Lower limb exoskeleton device capable of being disassembled and assembled

Abstract

The utility model relates to the technical field of exoskeletons, and discloses a lower limb exoskeleton device capable of being disassembled and assembled. The lower limb exoskeleton device capable of being disassembled and assembled comprises a waist support, a bandage is fixedly installed on the left side of the waist support, a buckle is fixedly installed at the tail end of the bandage, a connecting shaft is installed on the front side of the waist support in a penetrating mode, a connecting rod is installed below the connecting shaft in a penetrating mode, and a through shaft is installed at the upper end and the lower end of the connecting rod in a penetrating mode; the connecting rod is rotationally connected with the connecting rod through a through shaft at the upper end, the connecting rod is rotationally connected with the foot support through a through shaft at the lower end, and the positions of the through shafts are limited through limiting rings, positioning bolts and fixing rings on the two sides; the adapter block is rotationally connected with the connecting rod through the movable shaft and the fixing bolt, and the connecting state between the connecting rod and the connecting rod can be cancelled by taking down the positioning bolt and the fixing bolt in a rotating mode during splitting, so that the connecting rod can be conveniently stored in the idle and transportation process.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton technology, specifically a detachable and assembleable lower limb exoskeleton device. Background Technology

[0002] Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, fusion, and mobile computing to provide a wearable mechanical mechanism for the operator. Exoskeletons on the market are mainly divided into two categories: one is human enhancement exoskeleton for specific joint assistance, which is mainly used to increase human strength and expand the upper limit of ability; the other is rehabilitation exoskeleton, which is mainly used in the field of medical rehabilitation, such as assisting paralyzed patients to walk.

[0003] The existing Chinese utility model patent with publication number CN213465907U discloses a lower limb exoskeleton, including a fixed waist ring. Connecting buckles are installed at both ends of the fixed waist ring for mutual use. Waist connecting plates are fixed to both sides of the fixed waist ring via waist-fixing hinges. A first thigh connecting plate is fixed to the bottom of the waist connecting plate via a hip joint mechanism. A second thigh connecting plate is installed at the bottom of the first thigh connecting plate. A thigh fixation frame is installed on the inner wall of the second thigh connecting plate. A lower leg connecting plate is fixed to the bottom of the second thigh connecting plate via a knee joint mechanism. A lower leg fixation frame is installed on the inner wall of the lower leg connecting plate. This utility model has a novel structure and ingenious design. It not only enhances or partially replaces the user's lower limb motor ability, making it suitable for users with lower limb amputations or weak lower limb motor ability, but also employs dual recognition using a thin-film pressure sensor and a six-axis attitude sensor to improve the accuracy of data recognition.

[0004] Existing lower limb exoskeleton devices are generally one-piece structures, which are very inconvenient to transport or store. At the same time, existing lower limb exoskeleton devices require locking the user's lower legs, thighs, and waist when wearing them. Currently, they are generally fixed by straps, which is very inconvenient to operate. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] In view of the shortcomings of the existing technology, this utility model provides a detachable and assembleable lower limb exoskeleton device, which has the advantages of being detachable and assembleable and easy to wear, thus solving the above-mentioned technical problems.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, this utility model provides the following technical solution: a detachable and assembleable lower limb exoskeleton device, comprising: a lumbar support; a strap fixedly installed on the left side of the lumbar support; a buckle fixedly installed at the end of the strap; a connecting shaft inserted through the front side of the lumbar support; a connecting rod inserted through the lower part of the connecting shaft; a limit bolt inserted through the end of the connecting rod; a through shaft inserted through the lower end of the connecting rod; a limit ring inserted through the outer side of the through shaft; positioning bolts inserted through both ends of the through shaft; a fixing ring movably installed at the end of the positioning bolt; and a connecting rod inserted through the lower part of the through shaft. A foot support is movably mounted on the rear side of the rod. A connecting block is movably mounted on the right side of the connecting rod. A movable shaft is inserted through the center of the connecting block. Fixing bolts are inserted through both ends of the movable shaft. A hydraulic column is fixedly mounted below the connecting block. An adapter block is fixedly mounted at the lower end of the hydraulic column. A rubber ring is fixedly mounted on one side of the connecting rod, connecting rod, and foot support. A steel cable is fixedly mounted inside the rubber ring. A washer is fixedly mounted on one side of the connecting rod and connecting rod. A motor is fitted inside the connecting rod, connecting rod, and foot support. A connecting ring is fixedly mounted on the outer side of the motor's shaft. The positioning bolts prevent the through shaft from slipping.

[0009] As a preferred embodiment of this utility model, the straps are symmetrically installed at the front and rear ends of the lumbar support, the two parts of the buckle are respectively fixedly connected to the straps on the front and rear sides, and the connecting shaft is rotatably connected to the lumbar support; the straps and buckles can easily fix the lumbar support to the user's waist.

[0010] As a preferred embodiment of this utility model, the connecting rod and the connecting shaft form a rotatable connection, the through shaft is inserted and installed at the upper and lower ends of the connecting rod, the through shaft forms a rotatable connection with the connecting rod and the connecting rod, and the inner wall of the fixing ring is provided with a groove that matches the thread of the positioning bolt; the connecting rod can limit the position of the through shaft.

[0011] As a preferred embodiment of this utility model, a groove matching the thread of the positioning bolt is provided on the right end of the foot support, and the foot support is rotatably connected to the connecting rod through the through shaft, the positioning bolt, and the connecting rod; the foot support can restrict the position of the user's feet.

[0012] As a preferred embodiment of this utility model, the connecting block is rotatably connected to the connecting rod via a movable shaft, and the movable shaft has a groove inside that engages with the threaded fixing bolt; the connecting block can limit the position of the upper end of the hydraulic column.

[0013] As a preferred embodiment of this utility model, the adapter block is rotatably connected to the connecting rod via a movable shaft, a fixing bolt, and the connecting rod; the adapter block facilitates a rotatable connection between the lower end of the hydraulic column and the connecting rod.

[0014] As a preferred embodiment of this utility model, the steel cables are symmetrically arranged inside the rubber ring, and the ends of the steel cables are wrapped around the outside of the connecting ring; the steel cables can easily tighten the rubber ring.

[0015] Compared with the prior art, this utility model provides a detachable and assembleable lower limb exoskeleton device, which has the following beneficial effects:

[0016] 1. This utility model features a through-shaft that is inserted and installed at both ends of the connecting rod. The connecting rod is rotatably connected to the connecting rod via the upper through-shaft, and to the foot support via the lower through-shaft. The position of the through-shaft is limited by limiting rings, positioning bolts, and fixing rings on both sides. The adapter block is rotatably connected to the connecting rod via a movable shaft and fixing bolts. When disassembling, the positioning bolts and fixing bolts can be removed by rotating them to cancel the connection between the connecting rod and the connecting rod, making it easy to store during idle periods and transportation.

[0017] 2. This utility model utilizes a motor, which is fixed inside the connecting rod, linking rod, and foot support. A connecting ring is inserted and fixed to the outside of the motor shaft, and a steel cable is wound around the outside of the connecting ring. The steel cable is located inside a rubber ring. A rubber ring is fixedly installed on one side of the connecting rod, linking rod, and foot support. One end of the rubber ring is connected to the connecting ring via the steel cable, and the other end is fixed to one side of the connecting rod, linking rod, and foot support. The motor drives the connecting ring to rotate, winding up the steel cable, thereby deforming the rubber ring to secure the user's thigh, calf, and foot separately. This method avoids manually securing the user's lower limbs at various points, reducing the operation during wear and facilitating the wearing process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the installation structure of the tow bar and connecting rod of this utility model;

[0020] Figure 3 This is a schematic diagram of the hydraulic column installation structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the motor mounting structure of this utility model;

[0022] The components are as follows: 1. Waist support; 11. Straps; 12. Buckle; 13. Connecting shaft; 14. Connecting rod; 15. Limiting bolt; 16. Through shaft; 17. Limiting ring; 18. Positioning bolt; 19. Fixing ring; 110. Connecting rod; 111. Foot support; 2. Connecting block; 21. Movable shaft; 22. Fixing bolt; 23. Hydraulic column; 24. Adapter block; 25. Rubber ring; 26. Steel cable; 27. Gasket; 28. Motor; 29. ​​Connecting ring. Detailed Implementation

[0023] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0024] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0026] Please see Figure 1 - Figure 4 In this embodiment, a detachable and assembleable lower limb exoskeleton device includes: a waist support 1, a strap 11 fixedly installed on the left side of the waist support 1, a buckle 12 fixedly installed at the end of the strap 11, a connecting shaft 13 inserted through the front side of the waist support 1, a connecting rod 14 inserted through the lower part of the connecting shaft 13, a limit bolt 15 inserted through the end of the connecting rod 14, a through shaft 16 inserted through the lower end of the connecting rod 14, a limit ring 17 inserted through the outer side of the through shaft 16, positioning bolts 18 inserted through both ends of the through shaft 16, a fixing ring 19 movably installed at the end of the positioning bolt 18, a connecting rod 110 inserted through the lower part of the through shaft 16, and a foot support 111 movably installed on the rear side of the connecting rod 110.

[0027] The straps 11 are symmetrically installed at the front and rear ends of the waist support 1. The two parts of the buckle 12 are fixedly connected to the straps 11 on the front and rear sides respectively. The connecting shaft 13 is rotatably connected to the waist support 1. The connecting rod 14 is rotatably connected to the connecting shaft 13. The through shaft 16 is inserted and installed at the upper and lower ends of the connecting rod 110. The through shaft 16 is rotatably connected to the connecting rod 14 and the connecting rod 110. The inner wall of the fixing ring 19 is provided with a groove that matches the thread of the positioning bolt 18. The right side of the foot support 111 is provided with a groove that matches the thread of the positioning bolt 18. The foot support 111 is rotatably connected to the connecting rod 110 through the through shaft 16, the positioning bolt 18 and the connecting rod 110.

[0028] Specifically, the lumbar support 1 can restrict the position of the connecting shaft 13, the strap 11 and buckle 12 can easily fix the lumbar support 1 to the user's waist, the connecting shaft 13 can facilitate the rotation of the connecting rod 14, the connecting rod 14 can restrict the position of the through shaft 16, the limiting bolt 15 can prevent the connecting shaft 13 from slipping, the limiting ring 17 can facilitate the rotation of the through shaft 16, the positioning bolt 18 can prevent the through shaft 16 from slipping, the fixing ring 19 can restrict the position of the positioning bolt 18, the connecting rod 110 can restrict the position of the foot support 111, and the foot support 111 can restrict the position of the user's feet.

[0029] A connecting block 2 is movably installed on the right side of the connecting rod 14. A movable shaft 21 is inserted through the center of the connecting block 2. Fixing bolts 22 are inserted through both ends of the movable shaft 21. A hydraulic column 23 is fixedly installed below the connecting block 2. A transition block 24 is fixedly installed at the lower end of the hydraulic column 23. A rubber ring 25 is fixedly installed on one side of the connecting rod 14, the connecting rod 110, and the foot support 111. A steel cable 26 is fixedly installed inside the rubber ring 25. A gasket 27 is fixedly installed on one side of the connecting rod 14 and the connecting rod 110. A motor 28 is fitted inside the connecting rod 14, the connecting rod 110, and the foot support 111. A connecting ring 29 is fixedly installed on the outside of the shaft of the motor 28.

[0030] The connecting block 2 is rotatably connected to the connecting rod 110 via the movable shaft 21. The movable shaft 21 has a groove inside that engages with the threaded fixing bolt 22. The adapter block 24 is rotatably connected to the connecting rod 110 via the movable shaft 21, the fixing bolt 22, and the steel cable 26 is symmetrically arranged inside the rubber ring 25. The end of the steel cable 26 is wrapped around the outside of the connecting ring 29.

[0031] Specifically, the connecting block 2 can restrict the position of the upper end of the hydraulic column 23, the movable shaft 21 can facilitate the rotation of the connecting block 2, the fixing bolt 22 can prevent the movable shaft 21 from slipping, the hydraulic column 23 can drive the connecting rod 110 to rotate with the axis of the upper end through shaft 16 as a reference, the adapter block 24 can facilitate the lower end of the hydraulic column 23 to form a rotatable connection with the connecting rod 110, the rubber ring 25 can facilitate the fixation of the user's lower limbs, the steel cable 26 can facilitate the tightening of the rubber ring 25, the gasket 27 can facilitate the adaptation to the curvature of the user's lower limbs to make the force more even, the motor 28 can drive the connecting ring 29 to rotate, and the connecting ring 29 can wind up the steel cable 26.

[0032] In use, the through shaft 16 is inserted and installed at both ends of the connecting rod 110. The connecting rod 110 is rotatably connected to the connecting rod 14 through the upper through shaft 16, and rotatably connected to the foot support 111 through the lower through shaft 16. The position of the through shaft 16 is limited by the limiting rings 17, positioning bolts 18, and fixing rings 19 on both sides. The adapter block 24 is rotatably connected to the connecting rod 110 through the movable shaft 21 and fixing bolts 22. When disassembling, the positioning bolts 18 and fixing bolts 22 can be removed by rotating them to cancel the connection between the connecting rod 14 and the connecting rod 110, so as to facilitate storage during idle and transportation. The motor 28 is fixed to the connecting rod 14 and the connecting rod 110. 0. Inside the foot support 111, a connecting ring 29 is inserted and fixed to the outside of the shaft of the motor 28. A steel cable 26 is wound around the outside of the connecting ring 29. The steel cable 26 is set inside the rubber ring 25. A rubber ring 25 is fixedly installed on one side of the connecting rod 14, the connecting rod 110, and the foot support 111. One end of the rubber ring 25 is connected to the connecting ring 29 through the steel cable 26, and the other end is fixed to one side of the connecting rod 14, the connecting rod 110, and the foot support 111. The motor 28 drives the connecting ring 29 to rotate and wind up the steel cable 26, thereby deforming the rubber ring 25 to fix the user's thigh, calf, and foot separately. This method avoids manually fixing the user's lower limbs at various fixation points, reduces the operation during wearing, and facilitates wearing.

[0033] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A detachable and assembleable lower limb exoskeleton device, characterized in that, include: A lumbar support (1) is provided. A strap (11) is fixedly installed on the left side of the lumbar support (1). A buckle (12) is fixedly installed at the end of the strap (11). A connecting shaft (13) is inserted through the front side of the lumbar support (1). A connecting rod (14) is inserted through the lower side of the connecting shaft (13). A limit bolt (15) is inserted through the end of the connecting rod (14). A through shaft (16) is inserted through the lower end of the connecting rod (14). A limit ring (17) is inserted through the outer side of the through shaft (16). Positioning bolts (18) are inserted through both ends of the through shaft (16). A fixing ring (19) is movably installed at the end of the positioning bolt (18). A connecting rod (110) is inserted through the lower side of the through shaft (16). A foot support (111) is movably installed on the rear side of the connecting rod (110). 4) A connecting block (2) is movably installed on the right side. A movable shaft (21) is inserted through the center of the connecting block (2). Fixed bolts (22) are inserted through both ends of the movable shaft (21). A hydraulic column (23) is fixedly installed below the connecting block (2). A transition block (24) is fixedly installed at the lower end of the hydraulic column (23). A rubber ring (25) is fixedly installed on one side of the connecting rod (14), connecting rod (110), and foot support (111). A steel cable (26) is fixedly installed inside the rubber ring (25). A gasket (27) is fixedly installed on one side of the connecting rod (14) and connecting rod (110). A motor (28) is fitted inside the connecting rod (14), connecting rod (110), and foot support (111). A connecting ring (29) is fixedly installed on the outer side of the rotating shaft of the motor (28).

2. The detachable and assembleable lower limb exoskeleton device according to claim 1, characterized in that: The straps (11) are symmetrically installed at the front and rear ends of the waist support (1). The two parts of the buckle (12) are fixedly connected to the straps (11) on the front and rear sides respectively. The connecting shaft (13) and the waist support (1) form a rotatable connection.

3. The detachable and assembleable lower limb exoskeleton device according to claim 1, characterized in that: The connecting rod (14) and the connecting shaft (13) are rotatably connected. The through shaft (16) is inserted and installed at the upper and lower ends of the connecting rod (110). The through shaft (16) is rotatably connected with the connecting rod (14) and the connecting rod (110). The inner wall of the fixing ring (19) is provided with a groove that matches the thread of the positioning bolt (18).

4. The detachable and assembleable lower limb exoskeleton device according to claim 1, characterized in that: The right end of the foot support (111) is provided with a groove that matches the thread of the positioning bolt (18). The foot support (111) is rotatably connected to the connecting rod (110) through the through shaft (16), the positioning bolt (18).

5. The detachable and assembleable lower limb exoskeleton device according to claim 1, characterized in that: The connecting block (2) is rotatably connected to the connecting rod (110) via a movable shaft (21), and the movable shaft (21) has a groove inside that is threadedly engaged with the fixing bolt (22).

6. The detachable and assembleable lower limb exoskeleton device according to claim 1, characterized in that: The adapter block (24) is rotatably connected to the connecting rod (110) via the movable shaft (21), the fixing bolt (22).

7. The detachable and assembleable lower limb exoskeleton device according to claim 1, characterized in that: The steel cable (26) is symmetrically arranged inside the rubber ring (25), and the end of the steel cable (26) is wrapped around the outside of the connecting ring (29).

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