Lower extremity exoskeleton

Abstract

The utility model discloses a lower limb exoskeleton relates to medical instruments and physical treatment use equipment structure design technical field. The lower limb exoskeleton, include: waist connector, hip joint rotating device, knee joint rotating device, telescopic link structure, clamping device, thigh leg pad and shank leg pad, and waist connector both sides are respectively slidingly connected hip joint rotating device, and hip joint rotating device downside fixedly connected telescopic link structure, and telescopic link structure downside fixedly connected knee joint rotating device, and the upper side and downside of knee joint rotating device are fixedly connected thigh leg pad and shank leg pad, and clamping device is connected on the upper side and downside of telescopic link structure. The lower limb exoskeleton, through waist connector and hip joint rotating device internal motor, has realized to hip joint auxiliary user's leg lifting and provided resistance training etc. different rehabilitation and daily walking assisting force mode. In addition, through waist telescopic sliding block, the user can adjust the tightness of wearing in time.

Description

Technical Field

[0001] This utility model relates to the field of structural design technology of medical devices and physical therapy equipment, and in particular to a lower limb exoskeleton. Background Technology

[0002] With the increasing number of disabled people, the elderly, and stroke patients in my country, the demand for rehabilitation assistive robots is also rising. To address this demand, the number and types of exoskeleton robots designed for rehabilitation training of different diseases are constantly being updated. Research data shows that compared with traditional rehabilitation training, using exoskeleton robots to assist rehabilitation is more effective, and the earlier it is used, the better the results. Therefore, designing an innovative wearable lower limb exoskeleton robot has significant practical implications for users.

[0003] Currently, existing wearable exoskeleton robots for rehabilitation training struggle to balance comfort with mechanical support, easily causing localized pressure on joints or slippage, resulting in poor rehabilitation outcomes. Secondly, existing technologies suffer from low integration of multi-joint drive systems, cumbersome adjustment mechanisms, and high operational barriers. Furthermore, current technologies rely heavily on precision sensors and customized components, increasing manufacturing and usage costs, limiting widespread adoption, and hindering their suitability for home environments.

[0004] It is evident that existing wearable exoskeleton robots for rehabilitation training suffer from poor wearing comfort, cumbersome adjustment mechanisms, high operational barriers, complex structures, and high manufacturing and usage costs, hindering their widespread adoption. Utility Model Content

[0005] In view of this, the main purpose of this utility model is to provide a lower limb exoskeleton that can solve the problems of poor wearing comfort and inability to adjust to different user body shapes in the prior art.

[0006] To achieve the above objectives, the technical solution of this utility model is implemented as follows: The lower limb exoskeleton includes: a waist connector, a hip joint rotation device, a knee joint rotation device, a telescopic rod structure, a clamping device, and a leg liner. The hip joint rotation device is detachably connected to both sides of the waist connector. The telescopic rod structure, the leg liner, the clamping device, and the knee joint rotation device are sequentially connected to the lower side of the hip joint rotation device.

[0007] The lower limb exoskeleton includes: a waist connector, a hip joint rotation device, a knee joint rotation device, a telescopic rod structure, a clamping device, thigh leg pads, and calf leg pads; In a preferred embodiment, the hip joint rotation device is slidably connected to both sides of the waist connector, the telescopic rod structure is fixedly connected to the lower side of the hip joint rotation device, the knee joint rotation device is fixedly connected to the lower side of the telescopic rod structure, the thigh leg pad and the calf leg pad are fixedly connected to the upper and lower sides of the knee joint rotation device, and the clamping device is connected to the upper and lower sides of the telescopic rod structure.

[0008] In a preferred embodiment, the lower limb exoskeleton according to the claim is characterized in that the two ends of the waist connector are respectively fixedly connected to one side of the waist telescopic slide rail, and the other side of the waist telescopic slide rail is provided with a slide rail groove, the inner wall of the slide rail groove has a semi-circular wavy groove, and the slide rail groove is slidably connected to the waist telescopic slider.

[0009] In a preferred embodiment, the waist telescopic slider includes: a protrusion, a protrusion structure, a sliding shell, and a rotating groove. The protrusion is fixedly connected to one side of the sliding shell, and the protrusion structure is detachably connected to the protrusion. A rotating groove is provided inwardly on the other side of the sliding shell. The protrusion extends into the sliding groove and slides inwardly. The rotating groove is connected to the hip connector. In a preferred embodiment, the rotating slot has hinge holes located on the upper and lower inner walls of the rotating slot, and the hinge holes are hinged to the hip connector.

[0010] In a preferred embodiment, the protrusion further includes: a top cover, a body, a large telescopic groove and a small telescopic groove, the top cover is provided with a buckle, the upper end of the body is provided with a slot, and the top cover is engaged with the body. In a preferred embodiment, a plurality of large telescopic grooves are formed on the upper end surface of the main body, and the upper cover is provided with small telescopic grooves. The diameter of the small telescopic grooves is smaller than that of the large telescopic grooves, and the protruding structure is limited and connected within the large telescopic grooves and the small telescopic grooves.

[0011] In a preferred embodiment, the protruding structure includes: a limiting piece, a telescopic column, a protruding head, and a connecting spring, wherein the protruding head is integrally formed with the upper end of the telescopic column, and the lower end of the telescopic column is integrally formed with the limiting piece; In a preferred embodiment, the protruding head is the same size as the small telescopic groove, one side of the connecting spring abuts against the lower end face of the large telescopic groove, the other side of the connecting spring abuts against the lower surface of the limiting piece, the upper surface of the limiting piece abuts against the upper cover, and the protruding head passes through the small telescopic groove.

[0012] In a preferred embodiment, the hip connector includes: a rotating buckle, a connecting part, a first U-shaped bracket, and a positioning through hole. The rotating buckle is fixedly connected to one side of the connecting part, and the other side of the connecting part is integrally formed with the middle part of the first U-shaped bracket. The positioning through hole is provided at the extension arms at both ends of the first U-shaped bracket. In a preferred embodiment, the upper and lower ends of the rotating buckle are integrally formed with connecting posts, and the connecting posts are hinged to the hinge hole. In a preferred embodiment, the positioning through hole is fixedly connected to the hip joint rotation device.

[0013] In a preferred embodiment, the telescopic rod structure includes: a thigh connector, a thigh support rod, a thigh telescopic inner rod, a thigh telescopic outer rod, a calf telescopic outer rod, and a calf telescopic inner rod; In a preferred embodiment, the thigh connector has a fixing hole, one side of the hip joint rotation device is screwed to the fixing hole, the lower side of the thigh connector is fixedly connected to the upper part of the thigh support rod, the thigh support rod is an arc-shaped short rod, the lower part of the thigh support rod is integrally formed with the inner thigh telescopic rod, and the lower part of the inner thigh telescopic rod extends into and slides from the upper part of the outer thigh telescopic rod. In a preferred embodiment, a strip-shaped groove is provided at the middle of the upper end of the thigh telescopic outer rod, and the strip-shaped groove is provided along the lower end of the thigh telescopic outer rod; In a preferred embodiment, the lower end of the thigh telescopic outer rod is fixedly connected to the upper part of the knee joint rotation device, the lower part of the knee joint rotation device is fixedly connected to the upper part of the calf telescopic outer rod, and the upper part of the calf telescopic inner rod extends into and slides from the upper part of the calf telescopic outer rod. In a preferred embodiment, a strip groove is provided at the middle of the lower end of the calf telescopic outer rod, and the strip groove is provided along the upper end of the calf telescopic outer rod.

[0014] In a preferred embodiment, the clamping device includes: a first telescopic limiting block, a second telescopic limiting block, a clamping bolt, a fixing nut, and a knob. In a preferred embodiment, the first telescopic limiting block has an inwardly extending groove on one side, and the second telescopic limiting block has an outwardly integrally formed pulling protrusion on one side, the pulling protrusion extending into the pulling groove for sliding connection; In a preferred embodiment, the first telescopic limiting block and the second telescopic limiting block are respectively provided with through holes, one end of the clamping bolt passes through the through hole and is fixedly connected to the fixing nut, and the other end of the clamping bolt is fixedly connected to the knob; In a preferred embodiment, the clamping device clamps and fixes the upper end of the thigh telescopic outer rod and the lower end of the calf telescopic outer rod, respectively.

[0015] In a preferred embodiment, the thigh pad and the calf pad respectively include: a sponge pad, a support shell, Velcro and straps. The sponge pad and the support shell are semi-circular. Multiple strap holes are opened on both sides of the sponge pad and the support shell. The straps pass through the strap holes and are fixedly connected to the Velcro. In a preferred embodiment, the telescopic rod structure passes through the lower leg liner and the thigh leg liner, the thigh leg liner is bonded to the thigh telescopic outer rod, and the lower leg liner is bonded to the lower leg telescopic outer rod.

[0016] In a preferred embodiment, the hip joint rotation device is further fixedly connected to a waist connector, the waist connector being integrally formed with a strap buckle, and the strap buckle being detachably connected to a waist strap.

[0017] The lower limb exoskeleton of this utility model has the following beneficial effects: The lower limb exoskeleton includes: a waist connector, a hip joint rotation device, a knee joint rotation device, a telescopic rod structure, a clamping device, thigh leg pads, and calf leg pads. The hip joint rotation device is slidably connected to both sides of the waist connector. The telescopic rod structure is fixedly connected to the lower side of the hip joint rotation device. The knee joint rotation device is fixedly connected to the lower side of the telescopic rod structure. The thigh leg pads and calf leg pads are fixedly connected to the upper and lower sides of the knee joint rotation device, respectively. The clamping device is connected to the upper and lower sides of the telescopic rod structure.

[0018] This lower limb exoskeleton, through a waist connector and an internal motor in the hip joint rotation device, enables various rehabilitation and daily walking assistance methods, such as helping users lift their legs and providing resistance training. Furthermore, the waist telescopic slider allows users to adjust the tightness of the garment in a timely manner, preventing secondary injuries caused by exceeding the user's range of motion. The telescopic rod structure can adapt to users of different body types, increasing the adaptability of this exoskeleton robot. Attached Figure Description

[0019] 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1This is a schematic diagram of the structure of a lower limb exoskeleton according to one embodiment of the present disclosure; Figure 2 This is a schematic diagram of the structure of the waist connector of a lower limb exoskeleton according to one embodiment of the present disclosure; Figure 3 This is a schematic diagram of the waist telescopic slider of a lower limb exoskeleton according to one embodiment of the present disclosure; Figure 4 A cross-sectional view of the waist telescopic slider of a lower limb exoskeleton according to an embodiment of the present disclosure inserted into a waist telescopic slide rail; Figure 5 A cross-sectional view of another position in which the waist telescopic slider of a lower limb exoskeleton according to an embodiment of the present disclosure is inserted into the waist telescopic slide rail. Figure 6 This is a schematic diagram of the structure of the hip connector of a lower limb exoskeleton according to one embodiment of the present disclosure; Figure 7 This is a schematic diagram of a lower limb exoskeleton according to an embodiment of the present disclosure, with the lumbar connector removed. Figure 8 This is a schematic diagram of the thigh connector and thigh support rod structure of a lower limb exoskeleton according to one embodiment of the present disclosure. Figure 9 This is a schematic diagram of the position structure of the strip groove of a lower limb exoskeleton according to one embodiment of the present disclosure; Figure 10 According to Figure 1 A schematic diagram of the structure of a lower limb exoskeleton at point A according to an embodiment of the present disclosure; Figure 11 This is a structural schematic diagram from another perspective of the clamping device of a lower limb exoskeleton according to one embodiment of the present disclosure; Figure 12 This is a schematic diagram of the structure of the thigh leg liner of a lower limb exoskeleton according to one embodiment of the present disclosure; Figure 13 This is a structural schematic diagram of the waist strap position of a lower limb exoskeleton according to one embodiment of the present disclosure; Figure 14 According to Figure 7 A schematic diagram of the structure of the lower limb exoskeleton at point B according to an embodiment of the present disclosure.

[0021] [Explanation of Key Component Symbols] 1. Waist connector; 2. Hip joint rotation device; 3. Knee joint rotation device; 4. Telescopic pole structure; 41. Thigh connector; 411. Fixing hole; 42. Thigh support bar; 43. Thigh telescopic inner bar; 44. Thigh telescopic outer rod; 45. Lower leg telescopic outer rod; 46. Lower leg telescopic inner rod; 5. Clamping device; 51. First telescopic limit block; 52. Second telescopic limit block; 53. Clamping bolt; 54. Fixing nut; 55. Knob; 511. Pull groove; 521. Pull protrusion; 01. Waist telescopic slide rail; 011. Slide rail slot; 0111. Semi-circular wavy groove; 06. Thigh / Leg Pads; 07. Lower Leg Pads; 061. Sponge padding; 062. Support shell; 063. Velcro; 064. Straps; 6. Waist telescopic slider; 61. Protrusion; 611. Top cover; 613. Body; 614. Large telescopic groove; 615. Small telescopic groove; 62. Raised structure; 621. Limiting plate; 622. Telescopic stop; 623. Protruding head; 624. Connecting spring; 63. Slider housing; 64. Rotary slot; 641. Hinge hole; 7. Hip connector; 71. Rotary buckle; 72. Connecting part; 73. First U-shaped bracket; 74. Positioning through hole; 8. Strip groove; 9. Waist connector; 10. Strap buckle; 121. Waist strap; 11. Strap hole. Detailed Implementation

[0022] The following description, in conjunction with the accompanying drawings and embodiments of the present invention, provides a more detailed account of a lower limb exoskeleton.

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0027] according to Figures 1-14 As shown, the lower limb exoskeleton includes: a waist connector 1 that serves as a connection; a hip joint rotation device 2 that can achieve adjustable resistance via a built-in motor; a knee joint rotation device 3 that can be manually adjusted and limited; a telescopic rod structure 4 to adapt to users of different body types; a clamping device 5 to fix the position after adjusting the telescopic rod structure 4; and thigh leg pads 06 and calf leg pads 07 that not only improve wearing comfort but also provide fixation.

[0028] The waist connector 1 is slidably connected to the hip joint rotation device 2 on both sides, serving to adjust the user's waist circumference. Simultaneously, by controlling and driving the motor of the hip joint rotation device 2, it assists the user's hip joint in walking or resistance rehabilitation training. A telescopic rod structure 4 is fixedly connected to the lower side of the hip joint rotation device 2, and a knee joint rotation device 3 is fixedly connected to the lower side of the telescopic rod structure 4. The knee joint rotation device 3 assists the hip joint rotation device 2 in providing hip-knee linkage training and joint position assistance. The upper and lower sides of the knee joint rotation device 3 are fixedly connected to the thigh leg pad 06 and the calf leg pad 07, respectively, and the clamping device 5 is connected to the upper and lower sides of the telescopic rod structure 4.

[0029] The built-in motor of the hip joint rotation device 2 in this specific embodiment is prior art, with patent application numbers: (CN2024118421225), (CN2023113991393), and (CN2025101613114). Given that the above technologies are already disclosed, they will not be described further in this application. The joint angle adjustment and limiting technology of the knee joint rotation device 2 in this specific embodiment is prior art, with patent application numbers: (CN2024118625097) and (CN202310940941.2). Given that the above technologies are already disclosed, they will not be described further in this application.

[0030] To facilitate connection between the lumbar connector 1 and the hip joint rotation device 2, one end of each lumbar telescopic slide rail 5 is integrally formed. To securely connect the left and right hip joint rotation devices 2, lumbar telescopic slide rails 01 are respectively located on the left and right sides of the lumbar connector 1. The other side of the lumbar telescopic slide rail 01 has an inwardly formed slide rail groove 011. To accommodate the protruding structure 62 of the lumbar telescopic slider 6, the inner wall of the slide rail groove 011 has a semi-circular wavy groove 0111. The slide rail groove 011 slidably connects to the lumbar telescopic slider 6. Of course, the size of the slide rail groove 011 matches the lumbar telescopic slider 6, ensuring that the lumbar telescopic slider 6 can be inserted into the slide rail groove 011 for limiting and fixing. To allow the slide rail groove 011 and the protruding structure 62 to cooperate for sliding and limiting, the slide rail groove 011 has a semi-circular wavy groove 0111 inside, the size of which is sufficient to ensure that the protruding head 623 can be fully inserted. There is a certain distance between the semi-circular wavy grooves 0111. This distance determines the advance of the waist telescopic slider 6 when it slides and adjusts within the slide rail slot 011.

[0031] To further illustrate the connection between the waist telescopic slider 6 and the slide rail slot 011, the waist telescopic slider 6 includes: a protrusion 61 that mainly extends into the slide rail slot 011, a protrusion structure 62 that serves as a limiting element, a sliding shell 63 that is fixedly connected to the hip connector, and a rotating slot 64 formed on the sliding shell 63. The protrusion 61 and the sliding shell 63 are integrally formed. A rotating slot 64 is formed on the other side of the sliding shell 63. The rotating slot 64 is fixedly connected to the hip connector 7. To ensure that the rotating slot 64 can rotate relative to the hip connector 7, a hinge hole 641 is formed inside the rotating slot 64. The rotating buckle 71 of the hip connector 7 has cylindrical protrusions on both sides. The cylindrical protrusions extend into the hinge hole 641 and are hinged to the hip connector 7, thereby ensuring relative rotation at the connection point.

[0032] To accommodate the protruding structure 62 into the protruding portion 61, the protruding portion 61 further includes: a top cover 611 that is snapped into the body 613, and the body 613 of the protruding structure 62. A large telescopic groove 614 is formed on the upper end face of the body 613, and a small telescopic groove 615 is formed on the top cover 611. To facilitate the fixed connection of the top cover 611 to the body 613, the top cover 611 is provided with a snap, and the upper end of the body 613 is provided with a slot; the top cover 611 and the body 613 are snapped together via the snap and slot.

[0033] To allow the protruding structure 62 to be installed into the protruding portion 61, multiple large telescopic grooves 614 are formed within the upper surface of the body 613. The upper cover 611 has small telescopic grooves 615, which are openings on the surface of the upper cover 611. The number and position of the small telescopic grooves 615 correspond to the large telescopic grooves 614. This ensures that both the small and large telescopic grooves 615 and 614 can simultaneously limit the protruding structure 62. The diameter of the small telescopic groove 615 is smaller than the diameter of the large telescopic groove 614 to prevent the limiting piece 621 installed within the large telescopic groove 614 from slipping out. The protruding structure 62 is limited and connected within the large telescopic grooves 614 and the small telescopic grooves 615. In this specific embodiment, the large telescopic groove 614 is a square groove and the same size as the limiting piece 621. This ensures that the limiting piece 621 slides only in the large telescopic groove 614. At the same time, when the upper cover 611 is snapped and fixed to the body 613, the small telescopic groove 615 opened in the upper cover 611 can limit the limiting piece 621.

[0034] The protruding structure 62 is further described below. The protruding structure 62 includes: a limiting piece 621 that limits the movement of the protruding structure 62; a telescopic column 622 that moves within the large telescopic groove 614 and the small telescopic groove 615; a protruding head 623 that extends into the semi-circular wavy groove 0111 inside the slide rail slot 011; and a connecting spring 624 that resets the protruding structure. To ensure component strength, the protruding head 623 is integrally formed with the upper end of the telescopic column 622, and the lower end of the telescopic column 622 is integrally formed with the limiting piece 621.

[0035] The protruding head 623 is the same size as the small telescopic groove 615. One side of the connecting spring 624 abuts against the lower end face of the large telescopic groove 614, and the other side of the connecting spring 624 abuts against the lower surface of the limiting piece 621. This allows the upper surface of the limiting piece 621 to abut against the top cover 611. Since the size of the small telescopic groove 615 is smaller than the size of the large telescopic groove 614, and its size is sufficient to allow the protruding head 623 to pass through, the protruding head 623 can pass through the small telescopic groove 615, while the limiting piece 621 is limited within the large telescopic groove 614 and the small telescopic groove 615. At the same time, since the size and shape of the limiting piece 621 within the large telescopic groove 614 are adapted to the large telescopic groove 614, and there is a gap between them, but the gap is not too large, this prevents the protruding head 623 from being unable to extend into the semi-circular wavy groove 0111 when the protruding structure 62 slides within the large telescopic groove 614 and the small telescopic groove 615, thus avoiding the protruding head 623 being unable to extend into the semi-circular wavy groove 0111 due to the tilt of the protruding structure 62.

[0036] Multiple protruding structures 62 are provided, and correspondingly, multiple large and small telescopic grooves 614 are arranged on the upper and lower surfaces of the protruding portion 61. The protruding structures 62 are limited and connected within the large telescopic grooves 614 and the small telescopic grooves 615. The upper surface of the limiting piece 621 abuts against the end face of the small telescopic groove 615, and the lower surface of the limiting piece 621 abuts against the connecting spring 624. Specifically, in this embodiment, the large telescopic grooves 614 are formed on the upper surface of the protruding portion 61, and are formed laterally along the protruding portion 61. The large telescopic grooves 614 are equidistant from each other. The number and distribution of the small telescopic grooves 615 on the upper cover 611 correspond to the large telescopic grooves 614. The number of protruding structures 62 is the same as that of the large telescopic grooves 614 and the small telescopic grooves 615. When the protruding portion 61 extends into the slide rail groove 011, the protruding structure 62 abuts against the semi-circular wavy groove 0111 inside the slide rail groove 71. At this time, the protruding head 623 extends into the semi-circular wavy groove 0111. As the protrusion 61 continues to be inserted into the slide rail slot 011, the protrusion 623 is subjected to the squeezing force of the semi-circular wavy groove 0111 inside the slide rail slot 011. The connecting spring 624 retracts, and the telescopic column 622 moves downward within the large telescopic groove 614 and the small telescopic groove 615, causing the protrusion 623 to leave the current semi-circular wavy groove 0111. When it slides a certain distance, the connecting spring 624 returns to its original position. The connecting spring 624 pushes the limiting piece 621 upward with its elastic force. The telescopic column 622, which is integrally formed with the limiting piece 621, also moves upward from the large telescopic groove 614 under the drive of the connecting spring 624. The protrusion 623 then gets stuck into the semi-circular wavy groove 0111 inside the next slide rail slot 011, until the protrusion 61 stops extending into the slide rail slot 011. The waist telescopic slide rail 01 and the waist telescopic slider 6 ensure that the distance between the waist connector 1 and the hip joint rotation device 2 is adjustable, thereby adapting to different user body sizes and increasing the flexibility of the device.

[0037] In order to fix the waist connector 1 to the hip rotation device 2, the hip connector 7 includes: a rotating buckle 71 that is rotatably fixed in the rotating slot 84, a connecting part 72, a first U-shaped bracket 73 that fixes the hip connector 7 to the hip joint device 2, and a positioning through hole 74 that plays a fixed guiding role. The rotating buckle 71 is fixedly connected to one side of the connecting part 72. In order to ensure the connection strength, the middle part of the first U-shaped bracket 73 is integrally formed on the other side of the connecting part 72. Positioning through holes 74 are opened at the two ends of the extension arms of the first U-shaped bracket 73. The rotating buckle 71 has integrally formed connecting posts 711 at both its upper and lower ends. The connecting posts 711 are hinged to the hinge holes 641, and the positioning through holes 74 are fixedly connected to the hip joint rotation device 2. During installation, the first U-shaped bracket 73 is fitted against one side of the outer arc-shaped outer wall of the hip joint rotation device 2. By inserting screws into the positioning through holes 74, and the corresponding threaded holes in the hip joint rotation device 2, the first U-shaped bracket 73 is fixed to the hip joint rotation device 2 from both ends of the extended arms.

[0038] To accommodate users with varying thigh and calf length ratios, the distance between the hip joint rotation device 2 and the knee joint rotation device 3 needs to be adjustable. The telescopic rod structure 4 includes: a thigh support rod 42 fixed to the thigh connector 41 of the hip joint rotation device 2, supporting the thigh connector 41; an inner thigh telescopic rod 43 and an outer thigh telescopic rod 44 primarily adjusting the thigh length; and an outer calf telescopic rod 45 and an inner calf telescopic rod 46 primarily adjusting the calf length.

[0039] The thigh connector 41 has a fixing hole 411. The hip joint rotation device 2, facing the user, is screwed into the fixing hole 411. This allows the fixing connection to be closer to the user's abdomen, making it easier for the user to use their core strength to drive the lower limb exoskeleton. The lower side of the thigh connector 41 is welded to the upper part of the thigh support rod 42. To allow the thigh connector 41, fixed in the hip joint rotation device 2, to transition from the hip to the outer thigh, the thigh support rod 42 is a short, curved rod. The lower part of the thigh support rod 42 is integrally formed with the inner thigh telescopic rod 43. The lower part of the inner thigh telescopic rod 43 extends into and slides into the outer thigh telescopic rod 44. By extending and retracting the inner thigh telescopic rod 43 relative to the outer thigh telescopic rod 44, the length of the thigh portion of the telescopic rod structure 4 can be adjusted. The lower part of the outer thigh telescopic rod 44 has a screw hole and is fixed to the upper part of the knee joint rotation device 3 with screws. Correspondingly, the upper part of the outer calf telescopic rod 45 also has a screw hole and is fixed to the lower part of the knee joint rotation device 3 with screws. The upper part of the lower leg telescopic inner rod 46 extends into the lower leg telescopic outer rod 45. By extending and retracting the lower leg telescopic inner rod 46 relative to the lower leg telescopic outer rod 45, the length of the lower leg portion of the telescopic rod structure 4 can be adjusted.

[0040] To ensure that the connection between the outer thigh telescopic rod 44 and the inner thigh telescopic rod 43 deforms when the outer thigh telescopic rod 44 is clamped, thereby generating a clamping force to clamp the inner thigh telescopic rod 43, a slot 8 is provided in the middle of the upper end of the outer thigh telescopic rod 44. The slot 8 extends along the lower end of the outer thigh telescopic rod 44. By providing the slot 8, the clamping point of the outer thigh telescopic rod 44 can deform to a certain extent, thus clamping and fixing the height position of the inner thigh telescopic rod 43.

[0041] To ensure that the connection between the lower leg telescopic outer rod 45 and the lower leg telescopic inner rod 46 is able to deform when the lower leg telescopic outer rod 45 is clamped, thereby generating a clamping force to clamp the lower leg telescopic inner rod 46, a strip-shaped groove 8 is provided in the middle of the lower end of the lower leg telescopic outer rod 45, extending along the upper end of the lower leg telescopic outer rod 45. By providing the strip-shaped groove 8, a certain deformation can occur at the clamping point of the lower leg telescopic outer rod 45, thus clamping and fixing the height position of the lower leg telescopic inner rod 46.

[0042] To ensure the telescopic rod structure 4 is fixed after being adjusted to the required position, the clamping device 5 includes: a first telescopic limiting block 51 located on the left half and a second telescopic limiting block 52 located on the right half; a clamping bolt 53 for adjusting the clamping force; a fixing nut 54 for fixing one end of the clamping bolt 52; and a knob 55 for driving the clamping bolt 52 to rotate.

[0043] To achieve the relative telescopic function of the first telescopic limiting block 51 and the second telescopic limiting block 52, thereby accommodating the dimensions of the thigh telescopic outer rod 44 and the calf telescopic outer rod 45, the first telescopic limiting block 51 has an inwardly extending groove 511 on one side, and the second telescopic limiting block 52 has an integrally formed outwardly extending pulling protrusion 521 on one side. The pulling protrusion 521 extends into the pulling groove 511 for sliding connection. In order to make the clamping force between the first telescopic limit block 51 and the second telescopic limit block 52 adjustable, through holes are respectively provided on the first telescopic limit block 51 and the second telescopic limit block 52. One end of the clamping bolt 53 passes through the through hole and is fixedly connected to the fixing nut 54, and the other end of the clamping bolt 53 is fixedly connected to the knob 55.

[0044] The clamping device 5 clamps and fixes itself to the upper end of the thigh telescopic outer rod 44 and the lower end of the calf telescopic outer rod 45 respectively.

[0045] When the knob 54 is rotated clockwise, the clamping bolt 52 and the fixing nut 53 move closer together and clamp continuously. At this time, the first telescopic limit block 51 and the second telescopic limit block 52 slide within the pulling groove 511 by pulling the protrusion 521, thus bringing them closer together. This causes the upper opening of the thigh telescopic outer rod 44 to be deformed by being pressed inward through the strip groove 8, thereby clamping the thigh telescopic inner rod 43. When the length of the telescopic rod structure needs to be adjusted again, simply rotate the knob 54 counterclockwise, causing the clamping bolt 52 and the fixing nut 53 to rotate away from each other. At this time, the first telescopic limit block 51 and the second telescopic limit block 52 slide within the pulling groove 511 by pulling the protrusion 521, thus moving them away from each other. This prevents the upper opening of the thigh telescopic outer rod 44 from being clamped, and the strip groove 8 no longer deforms by being pressed inward, allowing the thigh telescopic inner rod 43 to slide within the thigh telescopic outer rod to adjust its height.

[0046] In this specific embodiment, the number of clamping devices 5 is set to two. The clamping devices 5 are respectively located at the upper end of the thigh telescopic outer rod 44 and the lower end of the calf telescopic outer rod 45.

[0047] To ensure the telescopic rod structure 4 can be fixed after extension and retraction, the clamping device 5 includes: a telescopic limiting block 51 for fixing, a clamping bolt 52 for adjusting the fixing force, a fixing nut 53 for fixing the clamping bolt 52, and a knob 54 for driving the clamping bolt 52. The telescopic limiting block 51 is detachable in the middle. Specifically, the telescopic limiting block 51 is divided into a left half and a right half. The left half has a groove in its cross-section, and the right half extends into a slot that matches the groove in the left half. The right half is inserted into the left half to achieve a detachable connection of the telescopic limiting block 51. The telescopic limiting block 51 has a through hole. One end of the clamping bolt 52 passes through the through hole and is fixedly connected to the fixing nut 53, while the other end of the clamping bolt 52 is fixedly connected to the knob 54. To enhance user comfort during fixation, thigh pads 6 and calf pads 07 are installed at the thigh and calf positions, respectively. Each pad includes: a sponge pad 061 that directly contacts the body for comfort; a support shell 062 for added stability; Velcro 063 that is attached to the outer surface of the support shell 062; and straps 064 for fixation. The sponge pad 061 and support shell 062 are semi-circular. Multiple strap holes 11 are provided on both sides of the sponge pad 061 and support shell 062. Straps 064 pass through these holes 11 and are fixedly connected to the Velcro 063. The sponge pad 061 is fixed to the inner surface of the support shell 062, and the straps 064 pass through the strap holes 11 in both the sponge pad 061 and support shell 062 and are fixedly connected to the Velcro 063.

[0048] Since the sponge pad 061 and the support shell 062 are connected by straps 064 on both sides, the telescopic rod structure 4 can pass through from one side between the sponge pad 061 and the support shell 062. In this specific embodiment, the thigh leg pad 06 is bonded to the thigh telescopic outer rod 44, and the calf leg pad 07 is bonded to the calf telescopic outer rod 45. This can improve comfort while fixing the thigh and calf.

[0049] To further enhance the fixation effect and facilitate user fixation, the hip joint rotation device 2 is also fixedly connected to a waist connector 9. The waist connector 9 is integrally formed with the strap buckle 10, and the strap buckle 10 is detachably connected to the waist strap 121. The waist strap 121 is detachably connected to the strap buckle 10, and the tightness of the waist support can be adjusted by adjusting the length of the connection between the waist strap 121 and the strap buckle 10.

[0050] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the scope of protection of the present utility model.

Claims

1. A lower limb exoskeleton, characterized in that, include: Waist connector (1), hip joint rotation device (2), knee joint rotation device (3), telescopic rod structure (4), clamping device (5), thigh leg pad (06) and calf leg pad (07); The waist connector (1) is slidably connected to the hip joint rotation device (2) on both sides. The hip joint rotation device (2) is fixedly connected to the telescopic rod structure (4) on the lower side. The telescopic rod structure (4) is fixedly connected to the knee joint rotation device (3) on the lower side. The thigh leg pad (06) and the calf leg pad (07) are fixedly connected to the upper and lower sides of the knee joint rotation device (3) respectively. The clamping device (5) is connected to the upper and lower sides of the telescopic rod structure (4).

2. The lower limb exoskeleton according to claim 1, characterized in that, The waist connector (1) is fixedly connected to one side of the waist telescopic slide rail (01) at both ends. The other side of the waist telescopic slide rail (01) is provided with a slide rail slot (011). The inner wall of the slide rail slot has a semi-circular wave-shaped groove (0111). The slide rail slot (011) is slidably connected to the waist telescopic slider (6).

3. The lower limb exoskeleton according to claim 2, characterized in that, The waist telescopic slider (6) includes: a protrusion (61), a protrusion structure (62), a sliding shell (63), and a rotating slot (64). The sliding shell (63) is fixedly connected to the protrusion (61) on one side. The protrusion structure (62) is detachably connected to the protrusion (61). The other side of the sliding shell (63) has a rotating slot (64) that extends inward. The protrusion (61) extends into the sliding rail slot (011) and slides. The rotating slot (64) is connected to the hip connector (7). The rotating slot (64) has a hinge hole (641) inside. The hinge hole (641) is located on the upper inner wall and the lower inner wall inside the rotating slot (64), respectively. The hinge hole (641) is hinged to the hip connector (7).

4. The lower limb exoskeleton according to claim 3, characterized in that, The protrusion (61) further includes: an upper cover (611), a body (613), a large telescopic groove (614) and a small telescopic groove (615). The upper cover (611) is provided with a buckle, and the upper end of the body (613) is provided with a slot. The upper cover (611) and the body (613) are engaged. Multiple large telescopic grooves (614) are formed on the upper surface of the body (613), and the upper cover (611) is provided with small telescopic grooves (615). The diameter of the small telescopic grooves (615) is smaller than the diameter of the large telescopic grooves (614). The protruding structure (62) is limited and connected in the large telescopic grooves (614) and the small telescopic grooves (615).

5. The lower limb exoskeleton according to claim 4, characterized in that, The protruding structure (62) includes: a limiting piece (621), a telescopic column (622), a protruding head (623), and a connecting spring (624). The protruding head (623) is integrally formed with the upper end of the telescopic column (622), and the lower end of the telescopic column (622) is integrally formed with the limiting piece (621). The protruding head (623) is the same size as the small telescopic groove (615). One side of the connecting spring (624) abuts against the lower end face of the large telescopic groove (614), and the other side of the connecting spring (624) abuts against the lower surface of the limiting piece (621). The upper surface of the limiting piece (621) abuts against the upper cover (611), and the protruding head (623) passes through the small telescopic groove (615).

6. The lower limb exoskeleton according to claim 5, characterized in that, The hip connector (7) includes: a rotating buckle (71), a connecting part (72), a first U-shaped bracket (73), and a positioning through hole (74). The rotating buckle (71) is fixedly connected to one side of the connecting part (72). The other side of the connecting part (72) is integrally formed in the middle of the first U-shaped bracket (73). The positioning through hole (74) is provided at the two ends of the extended arms of the first U-shaped bracket (73). The rotating buckle (71) has a connecting post (711) integrally formed at both the upper and lower ends, and the connecting post (711) is hinged to the hinge hole (641). The positioning through hole (74) is fixedly connected to the hip joint rotation device (2).

7. The lower limb exoskeleton according to claim 6, characterized in that, The telescopic rod structure (4) includes: thigh connector (41), thigh support rod (42), thigh telescopic inner rod (43), thigh telescopic outer rod (44), calf telescopic outer rod (45) and calf telescopic inner rod (46). The thigh connector (41) has a fixing hole (411). The hip joint rotation device (2) is screwed to the fixing hole (411) on one side. The upper part of the thigh support rod (42) is fixedly connected to the lower side of the thigh connector (41). The thigh support rod (42) is an arc-shaped short rod. The lower part of the thigh support rod (42) is integrally formed with the inner thigh telescopic rod (43). The lower part of the inner thigh telescopic rod (43) extends into the upper part of the outer thigh telescopic rod (44) for sliding connection. A strip groove (8) is provided in the middle of the upper end of the thigh telescopic outer rod (44), and the strip groove (8) is provided along the lower end of the thigh telescopic outer rod (44); The lower end of the thigh telescopic outer rod (44) is fixedly connected to the upper part of the knee joint rotation device (3), the lower part of the knee joint rotation device (3) is fixedly connected to the upper part of the lower leg telescopic outer rod (45), and the upper part of the lower leg telescopic inner rod (46) extends into the lower leg telescopic outer rod (45) for sliding connection. A strip groove (8) is provided at the middle of the lower end of the calf telescopic outer rod (45), and the strip groove (8) is provided along the upper end of the calf telescopic outer rod (45).

8. The lower limb exoskeleton according to claim 7, characterized in that, The clamping device (5) includes: a first telescopic limiting block (51), a second telescopic limiting block (52), a clamping bolt (53), a fixing nut (54), and a knob (55). The first telescopic limiting block (51) has an inwardly extending groove (511) on one side, and the second telescopic limiting block (52) has an outwardly integrally formed pulling protrusion (521) on one side, which extends into the pulling groove (511) for sliding connection. The first telescopic limiting block (51) and the second telescopic limiting block (52) are respectively provided with through holes. One end of the clamping bolt (53) passes through the through hole and is fixedly connected to the fixing nut (54). The other end of the clamping bolt (53) is fixedly connected to the knob (55). The clamping device (5) clamps and fixes the upper end of the thigh telescopic rod (44) and the lower end of the calf telescopic rod (45) respectively.

9. The lower limb exoskeleton according to claim 8, characterized in that, The thigh pad (06) and the calf pad (07) respectively include: a sponge pad (061), a support shell (062), Velcro (063) and a strap (064). The sponge pad (061) and the support shell (062) are semi-circular. Multiple strap holes (11) are opened on both sides of the sponge pad (061) and the support shell (062). The strap (064) passes through the strap holes (11) and is fixedly connected to the Velcro (063). The telescopic rod structure (4) passes through the lower leg liner (07) and the thigh leg liner (06), the thigh leg liner (06) is attached to the thigh telescopic outer rod (44), and the lower leg liner (07) is attached to the lower leg telescopic outer rod (45).

10. The lower limb exoskeleton according to claim 9, characterized in that, The hip joint rotation device (2) is also fixedly connected to a waist connector (9), which is integrally formed with a strap buckle (10), and the strap buckle (10) is detachably connected to a waist strap (121).

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