CN116265201A - A passive wearable lower limb exoskeleton - Google Patents

Abstract

The invention relates to a passive wearable lower limb exoskeleton, wherein hip joint adjusting rods are arranged on two sides of a waist adjusting component, the hip joint adjusting rods are connected with corresponding uppermost variable stiffness power-assisted joint components, the variable stiffness power-assisted joint components are connected through first connecting rods, the lowermost variable stiffness power-assisted joint components are connected with corresponding ankle joint supporting components through second connecting rods, the variable stiffness power-assisted joint components comprise an inner joint box body and an outer joint box body, an elastic piece inner ring fixing sleeve, an elastic piece outer ring fixing sleeve, an elastic piece and an adjusting ring are arranged between the inner joint box body and the outer joint box body, the elastic piece inner ring fixing sleeve is fixedly connected with the outer joint box body and the inner elastic piece ring, the outer elastic piece outer ring is fixedly connected with the elastic piece outer ring fixing sleeve and the adjusting ring, a pressing cover is arranged on the outer side of the outer joint box body, a pressing block penetrates through the outer joint box body, and a clamping block is arranged on the outer side of the adjusting ring and is arranged in a clamping groove corresponding to the inner joint box body. The invention can automatically adjust the joint power and adjust the height according to the height of the user.

Description

A passive wearable lower limb exoskeleton

technical field

The invention relates to the field of rehabilitation devices, in particular to a passive wearable lower limb exoskeleton.

Background technique

At present, most exoskeletons at home and abroad adopt a power supply solution and use integrated integrated joints for joint assistance. The design of this exoskeleton makes the exoskeleton structure heavy and costly, and the exoskeleton body is also relatively bulky, which is inconvenient to carry. The cost of transportation, maintenance and maintenance is high. In addition, because the exoskeleton uses an external power source, the endurance of the exoskeleton is poor. The full-load use time is generally only 4 to 6 hours, and the introduction of a large number of electrical equipment also increases the complexity of the operation. It is very inconvenient for groups such as the elderly to operate.

Contents of the invention

The purpose of the present invention is to provide a passive wearable lower extremity exoskeleton. The joints are designed with a variable stiffness structure. The user can independently adjust the size of the joint assist according to his own situation, and the height can be adjusted according to the user's height. The overall structure is compact and light, and the operation is simple. Convenient, even the elderly and children can easily operate.

The purpose of the present invention is achieved through the following technical solutions:

A passive wearable lower extremity exoskeleton, including a waist adjustment component, a variable stiffness power-assisted joint component, an ankle support component, a first link and a second link, wherein both sides of the waist adjustment component are provided with hip joint adjustment rods, And the hip joint adjustment rod is connected with the uppermost variable stiffness power-assisted joint assembly on the corresponding side, the variable stiffness power-assisted joint assembly on the same side is connected sequentially through the first connecting rod, and the lowermost variable stiffness power-assisted joint component is connected with the The ankle joint support assembly on the corresponding side is connected, and the variable stiffness power-assisted joint assembly includes a joint inner box and an outer joint box, and an installation shaft is provided on the joint inner box to rotate and connect with the joint outer box, and the joint inner box and the joint outer box The inner ring fixing sleeve of the elastic element, the outer ring fixing sleeve of the elastic element, the elastic element and the adjustment ring are arranged in sequence between the outer box body of the joint, wherein the inner ring fixing sleeve of the elastic element is set on the installation shaft and one side is fixed with the outer box body of the joint. The other side is fixedly connected with the inner ring of the elastic part, one side of the outer ring of the elastic part is fixedly connected with the fixing sleeve of the outer ring of the elastic part, and the other side is fixedly connected with the adjustment ring. There is a pressing cover, and the pressing cover is provided with a pressing block passing through the corresponding waist-shaped hole, a locking block is provided on the outside of the adjustment ring, and a locking slot is provided in the joint inner box body, and the locking block is set in the corresponding locking slot middle.

The elastic member includes an outer ring and a folded elastic piece arranged in the outer ring. The inner wall of the outer ring is provided with an outer hole seat of the elastic member, and one end of the folded elastic piece is fixedly connected with the corresponding outer hole seat of the elastic member, and the other end is fixed to the outer hole seat of the elastic member. The inner hole seat of the elastic member is provided, the first hole seat is provided on the outer side of the inner ring fixing sleeve of the elastic member, the second hole seat is arranged on the inner side of the outer ring fixing sleeve of the elastic member, and the inner hole seat of the elastic member, the second hole seat A hole seat and the threaded hole located in the middle of the joint outer box body are respectively connected correspondingly through the first screw, and the outer hole seat of the elastic member, the second hole seat and the connection hole provided on the adjustment ring are respectively connected correspondingly through the second screw .

Each folded elastic sheet is evenly distributed along the circumferential direction, and the folded elastic sheet is in a serpentine stacked structure.

The upper side of the joint inner box body is provided with an upper card slot seat, and an adjustment plate buckle is provided in the upper card slot seat, and a first strap fixing part is provided on one side of the upper card slot seat, and a first strap fixing part is provided on the other side. Features a second strap fastener.

The lower side of the joint outer box body is provided with a lower card slot seat, and a plurality of pinball holes are arranged on the lower card slot seat.

The waist adjustment assembly includes a waist backboard, a waist side bar and a waist armrest, wherein both sides of the waist backboard are provided with waist side bars, and the free ends of the waist side bars are provided with waist armrests, and the upper end of the hip joint adjustment bar is connected to the corresponding The side lumbar armrests are hinged at the end.

The adjacent ends of the waist side rods on both sides are connected by a circlip tube, and the circlip tube passes through a pipe sleeve, and the pipe sleeve is fixed in the installation slot provided on the waist backboard through the buckle on the back.

The free end of the waist armrest is provided with an ear plate seat, one side of the ear plate seat is provided with an installation inner shell, and the other side is provided with an installation shell, and the installation inner shell is provided with a connecting shaft passing through the ear plate The seat and the upper end of the hip joint adjustment rod are fixedly connected with the installation shell after the through hole.

The ankle joint support assembly includes a calf side plate and a shoe holder, wherein a buckle fixing plate is provided on the top of the calf side plate, and a calf buckle is arranged inside the buckle fixing plate, and the lower end of the calf side plate is connected to the shoe The support is connected by rotation, and the buckle fixing plate is provided with a first strap fixing part on one side, and a second strap fixing part on the other side.

One side of the lower end of the calf side plate is provided with an ankle joint shell, and the other side is provided with an ankle joint inner shell, and the ankle joint inner shell is provided with an ankle joint connection shaft, and the ankle joint connection shaft passes through the The side plate on one side of the shoe support and the lower end of the calf side plate are fixedly connected with the ankle joint shell on the other side.

Advantage of the present invention and positive effect are:

1. The invention adopts the passive design concept, which effectively solves the problem of exoskeleton battery life caused by battery technology. The joint adopts a variable stiffness structure design, and the user can independently adjust the size of the joint assist according to his own situation. The operation is simple and convenient, even for the elderly and Children can also easily operate it.

2. Each component of the present invention is easy to install, and the height can be adjusted according to the height of the user. In addition, the overall structure is compact and light, and it is convenient to carry and transport.

Description of drawings

Fig. 1 is a structural representation of the present invention,

Fig. 2 is a schematic structural diagram of the waist adjustment assembly in Fig. 1,

Fig. 3 is a schematic diagram of the structure of the waist backboard in Fig. 2,

Fig. 4 is a schematic diagram of installation of the hip joint adjustment rod in Fig. 2,

Fig. 5 is another perspective view of the waist adjustment assembly in Fig. 2,

Fig. 6 is a schematic structural diagram of the variable stiffness power-assisted joint assembly in Fig. 1,

Fig. 7 is a schematic diagram of another angle of the variable stiffness power-assisted joint assembly in Fig. 6,

Fig. 8 is an exploded schematic view of the variable stiffness power-assisted joint assembly in Fig. 6,

Fig. 9 is a schematic structural diagram of the elastic member in Fig. 8,

Fig. 10 is a cross-sectional view of the variable stiffness power-assisted joint assembly in Fig. 6,

Fig. 11 is a schematic diagram of the use state of the variable stiffness power-assisted joint assembly in Fig. 6,

Fig. 12 is a second schematic diagram of the use state of the variable stiffness power-assisted joint assembly in Fig. 6,

Fig. 13 is a schematic diagram of the use state of the variable stiffness power-assisted joint assembly in Fig. 6.

Fig. 14 is a schematic structural diagram of the ankle support assembly in Fig. 1,

Fig. 15 is an exploded schematic diagram of the ankle support assembly in Fig. 14,

Fig. 16 is a schematic diagram of the connection of the first connecting rod in Fig. 1,

Fig. 17 is a schematic diagram of the use state of the present invention.

Among them, 1 is the circlip, 2 is the waist side bar, 3 is the back buckle, 4 is the sleeve, 5 is the waist backboard, 6 is the hip joint adjustment rod, 7 is the waist armrest, 8 is the installation inner shell, 9 is the connecting shaft sleeve, 10 is the installation shell, 11 is the cover plate, 12 is the joint inner box body, 121 is the installation shaft, 122 is the upper card slot seat, 13 is the buckle of the adjustment plate, 14 is the joint outer box body, 141 is the Waist-shaped groove, 142 is the lower card slot seat, 15 is the pressing cover, 151 is the pressure block, 16 is the first strap fixing part, 17 is the second strap fixing part, 18 is the bearing end cover, 19 is the inner shaft sleeve , 20 is the inner ring fixing sleeve of the elastic member, 201 is the first hole seat, 21 is the outer ring fixing sleeve of the elastic member, 211 is the second hole seat, 22 is the elastic member, 221 is the outer hole seat of the elastic member, 222 is the folding spring , 223 is the inner hole seat of the elastic part, 224 is the outer ring, 23 is the washer, 24 is the adjustment ring, 241 is the block, 25 is the buckle fixing plate, 26 is the buckle of the calf, 27 is the side plate of the calf, and 28 is the ankle Joint shell, 29 is the ankle joint cover, 30 is the shoe support, 31 is the inner shell of the ankle joint, 32 is the fixed block, 33 is the spacer, 34 is the ankle joint shaft sleeve, 35 is the first connecting rod, 36 is the second joint Connecting rod, 37 is the waist adjustment assembly, 38 is the variable stiffness power-assisted joint assembly, 39 is the ankle joint support assembly, and 40 is the marble.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Figures 1 to 17, the present invention includes a waist adjustment assembly 37, a variable stiffness power-assisted joint assembly 38, an ankle joint support assembly 39, a first connecting rod 35 and a second connecting rod 36, wherein as shown in Figures 2 to 5, Both sides of the waist adjustment assembly 37 are provided with hip joint adjustment rods 6. As shown in Figure 1, the hip joint adjustment rods 6 are connected to the uppermost variable stiffness power-assisted joint assembly 38 on the corresponding side, and the variable stiffness power-assisted joint components on the same side The joint components 38 are sequentially connected through the first connecting rod 35, and the lowermost variable stiffness power-assisted joint component 38 is connected with the corresponding ankle support component 39 through the second connecting rod 36, as shown in Figures 6-10, the variable stiffness The power-assisted joint assembly 38 includes a joint inner box body 12 and a joint outer box body 14, and the joint inner box body 12 is provided with an installation shaft 121 and is rotationally connected with the joint outer box body 14, and the joint inner box body 12 and the joint outer box body 14 The inner ring fixing sleeve 20 of the elastic element, the outer ring fixing sleeve 21 of the elastic element, the elastic element 22 and the adjustment ring 24 are arranged in sequence, wherein the inner ring fixing sleeve 20 of the elastic element is set on the installation shaft 121 and one side is connected with the outer box body of the joint. 14 The middle part is fixedly connected, the other side is fixedly connected with the inner ring of the elastic member 22, one side of the outer ring of the elastic member 22 is fixedly connected with the fixing sleeve 21 of the outer ring of the elastic member, and the other side is fixedly connected with the adjustment ring 24, and the joint outer box body 14 The inside is provided with a waist-shaped hole 141 along the circumferential direction, and the outer side is provided with a pressing cover 15, and the pressing cover 15 is provided with a pressing block 151 passing through the corresponding waist-shaped hole 141, and the outer side of the adjustment ring 24 is along the circumferential direction. A locking block 241 is provided, and the inner wall of the joint inner box body 12 is provided with a locking groove along the circumferential direction, and the locking block 241 is arranged in the corresponding locking groove.

In the present invention, when the joint power is not adjusted, the elastic body 22 is not deformed. As shown in FIG. 11, the variable stiffness power-assisted joint assembly 38 is in a vertical state, and there is no torque in the joint, so there is no upward lift on the human leg s help. When it is necessary to adjust the joint booster, the user can press the pressing cover 15, and the pressing block 151 of the pressing cover 15 squeezes the outer ring fixing sleeve 21 of the elastic member, and causes the elastic member 22 to deform and displace in the direction of the extrusion force, and then Drive the adjustment ring 24 to move along the extrusion force direction, and make the block 241 on the adjustment ring 24 break away from the draw-in groove on the inner wall of the joint inner box body 12, and now rotate the joint outer box body 14, due to the joint outer box body 14, elasticity The fixing sleeve 20 of the inner ring of the part is fixedly connected with the inner ring of the elastic part 22, and the rotation of the outer box body 14 of the joint drives the rotation of the elastic part 22. Part 22 rotates to drive the adjustment ring 24 to rotate, so the rotation of the joint outer box body 14 can drive the above-mentioned components to rotate together, and the block 241 on the adjustment ring 24 breaks away from the draw-in groove on the inner wall of the joint inner box body 12. At this time, the adjustment ring The rotation of 24 is not restricted, and the elastic member 22 will not be deformed. When the joint outer box body 14 rotates to a suitable angle, such as the angle shown in FIG. Press the cover 15 to return to the original position. At this time, the block 241 on the adjustment ring 24 re-enters the corresponding slot on the inner wall of the box body 12 in the joint. At this time, the elastic member 22 is still not deformed, but the joint is shown in Figure 12. It is no longer in the vertical state, because when the joint is in use, as shown in Figure 13, it is necessary to artificially turn the joint to the vertical state (upright state of the human body), during this process, the rotation of the outer box body 14 of the joint will still drive the elastic member The inner ring of the inner ring fixing sleeve 20 and the elastic member 22 rotates, but the adjustment ring 24 cannot rotate because the block 241 is stuck in the corresponding slot on the inner wall of the box body 12 in the joint, so the elastic member fixedly connected with the adjustment ring 24 The 22 outer rings cannot rotate, so that the inner ring and the outer ring of the elastic member 22 will rotate relative to each other, and then the elastic member 22 will be deformed, and the deformation will generate elastic potential energy. 22 will provide a torque to the joint when returning to its original shape, and this torque will realize the joint assist.

As shown in FIG. 9 , the elastic member 22 includes an outer ring 224 and folded elastic pieces 222, and each folded elastic piece 222 is evenly distributed in the outer ring 224 along the circumferential direction, and the inner wall of the outer ring 224 is arranged along the circumferential direction. A plurality of elastic member outer hole seats 221 are evenly distributed, one end of the folded elastic piece 222 is fixedly connected with the corresponding elastic member outer hole seat 221, and the other end is provided with an elastic member inner hole seat 223, as shown in Figure 10, the elastic member A plurality of first hole seats 201 are evenly distributed on the outer circumference of the inner ring fixing sleeve 20 of the elastic member, and a plurality of second hole seats 211 are evenly distributed on the inner circumference of the outer ring fixing sleeve 21 of the elastic member. The hole seat 223, the first hole seat 201 and the threaded hole located in the middle of the joint outer box body 14 are correspondingly connected by the first screw. The connecting holes are correspondingly connected by the second screws.

The structure of the elastic member 22 in the present invention adopts a large deformation structure in the circumferential direction, which is similar to a honeycomb structure, but because the honeycomb structure is a hexagonal structure, the resistance force is relatively large when deformed, so the present invention designs a serpentine The stacked folded shrapnel 222 structure has greater deformation and recovery capabilities. As shown in Figure 9, the relative rotation of the inner and outer rings of the elastic member 22 can deform the serpentine stacked shrapnel. At this time, the deformation occurs The elastic potential energy is stored in the elastic member 22, and the elastic member 22 releases the elastic potential energy during the recovery process, thereby completing energy storage to release. The elastic member 22 can be processed with materials such as carbon spring steel and 304 stainless steel.

As shown in Figure 8, the outer end of the installation shaft 121 is provided with a bearing end cover 18 to realize the connection and fixation between the installation shaft 121 and the joint outer box body 14. In addition, the installation shaft 121 is provided with an inner shaft sleeve 19, and the elastic The inner ring fixing sleeve 20 of the elastic element is set on the inner shaft sleeve 19 to ensure rotation, and a washer 23 is arranged between the inner ring fixing sleeve 20 of the elastic element and the bottom surface of the inner box body 12 of the joint. In this embodiment, the inner shaft sleeve 19 and the washer 23 are made of plastic.

As shown in Figures 6-8, the upper side of the joint inner box body 12 is provided with an upper card slot seat 122 to connect with the lower end of the hip joint adjustment rod 6 or the lower end of the first connecting rod 35 on the corresponding side, and the upper card slot seat 122 Adjustment plate buckle 13 is provided inside, and a plurality of lower buckle holes are arranged on the bottom plate of the upper slot seat 122, as shown in Figure 2, the hip joint adjustment rod 6 and the lower end of the first connecting rod 35 are provided with A plurality of upper buckle holes, when connected, the lower end of the hip joint adjustment rod 6 or the lower end of the first connecting rod 35 is inserted into the upper card slot seat 122 on the box body 12 in the corresponding joint, and the head end of the buckle 13 of the adjustment plate is folded The board passes through the corresponding upper buckle hole and the lower buckle hole in turn and is stuck to realize the connection, and it is also convenient to adjust the height.

As shown in Figure 7, one side of the upper card slot seat 122 is provided with a first strap fixing part 16, and the other side is provided with a second strap fixing part 17, as shown in Figure 8, the upper card slot seat There are openings on both sides of 122, and the upper end of the first strap fixing part 16 and the upper end of the second strap fixing part 17 are respectively inserted into the upper card slot seat 122 through the corresponding side openings and snapped together.

As shown in Figures 6-8, the lower side of the joint outer box body 14 is provided with a lower card slot seat 142, and the lower card slot seat 142 is provided with a plurality of marble holes, as shown in Figure 16, the Both the upper end of the first connecting rod 35 and the upper end of the second connecting rod 36 are provided with marbles 40, and the marbles 40 are mounted on the corresponding connecting rods through spring support. When connecting, the marbles 40 are first pressed, and then the second The upper end of a connecting rod 35 (or the second connecting rod 36) is inserted into the lower card slot seat 142 on the lower side of the corresponding joint outer box body 14. After being adjusted to a suitable height, the marble 40 will automatically pop out and be stuck in the corresponding spring under the action of the spring. It is fixed in the bead hole, and it is also convenient to adjust the height.

As shown in Figures 2 to 5, the waist adjustment assembly 37 includes a waist backboard 5, waist side bars 2 and waist armrests 7, wherein the waist backboard 5 is provided with waist side bars 2 on both sides, and the waist side bars on both sides 2 Adjacent ends are connected by a circlip tube 1, the circlip tube 1 passes through a tube sleeve 4, and as shown in Figure 3, the tube sleeve 4 is fixed on the waist backboard 5 through the back buckle 3 In the installation slot in the middle, the connection end of the waist side bar 2 is provided with a round hole, and the two ends of the circlip tube 1 are provided with circlips, and the connection end of the waist side bar 2 is sleeved on the circlip tube 1 After corresponding to the side end, positioning and adjustment are realized through the cooperation of the snap ring and the round hole. In this embodiment, the circlip 1 is a square circlip, and the sleeve 4 is a square sleeve. As shown in FIG. 2 , the free ends of the waist side bars 2 on both sides are provided with waist armrests 7 , and the upper ends of the hip joint adjustment rods 6 are hinged to the corresponding ends of the waist armrests 7 .

As shown in Figure 4, the free end of the waist armrest 7 is provided with an ear plate seat, and the upper end of the hip joint adjustment rod 6 is rotatably installed in the ear plate seat. In this embodiment, one side of the ear plate seat is provided with The inner shell 8 is installed, the other side is provided with an outer shell 10, and the inner shell 8 is provided with a connecting shaft passing through the through hole at the upper end of the ear plate seat and the hip joint adjustment rod 6 through a cover plate 11 to realize the connection with the inner shell 8. The installation shell 10 is fixedly connected, and the connecting shaft sleeve 9 is sleeved on the connecting shaft to ensure rotation.

As shown in Figures 14-15, the ankle support assembly 39 includes a calf side plate 27 and a shoe holder 30, wherein the upper end of the calf side plate 27 is provided with a buckle fixing plate 25, and the buckle fixing plate 25 is provided with a The calf buckle 26, the bottom plate of the buckle fixing plate 25 is provided with a plurality of first buckle holes, the lower end of the second connecting rod 36 is provided with a plurality of second buckle holes, and the lower end of the second connecting rod 36 is inserted into the corresponding After the buckle fixing plate 25 on the ankle support assembly 39, the shank buckle 26 passes through the corresponding first buckle hole and the second buckle hole in sequence to realize the connection, and it is convenient to adjust the height. The lower end of the side plate 27 is rotationally connected with the shoe holder 30, as shown in FIG. The ankle joint inner shell 31 is provided with an ankle joint connection shaft, and the ankle joint connection shaft passes through the side plate on one side of the shoe holder 31 and the lower end of the calf side plate 27 successively through an ankle joint cover plate 29 to realize connection with the ankle joint. The ankle joint shell 28 on the other side is connected, and gaskets 33 are all provided between the calf side plate 27 and the shells on both sides. In addition, the ankle joint connecting shaft is provided with an ankle joint shaft sleeve 34 to ensure rotation.

As shown in Fig. 15, a fixing block 32 is arranged in the upper end of the calf side plate 27 for installing the calf buckle 26, and the first strap fixing member 16 and the second strap fixing member 16 are also arranged on both sides of the buckle fixing plate 25. Two strap fixing parts 17.

Working principle of the present invention is:

When each component of the present invention forms an exoskeleton, the hip joint adjustment lever 6 in the waist adjustment component 37 is respectively inserted into the upper card slot seat 122 on the upper side of the variable stiffness power-assisted joint component 38 on the corresponding side and fixed by the adjustment plate buckle 13, the second The upper end of a connecting rod 35 is inserted into the lower card slot seat 142 on the lower side of the power-assisted joint assembly 38 corresponding to the strain stiffness, and is fixed after adjusting the length gear through the pinball 40, and the lower end of the first connecting rod 35 is inserted into the power-assisted joint assembly 38 corresponding to the strain stiffness. The upper card slot seat 122 in the middle is also fixed by the buckle 13 of the adjustment plate, and the lower side of the variable stiffness power-assisted joint assembly 38 is connected with the upper end of the second connecting rod 36 through the structure of the marble 40 after the length is adjusted. After the rod 36 is inserted into the buckle fixing plate 25 on the upper side of the ankle joint support assembly 39, the connection is realized through the shank buckle 26 . Each component of the present invention is not only easy to install, but also convenient to adjust the height, so that the exoskeleton is suitable for users of different heights. In addition, because the present invention is in contact with the ground, it can effectively transfer the weight of the body and the exoskeleton to the ground, and can lift the weight of the thighs and calves. To effective support, and the whole mechanism is compact and light, easy to carry and transport.

The invention adopts the design concept of no power supply, and the joint adopts a variable stiffness structure design, and the user can independently adjust the assisting force of the joint according to his own situation. When the present invention adjusts the joint booster, the user can press the pressing cover 15, and the pressing block 151 of the pressing cover 15 squeezes the outer ring fixing sleeve 21 of the elastic member, and causes the elastic member 22 to deform and displace in the direction of the extrusion force, and then Drive the adjustment ring 24 to move along the extrusion force direction, and make the block 241 on the adjustment ring 24 break away from the draw-in groove on the inner wall of the joint inner box body 12, and now rotate the joint outer box body 14, due to the joint outer box body 14, elasticity The fixing sleeve 20 of the inner ring of the part is fixedly connected with the inner ring of the elastic part 22, and the outer ring of the elastic part 22, the fixing sleeve 21 of the outer ring of the elastic part and the adjustment ring 24 are also fixedly connected, and the rotation of the outer box body 14 of the joint can drive the above-mentioned components to rotate together , and the block 241 on the adjustment ring 24 breaks away from the slot on the inner wall of the joint inner box body 12. At this time, the adjustment ring 24 is not restricted, and the elastic member 22 will not be deformed. When the joint outer box body 14 rotates at an appropriate angle, As shown in Figure 12, loosen the pressing cover 15, the elastic member 22 returns to its original shape, and drives the adjustment ring 24 to return to its original position. At this time, the block 241 on the adjustment ring 24 re-enters the corresponding card on the inner wall of the box body 12 in the joint. In the groove, the elastic member 22 is still not deformed at this time, but at this time the joint is no longer in the vertical state as shown in Figure 12. When the joint is used, as shown in Figure 13, it is necessary to artificially bend the joint to the vertical state. During this process, the rotation of the joint outer box body 14 will still drive the inner ring fixing sleeve 20 of the elastic member and the inner ring of the elastic member 22 to rotate, but the adjustment ring 24 is stuck in the corresponding slot on the inner wall of the joint inner box body 12 due to the locking block 241 Unable to rotate, so the outer ring of the elastic member 22 fixedly connected with the adjustment ring 24 cannot rotate, so the elastic member 22 will be deformed, and the deformation will generate elastic potential energy. When the joint moves, the elastic member 22 returns to its original shape A torque will be provided to the joint, and this torque will realize the joint assist. The operation of the present invention is simple and convenient, and even old people and children can easily operate it.

Claims (10)

1. A passive wearable lower limb exoskeleton, characterized in that: including waist adjusting part (37), become rigidity helping hand joint subassembly (38), ankle joint supporting part (39), first connecting rod (35) and second connecting rod (36), wherein waist adjusting part (37) both sides all are equipped with hip joint regulation pole (6), just hip joint regulation pole (6) are connected with the become rigidity helping hand joint subassembly (38) that corresponds the side uppermost, become rigidity helping hand joint subassembly (38) that are located the homonymy and pass through first connecting rod (35) and connect gradually, become rigidity helping hand joint subassembly (38) that are located the lower extreme pass through second connecting rod (36) and are connected with ankle joint supporting part (39) that corresponds the side, become rigidity helping hand joint subassembly (38) including joint inner box body (12) and joint outer box body (14), and be equipped with installation axle (121) and joint outer box body (14) rotation connection on joint inner box body (12), be equipped with elastic component inner circle fixed cover (20), elastic component outer circle fixed cover (21), elastic component (22) and regulation circle (24) between joint inner box body (14) and elastic component inner circle fixed cover (20) in proper order, wherein elastic component fixed component (20) are connected with elastic component outer circle fixed component (22) and elastic component fixed component (22) one side fixed component and outer circle fixed component (22) one side fixed component and outer circle (22) fixed component and outer circle (22) connected with one side The opposite side links firmly with adjusting ring (24), is equipped with waist shape hole (141) in joint outer box body (14), the outside is equipped with pressing lid (15), just be equipped with briquetting (151) on pressing lid (15) and pass corresponding waist shape hole (141), adjusting ring (24) outside is equipped with fixture block (241), be equipped with the draw-in groove in joint inner box body (12), and fixture block (241) are located in the draw-in groove that corresponds.

2. The passive wearable lower limb exoskeleton of claim 1, wherein: the elastic piece (22) comprises an outer ring (224) and a folding elastic piece (222) arranged in the outer ring (224), an elastic piece outer hole seat (221) is arranged on the inner wall of the outer ring (224), one end of the folding elastic piece (222) is fixedly connected with the corresponding elastic piece outer hole seat (221), the other end of the folding elastic piece is provided with an elastic piece inner hole seat (223), a first hole seat (201) is arranged on the outer side of an elastic piece inner ring fixing sleeve (20), a second hole seat (211) is arranged on the inner side of the elastic piece outer ring fixing sleeve (21), the elastic piece inner hole seat (223), the first hole seat (201) and a threaded hole in the middle of the joint outer box body (14) are correspondingly connected through first screws, and the elastic piece outer hole seat (221), the second hole seat (211) and a connecting hole in the adjusting ring (24) are correspondingly connected through second screws.

3. The passive wearable lower limb exoskeleton of claim 2, wherein: each folding shrapnel (222) is uniformly distributed along the circumferential direction, and the folding shrapnel (222) is in a serpentine lamination structure.

4. The passive wearable lower limb exoskeleton of claim 1, wherein: the joint inner box body (12) upside is equipped with draw-in groove seat (122), just be equipped with regulating plate buckle (13) in going up draw-in groove seat (122), go up draw-in groove seat (122) one side and be equipped with first bandage mounting (16), opposite side and be equipped with second bandage mounting (17).

5. The passive wearable lower limb exoskeleton of claim 1, wherein: the lower side of the joint outer box body (14) is provided with a lower clamping groove seat (142), and the lower clamping groove seat (142) is provided with a plurality of marble holes.

6. The passive wearable lower limb exoskeleton of claim 1, wherein: the waist adjusting component (37) comprises a waist backboard (5), waist side rods (2) and waist handrails (7), wherein the waist side rods (2) are arranged on two sides of the waist backboard (5), the waist handrails (7) are arranged at the free ends of the waist side rods (2), and the upper ends of the hip joint adjusting rods (6) are hinged with the end parts of the waist handrails (7) on the corresponding sides.

7. The passive wearable lower limb exoskeleton of claim 6, wherein: the adjacent ends of the waist side rods (2) on two sides are connected through a clamp spring pipe (1), the clamp spring pipe (1) penetrates through a pipe sleeve (4), and the pipe sleeve (4) is fixed in an installation clamping groove arranged on the waist backboard (5) through a back buckle (3).

8. The passive wearable lower limb exoskeleton of claim 6, wherein: the waist handrail (7) free end is equipped with the otic placode seat, otic placode seat one side is equipped with installation inner shell (8), opposite side are equipped with installation shell (10), just be equipped with the connecting axle on the installation inner shell (8) and pass otic placode seat and hip joint adjust pole (6) upper end through-hole back link firmly with installation shell (10).

9. The passive wearable lower limb exoskeleton of claim 1, wherein: ankle joint supporting component (39) are including shank curb plate (27) and shoe support (30), and wherein shank curb plate (27) upper end is equipped with buckle fixed plate (25), just be equipped with shank buckle (26) in buckle fixed plate (25), shank curb plate (27) lower extreme with shoe support (30) rotate and are connected, buckle fixed plate (25) one side is equipped with first bandage mounting (16), and the opposite side is equipped with second bandage mounting (17).

10. The passive wearable lower limb exoskeleton of claim 9, wherein: the utility model discloses a shoe sole, including shoe support (30), shank curb plate (27), ankle joint shell (28) are equipped with to shank curb plate (27) lower extreme one side, and the opposite side is equipped with ankle joint inner shell (31), be equipped with ankle joint connecting axle on ankle joint inner shell (31), just ankle joint connecting axle passes in proper order curb plate and shank curb plate (27) lower extreme back and ankle joint shell (28) of opposite side link firmly.

Images