Adjustable multi-degree-of-freedom lower limb exoskeleton device

Abstract

The utility model belongs to the technical field of exoskeletons, and discloses an adjustable multi-degree-of-freedom lower limb exoskeleton device which comprises a waist binding sleeve, and lower limb exoskeletons are fixedly connected to the front side and the rear side of the waist binding sleeve. By arranging the round block, the supporting rod, the first spring and the rolling wheel, when an operator wears the whole waist binding sleeve, the rolling wheel can make contact with the ground at the moment, the round block makes contact with the bottom of the inner surface of the supporting rod, and then the supporting rod cannot continue to move upwards; according to the walking device, the lower leg portion of an operator can be supported, the operator can be more stable in the slow walking process, and when the operator lifts the foot away from the ground, a first spring can pull a supporting rod downwards under the elastic force recovery effect, so that the supporting rod moves downwards, and the operator can walk more stably. Furthermore, the rollers can be ensured to be in contact with the ground when the operator lifts the feet, so that the operator can walk more stably.

Description

TECHNICAL FIELD

[0001] The utility model belongs to exoskeleton technical field, specifically is adjustable multi -freedom degree lower limbs exoskeleton device. BACKGROUND

[0002] Lower limbs exoskeleton is mainly applied to nerve rehabilitation, orthopedics rehabilitation, old age nursing etc., for the patient of stroke, spinal cord injury and cerebral palsy etc. leading to lower limbs dysfunction, through early rehabilitation training of exoskeleton robot, it is helpful to nerve remodeling and functional recovery, after lower limbs fracture, joint replacement, the patient can walk training with the help of exoskeleton robot, promotes the recovery of bone healing and muscle strength.

[0003] The existing lower limbs exoskeleton can realize multi -freedom degree adjustment to adapt to different body shape crowd, thereby improve the comfort of wearing and the effectiveness of use, however in the actual application process, especially for the early rehabilitation patient of lower limbs dysfunction, still have the deficiency, for this kind of patient, since the lower limbs control force is usually weak in the early rehabilitation, although the basic standing can be realized with the help of exoskeleton, but in the walking process, since the two feet need to alternate forward, maintaining balance becomes particularly difficult, the existing lower limbs exoskeleton design often focuses on providing the support of thigh and hip, and the support of shank is relatively insufficient, as the key part of supporting body weight and pushing pace forward in the walking process, the stability of shank is crucial to keep the overall balance, lacking the effective support of shank can lead to the patient to feel unstable when walking, even increase the risk of falling, thus needs to be improved. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at above -mentioned problem, the utility model provides adjustable multi -freedom degree lower limbs exoskeleton device, has improved the advantage of walking stability.

[0005] In order to achieve the above object, the utility model provides the following technical scheme: adjustable multi -freedom degree lower limbs exoskeleton device, including waist binding cover, the front and rear sides of waist binding cover are fixedly connected with lower limbs exoskeleton, the bottom of lower limbs exoskeleton outside is movably connected with lifting block, the outside of lifting block is fixedly connected with round shaft, the outer surface of round shaft movably sheathed with round sleeve, the front of round sleeve is fixedly connected with mounting plate, the left and right sides of mounting plate front are all fixedly installed with round block, the left and right sides of mounting plate front are all fixedly installed with rectangular block, the outer surface of mounting plate and rectangular block movably sheathed with support rod, the top of rectangular block is fixedly installed with first spring, the top of first spring is fixedly connected with the top of support rod inner surface, the inside of support rod bottom is fixedly sheathed with rotation shaft, the outer surface of rotation shaft movably sheathed with gyro wheel.

[0006] As the utility model is preferred, four outer ends of the four round blocks are fixedly installed with baffles, and the inner side of the baffle is movably connected with the outer surface of the supporting rod.

[0007] As the utility model is preferred, the outer surface of the lifting block is movably connected with a limiting plate, and the outer surface of the limiting plate is fixedly connected with the outer surface of the lower limb exoskeleton.

[0008] As the utility model is preferred, the top of the limiting plate is fixedly connected with a fixed plate, the inside of the fixed plate is movably sleeved with a lifting plate, and the bottom end of the lifting plate is fixedly connected with the top of the lifting block.

[0009] As the utility model is preferred, the inside of the lifting plate is provided with a first clamping hole, and the inside of the top end of the lifting plate is provided with a second clamping hole.

[0010] As the utility model is preferred, the outer side of the fixed plate is fixedly installed with a mounting bracket, the inside of the mounting bracket is movably sleeved with a pull rod, the inner end of the pull rod is fixedly connected with a connecting plate, the inner side of the connecting plate is fixedly connected with a plug rod, and the outer surface of the plug rod is movably sleeved with the inner surface of the fixed plate and the second clamping hole respectively.

[0011] As the utility model is preferred, the outer side of the connecting plate is fixedly installed with a second spring, and the other end of the second spring is fixedly connected with the inner surface of the mounting bracket.

[0012] Compared with the prior art, the utility model has the advantages of the following:

[0013] The utility model discloses a round block, a supporting rod, a first spring and a roller are arranged, when the waist binding sleeve is worn as a whole, the roller will contact the ground, and the round block contacts the bottom of the inner surface of the supporting rod, so that the supporting rod cannot continue to move upward, thereby supporting the calf of the operator, making the operator more stable during slow walking, and when the operator lifts the foot off the ground, the first spring will pull down the supporting rod under the action of elastic recovery, so that the supporting rod moves downward, thereby ensuring that the roller contacts the ground when the operator lifts the foot, making the operator walk more stably. ACCURACY OF DRAWINGS

[0014] Figure 1 It is the structure schematic drawing of the utility model;

[0015] Figure 2 It is the structure schematic drawing of the back of the utility model;

[0016] Figure 3 It is the structure schematic drawing of the supporting rod of the utility model;

[0017] Figure 4 It is the structure schematic view of the back of the mounting plate of the utility model;

[0018] Figure 5 It is the sectional structure schematic view of the mounting plate of the utility model;

[0019] Figure 6 It is Figure 5 It is the local enlarged structure schematic view of A place in the middle.

[0020] In the drawing: 1, waist binding sleeve; 2, lower limb exoskeleton; 3, lifting block; 4, round shaft; 5, round sleeve; 6, mounting plate; 7, round block; 8, rectangular block; 9, support rod; 10, first spring; 11, rotating shaft; 12, roller; 13, baffle; 14, limiting plate; 15, fixed plate; 16, lifting plate; 17, first clamping hole; 18, second clamping hole; 19, mounting frame; 20, pull rod; 21, connecting plate; 22, inserting rod; 23, second spring. DETAILED DESCRIPTION

[0021] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0022] As Figures 1 to 6As shown, the utility model provides adjustable multi -freedom degree lower limbs exoskeleton device, including waist binding sleeve 1, the front and back both sides of waist binding sleeve 1 are fixedly connected with lower limbs exoskeleton 2, the bottom of lower limbs exoskeleton 2 outside is movably connected with lifting block 3, the outside fixedly connected with round shaft 4 of lifting block 3, the outer surface movably sleeved with round sleeve 5 of round shaft 4, the front fixedly connected with mounting plate 6 of round sleeve 5, the left and right sides of mounting plate 6 front are all fixedly installed with round block 7, the left and right sides of mounting plate 6 front are all fixedly installed with rectangular block 8, the outer surface movably sleeved with support rod 9 of mounting plate 6 and rectangular block 8, the top fixedly installed with first spring 10 of rectangular block 8, the top of first spring 10 is fixedly connected with the top inside surface of support rod 9, the inside fixedly sleeved with rotating shaft 11 of support rod 9 bottom end, the outer surface movably sleezed with gyro wheel 12 of rotating shaft 11, when the operator wears waist binding sleeve 1 and stands, the bottom of gyro wheel 12 will contact with ground, at this moment, first spring 10 is in tensile state, and round block 7 will contact the bottom of support rod 9 inner surface, so that support rod 9 cannot continue to move upwards, so that support rod 9 can support the calf of operator, so that operator can walk more stably, and due to the design of gyro wheel 12, gyro wheel 12 can roll along the ground, so that operator can walk more smoothly.

[0023] Wherein, the number of round block 7 is four, the outer end of four round block 7 is fixedly installed with baffle 13, the inner side of baffle 13 is movably connected with the outer surface of support rod 9, by setting baffle 13, so that support rod 9 can avoid moving outward and separating from the outer surface of round block 7 and rectangular block 8, which plays a limiting role on support rod 9.

[0024] Wherein, the outer surface of lifting block 3 is movably connected with limit plate 14, the outer surface of limit plate 14 is fixedly connected with the outer surface of lower limbs exoskeleton 2, by setting limit plate 14, limit plate 14 can limit lifting block 3, so that lifting block 3 can move up and down along the inner surface of limit plate 14.

[0025] Wherein, the top of limit plate 14 is fixedly connected with fixed plate 15, the inside of fixed plate 15 movably sleezed with lifting plate 16, the bottom of lifting plate 16 is fixedly connected with the top of lifting block 3, when lifting block 3 rises under the limiting action of limit plate 14, lifting plate 16 will be lifted on the inner surface of fixed plate 15, when lifting plate 16 is fixed, the height of lifting block 3 will be fixed.

[0026] The inside of the lifting plate 16 is provided with a first clamping hole 17, and the top end of the lifting plate 16 is provided with a second clamping hole 18.

[0027] The outside of the fixed plate 15 is fixedly provided with a mounting frame 19, the inside of the mounting frame 19 movably sleeved with a pull rod 20, the inner end of the pull rod 20 is fixedly connected with a connecting plate 21, the inside of the connecting plate 21 is fixedly connected with an insertion rod 22, and the outer surface of the insertion rod 22 movably sleeves the inner surface of the fixed plate 15 and the second clamping hole 18 respectively.

[0028] The outside of the connecting plate 21 is fixedly provided with a second spring 23, and the other end of the second spring 23 is fixedly connected with the inner surface of the mounting frame 19.

[0029] The working principle and use process of the utility model:

[0030] When the operator wears the waist binding sleeve 1, the roller 12 will contact the ground, the first spring 10 will be in a stretched state, the circular block 7 will contact the bottom of the inner surface of the supporting rod 9, the supporting rod 9 cannot rise, the lower leg part of the operator is supported, when the patient moves forward, the roller 12 will roll along the ground, the operator can walk more stably, when the operator walks and the lower leg part of the lower limb exoskeleton 2 inclines, the mounting plate 6 cannot incline with the lower leg part of the lower limb exoskeleton 2, the supporting rod 9 can stably support.

[0031] When the operator does not need to support, the pull rod 20 can be pulled outward, so that the pull rod 20 drives the plug rod 22 to move outward through the connecting plate 21, so that the plug rod 22 is separated from the inner surface of the second clamping hole 18, then the lifting plate 16 is moved upward, so that the lifting block 3 moves upward under the limiting action of the limiting plate 14, so that the roller 12 is separated from the ground, then the first clamping hole 17 is aligned with the plug rod 22, at this time, the pull rod 20 is loosened, so that the second spring 23 drives the plug rod 22 to reset under the elastic recovery action, so that the plug rod 22 is inserted into the inside of the first clamping hole 17, thereby fixing the lifting plate 16 and the lifting block 3, and then the support function of the support rod 9 can be closed.

[0032] It should be noted that, in this document, the terms such as first and second are used merely to distinguish one entity or operation from another, and do not necessarily require or imply these entities or operations have any such actual relationship or order. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0033] Although the embodiments of the present application have been shown and described, it should be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An adjustable multi-degree-of-freedom lower extremity exoskeleton device comprising a waist harness (1), characterized in that: The lower limbs exoskeleton (2) is movably connected to the bottom of the outer side of the lower limbs exoskeleton (2), the circular shaft (4) is movably connected to the outer side of the lifting block (3), the outer surface of the circular shaft (4) movably sleeved with a circular sleeve (5), the front surface of the circular sleeve (5) is fixedly connected with a mounting plate (6), the left and right sides of the front surface of the mounting plate (6) are fixedly connected with a circular block (7), the left and right sides of the front surface of the mounting plate (6) are fixedly connected with a rectangular block (8), the outer surface of the mounting plate (6) and the rectangular block (8) movably sleeved with a support rod (9), the top of the rectangular block (8) is fixedly connected with a first spring (10), the top of the first spring (10) is fixedly connected with the inner surface of the top of the support rod (9), the inner surface of the bottom of the support rod (9) is fixedly sleeved with a rotating shaft (11), and the outer surface of the rotating shaft (11) movably sleeved with a roller (12).

2. The adjustable multi-degree-of-freedom lower extremity exoskeleton apparatus according to claim 1, wherein: The number of the circular block (7) is four, the outer end of the four circular blocks (7) is fixedly connected with a baffle (13), and the inner side of the baffle (13) is movably connected with the outer surface of the support rod (9).

3. The adjustable multi-degree-of-freedom lower extremity exoskeleton apparatus according to claim 1, wherein: The outer surface of the lifting block (3) is movably connected with a limiting plate (14), and the outer surface of the limiting plate (14) is fixedly connected with the outer surface of the lower limbs exoskeleton (2).

4. The adjustable multi-degree-of-freedom lower extremity exoskeleton apparatus according to claim 3, wherein: The top of the limiting plate (14) is fixedly connected with a fixed plate (15), the inner surface of the fixed plate (15) is movably sleeved with a lifting plate (16), and the bottom end of the lifting plate (16) is fixedly connected with the top of the lifting block (3).

5. The adjustable multi-degree-of-freedom lower extremity exoskeleton apparatus according to claim 4, wherein: The inner surface of the lifting plate (16) is provided with a first clamping hole (17), and the inner surface of the top of the lifting plate (16) is provided with a second clamping hole (18).

6. The adjustable multi-degree-of-freedom lower extremity exoskeleton apparatus according to claim 4, wherein: The outer surface of the fixed plate (15) is fixedly connected with a mounting frame (19), the inner surface of the mounting frame (19) is movably sleeved with a pull rod (20), the inner end of the pull rod (20) is fixedly connected with a connecting plate (21), the inner surface of the connecting plate (21) is fixedly connected with a plug rod (22), and the outer surface of the plug rod (22) is movably sleeved with the inner surface of the fixed plate (15) and the second clamping hole (18).

7. The adjustable multi-degree-of-freedom lower extremity exoskeleton apparatus according to claim 6, wherein: The outer surface of the connecting plate (21) is fixedly connected with a second spring (23), and the other end of the second spring (23) is fixedly connected with the inner surface of the mounting frame (19).

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