Lower limb exoskeleton robot

Abstract

The utility model belongs to the technical field of rehabilitation exoskeleton robots, and particularly relates to a lower limb exoskeleton robot. Comprising a waist assembly, a thigh assembly hinged to the waist assembly, a shank assembly hinged to the thigh assembly, a thigh supporting plate connected with the thigh assembly and a shank supporting plate connected with the shank assembly, the thigh supporting plate is provided with a first positioning hole set, and the thigh assembly is provided with a plurality of first connecting hole sets arranged in the height direction of the thigh assembly; fasteners penetrate through the first positioning hole sets and the first connecting hole sets so as to connect the thigh supporting plate to different height positions of the thigh assembly. The first positioning hole group is formed in the thigh supporting plate, the multiple first connecting hole groups arranged in the height direction of the thigh assembly are formed in the thigh assembly, and the fasteners penetrate through the first positioning hole group and the first connecting hole groups correspondingly, so that the thigh supporting plate is connected to different height positions of the thigh assembly; and the applicability of the lower limb exoskeleton robot is improved.

Description

[Technical Field]

[0001] This application belongs to the field of rehabilitation exoskeleton robot technology, specifically relating to a lower limb exoskeleton robot. [Background Technology]

[0002] Lower limb exoskeleton robots can provide assisted walking for people with mobility impairments or those who have lost the ability to walk. Currently, various lower limb exoskeleton robots exist on the market. Existing technology typically includes a brace fixed to the thigh for support and protection. However, the height of these braces is usually fixed and cannot be adjusted according to the user's height. This can lead to discomfort or even prevent users of different heights from using them. [Utility Model Content]

[0003] To address the issue that the height of the support used in existing exoskeleton robots cannot be adjusted, this application provides a lower limb exoskeleton robot.

[0004] This application is achieved through the following technical solution:

[0005] A lower limb exoskeleton robot includes a waist assembly, a thigh assembly hinged to the waist assembly, a lower leg assembly hinged to the thigh assembly, a thigh support plate connected to the thigh assembly, and a lower leg support plate connected to the lower leg assembly. The thigh support plate is provided with a first positioning hole group, and the thigh assembly is provided with a plurality of first connecting hole groups arranged along its height direction. Fasteners pass through the first positioning hole group and each of the first connecting hole groups to connect the thigh support plate to different height positions of the thigh assembly.

[0006] As described above, in a lower limb exoskeleton robot, the lower leg support plate is provided with a second positioning hole group, and the lower leg assembly is provided with a plurality of second connecting hole groups arranged along its height direction. Fasteners pass through the second positioning hole group and each of the second connecting hole groups respectively to connect the lower leg support plate to different height positions of the lower leg assembly.

[0007] As described above, in a lower limb exoskeleton robot, the first positioning hole group includes an upper first positioning hole and a lower first positioning hole spaced apart from the upper first positioning hole, and the first connecting hole group includes an upper first connecting hole corresponding to the upper first positioning hole and a lower first connecting hole corresponding to the lower first positioning hole.

[0008] As described above, in a lower limb exoskeleton robot, the second positioning hole group includes an upper second positioning hole and a lower second positioning hole spaced apart from the upper second positioning hole, and the second connecting hole group includes an upper second connecting hole corresponding to the upper second positioning hole and a lower second connecting hole corresponding to the lower second positioning hole.

[0009] As described above, in a lower limb exoskeleton robot, a groove is provided on the thigh support plate corresponding to the first positioning hole group, and the first positioning hole group is located in the groove.

[0010] As described above, a lower limb exoskeleton robot includes a waist component comprising a waist support, a movable support plate connected to the waist support, a waist motor outer cover that slides with the movable support plate and is connected to the waist support, a waist motor connected to the waist motor outer cover, and a waist motor inner cover that connects the output end of the waist motor to the thigh component.

[0011] As described above, in a lower limb exoskeleton robot, the movable support plate is provided with a sliding groove, and the outer ring cover of the waist motor slides along the sliding groove.

[0012] As described above, in a lower limb exoskeleton robot, the waist support, the movable support plate, and the outer ring cover of the waist motor are all provided with through holes arranged in the vertical direction. Fasteners pass through the through holes to connect the movable support plate and the outer ring cover of the waist motor to different height positions of the waist support.

[0013] As described above, in a lower limb exoskeleton robot, the outer ring cover of the waist motor is provided with a limiting protrusion, and the inner ring cover of the waist motor is provided with a limiting groove through which the limiting protrusion passes. The limiting protrusion slides along the limiting groove to limit the rotation angle of the thigh assembly relative to the waist assembly.

[0014] The lower limb exoskeleton robot described above also includes a foot assembly that is rotatably hinged to the lower leg assembly.

[0015] Compared with the prior art, this application has the following advantages:

[0016] This application discloses a lower limb exoskeleton robot. By setting a first group of positioning holes on the thigh support plate and multiple groups of first connecting holes arranged along its height on the thigh assembly, fasteners are used to connect the thigh support plate to different height positions on the thigh assembly, thereby adjusting the height of the support on the exoskeleton robot. This improves the applicability of the lower limb exoskeleton robot, allowing users of different heights to adjust the height according to their needs and obtain a better user experience. [Attached Image Description]

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 It is a three-dimensional representation in the embodiments of this application. Figure 1 ;

[0019] Figure 2 It is a three-dimensional representation in the embodiments of this application. Figure 2 ;

[0020] Figure 3 yes Figure 2 A partial exploded view.

Detailed Implementation Methods

[0021] To make the technical problems solved by this application, the technical solutions, and the beneficial effects clearer, this application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0022] Please see Figures 1 to 3 A lower limb exoskeleton robot includes a waist assembly 1, a thigh assembly 2 hinged to the waist assembly 1, a lower leg assembly 3 hinged to the thigh assembly 2, a thigh support plate 4 connected to the thigh assembly 2, and a lower leg support plate 5 connected to the lower leg assembly 3. The thigh support plate 4 is provided with a first positioning hole group 6, and the thigh assembly 2 is provided with a plurality of first connecting hole groups 7 arranged along its height direction. Fasteners pass through the first positioning hole group 6 and each of the first connecting hole groups 7 respectively to connect the thigh support plate 4 to different height positions of the thigh assembly 2.

[0023] This application discloses a lower limb exoskeleton robot, in which the waist assembly, thigh assembly, and lower leg assembly are all arranged in pairs. A first positioning hole group is provided on the thigh support plate, and multiple first connecting hole groups are provided on the thigh assembly along its height direction. Fasteners are used to pass through the first positioning hole group and each of the first connecting hole groups, respectively, to connect the thigh support plate to different height positions on the thigh assembly, thereby adjusting the height of the support on the exoskeleton robot. This improves the applicability of the lower limb exoskeleton robot, allowing users of different heights to adjust the height according to their own needs and obtain a better user experience.

[0024] Furthermore, as a preferred embodiment of this solution and not a limitation, the calf support plate 5 is provided with a second positioning hole group 8, and the calf assembly 3 is provided with a plurality of second connecting hole groups 9 arranged along its height direction. Fasteners pass through the second positioning hole group 8 and each of the second connecting hole groups 9 respectively to connect the calf support plate 5 to different height positions of the calf assembly 3.

[0025] In this embodiment, by using fasteners passing through the second positioning hole group 8 and each of the second connecting hole groups 9, the lower leg support plate 5 can be connected to different height positions of the lower leg assembly 3, allowing for flexible adjustment of the height of the lower leg support plate 5, thereby improving the applicability and user comfort of the lower limb exoskeleton robot. A connecting structure can also be added between the lower leg support plate 5 and the thigh support plate 4, enabling the lower leg support plate 5 and the thigh support plate 4 to adjust their height in conjunction, further improving ease of use and stability.

[0026] Furthermore, as a preferred embodiment of this solution and not a limitation thereof, the first positioning hole group 6 includes an upper first positioning hole 61 and a lower first positioning hole 62 spaced apart from the upper first positioning hole 61, and the first connecting hole group 7 includes an upper first connecting hole 71 corresponding to the upper first positioning hole 61 and a lower first connecting hole 72 corresponding to the lower first positioning hole 62.

[0027] In this embodiment, multiple height adjustment options are provided, allowing the thigh support 4 to be more flexibly connected to different height positions of the thigh assembly 2, thereby adapting to users of different heights or leg lengths. Furthermore, the upper and lower first positioning holes prevent the thigh support from rotating, avoiding discomfort or unusability caused by the support's rotation, thus improving the applicability and comfort of the lower limb exoskeleton robot.

[0028] Furthermore, as a preferred embodiment of this solution and not a limitation thereof, the second positioning hole group 8 includes an upper second positioning hole 81 and a lower second positioning hole 82 spaced apart from the upper second positioning hole 81, and the second connecting hole group 9 includes an upper second connecting hole 91 corresponding to the upper second positioning hole 81 and a lower second connecting hole 92 corresponding to the lower second positioning hole 82.

[0029] In this embodiment, multiple height adjustment options are provided, allowing the calf support 5 to be more flexibly connected to different height positions of the calf assembly 3, thereby adapting to users of different heights or leg lengths. Furthermore, the upper and lower second positioning holes prevent the calf support from rotating, avoiding discomfort or unusability caused by the rotation of the calf support, thus improving the applicability and comfort of the lower limb exoskeleton robot.

[0030] Furthermore, as a preferred embodiment of this solution and not a limitation, the thigh support plate 4 is provided with a groove 10 corresponding to the first positioning hole group 6, and the first positioning hole group 6 is located in the groove 10.

[0031] In this embodiment, a recessed groove 10 is provided on the thigh support plate 4 at the position corresponding to the first positioning hole group 6, and the first positioning hole group 6 is located within the recessed groove 10. This design can avoid direct contact between the protruding fasteners and the user's body, thereby reducing possible discomfort during use. By hiding the fasteners within the recessed groove 10, a smoother and more comfortable surface can be provided, so that the user will not feel discomfort or obstruction when using the lower limb exoskeleton robot.

[0032] Furthermore, as a preferred embodiment of this solution and not a limitation thereof, the waist component 1 includes a waist support 11, a movable support plate 12 connected to the waist support 11, a waist motor outer ring cover 13 that slides with the movable support plate 12 and is connected to the waist support 11, a waist motor 14 connected to the waist motor outer ring cover 13, and a waist motor inner ring cover 15 that connects the output end of the waist motor 14 and the thigh component 2.

[0033] In this embodiment, flexible lumbar support and motion control are provided. Driven by the lumbar motor 14, the inner ring cover 15 of the lumbar motor can drive the thigh assembly 2 to perform corresponding movements, thereby achieving auxiliary support and movement for the user's waist and legs. This design not only improves the stability and safety of the lower limb exoskeleton robot, but also provides personalized movement modes according to the user's needs, improving the effectiveness of rehabilitation training.

[0034] Furthermore, as a preferred embodiment of this solution and not a limitation thereof, the movable support plate 12 is provided with a sliding groove 16, and the waist motor outer ring cover 13 slides along the sliding groove 16.

[0035] In this embodiment, the outer ring cover 13 of the waist motor can slide along the sliding slot 16, thereby changing the installation position of the waist motor 14 to better match the user's body shape, thus providing better motion control and rehabilitation effects.

[0036] Furthermore, as a preferred embodiment of this solution and not a limitation, the lumbar support 11, the movable support plate 12, and the lumbar motor outer ring cover 13 are all provided with through holes 17 arranged in the vertical direction. Fasteners pass through the through holes 17 to connect the movable support plate 12 and the lumbar motor outer ring cover 13 to different height positions of the lumbar support 11.

[0037] Furthermore, as a preferred embodiment of this solution and not a limitation, the outer ring cover 13 of the waist motor is provided with a limiting protrusion 18, and the inner ring cover 15 of the waist motor is provided with a limiting groove 19 through which the limiting protrusion 18 passes. The limiting protrusion 18 slides along the limiting groove 19 to limit the rotation angle of the thigh assembly 2 relative to the waist assembly 1.

[0038] In this embodiment, stable motion control can be provided to prevent the thigh component 2 from exceeding the predetermined range during movement, thereby improving the safety of the lower limb exoskeleton robot. Through the cooperation of the limiting protrusion 18 and the limiting groove 19, precise control of the thigh component 2 can be achieved, avoiding accidental injuries caused by excessively large or small movement angles.

[0039] Furthermore, as a preferred embodiment of this solution and not a limitation, it also includes a foot assembly 20 that is rotatably hinged to the lower leg assembly 3. In this embodiment, the rotatable hinge between the foot assembly 20 and the lower leg assembly 3 enables flexible movement of the foot, including flexion, extension, and rotation of the ankle, thereby improving walking stability and comfort.

[0040] The working principle of this embodiment is as follows:

[0041] This application discloses a lower limb exoskeleton robot. By setting a first group of positioning holes on the thigh support plate and multiple groups of first connecting holes arranged along its height on the thigh assembly, fasteners are used to connect the thigh support plate to different height positions on the thigh assembly, thereby adjusting the height of the support on the exoskeleton robot. This improves the applicability of the lower limb exoskeleton robot, allowing users of different heights to adjust the height according to their needs and obtain a better user experience.

[0042] The above are implementation methods provided in conjunction with specific content, and it is not intended that the specific implementation of this application is limited to these descriptions. Any methods or structures that are similar to those of this application, or any technical deductions or substitutions made based on the concept of this application, should be considered within the scope of protection of this application.

Claims

1. A lower limb exoskeleton robot, characterized in that, The device includes a waist assembly (1), a thigh assembly (2) hinged to the waist assembly (1), a calf assembly (3) hinged to the thigh assembly (2), a thigh support plate (4) connected to the thigh assembly (2), and a calf support plate (5) connected to the calf assembly (3). The thigh support plate (4) is provided with a first positioning hole group (6), and the thigh assembly (2) is provided with a plurality of first connecting hole groups (7) arranged along its height direction. Fasteners pass through the first positioning hole group (6) and each of the first connecting hole groups (7) to connect the thigh support plate (4) to different height positions of the thigh assembly (2). The waist assembly (1) includes a waist support (11), a movable support plate (12) connected to the waist support (11), a waist motor outer ring cover (13) that slides with the movable support plate (12) and is connected to the waist support (11), a waist motor (14) connected to the waist motor outer ring cover (13), and a waist motor inner ring cover (15) that connects the output end of the waist motor (14) and the thigh assembly (2). The outer ring cover (13) of the waist motor is provided with a limiting protrusion (18), and the inner ring cover (15) of the waist motor is provided with a limiting groove (19) through which the limiting protrusion (18) passes. The limiting protrusion (18) slides along the limiting groove (19) to limit the rotation angle of the thigh assembly (2) relative to the waist assembly (1).

2. The lower limb exoskeleton robot according to claim 1, characterized in that, The calf support plate (5) is provided with a second positioning hole group (8), and the calf assembly (3) is provided with a plurality of second connecting hole groups (9) arranged along its height direction. Fasteners pass through the second positioning hole group (8) and each of the second connecting hole groups (9) to connect the calf support plate (5) to different height positions of the calf assembly (3).

3. The lower limb exoskeleton robot according to claim 1, characterized in that, The first positioning hole group (6) includes an upper first positioning hole (61) and a lower first positioning hole (62) spaced apart from the upper first positioning hole (61). The first connecting hole group (7) includes an upper first connecting hole (71) corresponding to the upper first positioning hole (61) and a lower first connecting hole (72) corresponding to the lower first positioning hole (62).

4. A lower limb exoskeleton robot according to claim 2, characterized in that, The second positioning hole group (8) includes an upper second positioning hole (81) and a lower second positioning hole (82) spaced apart from the upper second positioning hole (81). The second connecting hole group (9) includes an upper second connecting hole (91) corresponding to the upper second positioning hole (81) and a lower second connecting hole (92) corresponding to the lower second positioning hole (82).

5. A lower limb exoskeleton robot according to claim 1, characterized in that, The thigh support plate (4) is provided with a groove (10) corresponding to the first positioning hole group (6), and the first positioning hole group (6) is located in the groove (10).

6. A lower limb exoskeleton robot according to claim 1, characterized in that, The movable support plate (12) is provided with a sliding groove (16), and the outer ring cover (13) of the waist motor slides along the sliding groove (16).

7. A lower limb exoskeleton robot according to claim 1, characterized in that, The waist support (11), the movable support plate (12), and the waist motor outer ring cover (13) are all provided with through holes (17) arranged in the vertical direction. Fasteners pass through the through holes (17) to connect the movable support plate (12) and the waist motor outer ring cover (13) to different height positions of the waist support (11).

8. A lower limb exoskeleton robot according to claim 1, characterized in that, It also includes a foot assembly (20) that is rotatably hinged to the lower leg assembly (3).

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