A wearable lower extremity exoskeleton device with a guide mechanism

Abstract

The utility model discloses a wearable lower limb exoskeleton device with guide mechanism, especially relates to lower limb exoskeleton bionics technical field, including concave board, wearable lower limb frame and pivot, and wearable lower limb frame rotates in concave board inside, and the one side of wearable lower limb frame is fixed in pivot, and pivot is rotatably connected between concave board, and one end of pivot is equipped with bending rotation subassembly, bending rotation subassembly includes the reduction motor of setting in one end of pivot, and the fixed connection between the output of reduction motor and pivot, and the fixed mounting of support piece is installed on one side of reduction motor, and fixed connection between support piece and concave board. The utility model adopts bending rotation subassembly, and the foot is inserted in wearable base inside, and reduction motor drives pivot rotation, and wearable lower limb frame slides along the arc slot of arc frame board through slide rod, realizes stable guide rotation, and the lower limb exoskeleton bending guide stability is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of lower limb exoskeleton bionic technology, and more specifically, to a wearable lower limb exoskeleton device with a guiding mechanism. Background Technology

[0002] Wearable lower limb exoskeletons have significant application value in the field of rehabilitation medicine. For patients with lower limb motor dysfunction, such as those suffering from stroke, spinal cord injury, cerebral palsy, and other neurological diseases, as well as those recovering from lower limb fractures or joint replacement surgery, exoskeletons can provide scientific, efficient, and accurate walking rehabilitation training. By using external machinery to drive lower limb movement, it can stimulate neural remodeling, improve the ability of the lower limbs to walk independently, and thus accelerate the rehabilitation process. In addition, it can record the patient's motor parameters, quantify training intensity, and provide objective evidence for the development of rehabilitation programs.

[0003] Among existing publicly available documents, patent publication number CN206123641U discloses a wearable lower limb walking exoskeleton device. This technology utilizes components such as foot sleeves and pins. This utility model features a compact structure, a reasonable distribution of degrees of freedom of movement, and utilizes a servo motor with a three-stage reduction gear, offering advantages such as high control precision, fast response speed, and high load capacity. The components are made of high-strength, lightweight composite materials, resulting in comfortable wear, flexible operation, and maximum expansion of the user's range of motion. However, this technology still has the following drawbacks.

[0004] Wearable lower limb exoskeletons require bending to change angles during use. However, it is difficult to guide the displacement according to the specified angle during the angle change process, which results in poor bending guidance stability and poor wearing guidance stability. Therefore, a wearable lower limb exoskeleton device with a guiding mechanism is provided. Utility Model Content

[0005] To overcome the aforementioned deficiencies of the prior art, this utility model provides the following technical solution: a wearable lower limb exoskeleton device with a guiding mechanism, comprising a concave plate, a wearable lower limb frame, and a rotating shaft. The wearable lower limb frame rotates inside the concave plate, and the rotating shaft is fixed to one side of the wearable lower limb frame. The rotating shaft is rotatably connected to the concave plate, and a bending and rotating assembly is provided at one end of the rotating shaft. The bending and rotating assembly includes a reduction motor disposed at one end of the rotating shaft, the output end of the reduction motor being fixedly connected to the rotating shaft, a support block being fixedly installed on one side of the reduction motor, and the support block being fixedly connected to the concave plate. A linkage block is fixedly installed on one side of the concave plate, and an arc-shaped frame plate is fixedly connected to the bottom end of the linkage block. A sliding rod is slidably connected to the inner wall of the arc-shaped frame plate, and a limit ring is slidably connected to one side of the arc-shaped frame plate, and the limit ring is fixedly connected to the sliding rod.

[0006] Preferably, the vertical cross-section of the slide rod is circular, and the outer wall of the slide rod is smooth; the vertical cross-section of the arc-shaped frame plate is arc-shaped. An arc-shaped groove is formed inside the arc-shaped frame plate, and the slide rod is slidably connected to the arc-shaped frame plate to which the arc-shaped groove belongs. A concave block is fixedly connected to the upper surface of the concave plate, a bracket is fixedly connected to the top of the concave block, and a concave bracket is provided at the top of the bracket; a fixing frame is fixedly connected to the top of the concave bracket, and a support seat is fixedly installed on the inner wall of the fixing frame.

[0007] In use, the bracket supports the concave bracket, and the fixing frame provides reinforcement to the support base. In this way, the concave plate supports the support block, the support block supports the geared motor, the geared motor drives the rotating shaft to rotate, the wearable lower limb frame rotates inside the concave plate, the wearable lower limb frame drives the slide rod to slide along the arc, the slide rod slides along the inner wall of the arc groove, the linkage block supports the arc frame plate, and the arc frame plate can stably guide the rotation of the slide rod.

[0008] Preferably, a limiting wearable assembly is installed inside the wearable lower limb frame; the limiting wearable assembly includes a displacement shaft rotatably disposed inside the wearable lower limb frame, and a T-shaped block is fixedly connected to the bottom end of the displacement shaft, and a support block is fixedly installed to the bottom end of the T-shaped block; a wearable base is fixedly connected to one side of the support block, and an elastic band is adhered to the upper surface of the wearable base. The cross-sectional shape of the support block is rectangular, and the outer wall of the wearable base is smooth. The elastic band is made of rubber, and the vertical cross-sectional shape of the elastic band is arc-shaped.

[0009] When using this technology, the foot is inserted into the positioning slot in the wearable base, while the wearable base provides support to the support block. The T-shaped block supports the displacement shaft, which rotates stably inside the wearable lower limb frame, thereby binding the foot with the elastic band.

[0010] The technical effects and advantages of this utility model are as follows:

[0011] 1. This utility model adopts a bending and rotating component, and the fixing frame provides reinforcement to the support base. In this way, the foot is inserted into the wearable base. The concave plate supports the support block, the support block supports the reduction motor, the reduction motor drives the rotating shaft to rotate, the rotating shaft drives the wearable lower limb frame to rotate, and the wearable lower limb frame drives the slide rod to slide along the arc. The arc frame plate can stably guide the rotation of the slide rod, so that the wearable lower limb frame can also achieve stable transmission operation, which greatly improves the bending guidance stability of the lower limb exoskeleton.

[0012] 2. This utility model uses a limiting wearable component, in which the foot is inserted into the positioning groove in the wearable base. At the same time, the wearable base provides support to the support block, and the T-shaped block supports the displacement shaft. The displacement shaft rotates stably inside the wearable lower limb frame, thereby achieving precise positioning of the foot. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the main structure of the wearable lower limb exoskeleton device of this utility model.

[0014] Figure 2 This is a partial structural diagram of the connection between the bracket and the concave block of this utility model.

[0015] Figure 3 This is a partial structural diagram of the connection between the linkage block and the arc-shaped frame plate of this utility model.

[0016] Figure 4 This is a partial structural diagram of the connection between the bracket and the concave bracket of this utility model.

[0017] Figure 5 This is a schematic diagram of a partial cut-off structure at the connection between the wearable lower limb frame and the displacement shaft of this utility model.

[0018] The attached diagram is labeled as follows: 1. Concave plate; 2. Wearable lower limb frame; 3. Rotating shaft; 4. Gear motor; 5. Support block; 6. Linkage block; 7. Arc-shaped frame plate; 8. Slide rod; 9. Limiting ring; 10. Arc-shaped groove; 11. Concave block; 12. Bracket; 13. Concave bracket; 14. Fixing frame; 15. Support base; 16. Displacement shaft; 17. T-shaped block; 18. Support block; 19. Wearable base; 20. Elastic band. Detailed Implementation

[0019] 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.

[0020] As attached Figure 1-5 The wearable lower limb exoskeleton device with a guiding mechanism is shown. The wearable lower limb exoskeleton device with a guiding mechanism is equipped with a bending and rotating component. The bending and rotating component enables the wearable lower limb frame 2 to drive the slide rod 8 to slide along an arc. The arc-shaped frame plate 7 can stably guide the rotation of the slide rod 8, so that the wearable lower limb frame 2 can also achieve stable transmission operation, which greatly improves the bending guidance stability of the lower limb exoskeleton. The specific structural configuration of the bending and rotating component is as follows.

[0021] In this technical solution, as shown in the appendix Figure 1-3As shown, the wearable lower limb frame 2 rotates inside the concave plate 1. The rotating shaft 3 is fixed to one side of the wearable lower limb frame 2 and is rotatably connected to the concave plate 1. One end of the rotating shaft 3 is provided with a bending and rotating assembly. The bending and rotating assembly includes a reduction motor 4 set at one end of the rotating shaft 3. The output end of the reduction motor 4 is fixedly connected to the rotating shaft 3. A support block 5 is fixedly installed on one side of the reduction motor 4 and is fixedly connected to the concave plate 1. A linkage block 6 is fixedly installed on one side of the concave plate 1, and an arc-shaped frame plate 7 is fixedly connected to the bottom end of the linkage block 6. A slide rod 8 is slidably connected to the inner wall of the arc-shaped frame plate 7. A limit ring 9 is slidably connected to one side of the arc-shaped frame plate 7 and is fixedly connected to the slide rod 8. The vertical cross-section of the slide rod 8 is circular, and the outer wall of the slide rod 8 is smooth. The vertical cross-section of the arc-shaped frame plate 7 is arc-shaped.

[0022] In this technical solution, as shown in the appendix Figure 1-4 As shown, an arc-shaped groove 10 is provided inside the arc-shaped frame plate 7. The slide rod 8 is slidably connected to the arc-shaped frame plate 7 to which the arc-shaped groove 10 belongs, so that the slide rod 8 can slide along the inner wall of the arc-shaped groove 10. The concave plate 1 supports the linkage block 6 to provide stable guidance for the slide rod 8.

[0023] A concave block 11 is fixedly connected to the upper surface of the concave plate 1. A bracket 12 is fixedly connected to the top of the concave block 11. A concave bracket 13 is provided at the top of the bracket 12. A fixing frame 14 is fixedly connected to the top of the concave bracket 13. A support seat 15 is fixedly installed on the inner wall of the fixing frame 14 so that the concave block 11 can be supported by the concave plate 1. The concave block 11 supports the bracket 12. The bracket 12 supports the concave bracket 13. The fixing frame 14 provides reinforcement to the support seat 15 and increases the stability of the support seat 15.

[0024] In this embodiment, the wearable lower limb exoskeleton device with a guiding mechanism is used by a concave plate 1 supporting a concave block 11, which in turn supports a bracket 12. The bracket 12 supports a concave bracket 13, and the concave bracket 13 supports a fixing frame 14. The fixing frame 14 provides reinforcement to the support base 15. The foot is inserted into the wearable base 19. The concave plate 1 supports a support block 5, which in turn supports a reduction motor 4. The reduction motor 4 drives a rotating shaft 3 to rotate, which in turn drives the wearable lower limb frame 2 to rotate. The wearable lower limb frame 2 rotates inside the concave plate 1, and the concave plate 1 rotates in conjunction with it. The wearable lower limb frame 2 drives a sliding rod 8 to slide along an arc, and the sliding rod 8 drives a limiting ring 9 to slide along an arc. At the same time, the sliding rod 8 slides along the inner wall of the arc groove 10. The concave plate 1 supports a linkage block 6, which in turn supports an arc frame plate 7. In this way, the arc frame plate 7 can stably guide the rotation of the sliding rod 8, thereby enabling the wearable lower limb frame 2 to achieve stable transmission operation.

[0025] In this technical solution, as shown in the appendix Figure 5As shown, a limiting wearable assembly is installed inside the wearable lower limb frame 2. The limiting wearable assembly includes a displacement shaft 16 rotatably disposed inside the wearable lower limb frame 2, with a T-shaped block 17 fixedly connected to the bottom end of the displacement shaft 16. A support block 18 is fixedly installed to the bottom end of the T-shaped block 17. A wearable base 19 is fixedly connected to one side of the support block 18, and an elastic band 20 is adhered to the upper surface of the wearable base 19. The cross-sectional shape of the support block 18 is rectangular, and the outer wall of the wearable base 19 is smooth. The elastic band 20 is made of rubber, and its vertical cross-sectional shape is arc-shaped.

[0026] In this embodiment, when in use, the foot is inserted into the positioning groove in the wearing base 19, and the wearing base 19 provides support force to the support block 18. The support block 18 supports the T-shaped block 17, the T-shaped block 17 supports the displacement shaft 16, and the displacement shaft 16 rotates stably inside the wearing lower limb frame 2. At the same time, the foot is limited in the inner wall of the elastic band 20, so that the elastic band 20 can be used to restrain the foot.

[0027] All contents not described in detail in the specification are existing technologies known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited; conventional equipment can be used. Electrical control components not mentioned in this technical solution are not shown in the figures because they are existing technologies, and will not be described here.

[0028] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A wearable lower limb exoskeleton device with a guiding mechanism, comprising a concave plate (1), a wearable lower limb frame (2), and a rotating shaft (3), characterized in that: The wearable lower limb frame (2) rotates inside the concave plate (1), the rotating shaft (3) is fixed on one side of the wearable lower limb frame (2), the rotating shaft (3) is rotatably connected to the concave plate (1), and a bending rotation component is provided at one end of the rotating shaft (3); The bending and rotating assembly includes a speed reduction motor (4) disposed at one end of the rotating shaft (3), the output end of the speed reduction motor (4) is fixedly connected to the rotating shaft (3), a support block (5) is fixedly installed on one side of the speed reduction motor (4), and the support block (5) is fixedly connected to the concave plate (1). A linkage block (6) is fixedly installed on one side of the concave plate (1), and an arc-shaped frame plate (7) is fixedly connected to the bottom end of the linkage block (6). A slide rod (8) is slidably connected to the inner wall of the arc-shaped frame plate (7). A limit ring (9) is slidably connected to one side of the arc-shaped frame plate (7), and the limit ring (9) is fixedly connected to the slide rod (8).

2. The wearable lower limb exoskeleton device with a guiding mechanism according to claim 1, characterized in that: The vertical cross-section of the slide rod (8) is circular, and the outer wall of the slide rod (8) is a smooth surface; The vertical cross-section of the arc-shaped frame plate (7) is circular arc-shaped.

3. A wearable lower limb exoskeleton device with a guiding mechanism according to claim 1, characterized in that: The arc-shaped frame plate (7) has an arc-shaped groove (10) inside, and the slide rod (8) is slidably connected to the arc-shaped frame plate (7) to which the arc-shaped groove (10) belongs.

4. A wearable lower limb exoskeleton device with a guiding mechanism according to claim 1, characterized in that: A concave block (11) is fixedly connected to the upper surface of the concave plate (1), and a bracket (12) is fixedly connected to the top of the concave block (11). A concave bracket (13) is provided at the top of the bracket (12). The top of the concave bracket (13) is fixedly connected to a fixing frame (14), and a support seat (15) is fixedly installed on the inner wall of the fixing frame (14).

5. A wearable lower limb exoskeleton device with a guiding mechanism according to claim 1, characterized in that: The wearable lower limb frame (2) is internally equipped with a limiting wearable component; The limiting wearable assembly includes a displacement shaft (16) rotatably disposed inside the wearable lower limb frame (2), and a T-shaped block (17) is fixedly connected to the bottom end of the displacement shaft (16), and a support block (18) is fixedly installed at the bottom end of the T-shaped block (17). One side of the support block (18) is fixedly connected to a wearable base (19), and an elastic band (20) is adhered to the upper surface of the wearable base (19).

6. A wearable lower limb exoskeleton device with a guiding mechanism according to claim 5, characterized in that: The cross-sectional shape of the support block (18) is rectangular, and the outer wall of the wearable base (19) is smooth.

7. A wearable lower limb exoskeleton device with a guiding mechanism according to claim 5, characterized in that: The elastic band (20) is made of rubber, and the vertical cross-section of the elastic band (20) is arc-shaped.

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