Supportable lower limb assisting exoskeleton

Abstract

The utility model discloses a supportable lower limb power-assisted exoskeleton, which relates to the technical field of bionic skeletons, and comprises a mounting frame, a position blocking plate and an elastic piece, the elastic piece is fixedly mounted between the mounting frame and the position blocking plate, and the shape of the elastic piece is set to be S-shaped. Ground counter-acting force and vibration are transmitted to the ankle-foot connecting skeleton, the S-shaped elastic piece between the mounting frame and the stopping plate deforms to absorb energy, the second damper and the second damping spring between the inner wall of the ankle-foot connecting skeleton and the end point of the elastic piece cooperate for buffering, and meanwhile corrugated damping plastic between the mounting frame and the stopping plate consumes energy through elastic deformation. The elastic piece, the second damper, the second damping spring and the damping plastic form a multi-stage damping system, high-frequency small-amplitude vibration and low-frequency large-amplitude impact can be dealt with in the modes of elastic deformation, damping consumption and the like, joint impact is reduced, and human bones are protected.

Description

Technical Field

[0001] This utility model relates to the field of bionic skeletal technology, specifically a supportive lower limb assistive exoskeleton. Background Technology

[0002] With the increasing aging of society and the growing demand for human assistance in industries such as industry and the military, supported lower limb exoskeletons are becoming increasingly widely used as important devices for improving human mobility and assisting rehabilitation. These devices, through the coordinated use of mechanical structures and power systems, assist the human body in performing actions such as walking and weight-bearing, demonstrating great potential in medical rehabilitation, industrial operations, and military training.

[0003] However, most lower limb assistive exoskeletons currently on the market suffer from poor shock absorption. In actual use, when walking, running, or exercising on uneven surfaces, the exoskeleton cannot effectively cushion the ground reaction force and vibrations generated during movement. This not only leads to excessive impact on the wearer's joints, potentially causing joint damage with prolonged use and increasing the risk of osteoarthritis and other diseases, but also reduces wearing comfort, causing fatigue and limiting the exoskeleton's usage time and range. Furthermore, poor shock absorption causes the exoskeleton to wobble during movement, affecting its coordination with human movement, resulting in inaccurate assistance and potentially causing falls and other safety issues. Utility Model Content

[0004] The purpose of this invention is to provide a supportable lower limb assistive exoskeleton to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, this utility model provides a supportable lower limb assistive exoskeleton, including a mounting frame and a stop plate, an elastic element fixedly installed between the mounting frame and the stop plate, the elastic element being S-shaped, a second damper and a second shock-absorbing spring fixedly installed between a fixing block extending from the inner wall of the mounting frame and the end point of the elastic element, the second shock-absorbing spring being sleeved on the second damper; two shock-absorbing plastics fixedly installed between the mounting frame and the stop plate, the outer wall of the shock-absorbing plastics being corrugated.

[0006] Furthermore, an ankle-foot connecting bone is provided below the mounting frame, and a foot exoskeleton is provided below the ankle-foot connecting bone. The area of ​​the blocking plate is larger than that of the ankle-foot connecting bone.

[0007] Furthermore, a first damper and a first shock-absorbing spring are fixedly installed between the mounting frame and the stop plate. The first shock-absorbing spring is sleeved on the first damper, and the shock-absorbing plastic is sleeved on the outside of the first damper and the first shock-absorbing spring.

[0008] Furthermore, both the elastic element and the shock-absorbing plastic are made of spring steel.

[0009] Furthermore, a lower leg exoskeleton is provided on the top of the mounting frame, and a fixing bolt is threaded onto the lower leg exoskeleton. The mounting frame and the lower leg exoskeleton are fixedly connected by the fixing bolt.

[0010] Furthermore, a C-shaped fixing sleeve is fixedly installed on the top of the lower leg exoskeleton, and the C-shaped fixing sleeve is C-shaped.

[0011] Furthermore, a first Velcro fastener is fixedly installed on the C-shaped fixing sleeve, and a second Velcro fastener adapted to the first Velcro fastener is installed on the C-shaped fixing sleeve.

[0012] Furthermore, the C-shaped fixing sleeve is internally lined with multiple layers of cotton cloth.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. In this invention, when the wearer uses the exoskeleton for walking, running, or exercising on uneven surfaces, the ground reaction force and vibration are transmitted to the ankle-foot connecting bone. The S-shaped elastic element between the mounting frame and the stop plate deforms to absorb energy. The second damper and the second shock-absorbing spring between the inner wall of the ankle-foot connecting bone and the endpoint of the elastic element work together to buffer the impact. At the same time, the corrugated shock-absorbing plastic between the mounting frame and the stop plate also dissipates energy through elastic deformation. The elastic element, the second damper, the second shock-absorbing spring, and the shock-absorbing plastic constitute a multi-level shock absorption system. Through elastic deformation and damping consumption, it can cope with high-frequency small-amplitude vibrations and low-frequency large-amplitude impacts, reducing joint impact and protecting the human skeleton. In addition, this structure significantly reduces vibration transmission, reduces wearer fatigue, extends the service life of the exoskeleton, and broadens its application range.

[0015] 2. In this invention, the combination of the first damper and the first shock-absorbing spring provides excellent shock absorption. The first shock-absorbing spring absorbs vibration energy through elastic deformation, converting kinetic energy into elastic potential energy, while the first damper dissipates vibration energy and suppresses excessive spring vibration, making the shock absorption process smoother and more efficient. Working together, they effectively reduce the vibration generated by the exoskeleton when impacted, protecting the wearer's joints and body. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a side view of the overall structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the connection structure between the second damper and the second shock absorber spring in this utility model;

[0019] Figure 4 for Figure 2 Enlarged view of the structure at point A in the middle.

[0020] In the diagram: 1. Foot exoskeleton; 2. Ankle-foot connecting bone; 3. Mounting frame; 4. Lower leg exoskeleton; 5. C-shaped fixing sleeve; 6. First Velcro strap; 7. Positioning plate; 8. First damper; 9. First shock-absorbing spring; 10. Elastic element; 11. Second damper; 12. Second shock-absorbing spring; 13. Shock-absorbing plastic; 14. Second Velcro strap; 15. Fixing bolt. Detailed Implementation

[0021] 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 embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figures 1-4 This utility model provides a technical solution:

[0023] See Figures 1-4 As shown, a supportable lower limb assistive exoskeleton includes a mounting frame 3 and a stop plate 7. An elastic element 10 is fixedly installed between the mounting frame 3 and the stop plate 7. The elastic element 10 is S-shaped. A second damper 11 and a second shock-absorbing spring 12 are fixedly installed between a fixing block extending from the inner wall of the mounting frame 3 and the end point of the elastic element 10. The second shock-absorbing spring 12 is sleeved on the second damper 11. Two shock-absorbing plastics 13 are fixedly installed between the mounting frame 3 and the stop plate 7. The outer wall of the shock-absorbing plastics 13 is corrugated.

[0024] When the wearer uses the supportive lower limb assistive exoskeleton for walking, running, or exercising on uneven surfaces, the ground reaction force and vibrations generated by the movement are first transmitted to the ankle-foot connecting bone 2. At this time, the elastic element 10 between the mounting frame 3 and the stop plate 7 comes into play. Its S-shaped structure undergoes elastic deformation under force, absorbing and dispersing some of the vibration energy through deformation. Simultaneously, the second damper 11 and the second shock-absorbing spring 12 between the fixing block on the inner wall of the ankle-foot connecting bone 2 and the endpoint of the elastic element 10 work together. The second shock-absorbing spring 12 further buffers the vibration through compression or stretching, while the second damper 11 dampens the spring's vibration, dissipating vibration energy and slowing down the transmission of vibration. In addition, the two shock-absorbing plastics 13 between the mounting frame 3 and the stop plate 7 have corrugated outer walls that deform under force, absorbing vibration energy through their own elastic deformation. Together with the elastic element 10, the second damper 11, and the second shock-absorbing spring 12, they form a multi-stage shock absorption system, effectively reducing the impact of vibration on the wearer.

[0025] The combination of elastic element 10, second damper 11, second shock-absorbing spring 12, and shock-absorbing plastic 13 constructs a multi-layered, multi-mode shock absorption structure. Whether it is high-frequency small-amplitude vibration or low-frequency large-amplitude impact, it can be absorbed and mitigated through multiple mechanisms such as elastic deformation and damping consumption, greatly reducing the impact of ground reaction force on the wearer's joints, reducing the risk of diseases such as osteoarthritis, and effectively protecting human bones and joints.

[0026] The multi-level shock absorption structure can significantly reduce the transmission of vibration to the human body. Wearers will not experience discomfort due to continuous vibration during exercise, effectively reducing fatigue and thus extending the service life of the exoskeleton and expanding its application range.

[0027] By effectively absorbing vibrations, the exoskeleton will not wobble during movement, maintaining good coordination with human movement, ensuring precise assistance, reducing the risk of falls, and improving sports safety.

[0028] See Figure 1 Below the mounting frame 3 is the ankle-foot connecting bone 2, and below the ankle-foot connecting bone 2 is the foot exoskeleton 1. The area of ​​the blocking plate 7 is larger than that of the ankle-foot connecting bone 2.

[0029] The vertically integrated structure of the mounting frame 3 and the ankle-foot connecting bone 2 facilitates the efficient transfer of power from the lower limbs to the exoskeleton. Simultaneously, it allows the exoskeleton's assistance to be more effectively applied to the lower limbs, achieving efficient human-machine power coordination. For example, during walking, the exoskeleton's support force can be more precisely transferred to the ankle and foot, helping to reduce the burden on the legs.

[0030] See Figure 1A first damper 8 and a first shock absorber spring 9 are fixedly installed between the mounting frame 3 and the stop plate 7. The first shock absorber spring 9 is sleeved on the first damper 8, and the shock absorber plastic 13 is sleeved on the outside of the first damper 8 and the first shock absorber spring 9.

[0031] The combination of the first damper 8 and the first shock-absorbing spring 9 provides excellent shock absorption. The first shock-absorbing spring 9 absorbs vibration energy through elastic deformation, converting kinetic energy into elastic potential energy, while the first damper 8 dissipates vibration energy and suppresses excessive spring vibration, making the shock absorption process smoother and more efficient. Working together, the two can effectively reduce the vibration generated by the exoskeleton when it is impacted, protecting the wearer's joints and body.

[0032] The shock-absorbing plastic 13 is fitted outside the first damper 8 and the first shock-absorbing spring 9, providing further cushioning and protection. It can further absorb and disperse residual vibration energy on top of the first damper 8 and the first shock-absorbing spring 9, while also preventing damage to these components from external objects, extending their service life, and improving the overall stability and reliability of the exoskeleton structure.

[0033] See Figure 1 Both the elastic element 10 and the shock-absorbing plastic 13 are made of spring steel.

[0034] Spring steel has high strength and good elasticity, which allows the elastic element 10 to undergo elastic deformation when subjected to large external forces, effectively storing and releasing energy. In the lower limb assistive exoskeleton, the elastic element 10 can cushion the impact force generated during human movement through its own elastic deformation, acting like an "elastic cushioning pad" to reduce pressure on the human joints, while providing some assistance to the wearer, helping them to complete walking, standing and other movements more easily.

[0035] See Figure 4 The top of the mounting frame 3 is provided with a lower leg exoskeleton 4, and a fixing bolt 15 is threaded onto the lower leg exoskeleton 4. The mounting frame 3 and the lower leg exoskeleton 4 are fixedly connected by the fixing bolt 15.

[0036] The connection via fixing bolts 15 provides strong clamping force, ensuring a stable connection between the mounting frame 3 and the lower leg exoskeleton 4. During the operation of the lower limb assistive exoskeleton, whether the wearer is walking or exercising normally, or when the exoskeleton is subjected to external impact, this connection method ensures that the two components will not easily shift or loosen, thus guaranteeing the overall stability of the exoskeleton structure and providing reliable support and assistance to the wearer.

[0037] See Figure 1-2The top of the lower leg exoskeleton 4 is fixedly fitted with a C-shaped fixing sleeve 5, which is C-shaped.

[0038] The C-shaped design of the C-type support sleeve 5 better conforms to the shape of the upper part of the human calf, matching the natural curve of the leg. This allows the exoskeleton to attach more tightly to the body, improving wearing comfort and reducing wobbling and friction caused by a poor fit during exercise, thus avoiding unnecessary injury to the body.

[0039] See Figure 1-2 A first Velcro 6 is fixedly installed on the C-shaped fixing sleeve 5, and a second Velcro 14 that is compatible with the first Velcro 6 is installed on the C-shaped fixing sleeve 5.

[0040] By attaching and detaching the first Velcro 6 and the second Velcro 14, the tightness of the C-shaped fixing sleeve 5 can be flexibly and conveniently adjusted according to the wearer's leg thickness and personal comfort needs, ensuring that the exoskeleton fits the leg closely without being too tight and causing discomfort.

[0041] See Figure 1-2 The C-type fixing sleeve 5 has multiple layers of cotton cloth inside.

[0042] The multi-layered cotton fabric is soft and conforms to the curves of the human leg, reducing friction between the C-shaped support sleeve 5 and the skin, avoiding skin damage, and making the wearer feel more comfortable.

[0043] Cotton fabric has good moisture absorption properties, which can absorb the sweat produced by the wearer's legs during exercise, keep the skin dry, reduce discomfort and skin problems caused by sweat accumulation, and improve the comfort and hygiene of wearing it.

[0044] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A supportable lower limb assistive exoskeleton, comprising a mounting frame (3) and a stop plate (7), characterized in that: An elastic element (10) is fixedly installed between the mounting frame (3) and the stop plate (7). The elastic element (10) is S-shaped. A second damper (11) and a second shock-absorbing spring (12) are fixedly installed between the fixing block extending from the inner wall of the mounting frame (3) and the end point of the elastic element (10). The second shock-absorbing spring (12) is sleeved on the second damper (11). Two shock-absorbing plastics (13) are fixedly installed between the mounting frame (3) and the stop plate (7), and the outer wall of the shock-absorbing plastics (13) is corrugated.

2. The supportable lower limb assistive exoskeleton as described in claim 1, characterized in that: Below the mounting frame (3) is an ankle-foot connecting bone (2), and below the ankle-foot connecting bone (2) is a foot exoskeleton (1). The area of ​​the blocking plate (7) is larger than that of the ankle-foot connecting bone (2).

3. The supportable lower limb assistive exoskeleton as described in claim 2, characterized in that: A first damper (8) and a first shock-absorbing spring (9) are fixedly installed between the mounting frame (3) and the stop plate (7). The first shock-absorbing spring (9) is sleeved on the first damper (8), and the shock-absorbing plastic (13) is sleeved on the outside of the first damper (8) and the first shock-absorbing spring (9).

4. The supportable lower limb assistive exoskeleton as described in claim 3, characterized in that: The elastic element (10) and the shock-absorbing plastic (13) are both made of spring steel.

5. A supportive lower limb assistive exoskeleton as described in claim 4, characterized in that: The top of the mounting frame (3) is provided with a lower leg exoskeleton (4), and a fixing bolt (15) is threaded onto the lower leg exoskeleton (4). The mounting frame (3) and the lower leg exoskeleton (4) are fixedly connected by the fixing bolt (15).

6. The supportable lower limb assistive exoskeleton as described in claim 5, characterized in that: The top of the lower leg exoskeleton (4) is fixedly fitted with a C-shaped fixing sleeve (5), the C-shaped fixing sleeve (5) being C-shaped.

7. A supportive lower limb assistive exoskeleton as described in claim 6, characterized in that: The C-shaped fixing sleeve (5) is fixedly installed with a first Velcro (6), and the C-shaped fixing sleeve (5) is installed with a second Velcro (14) that is compatible with the first Velcro (6).

8. A supportive lower limb assistive exoskeleton as described in claim 7, characterized in that: The C-type fixing sleeve (5) is lined with multiple layers of cotton cloth.

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