CN111329720A

CN111329720A - Air-supported passive lower limb assistance exoskeleton device

Info

Publication number: CN111329720A
Application number: CN202010131899.6A
Authority: CN
Inventors: 卜王辉; 彭奕佳; 朱昌德; 翟佳乐; 袁九海; 卢德新; 纪金帅; 刘铭智; 黎思杭; 武泽; 王汉卓; 李驰; 陈新宇
Original assignee: Tongji University
Current assignee: Tongji University
Priority date: 2020-02-29
Filing date: 2020-02-29
Publication date: 2020-06-26
Anticipated expiration: 2040-02-29
Also published as: CN111329720B

Abstract

The invention relates to an air-supported passive lower limb assistance exoskeleton device which comprises a thigh mounting seat, an upper adapter part, an air-supported part tending to extend, a middle adapter part, a connecting rod part, a lower adapter part and a shoe part, wherein the upper adapter part is respectively connected with the upper parts of the thigh mounting seat and the air-supported part and enables the air-supported part to rotate relatively around the thigh mounting seat, the middle adapter part is respectively connected with the air-supported part and the connecting rod part and enables the top of the connecting rod part and the air-supported part to rotate relatively, and the lower adapter part is respectively connected with the connecting rod part and the shoe part and enables the connecting rod part to rotate relatively around the shoe part. Compared with the prior art, the invention has compact structure and low manufacturing and maintenance cost, realizes power assistance through the passive element and does not need external energy input.

Description

Air-supported passive lower limb assistance exoskeleton device

Technical Field

The invention belongs to the field of power-assisted skeletons, and relates to an air-supported passive lower limb power-assisted exoskeleton device.

Background

Arthritis and muscle injury caused by joint lesion or overload movement can cause the lower limbs of people to lose the original movement capacity, and a series of lower limb inconvenience is caused by the aging problem of human bodies, and the problems can be improved by the exoskeleton. Commercial exoskeletons exist in the market, and most of them adopt an active power assisting scheme to input energy to a human body through a motor so as to support the human body. However, active exoskeletons suffer from the problem that they tend to be relatively bulky, requiring complex control algorithms, and correspondingly high manufacturing and maintenance costs. Passive exoskeletons can circumvent this problem, allowing a compact design to make the device small and inexpensive, and suitable for everyday use.

At present, a suitable passive power-assisted exoskeleton device is not available on the market.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide the air-supported passive lower limb assistance exoskeleton device.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides an air supporting type passive low limbs helping hand ectoskeleton device, includes thigh mount pad, upper portion switching part, tends to the gas supporting part of extension, middle part switching part, connecting rod part, lower part switching part and shoes part, wherein, upper portion switching part is connected respectively thigh mount pad and gas supporting part upper portion to make the gas supporting part can rotate relatively around the thigh mount pad, the middle part switching part is connected respectively gas supporting part and connecting rod part to make and to rotate relatively between connecting rod part top and the gas supporting part, the lower part switching part is connected respectively connecting rod part and shoes part to make the connecting rod part can rotate relatively around shoes part.

Furthermore, the upper portion switching part include U type joint, first swivel bearing, first bearing frame and first bolt, wherein, first bearing frame fix on thigh mount pad, first swivel bearing installs on first bearing frame, U type joint through first bolt with first swivel bearing normal running fit, U type joint still connects the gas props the part.

Furthermore, the first bearing seat is provided with a bearing hole, the first rotating bearing is installed in the bearing hole, and a first retaining ring used for fixing the first rotating bearing and the first bearing seat relatively is further arranged in the bearing hole.

Furthermore, the first bolt is further sleeved with two first sleeves, and two first sleeves are respectively arranged on two sides of the first rotating bearing.

In addition, as with the upper adapter part, sleeves are arranged in the middle adapter part and the lower adapter part for providing lateral spacing between the two connected parts so as to avoid friction when the two connected parts rotate relatively, and bearings are arranged for reducing the friction between the two connected parts to the maximum degree and improving the mechanical efficiency of the device.

Furthermore, the gas strut part include the gas strut cylinder body, piston body and piston rod, wherein, the upper end of gas strut cylinder body connect the upper portion switching part, its inside is full of high-pressure gas, the piston body slidable mounting in the gas strut cylinder body to separate the cavity in the gas strut cylinder body for the big cavity of top and the little cavity of below, the piston body on still be equipped with and make the communicating intercommunicating pore of big cavity and little cavity, the piston rod and piston body fixed an organic whole, the piston rod seals to pass the gas strut cylinder body bottom to fixed connection middle part switching part. Since the area of the upper surface (i.e., the end surface contacting the large chamber) of the piston body is larger than the area of the lower surface (i.e., the end surface contacting the small chamber), the piston body always receives a constant force tending to elongate under the pressure of the high-pressure gas until it extends to the longest side, and the force disappears.

Furthermore, the bottom end of the air supporting cylinder body is provided with a through hole for the piston rod to pass through, and a sealing ring for sealing a contact part between the piston rod and the through hole is arranged at the through hole. The sealing ring is used for sealing.

Furthermore, the connecting rod part include upper boom, lower beam, hookup piece, pulley hookup pole and support pulley, wherein, upper boom and lower beam between the fastening connection, install the hookup piece in lower beam bottom position, the pulley hookup pole one end fixed mounting in on the hookup piece, install through the switching piece on the other end support pulley.

Furthermore, the lower rod is provided with a first sliding chute which enables the lower rod to be in sliding connection with the upper rod, and a first fastening piece which enables the upper rod and the lower rod to be relatively fixed is arranged between the upper rod and the lower rod.

Furthermore, a second sliding groove in sliding fit with the connecting piece is further arranged on the pulley connecting rod, and a second fastening piece for fixing the pulley connecting rod and the connecting piece relatively is further arranged between the pulley connecting rod and the connecting piece.

Furthermore, the connecting piece is provided with a third arc-shaped sliding groove, and the pulley connecting rod and the connecting piece are fastened through a bolt and a nut which penetrate through the third sliding groove.

The gas strut member is an element generating force, and the link member is used to transmit force. When the legs of the wearing device are in the supporting period, the air supporting component is compressed to give an upward oblique acting force to the thighs, and the connecting rod component transmits the reaction force of the thighs to the device to the ground to passively play a supporting role. The connecting rod part is contacted with the ground through the pulleys, when the exoskeleton walks, due to the fact that the posture of the lower limbs is changed constantly, the connecting rod part can move relative to the ground when the supporting assistance effect is achieved, and the exoskeleton can move smoothly through the form of rolling friction of the supporting pulleys. The air supporting component generates force when being compressed and shortened, and the device can play a certain power-assisting role in standing, walking and squatting. When the legs of the wearing device are in the swinging period, the assisting effect is not played, and the movement of the thighs is not hindered. The clutch-like action which is assisted when the leg is supported and not assisted when the leg is swung does not need any controller for control and does not need a mechanical clutch, and the process is automatically realized by the passive lower limb exoskeleton mechanism.

The connecting piece and the pulley connecting rod are provided with the sliding grooves, the length and the relative angle of the internal rod piece can be adjusted before the connecting piece and the pulley connecting rod are fastened through the bolts and the nuts, the relative position of the internal rod piece of the connecting rod component can be conveniently adjusted, the device is suitable for users with different lower limb parameters in a wider range in geometry, and the length and the relative angle of the rod can be adjusted according to the use comfort level of the users.

Compared with the prior art, the fully passive scheme adopted by the invention can avoid the defects of the active exoskeleton and can adapt to the working conditions of standing, squatting and walking, and the device can provide gravity support to a certain degree in the three working conditions.

Drawings

FIG. 1 is a schematic view of a person wearing a powered exoskeleton when standing;

FIG. 2 is a schematic view of a person walking while wearing the assisted exoskeleton;

FIG. 3 is a schematic view of a person wearing the assisted exoskeleton in a squatting position;

FIG. 4 is a schematic view of an inflatable passive lower extremity assist exoskeleton;

FIG. 5 is a cross-sectional view of the upper adapter member;

FIG. 6 is a cross-sectional view of the gas strut member;

FIG. 7 is a cross-sectional view of a middle adapter member;

FIG. 8 is a cross-sectional view of the lower adapter member;

FIG. 9 illustrates the coupling of the link members;

FIG. 10 is a schematic view of the support pulleys at the link members;

the notation in the figure is:

1-thigh mounting base, 2-upper adapter part, 3-air supporting part, 4-middle adapter part, 5-connecting rod part, 6-lower adapter part and 7-shoe part;

201-U-joint, 202-first rotating bearing, 203-first nut, 204-first retainer ring, 205-first bearing seat, 206-first sleeve, 207-first bolt, 208-first screw;

301-sealing ring, 302-piston rod, 303-gas supporting cylinder body, 304-piston body, 305-communicating hole, 306-large cavity and 307-small cavity;

401-a second bolt, 402-a transfer block, 403-a second retainer ring, 404-a second rotary bearing, 405-a second sleeve, 406-a linear bearing, 407-a second screw;

501-coupling piece, 502-upper rod, 503-lower rod, 504-bolt nut, 505-supporting pulley, 506-pin, 507-adapter piece, 508-pulley coupling rod;

601-a third bearing seat, 602-a third bolt, 603-a third sleeve, 604-a third rotating bearing, 605-a third retainer ring, 606-a third nut and 607-a third screw.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

The invention provides an air-supporting passive lower limb assistance exoskeleton device, which structurally comprises a thigh mounting seat 1, an upper transfer part 2, an air-supporting part 3 tending to stretch, a middle transfer part 4, a connecting rod part 5, a lower transfer part 6 and a shoe part 7, wherein the upper transfer part 2 is respectively connected with the upper parts of the thigh mounting seat 1 and the air-supporting part 3 and enables the air-supporting part 3 to rotate around the thigh mounting seat 1 relatively, the middle transfer part 4 is respectively connected with the air-supporting part 3 and the connecting rod part 5 and enables the top of the connecting rod part 5 and the air-supporting part 3 to rotate relatively, and the lower transfer part 6 is respectively connected with the connecting rod part 5 and the shoe part 7 and enables the connecting rod part 5 to rotate around the shoe part 7 relatively.

In a specific embodiment of the present invention, please refer to fig. 5, the upper adapter part 2 includes a U-shaped joint 201, a first rotating bearing 202, a first bearing seat 205 and a first bolt, wherein the first bearing seat 205 is fixed on the thigh mounting seat 1, the first rotating bearing 202 is mounted on the first bearing seat 205, the U-shaped joint 201 is rotatably engaged with the first rotating bearing 202 through the first bolt, and the U-shaped joint 201 is further connected to the gas strut part 3.

In a more specific embodiment, the first bearing seat 205 is provided with a bearing hole, the first rotating bearing 202 is installed in the bearing hole, and the bearing hole is further provided with a first retaining ring 204 for fixing the first rotating bearing 202 and the first bearing seat 205 relatively.

In a more specific embodiment, the first bolt is further sleeved with two first sleeves 206, and one first sleeve 206 is disposed on each side of the first rotating bearing 202.

In addition, as with the upper adapter part 2, as shown in fig. 7 and 8, the middle adapter part 4 and the lower adapter part 6 are provided with sleeves for providing lateral spacing between the two parts to be connected so that they can avoid friction when rotating relatively, and are provided with bearings for minimizing friction between the two parts to be connected and improving the mechanical efficiency of the device.

In a specific embodiment of the present invention, referring to fig. 6, the gas strut member 3 includes a gas strut cylinder 303, a piston body 304 and a piston rod 302, wherein the upper end of the gas strut cylinder 303 is connected to the upper adapter member 2, the interior of the gas strut cylinder is filled with high-pressure gas, the piston body 304 is slidably installed in the gas strut cylinder 303 and divides a cavity in the gas strut cylinder 303 into an upper large cavity 306 and a lower small cavity 307, the piston body 304 is further provided with a communication hole 305 for communicating the large cavity 306 and the small cavity 307, the piston rod 302 and the piston body 304 are fixed into a whole, and the piston rod 302 hermetically penetrates through the bottom end of the gas strut cylinder 303 and is fixedly connected to the middle adapter member 4. Since the upper surface (i.e., the end surface contacting the large chamber 306) of the piston body 304 has a larger area than the lower surface (i.e., the end surface contacting the small chamber 307), the piston body 304 always receives a constant force tending to elongate under the pressure of the high-pressure gas until it reaches the longest, and the force disappears.

In a more specific embodiment, a through hole for the piston rod 302 to pass through is formed at the bottom end of the gas cylinder 303, and a sealing ring 301 for sealing a contact portion between the piston rod 302 and the through hole is further formed at the through hole. The seal ring 301 is used for sealing.

In a specific embodiment of the present invention, please refer to fig. 9 and 10, the link member 5 includes an upper rod 502, a lower rod 503, a coupling piece 501, a pulley coupling rod 508 and a supporting pulley 505, wherein the upper rod 502 and the lower rod 503 are fastened and connected, the coupling piece 501 is installed at the bottom position of the lower rod 503, one end of the pulley coupling rod 508 is fixedly installed on the coupling piece 501, and the other end is installed with the supporting pulley 505 through an adapter 507.

In a more specific embodiment, the lower rod 503 is provided with a first sliding slot for slidably connecting with the upper rod 502, and a first fastening member for fixing the upper rod 502 and the lower rod 503 relative to each other is further provided between the two rods.

In a more specific embodiment, the pulley coupling rod 508 is further provided with a second sliding chute in sliding fit with the coupling piece 501, and a second fastening piece for fixing the pulley coupling rod 508 and the coupling piece 501 relatively is further arranged between the two.

In a more specific embodiment, an arc-shaped third sliding groove is formed in the coupling piece 501, and the pulley coupling rod 508 and the coupling piece 501 are fastened by a bolt and a nut 504 penetrating through the third sliding groove.

The gas strut member 3 is an element generating force, and the link member 5 serves to transmit force. When the legs of the wearing device are in the supporting period, the air supporting part 3 is compressed to give an upward oblique acting force to the thighs, and the connecting rod part 5 transmits the reaction force of the thighs to the device to the ground to passively play a supporting role. The connecting rod part 5 is contacted with the ground through the pulleys, when the exoskeleton walks, the posture of the lower limbs is changed continuously, the connecting rod part 5 moves relative to the ground when playing a supporting and assisting role, and the motion of the exoskeleton is smooth through the form of rolling friction of the supporting pulleys 505. The air supporting component 3 generates force when being compressed and shortened, and the device can play a certain power-assisting role in standing, walking and squatting. When the legs of the wearing device are in the swinging period, the assisting effect is not played, and the movement of the thighs is not hindered. The clutch-like action which is assisted when the leg is supported and not assisted when the leg is swung does not need any controller for control and does not need a mechanical clutch, and the process is automatically realized by the passive lower limb exoskeleton mechanism.

The connecting piece 501 and the pulley connecting rod 508 are provided with sliding grooves, the length and the relative angle of the internal rod piece can be adjusted before the internal rod piece is fastened through a bolt and a nut, and the relative position of the internal rod piece of the connecting rod part 5 can be conveniently adjusted, so that the device is suitable for users with different lower limb parameters in a wider range in geometry, and the length and the relative angle of the rod can be adjusted by the users according to the use comfort level.

The above embodiments may be implemented individually, or in any combination of two or more.

The above embodiments will be described in more detail with reference to specific examples.

Example 1:

the embodiment provides a lower limb assistance exoskeleton with spring energy storage and rapid unloading, which has a structure shown in fig. 4 and comprises a thigh mounting seat 1, an upper adapter part 2, an air supporting part 3, a middle adapter part 4, a connecting rod part 5, a lower adapter part 6 and a shoe part 7.

The specific assembly relationship of the upper adapter part 2 is shown in fig. 5, and the main function of the adapter part is to couple the thigh mount 1 and the gas strut part 3, so that the gas strut part 3 can rotate around an axis of the thigh mount 1, and in addition to this function, the upper adapter part 2 also provides support for the top end of the compression spring 302. The upper adapter part 2 consists of a U-shaped joint 201, a first rotating bearing 202, a first nut 203, a first retainer ring 204, a first bearing seat 205, a first sleeve 206, a first bolt 207 and a first screw 208, wherein a hole below the U-shaped joint 201 is threaded and is connected with the thread of the guide rod 301; the first rotating bearing 202 is mounted in a bore of the bearing housing 205, and the first retainer ring 204 is used to prevent movement of the outer race of the first rotating bearing 202 relative to the first bearing housing 205; a first bolt 207 passes through the U-joint 201, the first sleeve 206 and the first rotary bearing 202 and is fastened with a first nut 203; the first screw 208 is used to couple the first bearing seat 205 and the thigh mount 1. With the above arrangement, the guide bar 301 can be rotated with respect to the thigh mount 1, and the axis of rotation coincides with the center line of the first rotation bearing 202. Wherein, the first rotation bearing 202 can reduce the friction between the thigh mounting base 1 and the guide rod 301 when relatively rotating; the first sleeve 206 provides lateral spacing between the clevis 201 and the first bearing housing 205, which avoids friction between their lateral surfaces.

The specific assembly relationship of the gas strut component is shown in fig. 6, and the gas strut component is composed of a sealing ring 301, a piston rod 302, a piston body 304 and a gas strut cylinder body 303. The cavity of the gas supporting cylinder 303 is divided into a large cavity 306 and a small cavity 307 by the piston body 304, the large cavity 306 and the small cavity 307 are connected through a communication hole 305 on the piston body 304, and the sealing ring 301 plays a sealing role. The cavity of the gas supporting cylinder 303 is filled with high-pressure gas, since the surface area of the upper surface of the piston body 304 is larger than that of the lower surface and the pressures at both sides are the same, the pressure applied to the upper surface is larger than that applied to the lower surface, once the piston body 304 is compressed, it always receives a thrust force pointing to the extension direction, and the thrust force does not disappear until the piston rod 302 extends to the longest.

The specific assembly relationship of the middle adapter part 4 is shown in fig. 7, and the middle adapter part 4 mainly functions to couple the gas strut part 3 and the connecting rod part 5, so that the gas strut part 3 can rotate around an axis of the connecting rod part 5. The adapter part 4 is composed of a second bolt 401, an adapter block 402, a second retainer ring 403, a second rotary bearing 404 and a second sleeve 405. The adapter block 402 is provided with a hole for mounting a linear bearing 406 (fig. 6), and is fastened by a second screw 407; the second bearing 404 is mounted in the hole of the upper rod 502, and the lateral movement of the outer ring of the second bearing is limited by the second retaining ring 403; the second bolt 401 passes through the second sleeve 405, the inner ring of the second rotary bearing 404 and the second sleeve 405 in sequence and is in threaded connection with the threaded hole in the adapter block 402, so that the connecting rod part 5 can rotate relative to the middle adapter part 4. The second rotating bearing 404 can reduce friction between the connecting rod assembly 5 and the middle adapter part 4 during relative rotation; the second sleeve 405 provides a lateral spacing between the upper rod 502 in the middle adapter part 4 and the link part 5, which avoids friction between their lateral surfaces.

The specific assembly relationship of the lower adapter member 6 is shown in fig. 8, and the main function of the adapter member is to couple the connecting rod assembly 5 and the shoe member 7 so that the connecting rod assembly 5 can rotate around an axis of the shoe member 7. The lower adapter part 6 is composed of a third bearing seat 601, a third bolt 602, a third sleeve 603, a third rotating bearing 604, a third retainer ring 605, a third nut 606 and a third screw 607, wherein the third rotating bearing 604 is installed in a hole of the third bearing seat 601, and the third retainer ring 605 is used for preventing the outer ring of the third rotating bearing 604 from moving relative to the third bearing seat 601; the third bolt 602 passes through the coupling piece 501, the third sleeve 603, and the third rotary bearing 604 of the link member 5, and is fastened with the third nut 606. By means of the above solution, the link assembly 5 can be made to rotate with respect to the axis of the shoe part 7, which axis of rotation coincides with the centre line of the third rotary bearing 604. Wherein, the third rotating bearing 604 can reduce the friction between the connecting rod assembly 5 and the shoe component 7 during relative rotation; the third sleeve 603 provides lateral spacing between the coupling plate 501 and the third bearing housing 601 in the link member 5, which avoids friction between their lateral surfaces.

The concrete assembly relationship of the link member 5 is shown in fig. 9, and it is composed of a coupling piece 501, an upper rod 502, a lower rod 503, a bolt nut 504, a support pulley 505, a pin 506, an adapter piece 507 and a pulley coupling link 508. The upper rod 502 and the lower rod 503 are fastened by a screw and nut structure, a first sliding slot is provided in the lower rod 503, and before the upper rod 502 and the lower rod 503 are fastened by the screw and nut structure, the relative distance between the upper rod 502 and the lower rod 503 can be adjusted according to the comfort of a user, namely, the upper rod 502 and the lower rod 503 are properly moved along the direction of the first sliding slot, and then the screw and nut structure is locked. The support pulley 505 is coupled to an adapter plate 507 by a pin 506, and the adapter plate 507 is fastened to a pulley coupling lever 508 by a screw and nut structure. Similarly, the pulley coupling link 508 has a second sliding slot that can be used to adjust the position of the support pulley 505 relative to the pulley coupling link 508 in the direction of the second sliding slot. The lower rod 503 and the pulley coupling rod 508 are sandwiched by the coupling piece 501 and locked by the bolt nut 504. Similarly, there is a third slot in the link 501 to allow the relative angles of the lower rod 503 and the pulley link 508 to be adjusted according to the comfort of the user, and the relative angles are maintained by tightening the bolt nut 504 after the adjustment is completed.

The function of the invention is explained below according to the specific working conditions:

in the standing assistance mode, fig. 1 shows a situation that a person wears the gas-supporting passive lower limb assistance exoskeleton to stand still, at this time, the gas-supporting part 3 has a certain compression amount, and due to the characteristic that the gas-supporting part 3 generates force after being compressed, the gas-supporting part can provide a force which is inclined forwards and upwards for thighs, and the reaction force of the thighs on the gas-supporting is directly transmitted to the ground through the connecting rod assembly. The force transmission process can realize certain gravity support, and part of the gravity flowing through the lower limbs is transmitted to the ground through the assistance exoskeleton, namely the gravity of the human body to be supported by the lower limbs is reduced, so that a certain assistance effect can be realized. Because different users have different lower limb sizes, the users can adjust the relative position in the connecting rod part 5 according to specific conditions, and in addition, the air supporting parts 3 with different pressure specifications can be adopted, so that the boosting effect is optimal.

In the walking assistance mode, fig. 2 shows the situation when a person wears the spring type passive lower limb assistance exoskeleton to walk, and the device has the characteristic that the device does not obstruct the movement of the lower limbs when the person walks. The following is described in three phases of a swing phase, a transition phase and a support phase:

(1) a swing period:

when the leg wearing the exoskeleton is in the air swinging phase (hereinafter, the leg is called as a swinging leg, and corresponds to the right leg in fig. 2), the air supporting part 3 is restored to the original length, a rigid rod with the unchanged length can be seen from the air supporting part 3 at the moment, after the posture of the swinging leg is given, the axis of the third bearing 604 of the lower switching part 6 is determined, because the supporting pulley 505 cannot be contacted with the ground at the moment, the posture of the exoskeleton worn by the swinging leg is also uniquely determined, at the moment, the air supporting part 3 is in a completely extended state, the supporting force is not provided for the human body any more, and at the moment, the mechanism form of the device cannot obstruct the motion of the human body.

(2) A transition period:

when the leg wearing the exoskeleton is in the transition stage from the swing period to the support period in the air, the swing leg wearing the exoskeleton is about to contact the ground, and the leg is in the front and the opposite leg is in the rear. The pulley wheels of the exoskeleton are in contact with the ground prior to the swinging legs coming into contact with the ground, and the gas struts of the exoskeleton are gradually compressed during the transition period until the support period is entered. During this transition phase, the swing legs are gradually decelerated by the gas strut, and this part of the energy is stored in the gas strut for release during the support period. In addition, the leg is slowed by the gas strut energy storage, which helps to reduce the impact energy loss when the heel of the leg is grounded.

(3) A support period:

during the walking phase, the passive exoskeleton worn by the supporting leg (left leg in fig. 2) acts as a booster: the gas supporting part 3 of the passive exoskeleton of the supporting leg is in a compressed state, the direction of the force applied to the thigh by the gas support is consistent with the advancing direction of a person, and the gas supporting part 3 can push the thigh to move forwards to help walking and play a certain assisting role.

Squatting assistance mode, fig. 3 shows the situation when a person wears the spring type passive lower limb assistance exoskeleton to squat, and for work occasions needing half squat, such as assembly line work, the exoskeleton can provide certain thigh support and has the function similar to a seat.

The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims

1. The utility model provides an air supporting type passive lower limbs helping hand ectoskeleton device, its characterized in that includes thigh mount pad, upper portion switching part, tends to the gas support part of extension, middle part switching part, connecting rod part, lower part switching part and shoes part, wherein, upper portion switching part is connected respectively thigh mount pad and gas support part upper portion to make the gas support part can rotate relatively around the thigh mount pad, middle part switching part is connected respectively gas support part and connecting rod part to make and to rotate relatively between connecting rod part top and the gas support part, the lower part switching part is connected respectively connecting rod part and shoes part to make the connecting rod part can rotate relatively around the shoes part.

2. The inflatable passive lower extremity assistance exoskeleton device of claim 1, wherein the upper adapter component comprises a U-joint, a first rotating bearing, a first bearing seat and a first bolt, wherein the first bearing seat is fixed on the thigh mounting seat, the first rotating bearing is installed on the first bearing seat, the U-joint is rotatably engaged with the first rotating bearing through the first bolt, and the U-joint is further connected to the inflatable component.

3. The gas-strut passive lower extremity assistance exoskeleton device according to claim 2, wherein the first bearing seat is provided with a bearing hole, the first rotating bearing is installed in the bearing hole, and a first retaining ring for fixing the first rotating bearing and the first bearing seat relative to each other is further provided in the bearing hole.

4. The gas-strut passive lower limb assistance exoskeleton device as claimed in claim 2, wherein two first sleeves are further sleeved on the first bolt and are respectively located on two sides of the first rotating bearing.

5. The inflatable passive lower limb assistance exoskeleton device as claimed in claim 1, wherein the inflatable member comprises an inflatable cylinder, a piston and a piston rod, wherein the upper end of the inflatable cylinder is connected with the upper adapter member, the upper adapter member is filled with high-pressure gas, the piston is slidably mounted in the inflatable cylinder and divides a cavity in the inflatable cylinder into a large cavity above and a small cavity below, the piston is further provided with a communication hole for communicating the large cavity with the small cavity, the piston rod and the piston are fixed into a whole, and the piston rod penetrates through the bottom end of the inflatable cylinder in a sealing manner and is fixedly connected with the middle adapter member.

6. The inflatable passive lower limb assistance exoskeleton device as claimed in claim 5, wherein a through hole for the piston rod to pass through is formed at the bottom end of the inflatable cylinder body, and a sealing ring for sealing a contact part between the piston rod and the through hole is further formed at the through hole.

7. The gas-strut passive lower limb assistance exoskeleton device as claimed in claim 1, wherein the link member comprises an upper rod, a lower rod, a coupling piece, a pulley coupling rod and a support pulley, wherein the upper rod and the lower rod are fastened and connected, the coupling piece is installed at the bottom of the lower rod, one end of the pulley coupling rod is fixedly installed on the coupling piece, and the other end of the pulley coupling rod is provided with the support pulley through an adapter piece.

8. The inflatable passive lower extremity assisting exoskeleton device of claim 7, wherein the lower rod is provided with a first sliding slot for slidably connecting the lower rod with the upper rod, and a first fastening member for fixing the upper rod and the lower rod relative to each other is provided between the upper rod and the lower rod.

9. The inflatable passive lower extremity assisting exoskeleton device of claim 7, wherein a second sliding groove in sliding fit with the coupling piece is further formed on the pulley coupling rod, and a second fastening piece for fixing the pulley coupling rod and the coupling piece relatively is further arranged between the pulley coupling rod and the coupling piece.

10. The inflatable passive lower limb assistance exoskeleton device as claimed in claim 7, wherein the connecting plate is provided with a third arc-shaped sliding groove, and the pulley connecting rod and the connecting plate are fastened by bolts and nuts penetrating through the third sliding groove.