CN116265201B - 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

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

At present, most of foreign and domestic exoskeletons adopt a power supply scheme and utilize integrated joints to assist joints, the design of the exoskeletons enables the exoskeletons to be large in weight and high in cost, and the exoskeletons are heavy in body and inconvenient to carry and transport, and high in maintenance and maintenance cost.

Disclosure of Invention

The invention aims to provide a passive wearable lower limb exoskeleton, the joints are designed in a variable stiffness structure, a user can independently adjust the joint power assisting size according to the self conditions, the height can be adjusted according to the height conditions of the user, the whole structure is compact and light, the operation is simple and convenient, and even the elderly and children can operate easily.

The aim of the invention is realized by the following technical scheme:

The utility model provides a passive wearable low limbs ectoskeleton, includes waist adjusting part, becomes rigidity helping hand joint subassembly, ankle joint supporting part, first connecting rod and second connecting rod, and wherein waist adjusting part both sides all are equipped with the hip joint regulation pole, just the hip joint regulation pole is connected with the rigidity helping hand joint subassembly that becomes that corresponds the side uppermost, is located the rigidity helping hand joint subassembly that becomes of homonymy and connects gradually through first connecting rod, and the rigidity helping hand joint subassembly that becomes of lower extreme passes through the second connecting rod and is connected with the ankle joint supporting part that corresponds the side, become rigidity helping hand joint subassembly and include joint inner box body and joint outer box body, and be equipped with installation axle and joint outer box body rotation connection on the joint inner box body, be equipped with elastic component inner race fixed sleeve, elastic component and regulation circle in proper order between joint inner box body and the joint outer box body, wherein elastic component inner race fixed sleeve links firmly in the installation axle and one side and joint outer box body, and elastic component inner race one side links firmly, and opposite side and regulation circle link firmly, and is equipped with waist shape hole, outside are equipped with the press down to cover, and correspond in the joint outer box body is equipped with the gland, be equipped with the clamp block in the shape of pressing down, be equipped with in the joint clamp block groove, the joint clamp block is located in the joint inner box body.

The elastic piece comprises an outer ring and a folding elastic piece arranged in the outer ring, an outer hole seat of the elastic piece is arranged on the inner wall of the outer ring, one end of the folding elastic piece is fixedly connected with the corresponding outer hole seat of the elastic piece, the other end of the folding elastic piece is provided with an inner hole seat of the elastic piece, a first hole seat is arranged on the outer side of a fixed sleeve of an inner ring of the elastic piece, a second hole seat is arranged on the inner side of the fixed sleeve of the outer ring of the elastic piece, the inner hole seat of the elastic piece, the first hole seat and a threaded hole in the middle of an outer box body of the joint are correspondingly connected through first screws respectively, and the outer hole seat of the elastic piece, the second hole seat and a connecting hole in a regulating ring are correspondingly connected through second screws respectively.

Each folding shrapnel is uniformly distributed along the circumferential direction, and the folding shrapnel is in a serpentine lamination structure.

The joint inner box body upside is equipped with the draw-in groove seat, just be equipped with the regulating plate buckle in the draw-in groove seat, go up draw-in groove seat one side and be equipped with first bandage mounting, opposite side and be equipped with the second bandage mounting.

The lower side of the joint outer box body is provided with a lower clamping groove seat, and a plurality of marble holes are formed in the lower clamping groove seat.

The waist adjusting component comprises a waist backboard, waist side rods and waist handrails, wherein the waist side rods are arranged on two sides of the waist backboard, the waist handrails are arranged at the free ends of the waist side rods, and the upper ends of the hip joint adjusting rods are hinged with the end parts of the waist handrails on the corresponding sides.

The adjacent ends of the waist side bars at two sides are connected through a clamp spring pipe, the clamp spring pipe penetrates through a pipe sleeve, and the pipe sleeve is fixed in an installation clamping groove arranged on the waist backboard through a back buckle.

The waist handrail free end is equipped with the otic placode seat, otic placode seat one side is equipped with installs the inner shell, and the opposite side is equipped with the installation shell, just be equipped with the connecting axle on the installation inner shell and pass behind otic placode seat and the hip joint regulation pole upper end through-hole links firmly with the installation shell.

The ankle joint supporting component comprises a shank side plate and a shoe support, wherein a buckle fixing plate is arranged at the upper end of the shank side plate, a shank buckle is arranged in the buckle fixing plate, the lower end of the shank side plate is rotationally connected with the shoe support, a first binding band fixing piece is arranged on one side of the buckle fixing plate, and a second binding band fixing piece is arranged on the other side of the buckle fixing plate.

An ankle joint outer shell is arranged on one side of the lower end of the lower leg side plate, an ankle joint inner shell is arranged on the other side of the lower leg side plate, an ankle joint connecting shaft is arranged on the ankle joint inner shell, and the ankle joint connecting shaft sequentially penetrates through the side plate on one side of the shoe support and the lower end of the lower leg side plate and then is fixedly connected with the ankle joint shell on the other side.

The invention has the advantages and positive effects that:

1. the invention adopts a passive design concept, effectively solves the problem of exoskeleton endurance caused by a battery technology, adopts a variable stiffness structure design of the joint, and can automatically adjust the joint power assisting degree according to the self situation, so that the operation is simple and convenient, and even the elderly and children can easily operate the joint power assisting mechanism.

2. The invention has the advantages of convenient installation of each component, height adjustment according to the height of a user, compact and light overall structure and convenient carrying and transportation.

Drawings

Figure 1 is a schematic view of the structure of the present invention,

Figure 2 is a schematic view of the lumbar adjustment assembly of figure 1,

Figure 3 is a schematic view of the lumbar backplate of figure 2,

Figure 4 is a schematic view of the hip adjustment lever installation of figure 2,

Figure 5 is another angular schematic view of the lumbar adjustment assembly of figure 2,

Figure 6 is a schematic view of the variable stiffness power assisted joint assembly of figure 1,

Figure 7 is another angular schematic view of the variable stiffness power joint assembly of figure 6,

Figure 8 is an exploded view of the variable stiffness power joint assembly of figure 6,

Figure 9 is a schematic view of the elastic member in figure 8,

Figure 10 is a cross-sectional view of the variable stiffness power joint assembly of figure 6,

Figure 11 is a schematic view of the variable stiffness power assisted joint assembly of figure 6 in use,

Figure 12 is a second schematic view of the variable stiffness power assisted joint assembly of figure 6 in use,

Figure 13 is a schematic view III of the variable stiffness power assisted joint assembly of figure 6 in use,

Figure 14 is a schematic view of the ankle support assembly of figure 1,

Figure 15 is an exploded view of the ankle support assembly of figure 14,

Figure 16 is a schematic view of the first link connection of figure 1,

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

The waist support device comprises a clamp spring tube 1, a waist side rod 2, a back buckle 3, a sleeve 4, a waist back plate 5, an elastic piece inner ring fixing sleeve 6, a waist handrail 7, an installation inner shell 8, a connecting shaft sleeve 9, an installation outer shell 10, a cover plate 11, an inner joint box body 12, an installation shaft 121, an upper clamping groove seat 122, an adjusting plate buckle 13, an outer joint box body 14, a waist groove 141, a lower clamping groove seat 142, a pressing cover 15, a pressing block 151, a first binding belt fixing piece 16, a second binding belt fixing piece 17, a bearing end cover 18, an inner bearing sleeve 19, an elastic piece inner ring fixing sleeve 20, a first hole seat 201, an elastic piece outer ring fixing sleeve 21, a second hole seat 211, an elastic piece 22, an elastic piece outer hole seat 221, a folding elastic piece 222, an elastic piece inner hole seat 223, an outer ring 224, an outer ring 23, a gasket 24, an adjusting ring 241, a clamping block 25, a fixing plate, a leg buckle 26, a leg side plate 27, an ankle side plate 28, an ankle joint outer shell, an ankle support pad 29, an ankle support assembly 31, an ankle support assembly 32, an ankle support assembly 34, an ankle support assembly 32, an ankle support assembly 33, an ankle support assembly 34, a joint support assembly 32, an ankle support assembly 37, a joint support assembly 33, a waist support assembly 34, a waist support assembly 37, and a waist support assembly.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings.

As shown in fig. 1-17, the invention comprises a waist adjusting component 37, a variable stiffness power-assisted joint component 38, an ankle joint supporting component 39, a first connecting rod 35 and a second connecting rod 36, wherein as shown in fig. 2-5, both sides of the waist adjusting component 37 are respectively provided with a hip joint adjusting rod 6, as shown in fig. 1, the hip joint adjusting rod 6 is connected with the variable stiffness power-assisted joint component 38 at the uppermost end of the corresponding side, the variable stiffness power-assisted joint components 38 at the same side are sequentially connected through the first connecting rod 35, the variable stiffness power-assisted joint component 38 at the lowermost end is connected with the ankle joint supporting component 39 at the corresponding side through the second connecting rod 36, as shown in fig. 6-10, the variable stiffness power-assisted joint component 38 comprises an intra-articular box body 12 and an outer articular box body 14, a mounting shaft 121 is arranged on the inner articular box body 12 and is rotationally connected with the outer articular box body 14, an elastic piece inner ring fixing sleeve 20, an elastic piece outer ring fixing sleeve 21, an elastic piece 22 and an adjusting ring 24 are sequentially arranged between the joint inner box body 12 and the joint outer box body 14, wherein the elastic piece inner ring fixing sleeve 20 is sleeved on the mounting shaft 121, one side of the elastic piece inner ring fixing sleeve is fixedly connected with the middle part of the joint outer box body 14, the other side of the elastic piece inner ring fixing sleeve is fixedly connected with the inner ring of the elastic piece 22, one side of the outer ring of the elastic piece 22 is fixedly connected with the elastic piece outer ring fixing sleeve 21, the other side of the elastic piece outer ring is fixedly connected with the adjusting ring 24, a waist-shaped hole 141 is formed in the joint outer box body 14 along the circumferential direction, a pressing cover 15 is arranged on the pressing cover 15, a pressing block 151 penetrates through the corresponding waist-shaped hole 141, a clamping block 241 is arranged on the outer side of the adjusting ring 24 along the circumferential direction, and a clamping groove is formed in the inner wall of the joint inner box body 12 along the circumferential direction, and the clamping block 241 is arranged in the corresponding clamping groove.

In the invention, when the joint assistance is not regulated, the elastic body 22 is not deformed, as shown in fig. 11, at this time, the rigidity-variable assistance joint assembly 38 is in a vertical state, and no torque exists in the joint, so that the upward lifting of the legs of a human body is not assisted. When the joint assistance is required to be regulated, a user can press the pressing cover 15, the pressing block 151 of the pressing cover 15 presses the elastic member outer ring fixing sleeve 21, the elastic member 22 deforms and displaces in the extrusion force direction, the regulating ring 24 is driven to move in the extrusion force direction, the clamping blocks 241 on the regulating ring 24 are separated from the clamping grooves on the inner wall of the joint inner box body 12, at the moment, the joint outer box body 14 is rotated, the joint outer box body 14 rotates to drive the elastic member 22 to rotate because the joint outer box body 14, the elastic member inner ring fixing sleeve 20 and the elastic member 22 are fixedly connected, the elastic member 22 rotates to drive the regulating ring 24 to rotate, so that the joint outer box body 14 rotates to drive the elements to rotate together, the clamping blocks 241 on the regulating ring 24 are separated from the clamping grooves on the inner wall of the joint inner box body 12, at this time, the rotation of the adjusting ring 24 is not limited, the elastic piece 22 cannot be deformed, when the joint outer box 14 rotates to a proper angle, such as the angle in fig. 12, the pressing cover 15 is loosened, the elastic piece 22 is restored to the original state, and drives the adjusting ring 24 and the pressing cover 15 to restore to the original positions, at this time, the clamping blocks 241 on the adjusting ring 24 reenter the corresponding clamping grooves on the inner wall of the joint inner box 12, at this time, the elastic piece 22 is still not deformed, but at this time, the joint is not in a vertical state as shown in fig. 12, because the joint is used, the joint needs to be manually rotated to a vertical state (a human body vertical state) as shown in fig. 13, in the process, the joint outer box 14 rotates to drive the inner ring fixing sleeve 20 of the elastic piece and the inner ring of the elastic piece 22, but the adjusting ring 24 cannot rotate due to the clamping blocks 241 being clamped in the corresponding clamping grooves on the inner wall of the joint inner box 12, therefore, the outer ring of the elastic member 22 fixedly connected with the adjusting ring 24 cannot rotate, so that the inner ring and the outer ring of the elastic member 22 relatively rotate, the elastic member 22 deforms, elastic potential energy is generated by deformation, and when the joint acts (the leg of the human body bends), a torque is provided for the joint when the elastic member 22 returns to the original shape, and the torque realizes joint assistance.

As shown in fig. 9, the elastic member 22 includes an outer ring 224 and folding elastic pieces 222, and each folding elastic piece 222 is uniformly distributed in the outer ring 224 along the circumferential direction, a plurality of elastic member outer hole seats 221 are uniformly distributed on the inner wall of the outer ring 224 along the circumferential direction, one end of each folding elastic piece 222 is fixedly connected with the corresponding elastic member outer hole seat 221, the other end of each folding elastic piece 222 is provided with an elastic member inner hole seat 223, as shown in fig. 10, a plurality of first hole seats 201 are uniformly distributed on the outer circumferential surface of the elastic member inner ring fixing sleeve 20, a plurality of second hole seats 211 are uniformly distributed on the inner circumferential surface of the elastic member outer ring fixing sleeve 21, the elastic member inner hole seats 223, the first hole seats 201 and threaded holes formed in the middle of the joint outer box 14 are correspondingly connected through first screws, and the elastic member outer hole seats 221, the second hole seats 211 and connecting holes formed in the adjusting ring 24 are correspondingly connected through second screws.

The elastic piece 22 in the invention adopts a large deformation structure with local circumferential direction, the structure is similar to a honeycomb structure, but because the honeycomb structure is of a hexagonal structure and has larger resistance in deformation, the invention designs a folding shrapnel 222 structure of a snake-shaped lamination, which has larger deformation capacity and restoring capacity, as shown in fig. 9, the inner ring and the outer ring of the elastic piece 22 relatively rotate to deform the shrapnel of the snake-shaped lamination, at the moment, elastic potential energy generated by deformation is stored in the elastic piece 22, and the elastic piece 22 releases the elastic potential energy in the restoring process, thereby completing the storage and release of energy. The elastic member 22 may be made of carbon spring steel, 304 stainless steel, or the like.

As shown in fig. 8, a bearing end cover 18 is disposed at the outer end of the mounting shaft 121 to fix the mounting shaft 121 to the joint outer box 14, an inner sleeve 19 is disposed on the mounting shaft 121, an elastic member inner ring fixing sleeve 20 is sleeved on the inner sleeve 19 to ensure rotation, and a gasket 23 is disposed between the elastic member inner ring fixing sleeve 20 and the bottom surface of the joint inner box 12. In this embodiment, the inner sleeve 19 and the washer 23 are both made of plastic.

As shown in fig. 6 to 8, the upper side of the intra-articular box 12 is provided with an upper clamping groove seat 122 connected with the lower end of the hip joint adjusting rod 6 or the lower end of the first connecting rod 35 at the corresponding side, an adjusting plate buckle 13 is arranged in the upper clamping groove seat 122, a plurality of lower buckle holes are arranged on the bottom plate of the upper clamping groove seat 122, as shown in fig. 2, a plurality of upper buckle holes are arranged at the lower ends of the hip joint adjusting rod 6 and the first connecting rod 35, and when in connection, the lower end of the hip joint adjusting rod 6 or the lower end of the first connecting rod 35 is inserted into the upper clamping groove seat 122 on the corresponding intra-articular box 12 and sequentially penetrates through the corresponding upper buckle holes and the lower buckle holes through the adjusting plate buckle 13 to be clamped for realizing connection, and in addition, the height is convenient to adjust.

As shown in fig. 7, a first strap fixing member 16 is disposed on one side of the upper clamping groove seat 122, a second strap fixing member 17 is disposed on the other side of the upper clamping groove seat 122, as shown in fig. 8, openings are disposed on two sides of the upper clamping groove seat 122, and the upper ends of the first strap fixing member 16 and the upper ends of the second strap fixing member 17 are respectively inserted into the upper clamping groove seat 122 through corresponding side openings and are fixedly clamped.

As shown in fig. 6-8, the lower side of the outer joint box 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, as shown in fig. 16, the upper ends of the first connecting rod 35 and the second connecting rod 36 are respectively provided with a marble 40, and the marble 40 is mounted on the corresponding connecting rod through a spring support, when in connection, the marble 40 is firstly pressed down, then the upper end of the first connecting rod 35 (or the second connecting rod 36) is inserted into the lower clamping groove seat 142 corresponding to the lower side of the outer joint box 14, after the lower clamping groove seat is adjusted to a proper height, the marble 40 is automatically ejected and clamped in the corresponding marble holes under the action of the spring to realize fixation, and in addition, the height is convenient to adjust.

As shown in fig. 2-5, the waist adjusting component 37 comprises a waist backboard 5, a waist side rod 2 and a waist handrail 7, wherein the waist side rods 2 are respectively arranged at two sides of the waist backboard 5, adjacent ends of the waist side rods 2 at two sides are connected through a clamp spring tube 1, the clamp spring tube 1 penetrates through a tube sleeve 4, and as shown in fig. 3, the tube sleeve 4 is fixed in an installation clamping groove arranged in the middle of the waist backboard 5 through a back buckle 3, a round hole is arranged at the connecting end part of the waist side rod 2, clamp springs are arranged at two ends of the clamp spring tube 1, and after corresponding side end parts of the clamp spring tube 1 are sleeved at the connecting end parts of the waist side rods 2, positioning and adjusting functions are realized through cooperation of the clamp springs and the round holes. In this embodiment, the snap spring tube 1 is a square snap spring tube, and the tube sleeve 4 is a square tube 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 adjusting bars 6 are hinged with the ends of the waist armrests 7 on the corresponding sides.

As shown in fig. 4, the free end of the waist handrail 7 is provided with an ear plate seat, the upper end of the hip joint adjusting rod 6 is rotatably mounted in the ear plate seat, in this embodiment, one side of the ear plate seat is provided with a mounting inner shell 8, the other side of the ear plate seat is provided with a mounting outer shell 10, a connecting shaft is arranged on the mounting inner shell 8, and passes through the ear plate seat and the through hole at the upper end of the hip joint adjusting rod 6, and then is fixedly connected with the mounting outer shell 10 through a cover plate 11, and the connecting shaft is sleeved with a connecting shaft sleeve 9 to ensure rotation.

As shown in fig. 14-15, the ankle support assembly 39 includes a shank side plate 27 and a shoe support 30, wherein the upper end of the shank side plate 27 is provided with a fastening fixing plate 25, and the fastening fixing plate 25 is internally provided with a shank fastening 26, the bottom plate of the fastening fixing plate 25 is provided with a plurality of first fastening holes, the lower end of the second connecting rod 36 is provided with a plurality of second fastening holes, the lower end of the second connecting rod 36 is inserted into the fastening fixing plate 25 on the corresponding ankle support assembly 39, the shank fastening 26 sequentially passes through the corresponding first fastening holes and the corresponding second fastening holes to fasten and realize connection, and the height is convenient to be adjusted, the lower end of the shank side plate 27 is rotatably connected with the shoe support 30, as shown in fig. 15, in this embodiment, one side of the shank side plate 27 is provided with an ankle outer shell 28, the other side is provided with an ankle inner shell 31, the ankle inner shell 31 is provided with an ankle joint connecting shaft, and the ankle connecting shaft sequentially passes through the side plate on one side of the shoe support 31 and the lower end of the shank side plate 27, and then passes through the ankle cover plate 29 on the other side, and the other side is provided with a spacer 34 to ensure that the ankle joint is rotatably connected with the ankle outer shell 34 on the two sides, and the other side plate is provided with the ankle shaft.

As shown in fig. 15, a fixing block 32 is provided in the upper end of the shank side plate 27 for mounting the shank buckle 26, and the first strap fixing part 16 and the second strap fixing part 17 are provided on both sides of the buckle fixing plate 25.

The working principle of the invention is as follows:

When each assembly of the invention forms an exoskeleton, a hip joint adjusting rod 6 in a waist adjusting assembly 37 is respectively inserted into an upper clamping groove seat 122 at the upper end of a corresponding side variable stiffness power-assisted joint assembly 38 and is fixed through an adjusting plate buckle 13, the upper end of a first connecting rod 35 is inserted into a lower clamping groove seat 142 at the lower side of the corresponding side variable stiffness power-assisted joint assembly 38 and is fixed after the adjustment of a length gear through a marble 40, the lower end of the first connecting rod 35 is inserted into the upper clamping groove seat 122 in the corresponding side variable stiffness power-assisted joint assembly 38 and is also fixed through the adjusting plate buckle 13, the lower side of the lowest end variable stiffness power-assisted joint assembly 38 is connected with the upper end of a second connecting rod 36 through a marble 40 structure after the adjustment of the length gear, and the second connecting rod 36 is inserted into a buckle fixing plate 25 at the upper side of an ankle joint supporting assembly 39 and is connected through a lower leg buckle 26. The invention has the advantages that each component is convenient to install and adjust in height, so that the exoskeleton is suitable for users with different heights, in addition, the invention can effectively transfer the weight of the body and the exoskeleton to the ground due to the contact with the ground, can effectively support the thighs and the shanks, and has compact and light whole mechanism and convenient carrying and transportation.

The invention adopts the design concept of no power supply, the joint adopts the variable stiffness structure design, and a user can automatically adjust the power assisting size of the joint according to the self situation. When the joint assistance is regulated, a user can press the pressing cover 15, the pressing block 151 of the pressing cover 15 presses the outer ring fixing sleeve 21 of the elastic member, the elastic member 22 deforms and displaces in the extrusion force direction, the regulating ring 24 is driven to move in the extrusion force direction, the clamping block 241 on the regulating ring 24 is separated from the clamping groove on the inner wall of the joint inner box body 12, the joint outer box body 14 is rotated, the joint outer box body 14, the inner ring fixing sleeve 20 of the elastic member and the inner ring of the elastic member 22 are fixedly connected, meanwhile, the outer ring of the elastic member 22, the outer ring fixing sleeve 21 of the elastic member and the regulating ring 24 are fixedly connected, the rotation of the joint outer box body 14 can drive the components to rotate together, the clamping block 241 on the regulating ring 24 is separated from the clamping groove on the inner wall of the joint inner box body 12, at the moment, the regulating ring 24 is not limited, the elastic member 22 cannot deform, after the joint outer box body 14 rotates by a proper angle, in the angle shown in fig. 12, the pressing cover 15 is loosened, the elastic member 22 is restored, and drives the adjusting ring 24 to restore to the original position, at this time, the clamping blocks 241 on the adjusting ring 24 re-enter the corresponding clamping grooves on the inner wall of the joint inner box body 12, at this time, the elastic member 22 is still not deformed, but at this time, the joint is not in a vertical state as shown in fig. 12, because the joint is used, as shown in fig. 13, the joint needs to be manually broken into a vertical state, in the process, the rotation of the joint outer box body 14 still drives the inner ring of the elastic member 20 and the inner ring of the elastic member 22, but the adjusting ring 24 cannot rotate because the clamping blocks 241 are clamped in the corresponding clamping grooves on the inner wall of the joint inner box body 12, so that the outer ring of the elastic member 22 fixedly connected with the adjusting ring 24 cannot rotate, the elastic member 22 deforms, elastic potential energy is generated by deformation, and when the joint acts, since the elastic member 22 returns to its original shape, a torque is provided to the joint, and this torque achieves joint assistance. The invention has simple and convenient operation, and even the old and children can easily operate.

Claims (10)

1. A passive wearable lower limb exoskeleton is characterized by comprising a waist adjusting component (37), a variable stiffness power-assisted joint component (38), an ankle joint supporting component (39), a first connecting rod (35) and a second connecting rod (36), wherein hip joint adjusting rods (6) are arranged on two sides of the waist adjusting component (37), the hip joint adjusting rods (6) are connected with the variable stiffness power-assisted joint component (38) at the uppermost end of the corresponding side, the variable stiffness power-assisted joint component (38) at the same side is sequentially connected with the ankle joint supporting component (39) at the corresponding side through the first connecting rod (35), the variable stiffness power-assisted joint component (38) at the lowermost end is connected with the ankle joint supporting component (39) at the corresponding side through the second connecting rod (36), the variable stiffness power-assisted joint component (38) comprises an inner joint box body (12) and an outer joint box body (14), a mounting shaft (121) is arranged on the inner joint box body (12) and is rotationally connected with the outer joint box body (14), an elastic piece inner ring fixing sleeve (20), an elastic piece fixing sleeve (21), an elastic piece (24) and an elastic piece (24) are sequentially arranged between the inner joint box body (12) and the outer joint box body (14), the elastic piece fixing sleeve is fixedly connected with the inner ring (22) and the other side of the elastic piece fixing sleeve (121), one side of the outer ring of the elastic piece (22) is fixedly connected with the outer ring fixing sleeve (21) of the elastic piece, the other side of the outer ring of the elastic piece is fixedly connected with the adjusting ring (24), a waist-shaped hole (141) is formed in the joint outer box body (14), a pressing cover (15) is arranged on the outer side of the joint outer box body, a pressing block (151) is arranged on the pressing cover (15) to penetrate through the corresponding waist-shaped hole (141), a clamping block (241) is arranged on the outer side of the adjusting ring (24), a clamping groove is formed in the joint inner box body (12), and the clamping block (241) is arranged in the corresponding clamping groove.

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 (222) 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 arranged 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 arranged on the adjusting ring (24) are correspondingly connected through second screws.

3. The passive wearable lower limb exoskeleton of claim 2 wherein each folded dome (222) is circumferentially uniform and the folded domes (222) are in a serpentine layered structure.

4. The passive wearable lower limb exoskeleton of claim 1, wherein an upper clamping groove seat (122) is arranged on the upper side of the intra-articular box body (12), an adjusting plate buckle (13) is arranged in the upper clamping groove seat (122), a first binding band fixing piece (16) is arranged on one side of the upper clamping groove seat (122), and a second binding band fixing piece (17) is arranged on the other side of the upper clamping groove seat.

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

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 ends of the waist handrails (7) on the corresponding sides.

7. The passive wearable lower limb exoskeleton of claim 6 wherein adjacent ends of the lumbar side bars (2) are connected by a snap spring tube (1), said snap spring tube (1) passes through a sleeve (4), and said sleeve (4) is secured by a back snap (3) in a mounting slot provided in the lumbar backboard (5).

8. The passive wearable lower limb exoskeleton of claim 6, wherein the free end of the waist handrail (7) is provided with an ear plate seat, one side of the ear plate seat is provided with an installation inner shell (8), the other side of the ear plate seat is provided with an installation outer shell (10), and a connecting shaft is arranged on the installation inner shell (8) and fixedly connected with the installation outer shell (10) after penetrating through the ear plate seat and the through hole at the upper end of the hip joint adjusting rod (6).

9. The passive wearable lower limb exoskeleton of claim 1, wherein the ankle support assembly (39) comprises a shank side plate (27) and a shoe support (30), wherein a buckle fixing plate (25) is arranged at the upper end of the shank side plate (27), a shank buckle (26) is arranged in the buckle fixing plate (25), the lower end of the shank side plate (27) is rotatably connected with the shoe support (30), a first strap fixing piece (16) is arranged on one side of the buckle fixing plate (25), and a second strap fixing piece (17) is arranged on the other side of the buckle fixing plate.

10. The passive wearable lower limb exoskeleton of claim 9, wherein an ankle outer shell (28) is arranged on one side of the lower end of the lower leg side plate (27), an ankle inner shell (31) is arranged on the other side of the lower leg side plate, an ankle connecting shaft is arranged on the ankle inner shell (31), and the ankle connecting shaft is fixedly connected with the ankle outer shell (28) on the other side after sequentially penetrating through the side plate on one side of the shoe support (30) and the lower end of the lower leg side plate (27).