Lower limb exoskeleton device

Abstract

The utility model belongs to the field of lower limb exoskeletons, particularly relates to a lower limb exoskeleton device, and provides the following scheme aiming at the problems that an existing binding belt is usually connected through a hook-and-loop fastener, the structure is simple, the situation that the binding belt is too tight when the binding belt is worn and moved is caused, and the use comfort of a user is reduced. The lower limbs are rotationally connected to the bottom of the fixing part, and the four binding assemblies are arranged on the inner sides of the lower limbs; the binding assembly comprises a movable block, the movable block is rotationally connected to the inner side of the lower limb, a first binding band is fixedly arranged on the inner wall of the movable block, and an elastic band and a hook face are fixedly arranged at the two ends of the first binding band respectively. A user can adjust the elastic band according to the use habit of the user, the application range of the device is widened, the elastic band can be protected when the device is idle, and the elastic band is prevented from being pulled.

Description

Technical Field

[0001] The utility model relates to the technical field of lower limb exoskeletons, in particular to a lower limb exoskeleton device. Background Technique

[0002] The lower limb exoskeleton device is designed specifically to assist and enhance the functions of the human lower limbs, enabling users to have greater walking and load-bearing capabilities. The lower limb exoskeleton device mainly consists of a waist fixation part and lower limbs. The waist fixation part is used to bind to the user's waist. The lower limbs are mainly driven by motors, and are equipped with devices such as encoders and pressure sensors to monitor and control the movement of the lower limbs in real time, and are tied to the user's lower limbs by restraint bands. However, the existing lower limb exoskeleton devices have the following deficiencies when in use:

[0003] 1. The restraint bands are usually connected by Velcro, with a relatively simple structure. When wearing and moving, the situation of being too tight will occur, reducing the user's comfort.

[0004] Therefore, we propose a lower limb exoskeleton device. Content of the Utility Model

[0005] The purpose of the utility model is to solve the shortcomings in the prior art that the restraint bands are usually connected by Velcro, with a relatively simple structure. When wearing and moving, the situation of being too tight will occur, reducing the user's comfort, and to propose a lower limb exoskeleton device.

[0006] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0007] A lower limb exoskeleton device includes lower limbs rotatably connected to the bottom of a fixed part, and further includes four bundling components arranged on the inner side of the lower limbs;

[0008] The bundling component includes a movable block, the movable block is rotatably connected to the inner side of the lower limb, a first strap is fixedly arranged on the inner wall of the movable block, and an elastic band and a hook surface are respectively fixedly arranged at both ends of the first strap;

[0009] The bundling component further includes a second strap, the second strap is arranged on one side of the first strap, a fuzzy surface is fixedly arranged at one end of the second strap, the fuzzy surface is matched with the hook surface, and a connection groove is arranged at the other end of the second strap; the other end of the elastic band is located in the connection groove;

[0010] A limiting mechanism, the limiting mechanism is arranged at the opening of the connection groove for limiting the elastic band.

[0011] In a possible design, the limiting mechanism includes a connection frame, the connection frame is fixedly arranged at the opening of the connection groove, the elastic band passes through the connection frame, a regulating block is threadedly penetrated through the outer wall of one side of the connection frame, one end of the regulating block extends to the inside of the connection frame and is rotatably connected with a clamping plate, and the clamping plate is slidably connected with the connection frame.

[0012] In a possible design, two triangular blocks are integrally formed on one side of the clamping plate, and two triangular grooves are formed on the inner wall of one side of the connecting frame, and the triangular blocks are matched with the triangular grooves.

[0013] In a possible design, a T-shaped moving block is fixedly provided at one end of the elastic band, and a second relief hole is formed through one side of the connecting groove, and the moving block passes through the second relief hole.

[0014] In a possible design, a connecting band is fixedly provided on one side of the second binding band, two second buckles are fixedly provided on one side of the connecting band, a first buckle is fixedly provided on one side of the first binding band, the first buckle is matched with the second buckle, and at least two groups of first buckles are arranged side by side, and two first buckles are provided in each group.

[0015] In a possible design, a first relief hole is formed through one side of the connecting band.

[0016] In this application, when bundling, rotate the adjusting block to drive the clamping plate to move, no longer clamp the elastic band, then adjust the length of the elastic band exposed from the connecting groove. After the adjustment is completed, rotate the adjusting block again to make the clamping plate and the connecting frame clamp the elastic band. Then connect the second buckle and the first buckle close to the elastic band, which is convenient for the elastic band to stretch and avoid the connecting band from shaking. Then tie the first binding band and the second binding band to the user's lower limb, and stick the hook surface and the fuzzy surface tightly to complete the bundling.

[0017] Beneficial effects:

[0018] In the present utility model, for the lower limb exoskeleton device, through the arrangement of multiple structures such as the first binding band, the second binding band and the elastic band, when the user moves, the elastic band can provide buffering for the user, avoid the situation of being too tight, and ensure the comfort of the user during use;

[0019] In the present utility model, for the lower limb exoskeleton device, through the arrangement of multiple structures such as the connecting frame, the clamping plate and the adjusting block, the effective telescopic length of the elastic band can be adjusted, which is suitable for different people and improves the applicable range of the device;

[0020] In the present utility model, for the lower limb exoskeleton device, through the arrangement of multiple structures such as the connecting band, the first buckle and the second buckle, in the idle state, the connecting band can connect the first binding band and the second binding band, avoid the elastic band from being pulled by external force, and extend the service life of the elastic band;

[0021] In the present utility model, it can provide buffering for the user when wearing and moving, avoid the situation of being too tight, ensure the comfort of the user, and the user can adjust the elastic band according to their own usage habits, improving the applicable range of the device. It can also provide protection for the elastic band when it is idle to avoid being pulled. Description of the Drawings

[0022] Figure 1 It is a three-dimensional structural schematic diagram of a lower limb exoskeleton device proposed by the present utility model;

[0023] Figure 2 It is a structural schematic diagram of a bundling component of a lower limb exoskeleton device proposed by the present utility model;

[0024] Figure 3 It is an exploded structural schematic diagram of a bundling component of a lower limb exoskeleton device proposed by the present utility model;

[0025] Figure 4 It is a partial cross-sectional structural schematic diagram of a lower limb exoskeleton device proposed by the present utility model.

[0026] In the figure: 1, fixed part; 2, lower limb; 3, movable block; 4, first strap; 5, elastic band; 6, second strap; 7, hook surface; 8, fuzzy surface; 9, connection groove; 10, connection band; 11, first relief hole; 12, first buckle; 13, second relief hole; 14, moving block; 15, connection frame; 16, adjusting block; 17, clamping plate; 18, triangular block; 19, triangular groove. Detailed Embodiment

[0027] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments.

[0028] Embodiment 1

[0029] Refer to Figures 1-4 , a lower limb exoskeleton device, including a lower limb 2 rotatably connected to the bottom of the fixed part 1, and further including four bundling components arranged on the inner side of the lower limb 2;

[0030] The bundling component includes a movable block 3, the movable block 3 is rotatably connected to the inner side of the lower limb 2 to adapt to different angular changes. The inner wall of the movable block 3 is fixedly provided with a first strap 4, and both ends of the first strap 4 are fixedly provided with an elastic band 5 and a hook surface 7 respectively. The elastic band has elasticity, which can avoid the situation of being too tight when wearing and moving, ensuring the comfort of use;

[0031] The binding assembly further includes a second binding strap 6, which is arranged on one side of the first binding strap 4, and one end of the second binding strap 6 is fixed with a furry surface 8, the furry surface 8 and the hook surface 7 cooperate, and the other end of the second binding strap 6 is provided with a connecting groove 9, and the other end of the elastic band 5 is located in the connecting groove 9;

[0032] A limiting mechanism is arranged at the opening of the connecting groove 9 and is used to limit the elastic band 5. The limiting mechanism includes a connecting frame 15, which is fixed at the opening of the connecting groove 9. An adjusting block 16 is threaded through the outer wall of one side of the connecting frame 15. One end of the adjusting block 16 extends to the inner side of the connecting frame 15 and is rotatably connected to a clamping plate 17. The clamping plate 17 and the connecting frame 15 are slidably connected. By rotating the adjusting block 16, the clamping plate 17 can be pushed to slide in the connecting frame 15, thereby clamping or loosening the elastic band 5 in the connecting groove 9.

[0033] Example 2

[0034] A lower limb exoskeleton device improved on the basis of Example 1;

[0035] In another aspect of this embodiment, two triangular blocks 18 are integrally formed on one side of the splint 17, and two triangular grooves 19 are provided on the inner wall of one side of the connecting frame 15. The triangular blocks 18 and the triangular grooves 19 cooperate with each other to improve the limiting effect of the elastic band 5 and prevent the elastic band 5 from sliding.

[0036] In another aspect of this embodiment, a T-shaped moving block 14 is fixedly provided at one end of the elastic band 5, and a second clearance hole 13 is penetrated through one side of the connecting groove 9. The moving block 14 passes through the second clearance hole 13. The moving block 14 can be used to pull the elastic band 5 into the connecting groove 9, so that people can adjust the elastic band 5 conveniently.

[0037] In another aspect of the present embodiment, a connecting belt 10 is fixedly provided on one side of the second strap 6, a second buckle is fixedly provided on one side of the connecting belt 10, a first buckle 12 is fixedly provided on one side of the first strap 4, the first buckle 12 cooperates with the second buckle, at least two groups of first buckles 12 are arranged side by side, each group of first buckles 12 is provided with two, the second buckle cooperates with the first buckle 12 close to the elastic band 5, which can facilitate the extension and retraction of the elastic band 5 and prevent the connecting belt 10 from shaking, the second buckle cooperates with the first buckle 12 far away from the elastic band 5, which can prevent the elastic band 5 from extending and retracting when idle and prevent the elastic band 5 from being pulled by external force.

[0038] In another aspect of the present embodiment, a first clearance hole 11 is formed through one side of the connecting belt 10 . The first clearance hole 11 can make way for the adjustment block 16 , making it convenient for people to directly adjust the adjustment block 16 .

[0039] The above are only the preferred specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution of the present utility model and its inventive concept, making equivalent substitutions or changes should be covered within the protection scope of the present utility model.

Claims

1. A lower limb exoskeleton device, comprising a lower limb (2) rotatably connected to the bottom of a fixing part (1), characterized in that: It also includes four binding components arranged on the inner side of the lower limb (2); The binding assembly comprises a movable block (3), the movable block (3) is rotatably connected to the inner side of the lower limb (2), a first binding belt (4) is fixedly provided on the inner wall of the movable block (3), and elastic bands (5) and hook surfaces (7) are respectively fixedly provided at two ends of the first binding belt (4); The binding assembly further comprises a second binding strap (6), the second binding strap (6) being arranged on one side of the first binding strap (4), one end of the second binding strap (6) being fixedly provided with a furry surface (8), the furry surface (8) and the hook surface (7) being matched, the other end of the second binding strap (6) being provided with a connecting groove (9), the other end of the elastic band (5) being located in the connecting groove (9); A limiting mechanism is arranged at the opening of the connecting groove (9) and is used to limit the elastic band (5).

2. A lower limb exoskeleton device according to claim 1, characterized in that: The limiting mechanism comprises a connecting frame (15), the connecting frame (15) is fixed at the opening of the connecting groove (9), the elastic band (5) passes through the connecting frame (15), an adjusting block (16) is threadedly penetrated through an outer wall of one side of the connecting frame (15), one end of the adjusting block (16) extends to the inner side of the connecting frame (15) and is rotatably connected to a clamping plate (17), and the clamping plate (17) and the connecting frame (15) are slidably connected.

3. A lower limb exoskeleton device according to claim 2, characterized in that: Two triangular blocks (18) are integrally formed on one side of the clamping plate (17), and two triangular grooves (19) are provided on the inner wall of one side of the connecting frame (15), and the triangular blocks (18) and the triangular grooves (19) are matched with each other.

4. A lower limb exoskeleton device according to claim 3, characterized in that: A T-shaped moving block (14) is fixedly arranged at one end of the elastic band (5), a second clearance hole (13) is penetrated through one side of the connecting groove (9), and the moving block (14) passes through the second clearance hole (13).

5. A lower limb exoskeleton device according to claim 4, characterized in that: A connecting belt (10) is fixedly provided on one side of the second binding belt (6), two second buckles are fixedly provided on one side of the connecting belt (10), a first buckle (12) is fixedly provided on one side of the first binding belt (4), the first buckle (12) and the second buckle cooperate with each other, at least two groups of the first buckles (12) are arranged side by side, and each group of the first buckles (12) has two buckles.

6. A lower limb exoskeleton device according to claim 5, characterized in that: A first clearance hole (11) is formed through one side of the connecting belt (10).

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