CN111228089A - A wearable retractable lower limb exoskeleton assisting device and method - Google Patents

Abstract

The invention discloses a wearable retractable lower limb exoskeleton power assist device and method. A waist lifting mechanism comprising a guide rail and a guide rail clamp is fixed on an external balance frame, and the thigh fixing mechanism and the calf fixing mechanism are respectively connected by joint disc motors. Connection, the thigh fixing mechanism is connected to the waist telescopic rod of the waist lifting mechanism, and the foot plate fixing mechanism is connected to the bottom of the calf fixing mechanism; the user connects the power control mechanism through the mobile phone APP to control the hip joint disc motor and knee joint disc motor to move at the same time, The user's thighs and calves are driven to rotate to achieve movement; in-situ fixation, turning and braking are achieved through casters; the waist lifting mechanism is raised and lowered along the guide rails through the user's control of the guide rail clamp to achieve standing up and squatting. The invention can solve the problem of people with lower limb movement disorders moving alone, and combines the balance maintaining mechanism with the standing and squatting mechanism, and is suitable for relevant groups of different body types.

Description

A wearable retractable lower limb exoskeleton assisting device and method

technical field

Aiming at people with lower limb movement disorders, the present invention designs a wearable and retractable lower limb exoskeleton assisting device and method that can support, assist and protect when people need to move.

Background technique

At present, population aging has become a social problem that cannot be ignored in many countries in the world. The decline of the physiological function of the elderly and the increase of patients with severe lower extremity and traffic accidents, regaining the normal walking ability is a good expectation for patients with lower extremity movement disorders. Clinical medicine shows that in addition to necessary medical treatment, scientific and correct rehabilitation training is also very effective for the recovery of limb function. At present, there is no lower limb exoskeleton assisting device that combines the balance maintaining device and the stand-up squat mechanism on the market, and the cost is high and the compatibility is low.

The current lower extremity exoskeleton devices are of the following categories:

1) crutches

This type of device has many types and small size, so it is widely used. However, this type of device assists balance, and has poor support and protection for people.

2) Column type

This type of device has good support and protection performance for people. However, such devices are bulky, expensive, and have poor mobility and are not easy to wear.

3) Backpack

Such devices are small in size, light in weight, and have good portability. However, this type of equipment cannot perform telescopic adjustment, has poor wearing compatibility, cannot be applied to patients with lower limb movement disorders of various sizes, and has no balance maintaining device, resulting in poor balance.

Therefore, it is necessary to provide a wearable retractable lower extremity exoskeleton power assist mechanical device with small size, low cost, good stability, convenience, safety and reliability.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention provides a wearable retractable lower extremity exoskeleton assisting device designed to support, assist and protect when people with lower extremity movement disorders need to move. The lower limb exoskeleton assisting device combining the balancing mechanism and the standing and squatting mechanism has the advantages of simple design, low cost, convenient wearing and easy assembly.

What the present invention solves its technical problem is to realize through following technical scheme:

A wearable retractable lower limb exoskeleton power assist device of the present invention comprises an external balance frame, a waist lifting mechanism, a thigh fixing mechanism, a calf fixing mechanism, a foot plate fixing mechanism, casters and a power control mechanism; the external balance frame is fixed with a The waist lifting mechanism consists of a guide rail and a guide rail clamp. The thigh fixing mechanism is connected to the waist telescopic rod of the waist lifting mechanism through the hip joint disc motor. The calf fixing mechanism is connected to the lower part of the thigh fixing mechanism through the knee joint disc motor, and the foot plate is fixed. The mechanism is connected to the bottom of the lower leg fixing mechanism;

The user connects the power control mechanism through the mobile phone APP to control the simultaneous action of the hip joint disc motor and the knee joint disc motor, and drives the user's thigh and calf to rotate to achieve movement; the casters are used to achieve in-situ fixation, turning and braking; Controlling the guide rail clamp makes the waist lifting mechanism rise and fall along the guide rail to achieve standing up and squatting.

For the above-mentioned technical scheme, the present invention also has a further preferred scheme:

Preferably, the external gimbal is a frame structure with an open front, the waist fixing mechanism is fixed inside the rear frame of the external gimbal, and the power control mechanism is installed at the rear end of the external gimbal.

Preferably, the waist lifting mechanism comprises a guide rail fixing rear plate, a pair of guide rails are fixed on the guide rail fixing rear plate, the guide rail is provided with a slider and a guide rail clamp, the waist connecting plate is connected to the slider, and the waist is controlled by the guide rail clamp The connecting plate moves up and down along the slider.

Preferably, a pair of waist telescopic rods are respectively connected to both ends of the waist connecting plate, and hip joint disc motors are respectively connected to the ends of the pair of waist telescopic rods.

Preferably, the thigh fixing mechanism includes a pair of inner thigh rods and a pair of outer thigh rods that are sleeved with each other, the pair of inner thigh rods are respectively connected to the hip joint disc motor, and the pair of outer thigh rods are connected to the knee joint disc type motor.

Preferably, the calf fixing mechanism includes a pair of inner calf rods and outer calf rods that are sleeved with each other, the pair of inner calf rods are respectively connected to the knee joint disc motor, and the outer calf rods are connected to the foot plate fixing mechanism.

Preferably, a pair of thigh outer rods are respectively connected with thigh strapping plates, a pair of calf outer rods are connected with a calf strapping plate, and the thigh outer rods and the calf strapping plates are fastened by elastic straps.

Preferably, the hip joint disc motor and the knee joint disc motor are inclined at 15-20°; the lower leg fixing mechanism and the knee joint disc motor are kept on the same vertical line.

Preferably, the bottom of the external balance frame is connected with four caster connecting plates, the two caster connecting plates on the front side are connected with the shock-absorbing universal wheels, and the two caster connecting plates on the rear side are connected with the shock-absorbing directional wheels; The shock directional wheel is provided with a buffer spring and a brake plate.

Correspondingly, the present invention also provides a walking method of the device, comprising the following steps:

1) The user adjusts the outer thigh rod and inner thigh rod, the outer calf rod and the inner calf rod, the left waist telescopic rod and the right waist telescopic rod, wears his body into the thigh strapping board and the calf strapping board, and puts the body on the fixed waist connecting plate;

2) The user steps on the brake pedals on the rear side of the shock-absorbing directional wheels on both sides of the front end with their feet, and fixes the lower limb exoskeleton power-assisted mechanical device in place;

3) The user uses elastic straps to fix the legs on the thigh strap board and the calf strap board respectively;

4) The user connects the power control mechanism through the mobile phone APP, controls the hip joint disc motor and the knee joint disc motor to act at the same time to generate torque, and drives the user's thigh and calf to rotate to achieve forward and backward;

5) The user realizes turning through the cushioning directional wheel, and realizes the stability through the cushioning spring on the cushioning directional wheel;

6) The user rotates the guide rail clamp, and cooperates with the guide rail through the slider to perform standing up and squatting actions;

7) After completing the actions of standing up and squatting, the user reversely rotates the handle of the guide rail clamp to lock the guide rail clamp, and then performs other movements again.

The beneficial effects of the present invention are:

(1) The flexibility of the leg cover rod and the waist cover rod ensures that the wearable lower limb exoskeleton power-assisted mechanical device can be suitable for people of different sizes.

(2) The external balance frame can ensure that when people with lower extremity movement disorders need to move, it can support, assist and protect, improve the balance of the user during use, and greatly enhance the mobility of such people. ,Safe and reliable.

(3) The wearable lower extremity exoskeleton assisting mechanical device is simple in design, convenient to wear, man-machine integration, low cost and easy to assemble.

(4) The waist lifting mechanism composed of the guide rail and the guide rail clamp can satisfy the user's ability to not only move forward and backward, but also squat and stand up during the wearing process, with better flexibility.

(5) Rehabilitation training mode can provide sports rehabilitation training for people with lower limb movement disorders and slow down their muscle attenuation. It has the characteristics of practicality, convenience, small size and low cost.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of this application, and do not constitute an improper limitation of the present invention. In the accompanying drawings:

Fig. 1 is the front view of the structure of the present invention;

Fig. 2 is the top view of the present invention;

Fig. 3 is the side view of the present invention;

4 is a schematic diagram of the three-dimensional structure of the lower limb exoskeleton of the present invention;

5 is a schematic diagram of the waist lifting mechanism of the present invention;

Fig. 6 is the schematic diagram of the shock absorbing mechanism of the present invention;

7 is a schematic diagram of the leg extension mechanism of the present invention.

In the picture: 1- Cushioning universal wheel; 2- External balance frame; 3- Caster connection plate; 4- Left foot plate; 5- Power control box; 6- Rail clamp; 7- Waist connection plate; 8- Hip joint Disc motor; 9-knee disc motor; 10-outer thigh rod; 11-thigh inner rod; 12-cushioning directional wheel; 13-battery; 14-calf inner rod; 15-calf outer rod; 16-calf Strap board; 17-right waist telescopic rod; 18-thigh strap board; 19-ankle connecting board; 20-rail; 21-right foot board; 22-left waist telescopic rod; 23-slider; 24-slider Note Oil nozzle; 25-Cylinder head screw a; 26-Cylinder head screw b; 27-Cylinder head screw c; 28-Cylinder head screw d; 29-Brake plate; 30-Cushion spring; Cylinder head screw e; 33-rail clamp handle; 34-elastic strap.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention.

1 to 7 , the present invention provides a wearable retractable lower limb exoskeleton power assist device, including an external balance frame 2, a waist lifting mechanism, a thigh fixing mechanism, a calf fixing mechanism, a foot plate fixing mechanism, casters and a power control mechanism; The outer balance frame 2 is a frame structure with an open front, and the waist fixing mechanism is fixed inside the rear frame of the outer balance frame 2 . Among them, as shown in FIG. 5 , the waist lifting mechanism includes a guide rail fixing rear plate 31 fixed on the rear frame of the external balance frame 2, and a pair of guide rails 20 are fixed on the inner surface of the guide rail fixing rear plate 31. The guide rails 20 are provided with The slider 23 and the guide rail clamp 6, the waist connecting plate 7 is connected to the slider 23, and a guide rail clamp handle 33 is installed on the outside of the guide rail clamp 6, as shown in Figure 3; Nozzle 24. The waist connecting plate 7 is controlled to move up and down along the slider 23 by the guide rail clamp 6; the left waist telescopic rod 22 and the right waist telescopic rod 17 are respectively connected to the two ends of the inner groove of the waist connecting plate 7 through cylinder head screws c27, according to different body types If necessary, loosen the cylinder head screw c27 and adjust the position of the screw hole in the groove of the waist connecting plate 7, so as to be suitable for different body shapes with different waist widths and improve the compatibility of the device. Wherein, the ends of the left waist telescopic rod 22 and the right waist telescopic rod 17 are respectively connected with the hip joint disc motor 8 .

The thigh fixing mechanism is connected to the left waist telescopic rod 22 and the right waist telescopic rod 17 of the waist lifting mechanism, wherein the thigh fixing mechanism includes a pair of inner thigh rods 11 and a pair of outer thigh rods 10 connected to each other, the outer side of the inner thigh rod 11 is connected to each other. The outer thigh rod 10 is installed, and the inner thigh rod 11 is nested inside the outer thigh rod 10 to achieve scalability and satisfy the situation of different body shapes and different leg lengths. The tops of a pair of inner thigh rods 11 are respectively connected to the hip joint disc motor 8, and the bottoms of the pair of outer thigh rods 10 are connected to the knee joint disc motor 9; Elastic straps 34 are provided on the upper and lower sides of the strap plate 18 .

As shown in Figure 7, the calf fixing mechanism is connected to the lower part of the thigh fixing mechanism, and the calf fixing mechanism includes a pair of inner calf rods 14 and outer calf rods 15. The inner calf rod 14 is sheathed in the outer calf rod 15, and is connected by a cylinder head screw a25 The top of a pair of calf inner rods 14 are respectively connected to the knee joint disc motor 9, a pair of calf outer rods 15 are connected with a calf strap plate 16 through cylinder head screws e32, and the calf strap plate 16 is tightened by elastic straps 34. The bottom of a pair of calf outer rods 15 is horizontally connected to the foot plate fixing mechanism through a pair of L-shaped plates, the vertical part of the L-shaped plate is connected to the calf outer rod 15 through cylinder head screws b26, and the horizontal part of the L-shaped plate is connected through cylinder head screws d28 Foot plate fixing mechanism.

As shown in FIG. 2, the hip joint disc motor 8 connected to the ends of the pair of waist telescopic rods is inclined at an angle of 15-20° relative to the knee joint disc motor 9, so as to facilitate the movement of the thigh with the waist lifting mechanism when the thigh is stretched. Cooperate. At the same time, the lower leg fixing mechanism is kept on the same vertical line with the knee joint disc motor 9 .

The foot plate fixing mechanism includes an ankle connecting plate 19 and a pair of foot plates (left foot plate 4, right foot plate 21). 19.

The bottom of the external balance frame 2 is connected with four caster connecting plates 3, the two caster connecting plates 3 on the front side are connected with the shock-absorbing universal wheel 1, and the two caster connecting plates 3 on the rear side are connected with the shock-absorbing directional wheel 12, so that the device Implement the turning function. As shown in FIG. 6, a pair of connecting brackets are connected to the caster connecting plate 3, and the connecting bracket is provided with a buffer spring 30, and the connecting bracket is connected to the buffering universal wheel 1 or the buffering directional wheel 12 through the pin shaft. A brake plate 29 is attached. The shock-absorbing spring 30 is installed on one side of the shock-absorbing universal wheel 1 and the shock-absorbing directional wheel 12, so that when the device moves and crosses small obstacles, the stability can be improved, and the user's comfort level can be improved.

The power control mechanism is located outside the rear frame of the external balance frame 2. The power control mechanism includes a battery 13 and a power control box 5. The power control box 5 is provided with a controller connected to the user's mobile phone. The power control box 5 is installed in the external balance frame. rear end of rack 2.

before use:

1 and 3 illustrate that the user adjusts the outer thigh rod 10 and the inner thigh rod 11, the outer calf rod 15 and the inner calf rod 14, the left waist telescopic rod 22 and the right waist telescopic rod according to their body shape with the help of the staff The rod 17 is compatible with the body shape and improves the comfort of the user. After adjustment, the user can wear and use it independently. The user can step on the brake pedals 29 on the rear side of the shock-absorbing universal wheel 1 on both sides of the front end with their feet to fix the lower limb exoskeleton power-assisting mechanical device in place; complete this step Afterwards, the user attaches the legs to the thigh strap board 18 and the calf strap board 16, and uses the elastic straps 34 to fix the legs on the strap boards.

When moving:

Figures 6 and 7 illustrate that the user can control the wearable lower limb exoskeleton power-assisted mechanical device through the mobile phone APP. After the user sends the preset command, the hip joint disc motor 8 and the knee joint disc motor 9 start to act at the same time to generate torque, thereby driving the user's thighs and calves to rotate to achieve forward and backward functions. Under the action of the shock-absorbing universal wheels 1 on both sides of the front end of the outer gimbal 2, the user can realize the turning function. When the user uses the device to cross small obstacles, the cushioning spring 30 arranged on one side of the cushioning universal wheel 1 and the cushioning directional wheel 12 can improve the stability of the device and improve the user's comfort during the whole process of use.

When standing up and squatting:

Figure 5 illustrates the principle of the user's standing up and squatting action. The user rotates the guide rail clamp handle 33 to make it in a loose state. After completing this step, the user can stand up and squat under the combination of the slider 23 and the guide rail 20. Rotate the guide rail clamp handle 33 to lock the guide rail clamp 6 and perform other movements again.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Substitutions should be covered within the protection scope of the present invention.

Claims (10)

1. A wearable telescopic lower limb exoskeleton power assisting device is characterized by comprising an external balancing stand (2), a waist lifting mechanism, a thigh fixing mechanism, a shank fixing mechanism, a foot plate fixing mechanism, trundles and a power supply control mechanism; a waist lifting mechanism consisting of a guide rail and a guide rail clamp is fixed on the external balancing frame (2), a thigh fixing mechanism is connected to a waist telescopic rod of the waist lifting mechanism through a hip joint disc type motor (8), a shank fixing mechanism is connected to the lower part of the thigh fixing mechanism through a knee joint disc type motor (9), and a foot plate fixing mechanism is connected to the bottom of the shank fixing mechanism;

a user is connected with a power supply control mechanism through a mobile phone APP to control a hip joint disc type motor (8) and a knee joint disc type motor (9) to act simultaneously, so that thighs and shanks of the user are driven to rotate, and movement is achieved; the in-situ fixation, turning and braking are realized through the castors; the waist lifting mechanism is lifted along the guide rail by controlling the guide rail clamp by a user, so that the standing and squatting are realized.

2. A wearable telescopic lower extremity exoskeleton power assisting device according to claim 1, wherein the external balancing stand (2) is a frame structure with an opening front part, the waist fixing mechanism is fixed inside the rear frame of the external balancing stand (2), and the power supply control mechanism is installed at the rear end of the external balancing stand (2).

3. The wearable telescopic lower extremity exoskeleton assisting device according to claim 1, wherein the waist lifting mechanism comprises a guide rail fixing rear plate (31), a pair of guide rails (20) are fixed on the guide rail fixing rear plate (31), a slide block (23) and a guide rail clamp (6) are arranged on the guide rails (20), the waist connecting plate (7) is connected to the slide block (23), and the guide rail clamp (6) is used for controlling the waist connecting plate (7) to move up and down along the slide block (23).

4. The wearable telescopic lower extremity exoskeleton power assisting device according to claim 3, wherein a pair of waist telescopic rods are respectively connected to two ends of the waist connecting plate (7), and hip joint disc type motors (8) are respectively connected to the ends of the pair of waist telescopic rods.

5. The wearable telescopic lower extremity exoskeleton power assisting device according to claim 1, wherein the thigh fixing mechanism comprises a pair of thigh inner rods (11) and a pair of thigh outer rods (10) which are sleeved with each other, the pair of thigh inner rods (11) are respectively connected to the hip joint disc motor (8), and the pair of thigh outer rods (10) are connected to the knee joint disc motor (9).

6. The wearable telescopic lower extremity exoskeleton power assisting device according to claim 5, wherein the lower leg fixing mechanism comprises a pair of lower leg inner rods (14) and a pair of lower leg outer rods (15) which are sleeved with each other, the pair of lower leg inner rods (14) are respectively connected to the knee joint disc type motor (9), and the lower leg outer rods (15) are connected to the foot plate fixing mechanism.

7. A wearable telescopic lower extremity exoskeleton power assisting device according to claim 6, wherein a pair of thigh outer rods (10) are respectively connected with thigh strap plates (18), a pair of shank outer rods (15) are respectively connected with shank strap plates (16), and the thigh outer rods (10) and the shank strap plates (16) are fastened through elastic bands (34).

8. A wearable telescopic lower extremity exoskeleton assistance device according to claim 7, where the inclination between the hip cup motor (8) and the knee cup motor (9) is 15-20 °; the lower leg fixing mechanism and the knee joint disc type motor (9) are kept on the same vertical line.

9. The wearable telescopic lower extremity exoskeleton power assisting device according to claim 1, wherein the bottom of the external balance frame (2) is connected with four caster connecting plates (3), the two caster connecting plates (3) on the front side are connected with the shock absorption universal wheel (1), and the two caster connecting plates (3) on the rear side are connected with the shock absorption directional wheel (12); the cushioning universal wheel (1) and the cushioning directional wheel (12) are provided with a cushioning spring (30) and a brake plate (29).

10. A walking method of the apparatus according to any one of claims 1 to 9, comprising the steps of:

1) a user adjusts the thigh outer rod and the thigh inner rod, the shank outer rod and the shank inner rod, the left waist telescopic rod and the right waist telescopic rod, wears the body into the thigh strap plate (18) and the shank strap plate (16), and puts the body on the fixed waist connecting plate (7);

2) a user steps on the brake pedal at the rear side of the cushioning directional wheels (12) at the two sides of the front end by feet, and fixes the lower limb exoskeleton assistance mechanical device in place;

3) the user uses the elastic bandage to fix the leg on the thigh strap plate (18) and the shank strap plate (16) respectively;

4) a user is connected with a power supply control mechanism through a mobile phone APP, and the hip joint disc type motor (8) and the knee joint disc type motor (9) are controlled to simultaneously act to generate torque to drive the thigh and the shank of the user to rotate so as to realize forward and backward movement;

5) the user realizes turning through the shock absorption directional wheel (12), and the stability is realized through a shock absorption spring on the shock absorption directional wheel;

6) a user rotates the guide rail clamp, and the guide rail clamp is matched with the guide rail through the sliding block to carry out standing and squatting actions;

7) after the standing and squatting actions are finished, the user reversely rotates the handle of the guide rail clamp to lock the guide rail clamp and carries out other movements again.

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