CN117045470A - Wearable lower limb walking-assisting exoskeleton robot - Google Patents
Wearable lower limb walking-assisting exoskeleton robot Download PDFInfo
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- CN117045470A CN117045470A CN202310814752.0A CN202310814752A CN117045470A CN 117045470 A CN117045470 A CN 117045470A CN 202310814752 A CN202310814752 A CN 202310814752A CN 117045470 A CN117045470 A CN 117045470A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 25
- 210000004394 hip joint Anatomy 0.000 claims abstract description 96
- 210000000689 upper leg Anatomy 0.000 claims abstract description 89
- 230000007246 mechanism Effects 0.000 claims abstract description 70
- 210000001624 hip Anatomy 0.000 claims abstract description 28
- 210000000629 knee joint Anatomy 0.000 claims abstract description 28
- 230000009975 flexible effect Effects 0.000 claims abstract description 22
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 5
- 210000003423 ankle Anatomy 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 25
- 210000003127 knee Anatomy 0.000 claims description 8
- 210000002414 leg Anatomy 0.000 claims description 6
- 210000003414 extremity Anatomy 0.000 claims 1
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000011230 binding agent Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The application provides a wearable lower limb walking-assisting exoskeleton robot, which comprises: the waist supporting mechanism is worn on the trunk of a user, and a first adjusting mechanism for adjusting the relative distance between the hip joint supporting mechanisms is movably arranged on the waist supporting mechanism; the hip joint supporting mechanism is connected with two sides of the first adjusting mechanism and is provided with a hip joint flexible driver; the knee joint exoskeleton mechanism comprises a telescopic thigh connecting rod group, a telescopic shank connecting rod group and a knee joint driver which is connected and arranged between the thigh connecting rod group and the shank connecting rod group, wherein the upper end of the thigh connecting rod group is connected with the hip joint supporting mechanism, and the lower end of the thigh connecting rod group is rotationally connected with the upper end of the shank connecting rod group; the ankle joint exoskeleton mechanism is correspondingly connected with the lower end of the lower leg connecting rod group. Compared with the prior art, the application can be suitable for people of different sizes, has a flexible buffer function, can be attached to the body of a patient, and increases the comfort of the patient.
Description
[ field of technology ]
The application relates to the technical field of medical equipment, in particular to a wearable lower limb walking-assisting exoskeleton robot.
[ background Art ]
The lower limb rehabilitation exoskeleton in the medical instrument industry has been widely applied, and in order to ensure the flexibility and safety of a human body and the exoskeleton, an actuating mechanism of the exoskeleton needs to have certain flexibility, and at present, most of drivers at joints of the lower limb rehabilitation exoskeleton are rigid mechanisms, so that larger impact force can be generated in the use process, and damage to a user is easy to cause; and the specification and the size of the exoskeleton are single, and some of the exoskeleton can not meet the requirements of people with different heights and weights.
[ application ]
The application aims to provide a wearable lower limb walking-aid exoskeleton robot which can be suitable for people of different sizes, has a flexible buffer function, can be attached to the body of a patient, and can increase the use comfort of the patient.
The application is realized by the following technical scheme:
a wearable lower limb walking-assisting exoskeleton robot, comprising:
the waist supporting mechanism is worn on the trunk of a user, and a first adjusting mechanism for adjusting the relative distance between the hip joint supporting mechanisms is movably arranged on the waist supporting mechanism;
the hip joint supporting mechanism is connected with two sides of the first adjusting mechanism and is provided with a hip joint flexible driver;
the knee joint exoskeleton mechanism comprises a telescopic thigh connecting rod group, a telescopic shank connecting rod group and a knee joint driver which is connected and arranged between the thigh connecting rod group and the shank connecting rod group, wherein the upper end of the thigh connecting rod group is connected with the hip joint supporting mechanism, and the lower end of the thigh connecting rod group is rotationally connected with the upper end of the shank connecting rod group;
the ankle joint exoskeleton mechanism is correspondingly connected with the lower end of the lower leg connecting rod group.
The hip joint supporting mechanism comprises the hip joint inner fixing plate connected to the first adjusting mechanism and the hip joint outer fixing plate connected to the outer side of the hip joint inner fixing plate, an elastic transmission group is movably arranged between the hip joint inner fixing plate and the hip joint outer fixing plate, the hip joint flexible driver is arranged on the outer side of the hip joint outer fixing plate, and a transmission shaft for connecting the hip joint flexible driver and the elastic transmission group is rotatably arranged on the hip joint outer fixing plate.
The hip joint flexible driver comprises the motor connecting piece and the hip joint motor, wherein the motor connecting piece is connected to the outer side of the hip joint outer fixing plate, the hip joint motor is arranged on the motor connecting piece, the motor coupling is connected to the output end of the hip joint motor, the elastic element is connected to the motor coupling in an inner connecting mode, and the elastic element is connected with the transmission shaft in a transmission mode.
The wearable lower limb walking assisting exoskeleton robot comprises the elastic transmission group and the torsion spring component, wherein the elastic transmission group is arranged between the hip joint inner fixing plate and the hip joint outer fixing plate in a connecting mode, the torsion spring component is arranged on the gear transmission group in a connecting mode, a thigh connecting piece is further arranged between the torsion spring component and the hip joint outer fixing plate, and the transmission shaft penetrates through the hip joint outer fixing plate and the thigh connecting piece to be connected with the torsion spring component.
The wearable lower limb walking assisting exoskeleton robot comprises a pressing plate, a first gear, a second gear, a rotating shaft, a first adjusting knob, a locking device and a thigh connecting piece, wherein the pressing plate is arranged in a hip joint inner fixing plate in a connecting mode, the first gear and the second gear are arranged between the pressing plate and a torsion spring assembly in a rotating mode and meshed with each other, the rotating shaft is arranged between the second gear and the hip joint outer fixing plate, the first adjusting knob is arranged at one end of the outer side of the hip joint outer fixing plate, the locking device capable of locking the first gear is further arranged on the hip joint inner fixing plate, the torsion spring assembly comprises a torsion spring fixing outer ring arranged on the first gear in a rotating mode, a torsion spring fixing inner ring arranged in the torsion spring fixing outer ring in a rotating mode, and a torsion spring arranged between the torsion spring fixing outer ring and the torsion spring fixing inner ring and connected with the torsion spring fixing inner ring respectively, and the thigh connecting piece is connected with the torsion spring fixing inner ring.
The wearable lower limb walking assisting exoskeleton robot comprises a knee joint thigh rod, a thigh telescopic connecting rod and a second adjusting knob, wherein the knee joint thigh rod is arranged on the hip joint supporting mechanism in a connecting mode, the thigh telescopic connecting rod is arranged on the knee joint thigh rod in a sliding mode, the second adjusting knob is used for adjusting and locking the relative position between the knee joint thigh rod and the thigh telescopic connecting rod, the shank connecting rod group comprises a shank plate and a shank plate accessory which are rotatably connected with the lower end of the thigh telescopic connecting rod, a shank telescopic connecting rod is arranged on the shank plate in a sliding mode, and a third adjusting knob is used for adjusting and locking the relative position between the shank plate and the shank telescopic connecting rod, the thigh telescopic connecting rod is arranged between the shank plate and the shank plate accessory, a sliding rail is further arranged at the lower end of the thigh telescopic connecting rod, and a knee joint shank shaft penetrating through the sliding rail is further connected between the shank plate and the shank plate accessory.
The knee joint driver comprises a shank rotating shaft for rotating the thigh telescopic connecting rod, a knee joint motor for driving the shank rotating shaft to rotate, and a knee connecting rod connected between the shank rotating shaft and the shank plate, wherein a four-bar mechanism is formed among the thigh telescopic connecting rod, the knee connecting rod, the shank plate and the shank rotating shaft.
The waist supporting mechanism comprises a buckle belt assembly and a backpack group arranged on the buckle belt assembly, a power supply assembly is further arranged in the backpack group, and the first adjusting mechanism is arranged at the lower end of the backpack group.
The wearable lower limb walking-assisting exoskeleton robot is characterized in that the first adjusting mechanism comprises a waist adjusting piece arranged at the lower end of the backpack set and an adjusting fixing plate connected to the waist adjusting piece, and a fourth adjusting knob for adjusting the relative position relationship between the waist adjusting piece and the adjusting fixing plate is further arranged between the waist adjusting piece and the adjusting fixing plate.
The wearable lower limb walking assisting exoskeleton robot comprises the ankle exoskeleton mechanism which is sequentially arranged from top to bottom:
the lower leg rod is connected with the lower end of the lower leg connecting rod group;
the ankle hinge is rotationally connected with the lower end of the shank;
the ankle connecting plate is connected to the lower end of the ankle hinge;
the ankle fixing plate is arranged on the ankle connecting plate in a sliding manner;
the shoe bottom plate is connected with the lower end of the ankle fixing plate.
Compared with the prior art, the application has the following advantages:
1. when the utility model is worn, the structures of the first adjusting mechanism, the thigh connecting rod group and the shank connecting rod group can be respectively adjusted to be suitable sizes according to the body types of patients, and the utility model can be suitable for people with different body types.
2. The hip joint flexible driver and the torsion spring component are matched for use, so that the output of the driver has a flexible effect and the power consumption can be reduced.
3. The knee joint part adopts a four-bar mechanism, the position of a knee joint motor is closer to the hip joint flexible driver, the power consumption of the hip joint flexible driver can be reduced, the rotation track of the knee joint supporting mechanism simulates the movement track of the knee joint of a human body, and the dislocation of the human-machine joint can be avoided.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a wearable lower limb walking exoskeleton robot according to an embodiment of the present application.
Fig. 2 is a second schematic structural view of a wearable lower limb walking exoskeleton robot according to an embodiment of the present application.
Figure 3 is an exploded view of the lumbar support mechanism according to an embodiment of the present application.
Fig. 4 is an exploded view of the structure of the hip support mechanism according to the embodiment of the present application.
Fig. 5 is an exploded view of the knee joint supporting mechanism according to the embodiment of the present application.
Fig. 6 is an exploded view of the ankle support mechanism according to the embodiment of the present application.
[ detailed description ] of the application
In order to make the technical problems, technical schemes and beneficial effects solved by the application more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
As shown in fig. 1 to 6, an embodiment of the present application provides a wearable lower limb walking exoskeleton robot, which is characterized by comprising:
the waist supporting mechanism 1 is worn on the trunk of a user, and is movably provided with a first adjusting mechanism 10 for adjusting the relative distance between the hip joint supporting mechanisms 2;
the hip joint supporting mechanism 2 is connected with the two sides of the first adjusting mechanism 10 and is provided with a hip joint flexible driver 20;
the knee joint exoskeleton mechanism 3 comprises a telescopic thigh connecting rod group 31, a telescopic shank connecting rod group 32 and a knee joint driver 30 connected between the thigh connecting rod group 31 and the shank connecting rod group 32, wherein the upper end of the thigh connecting rod group 31 is connected with the hip joint supporting mechanism 2, and the lower end of the thigh connecting rod group 31 is rotatably connected with the upper end of the shank connecting rod group 32;
the ankle joint exoskeleton mechanism 4 is correspondingly connected with the lower end of the lower leg connecting rod set 32.
When the utility model is worn, the structures of the first adjusting mechanism, the thigh connecting rod group and the shank connecting rod group can be respectively adjusted to be suitable sizes according to the body types of patients, and the utility model can be suitable for people with different body types.
Further, the hip joint supporting mechanism 2 includes a hip joint inner fixing plate 21 connected to the first adjusting mechanism 10, and a hip joint outer fixing plate 22 connected to the outer side of the hip joint inner fixing plate 21, an elastic transmission set 23 is movably disposed between the hip joint inner fixing plate 21 and the hip joint outer fixing plate 22, the hip joint flexible driver 20 is mounted on the outer side of the hip joint outer fixing plate 22, and a transmission shaft 24 for connecting the hip joint flexible driver 20 and the elastic transmission set 23 is rotatably disposed on the hip joint outer fixing plate 22.
Specifically, the hip joint flexible driver 20 includes a motor connector 201 connected to the outer side of the hip joint external fixing plate 22, and a hip joint motor 202 disposed on the motor connector 201, an output end of the hip joint motor 202 is connected to a motor coupling 203, an elastic element 204 is connected to the motor coupling 203, and the elastic element 204 is in transmission connection with the transmission shaft 24. The elastic element 204 is used for absorbing and slowly releasing energy at the moment of rotation and steering of the hip joint motor 202, and driving the transmission shaft 24 to rotate, so that a flexible rotation effect is realized. The hip joint outer fixing plate 22 is further provided with a hip joint motor cover 205 for covering the hip joint motor 202.
Specifically, the elastic driving set 23 includes a gear driving set 231 connected between the hip joint inner fixing plate 21 and the hip joint outer fixing plate 22, and a torsion spring assembly 232 connected to the gear driving set 231, a thigh connecting piece 233 is further disposed between the torsion spring assembly 232 and the hip joint outer fixing plate 22, and the driving shaft 24 passes through the hip joint outer fixing plate 22 and the thigh connecting piece 233 to be connected with the torsion spring assembly 232.
Specifically, the gear transmission set 231 includes a pressure plate 2311 connected to the inside of the hip joint inner fixing plate 21, a first gear 2312 and a second gear 2313 rotatably disposed between the pressure plate 2311 and the torsion spring assembly 232 and meshed with each other, a rotating shaft 2314 is further connected between the second gear 2313 and the hip joint outer fixing plate 22, a first adjusting knob 2315 is further disposed at one end of the rotating shaft 2314 outside the hip joint outer fixing plate 22, a locking device 2316 capable of locking the first gear 2312 is further disposed on the hip joint inner fixing plate 21, the torsion spring assembly 232 includes a torsion spring fixing outer ring 2321 connected to the first gear 2312, a torsion spring fixing inner ring 2322 rotatably disposed in the torsion spring fixing outer ring 2321, and a torsion spring 2323 disposed between the torsion spring fixing outer ring 2321 and the torsion spring fixing outer ring 2322 and respectively connected to the torsion spring fixing outer ring 2322, so that the torsion spring fixing inner ring 2322 and the torsion spring fixing outer ring 2321 can rotate relatively and return to an initial position by means of the action of the torsion spring 2323, and the leg connecting member 233 is fixedly connected to the torsion spring inner ring 2322.
By combining these several components, the torsion spring 2323 can be compressed by the thigh weight during hip extension (thigh lowering), store energy, and release the stored energy during hip flexion (leg lifting), thereby reducing the power consumption of the hip motor 202 and increasing the maximum output torque of the hip flexible driver 20.
And through rotating first adjust knob 2315, rotate through second gear 2313 and first gear 2312 that links to each other with it finally transmit to torsion spring fixed outer lane 2321 to change torsion spring 2323's initial position, just so can change the rotation volume of torsion spring 2323 in the hip joint rotation process, change torsion spring 2323 and can store and export the size of torsion, make hip joint flexible driver 20 can provide different assistance strategies to different scenes.
Further, the thigh link group 31 includes a thigh telescopic link 312 connected to the thigh link 311 of the hip joint support mechanism 2, and slidably connected to the thigh telescopic link 311 of the knee joint, and a second adjusting knob 313 for adjusting and locking the relative position between the thigh link 311 and the thigh telescopic link 312, the thigh link group 32 includes a thigh plate 321 and a thigh plate attachment 3210 rotatably connected to the lower end of the thigh telescopic link 312, a thigh telescopic link 322 slidably connected to the thigh plate 321, and a third adjusting knob 323 for adjusting and locking the relative position between the thigh plate 321 and the thigh telescopic link 322, the thigh telescopic link 312 is located between the thigh plate 321 and the thigh plate attachment 3210, a slide rail 3120 is further provided at the lower end of the thigh telescopic link, and a knee joint small shaft 33 passing through the slide rail 3120 is further connected between the thigh plate 321 and the thigh plate attachment 3210.
The sliding rail 3120 is designed according to the rotation track of the knee joint of the human body, so that the problem of dislocation of the human-machine joint at the knee joint when the exoskeleton is worn can be reduced.
Specifically, thigh binder 310 is connected to thigh expansion link 312, and shank binder 320 is connected to shank plate 321.
Specifically, the knee joint driver 30 includes a shank shaft 301 rotating on the thigh expansion link 312, a knee joint motor 302 for driving the shank shaft 301 to rotate, and a knee link 303 connected between the shank shaft 301 and the shank plate 321, and the thigh expansion link 312, the knee link 303, the shank plate 321, and the shank shaft 301 form a four-bar mechanism therebetween. The thigh extension link 312 is further provided with a knee motor cover 304 for covering the knee motor 302.
Further, the lumbar support mechanism 1 includes a buckle belt assembly 11, and a backpack set 12 disposed on the buckle belt assembly 11, a power supply assembly 13 is further disposed in the backpack set 12, and the first adjusting mechanism 10 is disposed at the lower end of the backpack set 12.
Specifically, the first adjusting mechanism 10 includes a waist adjusting member 101 disposed at the lower end of the backpack 12, and an adjusting fixing plate 102 connected to the waist adjusting member 101, and a fourth adjusting knob 103 for adjusting the relative positional relationship between the waist adjusting member 101 and the adjusting fixing plate 102 is further disposed between the waist adjusting member and the adjusting fixing plate 102.
The distance between the two waist adjusting members 101 can be adjusted through the fourth adjusting knob 103, so that the waist adjusting member is suitable for wearers with waistlines of different sizes, and meanwhile, the wearing rapidness is improved.
Specifically, the backpack set 12 includes a backpack shell 121 and a backpack upper cover 122 connected to the backpack shell 121, a handle 123 is further provided at the outer side of the backpack upper cover 122, the exoskeleton is convenient to wear by the handle 123, and the power supply assembly 13 includes a battery fixing plate 131 provided on the backpack shell 121, a battery supporting plate 132 connected to the battery fixing plate 131, and a battery 133 installed between the battery fixing plate 131 and the battery supporting plate 132. The first adjusting mechanism 10 is connected to the lower end of the battery fixing plate 131.
Further, the ankle exoskeleton mechanism 4 comprises the following components sequentially from top to bottom:
a lower leg bar 41 connected to the lower end of the lower leg link group 32;
an ankle hinge 42 rotatably coupled to the lower end of the shank 41;
an ankle connection plate 43 connected to the lower end of the ankle hinge 42;
an ankle fixing plate 44 slidably provided on the ankle connecting plate 43;
a sole plate 45 connected to the lower end of the ankle fixing plate 44.
By adjusting the positional relationship between the ankle connecting plate 43 and the ankle fixing plate 44, the distance from the sole to the ankle joint rotation position can be changed, thereby adapting to the crowd with different ankle heights.
It should be understood that the terms "first," "second," and the like are used herein to describe various information, but such information should not be limited to these terms, which are used merely to distinguish one type of information from another. For example, a "first" message may also be referred to as a "second" message, and similarly, a "second" message may also be referred to as a "first" message, without departing from the scope of the application. Furthermore, references to orientations or positional relationships of the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc. are based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present application.
The foregoing description of one or more embodiments provided in connection with the specific disclosure is not intended to limit the practice of the application to such description. The method, structure, and the like similar to or identical to those of the present application, or a plurality of technical deductions or substitutions are made on the premise of the conception of the present application, and are considered to be the protection scope of the present application.
Claims (10)
1. The utility model provides a wearing formula low limbs help capable ectoskeleton robot which characterized in that includes:
the waist supporting mechanism (1) is worn on the trunk of a user, and a first adjusting mechanism (10) for adjusting the relative distance between the hip joint supporting mechanisms (2) is movably arranged on the waist supporting mechanism;
the hip joint supporting mechanism (2) is connected to two sides of the first adjusting mechanism (10), and a hip joint flexible driver (20) is arranged on the hip joint supporting mechanism;
the knee joint exoskeleton mechanism (3) comprises a telescopic thigh connecting rod group (31), a telescopic shank connecting rod group (32) and a knee joint driver (30) which is connected between the thigh connecting rod group (31) and the shank connecting rod group (32), wherein the upper end of the thigh connecting rod group (31) is connected with the hip joint supporting mechanism (2), and the lower end of the thigh connecting rod group (31) is rotationally connected with the upper end of the shank connecting rod group (32);
the ankle joint exoskeleton mechanism (4) is correspondingly connected with the lower end of the lower leg connecting rod group (32).
2. The wearable lower limb walking-aid exoskeleton robot as claimed in claim 1, wherein the hip joint supporting mechanism (2) comprises a hip joint inner fixing plate (21) connected to the first adjusting mechanism (10), and a hip joint outer fixing plate (22) connected to the outer side of the hip joint inner fixing plate (21), an elastic transmission group (23) is movably arranged between the hip joint inner fixing plate (21) and the hip joint outer fixing plate (22), the hip joint flexible driver (20) is installed on the outer side of the hip joint outer fixing plate (22), and a transmission shaft (24) for connecting the hip joint flexible driver (20) and the elastic transmission group (23) is further rotatably arranged on the hip joint outer fixing plate (22).
3. The wearable lower limb walking-aid exoskeleton robot as claimed in claim 2, wherein said hip joint flexible driver (20) comprises a motor connector (201) connected to the outer side of said hip joint external fixing plate (22), and a hip joint motor (202) provided on said motor connector (201), wherein a motor coupler (203) is connected to the output end of said hip joint motor (202), an elastic element (204) is connected to the motor coupler (203), and said elastic element (204) is in driving connection with said transmission shaft (24).
4. The wearable lower limb walking-aid exoskeleton robot as claimed in claim 2, wherein the elastic transmission set (23) comprises a gear transmission set (231) connected between the hip joint inner fixing plate (21) and the hip joint outer fixing plate (22), and a torsion spring assembly (232) connected to the gear transmission set (231), a thigh connecting piece (233) is further arranged between the torsion spring assembly (232) and the hip joint outer fixing plate (22), and the transmission shaft (24) is connected with the torsion spring assembly (232) through the hip joint outer fixing plate (22) and the thigh connecting piece (233).
5. The wearable lower limb walking-aid exoskeleton robot of claim 4, wherein the gear transmission set (231) comprises a pressure plate (2311) connected in the hip joint inner fixing plate (21), a first gear (2312) and a second gear (2313) which are rotatably arranged between the pressure plate (2311) and the torsion spring assembly (232) and meshed with each other, a rotating shaft (2314) is further connected between the second gear (2313) and the hip joint outer fixing plate (22), the rotating shaft (2314) is positioned at one end of the outer side of the hip joint outer fixing plate (22) and is further provided with a first adjusting knob (2315), a locking device (2316) capable of locking the first gear (2312) is further arranged on the hip joint inner fixing plate (21), the torsion spring assembly (232) comprises a torsion spring fixing inner ring (2321) connected to the first gear (2312), a torsion spring fixing member 2322) rotatably arranged in the torsion spring fixing outer ring (2321), and a torsion spring leg 2322 connected between the torsion spring fixing member 2321 and the torsion spring fixing member 2322.
6. The wearable lower limb walking exoskeleton robot as claimed in claim 1, wherein the thigh link group (31) comprises a thigh telescopic link (312) connected to the thigh link (311) provided on the hip joint supporting mechanism (2), a thigh telescopic link (312) slidably connected to the thigh link (311) provided on the thigh link (311), and a second adjusting knob (313) for adjusting and locking the relative position between the thigh link (311) and the thigh telescopic link (312), the thigh link group (32) comprises a thigh plate (321) and a thigh plate attachment (3210) rotatably connected to the lower end of the thigh telescopic link (312), a thigh telescopic link (322) slidably connected to the thigh plate (321), and a third adjusting knob (323) for adjusting and locking the relative position between the thigh plate (321) and the thigh telescopic link (322), the thigh telescopic link (312) is located between the thigh plate (321) and the thigh plate attachment (3210), the thigh plate (321) is further provided with a leg attachment (312) and a leg attachment (3210), and the thigh link (312) is further provided with a leg attachment (33) extending through the lower end of the thigh plate (321).
7. The wearable lower limb walking exoskeleton robot of claim 6 wherein said knee joint driver (30) comprises a shank shaft (301) for rotating said thigh extension link (312), a knee joint motor (302) for driving said shank shaft (301) to rotate, and a knee link (303) connected between said shank shaft (301) and said shank plate (321), said thigh extension link (312), knee link (303), shank plate (321) and shank shaft (301) forming a four-bar linkage therebetween.
8. The wearable lower limb walking-aid exoskeleton robot as claimed in claim 1, wherein said lumbar support mechanism (1) comprises a buckle assembly (11) and a backpack set (12) arranged on said buckle assembly (11), a power supply assembly (13) is further arranged in said backpack set (12), and said first adjusting mechanism (10) is arranged at the lower end of said backpack set (12).
9. The wearable lower limb walking-aid exoskeleton robot of claim 8, wherein the first adjusting mechanism (10) comprises a waist adjusting member (101) arranged at the lower end of the backpack (12), and an adjusting fixing plate (102) connected to the waist adjusting member (101), and a fourth adjusting knob (103) for adjusting the relative positional relationship between the waist adjusting member (101) and the adjusting fixing plate (102) is further arranged between the waist adjusting member and the waist adjusting plate.
10. The wearable lower limb walking-aid exoskeleton robot of claim 1, wherein said ankle exoskeleton mechanism (4) comprises the following components in sequence:
a lower leg rod (41) connected to the lower end of the lower leg link group (32);
an ankle hinge (42) rotatably connected to the lower end of the shank (41);
an ankle connection plate (43) connected to the lower end of the ankle hinge (42);
an ankle fixing plate (44) slidably provided on the ankle connecting plate (43);
and the sole plate (45) is connected with the lower end of the ankle fixing plate (44).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310814752.0A CN117045470A (en) | 2023-07-04 | 2023-07-04 | Wearable lower limb walking-assisting exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310814752.0A CN117045470A (en) | 2023-07-04 | 2023-07-04 | Wearable lower limb walking-assisting exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117045470A true CN117045470A (en) | 2023-11-14 |
Family
ID=88657871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310814752.0A Pending CN117045470A (en) | 2023-07-04 | 2023-07-04 | Wearable lower limb walking-assisting exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117045470A (en) |
-
2023
- 2023-07-04 CN CN202310814752.0A patent/CN117045470A/en active Pending
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