Flexible lower limb power assisting device with auxiliary support

Abstract

The utility model relates to the technical field of lower limb power assisting devices, in particular to a flexible lower limb power assisting device with an auxiliary support, which comprises an auxiliary support part, a supporting part and a power assisting part, the control unit is used for outputting a control signal; the rear side driving control unit is used for controlling the left rear side Bowden cable and the right rear side Bowden cable to be tightened and released; the left front side driving unit is used for controlling tightening and releasing of the left front side flexible belt; the right front side driving unit is used for controlling tightening and releasing of the right front side flexible belt; the left knee joint flexible binding structure and the right knee joint flexible binding structure are used for assisting the flexion and extension of the hip joint according to the tightening and releasing of a left rear Bowden cable, a left front flexible belt, a right rear Bowden cable and a right front flexible belt; and a data acquisition module. The hip joint support can flexibly assist the hip joint in bending and stretching, can ensure wearing comfort, and cannot limit the degree of freedom of the hip joint.

Description

Technical Field

[0001] The utility model relates to the technical field of lower limb assistive devices, in particular to a flexible lower limb assistive device with an auxiliary support. Background Art

[0002] Lower limb assistive devices are advanced walking assistive devices that can significantly improve the walking ability and quality of life of people with limited mobility. These devices have broad application prospects in the fields of medical rehabilitation, military, industry, etc. In recent years, significant progress has been made in the technical research and product development of lower limb assistive devices, integrating mechanical design, sensor technology, control algorithms, and human-computer interaction concepts to provide stable and efficient walking assistance.

[0003] Current research focuses on optimizing the design principles, key technologies, and implementation methods of the devices to improve their performance and the walking experience of wearers. The research content includes multiple aspects such as mechanical structure design, control system development, human-computer interaction optimization, and evaluation of actual application effects. Researchers are working hard to solve challenges such as the sustainability of the power source, improving wearing comfort, walking naturalness, and safety.

[0004] In recent years, researchers have conducted in-depth research on flexible lower limb assistive devices, assistive phase recognition, and human motion pattern recognition. Currently, existing rigid assistive devices cannot well adapt to the activities of the human lower limbs due to factors such as their large weight and poor flexibility, and due to the large weight of the devices, they also cause a certain burden on users. In addition, most of the existing lower limb assistive devices only assist in a single stage of hip flexion or extension. Content of the Utility Model

[0005] Therefore, the utility model provides a flexible lower limb assistive device with an auxiliary support to overcome the problems of the existing lower limb assistive devices, such as large weight, poor flexibility, and only assisting in a single stage of hip flexion or extension.

[0006] To achieve the above object, the utility model provides a flexible lower limb assistive device with an auxiliary support, including:

[0007] An auxiliary support part for auxiliary support and adjusting the moving direction;

[0008] A control unit for outputting control signals;

[0009] A rear drive control unit, which is arranged at the rear of the auxiliary support part and is respectively connected to the left rear Bowden wire, the right rear Bowden wire, and the control unit, for controlling the tightening and release of the left rear Bowden wire and the right rear Bowden wire according to the control signals output by the control unit;

[0010] A left front drive unit, which is arranged on the left front side of the auxiliary support part and is respectively connected to a left front flexible belt and the control unit, and is used for controlling the tightening and releasing of the left front flexible belt according to the control signal output by the control unit;

[0011] A right front drive unit, which is arranged on the right front side of the auxiliary support part and is respectively connected to a right front flexible belt and the control unit, and is used for controlling the tightening and releasing of the right front flexible belt according to the control signal output by the control unit;

[0012] A left knee joint flexible binding structure, which is respectively connected to the left rear Bowden wire and the left front flexible belt, and is used for assisting the flexion and extension of the left lower limb according to the tightening and releasing of the left rear Bowden wire and the tightening and releasing of the left front flexible belt;

[0013] A right knee joint flexible binding structure, which is respectively connected to the right rear Bowden wire and the right front flexible belt, and is used for assisting the flexion and extension of the right lower limb according to the tightening and releasing of the right rear Bowden wire and the tightening and releasing of the right front flexible belt;

[0014] A data acquisition module, which is used for acquiring the activity data of the left front flexible belt and the left knee joint flexible binding structure and the activity data of the right front flexible belt and the right knee joint flexible binding structure.

[0015] Further, the auxiliary support part includes a support main body, a first support part and a first moving part;

[0016] Wherein, the support main body is used for assisting in supporting the movement of the lower limb; the first support part is arranged on the top of the support main body and is used for assisting in moving and controlling the moving direction; the first moving part is arranged on the bottom of the support main body and is used for adjusting the moving direction.

[0017] Further, the rear drive control unit includes a rear drive control unit housing, a motor support frame, a right motor, a left motor, a left wire wheel, a right motor driver, a left motor driver and a right wire wheel;

[0018] Wherein, the motor support frame is arranged on the bottom plate of the rear drive control unit housing; the left motor driver and the right motor driver are respectively arranged on the bottom plate of the rear drive control unit housing; the left motor and the right motor are respectively arranged on the motor support frame and are respectively connected to the left motor driver and the right motor driver; the left wire wheel is connected to the left motor and is used for winding the left rear Bowden wire; the right wire wheel is connected to the right motor and is used for winding the right rear Bowden wire.

[0019] Further, the left front drive unit has the same structure as the right front drive unit. The left front drive unit includes a left front drive box body, a drum motor support seat, a driving gear, a driven gear, a left front drive unit support frame, a drum, a drum motor, a drum support seat, a drum motor driver, and a bottom plate;

[0020] Among them, the bottom plate is fixedly connected to the left front drive unit support frame; the drum motor support seat and the drum support seat are respectively fixed on the bottom plate; one end of the drum motor is fixed on the drum motor support seat and is connected to the driving gear; one end of the drum is arranged on the drum motor support seat, and the rotating shaft at one end of the drum is connected to the driven gear. The other end of the drum is connected to the drum support seat. The drum is used for winding the left front flexible belt; the driven gear meshes with the driving gear.

[0021] Further, the left knee joint flexible binding structure has the same structure as the right knee joint flexible binding structure. The left knee joint flexible binding structure includes a knee joint covering part, a calf binding part, a thigh binding part, and a knee joint binding part;

[0022] Among them, the knee joint covering part is used for wrapping the knee joint; the calf binding part is used for binding the calf, and the thigh binding part is used for binding the thigh; the knee joint binding part is used for binding the knee joint.

[0023] Further, the data acquisition module includes a left - hand side data acquisition module and a right - hand side data acquisition module;

[0024] Among them, the left - hand side data acquisition module is arranged at the connection part of the left front flexible belt and the left knee joint flexible binding structure, and is used for acquiring the activity data of the left front flexible belt and the left knee joint flexible binding structure; the right - hand side data acquisition module is arranged at the connection part of the right front flexible belt and the right knee joint flexible binding structure, and is used for acquiring the activity data of the right front flexible belt and the right knee joint flexible binding structure.

[0025] Further, the control unit is arranged inside the housing of the rear - side drive control unit and includes a power management board, a motor control board, and a processor;

[0026] Among them, the power management board is used for step - down and power supply; the processor is connected to the data acquisition module and is used for outputting a control signal according to the data acquired by the data acquisition module; the motor control board is respectively connected to the power management board, the processor, the right - hand side motor driver, the left - hand side motor driver, and the drum motor driver, and is used for controlling the rotation of the corresponding motor according to the control signal output by the processor.

[0027] Further, the rear drive control unit further includes two speed reducers, and the left motor and the right motor are respectively connected to the left wire reel and the right wire reel through the speed reducers.

[0028] Further, the support main body includes a support main body frame, a stable support rod, a bottom connection plate, a back connection plate, a left front side connection plate, and a right front side connection plate;

[0029] Among them, the stable support rod is arranged on the four sides of the support main body frame for fixing, and the bottom connection plate is arranged at the four corners of the bottom of the support main body frame; the back connection plate is arranged on the back of the support main body frame; the left front side connection plate is arranged on the left front side of the support main body frame; the right front side connection plate is arranged on the right front side of the support main body frame.

[0030] Further, the first support part includes an armrest and an armrest buckle;

[0031] Among them, the armrest buckle is arranged on the top of the support main body frame, and the armrest is arranged on the armrest buckle.

[0032] Compared with the prior art, the beneficial effects of the present utility model are that by setting the auxiliary support part to bear most of the weight of the device, the weight pressure on the user can be reduced, and the stability of the device can be increased. By setting the control unit, the rear drive control unit, the left front side drive unit, and the right front side drive unit, the tightening and release of the left rear Bowden wire, the right rear Bowden wire, the left front side flexible belt, and the right front side flexible belt can be flexibly controlled, so as to assist the flexion and extension of the hip joint. By setting the left knee joint flexible binding structure and the right knee joint flexible binding structure to be worn on the user, the wearing comfort can be guaranteed, and the freedom of movement of the hip joint will not be restricted.

[0033] Further, the auxiliary support part can bear most of the weight of the device by setting the support main body, and can improve the stability of the device. By setting the first support part, it is convenient for the user to support and stabilize the body center of gravity, save physical strength for the user, and the user can flexibly control the moving direction. By setting the first moving part, it is ensured that the user can flexibly adjust the moving direction and save the physical strength required for the user to adjust the moving direction.

[0034] Further, the rear drive control unit controls the winding of the left rear Bowden wire and the right rear Bowden wire respectively by the rotation of the left motor and the right motor to adjust the tightening and release of the left rear Bowden wire and the right rear Bowden wire, so as to assist the extension of the hip joint.

[0035] Further, the left front drive unit and the right front drive unit control the winding of the left front flexible belt and the right front flexible belt respectively through the rotation of the reel motor to adjust the tightening and release of the left front flexible belt and the right front flexible belt, thereby assisting the flexion of the hip joint.

[0036] Further, the left knee joint flexible binding structure and the right knee joint flexible binding structure wrap the knee joint by setting the knee joint covering part, which can not only protect the knee joint, but also ensure the comfort of wearing due to its fitting with the human joint part. By setting the calf binding part, the thigh binding part and the knee joint binding part, the left knee joint flexible binding structure and the right knee joint flexible binding structure can be bound and fixed on the user's body to prevent falling off, and the freedom and flexibility of the user can be increased.

[0037] Further, by setting the data acquisition module, the present utility model can collect the activity data of the left front flexible belt and the left knee joint flexible binding structure and the activity data of the right front flexible belt and the right knee joint flexible binding structure in real time, which is convenient for the control unit to adjust the rotation of the corresponding motor in real time to ensure the comfort and safety of the user.

[0038] Further, by setting the power management board, the control unit can adjust the battery voltage to supply power to each electrical component, and by setting the processor to process the data collected by the data acquisition module in real time, it is convenient to flexibly adjust the flexion and extension of the hip joint.

[0039] Further, by setting the reducer, the rear drive control unit can reduce the winding speed of the left rear Bowden wire and the right rear Bowden wire by the left wire wheel and the right wire wheel, avoiding the too fast winding speed that causes the user's hip joint to extend too fast, thus affecting the safety and comfort of the user.

[0040] Further, by setting the support main body frame, the stable support rod, the bottom connecting plate, the back connecting plate, the left front connecting plate and the right front connecting plate on the support main body, the stability of the support main body can be improved, and the overall structure of the device can be ensured to be light and flexible. Description of the Drawings

[0041] Figure 1 is the overall structural schematic diagram of the flexible lower limb assist device with auxiliary support of the present utility model;

[0042] Figure 2 is the front view of the overall structure of the flexible lower limb assist device with auxiliary support of the present utility model;

[0043] Figure 3 is the exploded view of the rear drive control unit of the embodiment of the present utility model;

[0044] Figure 4Schematic diagram of the structure of the rear drive control unit in the embodiment of the present utility model;

[0045] Figure 5 Exploded view of the left front drive unit in the embodiment of the present utility model;

[0046] Figure 6 Schematic diagram of the structure of the left front drive unit in the embodiment of the present utility model;

[0047] Figure 7 Schematic diagram of the structure of the auxiliary support part in the embodiment of the present utility model;

[0048] Figure 8 Front view of the auxiliary support part in the embodiment of the present utility model;

[0049] Figure 9 Schematic diagram of the knee joint flexible binding structure in the embodiment of the present utility model;

[0050] In the figure: 1. Rear drive control unit; 2. Auxiliary support part; 3. Right rear Bowden wire; 4. Right knee joint flexible binding structure; 5. Left rear Bowden wire; 6. Left knee joint flexible binding structure; 7. Right front drive unit; 8. Left front drive unit; 9. Right front flexible belt; 10. Left front flexible belt; 11. Data acquisition module; 12. Control unit; 101. Rear drive control unit housing; 102. Motor support frame; 103. Right motor; 104. Left motor; 105. Left wire wheel; 106. Right motor driver; 107. Left motor driver; 108. Right wire wheel; 201. Support main body frame; 202. Stable support rod; 203. Bottom connecting plate; 204. Universal wheel; 205. Back connecting plate; 206. Armrest; 207. Armrest buckle; 208. Left front connecting plate; 209. Right front connecting plate; 601. Knee joint covering part; 602. Calf binding part; 603. Thigh binding part; 604. Knee joint binding part; 801. Left front drive box; 802. Reel motor support seat; 803. Driving gear; 804. Driven gear; 805. Left front drive unit support frame; 806. Reel; 807. Reel motor; 808. Reel support seat; 809. Reel motor driver; 810. Bottom plate; 1201. Power management board; 1202. Motor control board; 1203. Processor. Detailed implementation manners

[0051] In order to make the purpose and advantages of the present utility model clearer and more understandable, the present utility model will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0052] The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present utility model and do not limit the protection scope of the present utility model.

[0053] It should be noted that in the description of the present utility model, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0054] In addition, it should also be noted that in the description of the present utility model, unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0055] Please refer to Figure 1 and Figure 2 as shown in Figure 1 which is a schematic diagram of the overall structure of the flexible lower limb assist device with an auxiliary support of the present utility model; Figure 2 which is a front view of the overall structure of the flexible lower limb assist device with an auxiliary support of the present utility model. The present utility model provides a flexible lower limb assist device with an auxiliary support, including:

[0056] An auxiliary support part 2 for auxiliary support and adjusting the moving direction;

[0057] A control unit 12 for outputting control signals;

[0058] A rear drive control unit 1, which is arranged at the rear side of the auxiliary support part 2 and is respectively connected to the left rear Bowden wire 5, the right rear Bowden wire 3 and the control unit 12, and is used to control the tightening and release of the left rear Bowden wire 5 and the right rear Bowden wire 3 according to the control signals output by the control unit 12;

[0059] A left front drive unit 8, which is arranged at the left front side of the auxiliary support part 2 and is respectively connected to the left front flexible belt 10 and the control unit, and is used to control the tightening and release of the left front flexible belt 10 according to the control signals output by the control unit 12;

[0060] The right front drive unit 7 is arranged on the right front side of the auxiliary support part 2 and is respectively connected to the right front flexible belt 9 and the control unit, and is used to control the tightening and release of the right front flexible belt 9 according to the control signal output by the control unit 12;

[0061] The left knee joint flexible binding structure 6 is respectively connected to the left rear Bowden wire 5 and the left front flexible belt 10, and is used to assist the flexion and extension of the left lower limb according to the tightening and release of the left rear Bowden wire 5 and the tightening and release of the left front flexible belt 10;

[0062] The right knee joint flexible binding structure 4 is respectively connected to the right rear Bowden wire 3 and the right front flexible belt 9, and is used to assist the flexion and extension of the right lower limb according to the tightening and release of the right rear Bowden wire 3 and the tightening and release of the right front flexible belt 9;

[0063] The data acquisition module 11 is used to acquire the activity data of the left front flexible belt 10 and the left knee joint flexible binding structure 6 and the activity data of the right front flexible belt 9 and the right knee joint flexible binding structure 4.

[0064] In implementation, the activity data includes the tightening degree of the left front flexible belt and the right front flexible belt, the connection angle between the left front flexible belt and the left knee joint flexible binding structure, and the connection angle between the right front flexible belt and the right knee joint flexible binding structure.

[0065] In the present utility model, by arranging the auxiliary support part 2 to bear most of the weight of the device, the weight pressure on the user can be reduced, and the stability of the device can be increased. By arranging the control unit 12, the rear drive control unit 1, the left front drive unit 8 and the right front drive unit 7, the tightening and release of the left rear Bowden wire 5, the right rear Bowden wire 3, the left front flexible belt 10 and the right front flexible belt 9 can be flexibly controlled, so as to assist the flexion and extension of the hip joint. By arranging the left knee joint flexible binding structure 6 and the right knee joint flexible binding structure 4 to be worn on the user, the wearing comfort can be ensured, and the freedom degree of the hip joint will not be restricted.

[0066] Please refer to Figure 7 and Figure 8 as shown in Figure 7 which is a schematic structural view of the auxiliary support part in the embodiment of the present utility model; Figure 8 which is a front view of the auxiliary support part in the embodiment of the present utility model; specifically, the auxiliary support part 2 includes a support main body, a first support part and a first moving part;

[0067] Among them, the support main body is used to assist in supporting the movement of the lower limb; the first support part is arranged on the top of the support main body and is used to assist in moving and controlling the moving direction; the first moving part is arranged at the bottom of the support main body and is used to adjust the moving direction.

[0068] Specifically, the first supporting part includes an armrest 206 and an armrest buckle 207;

[0069] Among them, the armrest buckle 207 is arranged at the top of the support main body frame 201, and the armrest 206 is arranged on the armrest buckle 207.

[0070] Specifically, the first moving part is a directional wheel 204.

[0071] In implementation, the auxiliary support part 2 can bear most of the weight of the device by arranging the support main body, and can improve the stability of the device. By arranging the first supporting part, it is convenient for the user to support and stabilize the body center of gravity, saving physical strength for the user, and the user can flexibly control the moving direction. By arranging the first moving part, it is ensured that the user can flexibly adjust the moving direction and saves the physical strength required for the user to adjust the moving direction.

[0072] Please continue to refer to Figure 7 and Figure 8 , specifically, the support main body includes a support main body frame 201, a stable support rod 202, a bottom connecting plate 203, a back connecting plate 205, a left front side connecting plate 208 and a right front side connecting plate 209;

[0073] Among them, the stable support rod 202 is arranged on the four sides of the support main body frame 201 for fixation, and the bottom connecting plate 203 is arranged at the four corners of the bottom of the support main body frame 201; the back connecting plate 205 is arranged on the back of the support main body frame 201; the left front side connecting plate 208 is arranged on the left front side of the support main body frame 201; the right front side connecting plate 209 is arranged on the right front side of the support main body frame 201.

[0074] In implementation, the support main body can improve the stability of the support main body and ensure that the overall structure of the device is light and flexible by arranging the support main body frame 201, the stable support rod 202, the bottom connecting plate 203, the back connecting plate 205, the left front side connecting plate 208 and the right front side connecting plate 209.

[0075] Please refer to Figure 3 and Figure 4 as shown, Figure 3 is an exploded view of the rear drive control unit of the embodiment of the present invention; Figure 4 is a structural schematic diagram of the rear drive control unit of the embodiment of the present invention; specifically, the rear drive control unit 1 includes a rear drive control unit housing 101, a motor support frame 102, a right motor 103, a left motor 104, a left wire wheel 105, a right motor driver 106, a left motor driver 107 and a right wire wheel 108;

[0076] Among them, the motor support frame 102 is arranged on the bottom plate 810 of the rear drive control unit housing 101; the left motor driver 107 and the right motor driver 106 are respectively arranged on the bottom plate 810 of the rear drive control unit housing 101; the left motor 104 and the right motor 103 are respectively arranged on the motor support frame 102 and are respectively connected to the left motor driver 107 and the right motor driver 106; the left wire wheel 105 is connected to the left motor 104 for winding the left rear Bowden wire 5; the right wire wheel 108 is connected to the right motor 103 for winding the right rear Bowden wire 3.

[0077] Specifically, the rear drive control unit 1 further includes two speed reducers, and the left motor 104 and the right motor 103 are respectively connected to the left wire wheel 105 and the right wire wheel 108 through the speed reducers.

[0078] In implementation, by setting the speed reducers, the rear drive control unit 1 can reduce the winding speed of the left wire wheel 105 and the right wire wheel 108 on the left rear Bowden wire 5 and the right rear Bowden wire 3, and avoid the user's hip joint stretching too fast due to too fast winding speed, thus affecting the safety and comfort of the user.

[0079] Specifically, the right motor driver 106 is respectively connected to the right motor 103 and the motor control board 1202 of the control unit 12 through wires; the left motor driver 107 is respectively connected to the left motor 104 and the motor control board 1202 of the control unit 12 through wires; the processor 1203 of the control unit 12 sends the recognition information to the motor control board 1202 through serial communication, the motor control board 1202 sends signals to the corresponding motor drivers, and the motor drivers send signals to the corresponding motors, thereby driving the wire wheels to rotate, realizing the tightening or releasing of the Bowden wires, and the tightening of the Bowden wires assists the hip joint to stretch.

[0080] In implementation, the rear drive control unit 1 controls the winding of the left rear Bowden wire 5 and the right rear Bowden wire 3 respectively by the rotation of the left motor 104 and the right motor 103, so as to adjust the tightening and releasing of the left rear Bowden wire 5 and the right rear Bowden wire 3, thereby assisting the stretching of the hip joint.

[0081] Please refer to Figure 5 and Figure 6 as shown, Figure 5 which is an exploded view of the left front drive unit of the embodiment of the present invention; Figure 6Schematic diagram of the structure of the left front drive unit in the embodiment of the present utility model; specifically, the left front drive unit 8 has the same structure as the right front drive unit 7. The left front drive unit 8 includes a left front drive box body 801, a drum motor support seat 802, a driving gear 803, a driven gear 804, a left front drive unit support frame 805, a drum 806, a drum motor 807, a drum support seat 808, a drum motor driver 809, and a bottom plate 810;

[0082] Among them, the bottom plate 810 is fixedly connected to the left front drive unit support frame 805; the drum motor support seat 802 and the drum support seat 808 are respectively fixed on the bottom plate 810; one end of the drum motor 807 is fixed on the drum motor support seat 802 and is connected to the driving gear 803; one end of the drum 806 is arranged on the drum motor support seat 802, and the rotating shaft at one end of the drum 806 is connected to the driven gear 804. The other end of the drum 806 is connected to the drum support seat 808. The drum 806 is used for winding the left front flexible belt 10; the driven gear 804 meshes with the driving gear 803.

[0083] Specifically, the drum motor driver 809 is respectively connected to the drum motor 807 and the motor control board 1202 of the control unit 12 through wires; the processor 1203 of the control unit 12 sends an identification signal to the motor control board 1202, the motor control board 1202 sends a signal to the drum motor driver 809, and the drum motor driver 809 sends a signal to the drum motor 807 to make the drum motor 807 rotate, thereby driving the drum 806 to rotate, realizing the tightening or release of the left front flexible belt 10. The tightening of the left front flexible belt 10 provides assistance for hip flexion.

[0084] In implementation, the left front drive unit 8 and the right front drive unit 7 respectively control the winding of the left front flexible belt 10 and the right front flexible belt 9 by the rotation of the drum motor 807 to adjust the tightening and release of the left front flexible belt 10 and the right front flexible belt 9, thereby assisting hip flexion.

[0085] Please refer to Figure 9 as shown, which is a schematic diagram of the knee joint flexible binding structure in the embodiment of the present utility model; specifically, the left knee joint flexible binding structure 6 has the same structure as the right knee joint flexible binding structure 4. The left knee joint flexible binding structure 6 includes a knee joint covering part 601, a calf binding part 602, a thigh binding part 603, and a knee joint binding part 604;

[0086] Among them, the knee joint covering part 601 is used to wrap the knee joint; the lower leg binding part 602 is used to bind the lower leg, and the thigh binding part 603 is used to bind the thigh; the knee joint binding part 604 is used to bind the knee joint.

[0087] In implementation, both the left knee joint flexible binding structure 6 and the right knee joint flexible binding structure are made of flexible materials and can adapt to the bending of the knee joint. By setting the knee joint covering part 601 to wrap the knee joint, the left knee joint flexible binding structure 6 and the right knee joint flexible binding structure 4 can not only protect the knee joint, but also fit the joint part of the human body, ensuring the comfort of wearing. By setting the lower leg binding part 602, the thigh binding part 603 and the knee joint binding part 604, the left knee joint flexible binding structure 6 and the right knee joint flexible binding structure 4 can be bound and fixed on the user's body to avoid falling off, and can increase the freedom and flexibility of the user.

[0088] Specifically, the data acquisition module 11 includes a left-side data acquisition module and a right-side data acquisition module;

[0089] Among them, the left-side data acquisition module is arranged at the connection part of the left front flexible band 10 and the left knee joint flexible binding structure 6, and is used to acquire the activity data of the left front flexible band 10 and the left knee joint flexible binding structure 6; the right-side data acquisition module is arranged at the connection part of the right front flexible band 9 and the right knee joint flexible binding structure 4, and is used to acquire the activity data of the right front flexible band 9 and the right knee joint flexible binding structure 4.

[0090] In implementation, by setting the data acquisition module 11, the present utility model can acquire the activity data of the left front flexible band 10 and the left knee joint flexible binding structure 6 and the activity data of the right front flexible band 9 and the right knee joint flexible binding structure 4 in real time, facilitating the control unit to adjust the rotation of the corresponding motor in real time, and ensuring the comfort and safety of the user.

[0091] Specifically, the control unit 12 is arranged inside the rear-side drive control unit housing 101 and includes a power management board 1201, a motor control board 1202 and a processor 1203;

[0092] Among them, the power management board 1201 is used for voltage reduction and power supply; the processor 1203 is connected to the data acquisition module 11 and is used to output a control signal according to the data acquired by the data acquisition module 11; the motor control board 1202 is respectively connected to the power management board 1201, the processor 1203, the right-side motor driver 106, the left-side motor driver 107 and the reel motor driver 809, and is used to control the rotation of the corresponding motor according to the control signal output by the processor 1203.

[0093] Specifically, the power management board 1201 plays a role in step-down voltage. For example, the power management board 1201 can convert the 22.2V voltage of the battery into 5V to supply power to each electrical component; the processor 1203 receives the data collected by the data acquisition module 10 through CAN communication; the motor control board 1202 is used to receive the identification information sent by the processor 1203 and send signals to the right motor driver 106, the left motor driver 107 and the two reel motor drivers, thereby controlling the rotation of the corresponding motors; motor encoders for collecting position information are provided at each motor.

[0094] In implementation, the control unit can adjust the battery voltage and supply power to each electrical component by setting the power management board 1201, and can process the data collected by the data acquisition module 11 in real time by setting the processor 1203, which is convenient for flexibly adjusting the flexion and extension of the hip joint.

[0095] In a specific embodiment, the user stands in the middle space of the auxiliary support part 2. The left knee joint flexible binding structure 6 and the right knee joint flexible binding structure 4 are respectively worn on the user's left knee joint and right knee joint. The rear drive control unit 1 is installed at the rear side of the auxiliary support part 2. The upper ends of the left rear Bowden cable 5 and the right rear Bowden cable 3 are both connected to the rear drive control unit 1. The lower end of the left rear Bowden cable 5 is connected to the rear side of the left knee joint flexible binding structure 6. The lower end of the right rear Bowden cable 3 is connected to the rear side of the right knee joint flexible binding structure 4; the right front drive unit 7 and the left front drive unit 8 are symmetrically installed on the front side of the auxiliary support part 2. The upper end of the left front flexible belt 10 is connected to the left front drive unit 8. The lower end of the left front flexible belt 10 and the left data acquisition module 11 are connected to the front side of the left knee joint flexible binding structure 6. The upper end of the right front flexible belt 9 is connected to the right front drive unit 7. The lower end of the right front flexible belt 9 and the right data acquisition module 11 are connected to the front side of the right knee joint flexible binding structure 4; the rear drive unit 1 is used to realize the tightening and release of the left rear Bowden cable 5 and the right rear Bowden cable 3. The left front drive unit 8 is used to realize the tightening and release of the left front flexible belt 10. The right front drive unit 7 is used to realize the tightening and release of the right front flexible belt 9. Through the cooperation of the two flexible belts and the two Bowden cables, the flexion and extension of the hip joint are assisted.

[0096] So far, the technical solutions of the present invention have been described in combination with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A flexible lower limb assist device with auxiliary support, characterized in that: include: Auxiliary support part, used for auxiliary support and adjustment of moving direction; A control unit, for outputting a control signal; A rear driving control unit, which is arranged at the rear side of the auxiliary support portion and is connected to the left rear Bowden cable, the right rear Bowden cable and the control unit respectively, and is used to control the tightening and releasing of the left rear Bowden cable and the right rear Bowden cable according to the control signal output by the control unit; A left front driving unit, which is arranged at the left front side of the auxiliary support portion and is connected to the left front flexible belt and the control unit respectively, and is used to control the tightening and releasing of the left front flexible belt according to a control signal output by the control unit; a right front driving unit, which is arranged at the right front side of the auxiliary support portion, and is connected to the right front flexible belt and the control unit, respectively, and is used to control the tightening and releasing of the right front flexible belt according to a control signal output by the control unit; A left knee joint flexible binding structure, which is connected to the left rear Bowden cable and the left front flexible belt respectively, and is used to assist the flexion and extension of the left lower limb according to the tightening and release of the left rear Bowden cable and the tightening and release of the left front flexible belt; A right knee joint flexible binding structure, which is connected to the right rear Bowden cable and the right front flexible belt respectively, and is used to assist the flexion and extension of the right lower limb according to the tightening and release of the right rear Bowden cable and the tightening and release of the right front flexible belt; The data acquisition module is used to collect the activity data of the left front flexible belt and the left knee joint flexible binding structure and the activity data of the right front flexible belt and the right knee joint flexible binding structure.

2. The flexible lower limb assist device with auxiliary support according to claim 1, characterized in that: The auxiliary support portion includes a support body, a first supporting portion and a first moving portion; Among them, the supporting body is used to assist in supporting the movement of the lower limbs; the first supporting part is arranged at the top of the supporting body to assist in movement and control the movement direction; the first moving part is arranged at the bottom of the supporting body to adjust the movement direction.

3. The flexible lower limb assist device with auxiliary support according to claim 2, characterized in that: The rear drive control unit comprises a rear drive control unit housing, a motor support frame, a right motor, a left motor, a left wire wheel, a right motor driver, a left motor driver and a right wire wheel; Wherein, the motor support frame is arranged on the bottom plate of the rear drive control unit housing; the left motor driver and the right motor driver are respectively arranged on the bottom plate of the rear drive control unit housing; the left motor and the right motor are respectively arranged on the motor support frame, and are respectively connected to the left motor driver and the right motor driver; the left wire wheel is connected to the left motor for winding the left rear Bowden cable; the right wire wheel is connected to the right motor for winding the right rear Bowden cable.

4. The flexible lower limb assist device with auxiliary support according to claim 3, characterized in that: The left front drive unit has the same structure as the right front drive unit, and comprises a left front drive housing, a reel motor support seat, a driving gear, a driven gear, a left front drive unit support frame, a reel, a reel motor, a reel support seat, a reel motor driver, and a bottom plate; Among them, the base plate is fixedly connected to the left front driving unit support frame; the reel motor support seat and the reel support seat are respectively fixed on the base plate; one end of the reel motor is fixed on the reel motor support seat and is connected to the driving gear; one end of the reel is arranged on the reel motor support seat, and the rotating shaft at one end of the reel is connected to the driven gear, and the other end of the reel is connected to the reel support seat, and the reel is used to wind the left front flexible belt; the driven gear is meshed with the driving gear.

5. The flexible lower limb assist device with auxiliary support according to claim 4, characterized in that: The structure of the left knee joint flexible binding structure is the same as that of the right knee joint flexible binding structure, and the left knee joint flexible binding structure includes a knee joint covering portion, a calf binding portion, a thigh binding portion and a knee joint binding portion; Among them, the knee joint covering part is used to wrap the knee joint; the calf binding part is used to bind the calf, the thigh binding part is used to bind the thigh; and the knee joint binding part is used to bind the knee joint.

6. The flexible lower limb assist device with auxiliary support according to claim 5, characterized in that: The data acquisition module includes a left data acquisition module and a right data acquisition module; Among them, the left data acquisition module is arranged at the connection position of the left front flexible belt and the left knee joint flexible binding structure, for collecting the activity data of the left front flexible belt and the left knee joint flexible binding structure; the right data acquisition module is arranged at the connection position of the right front flexible belt and the right knee joint flexible binding structure, for collecting the activity data of the right front flexible belt and the right knee joint flexible binding structure.

7. The flexible lower limb assist device with auxiliary support according to claim 6, characterized in that: The control unit is arranged inside the rear drive control unit housing, and includes a power management board, a motor control board and a processor; Among them, the power management board is used for voltage reduction and power supply; the processor is connected to the data acquisition module to output a control signal according to the data collected by the data acquisition module; the motor control board is respectively connected to the power management board, the processor, the right motor driver, the left motor driver and the reel motor driver to control the rotation of the corresponding motor according to the control signal output by the processor.

8. The flexible lower limb assist device with auxiliary support according to claim 3, characterized in that: The rear drive control unit further includes two reducers, and the left motor and the right motor are connected to the left wire wheel and the right wire wheel respectively through the reducers.

9. The flexible lower limb assist device with auxiliary support according to claim 2, characterized in that: The supporting body comprises a supporting body frame, a stabilizing supporting rod, a bottom connecting plate, a back connecting plate, a left front connecting plate and a right front connecting plate; Among them, the stabilizing support rod is arranged on the four sides of the supporting main frame for fixing, the bottom connecting plate is arranged at the four bottom corners of the supporting main frame; the back connecting plate is arranged on the back of the supporting main frame; the left front connecting plate is arranged on the left front side of the supporting main frame; the right front connecting plate is arranged on the right front side of the supporting main frame.

10. The flexible lower limb assist device with auxiliary support according to claim 9, characterized in that: The first supporting part includes an armrest and an armrest buckle; Wherein, the armrest buckle is arranged on the top of the supporting main body frame, and the armrest is arranged on the armrest buckle.

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