CN216731801U - Active and passive combination of wearable lower limb assist exoskeleton device - Google Patents

Abstract

The utility model specifically relates to a wearable lower limb power assisting exoskeleton device combining active and passive, which solves the problem that the existing lower limb exoskeleton cannot simultaneously realize the functions of passive weight bearing, energy storage and active power assist. The active-passive wearable lower limb power-assisted exoskeleton device includes a passive energy storage load mechanism consisting of a backpack bracket, a load bearing frame, a spring, and a slide rail. The load mechanism is provided with a waist mechanism, and the waist mechanism is symmetrically provided with a passive storage device for the hip joint. Can rotate mechanism, knee joint active power transmission mechanism, ankle joint passive energy storage power mechanism. The utility model relies on the designed passive and active boosting mechanism to provide corresponding boosting for the wearer, thereby reducing the wearer's metabolic cost and reducing the wearer's load, the structure is simple, safe and reliable, and has strong adaptability.

Description

Active and passive combination of wearable lower limb assist exoskeleton device

technical field

The invention relates to a lower extremity exoskeleton, in particular to a wearable lower extremity assisting exoskeleton device combining active and passive components.

Background technique

Exoskeletons are hard external structures that provide support and protection for living things, similar to the role of bones. Exoskeleton can play the role of support, auxiliary movement and protection. Exoskeletons are divided into active exoskeletons and passive exoskeletons. The active exoskeleton directly provides assistance to the wearer through the motor, which has the advantages of stable output and good assistance effect, but it needs an external power source, and a heavy lithium battery needs to be installed to provide energy for it. The control algorithm is relatively complex, which also leads to the common phenomena of active exoskeletons such as complex control, high cost, short battery life, and bulky size. Passive exoskeletons overcome the fatal shortcoming of active exoskeletons with short battery life, and do not involve control algorithms, which provide great benefits for designing exoskeletons. Moreover, the passive exoskeleton has no electronic products such as batteries and motors, and has the characteristics of light weight, convenient wearing and long life. But passive exoskeletons cannot provide direct assistance, nor can they be precisely controlled. There is a lack of lower extremity exoskeletons in the prior art that can combine the advantages of active and passive exoskeletons at the same time, especially the functions of passive weight-bearing, energy storage and active power assistance cannot be realized at the same time.

SUMMARY OF THE INVENTION

In order to solve the problem that the existing lower limb exoskeleton cannot simultaneously realize the functions of passive weight bearing, energy storage and active power assist, the present invention provides a wearable lower limb power assist exoskeleton device combining active and passive.

The present invention is realized by adopting the following technical solutions: an active-passive combined wearable lower limb power-assisted exoskeleton device includes a backpack support, the backpack support includes a vertical backboard, a load-bearing bracket is horizontally fixed on the rear side of the vertical backboard, and the front of the vertical backboard is There are two sets of inner slide rail threaded fixing holes symmetrically on the side, spring fixing holes are arranged in the middle of the vertical backboard, a load bearing frame is arranged on the front side of the backpack bracket, and a spring fixing pin is arranged on the top of the load bearing frame. On the pin, the bottom of the spring is fixed on the spring fixing hole, the outer slide rail thread fixing holes are provided on both sides of the load bearing frame, the inner slide rail is fixed by the inner slide rail thread fixing hole, and the outer slide block of the slide rail is fixed by the outer slide rail thread. The hole is fixed, the bottom of the load bearing frame is provided with a backpack device fixing hole, and the front side of the load bearing frame is provided with two straps;

A backpack connector is fixed at the bottom of the load bearing frame by using the fixing hole of the backpack device. The left side of the backpack connector is sequentially connected with a cross-joint back plate, a waist connecting curved plate, a waist connecting straight plate, a waist T-shaped fixing plate and a belt bend. Specifically, the right end of the cross-joint back board is inserted into the backpack connector and fixed with the hand-tight screws provided on the lower surface of the backpack connector, and the cross-joint back board provided on the left side of the cross-joint back board is fixed to the hinged threaded hole and the waist. The waist connecting curved plate connecting threaded hole on the right side of the connecting curved plate is fixed by bolts, and the waist connecting curved plate connecting threaded hole on the left side of the waist connecting curved plate and the waist connecting straight plate threaded hole on the right side of the waist connecting straight plate are connected by bolts. The left side of the waist connecting straight plate is provided with a fixed plate moving slot and a T-shaped fixed plate hinge connection hole at the waist.

The waist connecting straight plate projection on the right side of the waist T-shaped fixing plate is inserted into the moving groove of the fixing plate, and the bolts set in the hinge connection hole of the waist T-shaped fixing plate are used to pass through the sliding groove of the waist connecting straight plate projection, and the waist T-shaped The left side of the fixing plate is connected to the waist belt bending plate by using the threaded hole for connecting the waist belt bending plate. The right side structure of the backpack connector is symmetrically arranged with the left side structure, and the structure of one side is as follows;

The lower part of the waist T-shaped fixing plate is provided with a damping inner circular plate slot and a hole for fixing quick-release parts, and the lower part of the waist T-shaped fixing plate is connected with a damping connection inner circular plate, specifically, the top convex plate of the damping connection inner circular plate is inserted into the damping inner circle Inside the plate groove, and use the quick-release parts to pass through the fixed quick-release parts holes to be clamped in the damping connection inner circular plate shock-absorbing groove, and the damping connection inner circular plate is provided with a damping connection outer circular plate, and the damping connection inner circular plate circular plate There is a damping connection inner circular plate bearing hole in the center, a damping connection outer circular plate shaft pin is arranged in the center of the damping connection outer circular plate, and a bearing is arranged between the damping connection inner circular plate bearing hole and the damping connection outer circular plate shaft pin. The lower part of the connecting inner circular plate is provided with an extension limit post, the lower part of the damping connection outer circular plate is provided with an extension stop ring groove, the extension limit post is clamped in the extension stop ring groove, and the lower convex plate of the damping connection inner circular plate is provided with a damping connection outer circle board connection hole;

A small damping circular plate connecting piece is connected under the inner circular plate of the damping connection, specifically, the damping circular plate connecting threaded hole of the damping circular plate connecting small piece and the connecting hole of the outer circular plate of the damping connection are connected by bolts;

A transition pin is connected below the damping circular plate connecting small piece, specifically, the damping circular plate connecting small piece pin connection hole provided on the damping circular plate connecting small piece is connected with the transition pin connecting hole by a pin, and the lower part of the transition pin is provided with a thigh adjusting rod fixing hole;

The lower part of the transition pin is connected to the thigh adjustment rod, the thigh adjustment rod is a hollow square rod, the upper part of the thigh adjustment rod is provided with a thigh adjustment rod adjustment hole, the middle part of the thigh adjustment rod is provided with a thigh adjustment rod adjustment groove, and the lower part of the transition pin is inserted into the thigh adjustment rod and It is fixed by bolts passing through the fixing hole of the thigh adjusting rod and the adjusting hole of the thigh adjusting rod, and an air pressure damping rod is hinged between the thigh adjusting rod and the outer circular plate of the damping connection. The rod fixing hole and the upper end of the air pressure damping rod movable rod are connected by the upper air pressure damping hinge connection seat. Connected by the lower air pressure damping hinge joint, the lower part of the thigh adjustment rod is inserted into the thigh support rod, the middle part of the thigh support rod is provided with a quick-release mounting hole, the lower part of the thigh support rod is provided with a knee joint transition piece installation hole, and the thigh support rod and the thigh are adjusted The rod is positioned by using the quick-release parts inserted into the quick-release parts installation holes and the adjustment grooves of the thigh adjustment rods, and the thigh supporter is fixed in the middle of the thigh support rod by a fixed connection piece. A thigh guard is fixed on the seat, and the fixing connector hole of the fixing connector and the screw hole of the thigh support base are fixed with bolts;

A knee joint transition piece is fixed at the lower end of the thigh support rod. The upper thigh support rod outer cover of the knee joint transition piece is fixed with a limiting end piece, a motor support fixing piece and a motor fixing outer support, and the motor support provided on the motor support fixing piece is fixed The fitting hole and the motor fixing outer bearing fixing hole provided on the motor fixing outer support are fixed on the thigh support rod by bolts. The thigh support rod is inserted into the thigh support rod installation slot provided above the knee joint transition piece, and the knee joint transitions The mounting hole of the fitting and the mounting groove of the knee joint transition piece are positioned with bolts;

The lower part of the motor fixing outer support is provided with a vertical motor annular support plate, and the motor annular support plate is evenly provided with motor fixing holes. There is a coupling connected to the disc motor shaft;

A knee joint transition piece shaft is arranged below the knee joint transition piece, and knee joint connection fasteners are set on both sides of the knee joint transition piece shaft by using deep groove ball bearings. The shaft holes of the fasteners are evenly distributed with coupling holes that are matched with the couplings. The lower part of the knee joint connection firmware is provided with a calf support rod connection hole. rod connection fixed;

The calf support rod is specifically provided with a calf support rod fixing hole at the upper end that cooperates with the connecting hole of the calf support rod; the lower end of the calf support rod is fixed with a protective device connector, and the upper part of the protective device connector is provided with a protective device connector installation hole, and the protective device is connected There are two sets of single-dimensional force sensor mounting holes and supporter connection mounting holes in the lower part of the component, and the single-dimensional force sensor is installed in the gap between the supporter connector and the calf support rod using the single-dimensional force sensor mounting holes;

The calf support rod is sleeved with a protective device connecting fitting, and the upper part of the calf protective device is fixed by the protective device connecting fitting and the protective device connecting piece. Specifically, the calf protective device includes an arc-shaped protective plate, and the two sides of the arc-shaped protective plate are provided with side The baffle, the side baffle is provided with the upper mounting hole of the calf protector and the lower mounting hole of the calf protector, the spring energy storage device fixing hole and the weight reduction groove of the calf protector are opened on the arc protector, and the mounting hole on the calf protector is provided It is fixed with bolts in conjunction with the mounting holes of the protective gear connector;

The lower part of the calf brace is fixed with a lower connecting piece of the calf brace; The weight-reducing hole of the connecting piece; the outer side of the lower connecting piece of the calf supporter is fixed with an ankle joint support rod, the quick-release parts connecting holes are evenly distributed on the ankle joint support rod, and the lower end of the ankle joint support rod is provided with a threaded hole for the transition piece of the foot pedal, The quick-release part connecting hole and the light hole connecting the ankle joint support rod are fixed by two quick-release parts;

A foot pedal transition piece is fixed at the lower end of the ankle joint support rod, the upper end of the foot pedal transition piece is provided with an ankle joint support rod slot and an ankle joint support rod connecting hole, and the lower part is provided with a foot pedal connecting piece shaft, and the lower end of the ankle joint support rod is inserted into In the groove of the ankle joint support rod, the connecting hole of the ankle joint support rod and the threaded hole of the pedal transition piece are matched with bolts for positioning. There are a foot pedal connecting plate shaft hole and a foot pedal connecting piece connecting hole, the foot pedal connecting plate shaft hole and the foot pedal connecting piece shaft are matched and positioned, and a foot pedal connection is fixed below the two foot pedal connecting plates The upper part of the foot pedal connector is provided with a foot pedal connector fixing hole, and the lower part is provided with a foot pedal connection hole, and the foot pedal connector fixing hole is matched with the foot pedal connector connection holes on both sides to be fixed by bolts. The foot pedal connecting hole and the foot pedal hole provided on the foot pedal are fixed by bolts;

The rear end of the foot pedal is connected to the spring energy storage device fixed on the calf protector by a wire rope. The spring energy storage device includes a spring box, the spring box is covered with a spring box cover, a spring is arranged in the spring box, and one end of the spring is fixed in the spring box. The top and the other end are fixed with a spring pressure seat, which is connected and fixed with the steel wire rope.

A foot pressure sensor is arranged under the foot pedal, and an inertial sensor is arranged on the thigh support rod. The foot pressure sensor, the inertial sensor, the disc motor and the single-dimensional force sensor are all connected to the control module and the power supply module arranged at the waist.

The damping connection outer circular plate and the damping connection inner circular plate are evenly provided with weight reduction holes.

When in use, firstly adjust the position of the waist T-shaped fixing plate, thigh protector, and calf protector according to the user's body shape using quick-release parts, and then the user will carry the strap and step on the footrest to ensure that it fits well. The backpack bracket and the load bearing frame slide rails are combined with the design of the spring, which can collect the potential energy of the wearer during the movement of the wearer by using the characteristics of the vertical movement of the center of gravity, and can reduce the peak pressure of the strap on the shoulders, in which the spring plays the role of the vertical movement of the center of gravity. The role of energy storage and release in the process.

Backpack connector, cross-joint back board, waist connecting curved board, waist connecting straight board, waist T-shaped fixing board form the main structure surrounding the waist, which realizes the connection between the back structure and the hip joint function.

The inner circular plate of the damping connection, the outer circular plate of the damping connection, and the air pressure damping rod constitute the rotation mechanism of the hip joint, and the design of the extension limit column ensures that the extension movement of the hip joint does not exceed the limit position. The pneumatic damping rod increases the stability of the exoskeleton on the premise of ensuring the freedom of extension and extension of the lower limbs.

Motor fixing outer support, disc motor, knee joint connection firmware, limit end piece, coupling, knee joint transition piece, motor support fixing piece, etc. constitute the knee joint transmission device, the disc motor provides power, and the coupling The power is transmitted to the thigh support rod, the calf support rod, etc. to generate the assistance of knee bending, and the limit end piece restricts the knee joint movement angle not to exceed the limit.

The single-dimensional force sensor is mainly to judge the intention of the wearer to stretch and bend the calf. The calf is mainly wrapped by the calf protector, and the calf protector is connected to the protector connector. A single-dimensional force sensor is installed on the front and rear of the protector connector. The pressure sensor in front of the leg will collide with the calf support rod to generate a pressure signal, indicating that the wearer wants to bend the leg, and then control the disc motor to drive the knee joint transmission device to assist the wearer to complete this action, reducing the wearer's knee bending process. power consumed.

The foot pedal transition piece, the foot pedal connecting plate, the foot pedal, the wire rope, the foot pedal connecting piece, and the spring energy storage device constitute the ankle joint mechanical assist device. The potential energy in the process of landing, and can provide assistance in the process of lifting the toes against the frictional force, reducing the metabolic cost of the human body.

The calf protector and the thigh protector are provided with Velcro, which is pasted with the wearer's clothing to ensure tight wearing.

A foot pressure sensor is arranged under the foot pedal, and an inertial sensor is arranged on the thigh support rod. The foot pressure sensor, the inertial sensor, the disc motor and the single-dimensional force sensor are all connected to the control module and the power supply module arranged at the waist. The processor in the control module judges the heel contact event by acquiring the signal of the foot pressure sensor, acquires the hip joint angle by acquiring the signal of the inertial sensor, acquires the knee joint angle by acquiring the signal of the encoder built in the disc motor, and acquires the angle of the knee joint by acquiring the signal of the encoder. The signal of the force sensor senses the intention to lift the leg, so as to control the rotation angle of the disc motor accordingly. According to the working process and control principle, in order to realize the active power assist function of the knee joint, the control and power supply circuit that the sensor and the disk motor cooperate with the control module and the power supply module to work can be easily realized by those skilled in the art.

The beneficial effects of the present invention are as follows: by using the rationally designed back bearing mechanism, hip joint rotation mechanism, knee joint transmission mechanism, and ankle joint power assist mechanism, active and active power compensation for knee joint motion and the back, hip joint, ankle joint motion compensation are realized. Passive and passive dynamic compensation of joints, relying on the designed passive elastic elements and active motors, provides corresponding assistance to the exoskeleton by collecting the potential energy during the movement and the electric energy in the power supply, thereby reducing the metabolic cost of people during walking; At the same time, the load can be directly transmitted to the ground, thereby reducing the wearer's fatigue during the load-bearing process. The invention has a simple structure, is safe and reliable, can reduce the self-weight as much as possible on the premise of ensuring the performance, can easily adjust the size to suit the wearers of different statures, and has strong adaptability.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is a schematic diagram of the structure of a backpack bracket;

Figure 3 is a schematic view of the structure of the load-bearing frame;

Figure 4 is a schematic diagram of the structure of the back plate across the joint;

Figure 5 is a schematic diagram of the structure of the waist connecting curved plate;

Figure 6 is a schematic diagram of the structure of the waist connecting straight plate;

Figure 7 is a schematic diagram of the structure of the waist T-shaped fixing plate;

Figure 8 is a schematic diagram of the structure of the inner circular plate of the damping connection;

Figure 9 is a schematic diagram of the structure of the damping connection outer circular plate;

Figure 10 is a schematic diagram of a pneumatic damping hinge structure;

Figure 11 is a schematic diagram of the structure of the damping circular plate connecting small parts;

Figure 12 is a schematic diagram of a transition pin structure;

Figure 13 is a schematic diagram of the structure of the thigh adjustment rod;

Figure 14 is a schematic diagram of the structure of a thigh support rod;

Figure 15 is a schematic structural diagram of a fixed connector;

Figure 16 is a schematic diagram of the structure of the thigh supporter;

Figure 17 is a schematic diagram of the structure of the motor fixed outer support;

Figure 18 is a schematic structural diagram of a thigh support fixture;

19 is a schematic structural diagram of a knee joint transition piece;

Figure 20 is a schematic diagram of the structure of the knee joint connecting firmware;

Figure 21 is a schematic diagram of the structure of the calf support rod;

Figure 22 is a schematic structural diagram of a protective gear connector;

Figure 23 is a schematic structural diagram of a protective gear connection fitting;

Figure 24 is a schematic diagram of the structure of a calf brace;

Figure 25 is a schematic diagram of the structure of the ankle joint support rod;

Figure 26 is a schematic structural diagram of the lower connector of the calf brace;

Figure 27 is a schematic structural diagram of a foot pedal transition piece;

Figure 28 is a schematic structural diagram of a foot pedal connector;

Figure 29 is a schematic diagram of the foot pedal structure;

Figure 30 is a schematic structural diagram of a foot pedal connector;

Figure 31 is a schematic structural diagram of a spring energy storage device;

Figure 32 is a schematic diagram of the structure of the motor drive shaft;

Figure 33 is a schematic diagram of the motor control principle;

In the picture: 1- Backpack bracket, 2- Load bearing frame, 3- Strap, 4- Cross-joint back board, 5- Waist connecting curved board, 6- Waist connecting straight board, 7- Waist T-shaped fixing board, 8- Belt Bending plate, 9-quick release parts, 10-upper air pressure damping hinge joint seat, 11- damping connection outer circular plate, 12-air pressure damping rod, 13-lower air pressure damping hinge connection seat, 14-fixed connecting piece, 15-thigh Bracket rod, 16-motor fixed outer support, 17-disc motor, 18-knee joint connection fastener, 19-calf support rod, 20-protector connection fitting, 21-protector connection piece, 22-one-dimensional force sensor, 23-calf brace, 24-ankle brace rod, 25-calf brace lower connector, 26-foot pedal transition piece, 27-foot pedal connecting plate, 28-foot pedal, 29-wire rope, 30-foot pedal connector, 31-spring energy storage device, 32-limiting end piece, 33-coupling, 34-knee joint transition piece, 35-motor support fixing piece, 36-thigh protector, 37 - Thigh adjustment rod, 38- transition pin, 39- damping circular plate connection small piece, 40- damping connection inner circular plate, 41- thumb screw, 42- backpack connector, 43- spring, 44- deep groove ball bearing;

101-threaded fixing hole of inner slide rail, 102-spring fixing hole, 103-bearing bracket;

201-spring fixing pin, 202-outer slide rail threaded fixing hole, 203-backpack device fixing hole;

401-fixed hinged threaded hole of the back plate across the joint, 501-connected threaded hole of the waist connecting curved plate;

601- T-shaped fixing plate hinged connection hole at waist, 602- fixed plate moving groove, 603- waist connection straight plate threaded hole;

701- threaded hole for connecting the belt bend plate, 702- damping inner circular plate groove, 703- fixing quick release hole, 704- waist connecting straight plate bump;

4001-extension limit post, 4002- damping connection inner circular plate bearing hole, 4003- damping connection inner circular plate damping groove;

1101- damping connection outer circular plate air pressure damping rod fixing hole, 1102- damping connection outer circular plate shaft pin, 1103- extension stop ring groove, 1104- damping connection outer circular plate connection hole;

1001-connection hole of air pressure damping rod, 1002-fixing hole of outer circular plate;

3901- Damping circular plate connecting threaded hole, 3902- Damping circular plate connecting small pin connection hole;

3801-transition pin connecting hole, 3802-thigh adjustment rod fixing hole;

3701-Thigh adjustment rod adjustment hole, 3702-Thigh adjustment rod adjustment slot;

1501- Quick release mounting hole, 1502- Knee joint transition piece mounting hole, 1401- Fixed connector hole;

3601- Thigh guard base, 3602- Thigh guard, 3501- Motor support fixing hole;

1601-Motor fixing hole, 1602-Motor fixing outer support fixing hole;

3401 - Knee joint transition piece installation slot, 3402 - Knee joint transition piece shaft, 3403 - Thigh support rod installation slot;

1801- Knee joint connection fastener shaft hole, 1802- Calf support rod connection hole, 1803- Coupling hole, 1901- Calf support rod fixing hole;

2101- mounting hole for protective gear connector, 2102- mounting hole for single dimension force sensor, 2103- mounting hole for protective gear connection;

2301-installation hole on the calf protector, 2302-calf protector weight reduction groove, 2303-spring energy storage device fixing hole, 2304-installation hole under the calf protector;

2401-Quick-release connection hole, 2402-Tap hole for transition piece of foot pedal;

2501-connecting the bare hole of the ankle joint support rod, 2502-reducing the weight hole of the lower connecting piece of the calf brace, 2503-connecting the threaded hole of the calf brace;

2601-ankle joint support rod connecting hole, 2602-foot pedal connecting piece shaft, 2603-ankle joint support rod groove;

2701- Foot pedal connecting plate shaft hole, 2702- Foot pedal connecting piece connecting hole, 2801- Foot pedal hole;

3001-Fixing hole for foot pedal connector, 3002-Foot pedal connection hole.

3101-spring box cover, 3102-spring box, 3103-energy storage spring, 3104-spring pressure seat.

Detailed ways

The active-passive combined wearable lower-limb power-assisted exoskeleton device includes a backpack bracket 1, the backpack bracket 1 includes a vertical backboard, a load-bearing bracket 103 is horizontally fixed on the rear side of the vertical backboard, and two sets of inner plates are symmetrically arranged on the front side of the vertical backboard. Threaded fixing holes 101 on the slide rail, spring fixing holes 102 in the middle of the vertical backboard, a load bearing frame 2 on the front side of the backpack support 1, a spring fixing pin 201 on the top of the load bearing frame 2, and the top of the spring 43 fixed on the spring fixed On the pin 201, the bottom of the spring 43 is fixed on the spring fixing hole 102, the outer slide rail thread fixing hole 202 is provided on both sides of the load bearing frame 2, the inner slide rail is fixed by the inner slide rail thread fixing hole 101, and the slide rail outer slider is The outer slide rail threaded fixing hole 202 is used for fixing, the bottom of the load bearing frame 2 is provided with a backpack device fixing hole 203, and the front side of the load bearing frame 2 is provided with two straps 3;

A backpack connector 42 is fixed under the load carrying frame 2 by using a backpack device fixing hole 203. The left side of the backpack connector 42 is sequentially connected with a cross-joint back plate 4, a waist connecting curved plate 5, a waist connecting straight plate 6, and a waist connecting plate 42 from right to left. The T-shaped fixing plate 7 and the waist belt bending plate 8 are specifically inserted into the backpack connector 42 at the right end of the cross-joint back plate 4 and fixed by the thumbscrews 41 provided on the lower surface of the backpack connector 42, and the left side of the cross-joint back plate 4 is fixed. The provided cross-joint back plate fixing hinge threaded hole 401 is connected with the waist connecting curved plate connecting threaded hole 501 provided on the right side of the waist connecting curved plate 5 by bolts, and the waist connecting curved plate on the left side of the waist connecting curved plate 5 is connected. The threaded hole 501 is connected with the threaded hole 603 of the waist connecting straight plate on the right side of the waist connecting straight plate 6 by bolts. The left side of the waist connecting straight plate 6 is provided with a fixed plate moving groove 602 and a waist T-shaped fixed plate hinge connection hole 601.

The waist connecting straight plate projection 704 on the right side of the waist T-shaped fixing plate 7 is inserted into the fixing plate moving groove 602, and the bolts provided in the hinge connection hole 601 of the waist T-shaped fixing plate are used to pass through the sliding groove of the waist connecting straight plate projection 704 Positioning, the left side of the waist T-shaped fixing plate 7 is provided with a threaded hole 701 for connecting the waist belt bending plate to connect the waist belt bending plate 8, the right side structure of the backpack connector 42 is symmetrically arranged with the left side structure, and one side structure is as follows;

The lower part of the waist T-shaped fixing plate 7 is provided with a damping inner circular plate groove 702 and a fixed quick release hole 703, and the lower part of the waist T-shaped fixing plate 7 is connected with a damping connecting inner circular plate 40, specifically the top of the damping connecting inner circular plate 40 The convex plate is inserted into the damping inner circular plate groove 702, and is fixed in the damping connection inner circular plate damping groove 4003 by the quick release piece 9 through the fixed quick release piece hole 703. The damping connection inner circular plate 40 is provided with a damping connection outside. Outer circular plate 11, damping connection inner circular plate 40 The center of the circular plate is provided with a damping connection inner circular plate bearing hole 4002, the damping connection outer circular plate 11 The center of the circular plate is provided with a damping connection outer circular plate shaft pin 1102, the damping connection inner circular plate A bearing is provided between the bearing hole 4002 and the shaft pin 1102 of the damping connection outer circular plate, the lower part of the damping connection inner circular plate 40 is provided with an extension limit post 4001, the lower part of the damper connection outer circular plate 11 is provided with an extension stop ring groove 1103, and the extension limit post 4001 is stuck in the expansion stop ring groove 1103, and the lower convex plate of the damping connection inner circular plate 40 is provided with a damping connection outer circular plate connecting hole 1104;

The damping circular plate connecting small piece 39 is connected below the damping connecting inner circular plate 40, specifically, the damping circular plate connecting screw hole 3901 of the damping circular plate connecting small piece 39 and the damping connecting outer circular plate connecting hole 1104 are connected by bolts;

A transition pin 38 is connected below the damping circular plate connecting small piece 39 , specifically, the damping circular plate connecting small piece pin connection hole 3902 provided on the damping circular plate connecting small piece 39 and the transition pin connecting hole 3801 are connected by pins, and the transition pin 38 The lower part is provided with a thigh adjustment rod fixing hole 3802;

The lower part of the transition pin 38 is connected to the thigh adjustment rod 37, the thigh adjustment rod 37 is a hollow square rod, the upper part of the thigh adjustment rod 37 is provided with a thigh adjustment rod adjustment hole 3701, the middle of the thigh adjustment rod 37 is opened with a thigh adjustment rod adjustment groove 3702, and the transition pin The lower part of 38 is inserted into the thigh adjustment rod 37 and fixed by bolts passing through the thigh adjustment rod fixing hole 3802 and the thigh adjustment rod adjustment hole 3701. The air pressure damping rod 12 is hinged between the thigh adjustment rod 37 and the damping connection outer circular plate 11. Specifically, In order to damp the damping connection of the outer circular plate 11, the air pressure damping rod fixing hole 1101 of the outer circular plate and the upper end of the air pressure damping rod 12 are connected by the upper air pressure damping hinge connection seat 10, and the upper air pressure damping hinge connection seat 10 is provided with the air pressure damping rod connection The hole 1001 and the outer circular plate fixing hole 1002, the middle of the thigh adjustment rod 37 and the lower end of the fixed end of the air pressure damping rod 12 are connected by the lower air pressure damping hinge joint seat 13, the lower part of the thigh adjustment rod 37 is inserted into the thigh support rod 15, and the middle of the thigh support rod 15 A quick release mounting hole 1501 is opened, a knee joint transition piece mounting hole 1502 is opened at the lower part of the thigh support rod 15, and the thigh support rod 15 and the thigh adjustment rod 37 are inserted into the quick release mounting hole 1501 and the thigh adjustment rod adjustment slot 3702 by using the The quick-release parts are positioned. The middle of the thigh support rod 15 is fixed with the thigh supporter 36 by the fixed connector 14. The thigh supporter 36 is provided with a thigh supporter base 3601, and a thigh supporter 3602 is fixed on the thigh supporter base 3601. The fixing connector hole 1401 of the connector 14 and the screw hole of the thigh support base 3601 are fixed by bolts;

The lower end of the thigh support rod 15 is fixed with a knee joint transition piece 34 , and the thigh support rod 15 above the knee joint transition piece 34 is covered with a fixed limiting end piece 32 , a motor support fixing piece 35 and a motor fixing outer support 16 , a motor support fixing piece The motor support fixing hole 3501 provided in 35 cooperates with the motor fixing outer support fixing hole 1602 provided on the motor fixing outer support 16 to be fixed on the thigh support rod 15 by bolts, and the thigh support rod 15 is inserted into the knee joint transition piece 34 In the thigh support rod installation groove 3403 provided above, the knee joint transition piece installation hole 1502 is matched with the knee joint transition piece installation groove 3401 to be positioned by bolts;

The lower part of the motor fixing outer support 16 is provided with a vertical motor annular support plate. Motor fixing holes 1601 are evenly distributed on the motor annular support plate. The inner side of the support plate is provided with a coupling 33 connected to the shaft of the disc motor 17;

A knee joint transition piece shaft 3402 is arranged below the knee joint transition piece 34, both sides of the knee joint transition piece shaft 3402 are covered with knee joint connection fasteners 18 using deep groove ball bearings 44, and knee joint connection fasteners 18 are provided with knee joint connection fasteners Axle hole 1801, the periphery of the shaft hole 1801 of the knee joint connecting hardware is uniformly opened with coupling holes 1803 which are matched with the coupling 33, and the lower part of the knee joint connecting hardware 18 is provided with a calf support rod connecting hole 1802, and the two knee joints are connected The fasteners 18 are connected and fixed with the calf support rod 19 by using the calf support rod connecting hole 1802;

The calf support rod 19 specifically has a calf support rod fixing hole 1901 at the upper end that cooperates with the calf support rod connection hole 1802; Mounting hole 2101, two sets of single-dimensional force sensor mounting holes 2102 and supporter connection mounting holes 2103 are opened in the lower part of the supporter connector 21, and the single-dimensional force sensor 22 is installed on the supporter connector 21 and the space between the calf support rods 19;

The calf support rod 19 is sleeved with a protective device connecting fitting 20, and the upper part of the calf protective device 23 is fixed by the protective device connecting fitting 20 and the protective device connecting member 21. There are side baffles on both sides of the plate, the upper mounting holes 2301 of the calf protectors and the lower mounting holes 2304 of the calf protectors are arranged on the side baffles, and the spring energy storage device fixing holes 2303 and the lower leg protectors are opened on the arc-shaped protector. The heavy groove 2302, the mounting hole 2301 on the calf supporter and the mounting hole 2101 of the supporter connector are fixed with bolts;

The lower part of the calf supporter 23 is fixed with a lower connecting piece 25 of the calf supporter, the lower connecting piece 25 of the calf supporter is provided with a threaded hole 2503 for connecting the calf supporter which is matched with the lower mounting hole 2304 of the calf supporter, and a light hole for connecting the ankle joint support rod 2501 and the weight-reducing hole 2502 of the lower connecting piece of the calf supporter; the outer side of the lower connecting piece of the calf supporter 25 is fixed with an ankle joint support rod 24, and the ankle joint support rod 24 is evenly distributed with quick-release connection holes 2401, and the ankle joint support rod The lower end of 24 is provided with a threaded hole 2402 for the transition piece of the footboard, the connecting hole 2401 of the quick-release piece and the light hole 2501 for connecting the ankle joint support rod are fixed by two quick-release pieces together;

The lower end of the ankle joint support rod 24 is fixed with a foot pedal transition piece 26, the upper end of the foot pedal transition piece 26 is provided with an ankle joint support rod slot 2603 and an ankle joint support rod connecting hole 2601, and the lower part is provided with a foot pedal connecting piece shaft 2602, The lower end of the ankle joint support rod 24 is inserted into the ankle joint support rod groove 2603, the ankle joint support rod connecting hole 2601 and the threaded hole 2402 of the pedal transition piece are matched with bolts for positioning, and the two ends of the pedal joint piece shaft 2602 are sleeved with pedals The pedal connecting plate 27, the pedal connecting plate 27 is provided with a pedal connecting plate shaft hole 2701 and a foot pedal connecting piece connecting hole 2702, and the foot pedal connecting plate shaft hole 2701 and the foot pedal connecting piece shaft 2602 are matched for positioning , a foot pedal connecting piece 30 is fixed below between the two foot pedal connecting plates 27, the upper part of the foot pedal connecting piece 30 is provided with a foot pedal connecting piece fixing hole 3001, and the lower part is provided with a foot pedal connecting hole 3002, The pedal connector fixing hole 3001 is fixed with the foot pedal connector connecting hole 2702 on both sides with bolts, and the foot pedal connecting hole 3002 is fixed with the foot pedal hole 2801 provided on the foot pedal 28 with bolts;

The rear end of the foot pedal 28 is connected to the spring energy storage device 31 fixed on the calf supporter 23 by the wire rope 29. The spring energy storage device 31 includes a spring box 3102, and the spring box 3102 is covered with a spring box cover 3101. Inside the spring box 3102 A spring 3103 is provided, one end of the spring 3103 is fixed on the top of the spring box 3102 , and the other end is fixed with a spring pressing seat 3104 , which is connected and fixed with the wire rope 29 .

The foot pedal 28 is provided with a foot pressure sensor, and the thigh support rod 15 is provided with an inertial sensor. The foot pressure sensor, the inertial sensor, the disc motor 17 and the single-dimensional force sensor 22 are all connected to the control module and power supply module located at the waist.

In the specific implementation process, the damping connection outer circular plate 11 and the damping connection inner circular plate 40 are evenly provided with weight reduction holes. The calf protector 23 and the thigh protector 36 are both made of plastic. The calf protector 23 and the thigh protector 36 are provided with Velcro, which is pasted with the wearer's clothing to ensure tight wearing. The slide rail adopts the light slide rail for drawers.

Claims (3)

1. The utility model provides an active and passive wearable lower limbs helping hand ectoskeleton device who combines which characterized in that: the backpack comprises a backpack support (1), wherein the backpack support (1) comprises a vertical backboard, a bearing support (103) is horizontally fixed on the rear side of the vertical backboard, two groups of inner slide rail thread fixing holes (101) are symmetrically arranged on the front side of the vertical backboard, a spring fixing hole (102) is arranged in the middle of the vertical backboard, a load bearing frame (2) is arranged on the front side of the backpack support (1), spring fixing pins (201) are arranged on the top of the load bearing frame (2), the top of a spring (43) is fixed on the spring fixing pins (201), the bottom of the spring (43) is fixed on the spring fixing hole (102), outer slide rail thread fixing holes (202) are arranged on two sides of the load bearing frame (2), inner slide rail of a slide rail is fixed by the inner slide rail thread fixing holes (101), outer slide rail of the slide rail is fixed by the outer slide rail thread fixing holes (202), a backpack device fixing hole (203) is arranged at the bottom of the load bearing frame (2), and two straps (3) are arranged on the front side of the load bearing frame (2);

a backpack connector (42) is fixed below the load bearing frame (2) by utilizing a backpack device fixing hole (203), the left side of the backpack connector (42) is sequentially connected with a joint-spanning backboard (4), a waist connecting bent plate (5), a waist connecting straight plate (6), a waist T-shaped fixing plate (7) and a waist bent plate (8) from right to left, specifically, the right end of the joint-spanning backboard (4) is inserted into the backpack connector (42) and is fixed by utilizing a hand screw (41) arranged on the lower surface of the backpack connector (42), a joint-spanning backboard fixing hinged threaded hole (401) arranged on the left side of the joint-spanning backboard (4) is fixedly connected with a waist connecting bent plate connecting threaded hole (501) arranged on the right side of the waist connecting bent plate (5) by utilizing a bolt, a waist connecting bent plate connecting threaded hole (501) on the left side of the waist connecting bent plate (5) is connected with a waist connecting straight plate threaded hole (603) on the right side of the waist connecting straight plate (6) by utilizing a bolt, a fixing plate moving groove (602) and a waist T-shaped fixing plate hinged connection hole (601) are formed in the left side of the waist connecting straight plate (6), a waist connecting straight plate convex block (704) on the right side of the waist T-shaped fixing plate (7) is inserted into the fixing plate moving groove (602), a bolt arranged in the waist T-shaped fixing plate hinged connection hole (601) penetrates through a sliding groove of the waist connecting straight plate convex block (704) to be positioned, a waist T-shaped fixing plate (7) is connected with a waist belt bent plate (8) through a threaded hole (701) for connecting the waist belt bent plate in the left side, the right side structure and the left side structure of the backpack connector (42) are symmetrically arranged, and one side structure is as follows;

the lower part of a waist T-shaped fixing plate (7) is provided with a damping inner circular plate groove (702) and a fixing quick-release part hole (703), a damping connecting inner circular plate (40) is connected below the waist T-shaped fixing plate (7), specifically, a convex plate at the top of the damping connecting inner circular plate (40) is inserted into the damping inner circular plate groove (702), and is clamped in a damping connecting inner circular plate damping groove (4003) through the fixing quick-release part hole (703) by utilizing a quick-release part (9) to be fixed in the damping connecting inner circular plate damping groove (4003), a damping connecting outer circular plate (11) is arranged outside the damping connecting inner circular plate (40), a damping connecting inner circular plate bearing hole (4002) is arranged at the center of the circular plate of the damping connecting inner circular plate (40), a damping connecting outer circular plate shaft pin (1102) is arranged at the center of the damping connecting outer circular plate (11), a bearing is arranged between the damping connecting shaft end hole (4002) of the damping connecting inner circular plate and the damping connecting outer circular plate (1102) and is positioned by utilizing a retainer ring, an extension limiting column (4001) is arranged at the lower part of the damping connection inner circular plate (40), an extension stop ring groove (1103) is arranged at the lower part of the damping connection outer circular plate (11), the extension limiting column (4001) is clamped in the extension stop ring groove (1103), and a damping connection outer circular plate connecting hole (1104) is arranged on a convex plate at the lower part of the damping connection inner circular plate (40);

a damping circular plate connecting small piece (39) is connected to the lower part of the damping connecting inner circular plate (40), and specifically, a damping circular plate connecting threaded hole (3901) of the damping circular plate connecting small piece (39) is connected with a damping connecting outer circular plate connecting hole (1104) through a bolt;

a transition pin (38) is connected below the small damping circular plate connecting piece (39), specifically, a small damping circular plate connecting piece pin connecting hole (3902) formed in the small damping circular plate connecting piece (39) is connected with the transition pin connecting hole (3801) through a pin, and a thigh adjusting rod fixing hole (3802) is formed in the lower portion of the transition pin (38);

the lower part of the transition pin (38) is connected to a thigh adjusting rod (37), the thigh adjusting rod (37) is a hollow square rod, the upper part of the thigh adjusting rod (37) is provided with a thigh adjusting rod adjusting hole (3701), the middle part of the thigh adjusting rod (37) is provided with a thigh adjusting rod adjusting groove (3702), the lower part of the transition pin (38) is inserted into the thigh adjusting rod (37) and is fixed by a bolt penetrating through the thigh adjusting rod fixing hole (3802) and the thigh adjusting rod adjusting hole (3701), an air pressure damping rod (12) is hinged between the thigh adjusting rod (37) and the damping connection outer circular plate (11), specifically, the damping connection outer circular plate air pressure damping rod fixing hole (1101) of the damping connection outer circular plate (11) is connected with the upper end of the movable rod of the air pressure damping rod (12) by an upper air pressure damping hinge connecting seat (10), the upper air pressure damping hinge connecting seat (10) is provided with an air pressure damping rod connecting hole (1001) and an outer circular plate fixing hole (1002), the middle part of the thigh adjusting rod (37) is connected with the lower end of the fixed end of the air pressure damping rod (12) by a lower air pressure damping hinge connecting seat (13), the lower part of the thigh adjusting rod (37) is inserted into the thigh support rod (15), a quick-release mounting hole (1501) is formed in the middle of the thigh support rod (15), a knee joint transition piece mounting hole (1502) is formed in the lower portion of the thigh support rod (15), the thigh support rod (15) and the thigh adjusting rod (37) are positioned by a quick-release piece inserted into the quick-release mounting hole (1501) and the thigh adjusting rod adjusting groove (3702), a thigh protector (36) is fixed to the middle of the thigh support rod (15) by a fixing connecting piece (14), a thigh protector base (3601) is arranged on the thigh protector base (3601), a thigh protector (3602) is fixed to the thigh protector base (3601), and a fixing connecting piece hole (1401) of the fixing connecting piece (14) is matched with a screw hole of the thigh protector base (3601) and fixed by a bolt;

a knee joint transition piece (34) is fixed at the lower end of the thigh support rod (15), a limiting end piece (32), a motor support fixing piece (35) and a motor fixing outer base (16) are sleeved outside the thigh support rod (15) above the knee joint transition piece (34), a motor support fixing piece hole (3501) formed in the motor support fixing piece (35) is matched with a motor fixing outer base fixing hole (1602) formed in the motor fixing outer base (16) and is fixed on the thigh support rod (15) through bolts, the thigh support rod (15) is inserted into a thigh support rod mounting groove (3403) formed above the knee joint transition piece (34), and the knee joint transition piece mounting hole (1502) is matched with the knee joint transition piece mounting groove (3401) and is positioned through bolts;

a vertical motor annular support plate is arranged at the lower part of the motor fixing outer support (16), motor fixing holes (1601) are uniformly distributed on the motor annular support plate, a disc type motor (17) is fixed on the outer side of the motor annular support plate by the motor fixing holes (1601), and a coupling (33) connected to an output disc shaft of the disc type motor (17) is arranged on the inner side of the motor annular support plate;

a knee joint transition piece shaft (3402) is arranged below the knee joint transition piece (34), knee joint connecting fixing pieces (18) are sleeved on the two sides of the knee joint transition piece shaft (3402) through deep groove ball bearings (44), knee joint connecting fixing piece shaft holes (1801) are formed in the knee joint connecting fixing pieces (18), coupling holes (1803) which are connected with a coupling (33) in a matched mode are uniformly distributed on the peripheries of the knee joint connecting fixing piece shaft holes (1801), shank support rod connecting holes (1802) are formed in the lower portion of the knee joint connecting fixing pieces (18), and the two knee joint connecting fixing pieces (18) are connected and fixed with shank support rods (19) through the shank support rod connecting holes (1802);

the upper end of the shank support rod (19) is provided with a shank support rod fixing hole (1901) matched with the shank support rod connecting hole (1802); the lower end of the shank support rod (19) is fixed with a protective tool connecting piece (21), the upper part of the protective tool connecting piece (21) is provided with a protective tool connecting piece mounting hole (2101), the lower part of the protective tool connecting piece (21) is provided with two groups of one-dimensional force sensor mounting holes (2102) and a protective tool connecting mounting hole (2103), and the one-dimensional force sensor (22) is arranged at a gap between the protective tool connecting piece (21) and the shank support rod (19) by utilizing the one-dimensional force sensor mounting hole (2102);

the protective tool connecting fitting piece (20) is sleeved on the shank support rod (19), the upper part of the shank protective tool (23) is fixed by the protective tool connecting fitting piece (20) and the protective tool connecting piece (21), specifically, the shank protective tool (23) comprises an arc-shaped guard plate, side baffles are arranged on two sides of the arc-shaped guard plate, a shank protective tool upper mounting hole (2301) and a shank protective tool lower mounting hole (2304) are arranged on the side baffles, a spring energy storage device fixing hole (2303) and a shank protective tool lightening groove (2302) are formed in the arc-shaped guard plate, and the shank protective tool upper mounting hole (2301) and the protective tool connecting piece mounting hole (2101) are matched and fixed by bolts;

a lower shank protector connecting piece (25) is fixed at the lower part of the shank protector (23), the lower shank protector connecting piece (25) is provided with a lower shank protector threaded hole (2503) matched with the lower shank protector mounting hole (2304), and a connecting ankle joint support rod unthreaded hole (2501) and a lower shank protector connecting piece lightening hole (2502); an ankle joint support rod (24) is fixed on the outer side of a lower connecting piece (25) of the shank protector, quick-release part connecting holes (2401) are uniformly distributed on the ankle joint support rod (24), a pedal transition part threaded hole (2402) is formed in the lower end of the ankle joint support rod (24), and the quick-release part connecting holes (2401) and a connecting ankle joint support rod unthreaded hole (2501) are matched and fixed by two quick-release parts;

a pedal transition piece (26) is fixed at the lower end of an ankle support rod (24), an ankle support rod groove (2603) and an ankle support rod connecting hole (2601) are formed in the upper end of the pedal transition piece (26), a pedal connecting piece shaft (2602) is arranged at the lower part of the ankle support rod, the lower end of the ankle support rod (24) is inserted into the ankle support rod groove (2603), the ankle support rod connecting hole (2601) and a pedal transition piece threaded hole (2402) are matched and positioned by using a bolt, pedal connecting plates (27) are sleeved at the two ends of the pedal connecting piece shaft (2602), a pedal connecting plate shaft hole (2701) and a pedal connecting piece connecting hole (2702) are formed in the pedal connecting plate (27), the pedal connecting plate shaft hole (2701) and the pedal connecting piece shaft (2602) are matched and positioned, a pedal connecting piece (30) is fixed at the lower part between the two pedal connecting plates (27), a pedal connecting piece fixing hole (3001) is formed in the upper part of the pedal connecting piece (30), the lower part is provided with a pedal connecting hole (3002), a pedal connecting piece fixing hole (3001) is matched with pedal connecting piece connecting holes (2702) at two sides and fixed by a bolt, and the pedal connecting hole (3002) is matched with a pedal hole (2801) arranged on a pedal (28) and fixed by a bolt;

the rear end of the pedal (28) is connected to a spring energy storage device (31) fixed on the shank protector (23) by a steel wire rope (29), the spring energy storage device (31) comprises a spring box (3102), a spring box cover (3101) is covered on the spring box (3102), an energy storage spring (3103) is arranged in the spring box (3102), one end of the energy storage spring (3103) is fixed at the top end of the spring box (3102), the other end of the energy storage spring is fixed with a spring pressure seat (3104), and the spring pressure seat (3104) is connected and fixed with the steel wire rope (29);

a foot pressure sensor is arranged below the pedal (28), an inertial sensor is arranged on the thigh support rod (15), and the foot pressure sensor, the inertial sensor, the disc motor (17) and the one-dimensional force sensor (22) are all connected to a control module and a power module which are arranged on the waist.

2. The active-passive wearable lower extremity assist exoskeleton device of claim 1, wherein: lightening holes are uniformly distributed on the damping connecting outer circular plate (11) and the damping connecting inner circular plate (40).

3. The active-passive wearable lower extremity assist exoskeleton device of claim 1, wherein: the shank protector (23) and the thigh protector (36) are provided with magic tapes.

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