An ankle joint component and a lower limb exoskeleton robot

Abstract

This utility model discloses an ankle joint assembly and a lower limb exoskeleton robot, relating to the field of lower limb exoskeleton robot technology. The ankle joint assembly includes: a joint seat fixedly connected to the toe portion of the lower leg assembly; a connecting assembly fixedly connected to the foot, and the connecting assembly and the joint seat are rotatably hinged along a horizontal axis; and a reset assembly for driving the joint seat and the connecting assembly to restore a preset relative rotation angle. This ankle joint assembly and lower limb exoskeleton robot, by adding a reset assembly, allow the toes to droop under gravity when the user raises their lower leg, and when the lower leg is lowered, the reset assembly drives the connecting assembly to reset, thus simulating the function of the ankle joint and allowing the foot or heel to land on the ground. This ensures that the user's calf muscle response is consistent with that of normal walking, guaranteeing the rehabilitation training results of the user's lower limbs.

Description

Technical Field

[0001] This utility model relates to the field of lower limb exoskeleton robot technology, and more specifically, to an ankle joint assembly. Furthermore, this utility model also relates to a lower limb exoskeleton robot including the aforementioned ankle joint assembly. Background Technology

[0002] Currently, lower limb exoskeletons are increasingly widely used in the fields of neurorehabilitation, sports assistance, and military enhancement, helping users gain lower limb assistance and meet their lower limb rehabilitation training needs.

[0003] However, most existing lower limb exoskeleton robots focus on assisting force generation or training in the user's thigh and calf areas, lacking guidance for the user's feet. That is, they can only assist the user in driving hip and knee joint movements, without driving or guiding the ankle joint.

[0004] For patients undergoing lower limb rehabilitation, when moving the lower leg, only the foot and lower leg can move synchronously. As the lower leg lifts forward, the foot follows, and under the influence of gravity, the toes point downwards. However, when the lower leg lands, due to the lack of ankle joint action, the angle between the foot and lower leg cannot be automatically reset, resulting in the toes landing first. The entire walking posture is different from the normal walking posture. Furthermore, the muscle response of the user's lower leg is completely different from that of the lower leg muscles in normal walking, which is not conducive to the user's lower limb rehabilitation training.

[0005] In summary, how to address the problem of poor rehabilitation training results caused by the difference between the walking posture and normal walking posture of lower limb rehabilitation patients during rehabilitation training, as well as the difference in calf muscle response between the two, is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0006] In view of this, the purpose of this utility model is to provide an ankle joint component that, by adding a reset component, allows the toes to droop under gravity when the user raises their lower leg, and when the lower leg is lowered, the reset component can drive the connecting component to reset, thus simulating the function of the ankle joint and allowing the ball of the foot or heel to land on the ground. This makes the user's calf muscle response consistent with the calf muscle response during normal walking, ensuring the rehabilitation training results of the user's lower limbs.

[0007] Another objective of this invention is to provide a lower limb exoskeleton robot that includes the aforementioned ankle joint assembly, possessing the same technical features and capable of solving the same technical problems.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] An ankle joint assembly for connecting the lower leg assembly and foot of a lower limb exoskeleton robot;

[0010] Ankle components, including:

[0011] A joint seat, which is fixedly connected to the toe portion of the lower leg assembly;

[0012] A connecting assembly is fixedly connected to the foot, and the connecting assembly is rotatably hinged to the joint seat along a horizontal axis;

[0013] A reset component is used to drive the joint seat and the connecting component to restore a preset relative rotation angle.

[0014] Preferably, the reset assembly includes two sets of elastic members arranged symmetrically about the rotation axis of the connecting assembly, and the deformation direction of the elastic members is perpendicular to the rotation axis of the connecting assembly;

[0015] The two ends of the elastic element are fixedly connected to the joint seat and the connecting assembly, respectively.

[0016] Preferably, a fixing seat is connected to each end of the elastic element;

[0017] One set of the fixing seats is fixedly connected to the joint seat;

[0018] Another set of the fixing seats is fixedly connected to the strip mounting groove of the connecting assembly, and the installation position of the fixing seats can be adjusted along the length direction of the strip mounting groove, the length direction of the strip mounting groove being consistent with the deformation direction of the elastic element.

[0019] Preferably, the ankle joint assembly further includes an ankle joint motor for driving the connecting assembly to swing relative to the joint seat;

[0020] The control unit of the ankle joint motor is electrically connected to the output terminal of the plantar force sensing component arranged on the foot.

[0021] Preferably, the connecting component is connected to the foot via a plantar force sensing component to detect the relative force between the foot and the connecting component.

[0022] A lower limb exoskeleton robot includes a lower leg assembly, a foot, and an ankle joint assembly as described in any one of the above.

[0023] The toe end of the lower leg assembly is connected to the foot via the ankle shut-off assembly.

[0024] Preferably, the foot includes a relatively fixed posture adapter and a footrest;

[0025] The posture adapter is used to support the user's feet, and the posture adapter is fixedly connected to the connection component;

[0026] The footrest is used to wrap around the calf, thereby enabling the user's foot and calf to move together.

[0027] Preferably, a plantar force sensing component is provided inside the foot, and the output end of the plantar force sensing component is electrically connected to a control unit of at least one of the hip joint motor, knee joint motor and ankle joint motor, for sensing the pressure at different positions of the user's foot and controlling the hip joint motor, the knee joint motor and / or the ankle joint motor.

[0028] Preferably, the lower leg assembly includes a lower leg upper limb and a lower leg lower limb that are slidably mounted relative to each other, for adjusting the length of the lower leg assembly.

[0029] Preferably, it also includes a thigh assembly, wherein the toe portion of the thigh assembly is hinged to the root portion of the calf assembly, and a knee joint motor for driving the two to swing relative to each other is provided at the hinge position.

[0030] The ankle joint component provided by this utility model has at least the following advantages compared with the prior art:

[0031] The ankle joint component connects to the foot, providing support for the user's foot. When the user's lower leg is lifted, the connecting component and the foot rotate relative to the joint seat and lower leg component under the influence of gravity, simulating the function of the ankle joint and causing the user's toes to press down. When the user's lower leg is lowered, the reset component pulls the connecting component back to the proper angle with the lower leg component or joint seat, ensuring that the foot and the user's foot land primarily on the ball of the foot or heel, consistent with the normal walking posture. This ensures that the user's calf muscle response during rehabilitation training is consistent with the calf muscle response during normal walking, thereby guaranteeing the effectiveness of rehabilitation training.

[0032] The lower limb exoskeleton robot provided by this invention includes the ankle joint component described above and has the same beneficial effects. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of the lower limb exoskeleton robot provided by this utility model;

[0035] Figure 2 This is a structural schematic diagram of the lower limb exoskeleton robot provided by this utility model from another perspective.

[0036] Figure 3 Rear view of the lower limb exoskeleton robot provided by this utility model;

[0037] Figure 4 A side view of the lower limb exoskeleton robot provided by this utility model;

[0038] Figure 5 Provided by this utility model Figure 3 Sectional view at point AA;

[0039] Figure 6 Provided by this utility model Figure 3 Sectional view at point BB;

[0040] Figure 7 Provided by this utility model Figure 3 Sectional view at CC;

[0041] Figure 8 Provided by this utility model Figure 4 Sectional view at point DD;

[0042] Figure 9 Provided by this utility model Figure 2 Enlarged view at point E in the middle;

[0043] Figure 10 This is a schematic diagram of the limiting component within the hip joint assembly provided by this utility model.

[0044] Figure 11 This is a schematic diagram of the assembly structure of the ankle joint component and the foot provided by this utility model.

[0045] Figure 12 Exploded view of the ankle joint assembly and foot parts provided by this utility model.

[0046] In the picture:

[0047] 1. Load-bearing components; 11. Handrails; 12. Backrests;

[0048] 2. Hip joint assembly; 21. Hip width slide rail; 211. Limiting ring; 22. Hip width slide seat; 221. Clamping block; 222. Locking bolt; 223. Check screw; 224. Return spring; 23. Outer swing seat; 24. Outer swing arm; 25. Plug; 251. Column; 252. Base;

[0049] 3. Thigh assembly; 31. Upper thigh; 32. Lower thigh; 33. Thigh motion sensing assembly; 331. Fixation assembly; 332. Capture assembly; 333. Torque sensor; 34. Hip joint motor;

[0050] 4. Lower leg component; 41. Upper lower leg; 42. Lower lower leg; 43. Lower leg motion sensing component; 44. Knee joint motor;

[0051] 5. Ankle joint assembly; 51. Foot; 511. Foot support; 512. Posture adapter; 513. Foot force sensing assembly; 52. Connecting assembly; 53. Tension spring; 54. Fixing seat; 55. Joint seat. Detailed Implementation

[0052] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0053] The core of this invention is to provide an ankle joint component. By adding a reset component, when the user raises their lower leg, the toes can droop under the action of gravity. When the lower leg is lowered, the reset component can drive the connecting component to reset, thus simulating the function of the ankle joint and allowing the ball of the foot or heel to touch the ground. This makes the user's calf muscle response consistent with the calf muscle response during normal walking, ensuring the rehabilitation training results of the user's lower limbs.

[0054] Another core aspect of this invention is to provide a lower limb exoskeleton robot that includes the aforementioned ankle joint assembly, possessing the same technical features and capable of solving the same technical problems.

[0055] Example 1:

[0056] Please refer to Figure 3 , Figure 7 , Figure 11 and Figure 12 An ankle joint assembly for connecting the lower leg assembly 4 and foot 51 of a lower limb exoskeleton robot;

[0057] Ankle components, including:

[0058] The joint seat 55 is fixedly connected to the toe of the lower leg assembly 4;

[0059] The connecting component 52 is fixedly connected to the foot 51, and the connecting component 52 is rotatably hinged to the joint seat 55 along the horizontal axis;

[0060] The reset component is used to drive the joint seat 55 and the connecting component 52 to restore the preset relative rotation angle.

[0061] like Figure 3 and Figure 7As shown, after the user completes the wearing process, the user's lower leg is fixed to the lower leg component 4, and the foot is fixed to the foot 51. When the lower leg component 4 lifts the user's lower leg, the foot 51 and foot follow suit. During the process, the toes of the foot 51 and foot naturally droop under the action of gravity. Since the connecting component 52 and the joint seat 55 are hinged, it will not affect the movement of the user's ankle joint, that is, it will not affect the natural drooping of the toes. During the process, the reset component can counteract the effect of the weight of the foot 51 on the drooping of the user's toes.

[0062] When the user's foot lands, the reset component helps the user's ankle joint to reset, ensuring that the user's foot and lower leg return to their original angle.

[0063] In some embodiments, the reset assembly includes two sets of elastic members arranged symmetrically about the rotation axis of the connecting assembly 52, and the deformation direction of the elastic members is perpendicular to the rotation axis of the connecting assembly 52.

[0064] The two ends of the elastic element are fixedly connected to the joint seat 55 and the connecting assembly 52, respectively.

[0065] like Figure 7 As shown, the reset assembly includes two sets of tension springs 53 symmetrically arranged about the rotation axis of the connecting assembly 52. ​​When the connecting assembly 52 is flipped to one side relative to the joint seat 55, the corresponding tension spring 53 is compressed, while the tension spring 53 on the other side is stretched and stores energy, providing a driving force for the reset of the connecting assembly 52. ​​When the connecting assembly 52 is flipped to the other side, the stretched tension spring 53 is changed, which also provides a driving force for the reset of the connecting assembly 52.

[0066] In some embodiments, the reset component is a torsion spring, which is directly positioned at the rotational position of the connecting component 52 and the joint seat 55, and can achieve the same effect.

[0067] In some embodiments, fixed seats 54 are respectively connected to both ends of the elastic member;

[0068] One set of fixed seats 54 is fixedly connected to the joint seat 55;

[0069] Another set of fixing seats 54 are fixedly connected to the strip mounting groove of the connecting component 52, and the installation position of the fixing seat 54 can be adjusted along the length direction of the strip mounting groove, the length direction of the strip mounting groove is consistent with the deformation direction of the elastic element.

[0070] like Figure 7As shown, the tension spring 53 has independent fixing seats 54 at both ends. One fixing seat 54 is fixed to the joint seat 55, and the other fixing seat 54 is installed in conjunction with the strip mounting groove on the connecting component 52. The fixing seat 54 can be adjusted in position within the strip mounting groove to change the initial length of the tension spring 53, that is, to change the initial deformation and elastic force of the tension spring 53. In application, there is a certain horizontal distance between the center of gravity of the foot 51 and the rotation axis of the connecting component 52. Therefore, by increasing the initial deformation and elastic force of the tension spring 53 on the side away from the center of gravity of the foot 51, the user's foot and lower leg are not affected by the external force interference of the lower leg component 4 and the foot 51 when the user wears it, thus preventing the user's ankle joint from moving. Only when the user walks with the assistance of the lower limb exoskeleton robot, the ankle joint component 5 and the user's ankle joint move under the drive of the user's own lower leg and / or foot muscles. When the user's foot hits the ground, the ankle joint component 5 can work together to drive the user's ankle joint to reset.

[0071] In some embodiments, the ankle joint assembly further includes an ankle joint motor for driving the connection assembly 52 to swing relative to the joint seat 55.

[0072] The control unit of the ankle joint motor is electrically connected to the output of the plantar force sensing component 513 arranged on the foot 51.

[0073] For users with partial ankle joint damage who lack voluntary movement, an ankle joint motor is integrated into the ankle joint component 5 to drive the connecting component 52 to swing relative to the joint seat 55. At the same time, a foot force sensing component 513 is integrated into the foot 51 to sense the user's foot contact force, thereby judging the user's movement posture and assisting in the control of the ankle joint motor. This ensures the correct driving of the motors of all joints in the lower limb exoskeleton robot, including the ankle joint, so that the user can obtain the correct walking posture.

[0074] In some embodiments, the connecting component 52 is connected to the foot 51 via a plantar force sensing component 513 for detecting the relative force between the foot 51 and the connecting component 52.

[0075] like Figure 11 and Figure 12 As shown, the foot 51 is fixed to the connecting component 52 by the foot force sensing component 513. When the foot 51 feels the force from the user's foot, the foot force sensing component 513 can detect the force and feed it back to the control unit of the lower limb exoskeleton robot for the control of the motors of each joint in the lower limb exoskeleton robot.

[0076] In addition to the ankle joint components disclosed in the above embodiments, the present invention also provides a lower limb exoskeleton robot including the above-mentioned ankle joint components, including a lower leg component 4, a foot 51 and the ankle joint component of any one of the above.

[0077] The toe tip of the calf assembly 4 is connected to the foot 51 via the ankle shut-off assembly.

[0078] In some embodiments, the foot 51 includes a relatively fixed posture adapter 512 and a footrest 511;

[0079] The posture adapter 512 is used to support the user's feet, and the posture adapter 512 is fixedly connected to the connection component 52;

[0080] The footrest 511 is designed to wrap around the calf, thereby encouraging the user's foot and calf to move together.

[0081] like Figure 12 As shown, the posture adapter 512 inside the foot 51 is used to support the user's foot, directly bear the force from the foot, and fix the foot.

[0082] For users with ankle joint movement disorders, ankle joint movements should be avoided during rehabilitation training. Therefore, a foot support 511 fixed to the posture adapter 512 is added to wrap the user's lower leg, thereby making the user's lower leg and foot a single unit. During exercise, the two no longer rotate relative to each other, thus avoiding ankle joint movements.

[0083] In some embodiments, a plantar force sensing component 513 is provided in the foot 51. The output end of the plantar force sensing component 513 is electrically connected to a control unit of at least one of the hip joint motor 34, the knee joint motor 44 and the ankle joint motor, for sensing the pressure at different positions of the user's foot and controlling the hip joint motor 34, the knee joint motor 44 and / or the ankle joint motor.

[0084] The foot pressure sensing component 513 senses the user's foot pressure on the ground, which serves as the control condition for the joint motors in the lower limb exoskeleton robot, so that each joint motor can obtain accurate drive timing and ensure that the user obtains the correct walking posture.

[0085] Example 2:

[0086] Please refer to Figure 5 An adjustable modular mounting assembly is provided for connecting a first component and a second component;

[0087] Adjustable modular mounting components, including:

[0088] The slide block is connected to the first component and has a locking component that is slidably installed inside it.

[0089] The slide rail is connected to the second component and is slidably installed with the slide block. The sliding direction of the slide rail and the locking component has a non-zero angle. The slide rail is provided with several limiting grooves along its own sliding direction. When the locking component abuts against the slide rail, the limiting protrusion of the locking component can engage with the limiting groove at the corresponding position of the slide rail to limit the sliding of the slide rail.

[0090] The locking mechanism is used to drive the locking component to abut against the slide rail.

[0091] like Figure 5 As shown, in the application of the lower limb exoskeleton robot, the hip width slide rail 21 serves as the slide rail, the hip width slide seat 22 serves as the slide seat, the clamping block 221 serves as the locking component, and the locking bolt 222 serves as the locking mechanism. By sliding the hip width slide rail 21 and the hip width slide seat 22 relative to each other, the width between the hip joint components 2 on both sides of the bearing component 1 is changed to suit users with different body widths. At the same time, the hip width slide rail 21 is provided with several limiting grooves along the sliding direction. When the clamping block 221 abuts against the hip width slide rail 21 under the action of the locking bolt 222, the limiting protrusion at the end of the clamping block 221 can engage with the limiting groove on the hip width slide rail 21, thereby limiting the relative sliding between the hip width slide rail 21 and the hip width slide seat 22. This achieves the fixation of the width of the hip joint components 2 on both sides of the bearing component 1, ensuring the stability of the lower limb exoskeleton robot during use.

[0092] Simultaneously, under the action of the locking bolt 222, the clamping block 221 applies positive pressure to the hip width slide rail 21 along its own sliding direction. Since there is a non-zero angle between the sliding direction of the clamping block 221 and the hip width slide rail 21, preferably the two sliding directions are perpendicular, the positive pressure applied by the clamping block 221 to the hip width slide rail 21 can be transformed into frictional force that inhibits the hip width slide rail 21 from sliding along its original direction. That is, it eliminates the movement margin of the hip width slide rail 21 after fixation, avoids metal fatigue of the clamping block 221 and / or the hip width slide rail 21 caused by its frequent movement, and at the same time ensures the connection stability between the hip joint assembly 2 and the bearing assembly 1, which helps to ensure the accuracy of the gait phase acquisition of the lower limb exoskeleton robot.

[0093] like Figure 5 As shown, the hip joint assembly 2 also includes an outer swing seat 23 and an outer swing arm 24. The toe end of the outer swing seat 23 can serve as a slide seat, and the outer swing arm 24 can serve as a slide rail, forming an adjustable modular mounting assembly to change the length of the hip joint assembly 2 in the human body thickness direction, that is, to change the distance between the load-bearing assembly 1 and the thigh assembly 3 in the human body thickness direction, so as to suit users of different body shapes.

[0094] like Figure 4 and Figure 8As shown, the thigh assembly 3 includes an upper thigh limb 31 and a lower thigh limb 32. The toes of the upper thigh limb 31 can serve as a slide seat, and the lower thigh limb 32 can serve as a slide rail, forming an adjustable modular mounting assembly to change the length of the thigh assembly 3 to suit users with different thigh lengths.

[0095] like Figure 4 As shown, the lower leg assembly 4 includes an upper lower leg 41 and a lower lower leg 42. The toe of the upper lower leg 41 can serve as a slide, and the lower lower leg 42 can serve as a slide rail, forming an adjustable modular mounting assembly to change the length of the lower leg assembly 4 to suit users with different lower leg lengths.

[0096] In some embodiments, the contact surface between the limiting groove and the limiting protrusion is a non-self-locking surface, which can drive the locking component to generate a movement tendency away from the slide rail when the slide rail has a sliding tendency.

[0097] like Figure 5 As shown, the limiting protrusion and the limiting groove are designed with matching teeth. Their contact surface is a non-self-locking surface. When the driving force of the locking mechanism on the locking component disappears, and the slide rail slides along its original sliding direction, the interaction of the contact surfaces can push the locking component away from the slide rail. That is, the locking protrusion and the limiting groove fail to engage, releasing the restriction on the sliding of the slide rail. In other words, after the locking mechanism is released, the slide rail can be directly adjusted, improving the convenience of adjustment.

[0098] In some embodiments, an elastic element is provided between the locking component and the slide block to drive the locking component away from the slide rail.

[0099] like Figure 5 As shown, a return spring 224 is located between the locking component and the slide. When the locking mechanism is released, the return spring 224 can drive the locking component to disengage from the slide, thereby releasing the engagement between the limiting protrusion and the limiting groove. This facilitates the direct adjustment of the slide rail. For example, after the locking mechanism is engaged, the width between the two hip joint components 2, the length of the hip joint component 2, the length of the thigh component 3, and the length of the calf component 4 can be directly adjusted.

[0100] In some embodiments, a first slide rail is provided inside the slide block, and the slide rail is slidably disposed in the first slide rail;

[0101] The slide block is provided with a second slide rail that is vertically connected to the first slide rail. The locking component is slidably disposed in the second slide rail. When the locking component abuts against the slide rail, it can increase the positive pressure between the slide rail and the inner wall of the first slide rail.

[0102] like Figure 5As shown, when the hip width slide 22 serves as the slide, the hip width slide rail 21 serves as the slide rail, and the clamping block 221 serves as the locking component, the hip width slide rail 21 slides along the width direction of the body after wearing, and the clamping block 221 slides along the thickness direction of the body after wearing. The sliding directions of the two are perpendicular. When the locking bolt 222 drives the clamping block 221 to abut against the hip width slide rail 21, the clamping block 221 applies positive pressure to the hip width slide rail 21 to increase the friction between the hip width slide rail 21 and the hip width slide 22, thereby avoiding slight relative movement between the hip width slide rail 21 and the hip width slide 22 during use, that is, eliminating the movement margin of the two and ensuring the accuracy of gait phase acquisition.

[0103] In some embodiments, the locking component has a C-shaped structure, with both ends inserted into the second slide rail, and can engage with the limiting groove at the corresponding position of the slide rail.

[0104] like Figure 5 As shown, the clamping block 221 serves as a locking component. Two second slides are provided on the surface of the slide block. The two ends of the C-shaped clamping block 221 are respectively inserted into the second slides at corresponding positions. That is, both ends of the clamping block 221 can act as limiting protrusions and engage with the limiting grooves in the slide rail. At the same time, in the design, the distance between the two ends of the clamping block 221 can be set such that the limiting protrusions at both ends abut against different side walls of the limiting grooves at corresponding positions. This allows the clamping block 221 to eliminate the sliding allowance of the slide rail after it is engaged with the slide rail, thereby ensuring the accuracy of gait phase acquisition.

[0105] In some embodiments, the locking mechanism includes a locking bolt 222, which passes through the through hole of the locking component and is threadedly connected to the slide block. The locking bolt 222 has a stepped surface that abuts against the locking component, which is used to drive the locking component to generate a movement tendency to abut against the slide rail.

[0106] like Figure 5 As shown, the locking mechanism in the hip joint assembly 2 is locked by a locking bolt 222. A stepped surface is provided in the middle section of the locking bolt 222, which abuts against the middle section of the pressing block 221 to drive the pressing block 221 to abut against the slide rail, ensuring that a preset positive pressure can be generated between the two under the action of the locking bolt 222.

[0107] In some embodiments, the threaded hole of the slide for connecting with the locking bolt 222 is a through hole, and the end of the locking bolt 222 is provided with a check screw 223 to prevent the locking bolt 222 from disengaging from the threaded hole.

[0108] like Figure 5 As shown, the threaded hole of the slide for connecting with the locking bolt 222 is set as a through hole, and a check screw 223 is provided at the end of the locking bolt 222 to prevent the locking bolt 222 from completely disengaging from the threaded hole and to prevent the locking bolt 222 from disengaging from the slide during the adjustment process;

[0109] At the same time, such as Figure 6 As shown, when the outer swing arm 24 is used as a slide rail, a strip groove is provided in its middle part along the length direction. The locking bolt 222 can pass through the strip groove. That is, when the locking bolt 222 is not completely separated from the threaded hole, the locking bolt 222 will not be able to be separated from the strip groove of the slide rail. In other words, the slide rail and the slide block cannot be completely separated, thus avoiding the separation of adjacent components during the adjustment process.

[0110] In some embodiments, the locking mechanism includes an eccentric wheel and a handle for driving the eccentric wheel to rotate. The eccentric wheel is rotatably mounted to the slide block. When the large-diameter end of the eccentric wheel abuts against the locking member, it can drive the locking member to abut against the slide rail.

[0111] Furthermore, the slide block is equipped with a removable limit pin. When the large diameter end of the eccentric wheel abuts against the locking component, the limit pin can suppress the rotation of the eccentric wheel.

[0112] like Figure 8 As shown, in the thigh assembly 3 and the lower leg assembly 4, the upper limb and lower limb are used as the slide seat and slide rail respectively. By sliding the two relative to each other, the length of the thigh and lower leg can be adjusted to accommodate users of different heights. The locking mechanism of this part adopts an eccentric wheel design. That is, the handle drives the eccentric wheel to rotate. When the large diameter end of the eccentric wheel abuts against the locking component, the locking component abuts against the slide rail, and the limiting protrusion engages with the limiting groove. When the small diameter end of the eccentric wheel abuts against the locking component, the positive pressure between the locking component and the slide rail disappears. When the slide rail moves, the limiting protrusion and the limiting groove disengage, releasing the restriction on the movement of the slide rail.

[0113] Meanwhile, to ensure the lengths of the thigh assembly 3 and the lower leg assembly 4 are fixed during use, the movement of the locking mechanism is locked, such as... Figure 8 As shown, a pluggable limit pin is provided at the handle or eccentric wheel. When the handle or eccentric wheel rotates to the preset position, if the large diameter end of the eccentric wheel abuts against the locking component, the limit pin is inserted to suppress the rotation of the eccentric wheel or handle, thereby locking the locking mechanism. At this time, the slide rail and the locking component are locked, and the slide rail and the slide base cannot be adjusted, thus ensuring that the lengths of the thigh assembly 3 and the lower leg assembly 4 are fixed.

[0114] Example 3:

[0115] Please refer to Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 9 A hip joint assembly is provided for connecting a support assembly 1 and a thigh assembly 3;

[0116] Hip joint components, including:

[0117] The outward swing assembly has its root hinged to the bearing assembly 1 along the vertical axis, and its toe is connected to the thigh assembly 3;

[0118] The limiting component can restrict the swing of the outward swing component relative to the support component 1 when the outward swing component swings to a preset angle relative to the support component 1.

[0119] like Figure 1 As shown, the lower limb exoskeleton robot includes a support component 1, a hip joint component 2, and a thigh component 3. The hip joint component 2 is used to connect the support component 1 and the thigh component 3. In normal use, the hip joint components 2 on both sides of the support component 1 should have a relatively fixed relative positional relationship. However, when putting on and taking off the lower limb exoskeleton robot in a sitting position, the distance between the user's hip joints on both sides increases, which is greater than the distance between the hip joint components 2 on both sides of the lower limb exoskeleton robot, making it difficult to put on and take off the lower limb exoskeleton robot. Therefore, by adding an outward swing component inside the hip joint component 2, it can swing relative to the support component 1. When used in a standing position, the outward swing component can be restricted by a limiting component to fix it to the support component 1 at a preset swing angle, thus ensuring that the relative position of the outward swing components on both sides of the support component 1 is fixed, that is, the relative position of the hip joint components 2 on both sides of the support component 1 is fixed.

[0120] The limiting component can be made by using a pin that connects the bearing component 1 and the swing component together, or by using a male and female buckle that are fixed to the bearing component 1 and the swing component respectively, both of which can achieve the above effect.

[0121] In some embodiments, the limiting component includes a plunger 25 slidably mounted to the bearing component 1, and the swing component is provided with a limiting hole;

[0122] When the outward swing component swings relative to the bearing component 1 to a preset angle, the plug 25 can be inserted into the limiting hole to suppress the swing of the outward swing component relative to the bearing component 1.

[0123] The sliding direction of the plunger 25 has a non-zero angle with the swing direction of the external swing assembly.

[0124] like Figure 6 As shown, the limiting component includes a plunger 25, which can be simultaneously inserted into the pin holes of the bearing component 1 and the swing component to limit the relative swing of the two. Preferably, the insertion direction of the plunger 25 is parallel to and does not coincide with the rotation axis of the swing component, that is, the sliding of the plunger 25 is perpendicular to the swing direction of the swing component.

[0125] In some embodiments, the plunger 25 is slidably mounted relative to the bearing assembly 1, and when the plunger 25 is inserted into the limiting hole of the swing assembly, the limiting of the swing assembly is completed.

[0126] In some embodiments, the plunger 25 includes a plunger 251 and a base 252;

[0127] The base 252 is fixedly connected to the bearing component 1, and the base 252 is provided with a through strip-shaped limiting groove and a column hole. The length direction of the strip-shaped limiting groove has a non-zero angle with the sliding direction of the plug 25.

[0128] The column 251 is provided with a limiting block that is adapted to the strip limiting groove. Only when the column 251 and the base 252 rotate relative to each other until the projection of the strip limiting groove and the limiting block along the axial direction overlaps, the column 251 can pass through the column hole and be inserted into the limiting hole.

[0129] like Figure 6 and Figure 10 As shown, the plunger 25 includes a plunger 251 and a base 252. The base 252 has a through hole through which the plunger 251 passes. The plunger 251 and the base 252 are respectively provided with a limiting block and a strip-shaped limiting groove that can be adapted to each other. When the limiting block and the strip-shaped limiting groove rotate relative to each other by a preset angle, the limiting block can be inserted into the strip-shaped limiting groove. At this time, the plunger 251 passes through the plunger hole. When the limiting block and the strip-shaped limiting groove have not rotated to the preset angle, the limiting block cannot be inserted into the strip-shaped limiting groove. At this time, the plunger 251 will not be able to pass through the plunger hole.

[0130] Therefore, when in use, the base 252 is fixedly connected to the bearing component 1. When the limiting block and the strip limiting groove rotate relative to each other by a preset angle, the column 251 passes through the column hole and is inserted into the limiting hole of the swing component to complete the limiting of the swing component. The swing component will not be able to swing relative to the bearing component 1.

[0131] When the limiting block and the strip limiting groove do not rotate relative to each other by a preset angle, the column 251 cannot pass through the column hole and be inserted into the limiting hole of the swing component, that is, the limiting of the swing component is eliminated. At this time, the swing component can swing relative to the bearing component 1.

[0132] In some embodiments, the limiting component includes a plunger 25 that is slidably mounted to the swing component;

[0133] When the outward swing component swings relative to the support component 1 to a preset angle, the plug 25 can be inserted into the limiting hole in the support component 1 to suppress the swing of the outward swing component relative to the support component 1.

[0134] The sliding direction of the plunger 25 has a non-zero angle with the swing direction of the external swing assembly.

[0135] The plunger 25 is slidably installed relative to the outer swing assembly. When the plunger 25 is inserted into the limiting hole in the bearing assembly 1, the outer swing assembly is limited. The sliding direction of the plunger 25 is perpendicular to the swing direction of the outer swing assembly.

[0136] In some embodiments, the swing assembly includes a swing seat 23 and a swing arm 24;

[0137] The root of the outer swing seat 23 is rotatably hinged to the bearing component 1;

[0138] The toe of the outer swing arm 24 is connected to the thigh assembly 3;

[0139] The toe of the outer swing seat 23 and the root of the outer swing arm 24 are slidably installed along their own length direction, and a locking mechanism is provided between the outer swing seat 23 and the outer swing arm 24 to lock the two relative sliding strokes.

[0140] like Figure 6 As shown, the outer swing assembly includes an outer swing base 23 and an outer swing arm 24, which are slidably installed. The folding paper has a locking mechanism to prevent any relative sliding stroke of the two. That is, by adjusting the relative sliding stroke of the outer swing base 23 and the outer swing arm 24, the length of the outer swing assembly can be changed, which is suitable for users of different body types and thicknesses, thereby improving the user's comfort.

[0141] In some embodiments, the hip joint assembly further includes a hip width slide rail 21 and a hip width slide seat 22, the hip width slide rail 21 and the hip width slide seat 22 are slidably mounted relative to each other in the horizontal direction, and a locking mechanism is provided between the hip width slide rail 21 and the hip width slide seat 22 to lock any relative sliding stroke of the two.

[0142] The hip width slide 22 is fixedly connected to the load-bearing assembly 1;

[0143] The outward swing assembly is pivotally hinged to the hip width slide rail 21 along the vertical axis.

[0144] like Figure 5 As shown, the hip joint assembly 2 also includes a hip width slide rail 21 and a hip width slide seat 22, which are slidably installed and are provided with a locking mechanism to lock any stroke of the two. The sliding direction of the hip width slide rail 21 is the width direction of the user after wearing the device. That is, by changing the relative movement stroke of the hip width slide rail 21 and the hip width slide seat 22, the distance between the two hip joint assemblies 2 can be changed, which is suitable for users with different body widths and improves the user experience.

[0145] In some embodiments, a semi-enclosed limiting ring 211 is provided inside the hip width slide rail 21 and / or the bearing assembly 1, and the center line of the limiting ring 211 overlaps with the rotation axis of the outward swing assembly.

[0146] When the swing component swings to a preset angle, the peripheral wall of the swing component abuts against one side of the opening end of the limiting ring 211 to limit the maximum swing angle of the swing component.

[0147] like Figure 5As shown, a limiting ring 211 is provided in the hip width slide rail 21 and / or the bearing component 1. The limiting ring 211, with its semi-enclosed design, allows the outward swing component to rotate in its open position, thereby limiting the maximum rotation angle of the outward swing component, which in turn limits the maximum adjustment range of the hip joint components 2 on both sides of the bearing component 1, preventing them from swinging freely and affecting wearability.

[0148] Example 4:

[0149] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 A lower limb mirror training system is provided for mirror training of a lower limb exoskeleton robot, comprising:

[0150] At least one sensing component is fixedly connected to one side of the lower limb skeleton of the lower limb exoskeleton robot to sense the motion state of the user's lower limb within the lower limb skeleton;

[0151] At least one actuation component is provided for driving the movement of the lower limb skeleton on the other side of the lower limb exoskeleton robot, and the control unit of the actuation component is electrically connected to the output of the sensing component.

[0152] The control module is used to acquire the perception results of the sensing component and delay-drive the execution component on the other side to enable the user's lower limbs on the other side to acquire the same motion posture after a delay.

[0153] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a sensing component is fixedly installed on at least one side of the lower limb bone of the lower limb exoskeleton robot to sense the motion state of the user's lower limb on the corresponding side and transmit the motion state to the control module.

[0154] Meanwhile, an execution component is set on the lower limb bone on the other side of the lower limb exoskeleton robot. The control module obtains the motion state perceived by the sensing component and drives the execution component to drive the lower limb bone on this side to obtain the same motion state. The driving timing is delayed, that is, the user's lower limb movement on the execution side is later than the user's lower limb movement on the sensing side, thereby simulating the alternation of legs when the human body walks normally.

[0155] In some embodiments, an execution component is provided in the lower limb bone on the same side as the sensing side. In this case, when the sensing component senses that the user's lower limb on the corresponding side has a movement tendency, it immediately drives the execution component on this side through the control module so that the user's lower limb on this side can obtain an auxiliary driving force.

[0156] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the lower limb exoskeleton robot has sensing components and execution components installed in the lower limb bones on both sides. The sensing components can sense the movement status and movement trend of the user's lower limb on this side, and the execution components can drive the movement of the lower limb bones on this side.

[0157] In some embodiments, the sensing component includes a fixing component 331 and a capturing component 332, and a torque sensor 333 is provided between the fixing component 331 and the capturing component 332 for detecting the motion state of the capturing component 332 relative to the fixing component 331.

[0158] Fixation component 331 is used for fixed connection with the lower limb bones;

[0159] The capture component 332 is used to contact the motion trend surface of the user's lower limbs to sense the motion state of the user's lower limbs.

[0160] like Figure 1 and Figure 2 As shown, the sensing component includes a fixing component 331 and a capturing component 332. The fixing component 331 fixes the capturing component 332 to the lower limb skeleton, and a torque sensor 333 is set between the capturing component 332 and the fixing component 331. When the user's lower limb has a forward movement tendency, the movement tendency surface of the user's lower limb will abut against the capturing component 332 and generate positive pressure. At this time, the torque sensor 333 collects the magnitude and duration of the force, calculates the movement stroke and speed of the user's lower limb driving the lower limb skeleton on this side. When the user's lower limb on this side finishes the movement, it controls the execution component of the lower limb skeleton on the other side to drive it at the same speed and stroke, so that the user's lower limb on the corresponding side can obtain the same movement stroke and speed.

[0161] In some embodiments, the fixing component 331 and the capturing component 332 are rotatably mounted, and the distance between the torque sensor 333 and the axis of rotation of the capturing component 332 is less than the distance between the lower limb contact point on the surface of the capturing component 332 and the axis of rotation of the capturing component 332.

[0162] like Figure 1 and Figure 2 As shown, the fixing component 331 and the capturing component 332 are rotated. A torque sensor can be set at the position of the rotation axis of both to obtain the motion state between the fixing component 331 and the capturing component 332. Alternatively, a torque sensor 333 can be set at a preset distance from the rotation axis. This ensures that the distance from the point of contact between the capturing component 332 and the user's lower limb movement trend surface to the rotation axis is greater than the distance from the torque sensor 333 to the rotation axis. By using a lever to move away from the point of contact, the measured torque is amplified, thereby improving the accuracy of torque detection.

[0163] In some embodiments, the sensing components include thigh motion sensing component 33 and / or calf motion sensing component 43;

[0164] The thigh motion sensing component 33 is fixedly connected to the thigh component 3 of the lower limb exoskeleton robot and is used to sense the motion status of the user's thigh on the corresponding side.

[0165] The lower leg motion sensing component 43 is fixedly connected to the lower leg component 4 of the lower limb exoskeleton robot and is used to sense the motion status of the user's lower leg on the corresponding side.

[0166] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the sensing component includes a thigh motion sensing component 33 located at the thigh component 3 and a calf motion sensing component 43 located at the calf component 4. Through the coordinated sensing of the thigh motion sensing component 33 and the calf motion sensing component 43, the overall motion posture of the user's lower limb thigh and calf on the corresponding side is obtained, so as to drive the thigh component 3 and the calf component 4 on the other side to drive the user's lower limb on the other side to obtain the same motion posture.

[0167] In some embodiments, the sensing components include a plantar force sensing component 513 disposed on the foot 51 of the lower limb exoskeleton robot for sensing the ground pressure of the user's foot.

[0168] like Figure 12 As shown, a plantar force sensing component 513 is provided in the foot 51. When the user walks, the sensing results of the plantar force sensing component 513 are significantly different when the user's foot touches the ground and when it leaves the ground. The sensing results of the plantar force sensing component 513 can be used as the judgment condition for whether the user's foot touches the ground, and then the execution side is controlled to start the drive of the execution component to obtain the same movement posture as the user's lower limb on the sensing side.

[0169] In some embodiments, the plantar force sensing component 513 includes a heel pressure sensing part and / or a forefoot pressure distribution sensing part;

[0170] The heel pressure sensor is used to sense the ground contact pressure of the user's heel;

[0171] The forefoot pressure distribution sensor is used to sense the pressure distribution of the forefoot when it contacts the ground.

[0172] During normal walking, the forefoot contact pressure and heel contact pressure exhibit different variation curves. Detailed analysis of the forefoot contact pressure and heel contact pressure helps to more accurately determine the user's foot contact state, further precisely control the timing of the actuators on the execution side, and enable the user's lower limbs on the execution side to obtain accurate muscle movements, thus promoting neuronal regeneration.

[0173] In some embodiments, the actuation component includes at least one of a hip joint motor 34, a knee joint motor 44, and an ankle joint motor;

[0174] The hip joint motor 34 is located at the hip joint assembly 2 of the lower limb exoskeleton robot and is used to drive the thigh assembly 3 of the lower limb exoskeleton robot to swing relative to the hip joint.

[0175] Knee joint motor 44 is arranged at the knee joint assembly of the lower limb exoskeleton robot and is used to drive the lower leg assembly 4 of the lower limb exoskeleton robot to swing relative to the knee joint.

[0176] An ankle motor is located at the ankle joint of the lower limb exoskeleton robot and is used to drive the foot 51 of the lower limb exoskeleton robot to swing relative to the ankle joint.

[0177] The execution components include at least one of a hip joint motor 34, a knee joint motor 44, and an ankle joint motor. The motors have integrated encoders that can accurately obtain their own rotation angles. If the lower limb bone on this side is used as the sensing side, the above motors are not used as execution components. Instead, the encoders inside them are used to obtain rotation angle data as part of the motion state data, so that the motors on the execution side can replicate the same motion state.

[0178] Example 5:

[0179] Please refer to Figure 1 and Figure 2 This invention provides a lower limb exoskeleton robot to assist users in lower limb exercises;

[0180] Lower limb exoskeleton robots, including:

[0181] Support component 1 is used to fix the user's upper torso and / or waist and abdomen;

[0182] The hip joint assembly 2 is fixedly connected at its root to the side of the support assembly 1 via a detachable mounting assembly.

[0183] Thigh assembly 3, the base of which is pivotally hinged to the toe portion of hip joint assembly 2;

[0184] The lower leg assembly 4 is pivotally hinged at its base to the toe of the thigh assembly 3.

[0185] Ankle joint component 5, the base of which is rotatably hinged to the toe of the lower leg component 4, and the toe end of ankle joint component 5 is fixedly provided with foot part 51 for fixing the user's foot.

[0186] The thigh assembly 3 and / or the calf assembly 4 include detachable upper and lower limbs.

[0187] like Figure 1 and Figure 2As shown, the lower limb exoskeleton robot adopts a modular design. The hip joint component 2 and the load-bearing component 1 can be detached and installed. That is, during transportation, the lower limb exoskeleton robot can be disassembled into three parts: the load-bearing component 1, the left lower limb bone, and the right lower limb bone, in order to reduce the volume and facilitate transportation. In addition, when a local failure occurs, maintenance can be carried out by replacing the component in the corresponding position, which improves the convenience of maintenance.

[0188] like Figure 3 and Figure 4 As shown, the thigh assembly 3 and / or the lower leg assembly 4 include detachably connected upper and lower limbs, meaning that the left lower limb bones and / or the right lower limb bones can be further disassembled into smaller modules, which helps to further reduce the volume of individual modules and improve the convenience of transportation and maintenance.

[0189] When in use, the carrying component 1 is fixed to the user's upper torso and / or waist and abdomen by the backpack-style shoulder straps, the thigh component 3 is tied to the user's thigh by the straps, the lower leg component 4 is tied to the user's lower leg by the straps, and the user's feet are placed into the foot 51 for fixation, thus completing the wearing of the lower limb exoskeleton robot.

[0190] During use, the battery and control module in the bearing component 1 are used to provide power and send control commands, respectively, to drive the hip joint motor 34 at the connection position between the hip joint component 2 and the thigh component 3 to move the thigh component 3, and to drive the knee joint motor 44 at the connection position between the thigh component 3 and the lower leg component 4 to move the lower leg component 4, so as to assist the user in completing normal walking training.

[0191] The load-bearing component 1 includes a handrail 11 and a back frame 12. The back frame 12 is used to abut against the user's back and / or lower back, and can accommodate a drive battery and a control module. The handrail 11 is installed at the rear of the back frame 12, so that the assistant can hold the handrail 11 to assist the user in wearing and walking, ensuring the user's safety during use.

[0192] In some embodiments, the hip joint assembly 2 includes a first locking mechanism and a hip width slide rail 21 and a hip width slide seat 22 that are slidable relative to each other. The locking mechanism is used to lock the relative positional relationship between the hip width slide rail 21 and the hip width slide seat 22.

[0193] The hip width slide 22 is fixedly connected to the load-bearing assembly 1;

[0194] The toe portion of the hip width slide rail 21 is hinged to the thigh assembly 3;

[0195] Furthermore, the relative sliding direction of the hip width slide rail 21 and the hip width slide seat 22 is parallel to the rotation axis of the swing of the thigh assembly 3.

[0196] like Figure 5As shown, the hip width slide rail 21 and the hip width slide seat 22 are installed in a relatively sliding manner. When the relative sliding between the two exceeds the maximum stroke, the hip width slide rail 21 disengages from the hip width slide seat 22, thus completing the disassembly of the hip joint assembly 2 and the load-bearing assembly 1.

[0197] Meanwhile, by sliding the hip width slide rail 21 and the hip width slide seat 22 relative to each other, the distance between the toe of the hip width slide rail 21 and the support component 1 is changed, that is, the distance between the hip joint components 2 on both sides of the support component 1 is changed, so as to suit users of different body shapes. Moreover, the relative sliding direction of the hip width slide rail 21 and the hip width slide seat 22 is parallel to the swing rotation axis of the thigh component 3, so adjusting the distance between the hip joint components 2 on both sides will not affect the swing of the thigh component 3.

[0198] In some embodiments, the hip joint assembly 2 further includes an outward swing assembly and a limiting assembly, the root of the outward swing assembly being rotatably hinged to the toe portion of the hip width slide rail 21, the toe portion of the outward swing assembly being rotatably hinged to the root of the thigh assembly 3, and the limiting assembly locking the relative swing angle between the outward swing assembly and the hip width slide rail 21.

[0199] like Figure 5 and Figure 6 As shown, the hip joint assembly 2 includes an outward swing assembly that is rotatably hinged to the hip width slide rail 21. By rotating the outward swing assembly relative to the hip width slide rail 21, the included angle between the two hip joint assemblies 2 can be adjusted to suit the user's wearing of the lower limb exoskeleton robot in a sitting posture. After the user has finished wearing the robot and is using it in a standing posture, the outward swing assembly is returned to its original position and then locked to the hip width slide rail 21 by a limiting assembly to prevent it from swinging again. This ensures that the two hip joint assemblies 2 have a fixed included angle suitable for the user's walking posture during use.

[0200] The above adjustments enable users to quickly adjust the hip joint component 2 when wearing the lower limb exoskeleton robot, thereby improving the wearing experience.

[0201] In some embodiments, the outward swing assembly includes a second locking mechanism and an outward swing base 23 and an outward swing arm 24 that are capable of sliding relative to each other. The second locking mechanism is used to lock the relative positional relationship between the outward swing base 23 and the outward swing arm 24.

[0202] The root of the outer swing seat 23 is pivotally hinged to the toe of the hip width slide rail 21;

[0203] The toe of the outer swing arm 24 is pivotally hinged to the root of the thigh assembly 3.

[0204] like Figure 5 and Figure 6As shown, the outward swing assembly includes an outward swing seat 23 and an outward swing arm 24 that can slide relative to each other. By sliding the two, the distance between the hinge position of the hip joint assembly 2 and the thigh assembly 3 and the load-bearing assembly 1 can be adjusted, thereby making it suitable for users with different body thicknesses. It is worth noting that the relative sliding direction of the outward swing seat 23 and the outward swing arm 24 is perpendicular to the swing direction of the thigh assembly 3. That is, the adjustment of the length of the outward swing assembly is only used to make the rotation axis of the thigh assembly 3 overlap with the swing axis of the user's thigh, and will not affect the swing of the user's thigh.

[0205] In some embodiments, the thigh assembly 3 includes a third locking mechanism and a thigh upper limb 31 and a thigh lower limb 32 that are capable of sliding relative to each other. The third locking mechanism is used to lock the relative positional relationship between the thigh upper limb 31 and the thigh lower limb 32. The root of the thigh upper limb 31 is hinged to the toe of the hip joint assembly 2, and the toe of the thigh lower limb 32 is hinged to the root of the calf assembly 4.

[0206] And / or, the lower leg assembly 4 includes a fourth locking mechanism and a lower leg limb 41 and a lower leg limb 42 that are capable of sliding relative to each other. The fourth locking mechanism is used to lock the relative positional relationship between the lower leg limb 41 and the lower leg limb 42. The root of the lower leg limb 41 is hinged to the toe of the thigh assembly 3, and the toe of the lower leg limb 42 is hinged to the root of the ankle joint assembly 5.

[0207] like Figure 3 and Figure 4 As shown, the thigh assembly 3 includes an upper thigh limb 31 and a lower thigh limb 32 that can slide relative to each other. The effective working length of the thigh assembly 3 can be adjusted by the relative sliding of the two and the locking after sliding.

[0208] Meanwhile, the lower leg assembly 4 includes a lower leg upper limb 41 and a lower leg lower limb 42 that can slide relative to each other. The effective working length of the lower leg assembly 4 can be adjusted by the relative sliding of the two and the locking after sliding. By adjusting the effective working length of the thigh assembly 3 and the lower leg assembly 4, the lower limb exoskeleton robot can be made suitable for users of different heights.

[0209] In some embodiments, the thigh component 3 is provided with a thigh motion sensing component 33 for sensing the motion state of the user's thigh on the corresponding side.

[0210] And / or, the calf component 4 is provided with a calf motion sensing component 43, which is used to sense the motion state of the user's calf on the corresponding side.

[0211] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, a thigh motion sensing component 33 and / or a calf motion sensing component 43 are provided in the thigh component 3 and / or the calf component 4 to capture the movement trend of the thigh and / or calf, and are used for the drive control judgment conditions of the hip joint motor 34 and / or the knee joint motor 44.

[0212] For example, when the lower limb exoskeleton robot is used as a motion assistor, when the thigh motion sensing component 33 and / or the calf motion sensing component 43 detects the movement trend of the thigh and / or calf, it controls the hip joint motor 34 and / or the knee joint motor 44 on the corresponding side to drive the thigh component 3 and / or the calf component 4 to swing, providing motion assistance to the user's thigh and / or calf.

[0213] When the lower limb exoskeleton robot is trained as a mirror image, the thigh motion sensing component 33 and / or calf motion sensing component 43 on the sensing side are used to sense the user's thigh and / or calf motion posture. The control module controls the hip joint motor 34 and / or knee joint motor 44 on the training side to drive the thigh component 3 and / or calf component 4 to swing, so that the user's thigh and / or calf on the training side obtain the same motion posture as the user's thigh and / or calf on the sensing side in a delayed manner. This enables the user's lower limbs on the sensing side and the training side to walk alternately, and helps the muscles of the lower limbs on the training side to obtain the same electromyographic signals, promoting nerve regeneration.

[0214] In some embodiments, a reset component is provided between the ankle joint component 5 and the lower leg component 4 to drive the ankle joint component 5 and the lower leg component 4 to restore a preset relative rotation angle.

[0215] like Figure 7 As shown, the reset component includes two tension springs 53 symmetrical about the rotation axis of the ankle joint component 5. Through the alternating action of the two tension springs 53, the ankle joint component 5 and the lower leg component 4 are prompted to restore the original preset angle. That is, when the user's foot and foot 51 are pressed down by gravity, the ankle joint component 5 can conform to the movement of the human joint. When the user's foot and foot 51 touch the ground, the reset component can work together with the ankle joint component 5 and the lower leg component 4 to restore the original angle.

[0216] In some embodiments, the foot 51 includes a relatively fixed footrest 511 and a posture adapter 512;

[0217] The posture adapter 512 is used to support the user's foot, and the posture adapter 512 is fixedly connected to the ankle joint assembly 5;

[0218] The footrest 511 is designed to wrap around the calf, thereby encouraging the user's foot and calf to move together.

[0219] like Figure 11 and Figure 12As shown, the foot 51 includes a relatively fixed footrest 511 and a posture adapter 512, which are used to fix the user's lower leg and support the foot, respectively, and fix the user's lower leg and foot together to avoid relative movement between the lower leg and foot, making it suitable for users with ankle joint movement disorders.

[0220] In some embodiments, the posture adapter 512 is provided with a plantar force sensing component 513 for sensing the user's plantar force.

[0221] like Figure 11 and Figure 12 As shown, a foot force sensing component 513 is set in the posture adapter 512 to sense the user's foot force. By analyzing the changes in foot force, the user's current walking posture can be determined, which facilitates the adjustment of the drive of different joint motors to ensure that the lower limb exoskeleton robot assists the user in obtaining the correct walking posture.

[0222] In some embodiments, an ankle joint motor is provided at the hinge position between the ankle joint assembly 5 and the lower leg assembly 4 to drive the ankle joint assembly 5 to swing relative to the lower leg assembly 4.

[0223] By adding an ankle joint motor, the ankle joint component 5 is driven to swing relative to the lower leg component 4, thereby increasing the drive on the user's ankle joint and assisting the user in obtaining the correct walking posture.

[0224] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0225] The ankle joint assembly and lower limb exoskeleton robot provided by this utility model have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. An ankle joint assembly for connecting the lower leg assembly (4) and foot (51) of a lower limb exoskeleton robot, characterized in that, include: The joint seat (55) is fixedly connected to the toe of the lower leg assembly (4); A connecting component (52) is fixedly connected to the foot (51), and the connecting component (52) is rotatably hinged to the joint seat (55) along a horizontal axis; A reset component is used to drive the joint seat (55) and the connecting component (52) to restore a preset relative rotation angle.

2. The ankle joint assembly according to claim 1, characterized in that, The reset assembly includes two sets of elastic members arranged symmetrically about the rotation axis of the connecting assembly (52), and the deformation direction of the elastic members is perpendicular to the rotation axis of the connecting assembly (52). The two ends of the elastic element are fixedly connected to the joint seat (55) and the connecting assembly (52), respectively.

3. The ankle joint assembly according to claim 2, characterized in that, The elastic element is provided with a fixing seat (54) at both ends; One set of the fixed seats (54) is fixedly connected to the joint seat (55); Another set of the fixing seats (54) are fixedly connected to the strip mounting groove of the connecting assembly (52), and the installation position of the fixing seats (54) can be adjusted along the length direction of the strip mounting groove, and the length direction of the strip mounting groove is consistent with the deformation direction of the elastic element.

4. The ankle joint assembly according to claim 1, characterized in that, It also includes an ankle motor for driving the connection assembly (52) to swing relative to the joint seat (55); The control unit of the ankle joint motor is electrically connected to the output end of the plantar force sensing component (513) arranged on the foot (51).

5. The ankle joint assembly according to claim 1, characterized in that, The connecting component (52) is connected to the foot (51) via a foot force sensing component (513) for detecting the relative force between the foot (51) and the connecting component (52).

6. A lower limb exoskeleton robot, characterized in that, Includes a lower leg assembly (4), a foot (51), and an ankle assembly as described in any one of claims 1-5; The toe end of the lower leg assembly (4) is connected to the foot (51) via the ankle shut-off assembly.

7. The lower limb exoskeleton robot according to claim 6, characterized in that, The foot (51) includes a relatively fixed posture adapter (512) and a footrest (511). The posture adapter (512) is used to support the user's feet, and the posture adapter (512) is fixedly connected to the connection component (52); The footrest (511) is used to wrap around the lower leg, thereby driving the user's foot and lower leg to move together.

8. The lower limb exoskeleton robot according to claim 6, characterized in that, The foot (51) is provided with a plantar force sensing component (513). The output end of the plantar force sensing component (513) is electrically connected to a control unit of at least one of the hip joint motor (34), the knee joint motor (44) and the ankle joint motor, for sensing the pressure at different positions of the user's foot and controlling the hip joint motor (34), the knee joint motor (44) and / or the ankle joint motor.

9. The lower limb exoskeleton robot according to claim 6, characterized in that, The lower leg assembly (4) includes a lower leg upper limb (41) and a lower leg lower limb (42) that are slidably mounted to each other, for adjusting the length of the lower leg assembly (4).

10. The lower limb exoskeleton robot according to claim 6, characterized in that, It also includes a thigh assembly (3), the toe of which is hinged to the root of the calf assembly (4), and a knee joint motor (44) is provided at the hinge position to drive the two to swing relative to each other.

Images