CN112936228B

CN112936228B - Lower limb exoskeleton robot

Info

Publication number: CN112936228B
Application number: CN202110182019.2A
Authority: CN
Inventors: 金山海; 徐继东
Original assignee: Yanbian University
Current assignee: Yanbian University
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2023-03-14
Anticipated expiration: 2041-02-08
Also published as: CN112936228A

Abstract

The invention relates to a lower limb exoskeleton robot. This lower limbs ectoskeleton robot includes: a pull rope, a track wheel, a driving structure, an ankle auxiliary structure and a knee auxiliary structure; the track wheel is rotatably connected with the ankle auxiliary structure, the knee auxiliary structure is used for being connected with a knee joint, and the knee auxiliary structure comprises an energy storage assembly; at least two pull ropes are wound on the track wheel, one end of one pull rope is connected to the power output end of the driving structure, and one end of the other pull rope is connected to the energy storage assembly; the driving structure is used for driving the corresponding pull rope to perform rolling motion, the pull rope drives the track wheel to rotate, and the ankle auxiliary structure can perform lifting motion; the pull rope connected to the energy storage assembly can pull the energy storage assembly to store energy under the rotating action of the rail wheel. The mode of combining the initiative and the passivity is cooperated to assist the ankle joint and the knee joint, so that the metabolism of a wearer can be reduced when the wearer walks normally, and an excellent assisting effect can be provided for the wearer under the conditions of mountain climbing and the like.

Description

Lower limb exoskeleton robot

Technical Field

The invention relates to the technical field of exoskeleton robots, in particular to a lower limb exoskeleton robot.

Background

The lower limb walking is one of the main activities of the human body, but the load of people can be greatly increased when people walk for a long time, and the load bearing sense of joints such as ankles, knees and the like of the human body can be more obvious under the conditions of large exercise amount in uneven road sections, mountain climbing, stair climbing and the like, so that the joint diseases can be aggravated and even suffered from abrasion.

Conventional lower extremity exoskeletons, while addressing these issues, also face a number of challenges. The traditional exoskeleton is mainly divided into an active exoskeleton and a passive exoskeleton, wherein the active exoskeleton mainly uses devices such as a motor and the like to provide mechanical power for lower limbs, and if a driver needs to obtain a larger driving force, the driver is designed to be very heavy, so that inconvenience is brought to walking of people; the unpowered exoskeleton can realize an auxiliary effect by storing energy in natural motion of a human body without additional driving force, and can avoid load brought by a driving device, but also face the challenges of insufficient driving force, incapability of better adapting to human gait characteristics and the like.

Disclosure of Invention

In view of the above, it is necessary to provide a lower limb exoskeleton robot which addresses the technical problems of the lower limb exoskeleton robot being heavy, inflexible, or having insufficient driving force.

A lower extremity exoskeleton robot comprising: a pull rope, a track wheel, a driving structure, an ankle auxiliary structure and a knee auxiliary structure;

the ankle assist structure is used for being sleeved on a foot, the rail wheel is rotatably connected with the ankle assist structure, the knee assist structure is used for being connected with a knee joint, and the knee assist structure comprises an energy storage assembly;

at least two pull ropes are wound on the track wheel, one end of one pull rope is connected to the power output end of the driving structure, and one end of the other pull rope is connected to the energy storage assembly;

the driving structure is used for driving the corresponding pull rope to perform rolling motion, the pull rope drives the track wheel to rotate, and the ankle auxiliary structure can perform lifting motion; the pull rope connected to the energy storage assembly can pull the energy storage assembly to store energy under the rotating action of the rail wheel.

In one embodiment, the driving structure includes a driving member and a driving wheel, the driving wheel is connected to a power output end of the driving member, the pull rope is connected to the driving wheel, the driving member is used for driving the driving wheel to rotate, and the driving wheel drives the pull rope to perform a rolling motion.

In one embodiment, the driving structure further comprises a fixing member;

the driving wheel is provided with a connecting hole extending along the axial direction of the driving wheel, one end of the fixing piece penetrates through the connecting hole to be connected to the driving wheel, and a pressing space is formed between the side wall of the fixing piece and the hole wall of the connecting hole; the end part of the pull rope is pressed in the pressing space and connected with the fixing piece.

In one embodiment, at least one side of the driving wheel is provided with a notch, part of the fixing piece is accommodated in the notch, and the notch is used for avoiding the fixing piece.

In one embodiment, the driving wheel is provided with a mounting groove extending along the circumferential direction of the driving wheel, and the mounting groove is used for the circumferential surrounding of the pull rope; the mounting groove is communicated with the notch.

In one embodiment, the driving structure has a guiding channel, the guiding channel is disposed at an outlet end of the driving wheel, and the guiding channel extends from the driving structure toward the ankle support structure.

In one embodiment, the driving structure further comprises at least two rollers, at least two rollers are arranged at intervals, and a space is formed between at least two rollers, and the space forms a guide channel.

In one embodiment, the rail wheel includes a first rail groove, a second rail groove and a third rail groove axially spaced apart from each other;

the stay cord includes first stay cord, second stay cord and third stay cord, the one end of first stay cord is around locating first track groove, the other end connect in drive structure, the one end of second stay cord is around locating second track groove, the other end connect in ankle auxiliary structure's bottom, the one end of third stay cord is around locating third track groove, the other end connect in the energy storage subassembly.

In one embodiment, the second track groove and the third track groove have a radius greater than a radius of the first track groove.

In one embodiment, the knee assistant structure further comprises a knee pad for sleeving the knee joint, and the energy storage component is mounted on one side of the knee pad, which faces away from the knee joint.

In one embodiment, the energy storage assembly comprises a front rotating wheel, a first elastic piece and a connecting shaft;

the front rotating wheel is sleeved on the connecting shaft, one end of the first elastic piece is connected to the knee pad, the other end of the first elastic piece is connected to the front rotating wheel, and one end of the third pull rope is connected to the front rotating wheel;

when the rail wheel drives the third pull rope to perform rolling motion, the third pull rope drives the front rotating wheel to rotate along a first direction, and the first elastic part is stretched to store energy.

In one embodiment, the energy storage assembly further comprises a ratchet, a pawl and an unlocking member;

the ratchet wheel and the unlocking piece are sleeved on the connecting shaft, one end of the first elastic piece, which is far away from the knee pad, is connected to the ratchet wheel, and when the third pull rope drives the front rotating wheel to rotate along the first direction, the ratchet wheel and the front rotating wheel synchronously rotate;

when the first elastic piece contracts, one end of the pawl can abut against the ratchet wheel to lock and limit the rotation of the ratchet wheel along the second direction, the unlocking piece can be used for unlocking the pawl after rotating for a first angle along the second direction, and the ratchet wheel can rotate along the second direction to return;

the second direction is opposite to the first direction.

In one embodiment, the unlocking piece comprises a rear rotating wheel and a second elastic piece, and the rear rotating wheel and the second elastic piece are sleeved on the connecting shaft;

when the third pull rope drives the front rotating wheel to rotate along the first direction, the second elastic part is stretched to store energy; when the first elastic piece contracts, the second elastic piece can drive the rear rotating wheel to rotate along the second direction.

In one embodiment, the rear rotating wheel is provided with a shifting block which is arranged in a protruding mode along the axial direction of the rear rotating wheel, the rear rotating wheel rotates along the second direction, the shifting block can shift the pawl away from the ratchet wheel, and the pawl is unlocked from the ratchet wheel.

In one embodiment, the energy storage assembly further comprises a buffer;

the ratchet wheel rotates along a first direction to enable the pawl to be pressed on the buffer piece; the ratchet wheel rotates in a second direction, and the buffer member can apply restoring force to the pawl.

In one embodiment, the ankle assisting structure comprises an upper component and a lower component connected to the upper component, one end of the second pull rope, which is far away from the track wheel, is connected to the lower component, the lower component is used for sleeving the sole of a foot, and the upper component is used for connecting to the lower leg.

In one embodiment, the lower assembly comprises a foot plate, a toe strap and a connecting rod, the tail end of the connecting rod is rotatably connected to the upper assembly, the foot plate is connected to the middle part of the connecting rod, the toe strap is connected to the foot plate, and one end of the second stretching is connected to the middle part of the connecting rod.

In one embodiment, the lower assembly further comprises a spacer and an adjustment plate, the adjustment plate is connected to the connecting rod at one end and the toe strap at the other end, the spacer is connected to the end of the foot plate, and the spacer is used for fixing feet to the foot plate.

In one embodiment, the upper assembly further comprises a lower leg cuff and a connecting frame, the connecting frame is connected to the lower leg cuff, the connecting frame is rotatably connected to the connecting rod, the rail wheel is connected to the connecting frame, and the lower leg cuff is connected to the lower leg.

The invention has the beneficial effects that:

the invention provides a lower limb exoskeleton robot, which comprises: a pull rope, a track wheel, a driving structure, an ankle auxiliary structure and a knee auxiliary structure; the ankle auxiliary structure is used for being sleeved on the foot, the rail wheel is rotatably connected with the ankle auxiliary structure, the knee auxiliary structure is used for being connected with the knee joint, and the knee auxiliary structure comprises an energy storage assembly; at least two pull ropes are wound on the track wheel, one end of one pull rope is connected to the power output end of the driving structure, and one end of the other pull rope is connected to the energy storage assembly; the driving structure is used for driving the corresponding pull rope to perform rolling motion, the pull rope drives the track wheel to rotate, and the ankle auxiliary structure can perform lifting motion; the pull rope connected to the energy storage assembly can pull the energy storage assembly to store energy under the rotating action of the rail wheel. When the people walks, be rolling motion through the stay cord that drive structure drive corresponds, this stay cord drives the rail wheel and rotates, thereby it is rolling motion to drive the stay cord that corresponds with the rail wheel, it does the motion of lifting up to drive ankle auxiliary structure, thereby supplementary ankle joint, connect simultaneously in energy storage component's stay cord can be under the rotation effect of rail wheel, pulling energy storage component is in order to carry out the energy storage, thereby supplementary knee joint motion, this kind of initiative is supplementary ankle joint and knee joint in coordination with the mode that combines together passively, not only can let the person of dress normally walk on the level road and reduce the metabolism, and can also be in the unevenness highway section, mountain-climbing, provide outstanding supplementary effect for the person of dress under the great condition of amount of exercise such as stair.

Drawings

Fig. 1 is a schematic view of a lower extremity exoskeleton robot provided in an embodiment of the present invention;

fig. 2 is a schematic diagram of a driving structure of the lower extremity exoskeleton robot according to the embodiment of the present invention;

fig. 3 is a schematic view of a pull rope of the lower extremity exoskeleton robot provided in the embodiment of the present invention being fixed to a driving wheel;

fig. 4 is a schematic diagram of a knee assist configuration of the lower extremity exoskeleton robot provided in an embodiment of the present invention;

fig. 5 is an exploded view of the energy storage assembly of the lower extremity exoskeleton robot provided in an embodiment of the present invention;

fig. 6 is a partially exploded view of the energy storage assembly of the lower extremity exoskeleton robot provided in accordance with an embodiment of the present invention;

fig. 7 is a schematic view of the engagement of a first wheel and a ratchet in the lower extremity exoskeleton robot according to the embodiment of the present invention;

fig. 8 is a schematic view of a second wheel of the lower extremity exoskeleton robot cooperating with a rear wheel according to an embodiment of the present invention;

fig. 9 is a schematic view of a second wheel and a second elastic member of the lower extremity exoskeleton robot according to the embodiment of the present invention;

fig. 10 is a schematic view of an ankle assist structure of the lower extremity exoskeleton robot according to the embodiment of the present invention;

fig. 11 is an exploded view of a portion of the linkage of the lower extremity exoskeleton robot in accordance with the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will recognize without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1-11, fig. 1 is a schematic view of a lower extremity exoskeleton robot according to an embodiment of the present invention; fig. 2 is a schematic diagram of a driving structure of the lower extremity exoskeleton robot according to the embodiment of the present invention; fig. 3 is a schematic view of a pull rope of the lower extremity exoskeleton robot provided in the embodiment of the present invention being fixed to a driving wheel; fig. 4 is a schematic diagram of a knee assist configuration of the lower extremity exoskeleton robot provided in an embodiment of the present invention; fig. 5 is a first exploded view of the energy storage assembly of the lower extremity exoskeleton robot provided in an embodiment of the present invention; fig. 6 is a second exploded view of the energy storage assembly of the lower extremity exoskeleton robot in accordance with an embodiment of the present invention; fig. 7 is a schematic view of the engagement of a first wheel and a ratchet in the lower extremity exoskeleton robot according to the embodiment of the present invention; fig. 8 is a schematic view of a second wheel of the lower extremity exoskeleton robot cooperating with a rear wheel according to an embodiment of the present invention; fig. 9 is a schematic view of a second wheel and a second elastic member of the lower extremity exoskeleton robot according to the embodiment of the present invention; fig. 10 is a schematic view of an ankle assist structure of the lower extremity exoskeleton robot according to the embodiment of the present invention; fig. 11 is an exploded view of a portion of a connecting frame of the lower extremity exoskeleton robot according to the embodiment of the present invention. The lower extremity exoskeleton robot comprises a pull rope 100, a rail wheel 300, a driving structure 200, an ankle assisting structure 600 and a knee assisting structure 400; the ankle assisting structure 600 is used for being sleeved on the foot, the rail wheel 300 is rotatably connected to the ankle assisting structure 600, the knee assisting structure 400 is used for being connected to the knee joint, and the knee assisting structure 400 comprises an energy storage assembly 500; at least two pull ropes 100 are wound on the track wheel 300, wherein one end of one pull rope 100 is connected to the power output end of the driving structure 200, and one end of the other pull rope 100 is connected to the energy storage assembly 500; the driving structure 200 is used for driving the corresponding pull rope 100 to perform a rolling motion, the pull rope 100 drives the track wheel 300 to rotate, and the ankle auxiliary structure 600 can perform a lifting motion; the pull rope 100 connected to the energy storage assembly 500 can pull the energy storage assembly 500 to store energy under the rotation of the rail wheel 300. When the people walks, it is rolling motion to drive stay cord 100 that corresponds through drive structure 200, this stay cord 100 drives rail wheel 300 and rotates, thereby it is rolling motion to drive stay cord 100 that corresponds with rail wheel 300, it lifts up the motion to drive ankle auxiliary structure 600, thereby supplementary ankle joint, connect simultaneously in energy storage component 500's stay cord 100 can be under rail wheel 300's rotation effect, pulling energy storage component 500 is in order to carry out the energy storage, thereby supplementary knee joint motion, this kind of initiative is supplementary ankle joint and knee joint in coordination with the mode that combines together passively, not only can let the wearing person reduce the metabolism at level road normal walking, but also can be in the unevenness highway section, ascend a mountain, it provides outstanding supplementary effect for the wearing person under the great condition of amount of exercise such as stair to climb the mountain.

Further, referring to fig. 1 and 6, the rail wheel 300 includes a first rail groove 310, a second rail groove 320, and a third rail groove 330, one side of the second rail groove 320 is connected to the first rail groove 310, and the other side is connected to the third rail groove 330, and the first rail groove 310, the second rail groove 320, and the third rail groove 330 rotate in synchronization. The pulling rope 100 includes a first pulling rope 110, a second pulling rope 120 and a third pulling rope 130, one end of the first pulling rope 110 is wound around the first track groove 310, the other end of the first pulling rope is connected to the driving structure 200, one end of the second pulling rope 120 is wound around the second track groove 320, the other end of the second pulling rope is connected to the ankle assisting structure 600, one end of the third pulling rope 130 is wound around the third track groove 330, and the other end of the third pulling rope is connected to the energy storage assembly 500.

Drive structure 200 drives first stay cord 110 and is rolling motion for first stay cord 110 is unwinding motion at first track groove 310, first stay cord 110 drives rail wheel 300 and rotates, thereby it is rolling motion to drive second stay cord 120 and third stay cord 130, second stay cord 120 then drives the one end of ankle auxiliary structure 600 and does the motion of lifting, supplementary heel lifts up, and energy storage component 500 can be with the power storage of third stay cord 130 transmission, be used for supplementary knee to stretch.

Wherein, the first track groove 310, the second track groove 320 and the third track groove 330 are arranged, so that the first pull rope 110, the second pull rope 120 and the third pull rope 130 can be arranged at intervals, thereby avoiding the track wheel 300 from rotating, the first pull rope 110, the second pull rope 120 and the third pull rope 130 are wound, and the pull rope 100 can be effectively prevented from being deviated in the rolling process to bring about bad effects, and the pull rope 100 can be enabled to have higher and more smooth force transmission effects.

Further, the rotation radius of the second track groove 320 and the third track groove 330 is larger than that of the first track groove 310, and the second track groove 320 and the third track groove 330 are configured to amplify the force transmitted from the first rope 110 to the first track groove 310 and transmit the amplified force to the ankle supporting structure 600 and the knee supporting structure 400, respectively, thereby enhancing the supporting effect on the ankle and the knee joint.

Referring to fig. 1 and 2, in an embodiment, the driving structure 200 includes a driving member 210 and a driving wheel 220, the driving wheel 220 is connected to a power output end of the driving member 210, the first pull rope 110 is connected to the driving wheel 220, and the driving member 210 is configured to drive the driving wheel 220 to rotate, so that the driving wheel 220 drives the first pull rope 110 to perform a rolling motion. The driving member 210 is a motor, and an output shaft of the motor extends into the center of the driving wheel 220 and is fixedly connected with the driving wheel 220.

Specifically, the driving structure 200 further includes a fixing member 230, the driving wheel 220 is provided with a connecting hole extending along an axial direction thereof, one end of the fixing member 230 passes through the connecting hole to be connected to the driving wheel 220, and a compression space is formed between a side wall of the fixing member 230 and a hole wall of the connecting hole; the end portion of the first pulling rope 110 is pressed in the pressing space and wound around the fixing member 230 around the axis of the fixing member, the wire outlet end of the first pulling rope 110 wound from the fixing member 230 is wound around the driving wheel 220 along the circumferential direction of the driving wheel 220, and when the driving member 210 drives the driving wheel 220 to rotate, the first pulling rope 110 performs a rolling motion relative to the driving wheel 220. Preferably, the fixing member 230 is a small-diameter bolt.

Further, one side of the driving wheel 220 is provided with a notch 222, a part of the fixing member 230 is accommodated in the notch 222, and the notch 222 is used for avoiding the fixing member 230, so that an installation space for rotating the bolt is provided, the fixing member 230 is conveniently installed on the driving wheel 220, and a nut on the bolt can be prevented from being convexly arranged on the driving wheel 220, so that a user can be prevented from being scratched. Wherein, the bottom of the notch 222 is provided with a connecting hole extending along the axis of the driving wheel 220, and the fixing member 230 is screwed to the driving wheel 220 through the connecting hole, so that the fixing member 230 is connected with the driving wheel 220 more tightly.

Wherein, still overlap on the screw rod of bolt and be equipped with the gasket, the gasket can increase the area of contact with first stay cord 110 tip to press tighter with first stay cord 110.

It should be noted that there may be a plurality of notches on the driving wheel 220, so that the fixing member 230 can be avoided when the fixing member 230 is installed at different positions of the driving wheel 220.

Referring to fig. 2 and 3, in an embodiment, the driving wheel 220 is provided with a mounting groove 221 extending along a circumferential direction thereof, the mounting groove 221 is communicated with the notch 222, and the first rope 110 extending from the pressing space is disposed around the mounting groove 221, so that the first rope 110 wound around the driving wheel 220 does not shift in the winding process, and the first rope 110 wound around the driving wheel 220 can be effectively prevented from shifting in the winding process to bring about a bad effect, and the first rope 110 can have a higher and smoother force transmission effect.

Referring to fig. 1 and 10, the connection manner of the first rope 110, the second rope 120 and the third rope 130 to the track wheel 300 is the same as the connection manner of the first rope 110 to the driving wheel 220, and thus the description thereof is omitted.

Further, the driving structure 200 further includes an elastic band 250, a fixed long plate 260 and a stable plate 270, the fixed long plate 260 is attached to the elastic band 250, the stable plate 270 is connected to the fixed long plate 260, the elastic band 250 is tied at the waist, and the motor is fastened on the fixed long plate 260 through the stable plate 270, wherein the rotation and stop of the motor are controlled by Arduino (open source electronic prototype platform), the driving wheel 220 is connected with one end of the output shaft of the motor and drives the first pull rope 110 on the driving wheel 220 to provide the mechanical power of the whole device through the rotation of the motor.

Further, the number of the stabilizing plates 270 is two, and the first stabilizing plate 270 and the second stabilizing plate 270 are respectively provided, the first stabilizing plate 270 and the second stabilizing plate 270 are arranged at intervals and are respectively vertically connected to the fixed long plate 260, the output shaft end of the motor penetrates through the first stabilizing plate 270 to be connected to the driving wheel 220, the other end of the motor penetrates through the second stabilizing plate 270 to be connected to the second stabilizing plate 270, and the motor is fixed more stably through the arrangement.

It should be noted that the number of the motors is two, preferably, the two motors are arranged in opposite directions, and respectively drive the two first pull ropes 110 to assist the left sole and the right sole to lift, that is, the lower extremity exoskeleton robot is symmetrically arranged around the center line of the human body, which is not described in detail.

Referring to fig. 1 and 2, the driving structure 200 has a guiding channel, the guiding channel is disposed at the outlet end of the driving wheel 220, and the guiding channel extends from the driving structure 200 toward the ankle assisting structure 600. In an embodiment, the first stabilizing plate 270 is provided with two strip-shaped plates arranged at an interval, a guiding channel is formed between the two strip-shaped plates, the first pulling rope 110 extending from the leading-out end of the driving wheel 220 passes through the guiding channel, when the driving wheel 220 drives the first pulling rope 110 to perform a rolling motion, the guiding channel plays a role in guiding, and meanwhile, the first pulling rope 110 can deviate to influence the effect of the transmission force.

In another embodiment, the driving structure 200 further includes two rollers 240, the two rollers 240 are spaced apart, and a space is formed between the two rollers 240, and the space forms the guide channel. Wherein the roller 240 is capable of rotating about its axis, wherein the axis of the roller 240 coincides with the axis of the drive wheel 220. When the driving wheel 220 drives the first pulling rope 110 to perform rolling motion, the first pulling rope 110 moves in the guiding channel, and when a person walks, the driving structure 200 slightly changes towards the ankle auxiliary structure 600, so that the first pulling rope 110 contacts with the wheel wall of the roller 240, friction force is generated, the friction force can drive the roller 240 to rotate, friction force between the first pulling rope 110 and the guiding channel can be reduced, and the transmission force effect of the first pulling rope 110 is improved.

In yet another embodiment, the number of the rollers 240 is three, and the three rollers 240 are arranged in a staggered manner along the driving structure 200 toward the ankle assisting structure 600, thereby forming the guide channel. The number of the rollers 240 may be plural, as long as the guide channel can be formed.

Preferably, the present embodiment is described by taking an example in which two rollers 240 arranged at intervals form a guide channel.

Further, one side of the first stabilizing plate 270, which is away from the second stabilizing plate 270, is provided with two spacing-arranged limiting rods 241, and the two rollers 240 are respectively sleeved on the limiting rods 241. Wherein, the terminal that gag lever post 241 deviates from first stabilizer plate 270 still overlaps and is equipped with the spacing ring, and the spacing ring is used for carrying on spacingly to the axis motion of gyro wheel 240 along gyro wheel 240, prevents that gyro wheel 240 from rotating the in-process, roll-off gag lever post 241.

Referring to fig. 1 and 10, the ankle assisting structure 600 includes an upper member 610 and a lower member 620, the lower member 620 is movably connected to the upper member 610, an end of the second pulling rope 120 away from the rail wheel 300 is connected to the lower member 620, the lower member 620 is configured to be sleeved on the sole of a foot, and the upper member 610 is configured to be connected to the lower leg, so that the ankle assisting structure 600 is in a movable state, and thus, the ankle joint is kept in a comfortable state during walking.

The upper assembly 610 includes a calf strap 615 and a link that is attached to the calf strap 615, the link is pivotally attached to the lower assembly 620, the rail wheel 300 is attached to the link, and the calf strap 615 is attached to the calf.

The link includes a fixing bracket 611 and a guide shaft support, the fixing bracket 611 has a shape adapted to the lower leg, and the fixing bracket 611 can be attached to the rear half of the lower leg when the lower leg band 615 is bound to the lower leg. The guide shaft support is connected to one side of the fixing bracket 611 facing away from the rear side of the lower leg, and the rail wheel 300 is rotatably connected to the guide shaft support.

Specifically, the number of the guide shaft supports is two, which are respectively a first support 612 and a second support 616, the first support 612 and the second support 616 are arranged at intervals, the first support 612 and the second support 616 are vertically connected to one side of the fixed bracket 611 facing away from the rear side of the lower leg, the upper assembly 610 further includes a long shaft 617, the long shaft 617 passes through the first support 612 and the second support 616 along the axis of the track wheel 300, the track wheel 300 is sleeved on the long shaft 617, and the track wheel 300 can rotate along the axis thereof. Preferably, the rotation bearing 613 is sleeved on the long shaft 617, and the rail wheel 300 is sleeved on the rotation bearing 613, so that the friction force generated when the rail wheel 300 rotates can be reduced, and the first rope 110 can better transmit the force of the driving structure 200 to the rail wheel 300.

The end of the guide shaft support far from the fixing support 611 is provided with a limiting hole, a limiting port 618 and a limiting part, the long shaft 617 passes through the limiting hole and is connected to the guide shaft support, the limiting port 618 extends to the limiting hole along the second direction and is communicated with the limiting hole, the limiting part can pass through the upper and lower side walls of the limiting port 618 along the vertical direction and penetrate through the guide shaft support, the distance between the upper and lower side walls of the limiting port 618 is shortened through the limiting part, so that the abutting degree between the long shaft 617 and the side wall of the limiting hole is increased, the long shaft 617 is fixedly connected with the guide shaft support, when the rail wheel 300 needs to be taken out or replaced, the distance between the upper and lower side walls of the limiting port 618 only needs to be increased through the limiting part, the abutting degree between the long shaft 617 and the side wall of the limiting hole is loosened, the long shaft 617 can extend out of the limiting hole, and the rail wheel 300 is taken out, so that the replacement of the rail wheel 300 is facilitated.

The upper assembly 610 further comprises a long connecting plate 614, the lower assembly 620 further comprises an outer connecting short plate 621 and an inner connecting short plate 622, one end of the long connecting plate 614 is fixed to two sides of the fixing bracket 611, the other end of the long connecting plate 614 extends vertically downwards to the ankle to be connected with the outer connecting short plate 621 and the inner connecting short plate 622, wherein the outer connecting short plate is connected to the side of the long connecting plate 614 facing away from the lower leg, the inner connecting short plate is connected to the side of the long connecting plate 614 facing towards the lower leg, corresponding fastening holes 628 are formed in the upper ends of the outer connecting short plate 621 and the inner connecting short plate, and the outer connecting short plate 621 and the inner connecting short plate 622 are fixed to the long connecting plate 614 through the fastening holes 628 and the long connecting plate 643 by means of common tools, such as the fastening screws 644 pass through the fastening holes 643 and the fastening nuts cooperate with the fastening screws 643.

The lower assembly 620 further includes a middle connection plate 623, the middle connection plate 623 is spaced downward from the long connection plate 614 in a vertical direction, and both sides of the middle connection plate 623 are rotatably connected to the outer connection short plate 621 and the inner connection short plate 622, respectively.

Specifically, the lower assembly 620 further includes a rotary bearing 629 and a fastening short shaft, the lower ends of the outer connecting short plate 621 and the inner connecting short plate 622 are respectively provided with a corresponding rotary hole 625, the middle connecting plate 623 is provided with a corresponding fixing hole, the fastening short shaft passes through the rotary hole 625 and the fixing hole, and two ends of the fastening short shaft are respectively connected to the outer connecting short plate 621 and the inner connecting short plate 622, the rotary bearing 629 is sleeved on the fastening short shaft and abuts against the hole wall of the fixing hole, so that the middle connecting plate 623 can rotate relative to the long connecting plate 614, and the upper assembly 620 and the lower assembly 620 can move. Wherein, still overlap on the fastening minor axis and be equipped with spacing snap ring 645, spacing snap ring 645 locates the both sides of swivel bearing 629, and fixed connection in fastening minor axis, spacing snap ring 645 is used for spacing swivel bearing 629, prevents that swivel bearing 629 from breaking away from the fixed orifices.

Further, lower subassembly 620 still includes first retaining member 641 and second retaining member 642, the lower extreme of rotatory hole 625 is equipped with and extends to the terminal lock mouth 626 of outer connection short slab 621 along vertical direction, lock mouth 626 and rotatory hole 625 intercommunication, first retaining member 641 is along can the first direction pass the lateral wall of lock mouth 626 both sides and run through in outer connection short slab 621, adjust the distance of lock mouth 626 both sides through first retaining member 641, thereby adjust the locking degree of rotatory hole 625 to the fastening stub axle, thereby realize outer connection short slab 621 and the stable connection of fastening stub axle. The upper ends of the fixing holes are provided with fastening openings 624 which extend to the tail ends of the middle connecting plates 623 along the vertical direction, the fastening openings 624 are communicated with the fixing holes, the second locking pieces 642 can penetrate through the side walls on two sides of the fastening openings 624 along the first direction and penetrate through the middle connecting plates 623, the distance between two sides of the fastening openings 624 is adjusted through the second locking pieces 642, the locking degree of the fixing holes on the rotating bearings 629 is adjusted, and therefore the relative rotation of the middle connecting plates 623 and the fastening short shafts is achieved. The inner connection short plate 622 and the outer connection short plate 621 are disposed in the same manner, and therefore, the description thereof is omitted.

The lower assembly 620 further includes a connecting rod 631, a foot seat plate 632, and a toe strap 638, the connecting rod 631 having an arc shape fitting the heel, and the end of the connecting rod 631 is rotatably connected to the side of the middle connecting plate 623 facing away from the ankle, so that the heel can freely bend with respect to the lower leg when a person walks. The foot plate 632 is connected to one side of the connecting rod 631 departing from the heel center, so that the ankle support structure 600 is symmetrically disposed at both sides of the foot, thereby making it more comfortable when the ankle support structure 600 is worn by the lower limbs. Toe strap 638 is attached to foot plate 632 and toe strap 638 is used to secure the toes, thereby allowing lower assembly 620 to better fit around the ball of the foot and the person's lower limbs.

Go on one step, the one end that track wheel 300 was kept away from to second stay cord 120 is connected in the middle part along the foot width direction of bedplate 632, and when drive wheel 220 drove first tensile rolling motion, first stay cord 110 drove track wheel 300 and rotates to second stay cord 120 on the drive track wheel 300 is rolling motion, thereby stimulates bedplate 632 middle part, makes low limbs can obtain balanced power, thereby better supplementary low limbs walking.

Lower subassembly 620 still includes short bandage 639, and the both ends of short bandage 639 are connected in the upper end of bedplate 632 to enclose and establish into the round hole, connecting rod 631 wears to locate the round hole, thereby makes connecting rod 631 and the more stable that bedplate 632 is connected. Preferably, the number of the short straps 639 is two, and the two short straps 639 are symmetrically disposed, so that the connection of the connecting rod 631 is more stable.

In addition, the middle of the connecting rod 631 is provided with a fixing port 648, and the second pulling rope 120 can penetrate through the fixing port 648 and be fixedly connected to the foot seat plate 632, so that the second pulling rope 120 is more stably connected with the foot seat plate 632, and the second pulling rope 120 is prevented from being separated from the foot seat plate 632.

Referring to fig. 1 and 11, the lower assembly 620 further includes a rotating button 646, and the middle connection plate 623 further includes a coupling hole 627, and one end of the rotating button 646 passes through the end of the connection rod 631 and the rotating hole 625, and fixedly couples the connection rod 631 to the middle connection plate 623. Wherein, the rotating buckle 646 is a screw, so that the connection between the connecting rod 631 and the middle connecting plate 623 is more stable.

Lower assembly 620 further includes a support pad 634 and an adjustment plate 635. Adjustment plate 635 is attached at one end to the connection of connecting rod 631 to intermediate connecting plate 623 and toe strap 638 is attached to the end of adjustment plate 635 remote from connecting rod 631, thereby allowing lower assembly 620 to conform to the foot and thus better fit to the foot. The support pad 634 is attached to the end of the foot base plate 632, and the support pad 634 is used to secure the feet to the foot base plate 632, preventing the feet from coming off the foot base plate 632. Wherein the adjustment plate 635 is attached to the toe strap 638 by a fastener 647, preferably a screw.

The lower assembly 620 further includes a connecting band 633, one end of the connecting band 633 is connected to the end of the foot plate 632, and the other end is connected to the supporting pad 634, so that the foot is completely fixed by the ankle assisting device but keeps a comfortable state, thereby achieving an assisting purpose in cooperation with the upper and lower assemblies 620.

The lower assembly 620 further comprises an adjusting button 637, the adjusting plate 635 is provided with an adjusting slot 636, one end of the adjusting button 637 passes through the through hole 627 and the adjusting slot 636, and the adjusting button 637 can slide along the adjusting slot 636 to adjust the position of the toe strap 638 to the foot plate 632, thereby being suitable for feet with different sizes. Wherein, the adjusting button 637 may be a screw.

Preferably, the number of the adjusting plates 635 on the side of the foot is two, the adjusting button 637 passes through the adjusting slot 636 on the two adjusting plates 635, and the overlapping distance of the two adjusting plates 635 is adjusted by adjusting the position of the adjusting button 637 in the adjusting slot 636, so as to be suitable for feet with different sizes.

It should be noted that the support pads 634, straps 633 and toe straps 638 are all flexible members to provide a more comfortable and snug fit in contact with the lower limb.

Referring to fig. 4, 5 and 6, in some embodiments, knee assist structure 400 further includes a knee pad 410, knee pad 410 for fitting over the knee joint, and energy storage assembly 500 is mounted on a side of knee pad 410 facing away from the knee joint. Wherein the knee pad 410 has a shape adapted to the knee joint, and the knee pad 410 moves in synchronization with the knee joint when the knee joint is flexed.

The energy storing assembly 500 includes a front roller 510, a first elastic member 420, and a coupling shaft 580; the front wheel 510 is sleeved on the connecting shaft 580, the connecting shaft 580 rotates synchronously with the front wheel 510, one end of the first elastic member 420 is connected to one side of the knee pad 410 away from the upper end of the knee joint, the other end of the first elastic member 420 is connected to the front wheel 510, and one end of the third pull rope 130 is connected to the front wheel 510. When the driving wheel 220 drives the first pulling rope 110 to perform a rolling motion, the first pulling rope 110 drives the track wheel 300 to rotate, so that the track wheel 300 drives the second pulling rope 120 and the third pulling rope 130 on the track wheel 300 to perform a rolling motion along the second track groove 320 and the third track groove 330, so that the second pulling rope 120 drives the foot seat plate 632 to perform an upward lifting motion, at this time, the knee joint is bent, the first elastic member 420 is stretched, and the third pulling rope 130 drives the front rotating wheel 510 to rotate along the first direction, so that the stretched length of the first elastic member 420 is increased, that is, the first elastic member 420 stores the driving force of the third pulling rope 130 and the energy generated by the bending of the knee joint. Preferably, the first elastic member 420 is an extension spring. It should be noted that the connection mode of the third rope 130 to the front wheel 510 is the same as the connection mode of the first rope 110 to the driving wheel 220, and thus the description thereof is omitted.

The energy storage assembly 500 further comprises a fixing plate 430 and a support 440, the fixing plate 430 is arc-shaped and has a shape adapted to the knee joint, a fastening member 431 is provided at the end of the fixing plate 430, the fixing plate 430 is connected to the end of the knee pad 410 facing away from the outer side of the knee joint through the fastening member 431, wherein the fastening member 431 is a screw, so that the fixing plate 430 is connected to the knee pad 410 more stably. The supporting post 440 has one end connected to the fixing plate 430 and the other end connected to a side of the first elastic member 420 facing away from the front wheel 510. When the first elastic member 420 is stretched, a force applied to the supporting column 440 away from the first elastic member 420 ensures that one end of the first elastic member 420 connected to the supporting column 440 is fixed and the other end is stretched because the supporting column 440 is fixedly connected to the fixing plate 430. Preferably, the support 440 is connected to the middle of the fixing plate 430.

Referring to fig. 4, 5 and 6, in some embodiments, the energy storage assembly 500 further includes a ratchet 520, a pawl 540 and an unlocking member, the ratchet 520 and the unlocking member are both sleeved on the connecting shaft 580, one end of the first elastic member 420 facing away from the knee pad 410 is connected to the ratchet 520, when the third pull rope 130 drives the front wheel 510 to rotate along the first direction, the ratchet 520 and the front wheel 510 rotate synchronously, and the ratchet 520 stretches the first elastic member 420 for storing energy. When the first elastic member 420 contracts, one end of the pawl 540 can abut against the ratchet 520 to lock and limit the rotation of the ratchet 520 in the second direction, so that the first elastic member 420 applies an upward force to the ratchet 520 to assist the extension of the knee joint. The unlocking member can be rotated in the second direction by the first angle to unlock the pawl 540, and the ratchet 520 can be rotated in the second direction to return to the original position. The second direction is opposite to the first direction, and the first angle is larger than or equal to the bending angle of the knee joint.

One side of the ratchet 520 is provided with a protrusion 524, and one end of the first elastic member 420 is connected to the protrusion 524, so that the ratchet 520 can be prevented from colliding with the first elastic member 420 in the rotating process, and the energy storage and release of the first elastic member 420 can be influenced.

Further, the energy storage device further includes a steel cable 480, one end of the steel cable 480 is connected to one end of the first elastic member 420 far away from the fixing plate 430, and the other end of the steel cable 480 is connected to the protrusion 524, so that when the ratchet 520 rotates along the first direction, the protrusion 524 drives the steel cable 480 to move to one side of the ratchet 520, interference to rotation of the front rotary wheel 510 can be avoided.

Referring to fig. 5, 6 and 7, in some embodiments, the energy storage device further includes a first engaging wheel 521, the first engaging wheel 521 is sleeved on the connecting shaft 580, the first engaging wheel 521 and the connecting shaft 580 rotate synchronously, when the third pull rope 130 pulls the front rotating wheel 510 to rotate along the first direction, the connecting shaft 580 and the front rotating wheel 510 rotate synchronously, the first engaging wheel 521 is engaged with the ratchet 520, and then the ratchet 520 and the first engaging wheel 521 rotate synchronously; when the first clamping wheel 521 moves along the second direction, the first clamping wheel 521 is unlocked from the ratchet 520, the ratchet 520 is fixed, and the first clamping wheel 521 is arranged, so that the ratchet 520 can be limited, and the ratchet 520 is prevented from rotating along the second direction.

Further, a first through hole is formed in the center of the ratchet 520, the ratchet 520 penetrates through the connecting shaft 580 through the first through hole, a first boss 522 is formed in the edge of the first through hole, a plurality of first teeth 523 are formed in the edge of the first boss 522 and are arranged along the circumferential direction of the first boss 522, the first clamping wheel 521 comprises a first clamping disc 525 and a plurality of first protruding ribs 526, the connecting shaft 580 is sleeved with the first clamping disc 525, the plurality of first protruding ribs 526 are arranged at the tail end of the first clamping disc 525 at intervals along the radial direction of the first clamping disc 525, one side, facing the ratchet 520, of the first clamping disc 525 abuts against the first boss 522, and the first boss 522 is used for limiting the first clamping wheel 521 and preventing the first clamping wheel 521 from being separated from the ratchet 520. When the first click wheel 521 rotates in the first direction, the first rib 526 can be engaged with the first tooth 523, so that the ratchet wheel 520 can rotate synchronously with the first click wheel 521 in the first direction.

Specifically, one side of the first protruding rib 526 is arc-shaped, and the other side of the first protruding rib has a straight angle, so that when the first catch wheel 521 rotates along the first direction, the straight angle side of the first protruding rib 526 can be caught by the first tooth 523, so that the ratchet 520 and the first catch wheel 521 rotate synchronously along the first direction; when the first latch 521 rotates in the second direction, the circular arc-shaped side of the first rib 526 cannot be engaged with the first tooth 523, and the first latch 521 rotates relative to the ratchet 520.

Referring to fig. 4, 5, 6 and 9, in some embodiments, the unlocking member includes a rear wheel 570 and a second elastic member 530, the rear wheel 570 and the second elastic member 530 are both sleeved on the connecting shaft 580, and one end of the second elastic member 530 is connected to the connecting shaft 580; when the third pulling rope 130 drives the front rotating wheel 510 to rotate along the first direction, the connecting shaft 580 and the front rotating wheel 510 rotate synchronously, the second elastic element 530 is connected to one end of the connecting shaft 580 to perform rolling motion, and the second elastic element 530 is stretched to store energy; when the front rotary wheel 510 stops rotating in the first direction, the first elastic member 420 contracts, the second elastic member 530 is not stretched any more and is unreeled to release energy, so that the rear rotary wheel 570 can be driven to rotate in the second direction, and the rear rotary wheel 570 can unlock the ratchet 520, so that the ratchet 520 can return and prepare for next side assistance.

Referring to fig. 4, 5, 6 and 8, in some embodiments, the unlocking member further includes a second locking wheel 571, one end of the second locking wheel 571 is sleeved on the connecting shaft 580, the other end of the second locking wheel 571 is connected to the second elastic member 530, the second locking wheel 571 rotates synchronously with the connecting shaft 580, and the second locking wheel 571 is disposed between the rear rotating wheel 570 and the second elastic member 530; when the front roller 510 rotates along the first direction, the connecting shaft 580 and the front roller 510 rotate synchronously, so as to drive the second locking wheel 571 to rotate, and the second locking wheel 571 can drive the second elastic member 530 to perform rolling motion, so that the second elastic member 530 is stretched to store energy; when the first elastic member 420 contracts, the second locking wheel 571 stops rotating along the first direction, the second elastic member 530 releases energy to perform an unwinding motion, so as to drive the second locking wheel 571 to rotate along the second direction, the second locking wheel 571 is in clamping fit with the rear rotating wheel 570, the rear rotating wheel 570 and the second locking wheel 571 rotate synchronously, and the front rotating wheel 510 and the second locking wheel 571 also rotate synchronously to return. And the arrangement of the first engaging wheel 521 enables the connecting shaft 580 to drive the rear rotating wheel 570 to synchronously rotate along the second direction, so that the rear rotating wheel 570 can normally rotate and the front rotating wheel 510 returns to the original position without being affected by the limitation of the pawl 540 on the ratchet 520. Preferably, the second elastic member 530 is a coil spring.

Further, a second through hole is formed in the center of the rear rotating wheel 570, the rear rotating wheel 570 passes through the connecting shaft 580 through the second through hole, a second boss 572 is formed on the edge of the second through hole, a plurality of second teeth 573 are formed on the edge of the second boss 572 along the circumferential direction of the second boss 572, the second rotating wheel 571 includes a second chuck 576 and a plurality of second ribs 577, the second chuck 576 is sleeved on the connecting shaft 580, the plurality of second ribs 577 are arranged at the end of the second chuck 576 at intervals along the circumferential direction of the second chuck 576, one side of the second chuck 576, which faces the rear rotating wheel 570, abuts against the second boss 572, and the other side of the second chuck is connected to the second elastic member 530, so that the second rotating wheel 571 is limited and is prevented from being separated from the rear rotating wheel 571. When the second locking wheel 571 rotates in the first direction, the second protruding rib 577 can be locked into the second tooth 573, so that the rear pulley 570 can rotate synchronously with the second locking wheel 571 in the second direction.

Specifically, one side of the second protruding rib 577 is arc-shaped, and the other side of the second protruding rib 577 has a straight right angle, so that when the second locking wheel 571 rotates in the second direction, the straight right angle side of the second protruding rib 577 can be locked into the second tooth 573, so that the rear wheel and the second locking wheel 571 rotate synchronously in the second direction; when the second locking wheel 571 rotates in the first direction, the circular arc-shaped side of the second protruding rib 577 cannot be locked into the second tooth 573, and the second locking wheel 571 rotates relative to the ratchet 520.

Further, second chuck 576 is equipped with the axially extended spread groove along connecting axle 580 towards back runner 570 one side, the one end that preceding runner 510 was kept away from to connecting axle 580 stretches into the spread groove, and with the tank bottom butt of spread groove, second chuck 576 is equipped with two at least butt joint pieces 575 along circumference towards coil spring one side, the outside of butt joint piece 575 is the arc, the one end of coil spring stretches into between the butt joint piece 575, and twine in the arc end of butt joint piece 575 along circumference, when second card wheel 571 and connecting axle 580 synchronous revolution, the coil spring is tighter with the winding of butt joint piece 575, thereby stretch the coil spring, carry out the energy storage.

Referring to fig. 4, 5 and 6, in some embodiments, the rear wheel 570 has a shifting block 574 protruding along its axial direction, and after the rear wheel 570 rotates in the second direction by a first angle, the shifting block 574 can shift the pawl 540 away from the ratchet wheel 520, so that the pawl 540 is unlocked from the ratchet wheel 520, and the first elastic member 420 contracts to pull the ratchet wheel 520, so that the ratchet wheel 520 moves in the second direction, and thus returns to the original position.

Referring to fig. 4, 5 and 6, in some embodiments, the energy storage assembly 500 further includes a buffer 560, the buffer 560 is disposed at a lower end of a section of the pawl 540 facing the ratchet 520, and when the ratchet 520 rotates in the first direction, the pawl 540 is urged to press against the buffer 560; when the ratchet 520 rotates in the second direction, the buffer 560 can apply a restoring force to the pawl 540, so that one end of the pawl 540 facing the ratchet 520 can slowly press the ratchet 520 against the ratchet 520, thereby avoiding generating a large impact force and causing the ratchet 520 to be damaged.

Referring to fig. 4, 5 and 6, in some embodiments, the knee assist structure 400 further includes a fixing support 590 and a locking member 460, the fixing support 590 includes a pressing cover 591 and a fixing cover 592, the fixing cover 592 is attached to a side of the knee pad 410 facing away from the lower side of the knee joint, the pressing cover 591 is press-fitted to the fixing cover 592, and the locking member 460 is used for locking the pressing cover 591 to the fixing cover 592. Specifically, one side of the fixed cover 592 facing the gland 591 is provided with a plurality of mounting bars 470 which are provided with receiving holes, the gland 591 is provided with corresponding locking holes 594, the locking member 460 can pass through the locking holes 594 and the receiving holes and is connected to the mounting bars 470, the gland 591 is fixedly connected to the fixed cover 592, and the receiving holes in the mounting bars 470 are used for receiving the locking member 460, so that the attractive effect can be achieved, and meanwhile, the locking member 460 is prevented from injuring a user. Preferably, the locking member 460 is a screw, the receiving hole is a threaded hole, and the locking member 460 is threadedly coupled with the receiving hole, thereby making the connection of the gland 591 with the stationary cover 592 more stable.

Further, one end of the connecting shaft 580 is rotatably connected to the pressing cover 591, the other end of the connecting shaft 580 is connected to the second chuck 571, one side of the pressing cover 591 is provided with a matching hole 593, one end of the connecting shaft 580, which is away from the coil spring, can be inserted into the matching hole 593 and is rotatably connected with the pressing cover 591, preferably, a matching bearing 450 is arranged in the matching hole 593, and the connecting shaft 580 is rotatably connected with the matching bearing 450, so that friction force when the connecting shaft 580 rotates can be reduced, and force transmission is improved.

The coil spring is disposed between the second locking wheel 571 and the fixed cover 592, the second locking wheel 571, the rear rotating wheel 570, the first locking wheel 521 and the front rotating wheel 510 are disposed between the gland 591 and the fixed cover 592, and the gland 591 plays a role in protection. And the fixing cover 592 is provided with a plurality of limit blocks 544 on one side facing the coil spring, and the plurality of limit blocks 544 are arranged in a circumferential direction corresponding to the coil spring, so that the plurality of limit blocks 544 arranged along the circumferential direction can limit the coil spring, and the coil spring is prevented from being separated from the second chuck wheel 571 in the process of unwinding and releasing energy.

Referring to fig. 4, 5 and 6, in some embodiments, the knee assistant structure 400 further includes a fixing rod 542, the fixing rod 542 is disposed at an interval of the connecting shaft 580, one end of the fixing rod 542 passes through the pawl 540 and is connected to one side of the pressing plate 550, the pawl 540 can rotate around the axis of the fixing rod 542, the pressing cover 591 is provided with a corresponding fixing block 543, one end of the fixing rod 542 passes through the pawl 540 and is inserted into the fixing block 543, and the fixing block 543 is used for supporting the fixing rod 542, so that the fixing rod 542 can better limit the pawl 540.

Specifically, a through hole is formed in one side, away from the ratchet 520, of the pawl 540, a small-diameter bearing 541 is arranged in the through hole, one end of the fixing rod 542 penetrates through the through hole of the pawl 540 and is rotatably connected with the small-diameter bearing 541, and when the ratchet 520 drives the pawl 540 to abut against the buffer 560, the pawl 540 can rotate along the axis of the fixing rod 542, so that friction is reduced, and energy transfer is improved.

Referring to fig. 4, 5 and 6, in some embodiments, further, the knee assisting structure 400 further includes a mounting base 561, the mounting base 561 is provided with a fixing cover 592 facing the pressing cover 591, a disposition groove 562 is provided above the mounting base 561, the disposition groove 562 is disposed in a radial direction of the ratchet 520 in a penetrating manner, the buffer is accommodated in the disposition groove 562, and the disposition groove 562 is disposed in a radial direction of the ratchet 520 in a penetrating manner, so that when the pawl 540 applies a downward force to the buffer 560, the buffer 560 can be always abutted against the buffer 560, the mounting base 561 can support the buffer 560, and the disposition groove 562 can limit the movement of the buffer 560 along an axis of the ratchet 520. Preferably, the buffer 560 is a spring.

In addition, the knee assistant structure 400 further includes a pressing plate 550 and a pressing plate connector 551, wherein the pressing plate 550 is arc-shaped and has a shape corresponding to the detent 540, the pressing plate 550 is disposed between the detent 540 and the elastic member, and the pressing plate connector 551 passes through the pressing plate 550 and is connected to the bottom of the seating groove 562 through a through hole in the middle of the spring, so that the pressing plate 550 is always in contact with the spring, thereby preventing the spring from being separated from the seating groove 562 when the spring is deformed by force.

The specific operation process of the invention is as follows: before the exercise starts, the waist elastic belt 250, the lower leg strap 615, the toe strap 638 and the knee pad 410 are firstly comfortably tied to various positions of the body, the motor in the front driving mechanism 200 rotates with the foot to drive the driving wheel 220 at the output shaft end to make the first pull rope 110 perform rolling motion to generate tension, the first pull rope 110 is connected with the first track groove 310 of the track wheel 300 to perform transmission so as to make the track wheel 300 rotate, thereby driving the second pull rope 120 and the third pull rope 130 connected to the track wheel 300 to perform rolling motion, wherein one end of the second pull rope 120 is connected to the second track groove 320, the other end of the third pull rope 130 is connected to the third track groove 330, the other end of the second pull rope is connected to the knee auxiliary structure 400, and the radius of the second track groove 320 and the third track groove 330 is larger than that of the first track groove 310, according to the difference of the track rotation radius, the second track groove 320 and the third track groove 330 respectively amplify the force of the first track groove 310 and respectively and drive the second knee auxiliary wheel assembly 130 to rotate along the first track groove 570 and the first track groove 520 along the same direction of the first knee joint assembly 570, so as the first pull rope 400 rotates along the first track groove 521 and the second track groove 520, the first wheel assembly 520, the second track groove 520 and the second track groove 520, the knee joint assembly 520 rotate along the same direction, thereby driving the first wheel 521, the first wheel 400 rotates along the same direction, the same direction of the first knee joint assembly 521, the ratchet wheel 520 can clamp the wheel to store energy for the coil spring while stretching the extension spring to the maximum extent; at the moment that the knee joint is stretched, the first elastic part 420 contracts, the ratchet 520 is pulled to rotate along the second direction, the ratchet 520 is clamped by the pawl 540, the pressing plate 550 blocks the pawl 540 by the supporting action of the buffer part 560 to prevent the ratchet 520 from rotating, at this moment, the first elastic part 420 contracts and pulls the ratchet 520 below the knee joint to move upwards, so that the knee joint is stretched in an auxiliary mode, the coil spring releases energy and drives the first clamping wheel 521, the second clamping wheel 571 and the front rotating wheel 510 to rotate along the second direction while the first elastic part 420 contracts, the front rotating wheel 510 returns to the original position, the third pull rope 130 is retracted to facilitate next assistance, the first clamping wheel 521 and the ratchet 520 are released along the second direction, the second clamping wheel 571 and the rear rotating wheel 570 are in a clamping state along the second direction, the ratchet 520 does not move, the rear rotating wheel 570 is driven by the second clamping wheel 571 to rotate together, the rear rotating wheel 570 utilizes the pokes the pawl 540 to release the ratchet 420, the ratchet 420 is retracted to drive the ratchet to return to the original position, so that the next auxiliary device is convenient to wear, the auxiliary device for the whole device is not interfered by one time, and the whole device is convenient to use, and the auxiliary device is not used by a good quality is not interfered.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A lower extremity exoskeleton robot, comprising: a pull rope (100), a rail wheel (300), a driving structure (200), an ankle auxiliary structure (600) and a knee auxiliary structure (400);

the ankle auxiliary structure (600) is used for being sleeved on the foot, the track wheel (300) is rotatably connected to the ankle auxiliary structure (600), the knee auxiliary structure (400) is used for being connected to the knee joint, and the knee auxiliary structure (400) comprises an energy storage assembly (500);

the rail wheel (300) is provided with at least two pull ropes (100) in a winding manner, one end of one pull rope (100) is connected to the power output end of the driving structure (200), and one end of the other pull rope (100) is connected to the energy storage assembly (500);

the driving structure (200) is used for driving the corresponding pull rope (100) to perform rolling motion, the pull rope (100) drives the track wheel (300) to rotate, and the ankle auxiliary structure (600) can perform lifting motion; the pull rope (100) connected to the energy storage assembly (500) can pull the energy storage assembly (500) to store energy under the rotation action of the rail wheel (300);

wherein the rail wheel (300) includes a first rail groove (310), a second rail groove (320), and a third rail groove (330) axially spaced apart along itself;

the pull rope (100) comprises a first pull rope (110), a second pull rope (120) and a third pull rope (130), one end of the first pull rope (110) is wound on the first track groove (310), the other end of the first pull rope is connected to the driving structure (200), one end of the second pull rope (120) is wound on the second track groove (320), the other end of the second pull rope is connected to the bottom of the ankle auxiliary structure (600), one end of the third pull rope (130) is wound on the third track groove (330), and the other end of the third pull rope is connected to the energy storage assembly (500); the radii of the second rail groove (320) and the third rail groove (330) are greater than the radius of the first rail groove (310);

the energy storage assembly (500) comprises a front rotating wheel (510), a first elastic piece (420) and a connecting shaft (580); the front wheel (510) is sleeved on the connecting shaft (580), one end of the first elastic element (420) is connected to the knee pad (410), the other end of the first elastic element (420) is connected to the front wheel (510), and one end of the third pull rope (130) is connected to the front wheel (510);

when the rail wheel (300) drives the third pull rope (130) to perform rolling motion, the third pull rope (130) drives the front rotating wheel (510) to rotate along a first direction, and the first elastic piece (420) is stretched to store energy;

the energy storage assembly (500) further comprises a ratchet (520), a pawl (540) and an unlocking member; the ratchet wheel (520) and the unlocking piece are sleeved on the connecting shaft (580), one end of the first elastic piece (420) departing from the knee pad (410) is connected to the ratchet wheel (520), and when the third pull rope (130) drives the front rotating wheel (510) to rotate along the first direction, the ratchet wheel (520) and the front rotating wheel (510) synchronously rotate;

when the first elastic piece (420) contracts, one end of the pawl (540) can abut against the ratchet wheel (520) to lock and limit the rotation of the ratchet wheel (520) along the second direction, the unlocking piece can be used for unlocking the pawl (540) after rotating along the second direction for a first angle, and the ratchet wheel (520) can rotate along the second direction to return;

the second direction is opposite to the first direction;

the energy storage assembly further comprises a first clamping wheel (521), the first clamping wheel (521) is sleeved on the connecting shaft (580), the first clamping wheel (521) and the connecting shaft (580) rotate synchronously, when the third pull rope (130) pulls the front rotating wheel (510) to rotate along the first direction, the connecting shaft (580) and the front rotating wheel (510) rotate synchronously, the first clamping wheel (521) is clamped and matched with the ratchet wheel (520), and then the ratchet wheel (520) and the first clamping wheel (521) rotate synchronously; when the first clamping wheel (521) moves along the second direction, the first clamping wheel (521) is unlocked with the ratchet wheel (520), and the ratchet wheel (520) is fixed;

a first through hole is formed in the center of the ratchet wheel (520), the ratchet wheel (520) penetrates through the connecting shaft (580) through the first through hole, a first boss (522) is arranged at the edge of the first through hole, a plurality of first teeth (523) arranged along the circumferential direction of the first boss (522) are arranged at the edge of the first boss (522), the first clamping wheel (521) comprises a first clamping disc (525) and a plurality of first convex ribs (526), the first clamping disc (525) is sleeved on the connecting shaft (580), the plurality of first convex ribs (526) are arranged at the tail end of the first clamping disc (525) at intervals along the radial direction of the first clamping disc (525), and one side, facing the ratchet wheel (520), of the first clamping disc (525) abuts against the first boss (522);

the unlocking piece comprises a rear rotating wheel (570) and a second elastic piece (530), and the rear rotating wheel (570) and the second elastic piece (530) are sleeved on the connecting shaft (580);

when the third pull rope (130) drives the front rotating wheel (510) to rotate along the first direction, the second elastic piece (530) is stretched to store energy; when the first elastic member (420) contracts, the second elastic member (530) can drive the rear rotating wheel (570) to rotate along the second direction; the second elastic member (530) is a coil spring;

the rear rotating wheel (570) is provided with a shifting block (574) which is arranged in a protruding mode along the axial direction of the rear rotating wheel, the rear rotating wheel (570) rotates along the second direction, the shifting block (574) can shift the pawl (540) relative to the ratchet wheel (520), and the pawl (540) is unlocked with the ratchet wheel (520);

the unlocking piece further comprises a second clamping wheel (571), one end of the second clamping wheel (571) is sleeved on the connecting shaft (580), the other end of the second clamping wheel is connected to the second elastic piece (530), the second clamping wheel (571) and the connecting shaft (580) rotate synchronously, and the second clamping wheel (571) is arranged between the rear rotating wheel (570) and the second elastic piece (530); the second clamping wheel (571) is in clamping fit with the rear rotating wheel (570);

the center of the rear rotating wheel (570) is provided with a second through hole, the rear rotating wheel (570) penetrates through the connecting shaft (580) through the second through hole, the edge of the second through hole is provided with a second boss (572), the edge of the second boss (572) is provided with a plurality of second teeth (573) arranged along the circumferential direction of the second boss (572), the second clamping wheel (571) comprises a second clamping disc (576) and a plurality of second protruding ribs (577), the second clamping disc (576) is sleeved on the connecting shaft (580), the plurality of second protruding ribs (577) are arranged at the tail end of the second clamping disc (576) at intervals along the circumferential direction of the second clamping disc (576), one side of the second clamping disc (576) facing the rear rotating wheel (570) abuts against the second boss (572), and the other side of the second clamping disc is connected to the second elastic element (530);

the ankle auxiliary structure (600) includes subassembly (610) and connects lower subassembly (620) in last subassembly (610), second stay cord (120) are kept away from the one end of rail wheel (300) connect in lower subassembly (620), lower subassembly (620) are used for the cover to locate the sole of a foot, it is used for connecting in the calf to go up subassembly (610).

2. The lower extremity exoskeleton robot as claimed in claim 1, wherein said driving structure (200) comprises a driving member (210) and a driving wheel (220), said driving wheel (220) is connected to a power output end of said driving member (210), said pull rope (100) is connected to said driving wheel (220), said driving member (210) is used for driving said driving wheel (220) to rotate, and said driving wheel (220) drives said pull rope (100) to perform rolling motion.

3. The lower extremity exoskeleton robot of claim 2, wherein said drive structure (200) further comprises a fixing member (230), said drive wheel (220) being provided with a connecting hole extending axially along it;

one end of the fixing piece (230) penetrates through the connecting hole to be connected to the driving wheel (220), and a pressing space is formed between the side wall of the fixing piece (230) and the hole wall of the connecting hole; the end part of the pull rope (100) is pressed in the pressing space and connected with a fixing piece (230).

4. The lower extremity exoskeleton robot as claimed in claim 3, wherein at least one side of said drive wheel (220) is provided with a notch (222), and a portion of said fixture (230) is received in said notch (222), said notch (222) being adapted to allow said fixture (230) to be retracted.

5. The lower extremity exoskeleton robot according to claim 4, wherein said driving wheel (220) is provided with a mounting groove (221) extending circumferentially along itself, said mounting groove (221) being used for circumferential surrounding of said pull rope (100); the mounting groove (221) is communicated with the notch (222).

6. The lower extremity exoskeleton robot as claimed in claim 2, wherein said drive structure (200) has a guide channel, said guide channel is disposed at an outlet end of said drive wheel (220), and said guide channel extends from said drive structure (200) in a direction towards said ankle assist structure (600).

7. The lower extremity exoskeleton robot of claim 6 wherein said drive structure (200) further comprises at least two rollers (240), at least two of said rollers (240) being spaced apart, at least two of said rollers (240) having a spacing space therebetween, said spacing space forming a guide channel.

8. The lower extremity exoskeleton robot of claim 7, wherein said knee assist structure (400) further comprises a knee pad (410), said knee pad (410) being adapted to fit over said knee joint, said energy storage assembly (500) being mounted to a side of said knee pad (410) facing away from said knee joint.

9. The lower extremity exoskeleton robot of claim 8, wherein said energy storage assembly (500) further comprises a buffer (560);

the ratchet wheel (520) rotates along a first direction to enable the pawl (540) to be pressed on the buffer piece (560); the ratchet (520) rotates in a second direction, and the dampener (560) is capable of applying a restoring force to the pawl (540).

10. The lower extremity exoskeleton robot of claim 9, wherein said lower assembly (620) comprises a foot plate (632), a toe strap (638) and a connecting rod (631), wherein said connecting rod (631) is pivotally connected at its distal end to said upper assembly (610), said foot plate (632) is connected to the middle of said connecting rod (631), said toe strap (638) is connected to said foot plate (632), and one end of said second pull cord (120) is connected to the middle of said connecting rod (631).

11. The lower extremity exoskeleton robot of claim 10, wherein said lower assembly (620) further comprises a support pad (634) and an adjustment plate (635), said adjustment plate (635) being connected at one end to said connecting rod (631) and at the other end to said toe strap (638), said support pad (634) being connected to the end of said foot plate (632), said support pad (634) being used to secure the feet to the foot plate (632).

12. The lower extremity exoskeleton robot of claim 11, wherein said upper assembly (610) includes a lower leg strap (615) and a link bracket coupled to said lower leg strap (615), said link bracket pivotally coupled to said connecting rod (631), said rail wheel (300) coupled to said link bracket, said lower leg strap (615) being secured to the lower leg.