CN117679292A - Light-duty low limbs ectoskeleton robot - Google Patents

Abstract

The utility model relates to the technical field of exoskeleton robots, in particular to a light lower limb exoskeleton robot. The utility model provides a light lower limb exoskeleton robot, which comprises a back component, a waist component, a hip joint component, a thigh component, a shank component, an ankle joint component and a foot component which are connected in sequence; wherein: the ankle joint assembly comprises a flexion and extension movement mechanism and an internal and external rotation movement mechanism, wherein the flexion and extension movement mechanism comprises a flexion and external rotation movement mechanism; the inner and outer rotating movement mechanism and the foot component can be connected with each other in a rotating way around a third rotating shaft. The ankle joint component of the light lower limb exoskeleton robot can realize internal rotation and external rotation, dorsiflexion and plantarflexion and internal contraction and abduction movements, so that the movement flexibility of the ankle joint is improved, the natural movement of the ankle joint of a human body can be simulated, and the coordination and the comfort of human-machine movement are improved.

Description

Light-duty low limbs ectoskeleton robot

Technical Field

The utility model relates to the technical field of exoskeleton robots, in particular to a light lower limb exoskeleton robot.

Background

In recent years, exoskeleton robots continue to become research hotspots at home and abroad, wherein lower limb exoskeleton can enhance walking ability of old people, and assist patients with impaired lower limb movement ability to perform gait, squat, go up and down stairs and other actions for rehabilitation training with the help of medical care professionals. In the field of industrial logistics, the lower limb exoskeleton can protect the lumbar muscle of a worker who performs high-frequency reciprocating carrying work, and in the industrial assembly line work, the lower limb exoskeleton can assist the worker to complete long-time assembly posture maintenance and relieve muscle soreness. Therefore, the lower limb exoskeleton has wide prospect in the fields of medical treatment, industry and the like.

A traditional exoskeleton robot is, for example, a rehabilitation type four-wheel-drive lower limb exoskeleton assisting walking device disclosed in Chinese patent application number 202211390016.9. Also disclosed in the Chinese patent application No. 201720316461.9 is a full lower limb exoskeleton. The problems of low flexibility and unreasonable joint freedom degree configuration exist, particularly, only one freedom degree exists between the ankle joint and the foot component, the flexibility degree of the ankle joint is limited, the natural motion of the ankle joint of a human body cannot be completely simulated, the man-machine coordination of the exoskeleton is poor, and the exoskeleton cannot be attached to the actual motion of a user.

Disclosure of Invention

The utility model solves the problems that: only one degree of freedom exists between the ankle joint and the foot component in the traditional exoskeleton robot, the flexibility of the ankle joint is limited, natural movement of the ankle joint of a human body cannot be completely simulated, and therefore man-machine coordination of the exoskeleton is poor and practical movement of a user cannot be fitted.

(II) technical scheme

A light lower limb exoskeleton robot, comprising a back component, a waist component, a hip joint component, a thigh component, a shank component, an ankle joint component and a foot component which are connected in sequence; wherein:

the ankle joint assembly comprises a flexion and extension movement mechanism and an internal and external rotation movement mechanism, wherein the flexion and extension movement mechanism comprises a flexion and external rotation movement mechanism;

the inner and outer rotary motion mechanisms are rotatably connected with the foot component around a third rotating shaft; the axis of the first rotating shaft is perpendicular to the sagittal plane of the human body, the axis of the second rotating shaft is perpendicular to the transverse plane of the human body, and the axis of the third rotating shaft is perpendicular to the coronal plane of the human body.

According to one embodiment of the utility model, the hip joint assembly comprises a hip joint connection plate, a hip joint connection rod and a joint motor I;

one end of the hip joint connecting rod is rotatably connected with the waist component around a fourth rotating shaft, and the other end of the hip joint connecting rod is rotatably connected with the hip joint connecting plate around a fifth rotating shaft;

the axis of the fourth rotating shaft extends along the front-back direction of the back assembly, and the axis of the fifth rotating shaft extends along the extending direction of the thigh assembly;

the first joint motor is arranged at the top end of the thigh assembly, the hip joint connecting plate is fixedly connected with the output end of the first joint motor, and the axis of the output end of the first joint motor extends along the arrangement direction of the inner side and the outer side of the leg.

According to one embodiment of the utility model, the flexion and extension movement mechanism comprises an ankle dorsiflexion/plantar flexion adapter, the first rotation shaft is arranged in the ankle dorsiflexion/plantar flexion adapter, and a shaft sleeve I is arranged at the bottom of the lower leg assembly and is connected with the first rotation shaft in a rotation mode.

According to one embodiment of the utility model, the internal and external rotation movement mechanism comprises a plate body and a shaft sleeve II which are connected, wherein the top end of the plate body is rotatably connected with the ankle dorsiflexion and plantar flexion adapter through the second rotating shaft, and the shaft sleeve is rotatably connected with the foot component through the third rotating shaft.

According to one embodiment of the utility model, the thigh assembly comprises an outer thigh rod and an inner thigh rod, wherein the top end of the outer thigh rod is connected with the shell of the first joint motor, the inner thigh rod is sleeved in the outer thigh rod, the bottom end of the inner thigh rod is fixedly connected with the top end of the lower thigh assembly, and the length of the inner thigh rod extending into the outer thigh rod is adjustable.

According to one embodiment of the utility model, the lower leg assembly comprises a second joint motor, a second joint motor output connecting rod, an outer lower leg rod and an inner lower leg rod, wherein the bottom end of the inner lower leg rod is fixed on the outer shell of the second joint motor, the output end of the second joint motor is connected with the second joint motor output connecting rod, the top end of the outer lower leg rod is fixedly connected with the second joint motor output connecting rod, the inner lower leg rod is sleeved in the outer lower leg rod, the length of the inner lower leg rod extending into the outer lower leg rod is adjustable, and the bottom end of the inner lower leg rod is rotatably connected with the extending and bending movement mechanism through the first rotating shaft.

According to one embodiment of the utility model, the lumbar assembly comprises a lumbar tripod and a lumbar connection;

the bottom end of the waist connecting piece is fixed on the waist tripod, the waist connecting piece is fixedly connected with the back component, and one end of the hip joint connecting rod is rotationally connected with the waist tripod through the fourth rotating shaft.

According to one embodiment of the utility model, the lumbar assembly comprises a load support plate which is folded over the lumbar tripod, the load support plate being for loading a weight.

According to one embodiment of the utility model, at least one binding is mounted on the inner side of the thigh assembly and the inner side of the shank assembly.

According to one embodiment of the utility model, the back assembly is provided with a control main board, the thigh assembly is provided with at least one thigh sensor, the shank assembly is provided with at least one shank sensor, and the thigh sensor and the shank sensor are connected with the control main board in a signal mode.

The utility model has the beneficial effects that:

the utility model provides a light lower limb exoskeleton robot, which comprises a back component, a waist component, a hip joint component, a thigh component, a shank component, an ankle joint component and a foot component which are connected in sequence; wherein: the ankle joint component comprises a flexion and extension movement mechanism and an internal and external rotation movement mechanism, wherein the flexion and extension movement mechanism comprises a flexion and external rotation movement mechanism; the inner and outer rotating movement mechanisms are rotatably connected with the foot component around a third rotating shaft; the axis of the first rotating shaft is perpendicular to the sagittal plane of the human body, the axis of the second rotating shaft is perpendicular to the transverse plane of the human body, and the axis of the third rotating shaft is perpendicular to the coronal plane of the human body.

In this embodiment, the ankle joint assembly has three degrees of freedom, wherein the flexion and extension mechanism and the lower leg assembly are rotatable about a first axis of rotation, and the axis of the first axis of rotation is perpendicular to the sagittal plane of the human body, such that the ankle joint assembly is capable of dorsiflexion and plantarflexion movements. The internal and external rotation movement mechanism and the flexion and extension movement mechanism can be rotationally connected around a second rotating shaft, and the axis of the second rotating shaft is perpendicular to the cross section of the human body, so that the ankle joint assembly can do internal rotation and external rotation movement. The internal and external rotation movement mechanism is rotatably connected with the foot component around a third rotating shaft, and the axis of the third rotating shaft is perpendicular to the coronal plane of the human body, so that the ankle joint component can do internal folding and external stretching movement.

Compared with the traditional ankle joint in the lower limb exoskeleton, the ankle joint component of the light lower limb exoskeleton robot has three degrees of freedom, so that the ankle joint component can realize internal rotation and external rotation, dorsiflexion and plantarflexion and internal contraction and abduction movements, the movement flexibility of the ankle joint is improved, the natural movement of the human ankle joint can be simulated, and the man-machine movement coordination and comfort are improved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a structure provided in an embodiment of the present utility model;

FIG. 2 is a perspective view of a back assembly provided in an embodiment of the present utility model;

FIG. 3 is an interior view of a back assembly and a protective shell provided in an embodiment of the present utility model;

FIG. 4 is a block diagram of a lumbar assembly and hip joint assembly provided in accordance with an embodiment of the present utility model;

FIG. 5 is a block diagram of a thigh assembly provided in an embodiment of the present utility model;

FIG. 6 is a block diagram of a thigh assembly provided in an embodiment of the present utility model with the thigh housing removed;

FIG. 7 is a block diagram of a calf assembly provided in accordance with an embodiment of the utility model;

FIG. 8 is a block diagram of a calf assembly with a calf shell removed in accordance with an embodiment of the utility model;

FIG. 9 is a block diagram of an ankle joint assembly and foot assembly according to an embodiment of the present utility model.

Icon: 1. a back assembly; 2. a waist assembly; 3. a thigh assembly; 4. a lower leg assembly; 5. an ankle joint assembly; 6. a protective shell; 7. a back plate; 8. a harness; 9. a self-locking switch; 10. a waistband; 11. a device cavity; 12. a battery; 13. a charging interface; 14. a control main board; 15. a waist and back connecting piece; 16. lumbar tripod; 17. a hip joint connector; 18. a load support plate; 19. a hip joint link; 20. a hip joint connection plate; 21. thigh shell I; 22. thigh binding; 23. thigh adjusting screws; 24. thigh shells II; 25. thigh outer bars; 26. thigh inner bars; 27. a jacket side plate II; 28. a joint motor I; 29. a jacket side plate I; 30. thigh sensors; 31. a knee joint housing I; 32. a first calf shell; 33. a knee joint shell II; 34. a knee joint housing cover; 35. a second calf shell; 36. binding the shank; 37. the clamp body is connected with the first plate; 38. a joint motor II; 39. a lower leg sensor; 40. an outer shank; 41. a shank adjustment screw; 42. the clamp body is connected with the second plate; 43. a second output connecting rod of the joint motor; 44. an inner shank; 46. ankle dorsiflexion plantar flexion adapter; 47. an ankle joint inner and outer rotation joint member; 48. a vertical plate; 49. a sole member; 50. a plantar side piece; 51. a foot strap.

Detailed Description

The technical solutions of the present utility model will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1-9, one embodiment of the present utility model provides a lightweight lower extremity exoskeleton robot comprising a back assembly 1, a lumbar assembly 2, a hip assembly, a thigh assembly 3, a calf assembly 4, an ankle assembly 5 and a foot assembly connected in sequence; wherein:

the ankle joint component 5 comprises a flexion and extension movement mechanism and an internal and external rotation movement mechanism, wherein;

the flexion and extension movement mechanism is rotatably connected with the bottom end of the lower leg assembly 4 around a first rotating shaft, the internal and external rotation movement mechanism is rotatably connected with the flexion and extension movement mechanism around a second rotating shaft, and the internal and external rotation movement mechanism is rotatably connected with the foot assembly around a third rotating shaft; the axis of the first rotating shaft is perpendicular to the sagittal plane of the human body, the axis of the second rotating shaft is perpendicular to the transverse plane of the human body, and the axis of the third rotating shaft is perpendicular to the coronal plane of the human body.

In this embodiment, the ankle joint assembly 5 has three degrees of freedom, wherein the flexion and extension movement mechanism and the lower leg assembly 4 are rotatable about a first axis of rotation, and the axis of the first axis of rotation is perpendicular to the sagittal plane of the human body, so that the ankle joint assembly 5 can perform dorsiflexion and plantarflexion movements. The internal and external rotation movement mechanism and the flexion and extension movement mechanism can be rotationally connected around a second rotating shaft, and the axis of the second rotating shaft is perpendicular to the cross section of the human body, so that the ankle joint assembly 5 can do internal rotation and external rotation movement. The internal and external rotation movement mechanism and the foot component can be rotationally connected around a third rotating shaft, and the axis of the third rotating shaft is perpendicular to the coronal plane of the human body, so that the ankle component 5 can do internal folding and external unfolding movement.

Compared with the traditional ankle joint in the exoskeleton of the lower limb, the ankle joint assembly 5 in the embodiment has three degrees of freedom, so that the ankle joint assembly 5 can realize internal rotation and external rotation, dorsiflexion and plantarflexion and adduction and abduction movements, the flexibility of the ankle joint is improved, the natural movement of the ankle joint of a human body can be simulated, and the coordination and comfort of human-machine movement are improved.

As a preferred embodiment, as shown in fig. 9, the flexion and extension movement mechanism includes an ankle dorsiflexion/plantar flexion adapter 46, where the ankle dorsiflexion/plantar flexion adapter 46 is a U-shaped foot support, a first rotation shaft is fixedly installed on the U-shaped foot support, a shaft sleeve is provided at the bottom of the calf module 4, and the shaft sleeve is rotatably connected with the first rotation shaft, and as can be seen in fig. 9, the axial direction of the first rotation shaft is the same as the width direction of the sole member 49, or, the axial direction of the first rotation shaft extends along the arrangement direction of the inner side and the outer side of the calf of the wearer. Thus, the ankle joint assembly 5 has dorsiflexion or plantarflexion movement capability, flexibility of the ankle joint assembly 5 is improved, and man-machine movement coordination and comfort are improved.

Further, as shown in fig. 9, the internal and external rotation mechanism includes a plate body including an ankle joint internal and external rotation connector 47 and a riser 48, wherein the riser 48 is lower than the ankle joint internal and external rotation connector 47, and the ankle joint internal and external rotation connector 47 and the riser 48 are fixed by screws. The ankle joint inner and outer rotating and connecting piece 47 is an inverted L-shaped plate, a first pin shaft hole is formed in the upper surface of the ankle joint inner and outer rotating and connecting piece 47, a second pin shaft hole is formed in the inner bottom wall of the U-shaped foot seat support, and the first pin shaft hole and the second pin shaft hole are connected through a second rotating shaft, so that the U-shaped foot seat support and the ankle joint inner and outer rotating and connecting piece 47 can rotate mutually. Specifically, the second rotating shaft is a pin shaft.

This provides the ankle assembly 5 with pronation or supination capabilities, which increases the flexibility of the ankle assembly 5.

Specifically, when the flexion and extension movement mechanism and the internal and external rotation movement mechanism are connected, the ankle joint internal and external rotation connector 47 and the vertical plate 48 can be fixed by screws, then the first pin shaft hole on the upper surface of the ankle joint internal and external rotation connector 47 is aligned with the second pin shaft hole on the inner bottom wall of the U-shaped foot support, and then the ankle joint internal and external rotation connector is fixed by the second rotating shaft.

Preferably, as shown in fig. 9, the inner and outer rotary motion mechanism further includes a sleeve integrally formed with the lower end surface of the riser 48, and a third rotary shaft mounted on the side end surface of the sole member 49, the sleeve being rotatably connected to the third rotary shaft. As is apparent from fig. 9, the axial direction of the third rotation shaft is the same as the length direction of the sole member 49. This allows the inner and outer rotation mechanism to rotate about the third axis of rotation, thereby providing the ankle assembly 5 with adduction or abduction capabilities, and increasing the flexibility of the ankle assembly 5.

As a preferred embodiment, as shown in fig. 4, the lumbar assembly 2 includes a lumbar tripod 16 and a lumbar back link 15, wherein the lumbar back link 15 is in a long strip shape, the bottom end of the lumbar back link 15 is fixed on the lumbar tripod 16, and as shown in fig. 1, the lumbar back link 15 is fixed with the back assembly 1.

Preferably, as shown in fig. 4, the hip joint assembly includes a hip joint connection plate 20, a hip joint connection rod 19 and a joint motor one 28. The hip joint link 19 has a bent rod shape, and the bending angle is an obtuse angle. One end of the hip joint connecting rod 19 is rotatably connected with the lumbar tripod 16 through a fourth rotating shaft, and the other end of the hip joint connecting rod 19 is rotatably connected with the hip joint connecting plate 20 around a fifth rotating shaft.

Further, the axis of the fourth rotation shaft extends in the front-rear direction of the back assembly 1, and the axis of the fifth rotation shaft extends in the extending direction of the thigh assembly 3.

As shown in fig. 6, the first joint motor 28 is mounted on the top end of the thigh module 3, and the hip joint connection plate 20 is fixedly connected to the output end of the first joint motor 28, and the axis of the output end of the first joint motor 28 extends in the direction of arrangement of the inner side and the outer side of the leg.

Specifically, as shown in fig. 4, a fourth rotating shaft is fixedly connected to the lumbar tripod 16, the fourth rotating shaft is perpendicular to the lumbar tripod 16, a hip joint connector 17 is arranged at one end of the hip joint connecting rod 19, which is close to the lumbar tripod 16, and the hip joint connector 17 is rotatably connected with the fourth rotating shaft. The hip joint connecting rod 19 can rotate around the fourth rotating shaft, so that the hip joint assembly has the adduction and abduction freedom of movement, and the flexibility of the hip joint assembly is improved.

A mounting groove is formed at one end of the hip joint connecting plate 20, a fifth rotating shaft which is vertically arranged is arranged in the mounting groove, a mounting hole is formed at one end of the hip joint connecting rod 19, which is close to the hip joint connecting plate 20, according to the opening direction from top to bottom, and the mounting hole is rotationally connected with the fifth rotating shaft. It can be seen that the axis of the fifth spindle extends in the direction of extension of the thigh module 3, or in the direction of the height of the wearer.

Thus, the end of the hip joint connecting rod 19 close to the hip joint connecting plate 20 can rotate around the fifth rotating shaft, so that the hip joint assembly has the internal rotation or external rotation movement freedom degree, and the movement flexibility of the hip joint assembly is improved.

The first joint motor 28 is connected to the end of the hip joint connection board 20 remote from the hip joint connection board 19, so that the thigh assembly 3 and the hip joint connection board 20 can rotate relatively to ensure the leg to be retracted or extended.

It should be noted that, because the hip joint assembly adopts a bionic three-degree-of-freedom design combining active and passive, the flexibility of the exoskeleton hip joint motion is improved, the natural motion of the human hip joint is simulated, and the coordination and comfort of human-machine motion are improved.

In addition, a pair of joint motors arranged at the hip joints assist the hip joint movement of the human body to help the human body to walk, jogge, stride over obstacles, go up and down slopes, go up and down stairs and the like.

Alternatively, the first joint motor 28 is a modular motor.

Alternatively, as shown in fig. 4, the lumbar tripod 16 is hinged with a load support plate 18 by a stainless steel shaft, the load support plate 18 mainly plays a role of a load weight, the load support plate 18 is in a vertical position to be retracted when no load is applied, the load support plate 18 can be rotated to a state of 90 degrees with respect to the lumbar tripod 16 when load is required to be applied, and then carried articles are placed on the load support plate 18.

Further, a baffle is disposed below the load support plate 18 on the lumbar tripod 16, and after the load support plate 18 rotates to be perpendicular to the lumbar tripod 16, the load support plate 18 cannot continue to rotate due to the blocking effect of the baffle, so that the load support plate 18 rotates to be perpendicular to the lumbar tripod 16 at most.

Optionally, a binding band is provided on the waist and back connecting piece 15, a clamping block is provided at the free end of the binding band, a buckle is provided on the load supporting plate 18, and after the article is placed on the load supporting plate 18, the clamping block of the binding band can be buckled on the buckle on the load supporting plate 18 to bind the article, so as to prevent the article from falling.

As a preferred embodiment, as shown in fig. 1 and 2, the back assembly 1 includes a back plate 7, a back strap 8 and a waist belt 10, the back strap 8 and the waist belt 10 are installed on the front surface of the back plate 7, and the lengths of the back strap 8 and the waist belt 10 are adjustable to achieve fixation of the back and the waist of the human body.

Optionally, a detachable sponge cushion is arranged on the front surface of the back plate 7, so that the comfort of the back of a user during wearing the back plate is improved.

Preferably, a protective shell 6 is arranged on the back surface of the back plate 7, a device cavity 11 is formed in the protective shell 6, a battery 12 and a control main board 14 are arranged in the device cavity 11, wherein the control main board 14 is responsible for controlling the movement of the exoskeleton, target parameters such as moment values or position values are formed by receiving signals of a sensing system and analyzing and calculating by using a pattern recognition algorithm, and the actuator is correspondingly flexibly controlled by a compliance control algorithm, so that the movement control of the exoskeleton is realized. The rechargeable battery 12 is used to power the control motherboard 14, sensors and joint motors. The protective housing 6 protects the electronic components integrated at the rear of the back plate 7.

Further, a charging interface 13 is provided on the inner wall of the protection case 6, and the charging interface 13 is electrically connected with the battery 12, so that the battery 12 can be charged from the outside of the protection case 6.

Optionally, a switch door is hinged at one end of the protective shell 6 far away from the backboard 7, the switch door is connected with the protective shell 6 through a screw and a buckle, a self-locking switch 9 is mounted on the side wall of the protective shell 6, and the self-locking switch 9 is a power button for controlling power on-off.

The lumbar and back connection member 15 of the lumbar assembly 2 is fixed to the back surface of the back plate 7 by bolts or screws.

Preferably, as shown in fig. 5 and 6, the thigh assembly 3 comprises an outer thigh bar 25 and an inner thigh bar 26. The shell of the first joint motor 28 is provided with a U-shaped jacket, the first joint motor 28 is fixed in the U-shaped jacket, the side surface of the U-shaped jacket is provided with a round hole, and the output end of the first joint motor 28 is positioned in the round hole. The two side plates of the U-shaped jacket are a first jacket side plate 29 and a second jacket side plate 27 respectively, the first jacket side plate 29 and the second jacket side plate 27 are parallel, and a gap for installing a first joint motor 28 is formed between the first jacket side plate 29 and the second jacket side plate 27.

Preferably, the thigh inner rod 26 and the thigh outer rod 25 are both tubular bodies, the top end of the thigh outer rod 25 is fixedly mounted on the lower surface of the jacket, the thigh inner rod 26 is sleeved in the thigh outer rod 25, and the thigh inner rod 26 can slide up and down relative to the thigh outer rod 25. The thigh outer rod 25 and the thigh inner rod 26 are fixed by thigh adjusting screws 23.

The outer thigh shaft 25 has a plurality of screw holes uniformly formed along the longitudinal direction of the outer thigh shaft 25 at the position near the bottom, and the inner thigh shaft 26 has a plurality of screw holes uniformly formed along the longitudinal direction of the inner thigh shaft 26 at one side thereof. When the length of the thigh assembly 3 needs to be adjusted, the thigh inner lever 26 can be pushed up or moved down to a proper position so that the screw hole on the thigh inner lever 26 is aligned with the screw hole on the thigh outer lever 25, and finally the thigh adjusting screw 23 is used for fixing.

Thus, the length of the thigh assembly 3 can be flexibly adjusted, and the exoskeleton is ensured to be suitable for users with different leg lengths, so that each joint of the exoskeleton and each joint of a human body are centered to a certain extent.

Preferably, a thigh sensor 30 is mounted on the thigh outer rod 25, the thigh sensor 30 is an IMU sensor, the thigh sensor 30 is in signal connection with the control main board 14 on the back board 7, and the control main board 14 recognizes the movement intention of the human body through the data acquired by the thigh sensor 30 and provides assistance to the lower limbs of the human body in time through a movement control algorithm.

Alternatively, as shown in fig. 6, thigh binding 22 is mounted on the side of thigh outer lever 25, and a strap is mounted on thigh binding 22, so that in use, the thigh of the human body can be bound with thigh binding 22 by the strap.

Optionally, as shown in fig. 5, the thigh assembly 3 further includes a thigh shell, where the thigh shell is formed by splicing a thigh shell one 21 and a thigh shell two 24, where the thigh shell two 24 is a main body shell, a cavity is formed inside the thigh shell two 24, a side surface of the thigh shell two 24 is provided with an opening, the thigh shell two 24 is fixedly installed on the thigh outer rod 25 to cover the joint motor one 28, the thigh outer rod 25 and the thigh inner rod 26 in the cavity, and the thigh shell one 21 is plate-shaped, and the thigh shell one 21 is covered at the opening of the thigh shell two 24.

Further, a through hole is formed at the bottom of the thigh housing, the bottom end of the thigh outer rod 25 is penetrated from the through hole to the thigh housing, and the round hole on the thigh outer rod 25 is located at the bottom side of the thigh outer rod 25, so that the round hole on the thigh outer rod 25 is located at the outside of the thigh housing, thereby being convenient for adjusting the length of the thigh at any time.

It should be noted that, because the length of thigh subassembly 3 and shank subassembly 4 all can be adjusted in a flexible way, can satisfy the user's of different statures and dress, reduce the motion interference that causes because of man-machine size mismatch, increase the travelling comfort when dressing.

Preferably, as shown in fig. 8, the lower leg assembly 4 includes a second articulation motor 38, a second articulation motor output link 43, an outer lower leg link 40, and an inner lower leg link 44. Wherein, the output end of joint motor two 38 is connected with joint motor two output connecting rod 43, and the top of shank outer rod 40 is fixed connection with joint motor two output connecting rod 43's bottom. The inner shank 44 is sleeved inside the outer shank 40.

Further, a clamp body is fixed on the shell of the second joint motor 38, the clamp body is a U-shaped clamp, the U-shaped clamp is reversely buckled on the second joint motor 38, two side plates of the U-shaped clamp form a first clamp connecting plate 37 and a second clamp connecting plate 42, the first clamp connecting plate 37 is fixed with the first side face of the second joint motor 38, and the second clamp connecting plate 42 is fixed with the second side face of the second joint motor 38. While the lower end of the thigh inner rod 26 is fixed to the upper surface of the clip body to connect the thigh module 3 and the shank module 4.

It should be noted that the outer shank 40 and the inner shank 44 are both tubular, the side of the outer shank 40 near the bottom is provided with screw holes, the side of the inner shank 44 is also provided with a plurality of screw holes uniformly along the length direction of the inner shank 44, and the screw holes on the outer shank 40 and the screw holes on the inner shank 44 aligned therewith can be connected by the shank adjusting screw 41. This allows the overall length of the calf assembly 4 to be varied by varying the location of the aligned outer and inner calf bars 40, 44 to ensure that the exoskeleton is adaptable to users of different leg lengths.

Preferably, as shown in fig. 8, a shank sensor 39 is mounted on the shank outer rod 40, the shank sensor 39 is an IMU sensor, the shank sensor 39 is in signal connection with the control main board 14, and the control main board 14 recognizes the movement intention of the human body through data acquired by the shank sensor 39 and provides assistance to the lower limb of the human body in time through a movement control algorithm.

It should be appreciated that the second joint motor 38 disposed at the knee joint assists the hip joint movement of the human body to assist the human body in walking, jogging, crossing obstacles, ascending and descending slopes, ascending and descending stairs, and the like.

Optionally, the calf assembly 4 further includes a calf shell, and the calf shell is a shell structure formed by splicing a first calf shell 32 and a second calf shell 35, wherein the first calf shell 32 is in a shell shape, a cavity is formed inside the first calf shell 32, an opening is formed on a side surface of the cavity, the second calf shell 35 is a plate-shaped plate, and the second calf shell 35 covers and seals the opening on the side surface of the first calf shell 32. The calf skin is fixedly connected to the calf shank 40 to house the calf shank 40.

Alternatively, as shown in fig. 7, a knee joint housing including a first knee joint housing 31, a second knee joint housing 33, and a knee joint housing cover 34 is provided on the second joint motor 38. The first knee joint housing 31 is a cylindrical housing structure, an opening is formed on a side surface of the first knee joint housing 31, the second joint motor 38 is disposed in the first knee joint housing 31, and the second knee joint housing 33 is covered and fixed at the opening of the first knee joint housing 31. The knee joint housing two 33 is provided with a circular hole, the knee joint housing cover 34 is disc-shaped, the knee joint housing cover 34 is fixed on the circular hole on the knee joint housing two 33, the knee joint housing cover 34 is provided with a through hole, and the through hole is used for the joint motor two output connecting rod 43 to pass through.

The second joint motor 38 is covered by the knee joint casing to prevent external dust from entering the second joint motor 38, thereby protecting the second joint motor 38.

Alternatively, as shown in fig. 8, a calf tie 36 is provided on the calf outer rod 40, and a strap is attached to the calf tie 36 to tie the calf and the calf tie 36 together by the strap.

As shown in fig. 9, a sleeve is provided at the bottom of the shank 44, and is rotatably connected to the first shaft of the ankle dorsiflexion/plantar flexion adapter 46.

Preferably, as shown in FIG. 9, the foot assembly includes a sole member 49, a plantar side member 50, and a foot strap 51, wherein the plantar side member 50 forms a foot cavity around the sole member 49 for receiving a human foot, and the foot strap 51 is provided on the sole member 49 for retaining the human foot with the sole member 49.

The light lower limb exoskeleton robot is simple in structure, and the problem of high complexity caused by excessive mechanisms is avoided.

In the description of the present utility model, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the communication may be direct or indirect through an intermediate medium, or may be internal to two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

The foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the utility model are intended to be included within the scope of the utility model.

Claims (10)

1. A light lower limb exoskeleton robot, which is characterized by comprising a back component (1), a waist component (2), a hip joint component, a thigh component (3), a shank component (4), an ankle joint component (5) and a foot component which are connected in sequence; wherein:

the ankle joint assembly (5) comprises a flexion and extension movement mechanism and an internal and external rotation movement mechanism, wherein the flexion and extension movement mechanism comprises a flexion and extension movement mechanism and an internal rotation movement mechanism;

the inner and outer rotating movement mechanism is rotatably connected with the foot component around a third rotating shaft; the axis of the first rotating shaft is perpendicular to the sagittal plane of the human body, the axis of the second rotating shaft is perpendicular to the transverse plane of the human body, and the axis of the third rotating shaft is perpendicular to the coronal plane of the human body.

2. The lightweight lower extremity exoskeleton robot of claim 1 wherein said hip joint assembly comprises a hip joint connection plate (20), a hip joint connection rod (19) and a joint motor one (28);

one end of the hip joint connecting rod (19) is rotatably connected with the waist component (2) around a fourth rotating shaft, and the other end of the hip joint connecting rod (19) is rotatably connected with the hip joint connecting plate (20) around a fifth rotating shaft;

the axis of the fourth rotating shaft extends along the front-back direction of the back assembly (1), and the axis of the fifth rotating shaft extends along the extending direction of the thigh assembly (3);

the first joint motor (28) is arranged at the top end of the thigh assembly (3), the hip joint connecting plate (20) is fixedly connected with the output end of the first joint motor (28), and the axis of the output end of the first joint motor (28) extends along the arrangement direction of the inner side and the outer side of the leg.

3. The lightweight lower extremity exoskeleton robot as claimed in claim 1 wherein said flexion and extension movement mechanism includes an ankle dorsiflexion/plantar flexion adapter (46), said first rotation shaft being mounted in said ankle dorsiflexion/plantar flexion adapter (46), a bottom portion of said lower leg assembly (4) being provided with a bushing one, said bushing one being rotatably connected to said first rotation shaft.

4. A lightweight lower extremity exoskeleton robot as claimed in claim 3 wherein said internal and external rotational movement mechanism comprises a plate and a second sleeve connected, said plate having a top end rotatably connected to said ankle dorsiflexion/plantar flexion adapter (46) via said second axis of rotation, said sleeve rotatably connected to said foot member via said third axis of rotation.

5. The lightweight lower extremity exoskeleton robot as claimed in claim 2, wherein said thigh assembly (3) comprises an outer thigh rod (25) and an inner thigh rod (26), a top end of said outer thigh rod (25) is connected with a housing of said first joint motor (28), said inner thigh rod (26) is sleeved inside said outer thigh rod (25), a bottom end of said inner thigh rod (26) is fixedly connected with a top end of said lower thigh assembly (4), and a length of said inner thigh rod (26) extending into said outer thigh rod (25) is adjustable.

6. The lightweight lower extremity exoskeleton robot as claimed in claim 5, wherein said lower leg assembly (4) includes a second joint motor (28), a second joint motor output link (43), an outer lower leg link (40) and an inner lower leg link (44), a bottom end of said inner lower leg link (26) is fixed to a housing of said second joint motor (28), an output end of said second joint motor (28) is connected to said second joint motor output link (43), a top end of said outer lower leg link (40) is fixedly connected to said second joint motor output link (43), said inner lower leg link (44) is sleeved inside said outer lower leg link (40), and a length of said inner lower leg link (44) extending into said outer lower leg link (40) is adjustable, and a bottom end of said inner lower leg link (44) is rotatably connected to said flexion and extension movement mechanism via said first rotation axis.

7. A lightweight lower extremity exoskeleton robot as claimed in claim 2, characterized in that said lumbar assembly (2) comprises a lumbar tripod (16) and a lumbar connection (15);

the bottom end of the waist connecting piece (15) is fixed on the waist tripod (16), the waist connecting piece (15) is fixedly connected with the back component (1), and one end of the hip joint connecting rod (19) is rotatably connected with the waist tripod (16) through the fourth rotating shaft.

8. A lightweight lower extremity exoskeleton robot as claimed in claim 7 wherein said lumbar assembly (2) comprises a load support plate (18), said load support plate (18) being fold mounted on said lumbar tripod (16), said load support plate (18) being for loading a weight.

9. A lightweight lower extremity exoskeleton robot as claimed in claim 1 wherein at least one tie is mounted on the inside of said thigh assembly (3) and the inside of said calf assembly (4).

10. A lightweight lower extremity exoskeleton robot as claimed in any one of claims 1 to 9 wherein said back assembly (1) has a control motherboard (14) mounted thereon, said thigh assembly (3) has at least one thigh sensor (30) mounted thereon, said calf assembly (4) has at least one calf sensor (39) mounted thereon, said thigh sensor (30) and said calf sensor (39) each being in signal communication with said control motherboard (14).