Wearable lower limb exoskeleton walking aid

Abstract

The utility model discloses a kind of wearable lower limb exoskeleton walking aids, including left leg assisting arm and right leg assisting arm, the upper end of left leg assisting arm is connected with left waist support, the upper end of right leg assisting arm is connected with right waist support;Waist support lower end waist support lower connecting part is connected with the leg assisting arm connecting part of left leg assisting arm upper end, cam is fixed outside waist support lower connecting part, cam is equipped with arc sliding groove, one end of sliding groove is the near heart end C of distance cam center of circle is close, the other end of sliding groove is the far heart end B of distance cam center of circle is far;Leg assisting arm connecting part is installed with pressure cylinder, cylindrical roller is elastically mounted in pressure cylinder, cylindrical roller is matched with the sliding groove of cam. The utility model can provide power to normal person and patient with lower limb disease, realize auxiliary walking, and popularization rate is high.

Description

Technical Field

[0001] This utility model relates to a wearable lower limb exoskeleton walking aid, belonging to the field of wearable lower limb exoskeleton technology. Background Technology

[0002] Lower limb exoskeleton technology is essentially a mechanical device worn in parallel on the outside of the body, providing real-time enhancement of strength and endurance during movement. Since the 1990s, exoskeleton technology has developed rapidly, with many universities and research institutions both domestically and internationally engaged in its research. Considering the limitations of current active lower limb exoskeletons in terms of battery life due to the energy storage density of modern batteries, and the interference with normal lower limb movement caused by insufficient control precision, passive lower limb exoskeletons are currently the best choice for healthy individuals with independent mobility. Essentially, passive exoskeletons utilize the compressive resistance of passive elastic elements (torsion springs, straight springs, or gas springs, etc.) to recover negative work done by the body, and provide assistance during the deformation and energy release process. According to the law of conservation of energy, the energy of passive exoskeletons ultimately comes from the human body, and their essential purpose is to achieve a more rational distribution of energy within the body.

[0003] In the existing technology, lower limb exoskeleton walking aids are mainly used to assist the lower limbs in sharing the load on the back. They have a certain assistive effect for people with weight-bearing needs or people with disabilities. However, the application population of the products is relatively limited and the popularity is low. They cannot be used well by normal people or the elderly in regular activities such as walking or mountain climbing.

[0004] In conclusion, the existing technology obviously has inconveniences and defects in practical use, so it is necessary to improve it. Utility Model Content

[0005] This invention addresses the shortcomings of the prior art by providing a wearable lower limb exoskeleton walking aid that can assist both healthy individuals and patients with lower limb diseases, enabling them to walk with ease and achieving high adoption rates.

[0006] To solve the above technical problems, the present invention adopts the following technical solution:

[0007] A wearable lower limb exoskeleton walking aid includes a left leg assist arm and a right leg assist arm, with a left waist support connected to the upper end of the left leg assist arm and a right waist support connected to the upper end of the right leg assist arm.

[0008] The lower end of the left waist support is connected to the upper end of the left leg assist arm. A cam is fixed on the outside of the lower end of the waist support. An arc-shaped sliding groove is provided inside the cam. One end of the sliding groove is the proximal end C, which is closer to the center of the cam, and the other end of the sliding groove is the distal end B, which is farther from the center of the cam.

[0009] A pressure cylinder is installed on the connecting part of the leg assist arm, and a cylindrical roller is elastically installed inside the pressure cylinder. The cylindrical roller cooperates with the sliding groove of the cam.

[0010] Furthermore, a midpoint A is provided at the position of the cam sliding groove near the proximal end C, and the section between the midpoint A and the proximal end C is equidistant from the center of the cam.

[0011] Furthermore, the pressure cylinder has a circular cavity inside, a guide shaft is slidably arranged inside the circular cavity, an insert shaft is arranged perpendicularly to the guide shaft, a cylindrical roller is rotatably installed at one end of the insert shaft, and a long strip groove is provided at one end of the circular cavity with both sides extending through it. The insert shaft passes through the long strip groove, and the cylindrical roller can slide in the long strip groove.

[0012] Furthermore, a spring is provided on one side of the guide shaft inside the circular cavity, and a knob screw is threadedly installed at the outer end of the pressure cylinder located in the circular cavity.

[0013] Furthermore, the outer side of the long strip groove of the pressure cylinder extends outward to form a long strip protrusion groove, and both ends of the insert shaft extend towards both sides of the guide shaft. A cylindrical roller is installed at both ends of the insert shaft. The outer cylindrical roller is slidably installed in the protrusion groove, and the inner cylindrical roller is slidably installed in the sliding groove of the cam.

[0014] Furthermore, the inner side of the pressure cylinder is provided with a bearing, and the pressure cylinder is connected to the cam by a connecting screw. The pressure cylinder is rotatably engaged with the cam through the bearing.

[0015] Furthermore, both the left and right leg assist arms are equipped with strap frames at their lower ends, with leg straps wrapped around the strap frames. The inner sides of both the left and right leg assist arms are vertically fixed with slide rails, and the strap frames are movably mounted on the slide rails. Pull-out pins are installed on both the left and right leg assist arms.

[0016] Furthermore, a back pad is provided between the back sides of the right and left lumbar supports, and a waist belt is wrapped around the right lumbar support, left lumbar support, and back pad.

[0017] Compared with the prior art, the present invention, by adopting the above technical solution, has the following advantages:

[0018] A cam is fixed to the outer side of the lower connecting part of the lumbar support. The cam has an arc-shaped sliding groove. One end of the sliding groove is the proximal end C, which is closer to the center of the cam, and the other end is the distal end B, which is farther from the center of the cam. The cylindrical roller cooperates with the sliding groove of the cam. When lifting the leg, the cylindrical roller slides towards the distal end B. At this time, the compressed spring extends and releases its elastic force, pushing the cylindrical roller to slide, which helps to lift the leg. When lowering the leg, the cylindrical roller slides towards the proximal end C. The weight of the leg itself overcomes the elastic force of the spring, causing the spring to compress and return to its original position, reducing the force required to lift the leg when walking, thus saving more energy.

[0019] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure after a person wears it;

[0021] Figure 2 This is an exploded view of the present invention from a first angle;

[0022] Figure 3 yes Figure 2 Enlarged view of point H in the middle;

[0023] Figure 4 This is an exploded view of the present invention from a second angle;

[0024] Figure 5 yes Figure 4 Enlarged view of point J in the middle;

[0025] Figure 6 This is a front view of the cam in this utility model;

[0026] Figure 7 This is an exploded view of the internal structure of the pressure cylinder in this utility model;

[0027] Figure 8 This is a schematic diagram of the assembly of the pressure cylinder and the cam.

[0028] In the picture,

[0029] 1-Left leg assist arm, 101-Leg assist arm connecting part, 2-Right leg assist arm, 3-Leg strap, 4-Strap bracket, 5-Slide rail, 6-Pull-out pin, 7-Left lumbar support, 701-Lower lumbar support connecting part, 8-Right lumbar support, 9-Back pad, 10-Waist belt, 11-Cam, 12-Bearing, 13-Knob screw, 14-Pressure cylinder, 141-Protruding groove, 15-Guide shaft, 16-Insertion shaft, 17-Cylindrical roller, 18-Spring, 19-Connecting screw, A-Midpoint, B-Distal end, C-Proximal end. Detailed Implementation

[0030] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model are now described with reference to the accompanying drawings.

[0031] like Figure 1-7 As shown, this utility model provides a wearable lower limb exoskeleton walking aid, including a left leg assist arm 1 and a right leg assist arm 2. The upper end of the left leg assist arm 1 is connected to a left waist support 7, and the upper end of the right leg assist arm 2 is connected to a right waist support 8.

[0032] The lower lumbar support 701 at the lower end of the left lumbar support 7 is connected to the upper leg assist arm connecting part 101 of the left leg assist arm. A cam 11 is fixed to the outer side of the lower lumbar support 701. The cam 11 has an arc-shaped sliding groove inside. Figure 6 One end of the sliding groove is the proximal end C, which is closer to the center of the cam 11, and the other end of the sliding groove is the distal end B, which is farther from the center of the cam 11.

[0033] A pressure cylinder 14 is installed on the leg-assist arm connecting part 101. A cylindrical roller 17 is elastically installed inside the pressure cylinder 14. The cylindrical roller 17 cooperates with the sliding groove of the cam 11.

[0034] The pressure cylinder 14 has a circular cavity inside, and a guide shaft 15 is slidably arranged inside the circular cavity. An insert shaft 16 is arranged perpendicularly to the guide shaft 15. A cylindrical roller 17 is rotatably installed at one end of the insert shaft 16. One end of the circular cavity has an elongated groove that extends through both sides. The insert shaft 16 passes through the elongated groove, and the cylindrical roller 17 can slide inside the elongated groove.

[0035] A spring 18 is provided on one side of the guide shaft 15 inside the circular cavity, and a knob screw 13 is threadedly installed at the outer end of the pressure cylinder 14 located in the circular cavity.

[0036] The outer side of the long groove of the pressure cylinder 14 extends outward to form a long groove 141. Both ends of the insert shaft 16 extend to both sides of the guide shaft 15. A cylindrical roller 17 is installed at both ends of the insert shaft 16. The outer cylindrical roller 17 is slidably installed in the groove 141, and the inner cylindrical roller 17 is slidably installed in the sliding groove of the cam 11.

[0037] Cam 11 is fixed to the lower connecting part 701 of the waist support. Cylindrical roller 17 is slidably and elastically mounted inside the pressure cylinder 14, and the cylindrical roller 17 engages with the sliding groove of cam 11. During assisted walking, the person's thigh is strapped to the left leg assist arm 1, and the leg rotates around the lower connecting part 701 with the left leg assist arm 1. This causes the cylindrical roller 17 to slide between the proximal end C and the distal end B of the sliding groove of cam 11. When lifting the leg, the cylindrical roller 17 slides towards the distal end B, at which point the compressed spring 18 extends and releases its elastic force, pushing the cylindrical roller 17 to slide, thus assisting in lifting the leg. When lowering the leg, the cylindrical roller 17 slides towards the proximal end C, and the leg's own weight overcomes the spring's elastic force, causing the spring 18 to compress back to its original position. During walking, the cylindrical roller 17 slides between the proximal end C and the distal end B, thereby assisting in lifting the leg and providing a power-assisting effect. Turning the knob screw 13 adjusts the compression of the spring 18, thus adjusting the amount of power assist. This invention can assist both normal people and patients with lower limb diseases in walking, and has a high rate of adoption.

[0038] Furthermore, the sliding groove of cam 11 has a midpoint A near the proximal end C, and the section between midpoint A and the proximal end C is equidistant from the center of cam 11. The position of midpoint A is when the legs are in a vertical position, that is, when the legs overcome their own weight and compress the spring 18 to its shortest position. When walking, the thigh swings backward, and the cylindrical roller 17 moves from the midpoint A towards the proximal end C. At this time, the elongation of the spring 18 remains unchanged, so that the legs are not subjected to force.

[0039] The inner side of the pressure cylinder 14 is provided with a bearing 12. The pressure cylinder 14 and the cam 11 are connected by a connecting screw 19. The pressure cylinder 14 and the cam 11 are rotatably engaged through the bearing 12.

[0040] The connection method of the right leg assist arm 2 and the right waist support 8 is exactly the same as that of the left leg assist arm 1 and the left waist support 7, and will not be described again here.

[0041] Both the left leg assist arm 1 and the right leg assist arm 2 are equipped with strap frames 4 at their lower ends. Leg straps 3 are wrapped around the strap frames 4 to bind the thighs. The inner sides of both the left leg assist arm 1 and the right leg assist arm 2 are vertically fixed with slide rails 5. The strap frames 4 are movably mounted on the slide rails 5. Both the left leg assist arm 1 and the right leg assist arm 2 are equipped with pull pins 6. The pull pins 6 are used to adjust the position of the strap frames 4 on the slide rails 5 to accommodate people of different heights.

[0042] A back pad 9 is provided between the back sides of the right waist support 8 and the left waist support 7. A waist belt 10 is wrapped around the right waist support 8, the left waist support 7 and the back pad 9 to tie the person's waist.

[0043] The working principle of this utility model:

[0044] When a normal person is walking, wearing the walking aid of this utility model allows them to walk and climb mountains normally. When lifting the leg, the compressed spring 18 extends and releases its elasticity, pushing the cylindrical roller 17 to slide towards the distal end B, which helps to lift the leg. When lowering the leg, the cylindrical roller 17 slides towards the proximal end C, and the weight of the leg overcomes the elasticity of the spring, causing the spring 18 to compress back into its original position, thereby assisting in lifting the leg and providing a power-assisted effect.

[0045] Furthermore, the sliding groove of cam 11 has a midpoint A near the proximal end C, and the section between midpoint A and proximal end C is equidistant from the center of cam 11. When the thigh swings backward, the cylindrical roller 17 moves from midpoint A to proximal end C. At this time, the elongation of spring 18 remains unchanged, thus preventing the leg from swinging backward without external force.

[0046] The above description provides examples of the preferred embodiments of this utility model. Any aspects not detailed herein are common knowledge to those skilled in the art. The scope of protection of this utility model is determined by the claims. Any equivalent modifications based on the technical teachings of this utility model are also within the scope of protection of this utility model.

Claims

1. A wearable lower limb exoskeleton walking aid, characterized in that: It includes a left leg assist arm (1) and a right leg assist arm (2). The upper end of the left leg assist arm (1) is connected to a left waist support (7), and the upper end of the right leg assist arm (2) is connected to a right waist support (8). The lower waist support connecting part (701) at the lower end of the left waist support (7) is connected to the upper leg assist arm connecting part (101) at the upper end of the left leg assist arm (1). A cam (11) is fixed on the outside of the lower waist support connecting part (701). An arc-shaped sliding groove is provided in the cam (11). One end of the sliding groove is the proximal end (C) which is closer to the center of the cam (11), and the other end of the sliding groove is the distal end (B) which is farther from the center of the cam (11). A pressure cylinder (14) is installed on the leg-assist arm connecting part (101), and a cylindrical roller (17) is elastically installed inside the pressure cylinder (14). The cylindrical roller (17) cooperates with the sliding groove of the cam (11).

2. The wearable lower limb exoskeleton walking aid as described in claim 1, characterized in that: The sliding groove of the cam (11) has a midpoint (A) near the proximal end (C), and the section between the midpoint (A) and the proximal end (C) is equidistant from the center of the cam (11).

3. The wearable lower limb exoskeleton walking aid as described in claim 1, characterized in that: The pressure cylinder (14) has a circular cavity inside, and a guide shaft (15) is slidably arranged inside the circular cavity. An insert shaft (16) is arranged perpendicularly to the guide shaft (15). A cylindrical roller (17) is rotatably installed at one end of the insert shaft (16). A long strip groove is provided at one end of the circular cavity with both sides through it. The insert shaft (16) passes through the long strip groove, and the cylindrical roller (17) can slide in the long strip groove.

4. The wearable lower limb exoskeleton walking aid as described in claim 3, characterized in that: A spring (18) is provided on one side of the guide shaft (15) inside the circular cavity, and a knob screw (13) is threaded on the outer end of the pressure cylinder (14) located in the circular cavity.

5. A wearable lower limb exoskeleton walking aid as described in claim 4, characterized in that: The outer side of the long groove of the pressure cylinder (14) extends outward to form a long groove (141). Both ends of the insert shaft (16) extend to both sides of the guide shaft (15). A cylindrical roller (17) is installed at both ends of the insert shaft (16). The outer cylindrical roller (17) is slidably installed in the groove (141), and the inner cylindrical roller (17) is slidably installed in the sliding groove of the cam (11).

6. A wearable lower limb exoskeleton walking aid as described in claim 1, characterized in that: The inner side of the pressure cylinder (14) is provided with a bearing (12). The pressure cylinder (14) and the cam (11) are connected by a connecting screw (19). The pressure cylinder (14) and the cam (11) are rotatably engaged through the bearing (12).

7. A wearable lower limb exoskeleton walking aid as described in claim 1, characterized in that: The lower ends of the left leg assist arm (1) and the right leg assist arm (2) are provided with strap frames (4), and leg straps (3) are wrapped around the strap frames (4). The inner sides of the left leg assist arm (1) and the right leg assist arm (2) are vertically fixed with slide rails (5). The strap frames (4) are movably installed on the slide rails (5). Pull-out pins (6) are installed on the left leg assist arm (1) and the right leg assist arm (2).

8. A wearable lower limb exoskeleton walking aid as described in claim 1, characterized in that: A back pad (9) is provided between the back of the right waist support (8) and the left waist support (7), and a waist belt (10) is wrapped around the right waist support (8), the left waist support (7) and the back pad (9).

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