Thigh structural component for lower-limb exoskeleton enabling seated posture

Abstract

The present invention relates to the technical field of exoskeletons, and disclosed is a thigh structural component for a lower-limb exoskeleton enabling a seated posture. The thigh structural component comprises a thigh structural member. A support leg is pivotally connected to one end of the thigh structural member facing a hip joint, and a driving mechanism for driving the support leg to rotate is further mounted on the thigh structural member. In the present invention, since the support leg is pivotally connected to the thigh structural member and the driving mechanism for driving the support leg to rotate is provided, when the lower-limb exoskeleton structure comprising the thigh structural component is worn by a wearer and the wearer is in a seated posture, the thigh structural component is substantially in a horizontal or inclined state. Under the driving of the driving mechanism, the support leg can be rotated to a position substantially perpendicular to the thigh structural member, so that the weight of the wearer can be supported by means of the support leg, and the wearer can rest in the seated posture.

Description

A rideable thigh structure for a lower extremity exoskeleton TECHNICAL FIELD

[0001] The present application relates to the technical field of exoskeletons, and particularly relates to a rideable thigh structure for a lower extremity exoskeleton. BACKGROUND

[0002] An exoskeleton robot (referred to as an exoskeleton) is an advanced mechanical device designed to help people who are unable to move or need to enhance their physical strength to restore normal life functions.

[0003] Exoskeletons are divided into lower extremity exoskeletons and upper extremity exoskeletons according to the wearing part, and the lower extremity exoskeleton usually includes a waist, a thigh, a calf, a foot, a hip joint, a knee joint and an ankle joint, such as a multi-degree-of-freedom lower extremity exoskeleton robot structure disclosed in CN117919060A.

[0004] Although such a lower extremity exoskeleton structure can help the wearer to enhance strength, it cannot independently provide the wearer with a sitting service. When the wearer needs to sit down and rest, he still has to sit on a stool or similar objects. Specifically, when the wearer wears the lower extremity exoskeleton structure and assumes a sitting posture, the thigh (structure) in the lower extremity exoskeleton structure is basically horizontal or inclined, but the thigh (structure) is not supported at the thigh position, so the lower extremity exoskeleton structure cannot independently provide the wearer with a sitting service.

[0005] Therefore, the thigh (structure) is improved in design, so that the wearer can obtain sitting support after wearing the lower extremity exoskeleton structure. SUMMARY

[0006] In view of the problem that the thigh structure in the prior art exoskeleton cannot achieve weight support in a sitting position, the purpose of the present application is to provide a rideable thigh structure for a lower extremity exoskeleton, so as to at least partially solve the above-mentioned problem.

[0007] To achieve the above-mentioned purpose, the technical scheme of the present application is as follows: a rideable thigh structure for a lower extremity exoskeleton, comprising a thigh structure, one end of the thigh structure towards a hip joint is pivotally connected with a support leg, and a driving mechanism for driving the support leg to rotate is installed on the thigh structure.

[0008] In some preferred embodiments, both ends of the thigh structure are pivotally connected with the support leg, and two driving mechanisms for driving the two support legs to rotate, respectively, are installed on the thigh structure.

[0009] In some preferred embodiments, the driving mechanism is an electric motor, and the support leg is fixedly connected with a motor shaft of the electric motor.

[0010] In some preferred embodiments, the drive mechanism includes a motor, a lead screw, a transmission block, and a power telescopic rod. The motor is fixed to the thigh structure, the lead screw is rotatably connected to the thigh structure and connected to the motor shaft of the motor, the transmission block is threaded to the lead screw, and the power telescopic rod is hinged to the transmission block and the support leg.

[0011] In some preferred embodiments, the drive mechanism includes a motor, a lead screw, two transmission blocks, and two telescopic rods; the motor is fixed to the thigh structure, the lead screw is rotatably connected to the thigh structure, and the lead screw is connected to the motor shaft of the motor; the lead screw is a bidirectional lead screw, the two transmission blocks are threaded to both ends of the lead screw, and the two telescopic rods are hinged to the two transmission blocks and the two support legs, respectively.

[0012] In some preferred embodiments, a loading box is also included, which is fixed to the leg support and is used to house the support leg and the drive mechanism.

[0013] In some preferred embodiments, the supporting leg is a telescopic leg.

[0014] In some preferred embodiments, the two thigh structural members constituting the lower limb exoskeleton structure have a connecting rod pivotally connected to one of the supporting legs, and a connecting structure between the other supporting leg and the connecting rod.

[0015] In some preferred embodiments, the connecting rod is equipped with a rotating mechanism, which is fixed to the support leg.

[0016] In some preferred embodiments, the two thigh structural members constituting the lower limb exoskeleton structure have a connecting rod pivotally connected to one of the supporting legs, and the connecting rod is also pivotally connected to the other supporting leg, with a connecting structure between the two connecting rods.

[0017] On the other hand, the present invention also provides a lower limb exoskeleton, including the thigh structure as described above.

[0018] The beneficial effects of the present invention using the above technical solution are as follows: Because the thigh structure is pivotally connected to a supporting leg and a drive mechanism for rotating the supporting leg, when the lower limb exoskeleton structure including the thigh structure is worn by the wearer in a sitting position, the thigh structure is approximately horizontal or inclined. Under the drive mechanism, the supporting leg can rotate to a position approximately perpendicular to the thigh structure, thereby supporting the wearer's weight and allowing the wearer to rest in a sitting position. When each of the two thigh structures is pivotally connected to a supporting leg, these two supporting legs, together with the two lower leg structures in the lower limb exoskeleton structure that adapt to the wearer's lower leg, constitute four supports, making it easier for the wearer to maintain a stable sitting posture. When each of the two thigh structures is pivotally connected to four supporting legs, these four supporting legs individually constitute four points of support, making it easier for the wearer to maintain a stable sitting posture. Attached Figure Description

[0019] Figure 1 is a side view of Embodiment 1 of the present invention.

[0020] Figure 2 is a structural schematic diagram of Embodiment 1 of the present invention.

[0021] Figure 3 is a schematic diagram of the use of Embodiment 1 of the present invention.

[0022] Figure 4 is a schematic diagram of the two thigh structural components in Embodiment 1 of the present invention when used as a lower limb exoskeleton structure.

[0023] Figure 5 is a side view of Embodiment 2 of the present invention.

[0024] Figure 6 is a schematic diagram of the use of Embodiment 2 of the present invention.

[0025] Figure 7 is a schematic diagram of the two thigh structural components in Embodiment 2 of the present invention when used as a lower limb exoskeleton structure.

[0026] Figure 8 is a side view of Embodiment 3 of the present invention.

[0027] Figure 9 is a structural schematic diagram of Embodiment 3 of the present invention.

[0028] Figure 10 is a magnified view of part A in Figure 9.

[0029] Figure 11 is a bottom view of Embodiment 3 of the present invention.

[0030] Figure 12 is a bottom view of Embodiment 4 of the present invention.

[0031] Figure 13 is a side view of the present invention in use according to Embodiment 4.

[0032] Figure 14 is a schematic diagram of the support leg in Embodiment 5 of the present invention.

[0033] Figure 15 is a schematic diagram of the use of the two thigh structural components as a lower limb exoskeleton structure in Embodiment 6 of the present invention.

[0034] Figure 16 is another schematic diagram of the two thigh structural components in Embodiment 6 of the present invention when used as a lower limb exoskeleton structure.

[0035] Figure 17 is a schematic diagram of the use of the two thigh structural components as a lower limb exoskeleton structure in Embodiment 7 of the present invention.

[0036] Figure 18 is another schematic diagram of the two thigh structural components in Embodiment 7 of the present invention when used as a lower limb exoskeleton structure.

[0037] In the diagram: 1-Thigh structure, 2-Support leg, 21-Upper section, 22-Lower section, 23-Locking screw, 3-Motor, 4-Loading box, 5-Transmission screw, 6-Transmission block, 7-Power telescopic rod, 8-Connecting rod, 9-Connecting structure, 10-Rotating mechanism. The best embodiment of the present invention

[0038] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding the present invention, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the description of the structure of this invention shown in the accompanying drawings. They are only for the convenience of describing this invention 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. Therefore, they should not be construed as limitations on this invention.

[0040] The terms "first" and "second" in this technical solution are merely designations for corresponding structures that are identical or similar, or that perform similar functions. They do not represent an arrangement of the importance of these structures, nor do they imply any ranking, comparison of size, or other meaning.

[0041] Furthermore, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two structures. Those skilled in the art can understand the specific meaning of the above terms in this invention by considering the overall concept of the invention and the specific context of the solution. Example

[0042] A rideable thigh structure for a lower limb exoskeleton, as shown in Figures 1-4, includes a thigh structure 1, a supporting leg 2, and a drive mechanism.

[0043] The thigh structure 1 is used as a part of the exoskeleton and is fitted to the wearer's thigh. Both ends of the thigh structure 1 are equipped with rotary joints to allow the upper end of the thigh structure 1 to connect with the upper limb structure in the exoskeleton, and the lower end of the thigh structure 1 to connect with the lower limb exoskeleton structure to fit the wearer's lower leg.

[0044] A drive mechanism is fixedly mounted on the upper end of the thigh structure 1 (the end for mounting the hip joint). This drive mechanism is a motor 3, such as a servo motor. One end of the support leg 2 is fixed to the motor shaft of the motor 3. For example, the support leg 2 is welded to a bushing, and the bushing is fixedly connected to the motor shaft of the motor 3 by a key.

[0045] It is easy to understand that the axis of rotation of the support leg 2 is perpendicular to the thigh structure 1, and the support leg 2 is arranged on the side of the thigh structure 1 that faces backward when in use, where "back" refers to the direction facing the back of the wearer. Alternatively, it can be arranged on the side that faces outward when in use, where "outward" refers to the side of the thigh structure 1 that faces away from the wearer.

[0046] With this configuration, when the lower limb exoskeleton structure containing the thigh structure 1 is worn by the wearer and the wearer is in a sitting position, the thigh structure 1 is roughly horizontal. Driven by the motor 3, the support leg 2 can rotate to a position perpendicular to the thigh structure 1, that is, the support leg 2 is roughly vertical, so that the wearer's weight can be supported by the support leg 2, allowing the wearer to rest in a sitting position.

[0047] It is easy to understand that the lower limb exoskeleton structure usually includes two thigh structural components 1, which correspond to two supporting legs 2. These two supporting legs 2, together with the two lower leg structural components in the lower limb exoskeleton structure used to fit the wearer's lower leg, form four supports, so that the wearer can maintain a stable sitting posture relatively easily.

[0048] Of course, the thigh structure 1 can also be tilted, and the supporting leg 2 can be rotated to a position that is roughly perpendicular to the thigh structure 1, that is, the supporting leg 2 is also tilted relative to the ground. In this way, most of the weight is borne by the two supporting legs and the two structural components in the lower limb exoskeleton structure that are used to fit the wearer's lower leg.

[0049] It is easy to understand that it also includes a loading box 4, which is fixed to the leg support 1. The loading box 4 is also elongated and fixed along the length of the leg support 1. The loading box 4 is used to house the support leg 2 and the drive mechanism, i.e., the motor 3. This arrangement allows the support leg 2 and the motor 3 to be protected by the loading box 4. The loading box 4 may consist of only a box body with an open opening, or it may include a box body and a lid that are detachably and fixedly connected to each other. For example, one side of the lid is pivotally connected to the box body via a hinge, and the other side is connected to the box body via a latch.

[0050] The loading box 4 can be arranged on one side of the bottom surface of the leg support 1 (the bottom surface when in a sitting position) or on the side of the support 1. Example

[0051] The difference between this embodiment and the first embodiment is as follows: As shown in Figures 5-7, in this embodiment, both ends of the thigh structure 1 are fixedly equipped with drive mechanisms, which are also configured as motors 3, such as servo motors. There are two support legs 2, and one end of each support leg 2 is fixed to the motor shaft of the two motors 3 respectively. For example, the support leg 2 is welded and fixed to the bushing, and the bushing is fixedly connected to the motor shaft of the motor 3 by a key.

[0052] It is easy to understand that the rotation axes of both support legs 2 are perpendicular to the thigh structure 1, and both support legs 2 are arranged on the same side of the thigh structure 1, which is the side facing backward when in use, where "back" refers to the direction facing the wearer's back. Alternatively, it can be the side facing outward when in use, where "outward" refers to the side of the thigh structure 1 that is away from the wearer.

[0053] With this configuration, when the exoskeleton containing the thigh structure 1 is worn by the wearer and the wearer is in a sitting position, the thigh structure 1 is roughly horizontal. Driven by the two motors 3, the two supporting legs 2 can rotate to a position perpendicular to the thigh structure 1, that is, the supporting legs 2 are roughly vertical. Thus, the weight of the wearer can be supported by the supporting legs 2, allowing the wearer to rest in a sitting position, thereby enabling the wearer's lower legs to move.

[0054] It is easy to understand that the sum of the lengths of the two support legs 2 may exceed the length of the loading box 4. Therefore, in this embodiment, the two support legs 2 are arranged in an alternating manner, that is, the free ends of the two support legs 2 can be partially staggered, so that the two support legs 2 can be stored in the loading box 4 without increasing the total length of the loading box 4. Example

[0055] In this embodiment, the drive mechanism is configured in another form. Specifically, as shown in Figures 8-10, the drive mechanism includes a motor 3, a lead screw 5, a transmission block 6, and a power telescopic rod 7.

[0056] The motor mount of motor 3 is fixed inside the loading box 4 by screws or bolts, and the axis of motor 3 is approximately parallel to the length direction of loading box 4.

[0057] Two bearings are arranged at intervals along the length of the transmission screw 5. The two bearings are respectively installed on two bearing supports arranged in the loading box 4. One end of the transmission screw 5 is connected to the motor shaft of the motor 3, for example, through a coupling.

[0058] The transmission block 6 has a threaded hole that matches the transmission screw 5, so that the transmission block 6 can be screwed onto the transmission screw 5, and when the transmission block 6 and the transmission screw 5 rotate relative to each other, the transmission block 6 can move along the length direction of the transmission screw 5.

[0059] The power telescopic rod 7 is configured with a linear transmission mechanism such as a pneumatic cylinder, hydraulic cylinder, or electric cylinder. One end of the power telescopic rod 7 is hinged to the transmission block 6, and the other end of the power telescopic rod 7 is hinged to the support leg 2, for example, at approximately the middle position.

[0060] With this configuration, the support leg 2 can pivot in conjunction with the motor 3 and the power telescopic rod 7.

[0061] It is easy to understand that when both ends of the thigh structure 1 are equipped with support legs 2, there are correspondingly two drive mechanisms in this embodiment. The two drive mechanisms are used to drive the two support legs 2 respectively, as shown in Figure 11. Example

[0062] Based on Embodiment 3, as shown in Figures 12-13, when there are two support legs 2, the two drive mechanisms described above can be further simplified.

[0063] That is, one of the motor 3 and the transmission screw 5 can be omitted, and only one motor 3 and one transmission screw 5 are retained in total. The retained motor 3 is connected to the transmission screw 5.

[0064] In this embodiment, the transmission screw 5 is further configured as a bidirectional transmission screw, meaning that both ends of the bidirectional transmission screw are threaded, but the two threads are only opposite in direction, with all other parameters being the same. Correspondingly, two transmission blocks 6 are screwed onto the two threads of the transmission screw 5, and two power telescopic rods 7 are hinged between the two transmission blocks 6 and the two support legs 2.

[0065] With this configuration, even without omitting one motor 3, both support legs 2 can be driven to rotate relative to the thigh structure 1 simultaneously. Example

[0066] Based on the above embodiments, this embodiment further configures the support leg 2 as a telescopic support leg.

[0067] Telescopic outriggers can be hydraulic, electric, pneumatic, or manually adjustable telescopic rods with locking function.

[0068] As shown in Figure 14, the support leg 2 consists of an upper section 21 and a lower section 22. The upper end of the upper section 21 is pivotally connected to the loading box 4. A hole is provided at the lower end of the upper section 21, through which the lower section 22 is inserted, allowing the lower section 22 to move relative to the upper section 21, thereby changing the length of the support leg 2. In addition, a locking screw 23 is screwed onto the lower part of the upper section 21, which presses the lower section 22 into the hole of the upper section 21, thus fixing the length of the support leg 2.

[0069] This design allows the length of the support leg 2 to be adjusted, thereby enabling the wearer to adjust their sitting height as needed. Additionally, the length of the support leg 2 at different positions can be adjusted individually, allowing the wearer to change and adjust their sitting posture. Example

[0070] It is easy to understand that, in this embodiment, the lower limb exoskeleton structure composed of the thigh structure is worn by the wearer, and when the wearer is in a sitting position, there is no connection between the supporting legs 2 belonging to the two thigh structure 1, which makes the support system composed of the supporting legs 2 insufficiently stable.

[0071] Therefore, in this embodiment, as shown in Figure 15, a connecting rod 8 is pivotally connected to the supporting leg 2 configured on the thigh structure 1, and when the wearer maintains a sitting posture, the connecting rod 8, the supporting leg 2 and the thigh structure 1 are approximately perpendicular to each other, roughly forming a Cartesian coordinate system.

[0072] In the lower limb exoskeleton structure, there is a connecting structure 9 between the corresponding supporting leg 2 of another thigh structure 1 and the supporting leg 2 equipped with a connecting rod 8.

[0073] The connecting structure 9 includes a pin hole on the connecting rod 8. The corresponding support leg 2 of the other thigh structure 1 of the lower limb exoskeleton structure is provided with a pin hole so that the connecting rod 8 can be connected to the corresponding support leg 2 of the other thigh structure 1 by means of a pin, so that the two support legs 2 located at the same position on the wearer's leg can be connected to each other.

[0074] It is readily understood that, in other preferred embodiments, the connection structure 9 may also be other structures disclosed in the prior art, such as a James hook.

[0075] It is easy to understand that the support leg 2 is usually also provided with a fixing structure (not shown in the figure) for fixing the connecting rod 8 that is not in use. For example, two permanent magnets that can attract each other are respectively set on the support leg 2 and the connecting rod 8, so that when the connecting rod 8 is not in use, it can be attracted to the support leg 2, at which time the connecting rod 8 is roughly parallel to the support leg 2.

[0076] This applies to the two supporting legs 2 at the wearer's knee position and the two supporting legs 2 at the wearer's thigh position, as shown in Figure 16.

[0077] It is easy to understand that the connecting rod 8 can also be driven by a rotating mechanism (not shown in the figure). For example, the rotating mechanism can be configured as a servo motor, which is fixedly mounted on the support leg 2. The connecting rod 8 is welded and fixed to the bushing, and the bushing is fixed to the motor shaft of the servo motor by a key. Example

[0078] Based on Embodiment 6, as shown in Figures 17-18, two supporting legs 2 at the same position on the wearer's legs are pivotally connected to connecting rods 8, and a connecting structure 9 is also provided between these two connecting rods 8.

[0079] That is, the two thigh structural components 1 belonging to the lower limb exoskeleton structure are pivotally connected to the two supporting legs 2 on the same side, and a connecting structure 9 is also provided between the two connecting rods 8.

[0080] This invention also provides a lower limb exoskeleton, comprising a waist section, a thigh structure, a lower leg structure, a foot structure, a hip joint, a knee joint, and an ankle joint. Two of each of the thigh, lower leg, foot, hip, knee, and ankle joints are arranged symmetrically on the left and right sides of the waist section. The positions and connections between these components are existing technology and will not be described further in this embodiment. The thigh structure is the same as the rideable thigh structure disclosed in the above embodiment.

[0081] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and these variations still fall within the protection scope of the present invention.

Claims

1. A rideable thigh structure for a lower limb exoskeleton, characterized in that... The device includes a thigh structure, with a supporting leg pivotally connected to one end of the thigh structure facing the hip joint, and a drive mechanism for rotating the supporting leg is also installed on the thigh structure.

2. The rideable thigh structure for a lower limb exoskeleton according to claim 1, characterized in that... The thigh structure is pivotally connected to the support legs at both ends, and two drive mechanisms are installed on the thigh structure to drive the two support legs to rotate respectively.

3. The rideable thigh structure for a lower limb exoskeleton according to claim 1 or 2, characterized in that... The driving mechanism is a motor, and the support leg is fixedly connected to the motor shaft of the motor.

4. The rideable thigh structure for a lower limb exoskeleton according to claim 1 or 2, characterized in that... The drive mechanism includes a motor, a transmission screw, a transmission block, and a power telescopic rod. The motor is fixed to the thigh structure, the transmission screw is rotatably connected to the thigh structure and connected to the motor shaft of the motor, the transmission block is threaded to the transmission screw, and the power telescopic rod is hinged to the transmission block and the support leg.

5. The rideable thigh structure for a lower limb exoskeleton according to claim 2, characterized in that... The drive mechanism includes a motor, a transmission screw, two transmission blocks, and two power telescopic rods. The motor is fixed to the thigh structure, the transmission screw is rotatably connected to the thigh structure, and the transmission screw is connected to the motor shaft of the motor. The transmission screw is a bidirectional transmission screw, the two transmission blocks are threaded to both ends of the transmission screw, and the two power telescopic rods are hinged to the two transmission blocks and the two support legs, respectively.

6. The rideable thigh structure for a lower limb exoskeleton according to claim 1 or 2, characterized in that... It also includes a loading box, which is fixed to the leg support and is used to house the support leg and the drive mechanism.

7. The rideable thigh structure for a lower limb exoskeleton according to claim 1 or 2, characterized in that... The supporting leg is a telescopic supporting leg.

8. The rideable thigh structure for a lower limb exoskeleton according to claim 1 or 2, characterized in that... The two thigh structural members are used to form the lower limb exoskeleton structure, one of which is pivotally connected to a connecting rod on its supporting leg, and the other of which is connected to the connecting rod by a connecting structure.

9. The rideable thigh structure for a lower limb exoskeleton according to claim 8, characterized in that... The connecting rod is equipped with a rotating mechanism, which is fixed to the support leg.

10. The rideable thigh structure for a lower limb exoskeleton according to claim 8, characterized in that... The two thigh structural members are used to form the lower limb exoskeleton structure. One of the supporting legs is pivotally connected to a connecting rod, and the other supporting leg is also pivotally connected to the connecting rod. A connecting structure is provided between the two connecting rods.

11. A lower limb exoskeleton, characterized in that... Includes the thigh structure as described in any one of claims 1-10.

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