Lower extremity exoskeleton with motion assistance function

Abstract

The utility model discloses a lower limbs exoskeleton with motion auxiliary function, including hip joint mechanism, thigh mechanism, knee joint mechanism, shank mechanism, ankle joint mechanism, foot mechanism, binding mechanism, left and right connecting rod, be equipped with two adjusting sliding blocks on left and right connecting rod, and hip joint mechanism includes two groups of hip joint subassembly, and hip joint subassembly is connected on adjusting sliding block, hip joint subassembly includes hip joint adduction outside swing pivot axle and hip joint flexion extension drive motor, is equipped with motor outer flange and motor inner flan on hip joint flexion extension drive motor, and the longitudinal both ends of hip joint adduction outside swing pivot axle are equipped with hip joint inner rotation outer rotation link, and hip joint inner rotation outer rotation link forms the rotation pair with hip joint adduction outside swing pivot axle, and the both ends of hip joint inner rotation outer rotation link are equipped with upper side cross link subassembly and lower side cross link subassembly respectively. This scheme can better adapt to the wearing demand of different human bodies, and can better adapt to the motion freedom of wearer.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton technology, specifically to a lower limb exoskeleton with motion assistance function. Background Technology

[0002] Walking is a vital function of the human body. Many neurological diseases, such as stroke and spinal cord injury, can lead to lower limb motor dysfunction. In addition, fractures, muscle injuries, and other injuries can also affect lower limb walking function. As a populous country, my country has a significant number of patients with lower limb dysfunction. Therefore, the treatment and rehabilitation of lower limb dysfunction has received considerable attention.

[0003] In the field of rehabilitation medicine, gait training is one of the important methods in the rehabilitation of lower limb dysfunction. Medical rehabilitation training is based on the principle of brain plasticity, but this requires a lot of labor and nursing care. For better patient protection, the use of lower limb rehabilitation assistive devices is essential in rehabilitation treatment. Lower limb exoskeletons are a typical example of lower limb rehabilitation robots. These robots are designed based on bionic principles and combined with ergonomics. They can be worn on the affected limb to achieve more natural and effective rehabilitation training, and are currently a hot research topic in lower limb rehabilitation robotics.

[0004] However, existing lower limb exoskeletons designed to assist patients with lower limb motor dysfunction in walking often oversimplify most of the joints, reducing joint freedom of movement and resulting in insufficient balance support and unnatural gait. Furthermore, existing lower limb exoskeletons often fail to adapt well to the wearing needs of different individuals, thus reducing wearing comfort. Utility Model Content

[0005] In view of the above-mentioned shortcomings of the existing technology, the technical problem to be solved by this utility model is: how to provide a lower limb exoskeleton with motion assistance function that can better adapt to the wearing needs of different human bodies and better adapt to the wearer's freedom of movement.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A lower limb exoskeleton with motion assistance function includes a hip joint mechanism, a thigh mechanism, a knee joint mechanism, a calf mechanism, an ankle joint mechanism, a foot mechanism, and a binding mechanism. It also includes left and right connecting rods, each with two adjusting sliders along the axial direction. The hip joint mechanism includes two sets of hip joint components arranged along the axial direction, and the hip joint components are connected to the adjusting sliders at corresponding positions. The hip joint assembly includes a longitudinally arranged hip joint adduction and external swing rotation axis and a hip joint flexion and extension drive motor. The hip joint flexion and extension drive motor has an outer flange and an inner flange on both sides. Hip joint internal and external rotation rods are provided at both ends of the longitudinal direction of the hip joint adduction and external swing rotation axis. The center of each hip joint internal and external rotation rod forms a revolute joint with the hip joint adduction and external swing rotation axis to adapt to the adduction and external swing movements of the hip joint. An upper cross linkage assembly and a lower cross linkage assembly are provided at both ends of the vertical direction of the hip joint internal and external rotation rods. The linkage assemblies are connected by a support shaft assembly to enable the upper and lower cross linkage assemblies to move synchronously. One end of the upper cross linkage assembly is hinged to the upper side of the hip joint internal and external rotation rod, and the other end of the upper cross linkage assembly is simultaneously hinged to the upper side of the motor outer flange and the upper side of the motor inner flange. One end of the lower cross linkage assembly is hinged to the lower side of the hip joint internal and external rotation rod, and the other end of the lower cross linkage assembly is simultaneously hinged to the lower side of the motor outer flange and the lower side of the motor inner flange, to adapt to the internal and external rotation movements of the hip joint.

[0007] The working principle of this invention is as follows: When using the lower limb exoskeleton, firstly, according to the wearing needs of different wearers, the position of the adjusting slider on the left and right connecting rods is moved. The adjusting slider drives the corresponding hip joint component to move axially, thereby adjusting the transmission dimensions of the entire hip joint to better meet the wearing needs of different wearers. After adjusting the position of the hip joint mechanism, the lower limb exoskeleton is worn on the lower limbs through a binding mechanism, ensuring that the hip joint mechanism adapts to the position of the human hip joint, the thigh mechanism adapts to the position of the human thigh, the knee joint mechanism adapts to the position of the human knee joint, the calf mechanism adapts to the position of the human calf, the ankle joint mechanism adapts to the position of the human ankle joint, and the foot mechanism adapts to the position of the human foot.

[0008] Once the wearer has put on the lower limb exoskeleton, the rotational joint formed by the center of the hip joint internal and external rotation rod and the hip joint adduction and external swing rotation axis can adapt to the adduction and external swing movements of the human hip joint; the structural design of the upper and lower cross linkage components can adapt to the internal and external rotation movements of the human hip joint, while the hip joint flexion and extension drive motor can drive the human hip joint to perform flexion and extension movements.

[0009] Therefore, this solution meets the wearing needs of different wearers by adjusting the size of the hip joint mechanism. At the same time, the design of the hip joint mechanism can meet the human hip joint's degrees of freedom such as adduction and external rotation, internal and external rotation, flexion and extension. Thus, this solution can better adapt to the wearing needs of different people and better accommodate the wearer's degree of freedom of movement.

[0010] Preferably, a first torsion spring is provided at the hinge position of the hip joint internal and external rotation rod to the upper cross linkage assembly and the lower cross linkage assembly to limit the range of motion of the upper cross linkage assembly and the lower cross linkage assembly.

[0011] In this way, by setting the first torsion spring to limit the range of motion of the upper and lower cross linkage assemblies, the range of internal and external rotation of the hip joint mechanism is limited, thereby providing assistance for the human body's natural gait while preventing the hip joint from exceeding the range of motion of the human hip joint and causing secondary injury to the human body.

[0012] Preferably, a limiting component is provided at the position where the hip joint adduction and external rotation axis is rotatably connected to each of the hip joint internal and external rotation rods. The limiting component includes limiting blocks arranged radially on both sides of the hip joint internal and external rotation rods. A limiting torsion spring is provided between each limiting block and the hip joint internal and external rotation rod to limit the radial movement of the hip joint internal and external rotation rod through the limiting blocks and the limiting torsion springs. A plurality of limiting pins are also provided between two limiting blocks. The plurality of limiting pins are distributed on both sides of the axial direction of the hip joint internal and external rotation rods. The hip joint internal and external rotation rods and the limiting pins have a gap in the initial state, and the hip joint internal and external rotation rods can abut against the limiting pins on the corresponding side when the hip joint is in adduction and external rotation.

[0013] In this way, the radial movement of the hip joint internal and external rotation rod is restricted by the limiting block and the limiting torsion spring, and the rotation range of the hip joint internal and external rotation rod is restricted by the limiting pin, thereby limiting the range of motion of the hip joint adduction and external swing. This provides assistance for the human body's natural gait while preventing the hip joint from exceeding the range of motion of the human hip joint and causing secondary injury to the human body.

[0014] Preferably, the thigh mechanism includes two thigh assemblies arranged axially. Each thigh assembly includes a thigh telescopic rod assembly and a hip-leg connecting flange. One end of the hip-leg connecting flange is connected to the hip joint flexion-extension drive motor, and the other end of the hip-leg connecting flange is connected to the thigh telescopic rod assembly. The thigh telescopic rod assembly includes an inner thigh rod and an outer thigh rod. One end of the inner thigh rod is connected to the hip-leg connecting flange, and the other end of the inner thigh rod extends into the outer thigh rod. The inner thigh rod and the outer thigh rod are fastened together by a thigh positioning nut and a thigh clamping nut.

[0015] In this way, when it is necessary to adjust the length of the thigh mechanism, loosen the thigh positioning nut and the thigh clamping nut, and adjust the length of the inner thigh rod extending into the outer thigh rod, thereby changing the length of the entire thigh mechanism. After the thigh mechanism is adjusted to the appropriate length, tighten the thigh positioning nut and the thigh clamping nut to fix the positions of the inner thigh rod and the outer thigh rod, and at this time the length of the thigh mechanism is also fixed, thereby realizing the adjustment of the length of the thigh mechanism to better meet the usage needs of different users.

[0016] Preferably, the knee joint mechanism includes two knee joint components arranged axially. Each knee joint component includes a knee joint cam, a knee joint winding wheel, a knee joint shaft, a lower leg slide, a rolling element, and a knee-leg connector. The knee joint cam is fixedly connected to the outer thigh rod. The knee joint cam, the knee joint winding wheel, and the lower leg slide are all hinged to the knee joint shaft, and the knee joint winding wheel and the lower leg slide are fixedly connected. A knee joint Bowden cable is wound on the knee joint winding wheel, and the knee joint Bowden cable is connected to a knee joint servo motor so that when the knee joint servo motor rotates, it drives the knee joint winding wheel to rotate through the knee joint Bowden cable. An arc-shaped cam groove is also provided on the knee joint cam, and the rolling element can roll in the cam groove. The knee-leg connector is hinged to the rolling element and is used to connect to the lower leg mechanism.

[0017] In this way, when the knee joint is to be flexed and extended, the knee joint servo motor pulls the knee joint Bowden cable, which transmits the torque of the knee joint servo motor to the knee joint winding wheel, causing the knee joint winding wheel to rotate. At the same time, the rotation of the knee joint winding wheel drives the lower leg slide to rotate, and the rolling element rolls in the cam groove of the knee joint cam. At this time, the knee-leg connector rotates synchronously with the knee joint winding wheel under the constraint of the lower leg slide. The knee-leg connector slides in the lower leg slide according to the rolling trajectory of the rolling element. The knee-leg connector drives the lower leg mechanism to move, thereby realizing the flexion and extension of the knee joint.

[0018] Preferably, the lower leg mechanism includes two lower leg assemblies arranged axially. Each lower leg assembly includes an inner lower leg rod and an outer lower leg rod. One end of the inner lower leg rod is connected to the knee-leg connector, and the other end of the inner lower leg rod extends into the outer lower leg rod. The inner lower leg rod and the outer lower leg rod are fastened together by a lower leg positioning nut and a lower leg clamping nut.

[0019] In this way, when it is necessary to adjust the length of the lower leg mechanism, loosen the lower leg positioning nut and the lower leg clamping nut, and adjust the length of the lower leg inner rod extending into the lower leg outer rod, thereby changing the length of the entire lower leg mechanism. After the lower leg mechanism is adjusted to the appropriate length, tighten the lower leg positioning nut and the lower leg clamping nut, so that the positions of the lower leg inner rod and the lower leg outer rod are relatively fixed. At this time, the length of the lower leg mechanism is also fixed, thereby realizing the adjustment of the length of the lower leg mechanism to better meet the usage needs of different users.

[0020] Preferably, the ankle joint mechanism includes two ankle joint components arranged axially. Each ankle joint component includes an ankle-leg connector, an ankle joint winding wheel, an ankle joint rotating rod, and an ankle-foot connector. The ankle joint winding wheel is wound with ankle joint Bowden cable, which is also connected to an ankle joint servo motor so that when the ankle joint servo motor rotates, it can drive the ankle joint winding wheel to rotate via the ankle joint Bowden cable. The ankle-leg connector is fixedly connected to the lower leg outer rod and is also hinged to the ankle joint rotating rod. An ankle joint torsion spring is provided at the hinge point between the ankle-leg connector and the ankle joint rotating rod to limit the rotation range of the ankle joint rotating rod. The ankle joint rotating rod is also fixedly connected to the ankle joint winding wheel and the ankle-foot connector, respectively. The ankle-foot connector is used to connect to the foot mechanism.

[0021] In this way, when the ankle joint moves, the ankle joint servo motor drives the ankle joint winding wheel to rotate through the ankle joint Bowden cable. The ankle joint winding wheel drives the ankle joint rotating rod to rotate. When the ankle joint rotating rod rotates, the ankle joint torsion spring limits the rotation of the ankle joint rotating rod. At the same time, the rotation of the ankle joint rotating rod will also drive the ankle-foot connector to rotate. The ankle-foot connector will further drive the foot mechanism to rotate, thereby satisfying the human ankle joint's degree of freedom of movement.

[0022] Preferably, the foot mechanism includes two foot components arranged axially. Each foot component includes a flexible shoe cover, a strap, a strap buckle, a rigid fixing block, and an ankle-foot height adjustment rod. The rigid fixing block is fixedly connected to the flexible shoe cover and the ankle-foot height adjustment rod. An adjustment hole and a connection hole are provided on the ankle-foot connector. The ankle-foot height adjustment rod is provided with multiple mounting holes. The ankle-foot height adjustment rod extends into the adjustment hole and enables the mounting holes and the connection holes at different positions to correspond. The mounting holes and the connection holes are fixedly connected by connecting bolts.

[0023] In this way, when wearing the foot device, the human foot is fixed to the foot device by the strap buckle and strap. At the same time, depending on the wearer's different situation, the ankle height adjustment rod is inserted into the adjustment hole of the ankle connector, and the ankle height adjustment rod is moved so that the positions of the mounting holes and connection holes in different positions correspond. When the adjustment is in place, the ankle height adjustment rod and the ankle connector are fixedly connected by the connecting bolt, thereby adjusting the ankle height to meet the ankle height needs of different individuals.

[0024] Preferably, the binding mechanism includes a binding fastener and an elastic binding strap, the binding fastener being used to connect to a thigh mechanism or a calf mechanism, and the elastic binding strap being used to be worn on the human thigh or calf.

[0025] Preferably, a binding mechanism is connected to the inner thigh rod, the outer thigh rod, the inner calf rod, and the outer calf rod.

[0026] The design of each joint of the lower limb exoskeleton of this invention can ensure human-machine compatibility, and the thigh and lower leg mechanisms of the lower limb exoskeleton adopt a telescopic structure design, so that the lower limb exoskeleton can be infinitely adjusted to meet the limb wearing needs of different users, making it widely applicable. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the lower limb exoskeleton with motion assistance function according to this utility model; Figure 2 This is a schematic diagram of the left and right connecting rods in the lower limb exoskeleton with motion assistance function of this utility model; Figure 3 This is a schematic diagram of the hip joint component in the lower limb exoskeleton with motion assistance function of this utility model; Figure 4 This is a schematic diagram of the thigh component in the lower limb exoskeleton with motion assistance function of this utility model; Figure 5 This is a schematic diagram of the knee joint component in the lower limb exoskeleton with motion assistance function of this utility model; Figure 6 This is a schematic diagram of the lower leg component of the lower limb exoskeleton with motion assistance function according to this utility model; Figure 7 This is a schematic diagram of the ankle joint component in the lower limb exoskeleton with motion assistance function of this utility model; Figure 8 This is a schematic diagram of the foot component of the lower limb exoskeleton with motion assistance function according to this utility model; Figure 9 This is a schematic diagram of the binding mechanism in the lower limb exoskeleton with motion assistance function of this utility model.

[0028] Explanation of reference numerals in the attached drawings: 1. Hip joint mechanism; 2. Thigh mechanism; 3. Knee joint mechanism; 3. Lower leg mechanism; 4. Ankle joint mechanism; 5. Foot mechanism; 6. Binding mechanism; 7. Hip joint adduction and external rotation pivot; 8. Hip joint internal and external rotation rod; 9. First torsion spring; 10. Limiting block; 11. Limiting pin; 12. Upper first cross link; 13. Upper second cross link; 14. Upper fourth cross link; 15. Upper third cross link; 16. Lower first cross link; 17. Lower second cross link; 18. Lower fourth cross link; 19. Lower third cross link; 20. Support shaft assembly; 21. Hip joint flexion and extension drive motor; 22. Motor outer flange; 23. Motor inner flange; 24. Hip and leg. Connecting flange 25, inner thigh rod 26, outer thigh rod 27, thigh positioning nut 28, thigh clamping nut 29, knee joint winding wheel 30, knee joint cam 31, knee joint shaft 32, calf slide 33, rolling element 34, knee-leg connector 35, inner calf rod 36, outer calf rod 37, calf positioning nut 38, calf clamping nut 39, ankle joint winding wheel 40, ankle-leg connector 41, ankle joint torsion spring 42, ankle joint rotating rod 43, ankle-foot connector 44, strap buckle 45, flexible shoe cover 46, strap 47, ankle-foot height adjustment rod 48, rigid fixing block 49, elastic binding strap 50, binding fixing component 51, left and right connecting rods 52, adjusting slider 53. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art to which this utility model pertains.

[0030] The terms "first," "second," and similar words used in this utility model patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular forms of "an," "a," or "the," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one. Terms such as "comprising" or "including" mean that the element or object preceding "comprising" encompasses the features, integrals, steps, operations, elements, and / or components listed following "comprising" or "including," and do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0031] This specific embodiment provides a lower limb exoskeleton with motion assistance function, as shown in the attached figure. Figure 1 and attached Figure 2 As shown, it includes a hip joint mechanism 1, a thigh mechanism 2, a knee joint mechanism 3, a calf mechanism 4, an ankle joint mechanism 5, a foot mechanism 6, and a binding mechanism 7. It also includes left and right connecting rods 52, with two adjusting sliders 53 arranged along the axial direction on the left and right connecting rods 52. The hip joint mechanism 1 includes two sets of hip joint components arranged along the axial direction, and the hip joint components are connected to the adjusting sliders 53 at corresponding positions. As attached Figure 3 As shown, the hip joint assembly includes a hip joint adduction and external swing rotation shaft 8 arranged longitudinally and a hip joint flexion and extension drive motor 22. The hip joint flexion and extension drive motor 22 has an outer flange 23 and an inner flange 24 on both sides. Hip joint internal and external rotation rods 9 are provided at both ends of the longitudinal direction of the hip joint adduction and external swing rotation shaft 8. The center of the hip joint internal and external rotation rod 9 forms a revolute joint with the hip joint adduction and external swing rotation shaft 8 to adapt to the adduction and external swing movements of the hip joint. An upper cross-link assembly and a lower cross-link assembly are provided at both ends of the vertical direction of the hip joint internal and external rotation rod 9. The upper cross-link assembly... The upper and lower cross linkage assemblies are connected by a support shaft assembly 21 to enable synchronous movement of the upper and lower cross linkage assemblies. One end of the upper cross linkage assembly is hinged to the upper side of the hip joint internal and external rotation rod 9, and the other end of the upper cross linkage assembly is simultaneously hinged to the upper side of the motor outer flange 23 and the upper side of the motor inner flange 24. One end of the lower cross linkage assembly is hinged to the lower side of the hip joint internal and external rotation rod 9, and the other end of the lower cross linkage assembly is simultaneously hinged to the lower side of the motor outer flange 23 and the lower side of the motor inner flange 24, in order to adapt to the internal and external rotation movements of the hip joint.

[0032] In this design, the human body's orientation is used as the reference direction. Specifically, "front," "back," "left," "right," "up," and "down" correspond to the front, back, left, right, up, and down of the human body, respectively. The axis in this design is the left-right direction, the vertical direction is the up-down direction, and the longitudinal direction is the front-back direction. The initial state is the human body's natural standing position.

[0033] The working principle of this utility model is as follows: When using the lower limb exoskeleton of this solution, firstly, according to the wearing needs of different wearers, the position of the adjusting slider 53 on the left and right connecting rods 52 is moved. The adjusting slider 53 drives the corresponding hip joint component to move along the axial direction, thereby achieving the purpose of adjusting the transmission size of the entire hip joint, so as to better meet the wearing needs of different wearers. After adjusting the position of the hip joint mechanism 1, the lower limb exoskeleton is worn on the lower limb through the binding mechanism 7, so that the hip joint mechanism 1 is adapted to the position of the human hip joint, the thigh mechanism 2 is adapted to the position of the human thigh, the knee joint mechanism 3 is adapted to the position of the human knee joint, the calf mechanism 4 is adapted to the position of the human calf, the ankle joint mechanism 5 is adapted to the position of the human ankle joint, and the foot mechanism 6 is adapted to the position of the human foot.

[0034] When the wearer puts on the lower limb exoskeleton, the rotational joint formed by the center of the hip joint internal and external rotation rod 9 and the hip joint adduction and external swing rotation axis 8 can adapt to the adduction and external swing movements of the human hip joint; the structural design of the upper cross linkage assembly and the lower cross linkage assembly can adapt to the internal and external rotation movements of the human hip joint, and the hip joint flexion and extension drive motor 22 can drive the human hip joint to perform flexion and extension movements.

[0035] Therefore, this solution meets the wearing needs of different wearers by adjusting the size of the hip joint mechanism 1. At the same time, the design of the hip joint mechanism 1 can meet the human hip joint's degrees of freedom such as adduction and external rotation, internal and external rotation, flexion and extension. Therefore, this solution can better adapt to the wearing needs of different people and better adapt to the wearer's degree of freedom of movement.

[0036] In this embodiment, a first torsion spring 10 is provided at the hinge position of the hip joint internal and external rotation rod 9 with the upper and lower cross linkage assemblies to limit the range of motion of the upper and lower cross linkage assemblies.

[0037] In this way, by setting the first torsion spring 10 to limit the range of motion of the upper cross linkage assembly and the lower cross linkage assembly, the range of internal and external rotation of the hip joint mechanism 1 is limited, thereby providing assistance for the human body's natural gait while preventing the hip joint from exceeding the range of motion of the human hip joint and causing secondary injury to the human body.

[0038] Specifically, the upper cross linkage assembly includes an upper first cross linkage 13, an upper second cross linkage 14, an upper third cross linkage 16, and an upper fourth cross linkage 15. One end of the upper first cross linkage 13 and one end of the upper second cross linkage 14 are respectively hinged to the upper side of the two hip joint internal and external rotation rods 9. The other end of the upper second cross linkage 14 is respectively hinged to one end of the upper third cross linkage 16 and one end of the upper fourth cross linkage 15. The other end of the upper third cross linkage 16 is hinged to the outer flange 23 of the motor. The other end of the upper fourth cross linkage 15 is hinged to the inner flange 24 of the motor. The end of the upper fourth cross linkage 15 connected to the upper second cross linkage 14 also extends outward and is hinged to the upper first cross linkage 13. The lower cross link assembly includes a lower first cross link 17, a lower second cross link 18, a lower third cross link 20, and a lower fourth cross link 19. One end of the lower first cross link 17 and one end of the lower second cross link 18 are respectively hinged to the lower side of the two hip joint internal and external rotation rods 9. The other end of the lower second cross link 18 is respectively hinged to one end of the lower third cross link 20 and one end of the lower fourth cross link 19. The other end of the lower third cross link 20 is hinged to the outer flange 23 of the motor, and the other end of the lower fourth cross link 19 is hinged to the inner flange 24 of the motor. The end of the lower fourth cross link 19 connected to the lower second cross link 18 also extends outward and is hinged to the lower first cross link 17.

[0039] In this embodiment, a limiting component is provided at the position where the hip joint adduction and external rotation rotation shaft 8 is rotatably connected to each hip joint internal and external rotation rod 9. The limiting component includes a limiting block 11 arranged radially on both sides of the hip joint internal and external rotation rod 9. A limiting torsion spring is provided between each limiting block 11 and the hip joint internal and external rotation rod 9 to limit the radial movement of the hip joint internal and external rotation rod 9 through the limiting block 11 and the limiting torsion spring. A plurality of limiting pins 12 are also provided between two limiting blocks 11. The plurality of limiting pins 12 are distributed on both sides of the axial direction of the hip joint internal and external rotation rod 9. The hip joint internal and external rotation rod 9 and the limiting pins 12 have a gap in the initial state. When the hip joint internal and external rotation rod 9 moves in adduction and external rotation, it can abut against the limiting pin 12 on the corresponding side.

[0040] In this way, the radial movement of the hip joint internal and external rotation rod 9 is restricted by the limiting block 11 and the limiting torsion spring, and the rotation range of the hip joint internal and external rotation rod 9 is restricted by the limiting pin 12, thereby restricting the range of motion of the hip joint adduction and outward swing. This provides assistance for the human body's natural gait while preventing the hip joint from exceeding the range of motion of the human hip joint and causing secondary injury to the human body.

[0041] As attached Figure 4As shown, in this embodiment, the thigh mechanism 2 includes two thigh assemblies arranged axially. Each thigh assembly includes a thigh telescopic rod assembly and a hip-leg connecting flange 25. One end of the hip-leg connecting flange 25 is connected to the hip joint flexion-extension drive motor 22, and the other end of the hip-leg connecting flange 25 is connected to the thigh telescopic rod assembly. The thigh telescopic rod assembly includes an inner thigh rod 26 and an outer thigh rod 27. One end of the inner thigh rod 26 is connected to the hip-leg connecting flange 25, and the other end of the inner thigh rod 26 extends into the outer thigh rod 27. The inner thigh rod 26 and the outer thigh rod 27 are fastened together by a thigh positioning nut 28 and a thigh clamping nut 29.

[0042] Thus, when the length of the thigh mechanism 2 needs to be adjusted, the thigh positioning nut 28 and the thigh clamping nut 29 are loosened, and the length of the inner thigh rod 26 extending into the outer thigh rod 27 is adjusted, thereby changing the length of the entire thigh mechanism 2. After the thigh mechanism 2 is adjusted to a suitable length, the thigh positioning nut 28 and the thigh clamping nut 29 are tightened, so that the positions of the inner thigh rod 26 and the outer thigh rod 27 are relatively fixed. At this time, the length of the thigh mechanism 2 is also fixed, thereby realizing the adjustment of the length of the thigh mechanism 2 to better meet the usage needs of different users.

[0043] As attached Figure 5 As shown, in this embodiment, the knee joint mechanism 3 includes two knee joint components arranged axially. Each knee joint component includes a knee joint cam 31, a knee joint winding wheel 30, a knee joint shaft 32, a lower leg slide 33, a rolling element 34, and a knee-leg connector 35. The knee joint cam 31 is fixedly connected to the outer thigh rod 27. The knee joint cam 31, the knee joint winding wheel 30, and the lower leg slide 33 are all hinged to the knee joint shaft 32, and the knee joint winding wheel 30 and the lower leg slide 33 are fixedly connected. The winding wheel 30 is wound with a knee joint Bowden wire, which is connected to the knee joint servo motor (not shown in the figure, but can be set according to the specific situation in actual use). When the knee joint servo motor rotates, it drives the knee joint winding wheel 30 to rotate through the knee joint Bowden wire. An arc-shaped cam groove is also provided on the knee joint cam 31, and the rolling body 34 can roll in the cam groove. The knee and leg connector 35 is hinged to the rolling body 34 and is used to connect with the lower leg mechanism 4.

[0044] Thus, when the knee joint is to be flexed or extended, the knee joint servo motor pulls the knee joint Bowden cable, which transmits the torque of the knee joint servo motor to the knee joint winding wheel 30, causing the knee joint winding wheel 30 to rotate. At the same time, the rotation of the knee joint winding wheel 30 drives the lower leg slide 33 to rotate, and the rolling element 34 rolls in the cam groove of the knee joint cam 31. At this time, the knee-leg connector 35 rotates synchronously with the knee joint winding wheel 30 under the constraint of the lower leg slide 33. The knee-leg connector 35 slides in the lower leg slide 33 according to the rolling trajectory of the rolling element 34. The knee-leg connector 35 drives the lower leg mechanism 4 to move, thereby realizing the flexion and extension of the knee joint.

[0045] As attached Figure 6 As shown, in this embodiment, the lower leg mechanism 4 includes two lower leg components arranged along the axial direction. The lower leg components include an inner lower leg rod 36 and an outer lower leg rod 37. One end of the inner lower leg rod 36 is connected to the knee and leg connector 35, and the other end of the inner lower leg rod 36 extends into the outer lower leg rod 37. The inner lower leg rod 36 and the outer lower leg rod 37 are fastened together by a lower leg positioning nut 38 and a lower leg clamping nut 39.

[0046] Thus, when the length of the lower leg mechanism 4 needs to be adjusted, the lower leg positioning nut 38 and the lower leg clamping nut 39 are loosened, and the length of the lower leg inner rod 36 extending into the lower leg outer rod 37 is adjusted, thereby changing the length of the entire lower leg mechanism 4. After the lower leg mechanism 4 is adjusted to a suitable length, the lower leg positioning nut 38 and the lower leg clamping nut 39 are tightened, so that the positions of the lower leg inner rod 36 and the lower leg outer rod 37 are relatively fixed. At this time, the length of the lower leg mechanism 4 is also fixed, thereby realizing the adjustment of the length of the lower leg mechanism 4 to better meet the usage needs of different users.

[0047] As attached Figure 7 As shown, in this embodiment, the ankle joint mechanism 5 includes two ankle joint components arranged axially. The ankle joint components include an ankle-leg connector 41, an ankle joint winding wheel 40, an ankle joint rotating rod 43, and an ankle-foot connector 44. Ankle joint winding wheel 40 is wound with ankle joint Bowden wire, which is also connected to an ankle joint servo motor so that when the ankle joint servo motor rotates, it can drive the ankle joint winding wheel 40 to rotate through the ankle joint Bowden wire. Ankle-leg connector 41 is fixedly connected to the lower leg outer rod 37. Ankle-leg connector 41 is also hinged to the ankle joint rotating rod 43. Ankle joint torsion spring 42 is provided at the hinge point between ankle-leg connector 41 and ankle joint rotating rod 43 to limit the rotation range of ankle joint rotating rod 43. Ankle joint rotating rod 43 is also fixedly connected to ankle joint winding wheel 40 and ankle-foot connector 44 respectively. Ankle-foot connector 44 is used to connect to foot mechanism 6.

[0048] In this way, when the ankle joint moves, the ankle joint servo motor drives the ankle joint winding wheel 40 to rotate through the ankle joint Bowden cable. The ankle joint winding wheel 40 drives the ankle joint rotating rod 43 to rotate. When the ankle joint rotating rod 43 rotates, the ankle joint torsion spring 42 limits the rotation of the ankle joint rotating rod 43. At the same time, the rotation of the ankle joint rotating rod 43 will also drive the ankle-foot connector 44 to rotate. The ankle-foot connector 44 will further drive the foot mechanism 6 to rotate, thereby satisfying the human ankle joint's degree of freedom of movement.

[0049] As attached Figure 8 As shown, in this embodiment, the foot mechanism 6 includes two foot components arranged along the axial direction. The foot components include a flexible shoe cover 46, a strap 47, a strap buckle 45, a rigid fixing block 49, and an ankle-foot height adjustment rod 48. The rigid fixing block is fixedly connected to the flexible shoe cover 46 and the ankle-foot height adjustment rod 48. An adjustment hole and a connection hole are provided on the ankle-foot connector 44. Multiple mounting holes are provided on the ankle-foot height adjustment rod 48. The ankle-foot height adjustment rod 48 extends into the adjustment hole and can make the mounting holes and connection holes at different positions correspond. The mounting holes and connection holes are fixedly connected by connecting bolts.

[0050] In this way, when the foot mechanism 6 is worn, the human foot is fixed to the foot mechanism 6 by the strap buckle 45 and the strap 47. At the same time, depending on the wearer's situation, the ankle-foot height adjustment rod 48 is inserted into the adjustment hole of the ankle-foot connector 44, and the ankle-foot height adjustment rod 48 is moved so that the positions of the mounting holes and connection holes in different positions correspond. When the adjustment is in place, the ankle-foot height adjustment rod 48 and the ankle-foot connector 44 are fixedly connected by the connecting bolt, so as to meet the ankle-foot height requirements of different individuals by adjusting the ankle-foot height.

[0051] As attached Figure 9 As shown, in this embodiment, the binding mechanism 7 includes a binding fastener 51 and an elastic binding strap 50. The binding fastener 51 is used to connect with the thigh mechanism 2 or the calf mechanism 4, and the elastic binding strap 50 is used to be worn on the human thigh or calf.

[0052] Preferably, a binding mechanism is connected to the inner thigh rod 26, the outer thigh rod 27, the inner calf rod 36, and the outer calf rod 37.

[0053] The design of each joint of the lower limb exoskeleton of this invention can ensure human-machine compatibility, and the thigh and lower leg mechanisms of the lower limb exoskeleton adopt a telescopic structure design, so that the lower limb exoskeleton can be infinitely adjusted to meet the limb wearing needs of different users, making it widely applicable.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and not to limit the technical solutions. Those skilled in the art should understand that any modifications or equivalent substitutions to the technical solutions of this utility model that do not depart from the spirit and scope of this technical solution should be covered within the scope of the claims of this utility model.

Claims

1. A lower limb exoskeleton with motion-assisting function, comprising a hip joint mechanism, a thigh mechanism, a knee joint mechanism, a lower leg mechanism, an ankle joint mechanism, a foot mechanism, and a restraint mechanism, characterized in that, It also includes left and right connecting rods, on which two adjusting sliders are provided along the axial direction. The hip joint mechanism includes two sets of hip joint components arranged along the axial direction, and the hip joint components are connected to the adjusting sliders at corresponding positions. The hip joint assembly includes a longitudinally arranged hip joint adduction and external swing rotation axis and a hip joint flexion and extension drive motor. The hip joint flexion and extension drive motor has an outer flange and an inner flange on both sides. Hip joint internal and external rotation rods are provided at both ends of the longitudinal direction of the hip joint adduction and external swing rotation axis. The center of each hip joint internal and external rotation rod forms a revolute joint with the hip joint adduction and external swing rotation axis to adapt to the adduction and external swing movements of the hip joint. An upper cross linkage assembly and a lower cross linkage assembly are provided at both ends of the vertical direction of the hip joint internal and external rotation rods. The linkage assemblies are connected by a support shaft assembly to enable the upper and lower cross linkage assemblies to move synchronously. One end of the upper cross linkage assembly is hinged to the upper side of the hip joint internal and external rotation rod, and the other end of the upper cross linkage assembly is simultaneously hinged to the upper side of the motor outer flange and the upper side of the motor inner flange. One end of the lower cross linkage assembly is hinged to the lower side of the hip joint internal and external rotation rod, and the other end of the lower cross linkage assembly is simultaneously hinged to the lower side of the motor outer flange and the lower side of the motor inner flange, to adapt to the internal and external rotation movements of the hip joint.

2. The lower limb exoskeleton with motion-assisting function according to claim 1, characterized in that, The hip joint internal and external rotation rod is provided with a first torsion spring at the hinge position with the upper cross linkage assembly and the lower cross linkage assembly to limit the range of motion of the upper cross linkage assembly and the lower cross linkage assembly.

3. The lower limb exoskeleton with motion-assisting function according to claim 1, characterized in that, Limiting components are provided at the positions where the hip joint adduction and external rotation axis is rotatably connected to each of the hip joint internal and external rotation rods. Each limiting component includes limiting blocks arranged radially on both sides of the hip joint internal and external rotation rods. A limiting torsion spring is provided between each limiting block and the hip joint internal and external rotation rod to limit the radial movement of the hip joint internal and external rotation rods through the limiting blocks and the limiting torsion springs. Multiple limiting pins are also provided between two limiting blocks. The multiple limiting pins are distributed on both sides of the hip joint internal and external rotation rods, and there is a gap between the hip joint internal and external rotation rods and the limiting pins in the initial state. The hip joint internal and external rotation rods can abut against the limiting pins on the corresponding side when the hip joint is in adduction and external rotation.

4. The lower limb exoskeleton with motion-assisting function according to claim 2, characterized in that, The thigh mechanism includes two thigh assemblies arranged axially. Each thigh assembly includes a thigh telescopic rod assembly and a hip-leg connecting flange. One end of the hip-leg connecting flange is connected to the hip joint flexion-extension drive motor, and the other end of the hip-leg connecting flange is connected to the thigh telescopic rod assembly. The thigh telescopic rod assembly includes an inner thigh rod and an outer thigh rod. One end of the inner thigh rod is connected to the hip-leg connecting flange, and the other end of the inner thigh rod extends into the outer thigh rod. The inner thigh rod and the outer thigh rod are fastened together by a thigh positioning nut and a thigh clamping nut.

5. The lower limb exoskeleton with motion-assisting function according to claim 4, characterized in that, The knee joint mechanism includes two knee joint components arranged axially. Each knee joint component includes a knee joint cam, a knee joint winding wheel, a knee joint shaft, a lower leg slide, a rolling element, and a knee-leg connector. The knee joint cam is fixedly connected to the outer thigh rod. The knee joint cam, the knee joint winding wheel, and the lower leg slide are all hinged to the knee joint shaft, and the knee joint winding wheel and the lower leg slide are fixedly connected. A knee joint Bowden cable is wound on the knee joint winding wheel, and the knee joint Bowden cable is connected to a knee joint servo motor so that when the knee joint servo motor rotates, it drives the knee joint winding wheel to rotate through the knee joint Bowden cable. An arc-shaped cam groove is also provided on the knee joint cam, and the rolling element can roll in the cam groove. The knee-leg connector is hinged to the rolling element and is used to connect to the lower leg mechanism.

6. The lower limb exoskeleton with motion-assisting function according to claim 5, characterized in that, The lower leg mechanism includes two lower leg assemblies arranged along the axial direction. Each lower leg assembly includes an inner lower leg rod and an outer lower leg rod. One end of the inner lower leg rod is connected to the knee-leg connector, and the other end of the inner lower leg rod extends into the outer lower leg rod. The inner lower leg rod and the outer lower leg rod are fastened together by a lower leg positioning nut and a lower leg clamping nut.

7. The lower limb exoskeleton with motion-assisting function according to claim 6, characterized in that, The ankle joint mechanism includes two ankle joint components arranged axially. Each ankle joint component includes an ankle-leg connector, an ankle joint winding reel, an ankle joint rotating rod, and an ankle-foot connector. The ankle joint winding reel is wound with ankle joint Bowden cable, which is also connected to an ankle joint servo motor. This allows the ankle joint servo motor to rotate, driving the ankle joint winding reel via the ankle joint Bowden cable. The ankle-leg connector is fixedly connected to the lower leg outer rod and is also hinged to the ankle joint rotating rod. An ankle joint torsion spring is provided at the hinge point between the ankle-leg connector and the ankle joint rotating rod to limit the rotation range of the ankle joint rotating rod. The ankle joint rotating rod is also fixedly connected to both the ankle joint winding reel and the ankle-foot connector. The ankle-foot connector is used to connect to the foot mechanism.

8. The lower limb exoskeleton with motion-assisting function according to claim 7, characterized in that, The foot mechanism includes two foot components arranged axially. Each foot component includes a flexible shoe cover, a strap, a strap buckle, a rigid fixing block, and an ankle-foot height adjustment rod. The rigid fixing block is fixedly connected to the flexible shoe cover and the ankle-foot height adjustment rod. An adjustment hole and a connection hole are provided on the ankle-foot connector. The ankle-foot height adjustment rod is provided with multiple mounting holes. The ankle-foot height adjustment rod extends into the adjustment hole and can make the positions of the mounting holes and the connection holes correspond at different positions. The mounting holes and the connection holes are fixedly connected by connecting bolts.

9. The lower limb exoskeleton with motion-assisting function according to claim 8, characterized in that, The binding mechanism includes a binding fastener and an elastic binding strap. The binding fastener is used to connect to the thigh mechanism or the calf mechanism, and the elastic binding strap is used to be worn on the human thigh or calf.

10. The lower limb exoskeleton with motion-assisting function according to claim 9, characterized in that, Binding mechanisms are connected to the inner thigh rod, the outer thigh rod, the inner calf rod, and the outer calf rod.

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