阅读说明：本技术 一种穿戴式下肢外骨骼辅助行走机器人 (Wearable lower limb exoskeleton auxiliary walking robot ) 是由 王洪波 刘文杰 刘长喜 宁园盛 田俊杰 姚米晨阳 魏建 朱攀 于 2021-06-10 设计创作，主要内容包括：本发明属于康复医疗设备技术领域,具体涉及一种穿戴式下肢外骨骼辅助行走机器人。本发明包括腰部固定组件以及下肢康复机构；下肢康复机构包括关节驱动组件、大腿支撑组件、小腿支撑组件、踝关节训练组件和脚托；关节驱动组件包括驱动电机、主动锥齿轮、从动锥齿轮、储能组件以及转动轴；踝关节训练组件包括踝关节转动轴以及过渡板；小腿支撑组件与过渡板之间安装有缓冲弹簧；储能组件包括圆盘固定架、碟簧组以及压盘；压盘与传动轴传动连接。本发明通过关节驱动组件带动患者下肢进行屈伸动作,在过渡板与小腿支撑组件之间安装有缓冲弹簧,提高了安全性,总体机械结构简单,具有一定的刚度和强度。(The invention belongs to the technical field of rehabilitation medical equipment, and particularly relates to a wearable lower limb exoskeleton auxiliary walking robot. The invention comprises a waist fixing component and a lower limb rehabilitation mechanism; the lower limb rehabilitation mechanism comprises a joint driving component, a thigh supporting component, a shank supporting component, an ankle joint training component and a foot rest; the joint driving assembly comprises a driving motor, a driving bevel gear, a driven bevel gear, an energy storage assembly and a rotating shaft; the ankle joint training component comprises an ankle joint rotating shaft and a transition plate; a buffer spring is arranged between the shank support component and the transition plate; the energy storage assembly comprises a disc fixing frame, a disc spring group and a pressing disc; the pressure plate is in transmission connection with the transmission shaft. The invention drives the lower limbs of the patient to perform flexion and extension actions through the joint driving assembly, and the buffer spring is arranged between the transition plate and the shank supporting assembly, so that the safety is improved, and the overall mechanical structure is simple and has certain rigidity and strength.)

1. The utility model provides a wearing formula lower limbs ectoskeleton assists walking robot which characterized in that: comprises a waist fixing component (1) arranged at the waist of a patient and lower limb rehabilitation mechanisms symmetrically arranged at two sides of the waist fixing component (1); the lower limb rehabilitation mechanism comprises a joint driving component (2) for driving a hip joint and a knee joint to move, a thigh supporting component (3) rotatably connected with the waist fixing component (1) through the joint driving component (2), a shank supporting component (5) rotatably connected with the thigh supporting component (3) through the joint driving component (2), and an ankle joint training component (6) rotatably connected with the shank supporting component (5); the tail end of the ankle joint training component (6) is provided with a foot support (7);

the joint driving assembly (2) comprises a driving motor (21), a driving bevel gear (22) coaxially connected with an output shaft of the driving motor (21), a driven bevel gear (23) meshed with the driving bevel gear (22), an energy storage assembly (24) fixedly connected with the driven bevel gear (23) and a rotating shaft (25) in key transmission connection with the energy storage assembly (24);

the ankle joint training component (6) comprises an ankle joint rotating shaft (62) which is rotatably connected with the tail end of the lower leg supporting component (5) through an ankle joint support (61) and a transition plate (63) which is fixedly connected with the ankle joint rotating shaft (62); a buffer spring (64) is arranged between the lower leg support assembly (5) and the transition plate (63);

the energy storage assembly (24) comprises a disc fixing frame (241) fixedly connected with the driven bevel gear (23), a plurality of disc spring groups (242) circumferentially arranged on the disc fixing frame (241), and a pressure plate (243) penetrating through the disc fixing frame (241) and fixedly connected with the disc fixing frame; the pressure plate (243) is in key transmission connection with the rotating shaft (25).

2. The wearable lower extremity exoskeleton auxiliary walking robot of claim 1, wherein: the thigh supporting component (3) comprises a thigh upper supporting rod (31), a thigh lower supporting rod (32) sleeved outside the thigh upper supporting rod (31) and a length adjusting mechanism (33) arranged in the thigh upper supporting rod (31); the shank support component (5) comprises a shank upper support rod (51), a shank lower support rod (52) sleeved outside the shank upper support rod (51) and a length adjusting mechanism (33) arranged in the shank upper support rod (51).

3. The wearable lower extremity exoskeleton auxiliary walking robot of claim 2, wherein: the length adjustment mechanism (33) includes: the button switch (330), a wedge-shaped sliding block (331) fixedly connected with the button switch (330), a transmission rod (332) in contact connection with the wedge-shaped sliding block (331), a top block (333) installed at the tail end of the transmission rod (332), a control sliding rod (334) fixedly connected with the top block (333), a positioning sliding block (335) in contact connection with the tail end of the control sliding rod (334) and a first sliding block (336) sleeved outside the positioning sliding block (335); the one end of first slider (336) is provided with the opening, is provided with joint (9) on being close to the location slider (335) of opening one end, the other end of location slider (335) with be provided with reset spring (337) between first slider (336), adjust first slider (336) of thigh supporting component (3) length with bracing piece (31) fixed connection on the thigh, support bar (51) fixed connection on first slider (336) and the shank of adjusting shank supporting component (5) length, be provided with on the control slide bar (334) and to its spacing first arch (338), transfer line (332) with the inclined plane is personally submitted in wedge slider (331) contact connection, control slide bar (334) with the inclined plane is personally submitted in the location slider (335) contact connection.

4. The wearable lower extremity exoskeleton auxiliary walking robot of claim 2, wherein: the length adjusting mechanism (33) comprises a thigh length adjusting mechanism used for adjusting the length of the thigh supporting component (3) and a shank length adjusting mechanism used for adjusting the length of the shank supporting component (5).

5. The wearable lower extremity exoskeleton auxiliary walking robot of claim 3, wherein: the thigh lower supporting rod (32) and the shank lower supporting rod (52) are provided with a plurality of adjusting holes (8) used for adjusting the height, and the clamping joint (9) is inserted into the corresponding adjusting holes (8) when the thigh upper supporting rod (31) or the shank upper supporting rod (51) needs to be fixed.

6. The wearable lower extremity exoskeleton auxiliary walking robot of claim 1, wherein: the waist fixing component (1) comprises a back plate (11), two expansion plates (12) movably connected with the lower end of the back plate (11) and a waist plate (13) fixed at the end part of the expansion plates (12); waist straps (14) for fixing the waist of the patient are fixed on the two waist plates (13); and a plurality of positioning holes (15) for screw tightening adjustment are formed in the back plate (11) and the expansion plate (12).

7. The wearable lower extremity exoskeleton auxiliary walking robot of claim 2, wherein: a hip joint support (26) is sleeved on a rotating shaft (25) driving a hip joint to move, and a first limiting plate (27) used for limiting the upper thigh supporting rod (31) is fixed on the hip joint support (26); the knee joint support (28) is sleeved on the rotating shaft (45) for driving the knee joint to move, and a second limiting plate (29) used for limiting the supporting rod (51) on the lower leg is fixed on the knee joint support (28).

8. The wearable lower extremity exoskeleton auxiliary walking robot of claim 2, wherein: the inner sides of the thigh lower supporting rod (32) and the lower leg lower supporting rod (52) are fixed with elastic bands (10) for fixing legs.

9. The wearable lower extremity exoskeleton auxiliary walking robot of claim 2, wherein: the upper thigh supporting rod (31), the lower thigh supporting rod (32), the upper shank supporting rod (51) and the lower shank supporting rod (52) are all hollow.

Technical Field

The invention belongs to the technical field of rehabilitation medical equipment, and particularly relates to a wearable lower limb exoskeleton auxiliary walking robot.

Background

With the rapid development of science and technology, the number of transportation means is increasing day by day, and the number of people who can not walk normally due to nerve injury or physical injury caused by traffic accidents is also increasing constantly, so the demand for rehabilitation therapy is great. Although some people can recover to normal after treatment, most people still have some sequelae, which seriously affect normal walking.

The traditional rehabilitation therapy of limb dysfunction mainly depends on repeated traction of a patient by a therapist or family members, has large workload, needs huge manpower and low efficiency, and is difficult to realize high-strength, targeted and repetitive rehabilitation training. But also the manual training costs for the therapist are rather high. The exoskeleton robot is designed based on bionics and human engineering, so that the exoskeleton robot has incomparable treatment effect and user experience compared with a tail-end traction type rehabilitation robot. The lower limb exoskeleton auxiliary walking robot can simulate the movement law of lower limbs when a human body normally walks, can bear the weight of a part of the human body, and can effectively exercise patients with lower limb movement dysfunction.

In these years, medical robot technology has been rapidly developed, although some prototypes are developed at home and abroad in the field of exoskeleton and few products are launched to the market, most products are still in the testing and perfecting stage of the prototypes, and the defects of large volume and weight, inconvenient use and wearing, complex internal control and drive design, high cost, high failure rate and difficult maintenance exist, so that the actual requirements of patients are difficult to meet.

Disclosure of Invention

The invention aims to overcome the defects of large volume and weight, complex structure, inconvenience in wearing, high cost and the like in the prior art, and provides a wearable lower limb exoskeleton auxiliary walking robot which is simple in structure, high in safety, energy-saving, capable of adapting to different figures, convenient to wear, small in volume and weight and low in cost.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the utility model provides a wearing formula lower limbs ectoskeleton assists walking robot which characterized in that: comprises a waist fixing component arranged on the waist of a patient and lower limb rehabilitation mechanisms symmetrically arranged on two sides of the waist fixing component; the lower limb rehabilitation mechanism comprises a joint driving component for driving a hip joint and a knee joint to move, a thigh supporting component rotationally connected with the waist fixing component through the joint driving component, a shank supporting component rotationally connected with the thigh supporting component through the joint driving component, and an ankle joint training component rotationally connected with the shank supporting component; the tail end of the ankle joint training component is provided with a foot support;

the joint driving assembly comprises a motor, a driving bevel gear coaxially connected with an output shaft of the motor, a driven bevel gear meshed with the driving bevel gear, an energy storage assembly fixedly connected with the driven bevel gear and a rotating shaft in key transmission connection with the energy storage assembly;

the ankle joint training component comprises an ankle joint rotating shaft which is rotatably connected with the tail end of the shank supporting component through an ankle joint support and a transition plate which is fixedly connected with the ankle joint rotating shaft; a buffer spring is arranged between the shank support assembly and the transition plate;

the energy storage assembly comprises a disc fixing frame fixedly connected with the driven bevel gear, a plurality of disc spring groups circumferentially arranged on the disc fixing frame and a pressure plate which penetrates through the disc fixing frame and is fixedly connected with the disc fixing frame; the pressure plate is in transmission connection with the rotating shaft key.

Furthermore, the thigh supporting component comprises a thigh upper supporting rod, a thigh lower supporting rod sleeved outside the thigh upper supporting rod and a length adjusting mechanism arranged in the thigh upper supporting rod; the shank support component comprises a shank upper support rod, a shank lower support rod sleeved outside the shank upper support rod and a length adjusting mechanism arranged in the shank upper support rod.

Further, the length-adjusting mechanism comprises: the push button switch, a wedge-shaped sliding block fixedly connected with the push button switch, a transmission rod in contact connection with the wedge-shaped sliding block, a top block installed at the tail end of the transmission rod, a control sliding rod fixedly connected with the top block, a positioning sliding block in contact connection with the tail end of the control sliding rod and a first sliding block sleeved outside the positioning sliding block; the one end of first slider is provided with the opening, is provided with joint on being close to the location slider of opening one end, the other end of location slider with be provided with reset spring between the first slider, adjust thigh supporting component length the first slider with bracing piece fixed connection on the thigh adjusts bracing piece fixed connection on the first slider of shank supporting component length and the shank, be provided with on the control slide bar and to its spacing first arch, the transfer line with personally submit the inclined plane of wedge slider contact connection, the control slide bar with the inclined plane is personally submitted of location slider contact connection.

Further, the length adjusting mechanism comprises a thigh length adjusting mechanism used for adjusting the length of the thigh supporting assembly and a shank length adjusting mechanism used for adjusting the length of the shank supporting assembly.

Furthermore, a plurality of adjusting holes for adjusting the height are formed in the thigh lower supporting rod and the shank lower supporting rod, and the clamping joints are inserted into the corresponding adjusting holes when the thigh upper supporting rod or the shank upper supporting rod needs to be fixed.

Further, the waist fixing component comprises a back plate, two expansion plates movably connected with the lower end of the back plate and a waist plate fixed at the end part of the expansion plates; waist straps for fixing the waist of the patient are fixed on the two waist plates; and a plurality of positioning holes for screw tightening adjustment are formed in the back plate and the telescopic plate.

Furthermore, a hip joint support is sleeved on a rotating shaft for driving a hip joint to move, and a first limiting plate for limiting the supporting rod on the thigh is fixed on the hip joint support; the knee joint support is sleeved on a rotating shaft for driving the knee joint to move, and a second limiting plate used for limiting the supporting rod on the shank is fixed on the knee joint support.

Furthermore, the inner sides of the thigh lower supporting rod and the shank lower supporting rod are respectively fixed with an elastic bandage for fixing the leg.

Furthermore, the upper thigh supporting rod, the lower thigh supporting rod, the upper shank supporting rod and the lower shank supporting rod are all hollow.

The wearable lower limb exoskeleton auxiliary walking robot has the beneficial effects that:

1. the ankle joint training mechanism is driven by the joint driving assembly to drive the thigh supporting assembly and the shank supporting assembly to move respectively, so that the lower limbs of a patient are driven to bend and stretch, the ankle joint training mechanism is in passive rotational freedom, the buffer spring is arranged between the transition plate and the shank supporting assembly and used for buffering and energy storage when the leg is lifted and falls to the ground, the safety is improved, the overall mechanical structure is simple, the material is light, the gravity of the ankle joint training mechanism and the gravity of the wearer can be supported, and the ankle joint training mechanism has certain rigidity and strength.

2. According to the invention, through the disc spring group in the energy storage assembly, a part of energy generated when the driving motors driving the hip joint and the knee joint to move rotate can be stored respectively, and the energy is released when a patient lifts the leg, so that the energy consumption of the driving motors in the reverse rotation process can be saved.

3. The invention can respectively adjust the length of the thigh supporting component and the length of the shank supporting component through the length adjusting mechanism according to the length of the thigh and the shank of the patient, can adapt to users with different heights, can easily adjust the length of the thigh supporting component and the length of the shank supporting component only by pressing the button switch, and is more convenient and faster.

4. The waist plate can be adjusted through the telescopic plate according to the width of the waist of a patient, can adapt to users with different body conditions, and is fixed with the lower limbs of the users through the binding bands, so that the waist plate can be put on and taken off more conveniently and quickly.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is an overall block diagram of an embodiment of the present invention;

FIG. 2 is a view of another perspective of the overall structure of the embodiment of the present invention;

FIG. 3 is a view of a waist attachment assembly of an embodiment of the present invention;

FIG. 4 is a cross-sectional view of a joint drive assembly according to an embodiment of the present invention;

FIG. 5 is a block diagram of an energy storage assembly according to an embodiment of the invention;

FIG. 6 is a partial block diagram of an embodiment of the present invention;

FIG. 7 is a cross-sectional view of an adjustment mechanism of an embodiment of the present invention;

fig. 8 is a partial cross-sectional view of an elongation mechanism in accordance with an embodiment of the present invention.

In the figure, 1, a waist fixing component, 11, a back plate, 12, a telescopic plate, 13, a waist plate, 14, a waist binding band, 15, a positioning hole, 2, a joint driving component, 21, a driving motor, 22, a driving bevel gear, 23, a driven bevel gear, 24, an energy storage component, 241, a disc fixing frame, 242, a disc spring group, 243, a pressing plate, 25, a rotating shaft, 26, a hip joint support, 27, a first limiting plate, 28, a knee joint support, 29, a second limiting plate, 3, a thigh supporting component, 31, an upper thigh supporting rod, 32, a lower thigh supporting rod, 33, an adjusting length mechanism, 330, a button switch, 331, a wedge-shaped sliding block, 332, a driving rod, 333, a top block, 334, a control sliding rod, 335, a positioning sliding block, 336, a first sliding block, 337, a reset spring, 338, a first bulge, 5, a lower leg supporting component, 51, an upper shank supporting rod, 52, a lower leg supporting rod, 6. ankle joint training subassembly, 61, ankle joint support, 62, ankle joint axis of rotation, 63, transition plate, 64, buffer spring, 7, the foot rest, 71, sole backup pad, 72, sole elastic plate, 73, the rubber end, 8, regulation hole, 9, joint, 10, elastic bandage, 16, L shape backup pad, 17, motor mount.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

In the description of the embodiments of the present invention, it is stated that: when worn, the face of the patient faces forward, and the back faces backward.

The embodiment of the wearable lower extremity exoskeleton auxiliary walking robot of the invention as shown in fig. 1-8 comprises a waist fixing component 1 arranged at the waist of a patient and lower extremity rehabilitation mechanisms symmetrically arranged at two sides of the waist fixing component 1; the lower limb rehabilitation mechanism comprises a joint driving component 2 for driving the movement of hip joints and knee joints, a thigh supporting component 3 rotationally connected with the waist fixing component 1 through the joint driving component 2, a shank supporting component 5 rotationally connected with the thigh supporting component 3 through the joint driving component 2 and an ankle joint training component 6 rotationally connected with the shank supporting component 5; the tail end of the ankle joint training component 6 is provided with a foot support 7; thigh supporting component 3 is connected with waist fixing component 1 through joint drive assembly 2, and shank supporting component 5 is connected with thigh supporting component 3 through joint drive assembly 4, shank supporting component 5 through ankle joint training subassembly 6 with the foot holds in the palm 7 and is connected. Thigh supporting component 3 is the same with shank supporting component 5's realization mode and structure, drive thigh supporting component 3 and the motion of shank supporting component 5 respectively through joint drive assembly 2, thereby it stretches the action to drive patient's low limbs, ankle joint training subassembly 6 is passive rotation degree of freedom, it is used for the buffering energy storage when lifting the leg and falling to the ground to install buffer spring 64 between cab apron 63 and shank supporting component 5, the security has been improved, overall mechanical structure is simple, the material is light, can support self and wearer's gravity, certain rigidity and intensity have.

Referring to fig. 4, the joint driving assembly 2 includes a driving motor 21, a drive bevel gear 22 coaxially connected to an output shaft of the driving motor 21, a driven bevel gear 23 engaged with the drive bevel gear 22, an energy storage assembly 24 fixedly connected to the driven bevel gear 23, and a rotating shaft 25 in key transmission connection with the energy storage assembly 24; the upper end of the thigh supporting component 3 is fixedly connected with a rotating shaft 25 which drives the hip joint to move; the driven bevel gear 23 is sleeved at the end part of the rotating shaft 25 through an angular contact ball bearing, the driving bevel gear 22 is driven to rotate through the driving motor 21, the driven bevel gear 23 is driven to rotate, so that the energy storage assembly 24 rotates, the energy storage assembly 24 drives the rotating shaft 25 to rotate through key transmission, and the hip joint and the knee joint are driven to move respectively. The speed reducer arranged on the output shaft of the driving motor 21 is one-stage speed reduction, the driving motor 21 drives the driving bevel gear 22, the driving bevel gear 22 drives the driven bevel gear 23 to be two-stage speed reduction, and the size of the driving motor 21 and the speed reducer is reduced and the weight is further reduced under the condition of meeting the output of the same torque through the two-stage speed reduction.

As shown in fig. 6, the ankle training member 6 includes an ankle rotating shaft 62 rotatably connected to the distal end of the lower leg support member 5 via an ankle bracket 61 and a transition plate 63 fixedly connected to the ankle rotating shaft 62; a buffer spring 64 is mounted between the lower leg support assembly 5 and the transition plate 63. The ankle joint support 61 is sleeved on the ankle joint rotating shaft 62 through an angular contact ball bearing, the ankle joint training component 6 is a passive rotating freedom degree without motor power, a buffer spring 64 is arranged between the transition plate 63 and the shank supporting component 5 and used for buffering and storing energy when the lifting leg falls to the ground, and safety is improved.

Referring to fig. 2 and 6, the thigh support assembly 3 includes a thigh upper support rod 31 rotatably sleeved on the rotation shaft 25 for driving the hip joint to move, a thigh lower support rod 32 sleeved outside the thigh upper support rod 31, and an length adjustment mechanism 33 installed in the thigh upper support rod 31; the upper thigh support rod 31 is fixedly connected with the rotating shaft 25 driving the hip joint to move, and the lower thigh support rod 32 is rotatably connected with the knee joint support 28. The lower leg supporting component 5 comprises an upper lower leg supporting rod 51 which is rotatably sleeved on the rotating shaft 45 driving the knee joint to move, a lower leg supporting rod 52 which is sleeved outside the upper lower leg supporting rod 51 and an length adjusting mechanism 33 which is arranged in the upper lower leg supporting rod 51. The upper shank support rod 51 is fixedly connected with a rotating shaft 45 which drives the knee joint to move, and the lower shank support rod 52 is rotatably connected with an ankle joint support 61.

As shown in fig. 7 to 8, the length adjustment mechanism 33 includes: the button switch 330, a wedge-shaped sliding block 331 fixedly connected with the button switch 330, a transmission rod 332 in contact connection with the wedge-shaped sliding block 331, a top block 333 installed at the tail end of the transmission rod 332, a control sliding rod 334 fixedly connected with the top block 333, a positioning sliding block 335 in contact connection with the tail end of the control sliding rod 334 and a first sliding block 336 sleeved outside the positioning sliding block 335; an opening is formed in one end of the first sliding block 336, a clamping joint 9 is arranged on the positioning sliding block 335 close to one end of the opening, a return spring 337 is arranged between the other end of the positioning sliding block 335 and the first sliding block 336, the first sliding block 336 for adjusting the length of the thigh supporting component 3 is fixedly connected with the thigh supporting rod 31, the first sliding block 336 for adjusting the length of the shank supporting component 5 is fixedly connected with the shank supporting rod 51, and a first protrusion 338 for limiting the control sliding rod 334 is arranged on the control sliding rod 334; in order to prevent the control slide 334 from moving up excessively when the push button 330 is released, the first protrusion 338 is in contact with the first slider 336, so as to ensure that the wedge-shaped slider 331 can press the transmission rod 332 to descend when the push button 330 is pressed again; the transmission rod 332 is in contact connection with the wedge-shaped sliding block 331 to form an inclined surface, and the control sliding rod 334 is in contact connection with the positioning sliding block 335 to form an inclined surface. The thigh lower support bar 32 and the shank lower support bar 52 are both provided with a plurality of adjusting holes 8 for adjusting the height, and the joint 9 is inserted into the corresponding adjusting holes 8 when the thigh upper support bar 31 and the shank upper support bar 51 need to be fixed. In order to better push the control slide 334, the top block 333 is provided in a T-shape, which also effectively prevents the transmission rod 332 from tilting in the upper thigh support rod 31 and the lower shank support rod 51,

referring to fig. 7 and 8, in order to adapt to the leg length of different patients, the thigh support assembly 3 and the lower leg support assembly 5 can adjust the length, the length adjustment mechanism 33 includes a thigh length adjustment mechanism for adjusting the length of the thigh support assembly 3 and a lower leg length adjustment mechanism for adjusting the length of the lower leg support assembly 5, the thigh length adjustment mechanism and the lower leg length adjustment mechanism are implemented in the same manner and structure, here, taking the thigh length adjustment mechanism as an example, a button switch 330 is pressed, a wedge-shaped slider 331 moves forward, a transmission rod 332 is pressed to descend, a top block 333 pushes a control slide 334 to descend, the control slide 334 is contacted with an inclined surface of a positioning slider 335, the positioning slider 335 is retracted, at this time, the thigh upper support rod 31 can freely extend and retract in the thigh lower support rod 32, the position of the thigh upper support rod 31 is adjusted according to the thigh length of the user, the button switch 330 is released, under the action of a return spring 337, the positioning sliding block 335 extends out to enable the clamping joint 9 to be inserted into the corresponding adjusting hole 8, so that the length of the thigh supporting component 3 can be adjusted, and the length adjusting range of the thigh supporting component 3 is less than or equal to 150 mm. The shank length adjusting mechanism and the thigh length adjusting mechanism are the same in implementation mode and structure, and are not described herein again, and the length adjusting range of the shank support assembly 5 is ≦ 90 mm.

Referring to fig. 3, the waist fixing assembly 1 comprises a back plate 11, two expansion plates 12 movably connected with the lower end of the back plate 11, and a waist plate 13 fixed at the end of the expansion plates 12; waist straps 14 for fixing the waist of the patient are fixed on the two waist plates 13; a plurality of positioning holes 15 for screw tightening adjustment are formed in the back plate 11 and the expansion plate 12. The position of the waist plates 13 on the left side and the right side can be adjusted through the expansion plates 12 according to the waist width of a patient, the adjustable waist plate can adapt to users with different physical states, the maximum adjusting range of the left expansion plate 12 and the right expansion plate 12 is less than or equal to 60mm, and the joint driving assembly 2 driving the hip joint to move is fixed on the side face of the waist plate 13 through bolts, so that the adjustable waist plate is convenient to detach and maintain.

As shown in fig. 5, the energy storage assembly 24 includes a disc holder 241 fixedly connected to the driven bevel gear 23, a plurality of disc spring sets 242 circumferentially mounted on the disc holder 241, and a pressure plate 243 penetrating through and fixedly connected to the disc holder 241; the pressure plate 243 is in key transmission connection with the rotating shaft 25; in order to weaken the movement tendency of the driving motor 21, three disc spring sets 242 are circumferentially installed on the disc fixing frame 241, and by using the three disc spring sets 242 as elastic members, the disc spring sets 242 can store a part of energy generated when the driving motor 21 rotates, and release the energy when the leg is lifted, so as to save energy consumption when the driving motor 21 rotates reversely.

Referring to fig. 2 and 6, a hip joint support 26 is sleeved on a rotating shaft 25 driving a hip joint to move through an angular contact ball bearing, and a first limit plate 27 used for limiting a supporting rod 31 on a thigh is fixed on the hip joint support 26; the rotating shaft 45 driving the knee joint to move is sleeved with a knee joint support 28 through an angular contact ball bearing, and a second limiting plate 29 used for limiting the supporting rod 51 on the lower leg is fixed on the knee joint support 28. The front and the back of the joint driving component 2 for driving the hip joint and the knee joint to move are respectively provided with a limit, and when the thigh upper supporting rod 31 rotates forwards, the first limit plate 27 realizes the limit of the thigh upper supporting rod 31; when the upper thigh support rod 31 rotates backwards, the hip joint support 26 limits the upper thigh support rod 31, the rotation range of the thigh support assembly 3 is-120 degrees to 20 degrees, the bending range of the thigh support assembly 3 is 0 degrees to 120 degrees, and the extending range is 0 degrees to 20 degrees. When the upper calf support rod 51 rotates forwards, the knee joint support 28 realizes the limit of the upper calf support rod 51; when the supporting rod 51 rotates backwards on the lower leg, the second limiting plate 29 limits the supporting rod 51 on the lower leg, the rotating range of the lower leg supporting component 5 is 0-135 degrees, the bending range of the lower leg supporting component 5 is 0-135 degrees, and the extending range is 0 degrees, so that the large and small legs of the body of a patient can not be driven by the joint driving component 2 for driving the hip joint and the knee joint to move to break through the moving range, the safety is improved, and the injury to the patient can be effectively avoided.

Referring to fig. 1, the elastic bands 10 for fixing the legs are fixed on the inner sides of the lower thigh support bar 32 and the lower leg support bar 52 through the L-shaped support plates 16, and are fixed with the lower limbs of the user through the bands, so that the user can put on and take off the leg more conveniently and quickly.

In order to facilitate the installation of the length adjustment mechanism 33, the upper thigh support rod 31, the lower thigh support rod 32, the upper shank support rod 51 and the lower shank support rod 52 are all hollow, so that the weight of the overall mechanical structure can be further reduced, and the space can be saved.

As shown in fig. 6, the foot rest 7 includes: a sole support plate 71 fixedly coupled with the transition plate 63, a sole elastic plate 72 fixedly coupled with a lower surface of the sole support plate 71, and a rubber sole 73 fixed on an upper surface and a lower surface of the sole elastic plate 72, respectively.

Referring to fig. 1, in order to fix the driving motor 41 for driving the hip joint and the knee joint to move, the motor fixing frames 17 are fixed on the hip joint support 26 and the knee joint support 28, and the motor fixing frames 17 are wrapped outside the driving bevel gear 22 and the driven bevel gear 23, so that the robot is safer and more attractive.

The power supply modules for supplying power to the whole robot system are respectively installed on two sides of the back plate 11, the power supply modules have power on-off, emergency stop and charging functions, each power supply module respectively manages respective charging and discharging processes, the power supply modules adopt two detachable lithium battery packs, when an emergency situation occurs, the emergency stop switch is pressed down, the control system receives a signal and then sends a notification instruction to the robot system, the emergency stop function is achieved, and safety is improved.

The robot control system comprises a position sensor, a speed sensor, a force sensor and a temperature sensor, and is used for monitoring the pose, the speed and the stress magnitude and the stress direction of the robot in real time. A force sensor is arranged between the L-shaped supporting plate 16 and the elastic bandage 10, and can detect the tension and pressure applied to the body when the robot drives the patient to walk. The power module is provided with the temperature sensor, so that the temperature of the power module can be monitored in real time.

The control system of the robot realizes logic action control by the control module, processes information fed back by the position sensor, the speed sensor, the force sensor and the temperature sensor by the data processing module, and correspondingly sends out instructions to control each driving motor 21 to work, thereby realizing the training of each joint part.

After indexes such as the size and the direction of the force applied by the limb action of the patient, the action rate of the limb and the like are fed back to the sensors, the control module correspondingly controls the power grade of each joint according to signals collected by the sensors, and provides power or resistance for the thigh supporting assembly 3 and the shank supporting assembly 5 so as to switch the motion mode of the robot. Therefore, the robot can be matched with the action of the patient to the maximum extent, provides the most direct and effective auxiliary support for the patient and maximizes the auxiliary effect. Parameters of each driving motor 21 can be set according to needs to provide certain assistance or resistance, various motion modes can be provided, such as passive, assistance, active and resistance modes, and the like, the range from 0-level muscle strength to full muscle strength of the lower limbs is completely covered, and comprehensive and more targeted auxiliary training is provided for patients with lower limb dysfunction.

In the passive mode, the patient completely depends on the driving of the driving motor 21 to walk; in the assistance mode, the patient has certain mobility, each sensor detects the force application magnitude and direction of the patient, and the control module controls the corresponding driving motor 21 to provide certain assistance according to signals collected by the sensors to assist the patient; in the active mode, the driving motor 21 does not provide power and completely depends on the patient to walk; in the resistance mode, the training intensity of the patient is increased and the recovery progress is accelerated by increasing the load or other forms of resistance. Specifically, the setting can be carried out according to the actual condition of the patient.

It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.