CN217967005U

CN217967005U - Lower limb exoskeleton assisting walking support

Info

Publication number: CN217967005U
Application number: CN202222088187.8U
Authority: CN
Inventors: 朱岩
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-08-09
Filing date: 2022-08-09
Publication date: 2022-12-06
Anticipated expiration: 2032-08-09

Abstract

The utility model discloses a lower limb exoskeleton assisting walking and supporting, which comprises an upper limb shell, a lower limb shell, a foot shell, an actuator assembly body and a regulating plate assembly body; the adjusting plate assembly body comprises an adjusting plate and a foot pressing rod, the upper end of the adjusting plate is fixed with the lower limb shell, the lower end of the adjusting plate is fixed with the foot shell, the foot pressing rod is hinged with a pressing rod shaft fixed on the adjusting plate, the upper end of the foot pressing rod is fixedly connected with the lower end of an inner wire of a Bowden wire, the upper end of the inner wire of the Bowden wire is connected with the actuator assembly body, and the lower end of the foot pressing rod exceeds the bottom surface of the foot shell in a free state; the actuator assembly preferably adopts a gas-liquid mixed hydraulic cylinder, when feet fall to the ground, the foot pressing plates rotate around the pressing rod shafts, the inner wires of the Bowden wires are pulled downwards at the upper ends of the foot pressing plates, so that the actuator assembly is triggered to increase or completely lock the rotational damping between the upper limb shells and the lower limb shells, when the downward pulling force of the Bowden wires disappears, the actuator assembly recovers to the initial state, and the upper limb shells and the lower limb shells recover to rotate freely. The structure can realize locking when the knee joint is in any state.

Description

Lower limb exoskeleton assisting walking support

Technical Field

The utility model relates to an ectoskeleton technical field especially relates to a low limbs ectoskeleton that supplementary walking supported.

Background

Due to the fragility of the knee joint, knee joint problems, including knee weakness, meniscus damage, etc., are easily caused by the friction of the knee joint menisci during walking or damage during movement. Because the legs of the patients with knee joint diseases can swing freely, but the knee joints can not support the weight of the whole body, and a plurality of patients can only walk by fixing the knee joints or walking with the help of crutches in later daily life. At present, a lower limb auxiliary walking device completely locks a knee joint to solve the problem of small supporting force of the knee joint in the walking process, but a patient wearing the equipment cannot bend the knee joint in the walking process and only can take a step by swinging a thigh outwards, and walking is not natural. Therefore, most of the existing power type exoskeletons are adopted to assist the bending of knee joints in the walking process, but the power mode is adopted to support the body weight, the needed power is often large, and the equipment is heavy and expensive. Currently, there are few such powered devices used in patients' daily lives. Or some devices can provide supporting force for walking, but the knee joint can be locked only at the meshing position of the gear teeth and cannot be locked at any position by the gear teeth mode.

SUMMERY OF THE UTILITY MODEL

But can freely bend but fall to the ground the problem of the unable back of supporting health weight for solving knee joint swing in-process, the utility model provides a lower limbs ectoskeleton that supplementary walking supported has designed a gas-liquid mixture's pneumatic cylinder in this ectoskeleton for walking in-process knee joint motion's regulation, and adopt mechanical structure to trigger the knee joint damping and adjust. When the feet fall to the ground, the valve lever is pulled through the Bowden cable to increase the bending resistance or completely lock the valve lever, so that the knee joint is supported; in the leg swinging stage in the walking process, the valve shaft position of the valve lever is changed under the action of the spring, so that the bending resistance of the knee joint is reduced, and the knee joint at the leg is convenient to freely bend and swing.

The utility model adopts the technical scheme as follows:

a lower limb exoskeleton for assisting walking support comprises an upper limb shell, a lower limb shell, a foot shell, an actuator assembly and an adjusting plate assembly, wherein the upper limb shell, the lower limb shell, the foot shell, the actuator assembly and the adjusting plate assembly are respectively fixed with thighs, calves and feet of a person; the upper limb shell and the lower limb shell can freely rotate around a knee joint, the adjusting plate assembly body comprises an adjusting plate and a foot pressing rod, the upper end of the adjusting plate is fixed with the lower limb shell, the lower end of the adjusting plate is fixed with the foot shell, the foot pressing rod is hinged with a pressing rod shaft fixed on the adjusting plate, the upper end of the foot pressing rod is fixedly connected with the lower end of an internal line of a Bowden wire, the upper end of the internal line of the Bowden wire is connected with a part which is triggered and executed in the actuator assembly body, and the lower end of the foot pressing rod exceeds the bottom surface of the foot shell in a free state; when the feet fall to the ground, the foot pressing plates rotate around the pressing rod shafts, the inner bowden cable lines are pulled downwards at the upper ends of the foot pressing plates, and therefore the actuator assembly body is triggered to enable the rotary damping between the upper limb shell and the lower limb shell to be increased or completely locked.

In the above technical solution, further, both sides of the lower end of the upper limb shell and both sides of the upper end of the lower limb shell are hinged by a knee outer side shaft and a knee inner side shaft respectively, and the knee outer side shaft and the knee inner side shaft are coaxial; the articulated can be directly articulated also can realize articulating through the fixed plate for upper limbs shell and low limbs shell can freely be rotatory around knee lateral axis and knee medial axis, can follow the knee joint after the dress and buckle.

Furthermore, the actuator assembly body comprises a cylinder, a rod, a thimble and a valve core; the rod is arranged in the cylinder, the upper end of the rod extends out of the cylinder and is sealed through a sealing ring B, the lower end of the rod is sealed with the inner wall of the cylinder through the sealing ring A, the sealing ring A divides the cylinder into an upper cavity and a lower cavity, the upper cavity is divided into an upper compressed nitrogen cavity and a lower liquid cavity A filled with hydraulic oil, and the lower cavity is a liquid cavity B filled with hydraulic oil; the thimble is coaxially arranged in the rod and can freely slide in the thimble and the rod, the thimble is T-shaped and is matched with a T-shaped hole in the rod so as to limit the length of the upper end of the thimble extending out of the rod, the valve core is coaxially matched with the big end of the T-shaped hole of the rod and arranged below the thimble, the top end of the valve core is contacted with the big end of the T-shaped hole of the thimble, the surface of the upper section of the valve core is provided with a groove, and the side wall of the rod is provided with a liquid groove so as to communicate the interior of the rod with the liquid cavity A; the rod, the thimble and the valve core together form an adjustable valve shaft;

the valve core moves downwards in the T-shaped hole in the rod by pressing the part of the thimble extending out of the rod, the groove of the valve core can enable the liquid groove on the rod to be communicated with the liquid cavity B in the downward moving process, and then the liquid cavity A and the liquid cavity B are communicated, and at the moment, the rod can be pressed into the cylinder by the pressure along the axis of the rod. Because the nitrogen chamber is filled with compressed nitrogen, after the rod is pressed into the cylinder and the extension part of the thimble stops being pressed, the valve core can move upwards under the pressure of the compressed nitrogen, so that the liquid chamber A and the liquid chamber B are isolated, and the rod cannot move in the cylinder, thereby realizing locking. When the downward pulling force of the inner wire of the Bowden wire disappears, the state of pressing the thimble is presented, and when the upper end of the foot pressing plate pulls the inner wire of the Bowden wire downwards, the pressing of the thimble is stopped.

Furthermore, the liquid groove is in a shape of gradually changing the thickness from top to bottom, and the size of the notch formed by communicating the liquid cavity A with the liquid cavity B can be controlled by the length of the pressing-in thimble due to the difference of the thickness of the liquid groove from top to bottom, so that the damping force of the pressing-in cylinder can be adjusted.

Furthermore, the cylinder is hinged with the cylinder shaft and can freely rotate, the cylinder shaft is fixed with the lower limb shell, the rod is fixed with the rod joint, the rod joint is hinged with the rod shaft and can freely rotate, and the rod shaft is fixed with the upper limb shell; the rod joint is hinged with the valve lever through a shaft pin, the valve lever is contacted with the thimble, one end of the valve lever is fixedly connected with the upper end of the inner line of the Bowden line, and the other end of the valve lever has pretightening force to press the thimble into the rod; the pretightening force can be realized by adopting a spring, the rod shaft is sleeved with the spring, the two torsion arms of the spring are respectively contacted with the spring pressing plate and the valve lever, the spring has the pretightening force, when the Bowden cable is not pulled, the valve lever presses the thimble into the rod through the pretightening force, at the moment, when the upper limb shell and the lower limb shell rotate oppositely under the action of external force, the rod is compressed to enter the cylinder, and when the upper limb shell and the lower limb shell rotate oppositely without the action of external force, the rod extends out of the cylinder under the action of pressure in the nitrogen chamber, so that the upper limb shell and the lower limb shell rotate to an upright position relatively. When pulling the Bowden cable (after the foot has fallen to the ground), the valve lever will rotate around the pivot pin, and the thimble will then extend out of the rod, at which point the rod cannot be pressed into the cylinder, at which point a supporting force is provided.

Furthermore, foot depression bar upper end arranged a plurality of mounting holes, fixed with the interior line lower extreme of Bowden wire through the cooperation of rope clamp plate and mounting hole, the displacement variation of interior line of Bowden wire when falling to the ground with the regulation foot through the adjustment rope clamp plate is connected with the mounting hole of difference to the holding power size that provides is fallen to the ground in the regulation.

Furthermore, the regulating plate on open and to have the adjustment tank, lie in the adjustment tank side on the regulating plate and be equipped with a plurality of arc fixed positions that communicate with the adjustment tank along the groove in proper order, the screw passes the arc fixed position and fixes regulating plate and low limbs shell, the distance of foot to knee joint can be adjusted to the position of the arc fixed position through the adjusting screw installation to adapt to different leg lengths.

The utility model has the advantages that:

the utility model discloses a required function is realized through pure mechanical structure to low limbs ectoskeleton, utilizes the foot to fall to the ground this state trigger executor assembly body action, makes its increase knee joint bending resistance, provides the holding power, realizes making the foot fall to the ground and the dead coincidence of knee lock through mechanical structure. Especially, the utility model designs a gas-liquid mixing hydraulic cylinder, the adjustable valve shaft is designed and installed on the rod of the gas-liquid mixing hydraulic cylinder in a centralized way, which not only realizes the above functions, but also can lock the knee joint at any angle, and simultaneously, compared with the prior art, the structure can effectively reduce the installation space and reduce the weight of the equipment; the hydraulic cylinder is filled with compressed nitrogen so that the adjustable valve shaft can automatically reset and lock the hydraulic cylinder, the reset position can be adjusted, and the locking force can be changed according to the position of the adjustable valve shaft; the locked hydraulic cylinder can provide supporting force for the legs of a person after falling to the ground to prevent the knee joints from bending, and the supporting force can be adjusted by adjusting the size of the locking force, so that the supporting force can be adjusted in advance according to the condition of the patient, the patient can walk safely, and the recovered muscle strength can be ensured to play a role; in addition, the lower limb exoskeleton of the utility model can be adjusted without disassembly through the fixed position of the screw on the adjusting plate so as to adapt to patients with different leg lengths.

Drawings

Fig. 1 is a schematic structural view of a lower extremity exoskeleton of the present invention;

FIG. 2 is a right side view of the structure of FIG. 1;

FIG. 3 is a schematic view of a knee joint in the lower extremity exoskeleton of the present invention;

fig. 4 is a schematic view of the actuator assembly of the lower extremity exoskeleton of the present invention;

FIG. 5 is a schematic view of one construction of the rod of FIG. 4;

FIG. 6 is an enlarged view at A in FIG. 2;

FIG. 7 is a cross-sectional view of a knee joint in the lower extremity exoskeleton of the present invention;

FIG. 8 is an enlarged view at B in FIG. 2;

FIG. 9 is a schematic view of the medial malleolus joint of the lower extremity exoskeleton of the present invention;

FIG. 10 is a cross-sectional view of the ankle joint in the lower extremity exoskeleton of the present invention;

FIG. 11 is a schematic structural view of the foot compression bar of the lower extremity exoskeleton of the present invention;

fig. 12 is a schematic view of a spring plate of the lower extremity exoskeleton of the present invention.

In the figure:

1 upper limb shell, 2 lower limb shell, 3 foot shell, 4 actuator assembly, 5 Bowden cable, 6 adjusting plate assembly, 7 bandage, 8 rod joint, 9 valve lever, 10 spring pressing plate, 11 rod shaft, 12 spring, 13 cylinder joint, 14 cylinder shaft, 15 cylinder fixing plate, 16 cylinder heightening plate, 17 lower limb fixing plate, 18 upper limb fixing plate, 19 rod fixing plate, 20 upper pulling rope seat, 21 nut A,22 nut B,23 shaft pin, 24 adjusting plate, 25 foot pressing rod, 25-1 mounting hole, 26 rope pressing plate, 27 adjusting groove, 27-1 arc fixing position, 28 screw, 29 lower pulling rope seat, 30 nuts C,31 nuts D,32 inner adjusting plates, 33 pressure rod bearings, 34 pressure rod shafts, 35 end covers, 36 rubber pads, 37 rubber protrusions, 38 inner side plate adjusting grooves, 39 knee outer side shafts, 40 knee inner side shafts, 41 inner lower limb plates, 42 inner upper limb plates, 43 shaft sleeves, 4-1 cylinders, 4-2 rods, 4-3 ejector pins, 4-4 valve shafts, 4-5 sealing rings A,4-6 sealing rings B,4-7 nitrogen chambers, 4-8 liquid chambers A,4-9 liquid chambers B,4-10 oil injection holes, 4-11 liquid grooves, 4-12T-shaped gears, 4-13T-shaped holes and 4-14 valve shaft grooves.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

The lower limb exoskeleton structure for assisting walking and supporting of the utility model is shown in figures 1-11. The exoskeleton shown in the figures is a left lower limb exoskeleton, the left side and the right side of the exoskeleton are independent of each other, and the exoskeleton can be worn and used independently.

As shown in fig. 1 and 2, the lower extremity exoskeleton comprises an upper limb shell 1, a lower limb shell 2, a foot shell 3, an actuator assembly 4 and an adjusting plate assembly 6; upper limbs shell 1, low limbs shell 2 can be around knee joint free rotation, and is concrete in an embodiment of the utility model, as figure 3, upper limbs shell 1 passes through the fixed continuous of screw with upper limbs fixed plate 18 and interior upper limbs board 42, and low limbs shell 2 links to each other with low limbs fixed plate 17 and interior low limbs board 41 are fixed. The upper limb fixing plate 18 and the inner upper limb plate 42 are respectively hinged with the knee lateral axis 39 and the knee medial axis 40, and the knee medial axis are coaxial; the lower limb fixing plate 17 and the inner lower limb plate 41 are respectively hinged or fixed to the knee outer axis 39 and the knee inner axis 40, so that the upper limb shell 1 and the lower limb shell 2 can freely rotate around the knee outer axis 39 and the knee inner axis 40, and can follow the bending of the knee joint after being worn.

The upper limb shell 1 is fixed on the upper limb through a bandage, the lower limb shell 2 is fixed on the lower limb through a bandage, and the foot shell 3 is fixed with the feet of a person;

according to a specific embodiment of the present invention, as shown in fig. 4 and 5, the actuator assembly 4 includes a cylinder 4-1, a rod 4-2, a thimble 4-3, and a valve core 4-4; the rod 4-2 is arranged in the cylinder 4-1, the upper end of the rod 4-2 extends out of the cylinder 4-1 and is sealed by a sealing ring B4-6, and the lower end of the rod 4-2 is sealed with the inner wall of the cylinder 4-1 by a sealing ring A4-5; the cylinder 4-1 of the actuator assembly 4 is divided into two chambers by A4-5 sealing ring A, the upper layer of the upper chamber is filled with compressed nitrogen (i.e. forming a nitrogen chamber 4-7), the lower layer is filled with hydraulic oil (i.e. a liquid chamber A4-8), and the lower chamber is filled with hydraulic oil (i.e. a liquid chamber B4-9). The thimble 4-3 is coaxially arranged in the rod 4-2 and can freely slide, the thimble 4-3 is T-shaped and is matched with a T-shaped hole on the rod 4-2 so as to limit the length of the thimble 4-3 extending out of the rod 4-2 and prevent the thimble 4-3 from separating from the rod 4-2. The valve core 4-4 is coaxially matched with the big end of the T-shaped hole of the rod 4-2, the top end of the valve core is contacted with the big end of the thimble 4-3T, the surface of the upper section of the valve core 4-4 is provided with a groove 4-14, the side wall of the rod 4-2 is provided with a liquid groove 4-11 to communicate the inside of the rod 4-2 with the liquid cavity A4-8, and the rod 4-2, the thimble 4-3 and the valve core 4-4 jointly form an adjustable valve shaft; by pressing the part of the thimble 4-3 extending out of the rod 4-2, the valve core 4-4 can be moved downwards in the T-shaped hole in the rod 4-2, the groove 4-14 of the valve shaft 4-4 can make the liquid groove 4-11 on the rod 4-2 communicate with the liquid chamber B4-9 in the downward movement process, and as the liquid groove 4-11 is communicated with the liquid chamber A4-8, and the liquid chamber A4-8 is communicated with the liquid chamber B4-9, the rod 4-2 can be pressed into the cylinder 4-1 by the pressure along the axial line. Because the nitrogen chamber 4-7 is filled with compressed nitrogen, after the rod 4-2 is pressed into the cylinder 4-1 and the extension part of the thimble 4-3 is stopped being pressed, the valve core 4-4 can move upwards under the action of the nitrogen pressure, so that the liquid chamber A4-8 is isolated from the liquid chamber B4-9, and the rod 4-2 can not move in the cylinder 4-1 any more, thereby providing locking force. In addition, the liquid groove 11 can be designed to be gradually thicker and thinner, for example, to be thinner and thicker, so that the size of the notch for communicating the liquid chambers A4-8 and B4-9 can be controlled by the length of the push-in thimble 4-3, and the damping force for pushing the rod 4-2 into the cylinder 4-1 can be adjusted. The material of the valve element 4-4 may be selected such that the pressure of the gas filled in the nitrogen chamber 4-7 is sufficient to resist the weight of the valve element 4-4 to prevent it from falling. The ends of the valve core 4-4 and the rod 4-2 can be sealed by soft pads to prevent the liquid from flowing into the chamber A4-8 from the chamber B4-9 by pressing the rod 4-2 after locking, or the contact part of the end of the rod 4-2 and the valve core 4-4 can be finely ground without adding soft pads to increase the precision of the contact surface to prevent the liquid from flowing.

In the utility model, as shown in fig. 2, the actuator assembly 4 is disposed at the position of the knee joint, the adjustment plate assembly 6 comprises an adjustment plate 24 and a foot pressing rod 25, the upper end of the adjustment plate 24 is fixed with the lower limb shell 2, the lower end is fixed with the foot shell 3, the foot pressing rod 25 is hinged with a pressing rod shaft 34 fixed on the adjustment plate 24, the upper end of the foot pressing rod 25 is fixedly connected with the lower end of the inner wire of the bowden cable 5, the upper end of the inner wire of the bowden cable 5 is connected with a component for triggering execution in the actuator assembly 4, and the lower end of the foot pressing rod 25 exceeds the bottom surface of the foot shell 3 in a free state; when the feet are landed, the foot pressing plate 25 rotates around the pressing rod shaft 34, the upper end of the foot pressing plate 25 pulls the inner line of the Bowden cable 5 downwards, so that the actuator assembly 4 is triggered to increase or completely lock the rotational damping between the upper limb shell 1 and the lower limb shell 2, when the feet are lifted, the downward pulling force of the Bowden cable 5 disappears, the actuator assembly 4 returns to the initial state, and the upper limb shell 1 and the lower limb shell 2 return to free rotation.

Specifically, in an embodiment of the present invention, as shown in fig. 6 and 7, the lower limb fixing plate 17 is fixedly connected to the cylinder heightening plate 16, the cylinder fixing plate 15 is fixed to the cylinder heightening plate 16 by screws, the cylinder shaft 14 is fixed to the cylinder fixing plate 15 by screws, the cylinder joint 13 is hinged to the cylinder shaft 14 and can rotate freely, and the cylinder joint 13 is fixedly connected to the cylinder 4-1. The upper limb fixing plate 18 is fixedly connected with the rod fixing plate 19, the rod shaft 11 is fixedly mounted on the rod fixing plate 19 through screws, and the rod joint 8 is hinged to the rod shaft 11 and can rotate freely. The rod joint 8 is fixedly connected with the rod 4-2 and is hinged with the valve lever 9 through a shaft pin 23, the valve lever 9 is contacted with the thimble 4-3, a spring 12 is sleeved on the rod shaft 11, two torsion arms of the spring 12 are respectively contacted with the spring pressing plate 10 and the valve lever 9, the spring 12 has pretightening force, the thimble 4-3 is pressed into the rod 4-2 by the valve lever 9 when the Bowden wire 5 is not pulled, at the moment, when the upper limb shell 1 and the lower limb shell 2 rotate oppositely under the action of external force, the rod 4-2 is compressed into the cylinder 4-1, and when the upper limb shell 1 and the lower limb shell 2 rotate oppositely under the action of internal pressure in the nitrogen chamber 4-7, the rod 4-2 extends out of the cylinder 4-1, so that the upper limb shell 1 and the lower limb shell 2 relatively rotate to an upright position. The upper end of the Bowden cable 5 is fixedly connected with the valve lever 9, when the Bowden cable 5 is pulled (after the foot falls to the ground), the valve lever 9 rotates around the shaft pin 23, the thimble 4-3 extends out of the rod 4-2, and the rod 4-2 cannot be pressed into the cylinder 4-1 at the moment, so that the supporting force is provided.

As shown in fig. 3 and 12, the spring pressing plate 10 is fixedly mounted on the upper end of the rod joint 8 by means of screws or welding, and two spring arms of the spring 12 are pre-pressed and mounted on the same side of the rod joint 8, so that the two spring arms of the spring 12 are limited to rotate around the rod shaft 11, and the spring 12 is pre-pressed.

In addition, the lower limb exoskeleton of the utility model can meet users with different leg lengths through the design of the adjusting plate, the foot pressing plate and the like, as shown in fig. 8-11, the adjusting plate 24 is provided with the adjusting groove 27, the side of the adjusting groove is provided with a plurality of arc fixing positions 27-1 communicated with the adjusting groove, the adjusting plate can be fixedly connected on the lower limb shell 2 by passing through the arc fixing positions through the screws 28, the plurality of arc fixing positions 27-1 are distributed on the adjusting groove along the groove, the arc fixing positions 27-1 are communicated with the adjusting groove through the inclined grooves, and the fixing position can be adjusted by only loosening the screws without disassembly; the distance between the lower limb shell and the foot shell can be adjusted by selecting the arc-shaped fixing position 27-1 penetrated by the screw. Similarly, the medial plate adjustment slot 38 is formed in the medial plate 32 on the other side of the ankle portion and is shaped identically to the adjustment slot 27 in the adjustment plate 24. When the screw 28 is loosened (and the screws of the opposite inner adjusting plate 32 need to be loosened simultaneously without being unscrewed), the adjusting plate 24 can be moved up and down along the adjusting groove 27, and when the adjusting plate is moved to a proper length, the corresponding arc fixing position 27-1 of the adjusting plate 24 is moved to the screw 28 along the inclined groove and the screws are tightened, so that the adjusting plate 24 is fixed on the lower limb shell 2, the other end of the adjusting plate is fixed on the foot shell 3 through the screws, and the distance from the foot to the knee joint can be adjusted through the adjusting plate 24.

The upper end and the lower end of the outer tube of the Bowden cable 5 are provided with external threads with certain length, the upper end of the outer tube is fixed on the upper stay rope seat 20 through a nut A21 and a nut B22, the lower end of the outer tube is fixed on the lower stay rope seat 29 through a nut C30 and a nut D31, and after the adjusting plate 24 is adjusted, the installation length of the Bowden cable 5 can be adjusted through adjusting the nut A/B/C/D, so that the Bowden cable is suitable for different leg lengths.

A plurality of mounting holes 25-1 are arranged on the foot pressure lever 25, and the moving length of the inner line of the Bowden cable 5 after the foot falls on the ground can be adjusted by pre-adjusting the connection between the rope pressure plate 26 and different mounting holes 25-1, so that the supporting force provided after the foot falls on the ground can be adjusted.

A rubber pad 36 is fixed at the lower part of the foot shell 3 in a sticking or screw mode and the like so as to reduce the impact force with the ground in the walking process, and a rubber bulge 37 is arranged on the rubber pad 36 so as to increase the friction force in the walking process.

In conclusion, it can be seen that the lower limb exoskeleton of the embodiment of the utility model can be adopted to realize:

after a person's foot falls to the ground, the foot pressure lever 25 is pressed down to rotate around the 34 pressure lever shaft, so that the inner side line of the Bowden cable 5 is pulled to enable the 9 valve lever to rotate around the shaft pin 23, meanwhile, the ejector pin 4-3 is released, the valve core 4-4 is pressed back by nitrogen compressed in the nitrogen chamber 4-7 to seal the liquid groove 4-11, and further liquid flow of the two chambers A4-8 and B4-9 is limited, so that relative rotation of the upper and lower limb shells is limited, force is transmitted to the ground, and the person's lower limb is propped.

When the lower limb is in the swing stage, the spring 12 compresses the valve lever 9 to compress the thimble 4-3 and the valve core 4-4, at this time, the liquid groove 4-11 connects the two liquid chambers A4-8 and B4-9, and the rod 4-2 can slide in the cylinder 4-1 freely, and the valve lever 9 resets the foot pressing rod through the Bowden cable 5 to prepare for pulling the valve lever 9 for the next foot landing.

The exoskeleton can lock the knee joint at any angle, in addition, the size of a communicating notch of the liquid chamber A, B is changed by adopting the design of different thicknesses of the liquid grooves 4-11, and the length of displacement of the inner line of the Bowden wire can be changed by designing different mounting holes 25-1 of the foot pressure lever 25, so that the size of the supporting force can be effectively adjusted. Therefore, the leg muscle training device can be adjusted according to the actual situation of a patient, and can reduce the auxiliary supporting force for the patient with muscle force on the leg, so that the muscle of the patient can be utilized to the maximum degree to provide support, and the training effect can be better achieved. For patients with no muscle support at all, the knee joint can be completely locked.

Claims

1. A lower limb exoskeleton for assisting walking support is characterized by comprising an upper limb shell (1), a lower limb shell (2) and a foot shell (3) which are respectively fixed with human thighs, calves and human feet, an actuator assembly body (4) and an adjusting plate assembly body (6); the upper limb shell (1) and the lower limb shell (2) can freely rotate around a knee joint, the adjusting plate assembly (6) comprises an adjusting plate (24) and a foot pressing rod (25), the upper end of the adjusting plate (24) is fixed with the lower limb shell (2), the lower end of the adjusting plate is fixed with the foot shell (3), the foot pressing rod (25) is hinged with a pressing rod shaft (34) fixed on the adjusting plate (24), the upper end of the foot pressing rod (25) is fixedly connected with the lower end of an inner wire of a Bowden wire (5), the upper end of the inner wire of the Bowden wire (5) is connected with a component which triggers execution in the actuator assembly (4), and the lower end of the foot pressing rod (25) exceeds the bottom surface of the foot shell (3) in a free state; when the feet fall to the ground, the foot pressing rod (25) rotates around the pressing rod shaft (34), the inner line of the Bowden cable (5) is pulled downwards at the upper end of the foot pressing rod (25), so that the actuator assembly body (4) is triggered to increase or completely lock the rotational damping between the upper limb shell (1) and the lower limb shell (2), when the downward pulling force of the Bowden cable (5) disappears, the actuator assembly body (4) returns to the initial state, and the upper limb shell (1) and the lower limb shell (2) return to free rotation.

2. The lower extremity exoskeleton of walking assisted support according to claim 1, wherein both sides of the lower end of the upper extremity shell (1) and both sides of the upper end of the lower extremity shell (2) are hinged by a knee lateral axis (39) and a knee medial axis (40), respectively, and the knee lateral axis and the knee medial axis are coaxial; the hinge joint can be directly hinged or can be hinged through a fixing plate, so that the upper limb shell (1) and the lower limb shell (2) can freely rotate around a knee outer side shaft (39) and a knee inner side shaft (40), and can be bent along with the knee joint after being worn.

3. The walking assisted lower extremity exoskeleton of claim 1 wherein said actuator assembly (4) comprises a cylinder (4-1), a rod (4-2), a thimble (4-3), a valve cartridge (4-4); the rod (4-2) is arranged in the cylinder (4-1), the upper end of the rod (4-2) extends out of the cylinder (4-1) and is sealed by a sealing ring B (4-6), the lower end of the rod (4-2) and the inner wall of the cylinder (4-1) are sealed by a sealing ring A (4-5), the sealing ring A (4-5) divides the cylinder (4-1) into an upper cavity and a lower cavity, the upper cavity is divided into a nitrogen cavity (4-7) and a liquid cavity A (4-8) filled with hydraulic oil at the lower layer, and the lower cavity is a liquid cavity B (4-9) filled with hydraulic oil; the thimble (4-3) is coaxially arranged in the rod (4-2) and can freely slide, the thimble (4-3) is T-shaped and is matched with a T-shaped hole in the rod (4-2) to limit the length of the rod (4-2) extending out of the upper end of the thimble (4-3), the valve core (4-4) and the large end of the T-shaped hole of the rod (4-2) are coaxially matched and arranged below the thimble (4-3), the top end of the valve core is contacted with the large end of the T-shaped hole of the thimble (4-3), the surface of the valve core (4-4) is provided with a groove (4-14), the side wall of the rod (4-2) is provided with a liquid groove (4-11) to communicate the inside of the rod (4-2) with the liquid cavity A (4-8);

the part of the thimble (4-3) extending out of the rod (4-2) is pressed through a triggering execution part, so that the valve core (4-4) moves downwards in the T-shaped hole in the rod (4-2), the groove (4-14) of the valve core (4-4) enables the liquid groove (4-11) on the rod (4-2) to be communicated with the liquid cavity B (4-9) in the downward movement process, the liquid cavity A (4-8) is communicated with the liquid cavity B (4-9), and at the moment, the rod (4-2) can be pressed into the cylinder (4-1) by the pressure along the axis of the rod; because the nitrogen chamber (4-7) is filled with compressed nitrogen, after the rod (4-2) is pressed into the cylinder (4-1) and the extended part of the thimble (4-3) is stopped being pressed, the valve core (4-4) can move upwards under the pressure of the compressed nitrogen, so that the liquid chamber A (4-8) is separated from the liquid chamber B (4-9), and the rod (4-2) can not move in the cylinder (4-1) to realize locking; when the downward pulling force of the inner wire of the Bowden wire (5) disappears, the state of pressing the thimble (4-3) is presented, and when the upper end of the foot pressing rod (25) pulls the inner wire of the Bowden wire (5) downwards, the thimble (4-3) is stopped being pressed.

4. The lower extremity exoskeleton of walking assistance support according to claim 3, wherein the liquid grooves (4-11) have gradually changed thickness from top to bottom, and the size of the notch for communicating the liquid chamber A (4-8) with the liquid chamber B (4-9) can be controlled by the length of the push-in thimble (4-3) due to the difference of the thickness of the liquid grooves (4-11) from top to bottom, so as to adjust the damping force of the push-in cylinder (4-1) of the rod (4-2).

5. The lower extremity exoskeleton of walking assistance support according to claim 3, wherein said cylinder (4-1) is hinged to a cylinder shaft (14) and freely rotatable, said cylinder shaft (14) is fixed to the lower extremity shell (2), said rod (4-2) is fixed to a rod joint (8), said rod joint (8) is hinged to a rod shaft (11) and freely rotatable, said rod shaft (11) is fixed to the upper extremity shell (1); the rod joint (8) is hinged with the valve lever (9) through a shaft pin (23), the valve lever (9) is contacted with the thimble (4-3), one end of the valve lever (9) is fixedly connected with the upper end of the inner wire of the Bowden wire (5), and the other end of the valve lever has pretightening force to press the thimble (4-3) into the rod (4-2).

6. The lower extremity exoskeleton of assisted walking support according to claim 5, wherein the pre-tightening force is achieved by a spring, a spring (12) is sleeved on the rod shaft (11), two torsion arms of the spring (12) are respectively in contact with the spring pressing plate (10) and the valve lever (9), the spring (12) has pre-tightening force, the valve lever (9) presses the thimble (4-3) into the rod (4-2) through the pre-tightening force when the bowden cable (5) is not pulled, at this time, when the upper extremity shell (1) and the lower extremity shell (2) rotate towards each other under the action of external force, the rod (4-2) is compressed into the cylinder (4-1), when no force is applied to rotate the upper extremity shell (1) and the lower extremity shell (2) towards each other, the rod (4-2) extends out of the cylinder (4-1) under the action of internal pressure in the nitrogen chamber (4-7), so that the upper extremity shell (1) and the lower extremity shell (2) rotate towards each other to the upright position, when the bowden cable (5) is pulled, the valve lever (9) further extends around the thimble (4-2) to provide the supporting force, and at this time, the thimble (4-2) cannot provide the supporting force.

7. The lower extremity exoskeleton of walking assistance support according to claim 1, wherein a plurality of mounting holes (25-1) are arranged at the upper end of the foot pressing rod (25), the lower end of the inner line of the Bowden cable (5) is fixed by the matching of the rope pressing plate (26) and the mounting holes, and the magnitude of the supporting force provided by landing is adjusted by adjusting the displacement variation of the inner line of the Bowden cable when the foot lands on the ground by adjusting the connection of the rope pressing plate (26) and different mounting holes (25-1).

8. The lower limb exoskeleton of auxiliary walking support according to claim 1, wherein the adjusting plate (24) is provided with an adjusting groove (27), a plurality of arc fixing positions (27-1) communicated with the adjusting groove are arranged beside the adjusting groove, a screw (28) passes through the arc fixing positions (27-1) to fix the adjusting plate (24) and the lower limb shell (2), and the distance from the foot to the knee joint can be adjusted through the positions of the arc fixing positions (27-1) arranged on the adjusting screw (28) so as to adapt to different leg lengths.