Leg structure for lower limb exoskeleton walking robot

Abstract

The utility model discloses a leg structure for a lower limb exoskeleton walking robot, which relates to the technical field of exoskeleton robots, and comprises a fixed rod, the front end of the fixed rod is fixedly connected with a baffle plate, the top of the baffle plate is fixedly connected with a flexible bandage I, the left and right parts of the front end of the fixed rod are in lap joint with thigh driving mechanisms, and the left and right parts of the front end of the fixed rod are in lap joint with the flexible bandage II. And the bottom end of the thigh driving mechanism is fixedly connected with a shank driving mechanism. According to the leg structure for the lower limb exoskeleton walking robot, by starting the first telescopic cylinder, the first telescopic cylinder stretches, the connecting column is driven to rotate, the connecting column drives the thigh connecting rod to rotate synchronously, the thighs of a patient are driven to move, and therefore the hip joints of the patient are trained; meanwhile, a telescopic cylinder II is started to contract to drive a shank connecting rod to rotate, so that the shank connecting rod drives the shank of the patient to rotate, and the knee joint of the patient is subjected to rehabilitation training.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton robot technology, and in particular to a leg structure for a lower limb exoskeleton walking robot. Background Technology

[0002] In recent years, according to the latest data, the number of elderly people will continue to increase. Due to the aging population and the impact of various diseases, the number of patients with lower limb motor disorders is gradually increasing. Patients with stroke, spinal cord injury, Parkinson's disease, and similar conditions need rehabilitation training to return to a normal life, and their muscles often exhibit extensor spasticity. Lower limb exoskeleton walking robots can effectively restore the lower limb motor ability of stroke patients or the elderly. They can assist patients in standing and achieve standing and walking training, helping them to achieve typical gait movements such as walking on flat ground, climbing stairs, balancing and stepping in place, and crossing obstacles. Therefore, lower limb exoskeleton walking robots have become a research hotspot.

[0003] The existing technology has the following problems:

[0004] Existing exoskeleton walking robots can simulate the walking state of normal people, but they lack support at the thighs, making them unsuitable for patients who cannot bear weight. Furthermore, the degrees of freedom of existing exoskeleton walking robots limit their ability to rehabilitate patients' hip and knee joints, thus reducing the practicality of the devices. Utility Model Content

[0005] This invention provides a leg structure for a lower limb exoskeleton walking robot to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0007] A leg structure for a lower limb exoskeleton walking robot includes a fixed rod. A baffle is fixedly connected to the front end of the fixed rod, and a flexible strap is fixedly connected to the top of the baffle. Thigh drive mechanisms are attached to both the left and right sides of the front end of the fixed rod. A lower leg drive mechanism is fixedly connected to the bottom end of the thigh drive mechanism. An adjustment mechanism is movably sleeved on the outer wall of the lower leg drive mechanism. The thigh drive mechanism includes two support rods and two connecting columns. The rear end of the support rods overlaps with the front end of the fixed rod. The lower leg drive mechanism includes two thigh connecting rods. The bottom end of the thigh connecting rods is fixedly connected to the top end of the connecting columns. The adjustment mechanism includes two movable rings. The outer wall of the movable rings is movably sleeved on the outer wall of the thigh connecting rods.

[0008] Preferably: a slide rod is slidably connected to the inner wall of the support rod, the rear end of the slide rod is fixedly connected to the front end of the fixed rod, a limit bolt is threadedly connected to the inner wall of the slide rod, the outer wall of the limit bolt is threadedly connected to the rear part of the support rod, a limit block is fixedly connected to the outer wall of the slide rod, the outer wall of the limit block is slidably connected to the inner wall of the support rod, and a telescopic cylinder is rotatably connected to the rear part of the bottom end of the support rod, the output end of the telescopic cylinder is rotatably connected to the outer wall of the connecting column.

[0009] Preferably, a connecting rod is fixedly connected to the front of the top of each of the two support rods, and a flexible strap II is fixedly connected to the top of the connecting rod on the left, with the outer wall of the flexible strap II slidably connected to the inner wall of the connecting rod on the right.

[0010] Preferably, a telescopic cylinder 2 is rotatably connected to the top of the thigh connecting rod, a calf connecting rod is rotatably connected to the output end of the telescopic cylinder 2, a foot support plate is fixedly connected to the bottom of the calf connecting rod, and a strap 1 is fixedly connected to the outer wall of the foot support plate.

[0011] Preferably, the foot support plate is fixedly connected to both the left and right ends of the foot support plate. The connecting plate is located on the left side. The outer wall of the connecting plate is fixedly connected to the bottom of the lower leg connecting rod. The top of the connecting plate is fixedly connected to a strap.

[0012] Preferably, the outer wall of the movable ring is fixedly connected to a mounting plate, and the outer wall of the mounting plate is fixedly connected to a thigh strap, which is located directly above the second strap.

[0013] Preferably, the inner wall of the movable ring is slidably connected to a plug rod, the outer wall of the plug rod is inserted into the inner wall of the thigh connecting rod, one end of the plug rod is fixedly connected to a spring, and one end of the spring is fixedly connected to the outer wall of the movable ring.

[0014] Due to the adoption of the above technical solution, the technological progress achieved by this utility model compared to the prior art is as follows:

[0015] 1. This utility model provides a leg structure for a lower limb exoskeleton walking robot. By fixing the patient's foot to a foot support plate, the patient's leg passes through a thigh strap and a second strap, and then the patient's foot lands on the foot support plate. The thigh strap then binds and fixes the patient's thigh, and the second strap binds and fixes the patient's lower leg. The thigh strap and the second strap are common binding straps in the prior art, which will not be described in detail here. Then, the first strap fixes the patient's foot to the foot support plate, thereby supporting the patient's thigh and making it easier for the patient to use the device for rehabilitation training.

[0016] 2. This utility model provides a leg structure for a lower limb exoskeleton walking robot. By activating telescopic cylinder one, the telescopic cylinder one extends, driving the connecting column to rotate, which in turn drives the thigh connecting rod to rotate synchronously, thereby moving the patient's thigh and training the patient's hip joint. At the same time, the telescopic cylinder two retracts, driving the lower leg connecting rod to rotate, which in turn drives the patient's lower leg to rotate, thereby providing rehabilitation training for the patient's knee joint. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a cross-sectional view of the overall structure of this utility model;

[0019] Figure 3 This is a schematic diagram of the thigh drive mechanism of this utility model;

[0020] Figure 4 This is a schematic diagram of the lower leg drive mechanism of this utility model;

[0021] Figure 5 This is a schematic diagram of the adjustment mechanism of this utility model.

[0022] In the diagram: 1. Fixed rod; 11. Baffle; 12. Flexible strap one; 2. Thigh drive mechanism; 21. Support rod; 22. Limit bolt; 23. Sliding rod; 24. Limit block; 25. Telescopic cylinder one; 26. Connecting column; 27. Connecting rod; 28. Flexible strap two; 3. Lower leg drive mechanism; 31. Thigh connecting rod; 32. Telescopic cylinder two; 33. Lower leg connecting rod; 34. Foot support plate; 35. Strap one; 36. Connecting plate; 37. Strap two; 4. Adjustment mechanism; 41. Movable ring; 42. Mounting plate; 43. Thigh strap; 44. Insert rod; 45. Spring. Detailed Implementation

[0023] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0024] like Figures 1-5As shown, a leg structure for a lower limb exoskeleton walking robot includes a fixed rod 1. A baffle 11 is fixedly connected to the front end of the fixed rod 1, and a flexible strap 12 is fixedly connected to the top of the baffle 11. Thigh drive mechanisms 2 are attached to the left and right sides of the front end of the fixed rod 1. A lower leg drive mechanism 3 is fixedly connected to the bottom end of the thigh drive mechanism 2. An adjustment mechanism 4 is movably sleeved on the outer wall of the lower leg drive mechanism 3. The thigh drive mechanism 2 includes two support rods 21 and two connecting columns 26. The rear end of the support rods 21 is attached to the front end of the fixed rod 1. The lower leg drive mechanism 3 includes two thigh connecting rods 31. The bottom end of the thigh connecting rods 31 is fixedly connected to the top end of the connecting columns 26. The adjustment mechanism 4 includes two movable rings 41. The outer wall of the movable rings 41 is movably sleeved on the outer wall of the thigh connecting rods 31.

[0025] The thigh drive mechanism 2 moves the patient's thigh to exercise the hip joint, and the calf drive mechanism 3 moves the patient's calf to exercise the knee joint. When fixing the patient's thigh, the fixing point can be changed by adjusting the mechanism 4 to make the fixation more stable.

[0026] like Figure 2 , Figure 3 As shown, a slide rod 23 is slidably connected to the inner wall of the support rod 21. The rear end of the slide rod 23 is fixedly connected to the front end of the fixed rod 1. A limit bolt 22 is threadedly connected to the inner wall of the slide rod 23. The outer wall of the limit bolt 22 is threadedly connected to the rear part of the support rod 21. The outer wall of the slide rod 23 is fixedly connected to a limit block 24. The outer wall of the limit block 24 is slidably connected to the inner wall of the support rod 21. A telescopic cylinder 25 is rotatably connected to the rear part of the bottom end of the support rod 21. The output end of the telescopic cylinder 25 is rotatably connected to the outer wall of the connecting column 26. A connecting rod 27 is fixedly connected to the front part of the top of each of the two support rods 21. A flexible strap 28 is fixedly connected to the top of the left connecting rod 27. The outer wall of the flexible strap 28 is slidably connected to the inner wall of the right connecting rod 27.

[0027] By unscrewing the limiting bolt 22 and then pulling the fixing rod 1, the fixing rod 1 causes the sliding rod 23 to slide on the inner wall of the support rod 21. The sliding rod 23 drives the limiting block 24 to move synchronously, and the limiting block 24 limits the sliding rod 23 to prevent it from coming off the inner wall of the support rod 21. This adjusts the size of the waist and abdomen binding space. By activating the telescopic cylinder 25, the telescopic cylinder 25 extends, causing the connecting column 26 to rotate. The connecting column 26 then drives the thigh connecting rod 31 to rotate synchronously, thereby moving the patient's thigh and training the patient's hip joint.

[0028] like Figure 2 , Figure 4As shown, a telescopic cylinder 32 is rotatably connected to the top of the thigh connecting rod 31, and a calf connecting rod 33 is rotatably connected to the output end of the telescopic cylinder 32. A foot support plate 34 is fixedly connected to the bottom of the calf connecting rod 33, and a strap 35 is fixedly connected to the outer wall of the foot support plate 34.

[0029] By retracting the telescopic cylinder 2 32, the lower leg connecting rod 33 is rotated, causing the lower leg connecting rod 33 to rotate the patient's lower leg, thereby performing rehabilitation training for the patient's knee joint. Subsequently, by controlling the movement of the telescopic cylinder 1 25 and the telescopic cylinder 2 32, the patient can be helped to walk, thus achieving the effect of helping the patient with rehabilitation training.

[0030] like Figure 2 , Figure 4 As shown, connecting plates 36 are fixedly connected to both the left and right ends of the foot support plate 34. The connecting plate 36 is located on the outer wall of the left connecting plate 36 and is fixedly connected to the bottom of the lower leg connecting rod 33. A second strap 37 is fixedly connected to the top of the connecting plate 36.

[0031] By fixing the patient's feet to the foot support plate 34, the patient's legs pass through the thigh strap 43 and strap 37, and then the patient's feet land on the foot support plate 34. The thigh strap 43 is then used to bind and fix the patient's thighs, and the strap 37 is used to bind and fix the patient's lower legs. The thigh strap 43 and strap 37 are common binding straps in the prior art, and will not be described in detail here. Then, the patient's feet are fixed to the foot support plate 34 by strap 35, thereby fixing the patient's lower limbs to the device.

[0032] like Figure 2 , Figure 4 and Figure 5 As shown, a mounting plate 42 is fixedly connected to the outer wall of the movable ring 41, and a thigh strap 43 is fixedly connected to the outer wall of the mounting plate 42. The thigh strap 43 is located directly above the strap 37. A plug rod 44 is slidably connected to the inner wall of the movable ring 41. The outer wall of the plug rod 44 is inserted into the inner wall of the thigh connecting rod 31. A spring 45 is fixedly connected to one end of the plug rod 44, and one end of the spring 45 is fixedly connected to the outer wall of the movable ring 41.

[0033] By pulling the insertion rod 44, the spring 45 extends, so that the outer wall of the insertion rod 44 is no longer inserted into the inner wall of the thigh connecting rod 31. Then, the movable ring 41 can be pulled to slide on the outer wall of the thigh connecting rod 31, thereby adjusting the height of the thigh strap 43. This facilitates the fixation of the patient's thigh and achieves the effect of adjusting the position of the thigh strap.

[0034] The working principle of this utility model is as follows: In use, the patient's foot is fixed to the foot support plate 34, allowing the patient's leg to pass through the thigh strap 43 and strap 37. The patient's foot then rests on the foot support plate 34. The thigh strap 43 then binds and fixes the patient's thigh, followed by strap 37 binding and fixing the patient's lower leg. The thigh strap 43 and strap 37 are common binding straps in the prior art and will not be described in detail here. Finally, strap 35 fixes the patient's foot to the foot support plate 34, thereby securing the patient's lower limbs. Fixed to the device, during the fixing process, the insertion rod 44 can be pulled to extend the spring 45, causing the outer wall of the insertion rod 44 to no longer be inserted into the inner wall of the thigh connecting rod 31. Then, the movable ring 41 can be pulled to slide on the outer wall of the thigh connecting rod 31, thereby adjusting the height of the thigh strap 43. This facilitates the fixation of the patient's thigh and allows for adjustment of the thigh binding position. Subsequently, the flexible straps 12 and 28 work together to bind the patient's waist and abdomen, thus binding the device to the patient's body. When binding the patient's waist and abdomen, the limiting bolt 22 can be unscrewed, and then the fixing rod 1 can be pulled. This causes the fixing rod 1 to move the sliding rod 23 along the inner wall of the support rod 21. The sliding rod 23 moves the limiting block 24 synchronously, which limits the sliding rod 23 to prevent it from slipping off the inner wall of the support rod 21. This adjusts the size of the binding space for the waist and abdomen. After adjustment, the limiting bolt 22 is screwed back into the inner wall of the sliding rod 23 to limit and fix it, thus broadening the applicability of the device. Subsequently, the telescopic cylinder 25 is activated to... When cylinder 25 extends, it drives the connecting column 26 to rotate, which in turn drives the thigh connecting rod 31 to rotate synchronously, thereby moving the patient's thigh and training the patient's hip joint. At the same time, the telescopic cylinder 32 contracts, driving the lower leg connecting rod 33 to rotate, which in turn drives the patient's lower leg to rotate, thereby providing rehabilitation training for the patient's knee joint. Subsequently, by controlling the movement of telescopic cylinders 25 and 32, the patient can walk, thus achieving the effect of assisting the patient in rehabilitation training and greatly improving the user experience.

[0035] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A leg structure for a lower limb exoskeleton walking robot, comprising a fixing rod (1), characterized in that: The front end of the fixed rod (1) is fixedly connected to a baffle (11), and the top of the baffle (11) is fixedly connected to a flexible strap (12). The left and right sides of the front end of the fixed rod (1) are both connected to a thigh drive mechanism (2). The bottom end of the thigh drive mechanism (2) is fixedly connected to a calf drive mechanism (3). The outer wall of the calf drive mechanism (3) is movably sleeved with an adjustment mechanism (4). The thigh drive mechanism (2) includes two support rods (21) and two connecting columns (26). The rear end of the support rod (21) is connected to the front end of the fixed rod (1). The calf drive mechanism (3) includes two thigh connecting rods (31). The bottom end of the thigh connecting rod (31) is fixedly connected to the top end of the connecting column (26). The adjustment mechanism (4) includes two movable rings (41). The outer wall of the movable ring (41) is movably sleeved with the outer wall of the thigh connecting rod (31). The inner wall of the support rod (21) is slidably connected to a slide rod (23). The rear end of the slide rod (23) is fixedly connected to the front end of the fixed rod (1). The inner wall of the slide rod (23) is threadedly connected to a limit bolt (22). The outer wall of the limit bolt (22) is threadedly connected to the rear part of the support rod (21). The outer wall of the slide rod (23) is fixedly connected to a limit block (24). The outer wall of the limit block (24) is slidably connected to the inner wall of the support rod (21). The rear part of the bottom end of the support rod (21) is rotatably connected to a telescopic cylinder (25). The output end of the telescopic cylinder (25) is rotatably connected to the outer wall of the connecting column (26). The outer wall of the movable ring (41) is fixedly connected to the mounting plate (42), and the outer wall of the mounting plate (42) is fixedly connected to the thigh strap (43). The thigh strap (43) is located directly above the second strap (37). The inner wall of the movable ring (41) is slidably connected to the insertion rod (44). The outer wall of the insertion rod (44) is inserted into the inner wall of the thigh connecting rod (31). One end of the insertion rod (44) is fixedly connected to the spring (45), and one end of the spring (45) is fixedly connected to the outer wall of the movable ring (41).

2. The leg structure for a lower limb exoskeleton walking robot according to claim 1, characterized in that: A connecting rod (27) is fixedly connected to the front of the top of each of the two support rods (21). A flexible strap (28) is fixedly connected to the top of the left connecting rod (27). The outer wall of the flexible strap (28) is slidably connected to the inner wall of the right connecting rod (27).

3. The leg structure for a lower limb exoskeleton walking robot according to claim 1, characterized in that: The top of the thigh connecting rod (31) is rotatably connected to a telescopic cylinder two (32), the output end of the telescopic cylinder two (32) is rotatably connected to a calf connecting rod (33), the bottom of the calf connecting rod (33) is fixedly connected to a foot support plate (34), and the outer wall of the foot support plate (34) is fixedly connected to a strap one (35).

4. The leg structure for a lower limb exoskeleton walking robot according to claim 3, characterized in that: The foot support plate (34) is fixedly connected to both the left and right ends of the connecting plate (36). The connecting plate (36) is located on the left side. The outer wall of the connecting plate (36) is fixedly connected to the bottom of the lower leg connecting rod (33). The top of the connecting plate (36) is fixedly connected to the second strap (37).

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