Lightweight lower limb exoskeleton control system

Abstract

The light-weight lower limb exoskeleton control system comprises a backrest assembly, leg assemblies are arranged on the two sides of the backrest assembly, and each leg assembly comprises a hip joint movement mechanism, a thigh exoskeleton mechanism, a shank exoskeleton mechanism and a foot mechanism which are sequentially arranged from top to bottom; a knee joint energy storage mechanism is connected between the thigh exoskeleton mechanism and the shank exoskeleton mechanism; the knee joint energy storage mechanism comprises an upper mounting seat, a lower mounting seat, a telescopic sleeve and an energy storage spring sleeving the telescopic sleeve; the upper mounting seat is fixedly connected with the thigh exoskeleton mechanism and is connected with the upper end of the telescopic sleeve through a rotating pair; the lower mounting seat is fixedly connected with the shank exoskeleton mechanism and is connected with the lower end of the telescopic sleeve; a plurality of mounting holes are formed in the upper mounting seat, and the elastic strength of the knee joint energy storage mechanism is changed according to the elongation of the energy storage spring when the telescopic sleeve is mounted at different positions. Compared with the prior art, the utility model has the requirements of light weight and low control complexity.

Description

TECHNICAL FIELD

[0001] The utility model relates to exoskeleton robot technical field especially is related to a lightweight lower limb exoskeleton control system. BACKGROUND

[0002] Exoskeleton robot is the fusion sensing, control, information, mobile computing technology, can be provided for the mechanical device of operation person wearing. With the rapid development of exoskeleton technology, exoskeleton robot is more used as the auxiliary support and rehabilitation treatment of lower limb movement disorder patient, simultaneously, the wearable exoskeleton for assisting wearer also constantly emerges.

[0003] At present, exoskeleton robot mainly utilizes motor to drive each joint of exoskeleton to move, and this technology can realize the matching with normal movement gait of human body, but multiple motor control movement makes its control system become complex, and the use of a large number of motors also improves the cost.

[0004] After searching, China invention patent application CN 116059085 A discloses a adjustable lower limb exoskeleton rehabilitation robot, is respectively provided with back plate adjustment motor, two groups of hip joint motor and two groups of knee joint motor. China invention patent application CN 118593301 A discloses a lower limb rehabilitation exercise device and operation method thereof, uses electric cylinder push rod to realize the movement of exoskeleton joint.

[0005] In the mechanical structure aspect, exoskeleton robot usually contains different movement mechanisms to realize multiple movement degrees of freedom, after searching, China invention patent application CN 118161382 A discloses a mechanical lower limb exoskeleton walking aid device, and the movement of exoskeleton thigh and lower leg is realized through cam mechanism.

[0006] The existing lower limb exoskeleton robot movement mechanism is complex, and the control difficulty is big. Due to the existence of multiple movement mechanisms and driving devices, lower limb exoskeleton robot is usually heavy, and there is difficulty in wearing and walking, and the endurance of exoskeleton is reduced. SUMMARY

[0007] The utility model discloses a lightweight lower limb exoskeleton control system to overcome the defects of the prior art.

[0008] The utility model discloses a lightweight lower limb exoskeleton control system to overcome the defects of the prior art.

[0009] A lightweight lower limb exoskeleton control system, including the backrest component with control box, the both sides of backrest component are provided with leg component, and each side leg component includes hip joint movement mechanism, thigh exoskeleton mechanism, lower leg exoskeleton mechanism and foot mechanism arranged in turn from top to bottom.

[0010] The thigh exoskeleton mechanism and the shank exoskeleton mechanism are connected with a knee joint energy storage mechanism, the knee joint energy storage mechanism comprises an upper mounting seat, a lower mounting seat, an expansion sleeve and an energy storage spring sleeved on the expansion sleeve; the upper mounting seat is fixedly connected with the thigh exoskeleton mechanism and is connected with the upper end of the expansion sleeve through a rotary pair; the lower mounting seat is fixedly connected with the shank exoskeleton mechanism and is connected with the lower end of the expansion sleeve; a plurality of mounting holes are arranged in the upper mounting seat, and the elastic strength of the knee joint energy storage mechanism is changed according to the elongation of the energy storage spring when the expansion sleeve is mounted at different positions.

[0011] Preferably, the thigh exoskeleton mechanism comprises a first end and a second end, and the distance between the first end and the second end is adjusted through a first length adjusting assembly; the shank exoskeleton mechanism comprises a third end and a fourth end, and the distance between the third end and the fourth end is adjusted through a second length adjusting assembly.

[0012] The first end of the thigh exoskeleton mechanism is connected with the hip joint movement mechanism, the second end of the thigh exoskeleton mechanism is connected with the third end of the shank exoskeleton mechanism through the knee joint movement mechanism, and the fourth end of the shank exoskeleton mechanism is connected with the foot mechanism.

[0013] Preferably, the backrest assembly comprises a back rest plate and two movable long plates arranged on the sides;

[0014] A gear and an adjusting knob are coaxially fixedly connected on each side of the back rest plate, a rack for engaging with the gear is arranged on the movable long plate, the distance between the two movable long plates is adjusted by controlling the engagement position of the gear and the rack through the knob, and the width adjustment of the hip joint is realized.

[0015] Preferably, the control box is arranged on the back side of the back rest plate.

[0016] Preferably, the hip joint movement mechanism comprises a connecting seat, a motor mounting seat, a motor, a connecting flange and a torsion sensing device;

[0017] The connecting seat is fixedly connected with the outer side of the movable long plate, the motor mounting seat is rotationally connected with the connecting seat, the output end surface of the motor is fixedly connected with the connecting flange, the distal end of the connecting flange is fixed in relative position with the first end of the thigh exoskeleton mechanism through a torsion sensor, and the motor drives the thigh exoskeleton to move when the motor works;

[0018] The torsion sensing device is connected with the circuit of the control box, and is used for adjusting the output strength of the motor according to the torsion value of the thigh exoskeleton collected by the torsion sensing device.

[0019] Preferably, the motor mounting base and the connecting base are connected by a connecting shaft. The motor mounting base has a stepped hole that mates with the connecting shaft. After the connection is completed, the motor mounting base and the connecting base rotate relative to each other.

[0020] Preferably, the knee joint motion mechanism is a four-bar linkage mechanism, with the upper end connected to the thigh exoskeleton mechanism and the lower end connected to the calf exoskeleton mechanism.

[0021] Preferably, the knee joint motion mechanism is provided with a dead point to limit the lower leg exoskeleton mechanism from continuing to rotate forward after extending beyond the straight position.

[0022] Preferably, the foot mechanism is connected to the fourth end of the lower leg exoskeleton mechanism via a spherical revolute joint;

[0023] The foot mechanism includes a foot support plate for support, and straps for binding the foot are provided on the foot support plate.

[0024] Preferably, the thigh exoskeleton mechanism is provided with a first binding device for binding to the wearer's thigh; and / or, the lower leg exoskeleton mechanism is provided with a second binding device for binding to the wearer's lower leg.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] (1) The spring-type knee joint energy storage mechanism enhances the movement assistance effect for the wearer. The system has fewer motors and lower system complexity, which not only helps reduce the failure rate but also improves reliability and ease of maintenance. It is lightweight and has low power consumption, which can effectively extend the system's battery life, allowing the exoskeleton to support the wearer's walking for a longer period of time.

[0027] (2) The present invention uses adjustable backrest components, thigh exoskeleton mechanism and calf exoskeleton mechanism to make the lower limb bone structure adaptable to wearers of different body types.

[0028] (3) In the backrest assembly of this utility model, the backrest plate and the movable long plates on both sides are adjusted by gear and rack meshing transmission for hip joint width adjustment. After the hip joint width is in place, it is locked by a knob. It is a purely mechanical structure, which is convenient to operate and highly reliable. Moreover, the control box is located on the back side of the backrest plate, so it does not interfere with the wearing operation.

[0029] (4) The output torque of the motor is adjusted in real time according to the torque value of the thigh exoskeleton collected by the torque sensor in the hip joint motion mechanism, which can realize the adaptive adjustment of the wearer's force in different action scenarios, and improve the coordination and responsiveness of the movement.

[0030] (5) The knee joint movement mechanism adopts a four-bar linkage mechanism, allowing the knee joint to complete flexion and extension movement, and setting a movement dead point to limit the lower leg exoskeleton mechanism from continuing to rotate forward after extending beyond the extension position, which conforms to the movement direction of the human leg bone.

[0031] (6) The lower leg exoskeleton mechanism is connected to the foot mechanism through a spherical rotary pair, and can realize various movements such as plantar flexion, dorsiflexion, inversion, eversion, etc., ensuring flexibility and stability during walking. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the lightweight lower limb exoskeleton;

[0033] Figure 2 It is a schematic diagram of the backrest assembly structure of the lightweight lower limb exoskeleton;

[0034] Figure 3 It is a rear view of the backrest assembly of the lightweight lower limb exoskeleton;

[0035] Figure 4 It is a schematic diagram of the hip joint movement mechanism of the lightweight lower limb exoskeleton;

[0036] Figure 5 It is a schematic diagram of the leg structure of the lightweight lower limb exoskeleton;

[0037] Figure 6 It is a schematic diagram of the knee joint energy storage mechanism of the lightweight lower limb exoskeleton;

[0038] Figure 7 It is a schematic diagram of the foot mechanism of the lightweight lower limb exoskeleton;

[0039] REFERENCE NUMERALS:

[0040] 1-backrest assembly, 11-movable long plate, 12-backrest plate, 13-control box, 14-gear, 15-rack, 16-knob; 2-hip joint movement mechanism, 21-connection seat, 22-motor, 23-thigh exoskeleton mechanism connection seat, 24-motor mounting seat, 25-connection flange, 26-torsion sensing device, 27-connection shaft; 3-thigh exoskeleton mechanism, 31-first end, 32-first length adjustment assembly, 33-second end, 34-first binding device; 4-knee joint movement mechanism; 5-lower leg exoskeleton mechanism, 51-third end, 52-second length adjustment assembly, 53-fourth end, 54-second binding device; 6-foot, 61-foot support plate, 62-binding strap; 7-knee joint energy storage mechanism, 71-upper mounting seat, 711-mounting hole, 72-energy storage spring, 73-telescopic sleeve, 74-lower mounting seat. DETAILED DESCRIPTION

[0041] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present utility model. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present utility model.

[0042] Example

[0043] like Figure 1 As shown, this embodiment provides a lightweight lower limb exoskeleton control system, including a backrest assembly 1 with a control box 13, and leg assemblies on both sides of the backrest assembly 1. Each leg assembly includes a hip joint motion mechanism 2, a thigh exoskeleton mechanism 3, a calf exoskeleton mechanism 5 and a foot mechanism 6 arranged sequentially from top to bottom.

[0044] like Figure 6 As shown, a knee joint energy storage mechanism 7 connects the thigh exoskeleton mechanism 3 and the lower leg exoskeleton mechanism 5. The knee joint energy storage mechanism 7 includes an upper mounting base 71, a lower mounting base 74, a telescopic sleeve 73, and an energy storage spring 72 fitted (outer or inner) onto the telescopic sleeve 73. The upper mounting base 71 is fixedly connected to the thigh exoskeleton mechanism 3 and connected to the upper end of the telescopic sleeve 73 via a revolute joint. The lower mounting base 74 is fixedly connected to the lower leg exoskeleton mechanism 5 and connected to the lower end of the telescopic sleeve 73. The upper mounting base 71 has several mounting holes 711, allowing the elastic strength of the knee joint energy storage mechanism 7 to be adjusted according to the elongation of the energy storage spring 72 when the telescopic sleeve 73 is installed in different positions. This knee joint energy storage mechanism enhances the assistive effect for the wearer.

[0045] Next, we will provide a detailed introduction to each component.

[0046] (1) Backrest assembly

[0047] like Figure 2 and Figure 3 As shown, in this embodiment, the backrest assembly 1 includes a control box 13, a backrest panel 12, and movable long plates 11 on both sides. The control box 13 is located on the back side of the backrest panel 12 and is centrally positioned. Specifically, each side of the backrest panel 12 is equipped with a gear 14 and an adjustment knob 16 that are coaxially fixedly connected, and the movable long plate 11 is provided with a rack 15 for meshing with the gear 14.

[0048] The distance between the two movable plates 11 can be adjusted by rotating the knob 16 to control the meshing position of the gear 14 and the rack 15. This allows for adjustment of the hip joint width.

[0049] (2) Hip joint motion mechanism

[0050] like Figure 4As shown, in this embodiment, the hip joint motion mechanism 2 includes a connecting seat 21, a motor mounting seat 24, a motor 22, a connecting flange 25, and a torque sensor 26. Specifically, the connecting seat 21 is fixedly connected to the outer side of the movable long plate 11, the motor mounting seat 24 is rotatably connected to the connecting seat 21, the output end face of the motor 22 is fixedly connected to the connecting flange 25, and the end of the connecting flange 25 is fixedly positioned relative to the first end 31 of the thigh exoskeleton mechanism 3 through a torque sensor 19 (the torque sensor 19 and the first end 31 are connected through the thigh exoskeleton mechanism connecting seat 23). When the motor 22 is working, it drives the thigh exoskeleton to move. The torque sensor 26 is electrically connected to the control box 13 and is used to feed back the torque value of the thigh exoskeleton collected by the torque sensor 26 to the control box to adjust the output intensity of the motor 22.

[0051] Specifically, the motor mounting base 24 and the connecting base 21 are connected by a connecting shaft 27. The motor mounting base 24 has a stepped hole that mates with the connecting shaft 27. After the connection is completed, the motor mounting base 24 and the connecting base 21 rotate relative to each other.

[0052] The hip joint motion mechanism 2 can realize the flexion, extension, adduction, abduction, internal rotation, and external rotation of the hip joint.

[0053] (3) Thigh exoskeleton mechanism

[0054] like Figure 5 As shown, in this embodiment, the thigh exoskeleton mechanism 3 includes a first end 31 and a second end 33, and the distance between the first end 31 and the second end 33 is adjusted by a first length adjustment component 32. The upper mounting base 71 is fixedly connected to the first length adjustment component 32 of the thigh exoskeleton mechanism 3.

[0055] In addition, the thigh exoskeleton mechanism 3 is provided with a first binding device 34 for binding to the wearer's thigh, which is completed by binding with the wearer's thigh through a strap (which may be Velcro or elastic strap).

[0056] (4) Lower leg exoskeleton

[0057] In this embodiment, the calf exoskeleton mechanism 5 includes a third end 51 and a fourth end 53, and the distance between the third end 51 and the fourth end 53 is adjusted by a second length adjustment component 52. The first end 31 of the thigh exoskeleton mechanism 3 is connected to the hip joint motion mechanism 2, the second end 33 of the thigh exoskeleton mechanism 3 is connected to the third end 51 of the calf exoskeleton mechanism 5 through a knee joint motion mechanism 4, and the fourth end 53 of the calf exoskeleton mechanism 5 is connected to the foot mechanism 6. The lower mounting base 74 is fixedly connected to the second length adjustment component 52 of the calf exoskeleton mechanism 5. In addition, the calf exoskeleton mechanism 5 is provided with a second binding device 54 for binding to the wearer's calf, and the binding to the wearer's calf is completed by a strap (which can be Velcro or elastic strap).

[0058] (5) Knee joint movement mechanism

[0059] In the embodiment, the knee joint movement mechanism 4 is a four-bar linkage mechanism, specifically a double rocker mechanism. The upper end is connected with the thigh exoskeleton mechanism 3, and nodes A and B are distributed on the upper end. The lower end is connected with the shank exoskeleton mechanism 5, and nodes C and D are distributed on the lower end. The connecting rods AB, the frame CD, the rocker AC and the rocker BD form a double rocker mechanism. The rocker AC is the shortest rod in the mechanism, and the rocker BD is the longest rod. The sum of the lengths of AC and BD is greater than the sum of the lengths of AB and CD (satisfying the formation condition of the double rocker mechanism). The swing range of the two rockers on the knee joint movement mechanism 4 can limit the flexion and extension amplitude of the shank exoskeleton mechanism 5. Specifically, the knee joint is allowed to complete flexion and extension movement, but the shank exoskeleton is not allowed to extend beyond the extension position to continue to rotate forward. The flexion and extension movement of the knee joint is realized through the four-bar linkage mechanism.

[0060] (6) Foot mechanism

[0061] In the embodiment, as shown in Figure 7 , the foot mechanism 6 is connected with the fourth end 53 of the shank exoskeleton mechanism through a spherical rotary pair, and can realize the plantar flexion, dorsal flexion, inversion, eversion, adduction and abduction movement of the foot. The foot mechanism 6 includes a foot support plate 61 for supporting. The foot support plate 61 is provided with a binding belt 62 for binding the foot. The binding belt 62 (which can be a magic tape or an elastic binding belt) passes through the bound foot.

[0062] Compared with the prior art, the lower limb exoskeleton provided by the utility model has simple structure, is convenient to control, has multiple degrees of freedom of movement, and is lightweight, which reduces the self weight of the structure and is beneficial to prolong the endurance time of the equipment.

[0063] The above describes only a specific implementation of the utility model, but the protection scope of the utility model is not limited to this. Any skilled person in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the utility model, and these modifications or replacements should be covered in the protection scope of the utility model. Therefore, the protection scope of the utility model should be subject to the protection scope of the claims.

Claims

1. A lightweight lower extremity exoskeleton control system, characterized by, The application relates to a backrest assembly (1) with a control box (13), and leg assemblies are arranged on both sides of the backrest assembly (1), each of the leg assemblies comprises, from top to bottom, a hip joint movement mechanism (2), a thigh exoskeleton mechanism (3), a shank exoskeleton mechanism (5) and a foot mechanism (6); A knee joint energy storage mechanism (7) is connected between the thigh exoskeleton mechanism (3) and the shank exoskeleton mechanism (5), the knee joint energy storage mechanism (7) comprises an upper mounting base (71), a lower mounting base (74), a telescopic sleeve (73) and an energy storage spring (72) sleeved on the telescopic sleeve (73); the upper mounting base (71) is fixedly connected with the thigh exoskeleton mechanism (3) and is connected with the upper end of the telescopic sleeve (73) through a rotary pair; the lower mounting base (74) is fixedly connected with the shank exoskeleton mechanism (5) and is connected with the lower end of the telescopic sleeve (73); a plurality of mounting holes (711) are arranged in the upper mounting base (71), and the elastic strength of the knee joint energy storage mechanism (7) is changed according to the elongation of the energy storage spring (72) when the telescopic sleeve (73) is installed at different positions.

2. The lightweight lower extremity exoskeleton control system of claim 1, wherein, The thigh exoskeleton mechanism (3) comprises a first end (31) and a second end (33), and the distance between the first end (31) and the second end (33) is adjusted through a first length adjusting assembly (32); the shank exoskeleton mechanism (5) comprises a third end (51) and a fourth end (53), and the distance between the third end (51) and the fourth end (53) is adjusted through a second length adjusting assembly (52); The first end (31) of the thigh exoskeleton mechanism (3) is connected with the hip joint movement mechanism (2), the second end (33) of the thigh exoskeleton mechanism (3) is connected with the third end (51) of the shank exoskeleton mechanism (5) through the arranged knee joint movement mechanism (4), and the fourth end (53) of the shank exoskeleton mechanism (5) is connected with the foot mechanism (6).

3. The lightweight lower extremity exoskeleton control system of claim 1, wherein, The backrest assembly (1) comprises a back rest plate (12) and two movable long plates (11) arranged on both sides; A gear (14) and an adjusting knob (16) are coaxially fixedly connected on each side of the back rest plate (12), a rack (15) for engaging with the gear (14) is arranged on the movable long plate (11), the distance between the two movable long plates (11) is adjusted by controlling the meshing position of the gear (14) and the rack (15) through the knob (16), and the width of the hip joint is adjusted.

4. The lightweight lower extremity exoskeleton control system of claim 3, wherein, The control box (13) is arranged on the back side of the back rest plate (12).

5. The lightweight lower extremity exoskeleton control system of claim 2, wherein, The hip joint movement mechanism (2) comprises a connecting base (21), a motor mounting base (24), a motor (22), a connecting flange (25) and a torsion sensing device (26). The connecting seat (21) is fixedly connected with the movable long plate (11), the motor mounting seat (24) is rotationally connected with the connecting seat (21), the output end surface of the motor (22) is fixedly connected with the connecting flange (25), the tail end of the connecting flange (25) is fixed in relative position with the first end (31) of the thigh exoskeleton mechanism (3) through the torsion sensor (19), and the motor (22) drives the thigh exoskeleton to move when working. The torsion sensor device (26) is circuit-connected with the control box (13), and is used for adjusting the output strength of the motor (22) according to the thigh exoskeleton bearing torsion value collected by the torsion sensor device (26).

6. The lightweight lower extremity exoskeleton control system of claim 5, wherein, The motor mounting seat (24) is connected with the connecting seat (21) through the connecting shaft (27), the motor mounting seat (24) has a stepped hole matched with the connecting shaft (27), and after the connection is completed, the motor mounting seat (24) and the connecting seat (21) are relatively rotated.

7. The lightweight lower extremity exoskeleton control system of claim 2, wherein, The knee joint movement mechanism (4) is a four-bar linkage mechanism, the upper end of which is connected with the thigh exoskeleton mechanism (3), and the lower end of which is connected with the lower leg exoskeleton mechanism (5).

8. The lightweight lower extremity exoskeleton control system of claim 7, wherein, The knee joint movement mechanism (4) is provided with a movement dead point, which is used for limiting the lower leg exoskeleton mechanism (5) to continue to rotate forward after stretching beyond the straight position.

9. The lightweight lower extremity exoskeleton control system of claim 2, wherein, The foot mechanism (6) is connected with the fourth end (53) of the lower leg exoskeleton mechanism through a spherical rotary pair; The foot mechanism (6) comprises a foot support plate (61) for supporting, and the foot support plate (61) is provided with a binding belt (62) for binding the foot.

10. The lightweight lower extremity exoskeleton control system of claim 1, wherein, The thigh exoskeleton mechanism (3) is provided with a first binding device (34) for binding with the thigh of the wearer, and / or the lower leg exoskeleton mechanism (5) is provided with a second binding device (54) for binding with the lower leg of the wearer.

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