CN111568704A

CN111568704A - Lower limb rehabilitation exoskeleton based on rope transmission

Info

Publication number: CN111568704A
Application number: CN202010430902.4A
Authority: CN
Inventors: 黄锟; 刘斌; 杨洪波
Original assignee: Suzhou Institute of Biomedical Engineering and Technology of CAS
Current assignee: Suzhou Institute of Biomedical Engineering and Technology of CAS
Priority date: 2020-05-20
Filing date: 2020-05-20
Publication date: 2020-08-25

Abstract

The invention discloses a lower limb rehabilitation exoskeleton based on rope transmission, which comprises: the backpack device comprises a backpack device, a waist fixing device, a left driving mechanism and a right driving mechanism; the left driving mechanism and the right driving mechanism have the same structure and respectively comprise a hip joint driving mechanism connected with the waist fixing device, a knee joint driving mechanism connected with the lower end of the hip joint driving mechanism, an ankle joint driving mechanism connected with the lower end of the knee joint driving mechanism and a sole supporting mechanism connected with the lower end of the ankle joint driving mechanism. The single leg of the present invention has 6 degrees of freedom: 2 degrees of freedom of the hip joint driving mechanism, 2 degrees of freedom of the knee joint driving mechanism and 2 degrees of freedom of the ankle joint driving mechanism, and the whole device can realize 12 degrees of freedom; the joint structures of the invention are coupled with the human body joints in a motion mode, each joint is driven by the driving motor component on the back and driven in a rope transmission mode, and the driving equipment can be arranged on the back far away from the joint, so that the weight of the joint can be reduced.

Description

Lower limb rehabilitation exoskeleton based on rope transmission

Technical Field

The invention relates to the field of rehabilitation robots, in particular to a lower limb rehabilitation exoskeleton based on rope transmission.

Background

The exoskeleton robot is a wearable device with a motion support protection function and has wide application. In the medical field, the rehabilitation exoskeleton robot can effectively assist the disabled to carry out rehabilitation training on upper limbs and lower limbs, and greatly relieve the working pressure of medical staff.

At present, the structures of partial joints of the exoskeleton robot are not in accordance with human engineering, so that the movement of the human machine is not coordinated, and the pressure of the joints is caused, thereby possibly damaging the joints. For example, as for the knee joint, research shows that the human knee joint moves in a complex manner, when the knee joint makes flexion and extension movements, the femur rotates and slides on the tibia instead of simple single-degree-of-freedom rotation, but the structure of the knee joint of the existing lower limb exoskeleton is common to single-degree-of-freedom rotation, and is not in accordance with human engineering, so that not only is the human-machine movement uncoordinated, but also the pressure of the joint is caused, and the joint may be damaged. In addition, the driving mechanism of the existing active exoskeleton is generally arranged at the joint, so that the weight of the lower limb is increased, and the inertia of the joint motion is increased.

Therefore, a more reliable solution is now needed.

Disclosure of Invention

The invention aims to solve the technical problem of providing a lower limb rehabilitation exoskeleton based on rope transmission aiming at the defects in the prior art.

In order to solve the technical problems, the invention adopts the technical scheme that: a lower extremity rehabilitation exoskeleton based on cord transmission, comprising: the waist fixing device comprises a backpack device, a waist fixing device and a left driving mechanism and a right driving mechanism which are symmetrically connected to the left side and the right side of the waist fixing device;

the left driving mechanism and the right driving mechanism have the same structure and respectively comprise a hip joint driving mechanism connected with the waist fixing device, a knee joint driving mechanism connected with the lower end of the hip joint driving mechanism, an ankle joint driving mechanism connected with the lower end of the knee joint driving mechanism and a sole supporting mechanism connected with the lower end of the ankle joint driving mechanism;

the backpack device is internally provided with a plurality of driving motor components, and each hip joint driving mechanism, knee joint driving mechanism and ankle joint driving mechanism is respectively connected with at least one driving motor component through rope driving;

the hip joint driving mechanism is provided with a flexion and extension freedom degree realized by the driving of a driving motor assembly and an adduction/external swing freedom degree realized by a first passive energy storage assembly;

the knee joint driving mechanism has two degrees of freedom for realizing the self-adaptation of a sagittal plane through the driving of one driving motor component;

the ankle joint driving mechanism has a flexion and extension degree of freedom realized by the driving of one driving motor assembly and a varus/valgus degree of freedom realized by a second passive energy storage assembly.

Preferably, the waist fixing device comprises a fixing plate, a waist strap connected to the fixing plate, and a backrest disposed inside the fixing plate.

Preferably, the hip joint driving mechanism is rotatably connected with the fixed plate through a first passive energy storage assembly, the first passive energy storage assembly comprises a hip joint upper connecting plate fixedly connected on the fixed plate, two bearing seats fixedly connected on the hip joint upper connecting plate, a hip joint rotating shaft rotatably arranged on the two bearing seats along the adduction/outward swinging direction of a human hip joint, a connecting piece fixedly connected with the hip joint rotating shaft and a plate spring of which the upper end is fixedly connected with the hip joint upper connecting plate and the lower end is fixedly connected with the connecting piece;

when the connecting piece moves along with the adduction/external swing of the hip joint, the plate spring can store energy due to deformation.

Preferably, the hip joint driving mechanism comprises a hip joint driving wheel which is rotatably arranged at the lower end of the connecting piece, a hip joint lower connecting plate fixedly connected with the hip joint driving wheel and a hip joint binding band which is connected to the hip joint lower connecting plate and is fixedly sleeved on the thigh;

the hip joint driving wheel is in driving connection with at least one driving motor component through a first rope.

Preferably, the knee joint driving mechanism comprises a knee joint upper connecting plate connected with the hip joint lower connecting plate through the thigh connecting rod, an upper mounting plate connected with the lower end of the knee joint upper connecting plate, a knee joint driving wheel rotatably connected with the upper mounting plate, a first connecting rod with a first end rotatably connected with the upper mounting plate, a first driven wheel rotatably connected with a second end of the first connecting rod, a second connecting rod with a first end fixedly connected with the first driven wheel, a second driven wheel rotatably connected with a second end of the second connecting rod, a lower mounting plate fixedly connected with the second driven wheel and a knee joint lower connecting plate connected with the lower end of the lower mounting plate;

the knee joint driving wheel is in driving connection with at least one driving motor component through a second rope, and the knee joint driving wheel, the first driven wheel and the second driven wheel are sequentially in driving connection through transmission ropes;

the knee joint upper connecting plate is connected with a knee joint thigh bandage fixed on a thigh, and the knee joint lower connecting plate is connected with a knee joint shank bandage fixed on a shank.

Preferably, the upper mounting plate is fixedly connected with a first connecting shaft, and the knee joint driving wheel is rotatably connected to the first connecting shaft through a first bearing; a second connecting shaft is rotatably inserted into a shaft hole formed in the first connecting shaft through a second bearing, and the other end of the second connecting shaft is fixedly connected with the first end of the first connecting rod;

a second end of the first connecting rod is fixedly connected with a third connecting shaft, and the first driven wheel is rotatably connected to the third connecting shaft through a third bearing;

the first end of the second connecting rod is fixedly connected with the first driven wheel, and the second end of the second connecting rod is fixedly connected with a fourth connecting shaft; the second is followed driving wheel and is passed through fourth bearing rotatable coupling on the fourth connecting axle, the mounting panel rigid coupling is in down the second is followed on the driving wheel.

Preferably, the ankle joint driving mechanism comprises an ankle joint upper connecting plate connected with the knee joint lower connecting plate through a shank connecting rod, an ankle joint driving wheel rotatably connected to the ankle joint upper connecting plate, and an ankle joint lower connecting plate fixedly connected with the ankle joint driving wheel;

the ankle joint lower connecting plate is connected with an ankle joint lower leg binding band;

the ankle joint driving wheel is in driving connection with at least one driving motor assembly through a third rope.

Preferably, the sole support mechanism is rotatably connected with the ankle joint lower connecting plate through the second passive energy storage assembly, and the sole support mechanism comprises a sole plate, a foot binding belt arranged on the sole plate, and a support column connected to the sole plate and used for being connected with the second passive energy storage assembly.

Preferably, the second passive energy storage assembly comprises a first upper rotating connecting rod and a second upper rotating connecting rod, the first ends of which are rotatably connected with the lower ankle joint connecting plate, a first middle rotating connecting rod, the two ends of which are rotatably connected with the first upper rotating connecting rod and the second upper rotating connecting rod respectively, and at least one first energy storage elastic block, the two ends of which are rotatably connected with the first upper rotating connecting rod and the second upper rotating connecting rod respectively, the first lower rotating connecting rod is rotatably connected with the second end of the first upper rotating connecting rod at a first end, the second lower rotating connecting rod is rotatably connected with the second end of the second upper rotating connecting rod at a first end, the second middle rotating connecting rod is rotatably connected with the first lower rotating connecting rod and the second lower rotating connecting rod at two ends respectively, and at least one second energy storage elastic block is rotatably connected with the first lower rotating connecting rod and the second lower rotating connecting rod at two ends respectively;

the second ends of the first lower rotating connecting rod and the second lower rotating connecting rod are both rotatably connected with the supporting column.

Preferably, the driving motor assembly comprises a motor, a speed reducer in driving connection with an output end of the motor, and a motor driving wheel in driving connection with an output end of the speed reducer;

the number of the driving motor components is 6, namely a first driving motor component and a second driving motor component which are in driving connection with the hip joint driving wheels through the first rope, a third driving motor component and a fourth driving motor component which are in driving connection with the knee joint driving wheels through the second rope, and a fifth driving motor component and a sixth driving motor component which are in driving connection with the ankle joint driving wheels through the third rope.

The invention has the beneficial effects that:

the lower limb rehabilitation exoskeleton based on rope transmission has the advantages that a single leg has 6 degrees of freedom: 2 degrees of freedom of the hip joint driving mechanism, 2 degrees of freedom of the knee joint driving mechanism and 2 degrees of freedom of the ankle joint driving mechanism, and the whole device can realize 12 degrees of freedom; each joint structure of the invention is coupled with the motion form of human joints, each joint is driven by a driving motor component on the back and driven by a rope transmission mode, and driving equipment can be arranged on the back far away from the joint, so that the weight of the joint can be reduced;

in the invention, the knee joint under-actuated mechanism has two degrees of freedom in sagittal planes, can be self-adapted to the motion characteristics of the knee joint, and cannot cause joint pressure;

the device can assist patients with lower limb dysfunction or limited function caused by lower limb joint and muscle tissue damage or bone diseases to walk on flat ground and go upstairs and downstairs at home for rehabilitation training; can reduce the economic and energy burden of the family members of the patient, help the patient to realize self-care of life, relieve the physiological pain of the patient, and reduce the lower limb labor injury of the workers who have repetitive actions, long operation time or forced body positions.

Drawings

FIG. 1 is a schematic side view of a lower extremity rehabilitation exoskeleton based on a cable transmission according to the present invention, as worn on a human body;

FIG. 2 is a schematic structural diagram of a front perspective view of the lower extremity rehabilitation exoskeleton based on rope transmission of the present invention worn on a human body;

FIG. 3 is a schematic structural diagram of a lower limb rehabilitation exoskeleton based on rope transmission according to the invention;

fig. 4 is a schematic structural diagram of a left driving mechanism of the lower limb rehabilitation exoskeleton based on rope transmission in the invention;

FIG. 5 is a schematic view of the construction of the hip drive mechanism of the present invention;

FIG. 6 is a schematic view of another perspective of the hip drive mechanism of the present invention;

FIG. 7 is a schematic structural view of the knee joint drive mechanism of the present invention;

FIG. 8 is a schematic view of the knee drive mechanism of the present invention with portions of the components removed;

FIG. 9 is a schematic back view of the knee drive mechanism of the present invention with portions of the components removed;

FIG. 10 is a schematic view of the knee drive mechanism of the present invention with portions of the components removed;

FIG. 11 is a schematic cross-sectional view of a portion of the knee joint drive mechanism of the present invention;

FIG. 12 is a schematic cross-sectional view of a part of the mechanism of the knee joint driving mechanism of the present invention;

FIG. 13 is a schematic view of the internal structure of the knee joint drive mechanism of the present invention;

FIG. 14 is a schematic representation of one state of motion of the knee drive mechanism of the present invention;

FIG. 15 is a schematic structural view of another state of motion of the knee drive mechanism of the present invention;

FIG. 16 is a schematic structural view of the ankle drive mechanism, the sole support mechanism and the second passive energy storing assembly of the present invention as a whole;

FIG. 17 is a schematic structural view of another perspective of the ankle drive mechanism, plantar support mechanism and second passive energy storing assembly of the present invention;

FIG. 18 is a schematic structural diagram of a second passive energy storage device according to the present invention;

FIG. 19 is a schematic structural diagram of another perspective view of a second passive energy storage assembly according to the present invention;

fig. 20 is a schematic structural view of the plantar support mechanism of the present invention in an upright state;

FIG. 21 is a schematic structural view of the plantar support mechanism of the present invention in an everted state;

fig. 22 is a schematic structural view of the sole support mechanism of the present invention in an inverted state.

Description of reference numerals:

1-backpack device; 10-a drive motor assembly; 11 — a first drive motor assembly; 12-a second drive motor assembly; 13-a third drive motor assembly; 14-a fourth drive motor assembly; 15-a fifth drive motor assembly; 16-a sixth drive motor assembly; 18-the human body; 100, a motor; 101-a reducer; 102-motor drive wheel;

2-waist fixing device; 20, fixing a plate; 21-waist strap; 22-backrest;

3-a first passive energy storage component; 30-a hip joint upper connecting plate; 31-a bearing seat; 32-hip joint rotation shaft; 33-a connecting piece; 34-a plate spring;

4-hip joint driving mechanism; 40-hip joint drive wheel; 41-a lower hip joint connection plate; 42-hip joint strap; 43-thigh link;

5-knee joint driving mechanism; 50-knee joint upper junction plate; 51, an upper mounting plate; 52-knee joint drive wheel; 53-first link; 54 — a first driven wheel; 55-a second link; 56 — second driven wheel; 57-lower mounting plate; 58-lower knee joint plate; 500-knee thigh strap; 580-knee joint shank bandage;

590-first connecting shaft; 591-axle hole; 592-a second connecting shaft; 593 — a third connecting shaft; 594-a fourth connecting shaft; 595 — a first bearing; 596 — second bearing; 597 — a third bearing; 598 — a fourth bearing;

6-ankle joint driving mechanism; 60, an ankle joint upper connecting plate; 61-ankle joint drive wheel; 62-ankle lower connecting plate; 63-shank link; 64-ankle shank strap;

7-sole support mechanism; 70-a sole plate; 71-foot strap; 72-support column;

80 — a first rope; 81-a second rope; 82 — a third rope; 83-a transmission rope; 810 — a second left rope; 811 — a second right rope; 830 — a first transmission rope; 831 — a second transmission rope; 832-third transmission rope; 833 — a fourth transmission rope; 834-fixed block;

9-a second passive energy storage component; 90-a first upper rotating connecting rod; 91-a second upper rotating connecting rod; 92-a first intermediate rotating connecting rod; 93-a first energy storage bullet; 94-first lower swivel connecting rod; 95-a second lower rotating connecting rod; 96-a second intermediate rotating connecting rod; 97-second energy storage elastic block.

Detailed Description

The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.

It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.

As shown in fig. 1 to 22, the lower limb rehabilitation exoskeleton of the embodiment based on rope transmission comprises: the backpack device comprises a backpack device 1, a waist fixing device 2, a left driving mechanism and a right driving mechanism which are symmetrically connected to the left side and the right side of the waist fixing device 2;

the left driving mechanism and the right driving mechanism have the same structure, correspond to the left leg and the right leg, and respectively comprise a hip joint driving mechanism 4 connected with the waist fixing device 2, a knee joint driving mechanism 5 connected with the lower end of the hip joint driving mechanism 4, an ankle joint driving mechanism 6 connected with the lower end of the knee joint driving mechanism 5 and a sole supporting mechanism 7 connected with the lower end of the ankle joint driving mechanism 6;

a plurality of driving motor components 10 are arranged in the backpack device 1, and each hip joint driving mechanism 4, knee joint driving mechanism 5 and ankle joint driving mechanism 6 is respectively connected with at least one driving motor component 10 through a rope in a driving way;

the hip joint driving mechanism 4 has a flexion and extension degree of freedom realized by the driving of one driving motor component 10 and an adduction/external swing degree of freedom realized by the first passive energy storage component 3;

the knee joint driving mechanism 5 has a flexion-extension degree of freedom and a degree of freedom of movement in the direction of the knee joint, which are realized by the driving of one driving motor component 10;

the ankle joint driving mechanism 6 has a flexion-extension degree of freedom achieved by the driving of one driving motor assembly 10 and a varus/valgus degree of freedom achieved by the second passive energy storage assembly 9.

Namely, a single leg has 6 degrees of freedom, the hip joint drive mechanism 4 has 2 degrees of freedom, the knee joint drive mechanism 5 has 2 degrees of freedom, the ankle joint drive mechanism 6 has 2 degrees of freedom, and the entire device has 12 degrees of freedom.

The joint structures are coupled with the human body 18 in a joint movement mode, and each joint is driven by the driving motor assembly 10 on the back and driven in a rope transmission mode. The device can assist patients with lower limb dysfunction or limited function caused by lower limb joint and muscle tissue damage or bone diseases to walk on flat ground and go up and down stairs and other rehabilitation training at home; can reduce the economic and energy burden of the family members of the patient, help the patient to realize self-care of life, relieve the physiological pain of the patient, and reduce the lower limb labor injury of the workers who have repetitive actions, long operation time or forced body positions.

In one embodiment, the lumbar fixation device 2 includes a fixation plate 20, a lumbar strap 21 attached to the fixation plate 20, and a backrest 22 disposed inside the fixation plate 20.

Referring to fig. 3, the driving motor assembly 10 includes a motor 100, a decelerator 101 drivingly connected to an output end of the motor 100, and a motor driving wheel 102 drivingly connected to an output end of the decelerator 101; the motor driving wheel 102 drives the corresponding mechanism to move through rope transmission.

In this embodiment, the driving motor assembly includes 6: first driving motor subassembly 11, second driving motor subassembly 12, third driving motor subassembly 13, fourth driving motor subassembly 14, fifth driving motor subassembly 15 and sixth driving motor subassembly 16, first driving

motor subassembly

11, 2 hip joint actuating mechanism 4 of leg about the second driving motor subassembly 12 corresponding drive, 2 knee joint actuating mechanism 5 of leg about the third driving motor subassembly 13, fourth driving motor subassembly 14 corresponding drive, fifth driving motor subassembly 15, sixth driving motor subassembly 16 corresponds 2 ankle joint actuating mechanism 6 of leg about the drive.

Referring to fig. 5-6, in the present embodiment, the hip joint driving mechanism 4 is rotatably connected to the fixing plate 20 through the first passive energy storage assembly 3, the first passive energy storage assembly 3 includes a hip joint upper connecting plate 30 fixedly connected to the fixing plate 20, two bearing seats 31 fixedly connected to the hip joint upper connecting plate 30, a hip joint rotating shaft 32 rotatably disposed on the two bearing seats 31 along the adduction/abduction direction of the hip joint of the human body 18, a connecting member 33 fixedly connected to the hip joint rotating shaft 32, and a plate spring 34 fixedly connected to the hip joint upper connecting plate 30 at the upper end and fixedly connected to the connecting member 33 at the lower end;

when the connecting member 33 performs the adduction/external swing motion with the hip joint, the plate spring 34 is deformed to store energy. That is, when the human body 18 performs the adduction/external swing motion, the link 33 is moved by the thigh to perform the adduction/external swing motion, and the link 33 presses the plate spring 34 to cause the plate spring 34 to be bent inward/outward to store energy, thereby providing the return power assisting the return of the link 33 (when the link is in the retracted state, the plate spring 34 is bent inward to have the elastic force of the external swing and provide the auxiliary power outward when the hip joint is in the returned state, and when the link is in the external swing state, the plate spring 34 is bent outward to have the elastic force of the adduction and provide the auxiliary power inward when the hip joint is in the returned state).

The hip joint driving mechanism 4 comprises a hip joint driving wheel 40 which is rotatably arranged at the lower end of the connecting piece 33, a hip joint lower connecting plate 41 fixedly connected with the hip joint driving wheel 40 and a hip joint binding band 42 which is connected to the hip joint lower connecting plate 41 and is used for fixedly fixing the hip joint binding band on the thigh; the left hip joint driving wheel 40 and the right hip joint driving wheel 40 are respectively in driving connection with the first driving motor assembly 11 and the second driving motor assembly 12 through two pairs of first ropes 80. When the hip joint driving wheel 40 rotates, the hip joint lower connecting plate 41 is driven to rotate, so that the thigh is driven to move, and the hip joint driving wheel 40 rotates in two directions to realize the flexion and extension movement of the hip joint.

The principle of rope transmission is described by taking the transmission between the motor driving wheel 102 and the knee joint driving wheel 52 as an example, and specifically includes: each pair of first ropes 80 comprises two first ropes, two ends of each first rope are respectively fixed on the motor driving wheel 102 and the knee joint driving wheel 52, the winding directions of the two ropes on the motor driving wheel 102 are opposite, the winding directions on the knee joint driving wheel 52 are also opposite, and the motor driving wheel 102 drives the knee joint driving wheel 52 to rotate forwards and backwards when rotating forwards and backwards, so that driving connection is realized. The rope transmission principle in the knee joint driving mechanism 5 and the ankle joint driving mechanism 6 is the same.

Referring to fig. 7 to 13, in the present embodiment, the knee joint driving mechanism 5 includes a knee joint upper connecting plate 50 connected to the hip joint lower connecting plate 41 through a thigh link 43, an upper mounting plate 51 connected to a lower end of the knee joint upper connecting plate 50, a knee joint driving wheel 52 rotatably connected to the upper mounting plate 51, a first link 53 rotatably connected at a first end to the upper mounting plate 51, a first driven wheel 54 rotatably connected at a second end of the first link 53, a second link 55 fixedly connected at a first end to the first driven wheel 54, a second driven wheel 56 rotatably connected at a second end of the second link 55, a lower mounting plate 57 fixedly connected to the second driven wheel 56, and a knee joint lower connecting plate 58 connected to a lower end of the lower mounting plate 57;

the knee joint driving wheel 52 is in driving connection with at least one driving motor component through a second rope 81, and the knee joint driving wheel 52, the first driven wheel 54 and the second driven wheel 56 are in driving connection in sequence through a transmission rope 83;

the knee joint upper connecting plate 50 is connected to a knee joint thigh strap 500 for fixing to a thigh, and the knee joint lower connecting plate 58 is connected to a knee joint lower leg strap 580 for fixing to a lower leg.

The upper mounting plate 51 is fixedly connected with a first connecting shaft 590, and the knee joint driving wheel 52 is rotatably connected to the first connecting shaft 590 through a first bearing 595; a second connecting shaft 592 is rotatably inserted into a shaft hole 591 formed in the first connecting shaft 590 through a second bearing 596, and the other end of the second connecting shaft 592 is fixedly connected to the first end of the first link 53; so that the knee joint driving wheel 52 can rotate relative to the upper mounting plate 51 and the first end of the first link 53 can also rotate relative to the upper mounting plate 51.

A third connecting shaft 593 is fixedly connected to a second end of the first connecting rod 53, and the first driven wheel 54 is rotatably connected to the third connecting shaft 593 through a third bearing 597; thus, the first driven pulley 54 is driven to move by the rotation of the second end of the first link 53, and the first driven pulley 54 is driven to rotate relative to the second end of the first link 53 by the driving force transmitted by the knee joint driving pulley 52 through the rope.

A first end of a second connecting rod 55 is fixedly connected with the first driven wheel 54, and a second end of the second connecting rod 55 is fixedly connected with a fourth connecting shaft 594; the second driven pulley 56 is rotatably connected to the fourth connecting shaft 594 through a fourth bearing 598, and the lower mounting plate 57 is fixedly coupled to the second driven pulley 56. Thus, the second driven pulley 56 is driven to move by the rotation of the second end of the second link 55, and the second driven pulley 56 is driven to rotate relative to the second end of the second link 55 by the driving force transmitted by the knee joint driving pulley 52 through the rope.

The following detailed description is made of the driving principle of the second rope 81 and the transmission rope 83 in the knee joint driving mechanism 5:

the second rope 81 includes a second left rope 810 and a second right rope 811 wound on the tread of the knee joint driving wheel 52 in opposite directions for inputting driving force to the knee joint driving wheel 52, and the transmission rope 83 includes a first transmission rope 830 and a second transmission rope 831 connected between the knee joint driving wheel 52 and the first driven wheel 54, and a third transmission rope 832 and a fourth transmission rope 833 connected between the first driven wheel 54 and the second driven wheel 56.

A first end of the first transmission rope 830 and a first end of the second transmission rope 831 are wound on the tread of the knee joint drive wheel 52 in opposite directions, and a second end of the first transmission rope 830 and a second end of the second transmission rope 831 are wound on the tread of the first driven wheel 54 in opposite directions;

a first end of the third transmission rope 832 and a first end of the fourth transmission rope 833 are wound on the tread of the first driven wheel 54 in opposite directions, and a second end of the third transmission rope 832 and a second end of the fourth transmission rope 833 are wound on the tread of the second driven wheel 56 in opposite directions. In one embodiment, all of the cables are implemented on the corresponding wheels by a fixation block 834, the fixation block 834 is connected to the cable ends, and the fixation block 834 is fixed to the wheels.

Taking the mechanism on the left leg as an example for explanation, the working principle of the knee joint driving mechanism 5 is as follows:

referring to fig. 14, when a tension is applied to the second left rope 810, the knee joint driving wheel 52 rotates clockwise, and the knee joint driving wheel 52 drives the first driven wheel 54 to rotate clockwise through the first transmission rope 830; the first driven wheel 54 drives the second driven wheel 56 to rotate clockwise through the third transmission rope 832, and simultaneously the rotation of the first driven wheel 54 enables the second connecting rod 55 to rotate clockwise around the first end thereof, so that the lower mounting plate 57 on the second end of the second connecting rod 55 rotates clockwise, and the lower leg can be driven to realize leg bending; since the first end of the first link 53 is freely rotatable with respect to the upper mounting plate 51, the second end of the first link 53 is freely rotatable with respect to the first driven wheel 54, and the first driven wheel 54 is movable in a direction away from the knee joint while the second link 55 is rotated (that is, the first driven wheel 54 is movable in a direction away from the knee joint when the lower leg is bent), so that the knee joint can be adapted to the sliding of the knee joint when the knee is bent, and the knee joint is not stressed.

Referring to fig. 15, the second right rope 811 is provided with a pulling force, the knee joint driving wheel 52 rotates counterclockwise, and the knee joint driving wheel 52 drives the first driven wheel 54 to rotate counterclockwise through the second transmission rope 831; the first driven wheel 54 drives the second driven wheel 56 to rotate counterclockwise through the fourth transmission rope 833, and simultaneously the rotation of the first driven wheel 54 causes the second connecting rod 55 to rotate counterclockwise around the first end thereof, so that the lower mounting plate 57 on the second end of the second connecting rod 55 rotates counterclockwise, and the lower leg can be driven to realize the leg stretching action; however, since the first end of the first link 53 is freely rotatable with respect to the upper mounting plate 51, the second end of the first link 53 is freely rotatable with respect to the first driven wheel 54, and the first driven wheel 54 is allowed to move in the knee joint direction (that is, the first driven wheel 54 can move in the knee joint direction when the leg is extended) while the second link 55 is rotated, so that the knee joint can be adapted to the sliding of the knee joint without causing stress on the knee joint.

Referring to fig. 16 to 17, in the present embodiment, the ankle driving mechanism 6 includes an upper ankle connecting plate 60 connected to the lower knee connecting plate 58 via a lower leg link 63, an ankle driving wheel 61 rotatably connected to the upper ankle connecting plate 60, and a lower ankle connecting plate 62 fixedly connected to the ankle driving wheel 61;

an ankle joint shank binding band 64 is connected to the ankle joint lower connecting plate 62;

the left and right ankle driving wheels 61 are respectively in driving connection with the fifth driving motor assembly 15 and the sixth driving motor assembly 16 through two pairs of third ropes 82. When the ankle joint driving wheel 61 rotates, the ankle joint lower connecting plate 62 is driven to rotate to drive the foot to move, and the ankle joint driving wheel 61 rotates in two directions to realize the flexion and extension movement of the foot.

Referring to fig. 16-17, in this embodiment, the sole support mechanism 7 is pivotally connected to the ankle joint lower connecting plate 62 via the second passive energy storage assembly 9, and the sole support mechanism 7 includes a sole plate 70, a foot strap 71 disposed on the sole plate 70, and a support strut 72 connected to the sole plate 70 for connection to the second passive energy storage assembly 9.

Referring to fig. 18 to 19, in the present embodiment, the second passive energy storage assembly 9 includes a first upper rotation connecting rod 90 and a second upper rotation connecting rod 91 having first ends rotatably connected to the lower ankle joint connecting plate 62, a first intermediate rotation connecting rod 92 having both ends rotatably connected to the first upper rotation connecting rod 90 and the second upper rotation connecting rod 91, at least one first energy storage elastic block 93 having both ends rotatably connected to the first upper rotation connecting rod 90 and the second upper rotation connecting rod 91, a first lower rotation connecting rod 94 having a first end rotatably connected to a second end of the first upper rotation connecting rod 90, a second lower rotation connecting rod 95 having a first end rotatably connected to a second end of the second upper rotation connecting rod 91, a second intermediate rotation connecting rod 96 having both ends rotatably connected to the first lower rotation connecting rod 94 and the second lower rotation connecting rod 95, and at least one second intermediate rotation connecting rod 96 having both ends rotatably connected to the first lower rotation connecting rod 94 and the second lower rotation connecting rod 95 Second energy-storing bullet 97;

the second ends of the first lower pivot link 94 and the second lower pivot link 95 are both pivotally connected to the support post 72.

The second passive energy storage component 9 is used for storing energy passively when the foot is turned inwards/outwards, so that auxiliary power is provided for the restoration of the foot. Taking the mechanism on the left leg as an example for illustration, the specific working principle of the second passive energy storage assembly 9 is as follows:

referring to fig. 20, the foot is in a vertical state, and the first energy storage elastic block 93 and the second energy storage elastic block 97 are in an original length state and do not store energy;

referring to fig. 21, the foot is in an eversion state, and at this time, taking fig. 20 as a comparison object, the first upper rotating connecting rod 90 and the second upper rotating connecting rod 91 rotate clockwise relative to the lower ankle joint connecting plate 62, the first lower rotating connecting rod 94 and the second lower rotating connecting rod 95 rotate simultaneously and tend to be folded, the first energy storage elastic block 93 is compressed, and the second energy storage elastic block 97 is stretched, so as to provide auxiliary return power when the foot is reset inwards, and help the foot reset;

referring to fig. 22, the foot is in the inverted state, and at this time, taking fig. 20 as a comparison object, the first upper rotating connecting rod 90 and the second upper rotating connecting rod 91 rotate counterclockwise relative to the lower ankle joint connecting plate 62, the first lower rotating connecting rod 94 and the second lower rotating connecting rod 95 rotate simultaneously, and tend to expand, the first energy storage elastic block 93 is stretched, and the second energy storage elastic block 97 is compressed, so as to provide auxiliary return power when the foot is reset outward, and help the foot reset.

In the invention, since the external driving device provides driving force for the device through the rope, the driving device can be arranged at the back far away from the joint so as to reduce the weight of the joint. Wherein, expose outside rope overcoat and establish the spool, the spool adopts bending forming's stereoplasm material, and when the rope slides in the spool is flexible, the spool can remain motionless basically, prevents that many ropes from interfering each other or twining.

In an alternative embodiment, the waist strap 21, the knee thigh strap 500, the knee calf strap 580, the ankle calf strap 64, and the foot strap 71 are elastic bands; the thigh link 43 and the shank link 63 are both telescopically adjustable, so that the device is suitable for being worn by people of different body types.

While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.

Claims

1. A lower limb rehabilitation exoskeleton based on rope transmission is characterized by comprising: the waist fixing device comprises a backpack device, a waist fixing device and a left driving mechanism and a right driving mechanism which are symmetrically connected to the left side and the right side of the waist fixing device;

the knee joint driving mechanism has a flexion and extension freedom degree and a movement freedom degree towards the direction of the knee joint or away from the direction of the knee joint, which are realized by the driving of a driving motor component;

2. The lower extremity rehabilitation exoskeleton of claim 1 wherein said lumbar fixation device comprises a fixation plate, a lumbar strap attached to said fixation plate, and a backrest disposed inside said fixation plate.

3. The lower limb rehabilitation exoskeleton of claim 2, wherein the hip joint driving mechanism is rotatably connected with the fixed plate through a first passive energy storage assembly, the first passive energy storage assembly comprises a hip joint upper connecting plate fixedly connected to the fixed plate, two bearing seats fixedly connected to the hip joint upper connecting plate, a hip joint rotating shaft rotatably arranged on the two bearing seats along the adduction/outward swinging direction of a human hip joint, a connecting piece fixedly connected with the hip joint rotating shaft, and a plate spring of which the upper end is fixedly connected with the hip joint upper connecting plate and the lower end is fixedly connected with the connecting piece;

4. The lower limb rehabilitation exoskeleton of claim 3, wherein the hip joint driving mechanism comprises a hip joint driving wheel rotatably arranged at the lower end of the connecting piece, a hip joint lower connecting plate fixedly connected with the hip joint driving wheel and a hip joint binding band connected to the hip joint lower connecting plate and fixedly sleeved on the thigh;

5. The lower limb rehabilitation exoskeleton of claim 4, wherein the knee joint driving mechanism comprises an upper knee joint connecting plate connected with the lower hip joint connecting plate through the thigh connecting rod, an upper mounting plate connected with the lower end of the upper knee joint connecting plate, a knee joint driving wheel rotatably connected with the upper mounting plate, a first connecting rod with a first end rotatably connected with the upper mounting plate, a first driven wheel rotatably connected with a second end of the first connecting rod, a second connecting rod with a first end fixedly connected with the first driven wheel, a second driven wheel rotatably connected with a second end of the second connecting rod, a lower mounting plate fixedly connected with the second driven wheel, and a lower knee joint connecting plate connected with the lower end of the lower mounting plate;

6. The lower extremity rehabilitation exoskeleton of claim 5 wherein said upper mounting plate has a first coupling shaft affixed thereto, said knee joint drive wheel being rotatably coupled to said first coupling shaft via a first bearing; a second connecting shaft is rotatably inserted into a shaft hole formed in the first connecting shaft through a second bearing, and the other end of the second connecting shaft is fixedly connected with the first end of the first connecting rod;

7. The lower limb rehabilitation exoskeleton of claim 5, wherein the ankle joint driving mechanism comprises an upper ankle joint connecting plate connected with the lower knee joint connecting plate through a shank connecting rod, an ankle joint driving wheel rotatably connected with the upper ankle joint connecting plate and a lower ankle joint connecting plate fixedly connected with the ankle joint driving wheel;

8. The lower limb rehabilitation exoskeleton of claim 7 wherein said sole support mechanism is rotatably connected to said lower ankle joint connection plate via said second passive energy storage assembly, said sole support mechanism comprising a sole plate, a foot strap disposed on said sole plate, and a support strut connected to said sole plate for connection to said second passive energy storage assembly.

9. The lower limb rehabilitation exoskeleton of claim 8, wherein the second passive energy storage assembly comprises a first upper rotating connecting rod and a second upper rotating connecting rod, both ends of which are rotatably connected with the lower ankle joint connecting plate, a first middle rotating connecting rod, both ends of which are rotatably connected with the first upper rotating connecting rod and the second upper rotating connecting rod, at least one first energy storage elastic block, both ends of which are rotatably connected with the first upper rotating connecting rod and the second upper rotating connecting rod, a first lower rotating connecting rod, both ends of which are rotatably connected with the second end of the first upper rotating connecting rod, a second lower rotating connecting rod, both ends of which are rotatably connected with the second end of the second upper rotating connecting rod, a second middle rotating connecting rod, both ends of which are rotatably connected with the first lower rotating connecting rod and the second lower rotating connecting rod, and at least one lower rotating connecting rod, both ends of which are rotatably connected with the first lower rotating connecting rod The rod and the second lower rotating connecting rod are rotatably connected with a second energy storage elastic block;

10. The lower extremity rehabilitation exoskeleton of claim 7 wherein said drive motor assembly comprises a motor, a speed reducer drivingly connected to an output of said motor, and a motor drive wheel drivingly connected to an output of said speed reducer;