CN118078585A - Lower limb exoskeleton device and leg rehabilitation instrument - Google Patents

Abstract

The invention provides a lower limb exoskeleton device and a leg rehabilitation apparatus, and relates to the field of rehabilitation apparatuses. The lower extremity exoskeleton device comprises a thigh support assembly, a shank support assembly, a foot assembly, a thigh fixing assembly and a shank fixing assembly; the thigh support assembly and the shank support assembly comprise joint connectors, joint motors, leg fixing pieces, leg length motors and leg length adjusting rods, one of the output shafts and shells of the joint motors is fixedly connected with the joint connectors, and the other is fixedly connected with the leg fixing pieces; the leg length adjusting rod is arranged in parallel with the leg fixing piece; the leg length motor is fixedly arranged on the leg fixing piece and is in transmission connection with the leg length adjusting rod. According to the lower limb exoskeleton device, the leg length motor can drive the leg length adjusting rod to be far away from or close to the joint connecting piece, so that the leg length can be automatically adjusted under the control of the control module, and the use convenience is greatly improved; the joint motor can drive the leg fixing piece and the leg length motor, the leg length adjusting rod and the like arranged on the leg fixing piece to swing back and forth, so that the advancing and retreating are realized.

Description

Lower limb exoskeleton device and leg rehabilitation instrument

Technical Field

The invention relates to the technical field of rehabilitation apparatuses, in particular to a lower limb exoskeleton device and a leg rehabilitation apparatus.

Background

Leg rehabilitation apparatuses have remarkable advantages in recovering leg strength of users and the like, and are increasingly used.

But the leg length of the lower limb exoskeleton device of the leg rehabilitation apparatus in the prior art cannot be adjusted, so that a user is single, the applicability is low, or the leg length can be adjusted, but manual adjustment is needed, and the operation is complicated, namely, the lower limb exoskeleton device in the prior art is inconvenient to use.

Disclosure of Invention

The first object of the present invention is to provide a lower limb exoskeleton device, so as to solve the technical problem of the prior art that the lower limb exoskeleton device of the leg rehabilitation apparatus is not convenient to use.

The lower limb exoskeleton device comprises a thigh supporting component, a shank supporting component and a foot component which are sequentially connected, wherein the thigh supporting component is also connected with a thigh fixing component, the shank supporting component is also connected with a shank fixing component, and the thigh fixing component, the shank fixing component and the foot component are positioned on the same side; the thigh support assembly and the shank support assembly comprise joint connectors, joint motors, leg fixing pieces, leg length motors and leg length adjusting rods, one of output shafts and shells of the joint motors is fixedly connected with the joint connectors, and the other is fixedly connected with the leg fixing pieces; the leg length adjusting rod is arranged in parallel with the leg fixing piece; the leg length motor is fixedly arranged on the leg fixing piece and is in transmission connection with the leg length adjusting rod so as to drive the leg length adjusting rod to be far away from or close to the joint connecting piece; the joint connecting piece of the lower leg supporting component is fixedly connected with the leg length adjusting rod of the thigh supporting component.

Further, the leg length motor is connected with the leg length adjusting rod through a screw nut assembly, and a screw of the screw nut assembly is arranged in parallel with the leg length adjusting rod and is in transmission connection with the leg length motor; the nut of the screw nut component is fixedly connected with the leg length adjusting rod.

Further, the lead screw rotationally set up in leg mounting, the long motor of leg with lead screw nut subassembly sets up along the horizontal direction interval just the long motor of leg's output shaft with the axis of lead screw is parallel to each other, the coaxial driving pulley that has set firmly of the output shaft of the long motor of leg, the coaxial driven pulley that has set firmly of lead screw, driving pulley with driven pulley winds and is equipped with the hold-in range.

Further, the leg fixing piece is in a cuboid box shape, and the lead screw nut component and the driven belt wheel are arranged in a cavity of the leg fixing piece; the leg length motor and the driving belt wheel are arranged outside the leg fixing piece.

Further, a guide rail is arranged in the cavity of the leg fixing piece, and the guide rail is arranged in parallel with the lead screw; the nut is fixedly connected with a sliding block, and the sliding block is connected with the guide rail in a sliding manner; the leg length adjusting rod is fixedly connected with the sliding block.

Further, the leg fixing piece is provided with a photoelectric switch, the sliding block is provided with a limiting protrusion, and after the limiting protrusion enters a detection area of the photoelectric switch, the photoelectric switch stops the leg length motor to limit the movement stroke of the leg length adjusting rod.

Further, an output shaft of the joint motor is fixedly connected to the joint connecting piece, and a shell of the joint motor is fixedly connected to the leg fixing piece; the output shaft of the joint motor is coaxially and fixedly provided with a torque sensor, and the joint connecting piece is fixedly connected with the torque sensor;

the leg mount is also provided with an IMU for measuring the angle, angular velocity and angular acceleration of leg movement;

The leg fixing piece is further provided with a control circuit board, and the joint motor, the leg length motor, the torque sensor and the IMU are all connected with the control circuit board.

Further, the outer side wall of the leg length adjusting rod is provided with leg length scales.

Further, the leg fixing piece is fixedly provided with a linear bearing, and the leg length adjusting rod penetrates through the linear bearing, enters the cavity of the leg fixing piece and is fixedly connected with the sliding block.

Further, the leg length adjusting rod is hollow and tubular.

Further, the outer side wall of one end of the leg length adjusting rod, which is far away from the joint motor, is provided with a limiting plane, and the limiting plane is parallel to the axis of the leg length adjusting rod and is used for limiting the leg length adjusting rod to rotate around the axis of the leg length adjusting rod.

Further, the thigh support assembly is fixedly connected with the shank support assembly through a clamping connecting piece, the clamping connecting piece comprises a connecting part and a clamping part, and the connecting part is fixedly connected with a joint connecting piece of the shank support assembly; the fixed end of the clamping part is fixedly connected with the connecting part, an adjusting gap is formed between the free end of the clamping part and the connecting part in a natural state, and an accommodating space is formed by surrounding the clamping part and the connecting part; the thigh length adjusting rod of the thigh supporting assembly is inserted into the accommodating space at one end far away from the joint motor, and the free end of the clamping part clamps the thigh length adjusting rod to the clamping connecting piece through a fastener.

Further, the foot assembly includes an ankle joint connector, an ankle joint rotator, a hindfoot plate, a first connecting shaft, and a forefoot plate; the ankle joint connecting piece is fixedly connected with the tail end of the leg length adjusting rod of the lower leg supporting assembly; the ankle rotation member is rotatably connected to the ankle joint connection member; the rear foot plate is fixedly connected with the ankle joint rotating piece; the front foot plate is hinged with the rear foot plate through the first connecting shaft, the first connecting shaft sleeve is provided with a first torsion spring, and the first torsion spring enables the front foot plate to always have a downward rotation trend relative to the rear foot plate.

Further, the thigh fixing assembly comprises a fixing piece, a bending plate and a limit bolt, wherein one end of the bending plate is rotatably connected with the fixing piece; the fixing piece is provided with a second arc-shaped hole taking the rotation axis of the bent plate as the center, and the limit bolt penetrates through the second arc-shaped hole and is fixedly connected with the bent plate.

Further, the thigh fixing assembly further comprises a rotating plate and a second connecting shaft, and the bending plate is fixedly connected with the rotating plate; the fixing piece is box-shaped, the rotating plate is arranged in a cavity of the fixing piece, the fixing piece and the rotating plate are rotationally connected through the second connecting shaft, and the second connecting shaft is arranged in an extending mode along the front-rear direction; the second arc-shaped hole is formed in the side wall of the fixing piece, and the limit bolt penetrates through the second arc-shaped hole and is fixed to the rotating plate.

Further, the shank fixing assembly comprises a fixing plate and an opening and closing plate which is rotatably connected with the fixing plate around a vertical axis, and the opening and closing plate is provided with a containing cavity; the shank fixing assembly further comprises a front guard plate, one side of the front guard plate is provided with a rotating protrusion, and the rotating protrusion is positioned in the accommodating cavity and can be connected to the opening plate in a back-and-forth swinging manner around a horizontal axis; and a compression spring is further arranged between the rotating bulge and the cavity bottom of the accommodating cavity.

The lower limb exoskeleton device provided by the invention can produce the following beneficial effects:

According to the lower limb exoskeleton device provided by the invention, the thigh supporting assembly and the shank supporting assembly both comprise the joint motor and the leg length motor, and the leg length motor can drive the leg length adjusting rod to be far away from or close to the joint connector, so that the leg length can be automatically adjusted under the control of the control module, and the use convenience is greatly improved; the joint motor can drive the leg fixing piece and the leg length motor, the leg length adjusting rod and the like arranged on the leg fixing piece to swing back and forth, so that the advancing and retreating are realized.

When the leg support device is used, the joint connecting piece of the thigh support assembly, namely the hip joint connecting piece, can be connected with the exoskeleton device on the waist and back, after the thigh length and the shank leg length of the lower limb exoskeleton device are adjusted according to parameters such as the leg length of a user, the feet of the user are fixed through the fixing assembly of the foot assembly, the thighs of the user are fixed on the thigh support assembly through the thigh fixing assembly, the shanks of the user are fixed on the shank support assembly through the shank fixing assembly, and the leg rehabilitation training can be carried out by driving the user through the hip joint motor of the thigh support assembly and the knee joint motor of the shank support assembly.

The second object of the present invention is to provide a leg rehabilitation apparatus, so as to solve the technical problem that the lower limb exoskeleton device of the leg rehabilitation apparatus in the prior art is not convenient enough to use.

The leg rehabilitation apparatus comprises the lower limb exoskeleton devices, wherein the number of the lower limb exoskeleton devices is two, and the two lower limb exoskeleton devices are symmetrically arranged. The leg rehabilitation apparatus provided by the invention has all the advantages of the lower limb exoskeleton device, so that the details are not repeated here.

Drawings

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

Fig. 1 is a schematic structural view of a lower extremity exoskeleton device provided in an embodiment of the present invention;

FIG. 2 is a schematic view of a thigh support assembly of a lower extremity exoskeleton apparatus provided in an embodiment of the present invention;

FIG. 3 is a schematic view of a partially exploded construction of a thigh support assembly of a lower extremity exoskeleton apparatus provided in an embodiment of the present invention;

FIG. 4 is a schematic cross-sectional view of a thigh support assembly of a lower extremity exoskeleton apparatus provided in an embodiment of the present invention;

FIG. 5 is a schematic view of a partially exploded construction of a lower extremity exoskeleton apparatus provided in an embodiment of the present invention;

FIG. 6 is a schematic illustration of one of the foot components of a lower extremity exoskeleton apparatus provided in accordance with an embodiment of the present invention;

FIG. 7 is a second schematic view of a foot assembly of a lower extremity exoskeleton apparatus according to an embodiment of the present invention;

FIG. 8 is a schematic illustration of an exploded view of a foot assembly of a lower extremity exoskeleton apparatus provided in an embodiment of the invention;

FIG. 9 is a schematic longitudinal cross-sectional view of a foot assembly of a lower extremity exoskeleton apparatus provided in accordance with an embodiment of the present invention;

FIG. 10 is a schematic view of a thigh immobilization assembly of a lower extremity exoskeleton apparatus provided in an embodiment of the present invention;

FIG. 11 is a schematic view of an exploded view of a thigh securing assembly of a lower extremity exoskeleton apparatus provided in an embodiment of the present invention;

Fig. 12 is a schematic structural view of a lower leg fixation assembly of a lower limb exoskeleton device provided in an embodiment of the present invention.

Reference numerals illustrate:

100-thigh support assembly; 110-hip joint connector; 120-hip joint motor; 130-hip joint adapter; 140-thigh fasteners; 141-a support; 142-linear bearings; 143-a guide rail; 144-IMU; 145-a control circuit board; 146-photoelectric switch; 150-thigh length motor; 151-connecting flanges; 161-driving a pulley; 162-synchronous belt; 163-driven pulleys; 164-screw; 165-nut; 166-slider; 167-limit bump; 170-thigh length adjusting lever; 171-a limit plane; 180-clamping the connecting piece; 181-connection; 182-clamping part; 190-mounting rack; 191-waist-shaped holes;

200-a calf support assembly; 210-knee joint connector; 220-knee joint motor; 230-torque sensor; 240-knee joint adapter;

300-foot component; 310-ankle joint connection; 311-bearings; 312-a collet nut; 313-half-tooth bolts; 314—a first indexing pin; 320-ankle rotation; 321-a first arcuate aperture; 330-hindfoot plate; 340-a first connecting shaft; 350-forefoot plate; 360-a first torsion spring; 370-limit bump;

400-thigh securing assembly; 410-a fixing piece; 411-a second arcuate aperture; 420-a second connecting shaft; 430-rotating the plate; 440-bending plate; 450-limit bolts; 460-a second torsion spring; 470-jump ring;

500-a lower leg fixation assembly; 510-fixing plate; 520-side rotation shaft; 530-a second indexing pin; 540-an opening plate; 550-front rotating shaft; 560-front guard.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

The present embodiment provides a lower limb exoskeleton device, as shown in fig. 1 to 3, which includes a thigh support assembly 100, a shank support assembly 200, and a foot assembly 300 connected in sequence, the thigh support assembly 100 is further connected with a thigh fixing assembly 400, the shank support assembly 200 is further connected with a shank fixing assembly 500, and the thigh fixing assembly 400, the shank fixing assembly 500, and the foot assembly 300 are located on the same side; the thigh support assembly 100 and the shank support assembly 200 each comprise a joint connector, a joint motor, a leg fixing member, a leg length motor and a leg length adjusting rod, wherein an output shaft of the joint motor is fixedly connected with the joint connector, and a shell of the joint motor is fixedly connected with the leg fixing member; the leg length adjusting rod is arranged in parallel with the leg fixing piece; the leg length motor is fixedly arranged on the leg fixing piece and is in transmission connection with the leg length adjusting rod so as to drive the leg length adjusting rod to be far away from or close to the joint connecting piece; the articulation joint of the calf support assembly 200 is fixedly coupled with the leg length adjustment bar of the thigh support assembly 100.

It should be noted that, in other embodiments of the present application, the connection manner of the joint motor to the shutdown connector and the leg fixing member is not limited to the above-mentioned forms, for example: the shell of the joint motor is fixedly connected with the joint connecting piece, the output shaft is fixedly connected with the leg fixing piece, and the leg fixing piece and the upper part of the leg fixing piece can rotate relative to the joint connecting piece.

Specifically, as shown in fig. 2,3 and 5, the thigh support assembly 100 includes a hip joint connector 110, a hip joint motor 120, a thigh fixing member 140, a thigh length motor 150 and a thigh length adjusting lever 170, the hip joint motor 120 is fixedly installed to the hip joint connector 110, and the thigh fixing member 140 is fixedly connected to an output shaft of the hip joint motor 120; thigh length adjusting lever 170 is provided in parallel with thigh fixing 140; the thigh length motor 150 is fixedly mounted to the thigh mount 140 and is in driving connection with the thigh length adjustment lever 170 to drive the thigh length adjustment lever 170 away from or towards the hip joint connector 110.

The shank support assembly 200 includes a knee joint connector 210, a knee joint motor 220, a shank fixing member, a shank length motor and a shank length adjusting rod, wherein the knee joint motor 220 is fixedly installed on the knee joint connector 210, and the shank fixing member is fixedly connected to an output shaft of the knee joint motor 220; the shank length adjusting rod is arranged in parallel with the shank fixing piece; the shank length motor is fixedly mounted to the shank mount and is in driving engagement with the shank length adjustment lever to drive the shank length adjustment lever away from or toward the knee joint connector 210.

The lower limb exoskeleton device provided by the embodiment of the invention has the advantages that the thigh support assembly 100 and the shank support assembly 200 both comprise the joint motor and the leg length motor, and the leg length motor can drive the leg length adjusting rod to be far away from or close to the joint connector, so that the leg length can be automatically adjusted under the control of the control module, and the use convenience is greatly improved; the joint motor can drive the leg fixing piece and the leg length motor, the leg length adjusting rod and the like arranged on the leg fixing piece to swing back and forth, so that the advancing and retreating are realized.

In use, the joint connector, i.e., the hip joint connector 110, of the thigh support unit 100 can be connected with the exoskeleton device on the lumbar and dorsal sides, and after the thigh length and the calf leg length of the lower limb exoskeleton device are adjusted according to parameters such as the leg length of the user, the feet of the user are fixed by the fixing unit of the foot unit 300, the thighs of the user are fixed to the thigh support unit 100 by the thigh fixing unit 400, the calves of the user are fixed to the calf support unit 200 by the calf fixing unit 500, and the leg rehabilitation training can be performed by driving the user through the hip joint motor 120 of the thigh support unit 100 and the knee joint motor 220 of the calf support unit 200.

Specifically, in the present embodiment, as shown in fig. 2 and 5, the thigh mount 140 is fixedly connected with the housing of the hip motor 120 through the hip joint adapter 130, and the shank mount is fixedly connected with the housing of the knee motor 220 through the knee joint adapter 240.

Specifically, in this embodiment, as shown in fig. 2, the leg length motor is connected with the leg length adjustment lever through a screw nut assembly, and a screw 164 of the screw nut assembly is disposed in parallel with the leg length adjustment lever and is in transmission connection with the leg length motor; the nut 165 of the lead screw nut assembly is fixedly connected with the leg length adjusting rod. That is, the leg length motor drives the screw rod 164 to rotate, thereby driving the nut 165 and the leg length adjusting rod fixedly connected with the nut to extend and retract.

Specifically, in this embodiment, as shown in fig. 2 and 3, a screw 164 is rotatably provided on the support 141 of the leg fixing member, a leg motor and a screw nut assembly are provided at intervals in the horizontal direction, the axes of the output shaft of the leg motor and the screw are parallel to each other, a driving pulley 161 is coaxially fixed to the output shaft of the leg motor, a driven pulley 163 is coaxially fixed to the screw 164, and a timing belt 162 is wound around the driving pulley 161 and the driven pulley 163. In this arrangement, the leg length motor drives the screw 164 to rotate through the driving pulley 161, the timing belt 162, and the driven pulley 163. Further, the leg length motor and the screw shaft 164 are provided at intervals in the horizontal direction, so that the dimension of the device in the leg length direction can be saved, and the adjustment range of the leg length can be widened.

Of course, if necessary, the power output by the leg length motor is decelerated by the decelerator.

Here, if the leg length is allowable, the belt transmission unit may not be provided between the leg length motor and the screw 164, and the output shaft of the speed reducer may be directly and coaxially fixed to the screw 164. Or even if a transmission assembly is provided between the leg length motor and the lead screw 164 as described above, it is not limited to a belt transmission assembly, but may be a chain transmission assembly, a gear transmission assembly, or the like.

Specifically, in this embodiment, as shown in fig. 3, the output shaft of the speed reducer is coaxially and fixedly provided with a connecting flange 151, the leg fixing member is further provided with an "L" shaped mounting frame 190, one side of the mounting frame is fixedly connected with the leg fixing member, the other side of the mounting frame is provided with a waist-shaped hole 191 corresponding to the connecting through hole on the connecting flange 151, and the extending direction of the waist-shaped hole 191 is consistent with the arrangement direction of the driving pulley 161 and the driven pulley 163. When the synchronous belt is installed, after the driving belt wheel 161 is fixedly connected with the output shaft of the speed reducer, the position of the driving belt wheel 161 is adjusted along the extending direction of the waist-shaped hole 191, so that the tension of the synchronous belt 162 can be adjusted; after the tightness of the synchronous belt 162 is adjusted, the leg length motor and the speed reducer are fixed on the mounting frame 190 through bolts.

Specifically, in the present embodiment, as shown in fig. 2 and 3, the leg fixing member has a rectangular parallelepiped box shape, and the lead screw nut assembly and the driven pulley 163 are both disposed in the cavity of the leg fixing member; the leg length motor and driving pulley 161 is provided outside the leg fixing member. With this arrangement, the leg fixing member provides a protective effect to the components therein, and the appearance of the whole device is also more neat.

Specifically, in this embodiment, as shown in fig. 2, a guide rail 143 is disposed in the cavity of the leg fixing member, and the guide rail 143 is disposed in parallel with the screw 164; the nut 165 is fixedly connected with a sliding block 166, and the sliding block 166 is slidably connected with the guide rail 143; the leg length adjusting rod is fixedly connected with the sliding block 166. When the leg length is adjusted, the guide rail 143 is matched with the slider 166, so that the nut 165 and the leg length adjusting rod are guided, and the leg length can be adjusted more stably and smoothly.

More specifically, in this embodiment, as shown in fig. 2, the number of the guide rails 143 is two, the two guide rails 143 are respectively located at two sides of the screw 164, and the slider 166 is slidably connected to both guide rails 143. So arranged, the slider 166 and leg length adjustment bar are less prone to deflection during movement, so that movement is smoother.

Specifically, in this embodiment, as shown in fig. 3 and 4, the leg fixing member is provided with a photoelectric switch 146, the slider 166 is provided with a limit projection 167, and after the limit projection 167 enters the detection area of the photoelectric switch 146, the photoelectric switch 146 stops the operation of the leg length motor to limit the movement stroke of the leg length adjustment lever. The leg length adjusting rod can effectively control the adjusting range of the leg length adjusting rod, and mechanical interference of thighs and calves or calves and feet caused by excessive extension and contraction of the leg length adjusting rod can be effectively avoided.

Specifically, in this embodiment, as shown in fig. 5, the torque sensor 230 is coaxially and fixedly arranged on the output shaft of the joint motor, and the joint connector is fixedly connected with the torque sensor 230. The torque sensor 230 can feed back the output torque of the joint motor in real time so as to adjust the torque output of the joint motor, thereby being advantageous to improve the control accuracy.

Specifically, in this embodiment, as shown in fig. 2, the leg fixing member is further provided with an IMU144 for measuring the angle, angular velocity, angular acceleration, etc. of the leg movement, which is advantageous for grasping the leg movement state of the user in real time.

Specifically, in this embodiment, as shown in fig. 2, the leg fixing member is further provided with a control circuit board 145, and the joint motor, the leg length motor, the torque sensor 230, and the IMU144 are all connected to the control circuit board 145.

Specifically, in this embodiment, as shown in fig. 2, the outer side wall of the leg length adjustment lever is provided with leg length scales, from which the current thigh length and the current calf leg length can be intuitively grasped, so that it can be quickly determined whether the adjustment of the leg length motor is accurate.

Specifically, in this embodiment, as shown in fig. 2, the leg fixing member is fixedly provided with a linear bearing 142, and the leg length adjusting rod passes through the linear bearing 142 and then enters the cavity of the leg fixing member and is fixedly connected with a slider 166.

Specifically, in this embodiment, the leg length adjusting rod is hollow tubular, so that the weight of the lower limb exoskeleton device can be greatly reduced, and the lower limb exoskeleton device is lighter to use.

Specifically, in this embodiment, as shown in fig. 2, the outer side wall of the end of the leg length adjustment lever, which is far away from the joint motor, is provided with a limiting plane 171, and the limiting plane 171 is parallel to the axis of the leg length adjustment lever, for limiting the rotation of the leg length adjustment lever around the axis thereof.

Specifically, in the present embodiment, as shown in fig. 5, the thigh support assembly 100 is fixedly connected with the shank support assembly 200 through the clamping connection member 180, the clamping connection member 180 includes a connection portion 181 and a clamping portion 182, and the connection portion 181 is fixedly connected with the joint connection member of the shank support assembly 200; the fixed end of the clamping part 182 is fixedly connected with the connecting part 181, an adjusting gap is formed between the free end of the clamping part 182 and the connecting part 181 in a natural state, and an accommodating space is formed by surrounding the clamping part 182 and the connecting part 181; the thigh length adjusting lever of the thigh support assembly 100 is inserted into the accommodating space at an end thereof remote from the joint motor thereof, and the free end of the clamping portion 182 clamps the thigh length adjusting lever to the clamping connector 180 by means of a fastener. In this arrangement, an adjustment gap is provided between the free end of the clamping portion 182 and the connecting portion 181, so that the clamping portion 182 has a certain elasticity, and the thigh length adjustment lever 170 can be reliably fixed by reducing the adjustment gap by the fastener after the thigh length adjustment lever 170 is inserted into the accommodation space enclosed by the connecting portion 181.

Preferably, a screw fixing hole is further provided at the limit plane 171 of the thigh length adjusting lever 170 for fixing it to the clip connection 180 by a screw fixing. Thus, the thigh length adjusting lever 170 is fixed to the clamp connection 180 by two different fixing means, and the fixing thereof is more reliable.

In particular, in this embodiment, as shown in Figs. 6-8, foot assembly 300 includes ankle joint connector 310, ankle joint rotator 320, hindfoot plate 330, first connecting shaft 340, and forefoot plate 350; the ankle joint connection member 310 is fixedly connected with the end of the leg length adjustment lever of the calf support assembly 200; the ankle rotation member 320 is rotatably coupled to the ankle joint coupling member 310; the hindfoot plate 330 is fixedly connected with the ankle joint rotation member 320; the forefoot plate 350 and the hindfoot plate 330 are hinged by a first connecting shaft 340, and the first connecting shaft 340 is sleeved with a first torsion spring 360, and the first torsion spring 360 enables the forefoot plate 350 to always have a downward rotation trend relative to the hindfoot plate 330. In this arrangement, the rear foot plate 330 can be rotated by the ankle rotation member 320, and the front foot plate 350 can be bent with respect to the rear foot plate 330, so that it is more comfortable to fit the shape of the sole of a person.

More specifically, in the present embodiment, one leg of the first torsion spring 360 is fixed in the receiving groove of the rear foot plate 330, the other leg is abutted in the groove of the front foot plate 350, and when the front foot plate 350 is forced to bend upwards, the angle between the two legs of the first torsion spring 360 becomes smaller, and a torsion force is generated accordingly; the upward force of the forefoot plate 350 is removed and the torsion force of the first torsion spring 360 restores the position of the forefoot plate 350. A shaft retainer ring is further attached to the first connecting shaft 340 to restrict the movement of the forefoot plate 350 relative to the rearfoot plate 330 in the axial direction of the first connecting shaft 340.

More specifically, in this embodiment, as shown in fig. 9, a limiting protrusion 370 is disposed at the bottom of one side of the forefoot plate 350 close to the rearfoot plate 330, the limiting protrusion 370 extends toward the rearfoot plate 330, and under the action of the first torsion spring 360, the limiting protrusion 370 abuts against the bottom of the rearfoot plate 330, so that the forefoot plate 350 and the rearfoot plate 330 assume a state in which the forefoot plate 350 is tilted upward relative to the rearfoot plate 330, i.e., an obtuse angle is formed between the forefoot plate 350 and the rearfoot plate 330.

Specifically, in this embodiment, as shown in fig. 8, the ankle joint connector 310 and the ankle joint rotator 320 are rotatably connected by a collet nut 312, the ankle joint connector 310 is provided with a slot, the ankle joint rotator 320 is inserted into the slot, and the collet nut 312 sequentially passes through the slot wall on one side of the slot, the ankle joint rotator 320, and the slot wall on the other side of the slot; the collet nut 312 is rotatably disposed on the slot wall of the slot by means of bearings 311.

Specifically, in the present embodiment, as shown in fig. 8, the ankle rotation member 320 is further provided with a first arc-shaped hole 321, and the first arc-shaped hole 321 is centered on the axis of the collet nut 312; the slot wall of the slot is provided with a through hole, the through hole is positioned below the sleeve nut 312, the half-tooth bolt 313 passes through the through hole and then passes through the first arc-shaped hole 321 of the ankle joint rotating piece 320, and the thread is fixed on the slot wall at the other side of the slot. The first arc-shaped hole 321 can limit the rotation angle of the ankle rotation member 320, thereby limiting the rotation angle of the user's ankle. In addition, the ankle joint coupling member 310 is further provided with a first index pin 314, and the ankle joint rotating member 320 is provided with a corresponding pin hole, and when the foot is required to be rotated, the first index pin 314 is pulled out of the pin hole; when foot rotation is not required, the first index pin 314 is inserted into the pin hole.

Specifically, in the present embodiment, as shown in fig. 10 and 11, the thigh fixing assembly 400 includes a fixing member 410, a bending plate 440, and a limit bolt 450, one end of the bending plate 440 being rotatably connected to the fixing member 410; the fixing member 410 is provided with a second arc hole 411 centering on the rotation axis of the bent plate 440, and the limit bolt 450 is fixedly connected with the bent plate 440 after passing through the second arc hole 411. Wherein the curved plate 440 is a conical curved surface, and a fixing strap may be added for binding the thigh of the user. The actual skeleton and muscle of human body have Q angle with the low limbs axis between, and different crowds ' Q angle size is different in addition, and under this kind of setting form, during the use, can be through the mounting 410 fixed mounting of bolt with thigh fixed subassembly 400 on thigh fixed part 140 of thigh supporting subassembly 100 to through adjusting the angle of bent plate 440 for mounting 410, make the bent plate 440 laminating user's thigh Q angle, thereby make bent plate 440 more laminating user's shank, improve travelling comfort and recovered effect. In addition, the second arc hole 411 can also define a rotation angle range of the bent plate 440.

Specifically, in the present embodiment, as shown in fig. 10 and 11, the thigh fixing assembly 400 further includes a rotating plate 430 and a second connecting shaft 420, and the bending plate 440 is fixedly connected with the rotating plate 430; the fixing piece 410 is box-shaped, the rotating plate 430 is arranged in the cavity of the fixing piece 410, the fixing piece 410 and the rotating plate are rotationally connected through the second connecting shaft 420, and the second connecting shaft 420 is arranged in an extending mode along the front-rear direction; the second arc hole 411 is disposed on a side wall of the fixing member 410, and the limit bolt 450 passes through the second arc hole 411 and is fixed on the rotating plate 430. In this arrangement, the fixing member 410 and the rotating plate 430 are hinged by the second connecting shaft 420.

Preferably, in the present embodiment, the second torsion spring 460 is sleeved on the second connecting shaft 420, and after the limit bolt 450 is unscrewed, the angle between the rotating plate 430 and the thigh support assembly 100 can be changed by pressing the second torsion spring 460.

In addition, as shown in the figure, one end of the second connecting shaft 420 has a limiting edge for blocking the second connecting shaft 420 from moving toward the other end thereof along the axial direction, and the other end is fixed in a limiting manner by the clamping spring 470.

Specifically, in the present embodiment, as shown in fig. 12, the lower leg fixing assembly 500 includes a fixing plate 510 and an opening and closing plate 540 rotatably connected to the fixing plate 510 about a vertical axis, the opening and closing plate 540 being provided with a receiving chamber; the shank fixation assembly 500 further includes a front guard plate 560, one side of the front guard plate 560 is provided with a rotation protrusion, and the rotation protrusion is located in the accommodating cavity and is connected to the opening and closing plate 540 in a manner of being capable of swinging back and forth around a horizontal axis; a compression spring is also arranged between the rotating bulge and the cavity bottom of the accommodating cavity. In this arrangement, the opening and closing plate 540 can be opened and closed relative to the fixing plate 510, and the front guard plate 560 can rotate relative to the opening and closing plate 540 by a certain angle to adapt to users with different calf thicknesses; and after the user wears the protective equipment, the compression spring can provide certain elastic deformation on the shank protective equipment, improves the flexibility of the protective equipment, thereby improving the wearing comfort of the protective equipment.

More specifically, the rotation protrusions of the front guard 560 and the shutter 540 are rotatably coupled by the front rotation shaft 550; the fixing plate 510 and the opening and closing plate 540 are rotatably connected through the side rotating shaft 520, a second indexing pin 530 is further arranged between the fixing plate 510 and the opening and closing plate 540, the second indexing pin 530 is fixed on the fixing plate 510, and the opening and closing plate 540 is correspondingly provided with a pin hole. When the second indexing pin 530 is separated from the pin hole of the engagement plate 540, the engagement plate 540 can rotate relative to the fixing plate 510, so that the user can wear the tool conveniently, and the second indexing pin 530 can be inserted into the pin hole after the user wears the tool.

In summary, the lower limb exoskeleton device provided in this embodiment can automatically adjust the length of the exoskeleton leg, adapt to the physical requirements of different users, and more accurately and obviously show the actual training state of the users by measuring the joint angle data of the users. Meanwhile, the thigh protector, namely the fixing component is more attached to the legs of the user, and the shank protector provides certain elastic deformation, so that the exoskeleton leg is more comfortable during training. The structure of the front sole with the bendable sole is more in line with the actual walking state of a user, and can improve the exercise and rehabilitation training effects of the foot.

When the device works, data such as the length of the leg of a user are input, a part of the data are transmitted to the leg length motor, the leg length motor rotates to drive the screw rod 164 to rotate, the thigh is adjusted to the set length, the foot, thigh and calf protectors, namely, the fixing components, are opened, the user wears the protectors, the thigh protectors are adjusted to the proper positions of the user, the user uses the binding belt to fix the protector, and after the completion of the wear of the protector is confirmed, rehabilitation training can be started. In the passive training mode, each motion parameter of the user, including stride, step frequency and the like, is set according to the actual rehabilitation state of the user and the opinion of a rehabilitation doctor, and data on each IMU are read in real time during rehabilitation training to form a motion model, so that the real-time motion state of the user is known, the actual rehabilitation motion state of the user is more accurately known, and each motion parameter is more accurately known.

The embodiment also provides a leg rehabilitation apparatus, which comprises the lower limb exoskeleton devices, wherein the number of the lower limb exoskeleton devices is two, and the two lower limb exoskeleton devices are symmetrically arranged. The leg rehabilitation apparatus provided in this embodiment has all the advantages of the lower limb exoskeleton device described above, and therefore will not be described here again.

Finally, it is further noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to the embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (12)

1. A lower extremity exoskeleton device, characterized by comprising a thigh support assembly (100), a shank support assembly (200) and a foot assembly (300) which are connected in sequence, wherein the thigh support assembly (100) is also connected with a thigh fixing assembly (400), the shank support assembly (200) is also connected with a shank fixing assembly (500), and the thigh fixing assembly (400), the shank fixing assembly (500) and the foot assembly (300) are positioned on the same side;

The thigh support assembly (100) and the shank support assembly (200) comprise joint connectors, joint motors, leg fixing pieces, leg length motors and leg length adjusting rods, one of output shafts and shells of the joint motors is fixedly connected with the joint connectors, and the other is fixedly connected with the leg fixing pieces; the leg length adjusting rod is arranged in parallel with the leg fixing piece; the leg length motor is fixedly arranged on the leg fixing piece and is in transmission connection with the leg length adjusting rod so as to drive the leg length adjusting rod to be far away from or close to the joint connecting piece;

the joint connector of the lower leg supporting component (200) is fixedly connected with the leg length adjusting rod of the thigh supporting component (100).

2. The lower extremity exoskeleton device of claim 1 wherein said leg length motor is connected to said leg length adjustment rod by a lead screw nut assembly, a lead screw (164) of said lead screw nut assembly being disposed parallel to said leg length adjustment rod and in driving connection with said leg length motor; and a nut (165) of the screw nut assembly is fixedly connected with the leg length adjusting rod.

3. The lower limb exoskeleton device as claimed in claim 2, wherein the screw (164) is rotatably disposed on the leg fixing member, the leg length motor and the screw nut assembly are disposed at intervals in a horizontal direction, axes of an output shaft of the leg length motor and the screw are parallel to each other, a driving pulley (161) is coaxially fixed on the output shaft of the leg length motor, a driven pulley (163) is coaxially fixed on the screw (164), and a synchronous belt (162) is wound around the driving pulley (161) and the driven pulley (163).

4. A lower extremity exoskeleton device as claimed in claim 3 wherein said leg fixing is in the shape of a rectangular parallelepiped box, said lead screw nut assembly and said driven pulley (163) being both disposed within a cavity of said leg fixing; the leg length motor and the driving pulley (161) are disposed outside the leg fixing member.

5. The lower extremity exoskeleton device of any one of claims 1 to 4 wherein an output shaft of said articulation motor is fixedly connected to said articulation link and a housing of said articulation motor is fixedly connected to said leg mount; the output shaft of the joint motor is coaxially and fixedly provided with a torque sensor (230), and the joint connecting piece is fixedly connected with the torque sensor (230);

The leg mount is also provided with an IMU (144) for measuring the angle, angular velocity and angular acceleration of leg movement;

The leg fixing piece is further provided with a control circuit board (145), and the joint motor, the leg length motor, the torque sensor (230) and the IMU (144) are all connected with the control circuit board (145).

6. The lower extremity exoskeleton device of any one of claims 1 to 4 wherein the outer side wall of said leg length adjustment lever is provided with leg length graduations.

7. The lower extremity exoskeleton device as claimed in claim 1, wherein said thigh support assembly (100) is fixedly connected with said calf support assembly (200) by a clamp connection (180), said clamp connection (180) comprising a connection portion (181) and a clamp portion (182), said connection portion (181) being fixedly connected with an articulation connection of said calf support assembly (200); the fixed end of the clamping part (182) is fixedly connected with the connecting part (181), an adjusting gap is formed between the free end of the clamping part (182) and the connecting part (181) in a natural state, and an accommodating space is formed by surrounding the clamping part (182) and the connecting part (181); the leg length adjusting rod of the thigh supporting assembly (100) is inserted into the accommodating space at one end far away from the joint motor, and the free end of the clamping part (182) clamps the leg length adjusting rod to the clamping connecting piece (180) through a fastener.

8. The lower extremity exoskeleton device of claim 1 wherein said foot assembly (300) includes an ankle joint connector (310), an ankle joint rotator (320), a hindfoot plate (330), a first connecting shaft (340), and a forefoot plate (350); the ankle joint connecting piece (310) is fixedly connected with the tail end of the leg length adjusting rod of the lower leg supporting assembly (200); the ankle rotation member (320) is rotatably connected to the ankle joint connection member (310); the rear foot plate (330) is fixedly connected with the ankle joint rotating piece (320); the front foot plate (350) and the rear foot plate (330) are hinged through the first connecting shaft (340), a first torsion spring (360) is sleeved on the first connecting shaft (340), and the first torsion spring (360) enables the front foot plate (350) to always have a downward rotation trend relative to the rear foot plate (330).

9. The lower extremity exoskeleton device of claim 1 wherein said thigh securing assembly (400) includes a securing member (410), a bent plate (440) and a limit bolt (450), one end of said bent plate (440) being rotatably connected to said securing member (410); the fixing piece (410) is provided with a second arc-shaped hole (411) taking the rotation axis of the bent plate (440) as the center, and the limit bolt (450) passes through the second arc-shaped hole (411) and is fixedly connected with the bent plate (440).

10. The lower extremity exoskeleton device of claim 9 wherein said thigh securing assembly (400) further comprises a rotating plate (430) and a second connecting shaft (420), said bent plate (440) being fixedly connected with said rotating plate (430); the fixing piece (410) is box-shaped, the rotating plate (430) is arranged in a cavity of the fixing piece (410), the fixing piece and the rotating plate are rotationally connected through the second connecting shaft (420), and the second connecting shaft (420) is arranged in an extending mode along the front-rear direction; the second arc-shaped hole (411) is formed in the side wall of the fixing piece (410), and the limit bolt (450) penetrates through the second arc-shaped hole (411) and then is fixed on the rotating plate (430).

11. The lower extremity exoskeleton device of claim 1 wherein said lower leg fixation assembly (500) includes a fixation plate (510) and an opening and closing plate (540) rotatably connected to said fixation plate (510) about a vertical axis, said opening and closing plate (540) being provided with a receiving cavity; the shank fixing assembly (500) further comprises a front guard plate (560), wherein a rotating protrusion is arranged on one side of the front guard plate (560), is positioned in the accommodating cavity and is connected with the opening plate (540) in a back-and-forth swinging manner around a horizontal axis; and a compression spring is further arranged between the rotating bulge and the cavity bottom of the accommodating cavity.

12. A leg rehabilitation apparatus comprising the lower limb exoskeleton device of any one of claims 1 to 11, and two in number, the two lower limb exoskeleton devices being symmetrically arranged.