Lower extremity assistive exoskeleton

Abstract

The utility model discloses a lower limbs power assisting exoskeleton belongs to mechanical exoskeleton field, include: waist subassembly, including the waistband and power unit of interconnection, two leg subassembly, including support, telescopic part and leg band, support one end and power unit drive connection, support other end and telescopic part one end connection, telescopic part other end and leg band connection. Telescopic part includes: the first piece body of being connected in the support, the second piece body of being movably telescopic in the first piece body, and the second piece body is connected with leg band. Telescopic part still includes the elastic piece of being connected between the first piece body and the second piece body. Telescopic part still includes: the first limiting portion of being located in the first piece body, the second limiting portion of being located in the second piece body, and the second limiting portion and the first limiting portion cooperate. The utility model's technical effect lies in its leg subassembly's movable performance is good.

Description

Technical Field

[0001] This utility model relates to mechanical exoskeletons, and more particularly to a lower limb assistive exoskeleton. Background Technology

[0002] Lower limb assistive exoskeletons are wearable mechanical devices that provide auxiliary strength or movement support and are widely used in medical rehabilitation, industrial manufacturing, military and personal assistive fields.

[0003] Lower limb assistive exoskeletons generally include a waist component and a leg component, but the leg component has poor mobility, which can easily lead to poor user comfort. Utility Model Content

[0004] Purpose of the utility model: The purpose of this utility model is to provide a lower limb assistive exoskeleton with good mobility of its leg components.

[0005] Technical solution: A lower limb assistive exoskeleton, comprising: The waist assembly includes an interconnected waist belt and a power unit; Two leg components, including a support member, a telescopic member, and a leg strap, wherein one end of the support member is drivenly connected to the power unit, the other end of the support member is connected to one end of the telescopic member, and the other end of the telescopic member is connected to the leg strap.

[0006] Optionally, the telescopic member includes: The first component connected within the support member; A second body is telescopically connected to the first body, and the second body is connected to the leg strap.

[0007] Optionally, the telescopic member further includes an elastic member connected between the first body and the second body.

[0008] Optionally, the telescopic component further includes: The first limiting part is provided on the first piece; A second limiting part is provided on the second body, and the second limiting part cooperates with the first limiting part.

[0009] Optionally, the power unit includes: power supply; Control panel; Two motors are electrically connected to the control board and the power supply. A transmission wheel assembly connected between the rotor of the motor and one end of the support member; The power supply, control board, and motor stator are all connected to the belt.

[0010] Optionally, the transmission wheel set includes: The first wheel body connected to the rotor of the motor; The second wheel body is connected to one end of the support member; Bowden lines that mate with both the first wheel and the second wheel.

[0011] Optionally, the power unit further includes: The protective tube contains the Bowden wire. The mounting box and the carrier box are respectively connected to the two ends of the protective tube. The mounting box is connected to the belt. The power supply, control board and motor stator are all connected to the mounting box. The second wheel is rotatably connected to the carrier box.

[0012] Optionally, a heating element located within the leg strap may also be included.

[0013] Beneficial effects: The telescopic component itself can extend and retract, which facilitates the relative extension and retraction of the support component and the leg strap, thereby improving the mobility of the leg assembly. In conjunction with the torque of the power unit on the leg assembly, the mobility of the leg assembly is further improved, thus ensuring the user's comfort. Attached Figure Description

[0014] Figure 1 This is one of the structural diagrams of a lower limb assistive exoskeleton according to Embodiment 1 of this utility model; Figure 2 This is a second structural diagram of a lower limb assistive exoskeleton according to Embodiment 1 of this utility model; Figure 3 This is a structural diagram of the telescopic component of Embodiment 1 of this utility model; Figure 4 This is a structural diagram of the heating element in Embodiment 1 of this utility model; In the diagram: 1. Waist assembly; 11. Waist belt; 12. Power unit; 121. Power supply; 122. Control board; 123. Motor; 124. Transmission wheel assembly; 1241. First wheel body; 1242. Second wheel body; 1243. Bowden cable; 125. Protective tube; 126. Mounting box; 127. Carrier box; 2. Leg assembly; 21. Support component; 22. Telescopic component; 221. First component; 222. Second component; 223. Elastic component; 224. First limiting part; 225. Second limiting part; 23. Leg strap; 3. Heating element. Detailed Implementation

[0015] To make the technical solution of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the relevant utility model and not intended to limit the utility model. Furthermore, it should be noted that, for ease of description, only the parts related to the utility model are shown in the accompanying drawings. The terms "first," "second," etc., used in this utility model are provided for the convenience of describing the technical solution of this utility model and have no specific limiting effect; they are all general terms and do not constitute a limitation on the technical solution of this utility model. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other. In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Multiple technical solutions in the same embodiment, as well as multiple technical solutions in different embodiments, can be arranged and combined to form new technical solutions that do not contradict or conflict, all of which are within the scope of protection claimed by this utility model.

[0017] Example 1 like Figures 1-2 This embodiment provides a lower limb assistive exoskeleton, including: a waist assembly 1, including a waist belt 11 and a power unit 12 connected to each other; and two leg assemblies 2, including a support member 21, a telescopic member 22 and a leg strap 23. One end of the support member 21 is drivenly connected to the power unit 12, the other end of the support member 21 is connected to one end of the telescopic member 22, and the other end of the telescopic member 22 is connected to the leg strap 23.

[0018] Specifically, in use, firstly, the waist component 1 is fitted with the waist of the elderly, rehabilitation personnel, etc., and the two leg components 2 are fitted with the user's left and right thighs respectively; then, the power unit 12 sequentially drives the support member 21, the telescopic member 22, the leg straps 23, and the user's thighs to rotate, making it easier for the user to climb stairs, walk, etc.; the telescopic member 22 itself can extend and retract, which makes the support member 21 and the leg straps 23 extend and retract relative to each other, thereby making the leg component 2 have good mobility. In conjunction with the torque of the power unit 12 on the leg component 2, the mobility of the leg component 2 is further improved, thus ensuring the user's comfort.

[0019] Furthermore, such as Figure 3 The telescopic component 22 includes: a first component 221 connected within the support component 21; and a second component 222 movably telescopically connected within the first component 221, wherein the second component 222 is connected to the leg strap 23.

[0020] Specifically, the first component 221 and the second component 222 are movable and extendable, so that the telescopic component 22 itself can extend and extend. In order to reduce the space occupied, the shapes of the first component 221 and the second component 222 are preferably flat.

[0021] Furthermore, such as Figure 3 The telescopic member 22 also includes an elastic member 223 connected between the first member 221 and the second member 222.

[0022] Specifically, the elastic element 223 is used for cushioning, thereby facilitating the stability of the expansion and contraction of the first body 221 and the second body 222. The material of the elastic element 223 can be spring steel, rubber, etc.

[0023] Furthermore, such as Figure 3 The telescopic member 22 further includes: a first limiting part 224 provided on the first member 221; and a second limiting part 225 provided on the second member 222, wherein the second limiting part 225 and the first limiting part 224 cooperate.

[0024] Specifically, the first limiting part 224 and the second limiting part 225 cooperate to facilitate the extension and retraction of the first part 221 and the second part 222, and prevent the first part 221 and the second part 222 from separating from each other. When the first limiting part 224 is a limiting groove, the second limiting part 225 is a limiting protrusion. When the first limiting part 224 is a limiting protrusion, the second limiting part 225 is a limiting groove.

[0025] Furthermore, such as Figure 1The power unit 12 includes: a power supply 121; a control board 122; two motors 123, which are electrically connected to the control board 122 and the power supply 121; and a transmission wheel set 124 connected between the rotor of the motor 123 and one end of the support member 21. The power supply 121, the control board 122 and the stator of the motor 123 are all connected to the belt 11.

[0026] Specifically, power supply 121 is used to supply power to motor 123, etc.; control board 122 is used to control motor 123; motor 123 is used to drive transmission wheel set 124, support member 21, telescopic member 22, leg strap 23 and user's thigh to rotate in sequence.

[0027] Furthermore, such as Figure 1 The transmission wheel assembly 124 includes: a first wheel body 1241 connected to the rotor of the motor 123; a second wheel body 1242 connected to one end of the support member 21; and a Bowden line 1243 that mates with both the first wheel body 1241 and the second wheel body 1242.

[0028] Specifically, the Bowden Cable 1243 allows the drive wheel assembly 124 to be flexible, thereby increasing ease of installation. Although the flexible drive wheel assembly 124 can only provide pulling force to facilitate the user's thigh to lift forward, the user's thigh does not need to move backward. Therefore, the flexible drive wheel assembly 124 can meet the power assist requirements.

[0029] Furthermore, such as Figure 1 The power unit 12 also includes: a protective tube 125, with Bowden wire 1243 located inside the protective tube 125; a mounting box 126 and a carrier box 127 respectively connected to the two ends of the protective tube 125; the mounting box 126 is connected to the belt 11; the power supply 121, the control board 122 and the stator of the motor 123 are all connected inside the mounting box 126; and the second wheel 1242 is rotatably connected inside the carrier box 127.

[0030] Specifically, the protective tube 125 is used to protect the Bowden wire 1243; the mounting box 126 is used to protect the power supply 121, control board 122, and motor 123, etc.; the carrier box 127 is used to support the second wheel body 1242; in order to reduce weight, the protective tube 125, mounting box 126 and carrier box 127 are preferably made of 3D printed nylon.

[0031] Furthermore, such as Figure 4 It also includes a heating element 3 located within the leg strap 23.

[0032] Specifically, the heating element 3 is used to generate heat, thereby increasing the wearing comfort of the leg strap 23. The material of the heating element 3 can be nickel-chromium alloy, iron-chromium-aluminum alloy, etc., and the heating element 3 is preferably electrically connected to the power supply 121 and the control board 122.

[0033] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A lower limb assistive exoskeleton, characterized in that, include: The waist assembly (1) includes a waist belt (11) and a power unit (12) that are connected to each other. Two leg components (2) include a support (21), a telescopic component (22), and a leg strap (23). One end of the support (21) is driven to the power unit (12), the other end of the support (21) is connected to one end of the telescopic component (22), and the other end of the telescopic component (22) is connected to the leg strap (23). The telescopic component (22) includes: The first component (221) is connected within the support (21); A second component (222) is telescopically connected within the first component (221), and the second component (222) is connected to the leg strap (23); The telescopic member (22) further includes an elastic member (223) connected between the first member (221) and the second member (222); The telescopic component (22) also includes: A first limiting part (224) is provided on the first component (221); A second limiting part (225) is provided on the second body (222), and the second limiting part (225) cooperates with the first limiting part (224).

2. The lower limb assistive exoskeleton according to claim 1, characterized in that, The power unit (12) includes: Power supply (121); Control panel (122); Two motors (123) are electrically connected to the control board (122) and the power supply (121); A transmission wheel assembly (124) is connected between the rotor of the motor (123) and one end of the support member (21). The stator of the power supply (121), the control board (122), and the motor (123) are all connected to the belt (11).

3. The lower limb assistive exoskeleton according to claim 2, characterized in that, The transmission wheel set (124) includes: The first wheel body (1241) is connected to the rotor of the motor (123). A second wheel body (1242) is connected to one end of the support member (21); Bowden line (1243) that mates with both the first wheel (1241) and the second wheel (1242).

4. The lower limb assistive exoskeleton according to claim 3, characterized in that, The power unit (12) also includes: The protective tube (125) contains the Bowden line (1243). The mounting box (126) and the carrier box (127) are respectively connected to the two ends of the protective tube (125). The mounting box (126) is connected to the belt (11). The power supply (121), the control board (122) and the stator of the motor (123) are all connected in the mounting box (126). The second wheel (1242) is rotatably connected in the carrier box (127).

5. The lower limb assistive exoskeleton according to claim 1, characterized in that, It also includes a heating element (3) located within the leg strap (23).

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