Intelligent electric power assisting device for lower limbs

Abstract

The utility model provides a lower limbs movement intelligence electric power assisting device, including the positioning mechanism of binding in the waist, the thigh exoskeleton of binding on the upper thigh, the lower leg exoskeleton of binding on the lower leg, the foot support mechanism of binding in the foot, the positioning mechanism, the thigh exoskeleton, the lower leg exoskeleton and foot support are connected in proper order, the positioning mechanism includes the waist support, sets up the waist band on the waist support, and the waist support is bound in the waist through the waist band. The lower limbs movement intelligence electric power assisting device provided by the utility model avoids the problem of poor wearing comfort under complex motion, improves the adaptability of the device and the human body, further buffers the motion limit position between the lower leg exoskeleton and the thigh exoskeleton of the human body through rubber pad one and rubber pad two, avoids the damage of the knee part caused by the rigid contact between support plate two and support plate three in the device wearing process, and further improves the adaptability of the device.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation and nursing equipment technology, specifically to an intelligent electric assistive device for lower limb movement. Background Technology

[0002] In the field of rehabilitation medicine and assistive devices, lower limb exoskeleton technology has developed rapidly in recent years, and its application has gradually extended from clinical rehabilitation treatment to the field of daily exercise assistance. Traditional lower limb exoskeletons have problems such as complex drive systems and excessive weight, resulting in poor wearability. Especially in tourism scenarios, users often need to cope with high-intensity activities such as long-term walking in complex terrain and climbing stairs, and the limb movement patterns are relatively complex. The rigid structure of traditional assistive devices cannot adapt to the dynamic bending needs of the limbs, and their built-in fixed control algorithms are also difficult to match the human's movement intentions in real time.

[0003] Existing human lower limb exoskeletons are complex in structure and heavy in weight, and their adaptability to the human body is poor, making it difficult to meet daily use needs. This solution addresses this technical problem. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention provides an intelligent electric assistive device for lower limb movement. The output shaft of a drive motor drives a pin to swing within the positioning groove of a positioning block. This allows the second and third support plates to swing within a certain range while rotating relative to each other. Combined with rubber washers between the second and third support plates to cushion the movement, this avoids the discomfort caused by rigid connections between the calf and thigh exoskeletons during complex movements, improving the device's adaptability to the human body. Furthermore, rubber pads one and two further cushion the movement limits between the calf and thigh exoskeletons, preventing knee damage caused by rigid contact between the second and third support plates during wear, further enhancing the device's adaptability.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a lower limb movement intelligent electric assist device, including a positioning mechanism attached to the waist, a thigh exoskeleton attached to the thigh, a calf exoskeleton attached to the calf, and a foot support mechanism attached to the foot. The positioning mechanism, thigh exoskeleton, calf exoskeleton, and foot support mechanism are connected end to end in sequence. The positioning mechanism includes a lumbar support bracket and a waist strap set on the lumbar support bracket. The lumbar support bracket is attached to the waist through the waist strap.

[0006] A drive mechanism is provided between the thigh exoskeleton and the lower leg exoskeleton. The drive mechanism includes a drive motor mounted on the lower leg exoskeleton and a positioning block mounted on the side of the thigh exoskeleton. The positioning block has a positioning groove, and a pin is provided in the positioning groove. The pin passes through the output shaft of the drive motor. A rubber washer is provided between the thigh exoskeleton and the lower leg exoskeleton. The rubber washer is sleeved on the outside of the output shaft. A controller is provided on the lumbar support bracket, and the drive motor is electrically connected to the controller.

[0007] The thigh exoskeleton is equipped with a thigh strap, and the thigh strap is equipped with an angular velocity sensor one. The lower leg exoskeleton is equipped with a lower leg strap, and the lower leg strap is equipped with an angular velocity sensor two. Both the angular velocity sensor one and the angular velocity sensor two are electrically connected to the controller.

[0008] A rubber pad is provided on the front side of the end of the thigh exoskeleton, and a rubber pad is provided at the corresponding position of the lower leg exoskeleton. The rubber pad is in separable contact with the rubber pad.

[0009] The positioning mechanism is connected to the thigh exoskeleton via the driving mechanism, and the calf exoskeleton is connected to the foot support mechanism via the driving mechanism.

[0010] The thigh exoskeleton includes a support plate one connected to the positioning mechanism at one end and a support plate two connected to the lower leg exoskeleton. The support plate one and the support plate two are detachably connected.

[0011] The first support plate has an elongated groove at one end, and the second support plate has a boss at one end. The boss array has several adjustment holes. The boss is detachably inserted into the elongated groove. The first support plate and the second support plate are fastened together by bolts that are sequentially inserted into the elongated groove and the adjustment holes.

[0012] The lower leg exoskeleton includes a support plate three connected to the support plate two and a support plate four connected to the foot support mechanism. The support plate three and the support plate four are detachably connected.

[0013] The thigh strap is mounted on the first support plate, and the calf strap is mounted on the third support plate.

[0014] The foot support mechanism includes a vertical plate connected to the support plate and a base plate connected to the vertical plate. Several pressure sensors are provided on the base plate, and the pressure sensors are electrically connected to the controller. Foot straps are provided on the base plate.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] (1) The output shaft of the drive motor drives the pin to swing in the positioning slot of the positioning block, so that when the second support plate and the third support plate rotate relative to each other, they can also swing within a certain range. Combined with the rubber gasket set between the second support plate and the third support plate to buffer the movement process, the problem of poor wearing comfort caused by the rigid connection between the lower leg exoskeleton and the thigh exoskeleton under complex movement conditions is avoided, and the adaptability of the device to the human body is improved.

[0017] (2) By setting rubber pad one and rubber pad two, the movement limit position between the human lower leg exoskeleton and the thigh exoskeleton is further buffered, avoiding damage to the knee area caused by rigid contact between support plate two and support plate three during the wearing of the device, and further improving the adaptability of the device.

[0018] (3) By inserting bolts into different adjustment holes, the length of the thigh exoskeleton can be adjusted. The device is more adaptable to people of different body types. When the foot support mechanism is not needed, the vertical plate can be separated from the support plate four by loosening the bolts. When the lower leg exoskeleton is not needed, the bolts can be loosened so that the protrusion of the support plate three can be separated from the long groove of the support plate two. Then the thigh exoskeleton can be used independently to assist movement. The device is more convenient and flexible to use, which further improves the applicability of the device. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0020] Figure 2 This is a schematic diagram of how the present invention is worn;

[0021] Figure 3 This is a schematic diagram of the drive mechanism of this utility model;

[0022] Figure 4 This is a schematic diagram of the connection structure between support plate one and support plate two of this utility model;

[0023] Figure 5 This is a schematic diagram of the connection structure between support plate two and support plate three of this utility model.

[0024] In the diagram: 1. Positioning mechanism; 11. Waist support bracket; 111. Controller; 12. Waist strap; 2. Thigh exoskeleton; 21. Thigh strap; 22. Angular velocity sensor one; 23. Rubber pad one; 24. Support plate one; 241. Long groove; 25. Support plate two; 251. Boss; 252. Adjustment hole; 26. Bolt; 3. Lower leg exoskeleton; 31. Lower leg strap; 32. Angular velocity sensor two; 33. Rubber pad two; 34. Support plate three; 35. Support plate four; 4. Foot support mechanism; 41. Vertical plate; 42. Base plate; 421. Pressure sensor; 43. Foot strap; 5. Drive mechanism; 51. Drive motor; 52. Positioning block; 521. Positioning groove; 53. Pin; 54. Rubber washer. Detailed Implementation

[0025] To more clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0026] See Figures 1-5 A lower limb movement intelligent electric assist device includes a positioning mechanism 1 attached to the waist, a thigh exoskeleton 2 attached to the thigh, a lower leg exoskeleton 3 attached to the calf, and a foot support mechanism 4 attached to the foot. The positioning mechanism 1, thigh exoskeleton 2, lower leg exoskeleton 3 and foot support mechanism 4 are connected end to end in sequence. The positioning mechanism 1 includes a waist support bracket 11 and a waist strap 12 set on the waist support bracket 11. The waist support bracket 11 is attached to the waist through the waist strap 12.

[0027] A drive mechanism 5 is provided between the thigh exoskeleton 2 and the lower leg exoskeleton 3. The drive mechanism 5 includes a drive motor 51 provided on the lower leg exoskeleton 3 and a positioning block 52 provided on the side of the thigh exoskeleton 2. The positioning block 52 is provided with a positioning groove 521. A pin 53 is provided in the positioning groove 521 and passes through the output shaft of the drive motor 51. A rubber washer 54 is provided between the thigh exoskeleton 2 and the lower leg exoskeleton 3. The rubber washer 54 is sleeved on the outside of the output shaft. A controller 111 is provided on the waist support 11. A rechargeable battery is integrated on the controller 111. The drive motor 51 is electrically connected to the controller 111.

[0028] The thigh exoskeleton 2 is equipped with a thigh strap 21, and an angular velocity sensor 22 is installed on the thigh strap 21. The lower leg exoskeleton 3 is equipped with a lower leg strap 31, and an angular velocity sensor 32 is installed on the lower leg strap 31. Both the angular velocity sensor 22 and the angular velocity sensor 32 are electrically connected to the controller 111.

[0029] A rubber pad 23 is provided on the front side of the end of the thigh exoskeleton 2, and a rubber pad 33 is provided at the corresponding position of the lower leg exoskeleton 3. The rubber pad 23 and the rubber pad 33 can be separably contacted.

[0030] The positioning mechanism 1 is connected to the thigh exoskeleton 2 via the drive mechanism 5, and the calf exoskeleton 3 is connected to the foot support mechanism 4 via the drive mechanism 5.

[0031] The thigh exoskeleton 2 includes a support plate 24 connected to the positioning mechanism 1 at one end and a support plate 25 connected to the lower leg exoskeleton 3. The support plate 24 and the support plate 25 are detachably connected.

[0032] The end of the support plate 24 is provided with an elongated groove 241, and the end of the support plate 25 is provided with a boss 251. The boss 251 is arranged with a plurality of adjustment holes 252. The boss 251 is detachably inserted into the elongated groove 241. The support plate 24 and the support plate 25 are fastened together by bolts 26 that are sequentially inserted into the elongated groove 241 and the adjustment holes 252.

[0033] The lower leg exoskeleton 3 includes a support plate 34 connected to the support plate 25 and a support plate 45 connected to the foot support mechanism 4. The support plate 34 and the support plate 45 are detachably connected.

[0034] Thigh strap 21 is mounted on support plate 1 24, and calf strap 31 is mounted on support plate 3 34.

[0035] The foot support mechanism 4 includes a vertical plate 41 connected to the support plate 4 35 and a base plate 42 connected to the vertical plate 41. Several pressure sensors 421 are provided on the base plate 42. The pressure sensors 421 are electrically connected to the controller 111. Foot straps 43 are provided on the base plate 42. The pressure sensors 421 sense the pressure on the sole of the foot. Combined with the data from the first angular velocity sensor 22 and the second angular velocity sensor 32, the controller 111 sends different commands to the drive motor 51.

[0036] The specific working process of this utility model:

[0037] In use, first place both feet on the pressure sensor 421 on the base plate 42, then use the waist strap 12 to bind the lumbar support 11 to the waist of the body. The waist strap 12 can use a Velcro structure or a buckle structure to make the binding more secure and reliable. Then use the foot strap 43 to bind both feet to the base plate 42, use the calf strap 31 to bind the calf exoskeleton 3 to the calf, and use the thigh strap 21 to bind the thigh exoskeleton 2 to the thigh, thus completing the fixation of the device. The waist strap 12 is equipped with an operation panel. When the device is started by operating the operation panel, the angle, angular velocity and angular acceleration of the human body are detected in real time by angular velocity sensor 1 22 and angular velocity sensor 2 32 and transmitted to the controller 111. After data processing, the controller 111 determines the intention of the human joint movement and then controls the drive motor 51 to rotate. The drive motor 51 drives the support plate 1 24 and support plate 3 34 to rotate slowly through the pin shaft 53. The pressure sensor 421 senses the pressure of different parts of the sole of the foot, thereby reducing the physical exertion caused by the joint movement driven by the muscles. At the same time, the support of the device reduces the damage to the joints.

[0038] The output shaft of the drive motor 51 drives the pin 53 to swing within the positioning groove 521 of the positioning block 52, so that when the support plate 25 and the support plate 34 rotate relative to each other, they can also swing within a certain range. Combined with the rubber washer 54 set between the support plate 25 and the support plate 34 to buffer the movement process, the problem of poor wearing comfort caused by the rigid connection between the lower leg exoskeleton 3 and the thigh exoskeleton 2 under complex movement conditions is avoided, and the adaptability of the device to the human body is improved.

[0039] By setting rubber pad 1 23 and rubber pad 2 33, the movement limit position between the human lower leg exoskeleton 3 and the thigh exoskeleton 2 is further buffered, avoiding knee damage caused by rigid contact between support plate 2 25 and support plate 3 34 during device wearing, and further improving the adaptability of the device.

[0040] By inserting bolts 26 into different adjustment holes 252, the length of the thigh exoskeleton 2 can be adjusted, making the device more adaptable to different body types. When the foot support mechanism 4 is not needed, the vertical plate 41 can be separated from the support plate 35 by loosening bolts 26. When the calf exoskeleton 3 is not needed, the bolts 26 can be loosened to separate the boss 251 of the support plate 34 from the elongated groove 241 of the support plate 25, allowing the thigh exoskeleton 2 to be used independently for movement assistance. The device is more convenient and flexible to use, further improving its applicability.

[0041] During mountaineering activities, as the athlete begins to move, the controller 111 analyzes the motion state and force conditions based on data received from angular velocity sensors 22 and 32, using a control algorithm. This analysis, in turn, controls the drive motor 51 to operate, providing appropriate assistance to the wearer's knee joint. This helps the wearer perform outdoor activities such as mountaineering and walking more easily. For middle-aged and elderly individuals with knee function decline, the assistive device can be worn at the knee to aid knee movement and reduce the burden on the knees during outdoor activities. For younger individuals, the assistive device can be worn at the hip to assist the hip joint and reduce physical exertion during exercise. Wearing this multi-functional intelligent electric assistive device for lower limb joints during outdoor activities provides excellent assistance whether applied to the knee or hip, reducing physical exertion while protecting the knees from injury.

[0042] This device is designed for elderly individuals with mobility issues, enabling them to perform various daily activities. First, the thigh and calf supports and straps are adjusted to fit the elderly person's body size. When the elderly person prepares to stand and walk, the device's detection mechanism immediately activates, transmitting relevant data to the controller 111. The controller 111, based on the elderly person's movements and stress levels, controls the drive motor 51 to output appropriate torque. This provides assistance to the elderly person's lower limb joints, helping them to stand up and begin walking smoothly. During walking, the device continuously monitors the elderly person's movement using angular velocity sensors 22 and 32, adjusting the assistance level in real time to ensure stability and comfort. The elderly person can perform daily activities more freely, such as walking indoors and climbing stairs. The device significantly improves the elderly person's self-care ability, and its low cost makes it easily affordable for families, enhancing the product's practicality and accessibility.

[0043] The technical features of this utility model not described can be implemented by or by using existing technology, and will not be repeated here. Of course, the above description is not a limitation of this utility model, and this utility model is not limited to the examples above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this utility model should also be within the protection scope of this utility model.

Claims

1. A smart electric assist device for lower limb movement, characterized in that, The device includes a positioning mechanism (1) attached to the waist, a thigh exoskeleton (2) attached to the thigh, a calf exoskeleton (3) attached to the calf, and a foot support mechanism (4) attached to the foot. The positioning mechanism (1), thigh exoskeleton (2), calf exoskeleton (3) and foot support mechanism (4) are connected end to end in sequence. The positioning mechanism (1) includes a waist support bracket (11) and a waist strap (12) set on the waist support bracket (11). The waist support bracket (11) is attached to the waist through the waist strap (12). A drive mechanism (5) is provided between the thigh exoskeleton (2) and the lower leg exoskeleton (3). The drive mechanism (5) includes a drive motor (51) on the lower leg exoskeleton (3) and a positioning block (52) on the side of the thigh exoskeleton (2). The positioning block (52) is provided with a positioning groove (521). A pin (53) is provided in the positioning groove (521). The pin (53) passes through the output shaft of the drive motor (51). A rubber washer (54) is provided between the thigh exoskeleton (2) and the lower leg exoskeleton (3). The rubber washer (54) is sleeved on the outside of the output shaft. A controller (111) is provided on the waist support bracket (11). The drive motor (51) is electrically connected to the controller (111).

2. The intelligent electric assistive device for lower limb movement according to claim 1, characterized in that, The thigh exoskeleton (2) is provided with a thigh strap (21), and an angular velocity sensor (22) is provided on the thigh strap (21). The lower leg exoskeleton (3) is provided with a lower leg strap (31), and an angular velocity sensor (32) is provided on the lower leg strap (31). Both the angular velocity sensor (22) and the angular velocity sensor (32) are electrically connected to the controller (111).

3. The intelligent electric assistive device for lower limb movement according to claim 2, characterized in that, A rubber pad 1 (23) is provided on the front side of the end of the thigh exoskeleton (2), and a rubber pad 2 (33) is provided at the corresponding position of the lower leg exoskeleton (3). The rubber pad 1 (23) and the rubber pad 2 (33) can be separably contacted.

4. The intelligent electric assistive device for lower limb movement according to claim 3, characterized in that, The positioning mechanism (1) is connected to the thigh exoskeleton (2) through the driving mechanism (5), and the calf exoskeleton (3) is connected to the foot support mechanism (4) through the driving mechanism (5).

5. The intelligent electric assistive device for lower limb movement according to claim 4, characterized in that, The thigh exoskeleton (2) includes a support plate one (24) connected to the positioning mechanism (1) at one end and a support plate two (25) connected to the lower leg exoskeleton (3). The support plate one (24) and the support plate two (25) are detachably connected.

6. The intelligent electric assistive device for lower limb movement according to claim 5, characterized in that, The end of the first support plate (24) is provided with an elongated groove (241), and the end of the second support plate (25) is provided with a boss (251). The boss (251) is arranged with a plurality of adjustment holes (252). The boss (251) is separably inserted into the elongated groove (241). The first support plate (24) and the second support plate (25) are fastened together by bolts (26) that are sequentially inserted into the elongated groove (241) and the adjustment holes (252).

7. The intelligent electric assistive device for lower limb movement according to claim 5, characterized in that, The lower leg exoskeleton (3) includes a support plate three (34) connected to the support plate two (25) and a support plate four (35) connected to the foot support mechanism (4), wherein the support plate three (34) and the support plate four (35) are detachably connected.

8. The intelligent electric assistive device for lower limb movement according to claim 7, characterized in that, The thigh strap (21) is mounted on the first support plate (24), and the calf strap (31) is mounted on the third support plate (34).

9. The intelligent electric assistive device for lower limb movement according to claim 8, characterized in that, The foot support mechanism (4) includes a vertical plate (41) connected to the support plate (35) and a base plate (42) connected to the vertical plate (41). Several pressure sensors (421) are provided on the base plate (42). The pressure sensors (421) are electrically connected to the controller (111). Foot straps (43) are provided on the base plate (42).

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