CN112999018A

CN112999018A - Active-passive switching wearable lower limb load exoskeleton

Info

Publication number: CN112999018A
Application number: CN202110333758.7A
Authority: CN
Inventors: 魏巍; 林西川; 张海峰
Original assignee: Maybe Intelligent Technology Suzhou Co ltd
Current assignee: Maybe Intelligent Technology Suzhou Co ltd
Priority date: 2021-03-29
Filing date: 2021-03-29
Publication date: 2021-06-22
Anticipated expiration: 2041-03-29
Also published as: CN112999018B

Abstract

The invention provides an active-passive switching wearable lower limb load exoskeleton, which relates to the field of medical instruments and comprises a back supporting device, a hip joint driving module, a knee joint driving module, a control module, a thigh part, a calf part, an ankle joint and a sole device; the back supporting device, the hip joint, the thigh part, the lower leg part, the ankle joint and the sole device form a main body of the exoskeleton, and the hip joint driving module and the knee joint driving module are detachably connected with the main body and are used for driving the hip joint and the knee joint of the main body to move; the knee joint driving module is a knee joint active driving module or a knee joint passive driving module, and the hip joint driving module and the knee joint active driving module are controlled to act by the control module; the invention can freely change the driving modes of the hip joint and the knee joint according to the actual use condition of the exoskeleton so as to simplify the structure of the light exoskeleton, and the exoskeleton can be worn on users with different body types in a fitting manner, thereby increasing the wearing comfort and providing reliable support and assistance.

Description

Active-passive switching wearable lower limb load exoskeleton

Technical Field

The invention relates to the technical field of medical instruments, in particular to an active and passive switching wearable lower limb load exoskeleton.

Background

The exoskeleton robot technology is a comprehensive technology which integrates sensing, control, information, fusion and mobile computing and provides a wearable mechanical mechanism for a person as an operator. The exoskeleton robot is used for providing assistance to a human body, has a prominent development prospect in the aspects of enhancing human body skills and assisting movement, and increasingly becomes a research focus in the field of robots. The invention relates to a wearable lower limb load-assisting exoskeleton, which provides support and assistance when a human body walks in a load way, and a similar structure is also mentioned in US 13139933.

When a human body is in a state of bearing a heavy object, particularly when the human body walks for a long time, muscles and bones of the human body are easy to fatigue and damage. Long-term exposure to such conditions is likely to cause musculoskeletal diseases.

The US15349602 patent describes an unpowered weight bearing exoskeleton structure for supporting a human body, which is composed of a bionic spine, waist, legs and feet, without external driving or elastic energy storage devices. Bionic backbone through mechanical structure with tie up and tie up with the fixed of human body, the bionic backbone bears the heavy object, the waist is used for connecting bionic backbone and shank, the shank structure is fixed on the thigh through tying up, when the body bears the heavy object, has the ectoskeleton to undertake load weight, alleviates the injury that the heavy object caused to the human body.

However, the exoskeleton cannot replace the hip and the knee joint with the active power-assisted structure according to actual use conditions. Similar structures are described in US15339293 and US13639984, but both are equally incapable of replacing hip and knee joints with active assist structures.

US14634403 discloses an exoskeleton structure for supporting body weight and assisting walking of human body, which drives a knee joint of a three-hinge structure by a motor mounted on the back to drive a steel cable, so as to realize flexion and extension and flexion movements of the knee joint and hip joint. However, the knee joint structure of the patent is complicated, and the knee joint structure cannot be replaced by a passive driving structure.

US15604891 discloses an exoskeleton structure for supporting the weight of the body and assisting the walking of the body, wherein the knee joint is composed of a plurality of hinges of sheet structure and is driven by a motor, and the same knee joint structure is complicated and cannot be replaced by a passive driving structure.

CN201811252375.1 discloses a loading exoskeleton with active assistance for knee joints, which drives a rope through a back driving motor to provide active assistance when a human knee joint extends, so as to provide additional torque for a human body and assist the human body to walk. But the exoskeleton cannot convert the active assistance of the knee joint into the passive assistance.

CN201920639613.8 discloses a hip joint and knee joint assistance exoskeleton, which realizes assistance of hip joints and knee joints by driving a ball screw structure through a motor to assist a human body to walk. Meanwhile, the exoskeleton cannot convert the active assistance of hip joints and knee joints into the passive assistance according to actual requirements.

Disclosure of Invention

The invention aims to provide a wearable lower limb load exoskeleton capable of switching between active and passive modes, which is simple and light in structure, can be worn on bodies of users with different body types in a fitting manner, improves wearing comfort, provides reliable support and assistance, and can freely select an active and passive driving mode of hip and knee joints according to actual use conditions.

In order to achieve the above purpose, the invention provides the following technical scheme: a wearable lower limb load exoskeleton with active and passive switching comprises a back supporting device, hip joints, a hip joint driving module, a knee joint driving module, a control module, thigh parts, lower leg parts, ankle joints and a sole device; the back supporting device, the hip joint, the thigh part, the shank part, the ankle joint and the foot bottom device are sequentially connected from top to bottom to form an exoskeleton main body which is connected with a user body in a binding manner; the control module, the hip joint driving module and the knee joint driving module are detachably connected with the exoskeleton main body; the knee joint driving module is electrically connected with the hip joint driving module or the knee joint driving module and is used for controlling the hip joint driving module or the knee joint driving module to be started or closed.

Furthermore, the back support device comprises a support rod unit, a bionic spine, a hip connecting piece, an integrated belt and an integrated waist cushion, wherein the support rod unit is arranged along the vertical direction, the bionic spine is connected and arranged at the bottom of the support rod unit, the hip connecting piece is connected and arranged at the bottom of the bionic spine, the integrated belt is connected and arranged at the side edge of the support rod unit, the integrated waist cushion is connected and arranged at the side edge of the hip connecting piece, and the integrated waist cushion is arranged at the same side as the integrated belt;

defining the front, back, left and right directions of the human body as the front, back, left and right directions of the wearable lower limb load exoskeleton which is actively and passively switched;

the hip joint is connected with the hip connecting piece and comprises two pairs of upper connecting pieces II and lower connecting pieces II which are symmetrically arranged at the left side and the right side of the hip connecting piece and can rotate relatively; the two hip joint driving modules are symmetrically arranged on the left side and the right side of the hip connecting piece; the hip joint driving module is detachably connected to a hip joint and is used for driving the upper connecting piece II and the lower connecting piece II which are arranged on the same side of the hip joint driving module to rotate relatively;

the thigh part comprises a pair of thigh slots symmetrically arranged along the left and right direction, a pair of thigh rods and a pair of knee joint outer side devices, the thigh slots are arranged along the vertical direction, the thigh rods are connected to the upper ends of the thigh slots along the vertical direction, and the knee joint outer side devices are connected to the lower ends of the thigh slots; the upper end of the thigh rod is connected with the second lower connecting piece; the crus part comprises a pair of crus slots, a pair of crus rods and a pair of knee joint inner side devices, the crus slots are symmetrically arranged along the left-right direction, the knee joint inner side devices are connected to the upper ends of the crus slots along the vertical direction, and the crus rods are connected to the lower ends of the crus slots; the knee joint inner side device is hinged with the knee joint outer side device to form a knee joint;

the knee joint driving module is a pair of knee joint active driving modules or a pair of knee joint passive driving modules which are symmetrically arranged along the left-right direction; the knee joint active driving module comprises a driving module and a driving connecting rod connected to the output end of the driving module, the driving module is detachably connected to the thigh, and the end part, far away from the driving module, of the driving connecting rod is connected to the shank; the knee joint passive driving module comprises a torque generator and an end head fixedly connected with the torque generator, the torque generator is detachably connected with the thigh part, and the end part of the end head far away from the torque generator is connected with the shank part;

the ankle joints comprise two ankle joints which are symmetrically arranged along the left and right directions, are respectively connected with the lower leg parts arranged on the same side of the ankle joints, and comprise 2DOF hinge structures connected with the lower leg rods and plantar pressure measuring devices used for measuring plantar pressure; the sole devices comprise two sole devices which are respectively and correspondingly connected with ankle joints arranged on the same side of the sole devices and used for adjusting and fixing feet of a human body.

Further, the support rod unit comprises an outer support rod, an inner support rod and a first size adjusting module, the inner support rod is inserted into the outer support rod, the first size adjusting module is fixedly connected with the outer support rod and the inner support rod, and the first size adjusting module adjusts the length of the support rod unit along the vertical direction by adjusting the fixing positions of the outer support rod and the inner support rod;

the bionic spine comprises an upper connecting piece I, a connecting piece group and a lower connecting piece I, wherein the connecting piece group is formed by a plurality of connecting pieces which are sequentially connected in series; the upper end of the upper connecting piece is connected to the bottom end of the inner supporting rod, the lower end of the upper connecting piece is hinged to the upper end of the connecting piece group, and the upper end of the lower connecting piece is hinged to the lower end of the connecting piece group;

the integrated straps are provided with backpack brackets which are fixedly connected with the outer supporting rods;

the integral type bustle contains the bustle and links firmly in the bustle connecting plate of bustle, the bustle connecting plate links firmly in hip connecting piece.

Further, the hip joint further comprises a pair of waist bars, a pair of second size adjusting modules and two crossed roller bearings;

the second size adjusting modules and the waist rod are symmetrically arranged on two sides of the hip connecting piece along the left-right direction respectively, the second size adjusting modules are connected to the hip connecting piece and one end of the waist rod arranged on the same side of the hip connecting piece respectively, and the other end of the waist rod is hinged to the upper connecting piece II arranged on the same side; the second size adjusting module adjusts the waist width formed by the waist rod and the hip connecting piece by adjusting the fixing position of the second size adjusting module and the hip connecting piece;

the crossed roller bearings are respectively arranged in the lower connecting pieces II on the left side and the right side, the outer rings of the crossed roller bearings are fixedly connected with the lower connecting pieces II, and the inner rings of the crossed roller bearings are fixedly connected with the upper connecting pieces II; and the side surface of the second lower connecting piece, which is close to the second upper connecting piece, is provided with a limiting surface, the limiting surface is attached to the side surface of the second upper connecting piece, which is close to the second lower connecting piece, and the limiting surface is used for limiting the back swing angle of the hip joint.

Further, the hip joint driving module comprises a motor frame outer cover, a driving motor, a motor frame and a D-shaped shaft;

the motor frame outer cover is fixedly connected to the motor frame, and the motor frame outer cover and the motor frame form an installation cavity which is far away from an opening of the motor frame outer cover side from the motor frame; the driving motor is fixedly arranged in the mounting cavity, and the output end of the driving motor is connected to the D-shaped shaft from the opening of the mounting cavity; the motor frame is provided with a clamping tenon along the outer edge of the opening of the mounting cavity, and the clamping tenon extends towards the outer side of the opening of the mounting cavity;

a first through hole penetrating the lower connecting piece II to the upper connecting piece II is formed in the side face, far away from the upper connecting piece II, of the lower connecting piece II, and tenon clamping sliding grooves are formed in the two sides, far away from the upper connecting piece, of the lower connecting piece II; the motor frame is fixedly connected with the second lower connecting piece, and the clamping tenon on the motor frame is matched with the clamping tenon sliding groove; and the D-shaped shaft is inserted into the second upper connecting piece from the first through hole.

Furthermore, the thigh part also comprises a pair of third size adjusting modules, a pair of thigh binding plates and a pair of thigh shells which are symmetrically arranged along the left-right direction;

the third size adjusting module is arranged between the thigh slot and the thigh rod which are arranged on the same side and is respectively connected with the thigh slot and the thigh rod, and the third size adjusting module adjusts the length of the thigh along the vertical direction by adjusting the fixed position of the third size adjusting module and the thigh slot;

the lower end of the knee joint outer side device close to the lower leg part is provided with an arc-shaped transition structure, and the arc-shaped transition structure is provided with a through second through hole along the left-right direction; the knee joint limiting pieces are attached to the side surfaces of the arc-shaped transition structure and used for limiting the rotation angles of the knee joint outer side device and the knee joint inner side device;

the thigh binding plate is hinged to a thigh slot arranged on the same side, is positioned on the side of the thigh slot close to the human body and is fixedly connected to the thigh of the human body through a binding belt; the thigh shell is fixedly connected with the thigh slot and is positioned on the side of the thigh slot far away from the human body.

Furthermore, the knee joint active driving module further comprises a second motor frame which is fixedly connected with the thigh slot; the driving module is fixedly connected to the second motor frame, and the output end of the driving module is hinged to the driving connecting rod;

a first mounting hole is formed in one end, far away from the end, of the torque generator in the knee joint passive driving module, and the first mounting hole is connected to the thigh inserting groove through the adapter.

Furthermore, the shank also comprises a pair of fourth size adjusting modules, a pair of shank binding plates, a pair of shank inner shells, a pair of shank outer shells and a pair of anchor points which are symmetrically arranged along the left-right direction;

the fourth size adjusting module is fixedly connected with a shank slot and a shank rod which are arranged at the same side, and the length of the shank along the vertical direction is adjusted by adjusting the fixing positions of the shank slot and the shank rod;

the upper end of the knee joint inner side device, which is far away from the crus slot, is provided with an installation clamping slot, the installation clamping slot is adapted to an arc transition structure at the lower end of the knee joint outer side device arranged at the same side, and two side walls of the installation clamping slot along the left and right directions are provided with third through holes corresponding to the second through holes in position; the third through hole and the second through hole are connected through a hinge pin;

the lower leg binding plate is respectively hinged with the knee joint inner side device and the lower leg slot, is positioned on the side of the knee joint inner side device and the lower leg slot close to the human body and is fixedly connected with the lower leg part of the human body through the binding belt; the shank inner shell is fixedly connected with the shank slot and is positioned below the shank binding plate; the crus outer shell is fixedly connected to the knee joint inner side device and the crus inner shell respectively, and is arranged outside the knee joint inner side device, the crus slot and the crus inner shell from the crus slot to a position far away from the human body side cover;

the anchor points are respectively arranged on the inner side devices of the two knee joints on the left side and the right side and are used for fixedly connecting the end part of the driving connecting rod far away from the driving module or the end part of the fixedly connected end far away from the torque generator.

Further, the 2DOF hinge structure includes a shank link, a swivel hinge, a foot-side support block, and a support block housing;

the lower leg connecting rod is arranged along the vertical direction, the upper end of the lower leg connecting rod is fixedly connected with the lower leg rod, and the lower end of the lower leg connecting rod is hinged to the rotating hinge along the left-right or front-back direction; the rotary hinge is arranged above the foot side supporting block, and the lower end of the rotary hinge is hinged with the foot side supporting block along the front-back or left-right direction; the supporting block shell is covered on the outer side of the foot side supporting block; the shank connecting rod has the freedom degree of rotation along the inward/outward expansion and flexion/extension directions relative to the foot side supporting block;

the sole pressure measuring device is arranged as a sole pressure measuring sheet which is fixedly connected with the foot side supporting block, and the measuring surface of the sole pressure measuring sheet is positioned above the sole device; the sole pressure measuring sheet has the degree of freedom that the measuring surface of the measuring sheet is attached to the upper surface of the sole device through elastic deformation;

the sole device comprises a supporting steel sheet, a rubber pad and a fifth size adjusting module; the supporting steel sheet is inserted into the rubber pad along the horizontal direction, and the supporting steel sheet and the rubber pad jointly form a sole positioned at the bottom of the foot side supporting block; the supporting steel sheet is fixedly connected with the foot side supporting block, and the measuring surface of the plantar pressure measuring sheet is positioned above the rubber pad; the fifth size adjusting module comprises an energy buckle and a nylon toothed belt, the energy buckle is fixedly connected to the rubber pad, one end of the nylon toothed belt is fixedly connected to the foot side supporting block, and the other end of the nylon toothed belt enters and exits the energy buckle, so that the tightness of the sole and the foot side supporting block can be adjusted.

Furthermore, the second size adjusting module comprises a rotating block, a stepped shaft, a first sliding block, a connecting pin, a deep groove ball bearing, a gasket and a hand-screwed screw;

the hip connecting piece is of a flat plate-shaped structure, a pair of first sliding grooves of counter bore-like structures are symmetrically arranged on the plate surface of one side, close to a human body, of the hip connecting piece after being worn along the left-right direction, and the first sliding blocks are installed in the first sliding grooves and can slide along the first sliding grooves; a pair of limiting grooves corresponding to the first sliding grooves are formed in the surface of one side, away from the human body, of the worn hip connecting piece, the limiting grooves extend in the left-right direction, and a plurality of limiting notches are formed in the limiting grooves in the extending direction of the limiting grooves; a notch is arranged between the first sliding groove and the limiting groove corresponding to the upper position of the hip connecting piece, and the notch penetrates through the first sliding groove and the limiting groove;

the rotating block is arranged on the hip connecting piece far away from the human body, a rotating groove penetrating through the rotating block is formed in the rotating block, and the rotating groove is communicated with the notch; the stepped shaft is arranged between the hip connecting piece and the rotating block, and the stepped shaft is sleeved with the deep groove ball bearing and the gasket and then inserted into the rotating groove; the end face of the stepped shaft, which is far away from the rotating block, is provided with a limiting point, and the limiting point is clamped in a limiting groove on the hip connecting piece;

the connecting pin penetrates through the first sliding block, the notch and the rear part of the stepped shaft from the side, close to the human body, of the hip connecting piece in sequence and protrudes out of the rotating block, and the side, far away from the hip connecting piece, of the hand-screwed screw self-rotating block is fixedly connected to the connecting pin; the rotating block and the hip connecting piece have relative rotation freedom.

Furthermore, the third size adjusting module comprises a handle, a fixing part, a spring, a base, an adjusting rod and a connecting block;

the cross section of the handle is of a U-shaped structure along the length direction of the handle, and a pair of second mounting holes and a pair of third mounting holes are correspondingly formed in two opposite side walls of the handle; the base is of a first U-shaped structure, and an opening of the base faces the inner side of the handle; a pair of fourth mounting holes are formed in opposite side walls of the base, the fourth mounting holes are matched with the second mounting holes, and the spring is arranged between the two fourth mounting holes; the fixed part is provided with a hinge pin which is communicated with a second mounting hole on the handle, a fourth mounting hole on the base and the spring;

the connecting block is of a second U-shaped structure, a pair of fifth mounting holes are correspondingly formed in two side walls of an opening of the connecting block, a sixth mounting hole is formed in the bottom of the connecting block, and the sixth mounting hole and the fifth mounting hole are axially parallel; the connecting block is arranged in the handle opening, and a sixth mounting hole at the bottom of the connecting block is hinged with the third mounting hole; the end part of the adjusting rod is arranged in the opening of the connecting block, a seventh mounting hole coaxial with the fifth mounting hole is arranged at the part of the adjusting rod, which is positioned in the opening of the connecting block, and the fifth mounting hole is hinged with the sixth mounting hole;

the upper end of the thigh rod is provided with a plurality of first adjusting holes at intervals along the length direction, the thigh slot is provided with a first positioning hole, the end part, far away from the connecting block, of the adjusting rod of the third size adjusting module is inserted into the first adjusting hole and the first positioning hole, and the size of the end part, far away from the connecting block, of the adjusting rod is adaptive to the first positioning hole and any first adjusting hole.

Further, the fourth size adjusting module and the third size adjusting module have the same structure;

the shank rod is provided with a plurality of second adjusting holes at intervals along the length direction, the shank slot is provided with second positioning holes, and the end part, far away from the connecting block, of the adjusting rod of the fourth size adjusting module is fixedly connected with the second positioning holes and any one of the second adjusting holes.

Furthermore, the control module is arranged on the back support device and comprises a back plate, a switch outer cover, a second sliding block, a switch and an integrated control box;

the back plate is buckled with the integrated control box, and the side of the back plate, which is far away from the integrated control box, is fixedly connected with the bionic spine; a slot is arranged in the back plate, and the outer support rod is fixedly arranged in the slot of the back plate; the upper end of the integrated control box is provided with a groove, the switch outer cover is arranged in the groove, and the switch outer cover is fixedly connected with the outer supporting rod; the second sliding block is arranged inside the switch outer cover, and a second sliding groove is formed in the outer wall of the switch outer cover; the switch is fixedly connected to the second sliding block from the second sliding groove and electrically connected to the integrated control box.

Further, the hip joint further comprises a weight platform and two recovery springs; the load platform is of a flat plate structure, an installation groove is formed in the side edge, close to the hip connecting piece, of the flat plate structure, spring installation positions are arranged on two sides of the installation groove, and the recovery springs are arranged in the spring installation positions; the bottom of the lower connecting piece is arranged in the mounting groove, and the recovery spring, the mounting groove and the lower connecting piece are integrally hinged through the hinge pin.

According to the technical scheme, the active-passive switching wearable lower limb load exoskeleton provided by the technical scheme of the invention has the following beneficial effects:

the invention discloses an active-passive switching wearable lower limb load exoskeleton, which is used for assisting in walking of human load and comprises a back supporting device, a hip joint driving module, a knee joint driving module, a control module, a thigh part, a calf part, an ankle joint and a sole device; the exoskeleton comprises a back supporting device, a hip joint, a thigh part, a shank part, an ankle joint and a sole device, wherein the back supporting device, the hip joint, the thigh part, the shank part, the ankle joint and the sole device form a main body of the exoskeleton, and a hip joint driving module and a knee joint driving module are detachably connected with the main body and are respectively used for driving a hip joint and a knee joint of the main body to move; the knee joint driving module is a knee joint active driving module or a knee joint passive driving module, and the hip joint driving module and the knee joint active driving module are electrically connected with the control module and controlled by the control module to start and stop; the active-passive switching wearable lower limb load exoskeleton can be worn on the bodies of users with different body types in a fitting manner, so that the wearing comfort is improved, and reliable support and assistance are provided.

The hip joint driving module and the knee joint driving module are detachably connected with the main body, so that the structure of the light exoskeleton can be simplified by replacing hip and knee joint driving modes at any time, and the wearing comfort is ensured; on the other hand, the active and passive driving modules of the hip joint and the knee joint can be freely selected according to actual use working conditions, and effective support and assistance can be provided for a user all the time under any use working condition.

It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent.

The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.

Drawings

The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:

FIG. 1 is a schematic diagram of an exoskeleton configuration provided by an embodiment of the present invention;

FIG. 2 is a schematic exploded view of the exoskeleton back support apparatus provided in accordance with an embodiment of the present invention;

FIG. 3 is a schematic exploded view of an exoskeleton control module according to an embodiment of the present invention;

FIG. 4 is an exploded view of the exoskeleton integrated lumbar pad provided in accordance with the present invention;

FIG. 5 is a schematic exploded view of an exoskeleton size adjustment module provided in an embodiment of the present invention;

FIG. 6 is a schematic exploded view of the exoskeleton hip joint provided by the embodiment of the present invention;

FIG. 7 is a front schematic view of an exploded configuration of an exoskeleton hip joint provided in an embodiment of the present invention;

FIG. 8 is an exploded view of the exoskeleton hip drive module provided in accordance with an embodiment of the present invention;

fig. 9 is an exploded view of the exoskeleton knee joint active drive module according to the embodiment of the present invention;

fig. 10 is an exploded view of the exoskeleton knee passive drive module according to the embodiment of the present invention;

FIG. 11 is a schematic exploded view of an exoskeleton thigh provided in accordance with an embodiment of the present invention;

FIG. 12 is a schematic illustration of an exploded view of the exoskeleton lower leg provided by an embodiment of the present invention;

FIG. 13 is a schematic illustration of an exploded configuration of an exoskeleton ankle provided by an embodiment of the present invention;

FIG. 14 is a schematic diagram of an exoskeleton hip and knee active driving structure provided by an embodiment of the present invention;

figure 15 is a schematic diagram of the exoskeleton hip passive knee active drive structure provided by the embodiment of the present invention;

FIG. 16 is a schematic diagram of the exoskeleton hip active-knee passive drive configuration provided by an embodiment of the present invention;

fig. 17 is a schematic diagram of a passive driving structure of the exoskeleton hip and knee provided by the embodiment of the invention.

In the figure, the specific meaning of each mark is:

1-back support, 111-outer support bar, 112-inner support bar, 1131-first upper connector, 1132-connecting piece, 1133-first lower connector, 114-hip connector, 1142-limiting groove, 1143-notch, 1144-first sliding groove, 115-backpack support, 116-quick-pull pin; 12 control module, 121-back plate, 122-switch outer cover, 123-second slide block, 124-switch, 125-integrated control box; 13 an integral harness; 14-integrated lumbar pad, 141-lumbar pad, 142-lumbar pad connecting plate; 15-size adjusting module, 151-handle, 152-fixing part, 153-spring, 154-base, 155-adjusting rod, 156-connecting block; 2-hip joint, 211-swivel block, 2112-swivel groove, 212-stepped shaft, 2122-limited point, 213-first slider, 214-connecting pin, 215-waist bar, 216-upper connector two, 217-lower connector two, 2172-second boss, 2173-tenon sliding groove, 218-load platform, 2191-cross roller bearing, 2192-deep groove ball bearing, 2193-gasket, 2194-recovery spring; 22-hip joint driving module, 221-motor frame outer cover, 222-driving motor, 2222-, 2223-, 223-motor frame, 2232-tenon, 2233-first boss and 224-D shaft; 23-knee joint active driving module, 230-hand screw, 231-driving module, 232-second motor frame, 233-driving connecting rod and 2333-connecting rod end; 24-knee joint passive driving module, 241-torque generator, 2412-first mounting hole, 242 end head and 2422-front end head; 3-thigh part, 31-thigh rod, 32-fixing piece, 33-thigh slot, 332-fixing slot, 34-knee joint outer side device, 35-knee joint limiting piece, 36-thigh binding plate, 37-thigh shell and 38-fixing frame; 4-calf part, 41-knee joint inner side device, 412-mounting groove, 42-calf slot, 43-calf rod, 44-calf shell, 45-calf inner shell, 46-calf binding plate, 47-anchor point and 48-hand screw thread pin; 5-ankle joint, 511-shank connecting rod, 512-rotating hinge, 513-foot side supporting block, 514-supporting block shell, 515-plantar pressure measuring sheet, 52-plantar device, 521-supporting steel sheet, 522-rubber pad, 523-energy button and 524-nylon toothed belt.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.

The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Similarly, the singular forms "a," "an," or "the" do not denote a limitation of quantity, but rather denote the presence of at least one, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or the like, mean that the elements or items listed before "comprises" or "comprising" encompass the features, integers, steps, operations, elements, and/or components listed after "comprising" or "comprising," and do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may also be changed accordingly.

Based on the fact that the load-bearing exoskeleton structure for supporting the power-assisted human body to avoid musculoskeletal strain in the prior art is mostly in a single active driving mode, a single passive driving mode or an exoskeleton supporting power-assisted mode to reduce the musculoskeletal burden of the human body, the power-assisted modes of hip joints and knee joints can not be effectively changed between the active power-assisted mode and the passive power-assisted mode according to actual requirements, and the exoskeleton can not provide power-assisted support in partial use scenes; the invention aims to provide an active-passive switching wearable lower limb load exoskeleton which can be attached to users of different body types, switch active and passive power-assisted driving modes of hip joints and knee joints at any time in any use scene and always provide reliable power-assisted support.

The active and passive switching wearable lower limb load exoskeleton of the invention is further described in detail with reference to the embodiment shown in the drawings.

The wearable lower limb load-bearing exoskeleton combining active and passive switching shown in fig. 1 comprises a back supporting device 1, a hip joint 2, a hip joint driving module 22, a knee joint driving module, a control module 12, a thigh part 3, a shank part 4, an ankle joint 5 and a sole device 52; the back supporting device 1, the hip joint 2, the thigh part 3, the shank part 4, the ankle joint 5 and the foot bottom device 52 are sequentially connected from top to bottom to form an exoskeleton main body connected with a human body of a user in a binding manner, the control module 12, the hip joint driving module 22 and the knee joint driving module are detachably connected with the exoskeleton main body, on one hand, switchable driving assistance of hips and knee joints on the exoskeleton main body is realized, and on the other hand, the detachable connection realizes the simplification and portability of the exoskeleton main body structure.

As shown in fig. 2, the back support device 1 includes a support rod unit, a bionic spine, a hip connector 114, an integrated belt 13 and an integrated cushion 14, the support rod unit is arranged along a vertical direction, the bionic spine is connected and arranged at the bottom of the support rod unit, the hip connector 114 is connected and arranged at the bottom of the bionic spine, the integrated belt 13 is connected and arranged at the side edge of the support rod unit, the integrated cushion 14 is connected and arranged at the side edge of the hip connector 114, and the integrated cushion 14 and the integrated cushion 13 are installed at the same side; the integrated type shoulder strap 13 is used for being connected with the back of a user when the exoskeleton is worn, and the integrated type waist pad 14 is used for being connected with the waist of the user when the exoskeleton is worn. Defining the front, back, left and right directions of the human body as the front, back, left and right directions of the wearable lower limb load exoskeleton which is actively and passively switched; the hip joint 2 is connected with the hip connecting piece 114 and comprises two pairs of upper connecting pieces 216 and lower connecting pieces 217 which are symmetrically 217 arranged at the left side and the right side of the hip connecting piece 114 and can rotate relatively; the hip joint driving modules 22 comprise two hip joint driving modules which are symmetrically arranged at the left side and the right side of the hip joint 114; the hip joint driving module 22 is detachably connected to the hip joint 2 and is used for driving the upper connecting piece II 216 and the lower connecting piece II 217 which are arranged on the same side of the hip joint driving module to rotate relatively.

As shown in fig. 11, the thigh portion 3 includes a pair of thigh insertion grooves 33, a pair of thigh levers 31, and a pair of knee joint lateral devices 34, which are symmetrically arranged in the left-right direction; as shown, the thigh slot 33 is vertically arranged, the thigh rod 31 is vertically connected to the upper end of the thigh slot 33, the upper end of the thigh rod 31 is connected to the second lower connecting member 217, and the knee joint outer device 34 is connected to the lower end of the thigh slot 33. As shown in fig. 12, the lower leg portion 4 includes a pair of lower leg slots 42 symmetrically arranged in the left-right direction, a pair of lower leg rods 43, and a pair of knee joint inner side devices 41, wherein the lower leg slots 42 are arranged in the vertical direction, the knee joint inner side devices 41 are connected to the upper ends of the lower leg slots 42 in the vertical direction, the lower leg rods 43 are connected to the lower ends of the lower leg slots 42, and then the knee joint inner side devices 41 are hinged to the knee joint outer side devices 34 to form the knee joint.

The invention discloses an active-passive switching wearable lower limb load exoskeleton, wherein a knee joint driving module is a pair of knee joint active driving modules 23 or a pair of knee joint passive driving modules 24 which are symmetrically arranged along the left and right direction; specifically, the knee joint active driving module 23 includes a driving module 231 and a driving link 233 connected to an output end of the driving module 231, the driving module 231 is detachably connected to the thigh 3, and an end of the driving link 233 far away from the driving module 231 is connected to the lower leg 4; the knee joint passive driving module 24 comprises a torque generator 241 and a head 242 fixedly connected to the torque generator 241, the torque generator 241 is detachably connected to the thigh portion 3, and the end of the head 242 far away from the torque generator 241 is connected to the lower leg portion 4.

As shown in fig. 13, the ankle joint 5 includes two, symmetrically arranged in the left-right direction, connected to the calf portion 4 arranged on the same side thereof, respectively, and includes a 2DOF hinge structure connected to the calf rod 43 and a plantar pressure measuring device for measuring plantar pressure; the sole device 52 comprises two parts which are respectively correspondingly connected with the ankle joints 5 arranged on the same side of the sole device and used for adjusting and fixing the feet of the human body.

The control module 12 provided by the invention is electrically connected to the hip joint driving module or the knee joint driving module, and is used for controlling the start and stop of the hip joint driving module 22 or the knee joint driving module 23 when the hip joint driving module 22 or the knee joint driving module 23 is connected to the exoskeleton main body.

As further shown in connection with fig. 2, the support bar unit comprises an outer support bar 111, an inner support bar 112 and a first size adjustment module; when assembled, the inner support rod 112 is inserted into the outer support rod 111, the first size adjustment module fixedly connects the outer support rod 111 and the inner support rod 112, and the first size adjustment module adjusts the length of the support rod unit in the vertical direction by adjusting the fixing positions of the outer support rod 111 and the inner support rod 112.

The bionic spine is fixed with the inner support rod 112 through threads, specifically, the bionic spine comprises an upper connecting piece 1131, a connecting piece group and a lower connecting piece 1133, the connecting piece group is composed of a plurality of connecting pieces 1132 which are sequentially connected in series, and the connecting pieces 1132 are connected through hinge pins; the upper end of the first upper connecting piece 1131 of the bionic spine is connected to the bottom end of the inner supporting rod 112 through a hinge pin, the lower end is hinged to the upper end of the connecting piece group, the upper end of the first lower connecting piece 1133 is hinged to the lower end of the connecting piece group through a hinge pin, and the lower end is connected to the hip connecting piece 114 through a hinge pin. The integrated shoulder strap 13 is fixedly connected to the bionic spine by threads, a backpack support 115 is arranged on the integrated shoulder strap 13, and the backpack support 115 is fixedly connected to the outer support rod 111 by a quick-pull pin 116. As shown in fig. 4, the integrated lumbar pad 14 includes a lumbar pad 141 and a lumbar pad connecting plate 142 fixedly connected to the lumbar pad 141, in practice, the lumbar pad 141 and the lumbar pad connecting plate 142 are fixed by screw threads, and the lumbar pad connecting plate 142 is fixedly connected to the hip joint 114, which is also generally fixed by screw threads.

With particular reference to the embodiment shown in fig. 6 and 7, the hip joint 2 further comprises a pair of lumbar rods 215, a pair of second size adjustment modules and two cross roller bearings 2191; the second size adjusting modules and the waist rod 215 are respectively and symmetrically arranged at two sides of the hip connecting piece 114 along the left-right direction, the second size adjusting modules are respectively connected with the hip connecting piece 114 and one end of the waist rod 215 arranged at the same side of the hip connecting piece, and the other end of the waist rod 215 is hinged with the upper connecting piece II 216 arranged at the same side of the waist rod 215; the second size adjusting module adjusts the width of the waist enclosed by the waist rod 215 and the hip connecting piece 114 by adjusting the fixing position of the second size adjusting module and the hip connecting piece 114 so as to adapt to the waist size of users who are bound with different shapes.

In order to realize the stability of the relative rotation of the upper connector II 216 and the lower connector II 217, crossed roller bearings 2191 are respectively arranged in the lower connector II 217 on the left side and the right side, the outer rings of the crossed roller bearings 2191 are fixedly connected with the lower connector II 217, and the inner rings of the crossed roller bearings 2191 are fixedly connected with the upper connector II 216. In addition, in order to ensure that the actual situation of the human body hip joint rotation is met when the upper connecting piece II 216 and the lower connecting piece II 217 rotate, the embodiment is provided with a limiting surface 2174 on the side surface of the lower connecting piece II 217 close to the upper connecting piece II 216, and the limiting surface 2174 is attached to the side surface of the upper connecting piece II 216 close to the lower connecting piece II 217 and used for limiting the back swing angle of the hip joint 214 and fitting the real back swing angle of the human body.

In the particular embodiment shown in fig. 6 and 7, the second size adjustment module includes a rotation block 211, a stepped shaft 212, a first slider block 213, a connecting pin 214, a deep groove ball bearing 2192, a spacer 2193, and a hand screw; when the hip joint part 114 is installed, the hip joint part is set to be a flat structure, a pair of first sliding grooves 1144 with counter bore-like structures are symmetrically arranged on the plate surface of one side close to a human body after being worn along the left-right direction, and the first sliding block 213 is installed in the first sliding grooves 1144 and can slide along the first sliding grooves 1144; a pair of limiting grooves 1142 corresponding to the first sliding groove 1144 are arranged on one side of the plate surface away from the human body after the hip joint part 114 is worn, the limiting grooves 1142 extend along the left-right direction, and the limiting grooves 1142 are provided with a plurality of limiting notches along the extending direction; a notch 1143 is arranged between the first sliding groove 1144 and the limiting groove 1142 corresponding to the position on the hip joint part 114, and the notch 1143 penetrates through the first sliding groove 1144 and the limiting groove 1142; the rotating block 211 is arranged on the hip connector 114 far away from the human body, a rotating groove 2112 penetrating through the rotating block 211 is arranged on the rotating block 211, and the rotating groove 2112 is communicated with the notch 1143; the stepped shaft 212 is arranged between the hip connector 114 and the rotating block 211, and the deep groove ball bearing 2192 and the gasket 2193 are sleeved on the stepped shaft 212 and then inserted into the rotating groove 2112; the end face of the stepped shaft 212 far away from the rotating block 211 is provided with a limit point 2122, the limit point 2122 is clamped in the limit groove 1142 on the hip connecting piece 114, and the waist width is adjusted by adjusting the matching position of the limit point 2122 and the limit notch on the limit groove 1142; the connecting pin 214 sequentially penetrates through the first sliding block 213, the notch 1143 and the rear part of the stepped shaft 212 from the hip connector 114 close to the human body side and protrudes out of the rotating block 211, and the hand-screwed screw self-rotating block 211 far away from the hip connector 114 side is fixedly connected to the connecting pin 214; the rotation block 211 has a degree of freedom of relative rotation with the hip joint 114 for achieving the abduction degree of freedom of the hip joint 2.

With reference to the embodiment shown in fig. 8, the hip joint driving module 22 includes a motor frame cover 221, a driving motor 222, a motor frame 223, and a D-shaped shaft 224, wherein the motor frame cover 221 is fixedly connected to the motor frame 223, the motor frame cover 221 and the motor frame 223 form an installation cavity from the motor frame 223 to a side far from the motor frame cover 221, the driving motor 222 is fixedly disposed in the installation cavity, and an output end of the driving motor 222 is connected to the D-shaped shaft 224 from an opening of the installation cavity; the motor frame 223 is provided with a tenon 2232 along the outer edge of the opening of the mounting chamber, and the tenon 2232 extends towards the outer side of the opening of the mounting chamber; the side surface of the second lower connecting piece 217, which is far away from the second upper connecting piece 216, is provided with a first through hole which penetrates through the second lower connecting piece 217 to the second upper connecting piece 216, and the side of the second lower connecting piece 217, which is far away from the second upper connecting piece 216, is provided with a tenon sliding groove 2173; the motor frame 223 is fixedly connected to the second lower connecting piece 217, and the clamping tenon 2232 on the motor frame 223 is matched with the clamping tenon sliding groove 2173; the D-shaped shaft 224 is inserted into the second upper connector 216 from the first through hole. When the hip joint driving module 22 is fixed on the hip joint 2, the motor frame 223 and the lower connecting piece 217 are fixed through threads when the first boss 2233 and the second boss 2172 are correspondingly overlapped, and the hip joint driving module 22 is fixed on the hip joint 2.

With reference to the embodiment shown in fig. 11, the femoral part 3 further comprises a pair of third size adjusting modules 15, a pair of femoral tie plates 36 and a pair of femoral shells 37 symmetrically arranged in the left-right direction; the third size adjusting module 15 is installed between the thigh slot 33 and the thigh rod 31 arranged on the same side and respectively connected with the thigh slot 33 and the thigh rod 31; specifically, a fixing plate 32 is fixed on the thigh slot 33 by adopting a thread, and the third size adjusting module 15 is fixed with the fixing plate 32 on the thigh slot 33 by adopting a thread, so that the fixing of the third size adjusting module and the thigh slot 33 is realized. The third size adjustment module 15 adjusts the length of the thigh 3 in the vertical direction by adjusting its fixing position with the thigh slot 33.

As shown in fig. 5, the third size adjustment module 15 includes a handle 151, a fixing portion 152, a spring 153, a base 154, an adjustment lever 155, and a connection block 156; specifically, the handle 151 is arranged to have a U-shaped cross section along the length direction thereof, the base 154 is arranged to have a first U-shaped opening facing the inner side of the U-shaped structure of the handle 151, two side walls of the first U-shaped structure of the base 154 are hinged to two side walls of the U-shaped structure of the handle 151 by the fixing portions 152, and the fixing portions 152 are hinge pins; the spring 153 is coaxially fitted over the portion of the hinge pin within the first U-shaped configuration of the base 154; connecting block 156 is installed inside the U-shaped structure of handle 151 and is arranged as a second U-shaped structure opposite to the opening of base 154, and the bottom of the second U-shaped structure of connecting block 156 is hinged with two side walls of the U-shaped structure of handle 151; the end part of the adjusting rod 155 is arranged in the opening of the connecting block 156, and the end part of the adjusting rod 155 is hinged with two side walls of the second U-shaped structure of the connecting block 156; i.e. the adjustment lever 155 is connected to the handle 151 via the connection block 156.

A plurality of first adjusting holes are formed in the upper end of the thigh rod 31 at intervals along the length direction, first positioning holes are formed in the thigh inserting grooves 33, and the adjusting rods 155 are matched with the first positioning holes and the first adjusting holes; when the size adjusting module is fixed, the end part, far away from the connecting block 156, of the adjusting rod 155 of the third size adjusting module 15 is inserted into the first positioning hole and any first adjusting hole in a matching way, so that the length of the thigh part 3 can be adjusted to be convenient for users with different heights to wear. When the height is required to be adjusted, the adjusting rod 155 is inserted in a matching way after a new first positioning hole and a first adjusting hole are selected by lifting the handle 151 outside the leg part and pulling the adjusting rod 155 outwards through the connecting block 156; after the adjustment is completed, the handle 151 continues to abut against the outer surface of the leg under the action of the spring 153.

Further referring to the embodiment disclosed in fig. 11, in this embodiment, the lower end of the knee joint lateral device 34 close to the lower leg portion 4 is provided with an arc-shaped transition structure, the arc-shaped transition structure is provided with a through second through hole along the left-right direction, and two sides of the arc-shaped transition structure along the left-right direction are respectively provided with a knee joint limiting sheet 35, and the knee joint limiting sheets 35 are attached to the side surfaces of the arc-shaped transition structure for limiting the rotation angles of the knee joint lateral device 34 and the knee joint medial device 41. The thigh binding plate 36 is hinged with a thigh slot 33 arranged at the same side, is positioned at the side of the thigh slot 33 close to the human body and is fixedly connected with the thigh of the human body through a binding belt; thigh shell 37 is fixedly connected to thigh slot 33, is located on the side of thigh slot 33 away from the human body, and is used for shielding parts of thigh 3 from the outer side of the exoskeleton, so as to improve the overall appearance of thigh 3. During specific installation, the knee joint limiting sheet 35 is fixed with the knee joint outer side device 34 through threads, and the knee joint outer side device 34 is positioned with the thigh slot 33 through double pins and then fixed through screws; the thigh binding plate 36 is fixed to the thigh insertion groove 33 by a hinge pin, and the thigh shell 37 is screwed to the thigh insertion groove 33. To achieve stable reinforcement and data monitoring of thigh portion 3, thigh socket 33 is further provided with a gusset plate and IMU sensor.

With reference to the embodiment shown in fig. 9 and 10, the active driving module 23 further includes a second motor frame 232, and the second motor frame 232 is fixedly connected to the thigh slot 33; the driving module 231 is fixedly connected to the second motor frame 232, and an output end of the driving module 231 is hinged to the driving connecting rod 233; specifically, the second motor mount 232 is installed in a fixing groove 332 preset on the thigh insertion groove 33 and fixes the knee joint active driving module 23 and the thigh 3 by a screw. The torque generator 241 in the knee joint passive driving module 24 is fixed to the end head 242 through threads, and a first mounting hole 2412 is formed in one end, far away from the end head 242, of the torque generator 241 and connected to the thigh insertion slot 33 through an adapter, and the adapter adopts a structure such as a threaded pin screwed by hand. In order to facilitate the fixing of the torque generator 241 and the thigh slot 33, a dedicated fixing frame 38 is disposed on the thigh slot 33, and the first mounting hole is connected with the fixing frame 38 through a hand-screwed threaded pin.

With reference to the embodiment shown in fig. 12, the calf portion 4 further includes a pair of fourth size adjustment modules, a pair of calf binding plates 46, a pair of calf inner shells 45, a pair of calf outer shells 44 and a pair of anchor points 47, which are symmetrically arranged in the left-right direction; the fourth size adjusting module is the same as the third size adjusting module 15 in structure, is fixedly connected with a lower leg slot 42 and a lower leg rod 43 which are arranged at the same side, and adjusts the length of the lower leg part 4 along the vertical direction by adjusting the fixing positions of the lower leg slot 42 and the lower leg rod 43; specifically, a plurality of second adjusting holes are formed in the shank rod 43 at intervals along the length direction, a second positioning hole is formed in the shank slot 42, the end, far away from the connecting block, of the adjusting rod of the fourth size adjusting module is fixedly connected with the second positioning hole and any one of the second adjusting holes, and therefore the length of the shank 4 can be adjusted so as to adapt to heights of different users.

As shown in the figure, the upper end of the knee joint inner side device 41 far from the lower leg slot 42 is provided with an installation clamping groove, the installation clamping groove is adapted to the arc transition structure at the lower end of the knee joint outer side device 34 arranged at the same side, and the two side walls of the installation clamping groove along the left and right direction are provided with third through holes corresponding to the second through holes in position, and the third through holes and the second through holes are connected through hinge pins to form the knee joint capable of rotating around the hinge pins. The lower leg binding plate 46 is hinged to the knee joint inner side device 41 and the lower leg slot 42 respectively, is positioned on the side of the knee joint inner side device 41 and the lower leg slot 22 close to the human body, and is used for being fixedly connected to the lower leg part of the human body through binding belts. The lower leg inner shell 45 is fixedly connected with the lower leg slot 42 and is positioned below the lower leg binding plate 46; the shank shell 44 is fixedly connected to the knee joint inner side device 41 and the shank inner shell 45 respectively, the shank shell 44 is arranged outside the knee joint inner side device 41, the shank slot 42 and the shank inner shell 45 from the shank slot 42 away from the human body side cover, parts inside the shank 4 are shielded from the outer side of the exoskeleton, and the overall appearance of the shank 4 is improved. The anchor points 47 are respectively arranged on the left and right knee joint inner side devices 41, and are used for fixedly connecting the end part of the driving connecting rod 233 far away from the driving module 231 or the end part of the fixedly connecting end 242 far away from the torque generator 241 through the hand-screwed threaded pin 48. Of course, the anchor point 47 functions to provide a fixing point for the driving link 233 and the head 242, and in some embodiments, the driving link 233 and the head 242 are directly fixed to the inner device 41 of the knee joint, or fixed to the inner device 41 of the knee joint by using other transfer structures, so as to drive the lower leg 4; i.e. the anchor point 47 structure can be freely assembled depending on the implementation.

In order to facilitate the processing and assembly of the lower leg part 4, the lower leg binding plate 46 is fixed with the knee joint inner side device 41 and the lower leg slot 42 through hinge pins, the lower leg shell 44 and the anchor point 47 are fixed with the knee joint inner side device 41 through threads, and the knee joint inner side device 41 and the lower leg slot 42 are fixed through threads after being positioned through double pins; the fourth size adjusting module, the lower leg inner shell 45 and the lower leg slot 42 are fixed in a threaded manner; the lower leg shell 44 is screwed to the lower leg shell 45. In addition, in order to realize structural stability and data monitoring of the lower leg portion 4, a mounting groove 412 for mounting a gusset plate and an IMU sensor is preset on the knee joint inner side device 41, and the gusset plate and the IMU sensor are screw-fixed to the mounting groove 412. In order to facilitate the smooth movement and internal wiring of the knee joint, the knee joint inner device 41 is further provided with a bearing and a wire sheath during installation.

In connection with the embodiment shown in fig. 13, the 2DOF hinge structure includes a shank link 511, a swivel hinge 512, a foot-side support block 513, and a support block housing 514; wherein, the shank connecting rod 511 is arranged along the vertical direction, the upper end of the shank connecting rod 511 is fixedly connected with the shank rod 43, and the lower end is hinged with the rotating hinge 512 along the left-right or front-back direction; the rotary hinge 512 is arranged above the foot-side supporting block 513, and the lower end thereof is hinged with the foot-side supporting block 513 along the front-back or left-right direction; the supporting block housing 514 covers the outer side of the foot side supporting block 513 and is fixed by threads; calf connecting rod 511 has freedom of rotation in the medial/lateral and flexion/flexion directions relative to foot-side support block 513. The sole pressure measurement is set as a sole pressure measurement sheet 515, the sole pressure measurement sheet 515 is fixedly connected to the foot side supporting block 513, generally fixed by threads, and the measurement surface of the sole pressure measurement sheet is positioned above the sole device; the sole pressure measuring plate 515 has a degree of freedom that elastically deforms so that its measuring surface fits to the upper surface of the sole device 52.

As shown, the sole assembly 52 includes a support steel sheet 521, a rubber pad 522, and a fifth size adjustment module; specifically, the supporting steel sheet 521 is inserted into the rubber pad 522 along the horizontal direction, and the supporting steel sheet 521 and the rubber pad 522 together form a sole located at the bottom of the foot-side supporting block 513; the supporting steel sheet 521 is fixedly connected to the foot side supporting block 513 by threads, and the measuring surface of the plantar pressure measuring sheet 515 is positioned above the rubber pad 522; the fifth size adjustment module comprises an energy buckle 523 and a nylon toothed belt 524, wherein the energy buckle 523 is fixedly connected to the rubber pad 522, for example, the nylon toothed belt 524 is fixed by a thread, one end of the nylon toothed belt 524 is fixedly connected to the foot side supporting block 513 by a thread, and the other end of the nylon toothed belt is inserted into or withdrawn from the energy buckle 523, so that the fixing and size adjustment between the sole and the foot side supporting block 513 are realized. When the sole pressure measuring sheet 515 is deformed by the pressure of the foot of the human body above the sole pressure measuring sheet, the pressure is attached to the surface of the rubber pad 522, and the deformation signal of the sole pressure measuring sheet 515 is converted to obtain the pressure of the foot of the user at present, so that the sole pressure measuring sheet can be used for product testing.

With further reference to the embodiment shown in fig. 1 to 3, the control module 12 is mounted on the back support device 1, detachably connected to the back support device 1, and detachable according to the user's requirement, and includes a back plate 121, a switch housing 122, a second slider 123, a switch 124, and an integrated control box 125; the concrete structure is as follows: the back plate 121 is fixed with the bionic spine through threads, the back plate 121 is far away from the bionic spine side and is buckled with the integrated control box 125, and a slot is formed in the back plate 121; the outer supporting rod 111 is fixedly arranged in the slot of the back plate 121 and is fixed with the back plate 121 through threads; a groove is arranged at the upper end of the integrated control box 125, the switch outer cover 122 is arranged in the groove, and the switch outer cover 122 is fixedly connected to the outer support rod 111 through threads; the second slider 123 is arranged inside the switch housing 122, the outer wall of the switch housing 122 is provided with a second sliding groove, and the switch 124 is fixedly connected to the second slider from the second sliding groove and is fixed by threads. The switch 124 is electrically connected to the integrated control box 125 to realize the electrical control of the control module 13.

In order to facilitate the active and passive switching of the wearable lower limb load exoskeleton bearing heavy objects, an auxiliary carrying unit is further arranged on the hip joint 2 and comprises a load platform 218 and a recovery spring 2194; the load platform 218 is configured as a flat plate structure, the side edge of the flat plate structure close to the hip joint 114 is provided with a mounting groove which is concave towards the inside of the flat plate, two sides of the mounting groove are provided with spring mounting positions, the recovery spring 2194 is arranged in the spring mounting positions, and the recovery spring 2 is in a compressed state; the bottom of the first lower connecting piece 1133 is arranged in the mounting groove and is integrally hinged with the recovery spring 2 and the mounting groove through a hinge pin. This hinging effect allows weight platform 218 to retract under the action of retraction spring 2 to a position to fit lower link one 1133 when not in use, without increasing the apparent bulk of the exoskeleton.

In each embodiment of the present invention, the first size adjustment module and the fourth size adjustment module are both of the same structure as the third size adjustment module 15; the first size adjusting module in the support rod unit is fixed with the outer support rod 111 through threads, a plurality of adjusting holes are respectively formed in the outer support rod 111 and the inner support rod 112, the adjusting rod in the first size adjusting module fixes the relative positions of the outer support rod 111 and the inner support rod 112 through the adjusting holes for fixing the outer support rod 111 and the inner support rod 112, and the fixed adjusting holes are replaced, so that the length of the support rod unit is adjusted.

In the integral structure of the invention, a back support device 1 is connected with a hip joint 2, a control module 12 is detachably fixed with the back support device 1, and an integrated strap 13 is fixed with the back support device 1; the integrated waist pad 4 is fixed with the hip joint 2, and the hip joint driving module 22 is connected with the hip joint 2 and can be assembled and disassembled according to the requirements of users; the thigh 3 is connected to the hip joint 2, the thigh 3 is connected to the lower leg 4, the lower leg 4 is fixed to the ankle joint 5, and the ankle joint 5 is connected to the sole device 52. The knee joint active driving module 23 is respectively connected with the thigh part 3 and the shank part 4 and can be assembled and disassembled according to the requirements of a user; the knee joint passive driving module 24 is connected with the thigh part 3 and the shank part 4 respectively, and can be assembled and disassembled according to the requirements of users. The key point of the invention is that the exoskeleton can be assembled and disassembled at will according to the actual requirements of users, and the hip joint driving module 22, the knee joint driving module 23 and the knee joint driven module 24 are replaced to carry out hip and knee joint active or passive driving.

With reference to the embodiments shown in fig. 14 to 17, the exoskeleton can select the hip-knee joint active driving mode according to actual use conditions; the method comprises the following steps: 1) hip and knee joint active driving mode; 2) the hip joint is not driven, and the knee joint is in an active driving mode; 3) a hip joint active driving mode and a knee joint passive driving mode; 4) the hip joint has no drive, and the knee joint has a passive drive mode. When the hip joint 2 of the exoskeleton is in an active driving mode, the hip joint driving module 22 enables the second upper connecting piece 216 and the second lower connecting piece 217 to rotate relatively to realize active driving; when the knee joint of the exoskeleton is in an active driving mode, the knee joint active driving module 23 enables the included angle between the thigh part 3 and the shank part 4 to change relatively so as to realize active driving; when the knee joint of the exoskeleton is in a passive driving mode, the thigh part 3 and the shank part 4 of the exoskeleton are driven to bend together by the bending of the leg part of the human body, and meanwhile, the moment generator 241 has the storage capacity, and when the leg part of the human body bends and extends, the moment generator 241 releases energy and generates bending and extending moment at the same time, so that the power assisting effect is provided for the human body.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims

1. A wearable lower limb load exoskeleton capable of realizing active and passive switching is characterized by comprising a back supporting device, a hip joint driving module, a knee joint driving module, a control module, a thigh part, a calf part, an ankle joint and a sole device; the back supporting device, the hip joint, the thigh part, the shank part, the ankle joint and the foot bottom device are sequentially connected from top to bottom to form an exoskeleton main body which is connected with a user body in a binding manner; the control module, the hip joint driving module and the knee joint driving module are detachably connected with the exoskeleton main body; the knee joint driving module is electrically connected with the hip joint driving module or the knee joint driving module and is used for controlling the hip joint driving module or the knee joint driving module to be started or closed.

2. The active-passive switching wearable lower extremity loading exoskeleton of claim 1, wherein the back support device comprises a support rod unit, a bionic spine, a hip connector, an integrated waist pad and an integrated waist pad, wherein the support rod unit is arranged along a vertical direction, the bionic spine is connected and arranged at the bottom of the support rod unit, the hip connector is connected and arranged at the bottom of the bionic spine, the integrated waist pad is connected and arranged at the side of the support rod unit, the integrated waist pad is connected and arranged at the side of the hip connector, and the integrated waist pad is arranged at the same side as the integrated spine;

the knee joint active driving module or the knee joint passive driving module comprises two knee joint active driving modules or two knee joint passive driving modules which are respectively and symmetrically arranged along the left and right directions; the knee joint active driving module comprises a driving module and a driving connecting rod connected to the output end of the driving module, the driving module is detachably connected to the thigh, and the end part, far away from the driving module, of the driving connecting rod is connected to the shank; the knee joint passive driving module comprises a torque generator and an end head fixedly connected with the torque generator, the torque generator is detachably connected with the thigh part, and the end part of the end head far away from the torque generator is connected with the shank part;

3. The active-passive switching wearable lower extremity loading exoskeleton of claim 2 wherein the support bar unit comprises an outer support bar, an inner support bar and a first size adjustment module, wherein the inner support bar is inserted into the outer support bar, the first size adjustment module is fixedly connected with the outer support bar and the inner support bar, and the first size adjustment module adjusts the length of the support bar unit in the vertical direction by adjusting the fixed positions of the outer support bar and the inner support bar;

4. The active-passive switching wearable lower extremity loading exoskeleton of claim 2 wherein said hip joint further comprises a pair of lumbar rods, a pair of second size adjustment modules and two cross roller bearings;

5. The active-passive switching wearable lower extremity loading exoskeleton of claim 4 wherein said hip drive module comprises a motor frame enclosure, a drive motor, a motor frame and a D-shaft;

6. The active-passive switching wearable lower extremity exoskeleton of claim 2 wherein said thigh section further comprises a pair of third dimension adjustment modules, a pair of thigh cinching plates and a pair of thigh shells symmetrically arranged in a left-right direction;

7. The active-passive switching wearable lower extremity loading exoskeleton of claim 2 wherein said knee joint active drive module further comprises a second motor mount removably connected to a thigh socket; the driving module is fixedly connected to the second motor frame, and the output end of the driving module is hinged to the driving connecting rod;

8. The active-passive switching wearable lower extremity loading exoskeleton of claim 6, wherein said calf portion further comprises a pair of fourth size adjustment modules, a pair of calf binding plates, a pair of calf inner shells, a pair of calf outer shells and a pair of anchor points symmetrically arranged in a left-right direction;

9. The active-passive switching wearable lower extremity loading exoskeleton of claim 2 wherein said 2DOF hinge structure comprises a shank link, a swivel hinge, a foot-side support block and a support block housing;

10. The active-passive switching wearable lower extremity loading exoskeleton of claim 4 wherein said second size adjustment module comprises a rotation block, a stepped shaft, a first slider, a connecting pin, a deep groove ball bearing, a spacer and a hand screw;

11. The active-passive switching wearable lower extremity loading exoskeleton of claim 8 wherein said third size adjustment module comprises a handle, a fixed portion, a spring, a base, an adjustment lever and a connection block;

the handle is arranged to be of a U-shaped structure along the length direction of the handle, the base is arranged to be of a first U-shaped structure with an opening facing the inner side of the U-shaped structure of the handle, and two side walls of the first U-shaped structure of the base are hinged with two side walls of the U-shaped structure of the handle through hinge pins; the spring is sleeved on the part of the hinge pin in the first U-shaped structure of the base in a coaxial mode;

the connecting block is arranged on the inner side of the handle type U-shaped structure and is arranged into a second U-shaped structure opposite to the opening of the base in the direction, and the bottom of the second U-shaped structure of the connecting block is hinged to two side walls of the handle type U-shaped structure; the end part of the adjusting rod is arranged in the opening of the connecting block, and the end part of the adjusting rod is hinged with two side walls of a second U-shaped structure of the connecting block;

12. The active-passive switching wearable lower extremity loading exoskeleton of claim 11 wherein said fourth size adjustment module is identical in structure to the third size adjustment module;

13. The active-passive switching wearable lower extremity loading exoskeleton of claim 2 wherein said control module is mounted on a back support device and comprises a back plate, a switch housing, a second slider, a switch and an integrated control box;

14. The active-passive switching wearable lower extremity exoskeleton of claim 4 wherein said hip joint further comprises a weight platform and two return springs;

the load bearing platform is set to be of a flat plate structure, a mounting groove which is sunken towards the inside of the flat plate structure is arranged on the side edge of the flat plate structure close to the hip connecting piece, two side walls of the mounting groove are respectively provided with a spring mounting position, and the recovery spring is arranged in the spring mounting position; the bottom of the lower connecting piece is arranged in the mounting groove and integrally hinged with the recovery spring and the mounting groove through a hinge pin.