CN221888672U - A lower limb exoskeleton robot - Google Patents

Abstract

The application provides a lower limb exoskeleton robot, which comprises a waist ring exoskeleton, wherein the outer walls of the two ends of the waist ring exoskeleton are connected with thigh exoskeleton, the outer wall of the bottom end of the thigh exoskeleton is connected with shank exoskeleton, the outer wall of the bottom of the shank exoskeleton is connected with foot skeleton boots, joint driving components are arranged on the outer walls among the waist ring exoskeleton, the thigh exoskeleton, the shank exoskeleton and the foot skeleton boots, and a machine driving controller is fixed on the outer wall of one side of the waist ring exoskeleton. According to the application, through the arrangement of the joint driving assembly, the machine driving controller controls each driving motor to work, and the turnover driving of the connecting arm at each joint is performed, so that the effect of assisting walking of a user is achieved, and under the cooperation of the rotating ball and the hemispherical groove, the connecting arm and the fixing rod structure can drive the thigh exoskeleton to rotate in multiple directions, so that the lower limb exoskeleton robot can comprehensively fit with the movement of the user, and the use of the lower limb exoskeleton robot is facilitated.

Description

A lower limb exoskeleton robot

Technical Field

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

Background Art

Lower limb exoskeleton robot, also known as lower limb assist exoskeleton robot, is a device that uses mechanical structure, sensor and control algorithm to assist people with lower limb dysfunction in walking and recovering their motor ability. Lower limb exoskeleton robot is mainly composed of skeleton support, motor drive system, sensor, power supply and control system. Its design purpose is to sense the user's movement intention and movement state through sensors, and provide force and torque through motor drive system, so as to assist rehabilitation training or help walking. Lower limb exoskeleton robot can be divided into two types: active and passive. Active lower limb exoskeleton robot actively provides force and torque through motors and sensors, which can accurately sense the user's movement intention and actively assist the user to complete the movement; passive lower limb exoskeleton robot mainly provides force passively through mechanical structure and springs, and assists according to the user's movement needs; lower limb exoskeleton robot has a wide range of applications in the field of rehabilitation and walking assistance; for rehabilitation training, it can help patients with lower limb dysfunction to carry out sports rehabilitation and promote the recovery of muscle strength and joint activity. For walking assistance function, lower limb exoskeleton robot can assist walking, reduce exercise load, improve gait balance and stability, and help people with limited mobility regain walking ability.

However, the lower limb exoskeleton robots currently on the market have a relatively simple structure, are inconvenient to wear and use, cannot fully adapt to the user's movements, and are generally not comfortable to wear and do not have the function of ventilation. Therefore, we have made improvements to this and proposed a lower limb exoskeleton robot.

Summary of the invention

The purpose of the utility model is to solve the problem that the existing lower limb exoskeleton robot is generally uncomfortable to wear and does not have the function of blowing air and ventilation.

In order to achieve the above-mentioned invention object, the utility model provides the following technical solutions:

Lower limb exoskeleton robots are used to improve the above problems.

The specific application is as follows:

It includes a waist ring exoskeleton, the outer walls at both ends of the waist ring exoskeleton are connected to thigh exoskeleton, the outer wall at the bottom end of the thigh exoskeleton is connected to the calf exoskeleton, the bottom outer wall of the calf exoskeleton is connected to the foot bone boot, joint drive components are arranged on the outer walls between the waist ring exoskeleton, thigh exoskeleton, calf exoskeleton and foot bone boot, a machine drive controller is fixed on the outer wall of one side of the waist ring exoskeleton, and a linked wearable airbag component is arranged on the inner walls of the waist ring exoskeleton, thigh exoskeleton, calf exoskeleton and foot bone boot.

As a preferred technical solution of the present application, the joint drive assembly includes a connecting arm rotatably mounted on the outer wall between the thigh exoskeleton, the calf exoskeleton and the foot bone boot, a driving motor is installed at the rotating connection of the connecting arm, mounting blocks are fixed on the outer walls on both sides of the waist ring exoskeleton, a hemispherical groove is opened on the outer wall of one side of the mounting block, and a rotating ball is embedded in the interior of the hemispherical groove, a fixing rod is fixed on the outer wall of one side of the rotating ball, and one end of the fixing rod is fixedly connected to the outer wall of one side of the end of the connecting arm.

As a preferred technical solution of the present application, the linked wearable airbag assembly includes airbags that are fitly connected to the inner walls of the waist ring exoskeleton, thigh exoskeleton, calf exoskeleton and foot bone boots, and ventilation tubes are connected through the outer walls between the airbags. An air pump is installed on the top outer wall of the machine drive controller, and the air delivery end of the air pump is connected through the air delivery pipe, and one end of the air delivery pipe passes through the interior of the airbag, and a one-way valve is installed on the outer wall of the end of the air delivery pipe, and an air blowing bend pipe is connected through the top outer wall of the airbag in the foot bone boot, and a pressure relief valve is installed on the outer wall of the end of the air blowing bend pipe.

As a preferred technical solution of the present application, air inlets are distributed on the outer walls on both sides of the machine drive controller, the suction end of the air pump is connected with a suction pipe, and one end of the suction pipe passes through the interior of the machine drive controller.

As a preferred technical solution of the present application, straps are symmetrically fixed on the outer walls of both sides of the thigh exoskeleton and the calf exoskeleton, Velcro is provided on the outer walls at the ends of the straps, and adjustment buckles are provided on the outer walls at the ends of the straps.

As a preferred technical solution of the present application, the ventilation pipes are all telescopic hoses.

Compared with the prior art, the utility model has the following beneficial effects:

In the scheme of this application:

1. Through the setting of the joint drive assembly, during the driving and use of the lower limb exoskeleton robot, the machine drive controller controls the operation of each drive motor to perform the flipping drive of the connecting arm at each joint, which plays a role in assisting the user to walk. With the cooperation of the rotating ball and the hemispherical groove, the connecting arm and the fixed rod structure can drive the thigh exoskeleton to rotate in multiple directions, so that the lower limb exoskeleton robot can fully match the user's movement and facilitate the use of the lower limb exoskeleton robot;

2. Through the setting of the linked wearable airbag assembly, the air pump can be controlled during the use of the exoskeleton robot. The generated compressed air is input into the interior of the airbag through the air supply pipe, and the compressed air is input into each airbag through the ventilation pipe. The airbag expands and fits the user's leg when worn, thereby improving the wearing comfort of the lower limb exoskeleton robot, making the lower limb exoskeleton robot tighter to wear and facilitating the wearing of the lower limb exoskeleton robot. When the air pressure in the airbag reaches the upper limit of the pressure of the pressure relief valve through continuous air injection, the excess air is blown out through the blowing elbow to blow air into the bone boots of the foot, thereby playing the role of blowing air and ventilation for the user's foot when worn.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the three-dimensional structure of a lower limb exoskeleton robot provided by the present application;

FIG2 is an enlarged structural diagram of region A in the lower limb exoskeleton robot provided by the present application;

FIG3 is an enlarged structural diagram of region B in the lower limb exoskeleton robot provided by the present application;

FIG4 is an enlarged structural diagram of the C region of the lower limb exoskeleton robot provided by the present application;

FIG5 is an enlarged structural diagram of the D region in the lower limb exoskeleton robot provided in the present application.

Indicated in the figure:

1. Waist ring exoskeleton; 2. Thigh exoskeleton; 3. Calf exoskeleton; 4. Foot bone boots; 5. Joint drive assembly; 6. Machine drive controller; 7. Linkage wearable airbag assembly; 8. Air inlet; 9. Inhalation pipe; 10. Straps; 11. Velcro; 12. Adjustment buckle;

501, connecting arm; 502, driving motor; 503, mounting block; 504, hemispherical groove; 505, rotating ball; 506, fixing rod;

701, air bag; 702, ventilation tube; 703, air pump; 704, air supply pipe; 705, one-way valve; 706, air blowing elbow; 707, pressure relief valve.

DETAILED DESCRIPTION

To make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments.

Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the present invention to be protected, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

In the description of the present utility model, it should be noted that the orientation or position relationship indicated by the terms "upper", "lower", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invention product is usually placed when in use, or the orientation or position relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

Please refer to Figures 1, 2, 3, 4 and 5. This embodiment proposes a lower limb exoskeleton robot, including a waist exoskeleton 1, with thigh exoskeleton 2 connected to the outer walls at both ends of the waist exoskeleton 1, with calf exoskeleton 3 connected to the outer wall at the bottom end of the thigh exoskeleton 2, with a foot bone boot 4 connected to the bottom outer wall of the calf exoskeleton 3, a joint driving assembly 5 is arranged on the outer walls between the waist exoskeleton 1, the thigh exoskeleton 2, the calf exoskeleton 3 and the foot bone boot 4, a machine driving controller 6 is fixed on the outer wall of one side of the waist exoskeleton 1, and a linkage wearable airbag assembly 7 is arranged on the inner walls of the waist exoskeleton 1, the thigh exoskeleton 2, the calf exoskeleton 3 and the foot bone boot 4.

As a preferred embodiment, on the basis of the above-mentioned method, further, the joint drive assembly 5 includes a connecting arm 501 rotatably mounted on the outer wall between the thigh exoskeleton 2, the calf exoskeleton 3 and the foot bone boot 4, and a driving motor 502 is installed at the rotating connection of the connecting arm 501. Mounting blocks 503 are fixed on the outer walls of both sides of the waist ring exoskeleton 1, and a hemispherical groove 504 is opened on the outer wall of one side of the mounting block 503, and a rotating ball 505 is embedded in the hemispherical groove 504. A fixing rod 506 is fixed on the outer wall of one side of the rotating ball 505, and one end of the fixing rod 506 is fixedly connected to the outer wall of one side of the end of the connecting arm 501. During the use of the lower limb exoskeleton robot, the waist ring The exoskeleton 1 is worn on the user's lower waist, and the thigh exoskeleton 2 is worn on both sides of the user's thighs, and the calf exoskeleton 3 is worn on both sides of the calves. The user's feet are worn inside the foot bone boots 4. During the driving and use of the lower limb exoskeleton robot, the machine drive controller 6 controls the operation of each drive motor 502 to flip the connecting arm 501 at each joint, which plays a role in assisting the user's walking. With the cooperation of the rotating ball 505 and the hemispherical groove 504, the connecting arm 501 and the fixed rod 506 structure can drive the thigh exoskeleton 2 to rotate in multiple directions, so that the lower limb exoskeleton robot can fully adapt to the user's movements and facilitate the use of the lower limb exoskeleton robot.

As a preferred embodiment, on the basis of the above-mentioned method, the linked wearable airbag assembly 7 further includes an airbag 701 which is fitted and connected to the inner wall of the waist ring exoskeleton 1, the thigh exoskeleton 2, the calf exoskeleton 3 and the foot skeleton boot 4, and a ventilation tube 702 is connected through the outer wall between the airbags 701, an air pump 703 is installed on the top outer wall of the machine drive controller 6, and the air delivery end of the air pump 703 is connected through the air delivery pipe 704, and one end of the air delivery pipe 704 passes through the interior of the airbag 701, and a one-way valve 705 is installed on the outer wall of the end of the air delivery pipe 704, and an air blowing elbow 706 is connected through the top outer wall of the airbag 701 in the foot skeleton boot 4, and the end outer wall of the air blowing elbow 706 A pressure relief valve 707 is installed on the upper through-hole. During the use of the above-mentioned lower limb exoskeleton robot, the air pump 703 can be controlled, and the compressed air generated is input into the interior of the airbag 701 through the air supply pipe 704, and the compressed air is input into each airbag 701 through the ventilation pipe 702. The airbag 701 expands and fits the leg of the user wearing it, thereby improving the comfort of wearing the lower limb exoskeleton robot, making the lower limb exoskeleton robot tighter to wear, and facilitating the wearing of the lower limb exoskeleton robot. When the air pressure in the airbag 701 reaches the upper pressure limit of the pressure relief valve 707, the excess air is blown out through the blowing elbow 706 to blow air into the foot skeleton boot 4, so that the user can blow air and ventilate the foot when wearing it.

As a preferred embodiment, on the basis of the above-mentioned method, further, air inlets 8 are distributed on the outer walls on both sides of the machine drive controller 6, and the suction end of the air pump 703 is connected with an suction pipe 9, and one end of the suction pipe 9 passes through the interior of the machine drive controller 6. During the operation of the air pump 703, the machine drive controller 6 is cooled, which is beneficial to the driving work of the lower limb exoskeleton robot.

As a preferred embodiment, on the basis of the above-mentioned method, further, straps 10 are symmetrically fixed on the outer walls on both sides of the thigh exoskeleton 2 and the calf exoskeleton 3, Velcro 11 is provided on the outer wall at the end of the strap 10, and adjustment buckles 12 are provided on the outer wall at the end of the strap 10. The thigh exoskeleton 2 and the calf exoskeleton 3 are fastened after being worn by the straps 10 in cooperation with the Velcro 11, which facilitates the wearing of the exoskeleton robot.

As a preferred embodiment, on the basis of the above-mentioned embodiment, further, the ventilation tubes 702 are all telescopic hoses, which are beneficial to the gas injection of the ventilation tubes 702 during the use of the exoskeleton robot.

Specifically, when the lower limb exoskeleton robot is working/in use: during the use of the lower limb exoskeleton robot, the waist ring exoskeleton 1 is worn on the user's lower waist, and the thigh exoskeleton 2 is worn on both sides of the user's thighs, and the calf exoskeleton 3 is worn on both sides of the calves. The user's feet are worn inside the foot bone boots 4. During the driving and use of the lower limb exoskeleton robot, the machine drive controller 6 controls the operation of each drive motor 502 to flip the connecting arm 501 at each joint to assist the user in walking. With the cooperation of the rotating ball 505 and the hemispherical groove 504, the connecting arm 501 and the fixed rod 506 structure can drive the thigh exoskeleton 2 to rotate in multiple directions, so that the lower limb exoskeleton robot can be fully It matches the user's movements and facilitates the use of the lower limb exoskeleton robot. During the use of the above-mentioned lower limb exoskeleton robot, the air pump 703 can be controlled, and the compressed air generated is input into the interior of the airbag 701 through the air supply pipe 704, and the compressed air is input into each airbag 701 through the ventilation pipe 702. The airbag 701 expands and fits the user's leg when worn, thereby improving the comfort of wearing the lower limb exoskeleton robot, making the lower limb exoskeleton robot tighter to wear, and facilitating the wearing of the lower limb exoskeleton robot. When the air pressure in the airbag 701 reaches the upper pressure limit of the pressure relief valve 707, the excess air is blown out through the blowing elbow 706 to blow air into the foot skeleton boot 4, thereby playing the role of blowing air and ventilation for the user's foot when worn.

The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims (6)

1. A lower limb exoskeleton robot, characterized in that it comprises a waist ring exoskeleton (1), the outer walls of the two ends of the waist ring exoskeleton (1) are connected to thigh exoskeletons (2), the outer wall of the bottom end of the thigh exoskeleton (2) is connected to a calf exoskeleton (3), the bottom outer wall of the calf exoskeleton (3) is connected to a foot bone boot (4), a joint drive assembly (5) is arranged on the outer walls between the waist ring exoskeleton (1), the thigh exoskeleton (2), the calf exoskeleton (3) and the foot bone boot (4), a machine drive controller (6) is fixed on one side of the outer wall of the waist ring exoskeleton (1), and a linkage wearable airbag assembly (7) is arranged on the inner walls of the waist ring exoskeleton (1), the thigh exoskeleton (2), the calf exoskeleton (3) and the foot bone boot (4). 2. A lower limb exoskeleton robot according to claim 1, characterized in that the joint drive assembly (5) includes a connecting arm (501) rotatably mounted on the outer wall between the thigh exoskeleton (2), the calf exoskeleton (3) and the foot bone boot (4), a driving motor (502) is installed at the rotating connection of the connecting arm (501), mounting blocks (503) are fixed on the outer walls on both sides of the waist ring exoskeleton (1), a hemispherical groove (504) is opened on the outer wall of one side of the mounting block (503), and a rotating ball (505) is embedded in the interior of the hemispherical groove (504), a fixing rod (506) is fixed on the outer wall of one side of the rotating ball (505), and one end of the fixing rod (506) is fixedly connected to the outer wall of one side of the end of the connecting arm (501). 3. A lower limb exoskeleton robot according to claim 1, characterized in that the linked wearable airbag assembly (7) comprises airbags (701) attached to the inner walls of the waist ring exoskeleton (1), the thigh exoskeleton (2), the calf exoskeleton (3) and the foot bone boot (4), a ventilation pipe (702) is connected through the outer wall between the airbags (701), and an air pump (702) is installed on the top outer wall of the machine drive controller (6). 3), the air delivery end of the air pump (703) is connected to an air delivery pipe (704), and one end of the air delivery pipe (704) passes through the interior of the air bag (701), a one-way valve (705) is installed on the outer wall of the end of the air delivery pipe (704), and an air blowing elbow (706) is connected to the top outer wall of the air bag (701) in the foot skeletal boot (4), and a pressure relief valve (707) is installed on the outer wall of the end of the air blowing elbow (706). 4. A lower limb exoskeleton robot according to claim 3, characterized in that air inlets (8) are distributed on the outer walls on both sides of the machine drive controller (6), the suction end of the air pump (703) is connected with a suction pipe (9), and one end of the suction pipe (9) passes through the interior of the machine drive controller (6). 5. A lower limb exoskeleton robot according to claim 1, characterized in that straps (10) are symmetrically fixed on the outer walls of both sides of the thigh exoskeleton (2) and the calf exoskeleton (3), Velcro (11) is provided on the end outer wall of the strap (10), and an adjustment buckle (12) is provided on the end outer wall of the strap (10). 6. A lower limb exoskeleton robot according to claim 3, characterized in that the ventilation tubes (702) are all telescopic hoses.