by people with different body types, a separated modular design principle is adopted, and a power assisting mode can be configured according to specific requirements so as to meet the use requirements of different users in different environments.

Description

Technical Field

[0001] The utility model relates to medical rehabilitation training equipment, in particular to a modular flexible lower limb exoskeleton robot. Background Art

[0002] Traditional rigid exoskeletons use a method of connecting rigid links in parallel with the body to apply torque to the joints, which has the disadvantages of complex structure, large size and mass, difficult to wear, limited freedom of movement, and poor human-computer interaction. In recent years, the newly born flexible lower limb exoskeleton uses flexible materials such as leather and fabric to make the body, which can better fit the curve of the human body, and uses rope drive, pneumatic muscle drive or other new material drive methods to provide movement assistance for the wearer's lower limbs or joints. It has lower mass, higher comfort and portability, and does not restrict the natural movement of the wearer's limbs. However, most of the existing flexible lower limb exoskeletons have a single power target or require a large number of motors, and cannot choose the power target according to individual needs. Utility Model Content

[0003] In view of the above problems, the purpose of the utility model is to provide a modular flexible lower limb exoskeleton robot to solve the problems that the existing flexible lower limb exoskeletons have either a single power assist target, or require a large number of motors and cannot select the power assist target according to individual needs.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] The utility model provides a modular flexible lower limb exoskeleton robot, comprising a control part, a driving part, a transmission part, a hip joint body part and an ankle joint body part, wherein the driving part communicates with the control part, the driving part is connected with the hip joint body part and the ankle joint body part through the transmission part, the hip joint body part is arranged at the hip joint of a human body, the ankle joint body part is arranged at the ankle joint of a human body, the driving part controls the hip joint body part and the ankle joint body part through the transmission part, and assists the lower limb movement.

[0006] The transmission part includes Bowden cable I, Bowden cable II, Bowden cable III and Bowden cable IV, wherein Bowden cable I and Bowden cable II are both connected to the hip joint body, Bowden cable I is used to assist hip joint flexion, and Bowden cable II is used to assist hip joint extension; Bowden cable III and Bowden cable IV are both connected to the ankle joint body, Bowden cable III is used to assist ankle joint plantar flexion, and Bowden cable IV is used to assist ankle joint dorsiflexion.

[0007] The hip joint body part includes an adjustable waist belt and thigh binding, wherein the adjustable waist belt and thigh binding are respectively tied to the waist and thigh, the wire tubes of the Bowden wire I and the Bowden wire II are connected to the adjustable waist belt, and the wire cores of the Bowden wire I and the Bowden wire II are connected to the thigh binding.

[0008] The adjustable waist belt comprises a waist belt, a movable connecting fabric I, a wire tube guide clamp I, a wire tube base I, a movable connecting fabric II, a wire tube guide clamp II and a wire tube base II, wherein quick release buckles are provided at both ends of the waist belt, the movable connecting fabric I and the movable connecting fabric II are both hollow structures through which the waist belt can pass, the wire tube guide clamp I and the wire tube base I are respectively arranged at the upper and lower parts of the movable connecting fabric I, and the wire tube guide clamp II and the wire tube base II are respectively arranged at the upper and lower parts of the movable connecting fabric II; the Bowden cable I passes through the wire tube guide clamp I, and the wire tube of the Bowden cable I is connected to the wire tube base I; the Bowden cable II passes through the wire tube guide clamp II, and the wire tube of the Bowden cable II is connected to the wire tube base II, and the wire cores of the Bowden cable I and the Bowden cable II are connected to the thigh binding.

[0009] The thigh binding comprises a thigh binding body, a force transmission belt I, a force transmission belt II, a hip joint extension movement assisting anchor point base and a hip joint flexion movement assisting anchor point base, wherein the hip joint extension movement assisting anchor point base and the hip joint flexion movement assisting anchor point base are arranged on the thigh binding body and are respectively located on the front and back sides of the thigh; the hip joint extension movement assisting anchor point base and the hip joint flexion movement assisting anchor point base are respectively provided with a tension sensor I and a tension sensor II, and the tension sensor I and the tension sensor II are respectively connected to the wire cores of the Bowden cable I and the Bowden cable II;

[0010] One end of the force transmission belt I and the force transmission belt II are respectively connected to the two ends of the thigh binding body, and the other ends of the force transmission belt I and the force transmission belt II are connected to the length adjustment component arranged on the thigh binding body; the two ends of the thigh binding body are closed-loop connected through a quick-release structure.

[0011] The length adjustment component includes a BOA knob I, which is connected to the power transmission belt I and the power transmission belt II through a high-strength cable. The BOA knob I adjusts the length of the power transmission belt I and the power transmission belt II to adapt to wear by individuals of different body shapes.

[0012] The ankle joint body part includes a calf binding, a foot plantar flexion anchor base, a dorsiflexion anchor base and an inertial sensor, wherein the calf binding is tied to the calf, the foot plantar flexion anchor base and the dorsiflexion anchor base are respectively arranged on the rear side of the foot and the dorsum of the foot, and the foot plantar flexion anchor base and the dorsiflexion anchor base are respectively provided with a tension sensor III and a tension sensor IV;

[0013] The wire tubes of the Bowden wire III and the Bowden wire IV are fixed on the calf binding, and the wire cores of the Bowden wire III and the Bowden wire IV are connected to the tension sensor III and the tension sensor IV respectively;

[0014] The inertial sensor is placed on the back of the wearer's foot to collect the wearer's gait information.

[0015] The calf binding comprises a calf binding body, a wire tube guide clamp III, a wire tube base III, a wire tube guide clamp IV, a wire tube base IV and a calf force transmission belt, wherein the wire tube guide clamp III and the wire tube base III are respectively arranged on the upper and lower parts of the rear side of the calf binding body, the wire tube guide clamp IV is arranged on the upper part of the front side of the calf binding body, one end of the calf force transmission belt is connected to the calf binding body, the wire tube base IV is arranged on the calf force transmission belt and is located on the front side of the calf, and the calf binding body and the calf force transmission belt are surrounded by the calf and both ends can be quickly connected and disassembled;

[0016] The Bowden cable III passes through the wire tube guide clamp III, and the wire tube of the Bowden cable III is connected to the wire tube base III;

[0017] The Bowden cable IV passes through the wire tube guide clamp IV, and the wire tube of the Bowden cable IV is connected to the wire tube base IV.

[0018] The control part and the driving part are both arranged on a moving walking profile, and a battery is arranged on the moving walking profile, and the battery provides power for the control part and the driving part.

[0019] The driving part includes a motor I, a bidirectional flexible cable driving wheel I, a motor II and a bidirectional flexible cable driving wheel II, wherein the output end of the motor I is connected to the bidirectional flexible cable driving wheel I, and the two sides of the bidirectional flexible cable driving wheel I are respectively connected to the inner core cylindrical heads of the Bowden cable I and the Bowden cable II, and the Bowden cable I and the Bowden cable II are reversely wound on the bidirectional flexible cable driving wheel I;

[0020] The output end of the motor II is connected to the bidirectional flexible cable driving wheel II, and the two sides of the bidirectional flexible cable driving wheel II are respectively connected to the inner core cylindrical heads of the Bowden cable III and the Bowden cable IV, and the Bowden cable III and the Bowden cable IV are reversely wound on the bidirectional flexible cable driving wheel II.

[0021] The advantages and positive effects of the utility model are:

[0022] 1. The control and driving parts of the utility model are placed on a separate movable profile frame, which will not cause a burden on the human body. The wearable body is lightweight and compact, and will not cause any obstruction to the human body.

[0023] 2. The main body of the utility model adopts a modular design. Different parts can be used separately or in combination. The design adopts a symmetrical structure and can be extended to both lower limbs. It can be selectively matched according to different assistance needs. In addition, the main body adopts fully flexible materials such as leather, which is highly consistent with the human body curve and has an adjustable function, which can adapt to different body shapes.

[0024] 3. The utility model adopts a bidirectional drive wire wheel structure, which can realize bidirectional traction assistance of a single motor to the target joint, and adopts a flexible Bowden wire transmission, which will not increase the motion inertia of the limb end.

[0025] 4. The tension sensor and inertial sensor in the utility model can measure physiological and kinematic information such as force, joint angle, gait cycle, etc. during human movement in real time, and use the data to realize various power-assisting modes of the joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is one of the structural schematic diagrams of a modular flexible lower limb exoskeleton robot of the utility model;

[0027] Figure 2 This is the second structural schematic diagram of a modular flexible lower limb exoskeleton robot of the utility model;

[0028] Figure 3 It is a structural schematic diagram of the control and drive part of the utility model;

[0029] Figure 4 It is a schematic diagram of the structure expansion of the hip joint body part of the utility model;

[0030] Figure 5 It is a schematic diagram of the structure expansion of the ankle joint body part of the utility model.

[0031] In the figure: 1 is a control part, 2 is a driving part, 3 is a Bowden cable I, 4 is a Bowden cable II, 5 is a Bowden cable III, 6 is a Bowden cable IV, 7 is an adjustable belt, 8 is a thigh binding, 9 is a calf binding, 10 is a tension sensor I, 11 is a tension sensor II, 12 is a tension sensor III, 13 is a tension sensor IV, 14 is a plantar flexion anchor base, 15 is a dorsiflexion anchor base, 16 is an inertial sensor, 17 is a battery, 18 is a controller, 19 is a driver I, 20 is a driver II, 21 is a signal amplifier I, 22 is a signal amplifier II, 23 is a signal amplifier III, 24 is a signal amplifier IV, 25 is a motor I, 26 is a two-way flexible cable drive line wheel I, 27 is a motor II, 28 is a two-way flexible cable drive line wheel II, 2 9 is a quick release buckle, 30 is a waist belt, 31 is a movable connecting fabric I, 32 is a cable guide clip I, 33 is a cable base I, 34 is a movable connecting fabric II, 35 is a cable guide clip II, 36 is a cable base II, 37 is a flexible sleeve I, 38 is a power transmission belt I, 39 is a flexible sleeve II, 40 is a power transmission belt II, 41 is a magnetic buckle I, 42 is a BOA knob I, 43 is a BOA knob II, 44 is a hip extension exercise assist anchor point base, 45 is a hip flexion exercise assist anchor point base, 46 is a magnetic buckle II, 47 is a BOA knob III, 48 is a cable guide clip III, 49 is a cable base III, 50 is a cable guide clip IV, 51 is a power transmission belt III, 52 is a power transmission belt IV, 53 is a cable base IV, and 54 is a needle buckle. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] like Figure 1 , Figure 2 As shown, the utility model provides a modular flexible lower limb exoskeleton robot, comprising a control part 1, a driving part 2, a transmission part, a hip joint body part and an ankle joint body part, wherein the driving part 2 communicates with the control part 1, the driving part 2 is connected to the hip joint body part and the ankle joint body part through the transmission part, the hip joint body part is arranged at the hip joint of the human body, the ankle joint body part is arranged at the ankle joint of the human body, the driving part 2 controls the hip joint body part and the ankle joint body part through the transmission part to assist the lower limb movement.

[0034] like Figure 1As shown, in the embodiment of the utility model, the transmission part includes Bowden cable I3, Bowden cable II4, Bowden cable III5 and Bowden cable IV6, wherein Bowden cable I3 and Bowden cable II4 are both connected to the hip joint body, Bowden cable I3 is used for hip joint flexion assistance, Bowden cable II4 is used for hip joint extension assistance; Bowden cable III5 and Bowden cable IV6 are both connected to the ankle joint body, Bowden cable III5 is used for ankle joint plantar flexion assistance, Bowden cable IV6 is used for ankle joint dorsiflexion assistance. Specifically, each Bowden cable is composed of a wire tube and a wire core that runs through the tube.

[0035] like Figure 3 As shown, in the embodiment of the utility model, the control part 1 and the driving part 2 are both arranged on the mobile walking profile, the purpose is to reduce the weight borne by the wearer. The control part 1 and the driving part 2 use EtherCAT bus communication, and a battery 17 is provided on the mobile walking profile, and the battery 17 provides power for the control part 1 and the driving part 2. The driving part 2 includes a motor Ⅰ25, a two-way flexible cable driving wheel Ⅰ26, a motor Ⅱ27 and a two-way flexible cable driving wheel Ⅱ28, wherein the output end of the motor Ⅰ25 is connected to the two-way flexible cable driving wheel Ⅰ26, and the two sides of the two-way flexible cable driving wheel Ⅰ26 are respectively connected to the inner core cylindrical head of the Bowden cable Ⅰ3 and the Bowden cable Ⅱ4, and the wire cores of the Bowden cable Ⅰ3 and the Bowden cable Ⅱ4 are reversely wound on the two-way flexible cable driving wheel Ⅰ26, and one end of the wire tube of the Bowden cable Ⅰ3 and the Bowden cable Ⅱ4 is respectively fixed at the two outlets of the two-way flexible cable driving wheel Ⅰ26. When the motor Ⅰ25 drives the bidirectional flexible cable drive wire wheel Ⅰ26 to rotate, one of the Bowden wires Ⅰ3 and Ⅱ4 is tightened while the other is released, thereby realizing the flexion and extension of the hip joint. The output end of the motor Ⅱ27 is connected to the bidirectional flexible cable drive wire wheel Ⅱ28, and the two sides of the bidirectional flexible cable drive wire wheel Ⅱ28 are respectively connected to the inner core cylindrical heads of the Bowden wires Ⅲ5 and Ⅳ6. The wire cores of the Bowden wires Ⅲ5 and Ⅳ6 are reversely wound on the bidirectional flexible cable drive wire wheel Ⅱ28, and one end of the wire tubes of the Bowden wires Ⅲ5 and Ⅳ6 are respectively fixed at the two outlets of the bidirectional flexible cable drive wire wheel Ⅱ28. When the motor Ⅱ27 drives the bidirectional flexible cable drive wire wheel Ⅱ28 to rotate, one of the Bowden wires Ⅲ5 and Ⅳ6 is tightened while the other is released, thereby realizing the plantar flexion and dorsiflexion of the ankle joint, so each Bowden wire transmits the motor power to the power-assisting joint.

[0036] In the embodiment of the utility model, the control part 1 includes a controller 18, a driver I 19, a driver II 20, a signal amplifier I 21, a signal amplifier II 22, a signal amplifier III 23, and a signal amplifier IV 24. The controller 18 cooperates with the driver I 19 and the driver II 20 to control the movement of the motor I 25 and the motor II 27. The signal amplifier is used to read the real-time tension collected by the tension sensor. The battery 17 supplies power to the controller and the driver through the step-down module, and supplies power to the motor in parallel.

[0037] like Figure 1 , Figure 2 As shown, in the embodiment of the utility model, the hip joint body part includes an adjustable waist belt 7 and a thigh binding 8, wherein the adjustable waist belt 7 and the thigh binding 8 are respectively tied to the waist and the thigh, the wire tubes of the Bowden cable Ⅰ3 and the Bowden cable Ⅱ4 are fixed on the adjustable waist belt 7, and the wire cores of the Bowden cable Ⅰ3 and the Bowden cable Ⅱ4 are connected to the thigh binding 8.

[0038] like Figure 4 As shown, in the embodiment of the utility model, the adjustable waist belt 7 includes a waist belt 30, a movable connecting fabric I 31, a wire tube guide clip I 32, a wire tube base I 33, a movable connecting fabric II 34, a wire tube guide clip II 35 and a wire tube base II 36, wherein both ends of the waist belt 30 are provided with quick release buckles 29, the movable connecting fabric I 31 and the movable connecting fabric II 34 are both hollow structures that can allow the waist belt 30 to pass through, the wire tube guide clip I 32 and the wire tube base I 33 are respectively arranged on the upper and lower parts of the movable connecting fabric Ⅰ31, and the wire tube guide clamp Ⅱ35 and the wire tube base Ⅱ36 are respectively arranged on the upper and lower parts of the movable connecting fabric Ⅱ34; the Bowden cable Ⅰ3 passes through the wire tube guide clamp Ⅰ32, and the wire tube of the Bowden cable Ⅰ3 is connected to the wire tube base Ⅰ33; the Bowden cable Ⅱ4 passes through the wire tube guide clamp Ⅱ35, and the wire tube of the Bowden cable Ⅱ4 is connected to the wire tube base Ⅱ36, and the wire cores of the Bowden cable Ⅰ3 and the Bowden cable Ⅱ4 are connected to the thigh binding 8.

[0039] Specifically, the quick release buckle 29 supports quick disassembly and has an adjustment function, so that the belt can be worn by individuals of different body shapes. The belt 30 is made of nylon material, which has high strength and ensures comfort and breathability. The width is wider than that of ordinary belts, which increases the force-bearing area of ​​the waist and improves comfort. The upper side of the movable connecting fabric I 31 and the movable connecting fabric II 34 is hollow, allowing the belt to pass through it, realizing free movement of the fabric, thereby ensuring that the fabric is located at the front and back center of the thigh.

[0040] In the embodiment of the utility model, the thigh binding 8 includes a thigh binding body, a force transmission belt I38, a force transmission belt II40, a hip joint extension movement booster anchor base 44 and a hip joint flexion movement booster anchor base 45, wherein the hip joint extension movement booster anchor base 44 and the hip joint flexion movement booster anchor base 45 are arranged on the thigh binding body and are respectively located on the front and back sides of the thigh; the hip joint extension movement booster anchor base 44 and the hip joint flexion movement booster anchor base 45 are respectively provided with a tension sensor I10 and a tension sensor II11, and the tension sensor I10 and the tension sensor II11 are respectively connected to the wire core of the Bowden line I3 and the Bowden line II4 through a stud wire clamp. One end of the force transmission belt I38 and the force transmission belt II40 are respectively connected to the two ends of the thigh binding body, and the other end of the force transmission belt I38 and the force transmission belt II40 are connected to the length adjustment component arranged on the thigh binding body; the two ends of the thigh binding body are closed-loop connected through a quick-release structure.

[0041] Specifically, the length adjustment component includes a BOA knob Ⅰ42, which is connected to the power transmission belt Ⅰ38 and the power transmission belt Ⅱ40 through a high-strength cable. The length of the power transmission belt Ⅰ38 and the power transmission belt Ⅱ40 is adjusted by the BOA knob Ⅰ42 to adapt to the wear of individuals of different body shapes. And ensure that the hip joint flexion and extension assistance anchor point is at the front and back center of the thigh, corresponding to the movable connection fabric Ⅰ31 and the movable connection fabric Ⅱ34 on the belt, so that the direction of the hip joint flexion and extension assistance generated by the exoskeleton robot is parallel to the thigh.

[0042] Furthermore, the force transmission belt I38 and the force transmission belt II40 pass through the flexible sleeve I37 and the flexible sleeve II39 respectively, and one end of the force transmission belt I38 and the force transmission belt II40 are respectively connected with the V-shaped hooks at both ends of the thigh binding body, and the pin is used for limiting to prevent the force transmission belt from being unhooked, and the V-shaped hook is used for quick connection of the two ends of the thigh binding body. The tension of the inner core of the Bowden line is transmitted to the rear of the thigh binding along the force transmission belt, and the two flexible sleeves are fixed to the thigh binding body.

[0043] Furthermore, V-shaped hooks are arranged at the upper two ends of the thigh binding body, and the lower two ends of the thigh binding body are also provided with a magnetic buckle Ⅰ41 and a BOA knob Ⅱ43 for adjusting the length of the magnetic buckle Ⅰ41. The length of the magnetic buckle Ⅰ41 is adjusted by the BOA knob Ⅱ43 to tighten the thigh binding body to ensure that it fits the leg curve, thereby adjusting the closed-loop fixed position of the thigh binding body to adapt to human thighs of different shapes.

[0044] like Figure 1-2 , Figure 5As shown, in the embodiment of the utility model, the ankle joint body includes a calf binding 9, a foot plantar flexion anchor base 14, a dorsiflexion anchor base 15 and an inertial sensor 16, wherein the calf binding 9 is tied to the calf, the foot plantar flexion anchor base 14 and the dorsiflexion anchor base 15 are respectively arranged on the back side of the foot and the instep, and the foot plantar flexion anchor base 14 and the dorsiflexion anchor base 15 are respectively provided with a tension sensor III 12 and a tension sensor IV 13; the wire tubes of the Bowden wire III 5 and the Bowden wire IV 6 are fixed on the calf binding 9, and the wire cores of the Bowden wire III 5 and the Bowden wire IV 6 are respectively connected to the tension sensor III 12 and the tension sensor IV 13; the inertial sensor 16 is placed on the instep of the wearer's foot to collect the wearer's gait information.

[0045] like Figure 5 As shown, in the embodiment of the utility model, the calf binding 9 includes a calf binding body, a wire tube guide clamp III48, a wire tube base III49, a wire tube guide clamp IV50, a wire tube base IV53 and a calf force transmission belt, wherein the upper and lower parts of the rear side of the calf binding body are respectively provided with a wire tube guide clamp III48 and a wire tube base III49, the upper part of the front side of the calf binding body is provided with a wire tube guide clamp IV50, one end of the calf force transmission belt is connected to the calf binding body, the wire tube base IV53 is arranged on the calf force transmission belt and is located on the front side of the calf, and the calf binding body and the calf force transmission belt are surrounded by the calf and both ends can be quickly connected and disassembled. The Bowden wire III5 passes through the wire tube guide clamp III48, and the wire tube of the Bowden wire III5 is connected to the wire tube base III49; the Bowden wire IV6 passes through the wire tube guide clamp IV50, and the wire tube of the Bowden wire IV6 is connected to the wire tube base IV53.

[0046] Specifically, the calf power transmission belt includes a power transmission belt III51 and a power transmission belt IV52, which are connected in a V-shape, a pin buckle 54 is provided at the end of the power transmission belt III51, a wire tube base IV53 is fixed at the connection, and the end of the power transmission belt IV52 is fixed to the calf binding body through the pin buckle 54. The length can be adjusted through the pin buckle 54 to ensure that the wire tube base IV53 and the wire tube base III49 are respectively located at the center of the front and rear sides of the calf, thereby ensuring that the core of the Bowden cable transmits the power assist direction for plantar flexion and dorsiflexion movements in parallel with the calf.

[0047] Furthermore, a magnetic buckle II 46 and a BOA knob III 47 for adjusting the length of the magnetic buckle II 46 are provided at one end of the calf binding body. The length of the magnetic buckle II 46 is adjusted by the BOA knob III 47 to adjust the position of the closed-loop connection of the calf binding body, thereby adapting to calves of different body shapes.

[0048] In this embodiment, the sensing part is composed of tension sensor I 10, tension sensor II 11, tension sensor III 12, tension sensor IV 13 and inertial sensor 16. The control part 1 and the driving part 2 use EtherCAT bus communication. The driving part 2 is connected to the adjustable waist belt 7 and the thigh binding 8 through Bowden cable I 3 and Bowden cable II 4, and is connected to the calf binding and the foot anchor point through Bowden cable III 5 and Bowden cable IV 6. The inertial sensor 16 is placed on the back of the wearer's foot to collect the wearer's gait information.

[0049] The modular flexible lower limb exoskeleton of the utility model uses an inertial sensor 16 to collect foot movement data during human movement, transmits it to a controller 18 for gait phase recognition, judges the human movement intention, and then formulates a corresponding power-assisting trajectory, generates an expected position signal, and sends it to a driver Ⅰ19 and a driver Ⅱ20, controls the motor Ⅰ25 and the motor Ⅱ27 to rotate and drive the bidirectional flexible cable drive wire wheel Ⅰ26 and the bidirectional flexible cable drive wire wheel Ⅱ28 to rotate synchronously, and assists the target joint by tightening and releasing the inner core of the Bowden line Ⅰ3, the Bowden line Ⅱ4, the Bowden line Ⅲ5, and the Bowden line Ⅳ6. The tension collected by the tension sensor Ⅰ10, the tension sensor Ⅱ11, the tension sensor Ⅲ12, and the tension sensor Ⅳ13 is an analog signal, which is transmitted to the signal amplifier Ⅰ21, the signal amplifier Ⅱ22, the signal amplifier Ⅲ23, and the signal amplifier Ⅳ24 through a wire for amplification, and then the signal is read through the analog reading port of the driver Ⅰ19 and the driver Ⅱ20, and sent to the upper controller 18 for realizing force closed-loop control.

[0050] The utility model is suitable for people with lower limb movement disorders or walking assistance needs, including hemiplegic patients caused by stroke, the elderly, etc. Its various parts are compact and small in structure, easy to wear, light and portable, highly adjustable, and can be worn by people of different body shapes. It adopts the principle of separate modular design, and can be configured with power-assistance modes according to specific needs, including unilateral lower limb hip joint unidirectional (flexion or extension) or bidirectional (flexion and extension) power assistance, unilateral lower limb ankle joint unidirectional (plantar flexion or dorsiflexion) power assistance or bidirectional (plantar flexion and dorsiflexion) power assistance, unilateral lower limb hip and ankle joint simultaneous power assistance, and can also be expanded to bilateral lower limb power assistance. The target power-assistance joint can be selected arbitrarily, and a single joint only needs a single motor to achieve bidirectional traction power assistance, which can provide lower limb exercise assistance for patients with lower limb movement disorders and people who need exercise assistance, so as to meet the use needs of different users in different environments.

[0051] The above description is only an implementation method of the utility model and is not intended to limit the protection scope of the utility model. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the utility model are included in the protection scope of the utility model.

Claims

1. A modular flexible lower limb exoskeleton robot, characterized in that: The device comprises a control part (1), a driving part (2), a transmission part, a hip joint body part and an ankle joint body part, wherein the driving part (2) communicates with the control part (1), the driving part (2) is connected to the hip joint body part and the ankle joint body part through the transmission part, the hip joint body part is arranged at the hip joint of the human body, the ankle joint body part is arranged at the ankle joint of the human body, and the driving part (2) controls the hip joint body part and the ankle joint body part through the transmission part to assist the movement of the lower limbs.

2. The modular flexible lower limb exoskeleton robot according to claim 1, characterized in that: The transmission part comprises Bowden cable I (3), Bowden cable II (4), Bowden cable III (5) and Bowden cable IV (6), wherein Bowden cable I (3) and Bowden cable II (4) are both connected to the hip joint body, Bowden cable I (3) is used for assisting hip joint flexion, and Bowden cable II (4) is used for assisting hip joint extension; Bowden cable III (5) and Bowden cable IV (6) are both connected to the ankle joint body, Bowden cable III (5) is used for assisting ankle joint plantar flexion, and Bowden cable IV (6) is used for assisting ankle joint dorsiflexion.

3. The modular flexible lower limb exoskeleton robot according to claim 2, characterized in that: The hip joint body part comprises an adjustable waist belt (7) and a thigh binding (8), wherein the adjustable waist belt (7) and the thigh binding (8) are tied to the waist and the thigh respectively, the wire tubes of the Bowden wire I (3) and the Bowden wire II (4) are connected to the adjustable waist belt (7), and the wire cores of the Bowden wire I (3) and the Bowden wire II (4) are connected to the thigh binding (8).

4. The modular flexible lower limb exoskeleton robot according to claim 3, characterized in that: The adjustable waist belt (7) comprises a waist belt (30), a movable connecting fabric I (31), a wire tube guide clamp I (32), a wire tube base I (33), a movable connecting fabric II (34), a wire tube guide clamp II (35) and a wire tube base II (36), wherein quick release buckles (29) are provided at both ends of the waist belt (30), the movable connecting fabric I (31) and the movable connecting fabric II (34) are both hollow structures through which the waist belt (30) can pass, the wire tube guide clamp I (32) and the wire tube base I (33) are respectively provided on the movable connecting fabric. The upper and lower parts of the fabric Ⅰ (31), the wire tube guide clamp Ⅱ (35) and the wire tube base Ⅱ (36) are respectively arranged on the upper and lower parts of the movably connected fabric Ⅱ (34); the Bowden cable Ⅰ (3) passes through the wire tube guide clamp Ⅰ (32), and the wire tube of the Bowden cable Ⅰ (3) is connected to the wire tube base Ⅰ (33); the Bowden cable Ⅱ (4) passes through the wire tube guide clamp Ⅱ (35), and the wire tube of the Bowden cable Ⅱ (4) is connected to the wire tube base Ⅱ (36), and the wire cores of the Bowden cable Ⅰ (3) and the Bowden cable Ⅱ (4) are connected to the thigh binding (8).

5. The modular flexible lower limb exoskeleton robot according to claim 3, characterized in that: The thigh binding (8) comprises a thigh binding body, a force transmission belt I (38), a force transmission belt II (40), a hip joint extension movement assisting anchor base (44) and a hip joint flexion movement assisting anchor base (45), wherein the hip joint extension movement assisting anchor base (44) and the hip joint flexion movement assisting anchor base (45) are arranged on the thigh binding body and are respectively located on the front and back sides of the thigh; the hip joint extension movement assisting anchor base (44) and the hip joint flexion movement assisting anchor base (45) are respectively provided with a tension sensor I (10) and a tension sensor II (11), and the tension sensor I (10) and the tension sensor II (11) are respectively connected to the wire cores of the Bowden cable I (3) and the Bowden cable II (4); One end of the force transmission belt I (38) and the force transmission belt II (40) are respectively connected to the two ends of the thigh binding body, and the other ends of the force transmission belt I (38) and the force transmission belt II (40) are connected to the length adjustment component arranged on the thigh binding body; the two ends of the thigh binding body are closed-loop connected by a quick-release structure.

6. The modular flexible lower limb exoskeleton robot according to claim 5, characterized in that: The length adjustment component includes a BOA knob I (42), which is connected to a power transmission belt I (38) and a power transmission belt II (40) via a high-strength cable. The length of the power transmission belt I (38) and the power transmission belt II (40) is adjusted by the BOA knob I (42) to adapt the wearer to individuals of different body shapes.

7. The modular flexible lower limb exoskeleton robot according to claim 2, characterized in that: The ankle joint body part comprises a calf binding (9), a foot plantar flexion anchor base (14), a dorsiflexion anchor base (15) and an inertial sensor (16), wherein the calf binding (9) is tied to the calf, the foot plantar flexion anchor base (14) and the dorsiflexion anchor base (15) are respectively arranged on the rear side of the foot and the dorsum of the foot, and the foot plantar flexion anchor base (14) and the dorsiflexion anchor base (15) are respectively provided with a tension sensor III (12) and a tension sensor IV (13); The wire tubes of the Bowden wire III (5) and the Bowden wire IV (6) are fixed on the calf binding (9), and the wire cores of the Bowden wire III (5) and the Bowden wire IV (6) are connected to the tension sensor III (12) and the tension sensor IV (13) respectively; The inertial sensor (16) is placed on the back of the wearer's foot and is used to collect the wearer's gait information.

8. The modular flexible lower limb exoskeleton robot according to claim 7, characterized in that: The calf binding (9) comprises a calf binding body, a wire tube guide clamp III (48), a wire tube base III (49), a wire tube guide clamp IV (50), a wire tube base IV (53) and a calf force transmission belt, wherein the calf binding body is provided with a wire tube guide clamp III (48) and a wire tube base III (49) at the upper and lower parts of the rear side respectively, the calf binding body is provided with a wire tube guide clamp IV (50) at the upper part of the front side, one end of the calf force transmission belt is connected to the calf binding body, the wire tube base IV (53) is arranged on the calf force transmission belt and is located at the front side of the calf, and the calf binding body and the calf force transmission belt are able to be quickly connected and disassembled after the two ends are wrapped around the calf; The Bowden cable III (5) passes through a wire tube guide clamp III (48), and the wire tube of the Bowden cable III (5) is connected to a wire tube base III (49); The Bowden cable IV (6) passes through the wire tube guide clamp IV (50), and the wire tube of the Bowden cable IV (6) is connected to the wire tube base IV (53).

9. The modular flexible lower limb exoskeleton robot according to claim 2, characterized in that: The control part (1) and the drive part (2) are both arranged on a mobile walking profile, and a battery (17) is arranged on the mobile walking profile, and the battery (17) provides power for the control part (1) and the drive part (2).

10. The modular flexible lower limb exoskeleton robot according to claim 9, characterized in that: The driving part (2) comprises a motor I (25), a bidirectional flexible cable driving wheel I (26), a motor II (27) and a bidirectional flexible cable driving wheel II (28), wherein the output end of the motor I (25) is connected to the bidirectional flexible cable driving wheel I (26), and the two sides of the bidirectional flexible cable driving wheel I (26) are respectively connected to the inner core cylindrical heads of the Bowden cable I (3) and the Bowden cable II (4), and the Bowden cable I (3) and the Bowden cable II (4) are reversely wound on the bidirectional flexible cable driving wheel I (26); The output end of the motor II (27) is connected to the bidirectional flexible cable driving wheel II (28), and the two sides of the bidirectional flexible cable driving wheel II (28) are respectively connected to the inner core cylindrical heads of the Bowden cable III (5) and the Bowden cable IV (6), and the Bowden cable III (5) and the Bowden cable IV (6) are reversely wound on the bidirectional flexible cable driving wheel II (28).

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