CN114055437A - Lower limb exoskeleton robot based on rope pulley driving - Google Patents

Abstract

The invention discloses a lower limb exoskeleton robot based on rope pulley driving, which comprises a power system, a waist adjustable module, a hip joint winding module, a leg binding module, a thigh stretching module, a knee joint winding module and a shank adjustable module, wherein the waist adjustable module is connected with the hip joint winding module; the waist adjustable module is provided with a power system, one end of the hip joint winding module is connected with the waist adjustable module, the other end of the hip joint winding module is connected with one end of the knee joint winding module through the thigh telescopic module, the other end of the knee joint winding module is connected with one end of the shank adjustable module, and the other end of the shank adjustable module is a free end; the bowden cable assembly in the power system sequentially bypasses the hip joint winding module and the knee joint winding module and is finally fixedly connected to the knee joint winding module. The invention has the advantages of light weight, flexible driving and comfortable wearing.

Description

Lower limb exoskeleton robot based on rope pulley driving

Technical Field

The invention relates to a lower limb exoskeleton robot based on rope wheel driving, and belongs to the technical field of wearable robots.

Background

The exoskeleton robot is a wearable mechanical device which is wearable outside a human body and adopts external energy or manpower for energy storage according to the motion posture or the mind of the human body, so as to assist a wearer in assisting power or bearing. In the military field, the lower limb exoskeleton device can enhance the load bearing and movement capacity of soldiers and effectively improve the individual combat capability; in the field of emergency rescue, the emergency rescue device can be widely applied to the situations that a large amount of materials need to be carried on the back and vehicles cannot pass through; in the medical field, the exoskeleton robot can also be used for assisting disabled persons and old persons to walk and helping patients who temporarily lose the motor ability to perform function recovery training. Therefore, the method has very wide application prospect and important research value.

In the prior art, most lower limb exoskeleton robots place power devices at corresponding joints, such as knee joints, and the motors, speed reducers and related mechanisms included in the power devices bring large extra weight, so that the weight and inertia of legs of a wearer are increased to a great extent, and the mechanical impedance of the lower limb exoskeleton robots to the wearer is increased; meanwhile, the lower limb exoskeleton robot with the power device directly placed at the joint has the problem of insufficient flexibility due to direct drive of the joint, so that a wearer can feel obvious impedance when the exoskeleton robot carries out reversing motion at the corresponding joint of the exoskeleton robot, and the long-time wearing experience is poor; furthermore, while human knee joints are varus and valgus up to 10 degrees during walking, the conventional lower limb exoskeleton does not usually consider the degree of freedom of valgus and varus at the knee joints, and the long-term wearing of the exoskeleton can cause discomfort and even injury to the knee joints.

The above prior art solutions have the following drawbacks: 1. the power device is directly arranged at the joint, so that the mechanical resistance of the leg of the wearer is increased, and the resistance of the leg of the wearer during movement is increased; 2. the flexibility of the joint is not enough, so that the wearer can be provided with obvious resistance when the joint performs reversing motion, and the wearing effect is not good; 3. without considering the freedom of eversion and inversion at the wearer's knee joint, wearing such exoskeletons for extended periods of time can result in discomfort and even injury to the knee joint.

Disclosure of Invention

The invention provides a lower limb exoskeleton robot based on rope wheel driving, which is constructed in a flexible driving mode.

The technical scheme of the invention is as follows: a lower limb exoskeleton robot based on rope pulley driving comprises a power system 1, a waist adjustable module 3, a hip joint winding module 4, a leg binding module 5, a thigh stretching module 6, a knee joint winding module 7 and a shank adjustable module 8; the waist adjustable module 3 is provided with a power system 1, one end of the hip joint winding module 4 is connected with the waist adjustable module 3, the other end of the hip joint winding module 4 is connected with one end of the knee joint winding module 7 through the thigh telescopic module 6, the other end of the knee joint winding module 7 is connected with one end of the shank adjustable module 8, and the other end of the shank adjustable module 8 is a free end; the bowden cable assemblies 1-5 in the power system 1 sequentially pass around the hip joint wire winding module 4, pass around the knee joint wire winding module 7 and are finally fixedly connected to the knee joint wire winding module 7.

The power system 1 comprises a motor assembly 1-2, a waist reel assembly 1-3, a waist reel baffle 1-4, a Bowden cable assembly 1-5, a waist Bowden cable tube 1-6, a thigh Bowden cable tube 1-7 and a waist shell 1-8; the waist shell 1-8 is fixedly connected with a waist back plate 3-1 in the waist adjustable module 3, a stator of a motor component 1-2 is fixedly connected with the waist back plate 3-1, a rotor of the motor component 1-2 is coaxially and fixedly connected with a waist reel component 1-3, a waist reel baffle plate 1-4 is fixedly connected with the stator of the motor component 1-2, the inner ring surface of the waist reel baffle plate 1-4 is coaxial with the waist reel component 1-3, the waist reel baffle plate 1-4 is sleeved on the periphery of a wire casing of the waist reel component 1-3, and a gap exists between the inner ring surface of the waist reel baffle plate 1-4 and the outer ring surface of the waist reel component 1-3; one end of the waist Bowden wire tube 1-6 is fixedly connected with one side of the waist shell 1-8 close to the hip joint winding module 4, and the other end of the waist Bowden wire tube 1-6 is fixedly connected with the input end of the hip joint winding module 4; one end of the thigh Bowden wire tube 1-7 is fixedly connected to the thigh telescopic module 6, and one end of the thigh Bowden wire tube 1-7 is fixedly connected with the input end of the knee joint winding module 7; one end of the Bowden cable assembly 1-5 is fixedly connected in a wire casing of the waist wire winding wheel assembly 1-3 and can rotate along with the waist wire winding wheel assembly 1-3; the other end of the Bowden cable assembly 1-5 sequentially passes through the waist Bowden cable tubes 1-6, bypasses the hip joint winding module 4, passes through the thigh Bowden cable tubes 1-7, bypasses the knee joint winding module 7 and is finally fixedly connected to the knee joint cable fixing blocks 7-9 of the knee joint winding module 7.

The waist reel assembly 1-3 comprises a first waist reel 1-3-1 and a first reel catch 1-3-2; wherein, the first waist reel 1-3-1 is coaxially and fixedly connected with the rotor of the motor component 1-2, the outer ring surface of the first waist reel 1-3-1 is provided with a wire slot, the end surface of the first waist reel 1-3-1 is provided with a first waist reel fixing slot for fixing one end of the Bowden wire component 1-5, and the first reel catch 1-3-2 is fixedly connected with the first waist reel 1-3-1.

The hip joint wire winding module 4 comprises a hip waist connecting plate 4-2, a hip leg connecting plate 4-3, a first hip joint reel 4-4, a second hip joint reel 4-5 and a second hip joint baffle plate 4-7; wherein, the first hip joint reel 4-4 is rotationally connected with a first hip joint rotating shaft 4-2-1 at one side of the hip waist connecting plate 4-2 through a bearing, one side of the hip leg connecting plate 4-3 is rotationally connected with a second hip joint rotating shaft 4-2-2 at the other side of the hip waist connecting plate 4-2 through a bearing, the second hip joint reel 4-5 is rotationally connected with a third hip joint rotating shaft 4-3-1 of the hip leg connecting plate 4-3 through a bearing, and the first hip joint rotating shaft 4-2-1 and the third hip joint rotating shaft 4-3-1 are positioned at the same side of the hip waist connecting plate 4-2; the second hip joint baffle 4-7 is fixedly connected with one side of the hip leg connecting plate 4-3 close to the second hip joint reel 4-5; one end of the waist Bowden wire tube 1-6 in the power system 1, which is far away from the waist shell 1-8, is fixedly connected with one end of the hip waist connecting plate 4-2, which is far away from the first hip joint reel 4-4, and the Bowden wire assembly 1-5 passes through the waist Bowden wire tube 1-6 in the power system, passes through the waist Bowden wire tube on the hip waist connecting plate 4-2, sequentially bypasses the first hip joint reel 4-4 and the second hip joint reel 4-5, and then passes out of the wire tube on the second hip joint baffle 4-7 through the Bowden wire assembly 1-5.

The hip joint winding module 4 further comprises an outer swing inner swing limiting piece 4-1, the upper end of the outer swing inner swing limiting piece 4-1 is rotatably connected with the lower end of a protective plate sliding block 3-3 in the waist adjustable module 3 through a shaft shoulder screw, an outer rotation inner rotation limiting piece 4-1-1 is arranged on one side, close to the protective plate sliding block 3-3, of the outer swing inner swing limiting piece 4-1, and an outer rotation inner rotation limiting groove for limiting the rotation of the outer rotation inner rotation limiting piece 4-1-1 is arranged on one side, close to the outer swing inner swing limiting piece 4-1, of the lower end of the protective plate sliding block 3-3; one end of the outer-pendulum inner-pendulum limiting piece 4-1, which is far away from the guard plate sliding block 3-3, is rotatably connected with one end of the hip waist connecting plate 4-2, which is far away from the first hip joint reel 4-4, and the axial direction of the rotating shaft of the outer-pendulum inner-pendulum limiting piece 4-1 is vertical to the axial line of the rotating shaft of the first hip joint reel 4-4 and is horizontally arranged; one side of the hip waist connecting plate 4-2, which is close to the external swing internal swing limiting piece 4-1, is provided with a hip joint external swing limiting piece 4-2-3.

The thigh telescopic module 6 comprises a thigh adjusting plate 6-1, a thigh guide plate 6-2 and a thigh locking screw 6-3; wherein, one end of a thigh adjusting plate 6-1 is fixedly connected with a hip leg connecting plate 4-3 in a hip joint winding module 4, a plurality of first adjusting holes 6-1-1 are equidistantly arranged on the thigh adjusting plate 6-1 along the length direction of the thigh adjusting plate, a guide groove 6-2-1 for the thigh adjusting plate 6-1 to slide is arranged on a thigh guide plate 6-2 along the length direction of the thigh guide plate, a first threaded hole 6-2-2 for the thigh locking screw 6-3 to be in threaded connection is arranged on the outer side surface of the thigh guide plate 6-2, the central line of the first threaded hole 6-2-2 is parallel to or coincided with the central line of the first adjusting hole 6-1-1, one end of a thigh Bowden wire tube 1-7 in a power system 1 is fixedly connected with the thigh guide plate 6-2, the thigh connecting plate 7-1 in the knee joint winding module 7 is connected through the thigh guide plate 6-2.

The knee joint winding module 7 comprises a thigh connecting plate 7-1, a first knee joint supporting plate 7-2, a second knee joint supporting plate 7-3, a knee joint executing wheel 7-4, an executing wheel connecting plate 7-5, a knee joint baffle plate 7-6 and a knee joint rope fixing block 7-9; wherein one side of the executive wheel connecting plate 7-5 is fixedly connected with one side of the knee joint executive wheel 7-4, the outer ring surface of the knee joint executive wheel 7-4 is provided with a knee joint winding groove 7-4-1, two sides of the knee joint executive wheel 7-4 are respectively provided with a first knee joint rotating shaft 7-4-2 and a second knee joint rotating shaft 7-4-3, the knee joint winding groove 7-4-1 is coaxially arranged with the first knee joint rotating shaft 7-4-2 and the second knee joint rotating shaft 7-4-3, the second knee joint rotating shaft 7-4-3 and the executive wheel connecting plate 7-5 are positioned at the same side of the knee joint executive wheel 7-4, the first knee joint supporting plate 7-2 is rotatably connected with the first knee joint rotating shaft 7-4-2 through a bearing, a second knee joint support plate 7-3 positioned at one side of the execution wheel connecting plate 7-5 is rotationally connected with a second knee joint rotating shaft 7-4-3 through a bearing, one end of the first knee joint support plate 7-2 far away from the first knee joint rotating shaft 7-4-2 and one end of the second knee joint support plate 7-3 far away from the second knee joint rotating shaft 7-4-3 are respectively and fixedly connected with two sides of one end of a thigh connecting plate 7-1, the other end of the thigh connecting plate 7-1 is connected with a thigh guide plate 6-2 in a thigh telescopic module 6, a knee joint line blocking plate 7-6 is fixedly connected with the other side of the execution wheel connecting plate 7-5, the inner ring surface of the knee joint line blocking plate 7-6 is matched with the outer ring surface of the knee joint execution wheel 7-4, and the execution wheel connecting plate 7-5 and the execution wheel connecting plate 7-4 and the execution wheel 7-4 through the thigh connecting plate 7-1 Or the rotation is limited by the matching of the knee joint line-blocking plate 7-6; one end of a thigh Bowden wire tube 1-7 in the power system 1, which is far away from the hip joint wire winding module 4, is fixedly connected with a thigh connecting plate 7-1, a Bowden wire assembly 1-5 which penetrates through the thigh Bowden wire tube 1-7 is wound in a knee joint wire winding groove 7-4-1 through a wire groove in the thigh connecting plate 7-1, and one end of the Bowden wire assembly 1-5, which is far away from the power system 1, is fixedly connected with a knee joint actuating wheel 7-4 through a knee joint rope fixing block 7-9.

The waist adjustable module 3 comprises a waist rear plate 3-1, a waist side guard plate 3-2, a guard plate sliding block 3-3 and an adjusting bolt 3-4; one end of the waist side guard plate 3-2 is rotatably connected with the side edge of the waist back plate 3-1, the guard plate slide block 3-3 is slidably connected with the side surface of the waist side guard plate 3-2, and the guard plate slide block 3-3 is fixed on the guard plate slide block 3-3 through an adjusting bolt 3-4.

The shank adjustable module 8 comprises a double-hinge connecting plate 8-1 and a shank connecting plate 8-2; one end of a double-hinge connecting plate 8-1 is rotatably connected with an execution wheel connecting plate 7-5 in the knee joint winding module 7, the other end of the double-hinge connecting plate 8-1 is rotatably connected with a shank connecting plate 8-2, and the central lines of two revolute pairs of the double-hinge connecting plate 8-1 are parallel and are perpendicular to the central line of a knee joint execution wheel 7-4 in the knee joint winding module 7.

The device also comprises a sensing system 9, wherein the sensing system 9 comprises a hip joint encoder 9-1, a knee joint encoder 9-2, a knee joint tension sensor 9-3 and an inertial sensor 9-4; the hip joint encoder 9-1 is fixedly connected with a hip joint end cover 4-8 in the hip joint winding module 4, a hip leg connecting plate 4-3 in the hip joint winding module 4 rotates around a hip waist connecting plate 4-2 in the axial direction and is coaxial with the hip joint encoder 9-1, the hip joint end cover 4-8 is fixedly connected with one side, far away from the first hip joint reel 4-4, of the hip leg connecting plate 4-3, a hip joint magnet is fixedly connected with one side, close to the hip joint encoder 9-1, of the hip waist connecting plate 4-2, and the hip joint magnet and the hip joint encoder 9-1 are coaxially arranged; the knee joint encoder 9-2 is fixedly connected with an outer end cover 7-8 of a knee joint in the knee joint winding module 7, the outer end cover 7-8 of the knee joint is fixedly connected with a first knee joint supporting plate 7-2 in the knee joint winding module 7, a knee joint magnet is coaxially and fixedly connected to a first knee joint rotating shaft 7-4-2 provided with the first knee joint supporting plate 7-2, and the knee joint encoder 9-2 and the knee joint magnet are coaxially arranged; the knee joint tension sensor 9-3 is fixedly connected to a knee joint actuating wheel 7-4 in the knee joint winding module 7; the thigh guide plate 6-2 and the shank connecting plate 8-2 are provided with inertial sensors 9-4.

The invention has the beneficial effects that:

1. the invention reduces the mechanical impedance of the lower limb exoskeleton per se to the lower limb of a wearer, and simultaneously provides flexible assistance for the knee joint and the hip joint of the wearer;

2. the invention fully considers the freedom degree requirement and the limit requirement of the lower limbs of the human body at the hip joint and the knee joint, increases the wearing comfort of the wearer and ensures the safety of the movement range of the wearer at the hip joint and the knee joint;

3. the invention reduces the total structural weight of the whole set of lower limb exoskeleton robot, and further improves the comfort of a wearer and the wearability and portability of the lower limb exoskeleton.

In conclusion, the invention has the beneficial effects of light weight, flexible driving and comfortable wearing.

Drawings

FIG. 1 is a schematic view of the front of the overall structure of the present invention;

FIG. 2 is a schematic side view of the overall structure of the present invention;

FIG. 3 is a schematic view of the back of the overall structure of the present invention;

FIG. 4 is an exploded view of the waist structure of the present invention;

FIG. 5 is an exploded front view of the hip joint structure of the present invention;

FIG. 6 is a rear exploded view of the hip joint structure of the present invention;

FIG. 7 is a first exploded view of the knee joint structure and lower leg adjustable module of the present invention;

fig. 8 is an exploded view of the thigh flex module of the present invention;

FIG. 9 is a second exploded view of the knee joint structure and lower leg adjustable module of the present invention;

FIG. 10 is a partial cross-sectional view of a knee joint structure of the present invention;

FIG. 11 is a partial cross-sectional view of a lumbar structure of the present invention;

FIG. 12 is an assembly view of the outer swing inner swing limiting member and the hip waist connection plate of the present invention;

FIG. 13 is a schematic view of the structure of the apron block of the present invention;

the reference numbers in the figures are: 1. a power system; 1-1, a power supply; 1-2, a motor component; 1-3, a waist wire winding wheel assembly; 1-3-1, a first waist reel; 1-3-2, a first reel catch; 1-4, a waist reel baffle; 1-5, a bowden cable assembly; 1-6, waist bowden cable tubes; 1-7, thigh bowden cable tubes; 1-8 parts of waist shell; 2. a controller; 3. a waist adjustable module; 3-1, waist back plate; 3-2, waist side back plate; 3-3, a guard plate slide block; 3-4, adjusting bolts; 4. a hip wire winding module; 4-1, an outer swing and inner swing limiting piece; 4-1-1, an external rotation and internal rotation limiting block; 4-2, a hip and waist connecting plate; 4-2-1, a first hip joint rotation axis; 4-2-2, a second hip joint rotation axis; 4-2-3, a hip joint external swing limiting block; 4-3, hip-leg connecting plates; 4-3-1, a third hip joint rotation axis; 4-4, a first hip-joint reel; 4-5, a second hip-joint reel; 4-6, a first hip joint baffle; 4-7, a second hip joint baffle; 4-8, hip joint end cap; 5. a leg-binding module; 5-1, thigh baffles; 5-2, a shank baffle; 6. a thigh telescoping module; 6-1, a thigh adjusting plate; 6-1-1, a first adjusting hole; 6-2, thigh guide plates; 6-2-1, a guide groove; 6-2-2, a first threaded hole; 6-3, thigh locking screws; 7. a knee joint winding module; 7-1, thigh connecting plates; 7-2, a first knee joint support plate; 7-3, a second knee joint support plate; 7-4, knee joint actuating wheel; 7-4-1, knee joint winding grooves; 7-4-2, a first knee joint rotation axis; 7-4-3, a second knee joint rotation axis; 7-5, an execution wheel connecting plate; 7-6 knee joint wire blocking discs; 7-7, inner end covers of knee joints; 7-8, knee joint outer end covers; 7-9 of a rope fixing block; 8. a shank adjustable module; 8-1, a double-hinge connecting plate; 8-2, a shank connecting plate; 9. a sensing system; 9-1, hip joint encoder; 9-2, knee joint encoder; 9-3, a magnet; 9-4, a knee joint tension sensor; 9-5, an inertial sensor.

Detailed Description

The invention will be further described with reference to the following figures and examples, which are not intended to limit the scope of the invention.

Example 1: as shown in fig. 1-13, a lower limb exoskeleton robot based on rope wheel drive comprises a power system 1, a waist adjustable module 3, a hip joint winding module 4, a leg binding module 5, a thigh stretching module 6, a knee joint winding module 7 and a shank adjustable module 8; the waist adjustable module 3 is provided with a power system 1, one end of the hip joint winding module 4 is connected with the waist adjustable module 3, the other end of the hip joint winding module 4 is connected with one end of the knee joint winding module 7 through the thigh telescopic module 6, the other end of the knee joint winding module 7 is connected with one end of the shank adjustable module 8, and the other end of the shank adjustable module 8 is a free end; the bowden cable assemblies 1-5 in the power system 1 sequentially pass around the hip joint wire winding module 4, pass around the knee joint wire winding module 7 and are finally fixedly connected to the knee joint wire winding module 7.

Optionally, the powertrain 1 includes a motor assembly 1-2, a waist reel assembly 1-3, a waist reel baffle 1-4, a Bowden cable assembly 1-5, a waist Bowden cable tube 1-6, a thigh Bowden cable tube 1-7, and a waist housing 1-8; the waist shell 1-8 is fixedly connected with a waist back plate 3-1 in the waist adjustable module 3, a stator of a motor component 1-2 is fixedly connected with the waist back plate 3-1, a rotor of the motor component 1-2 is coaxially and fixedly connected with a waist reel component 1-3, a waist reel baffle plate 1-4 is fixedly connected with the stator of the motor component 1-2, the inner ring surface of the waist reel baffle plate 1-4 is coaxial with the waist reel component 1-3, the waist reel baffle plate 1-4 is sleeved on the periphery of a wire casing of the waist reel component 1-3, and a gap exists between the inner ring surface of the waist reel baffle plate 1-4 and the outer ring surface of the waist reel component 1-3; one end of the waist Bowden wire tube 1-6 is fixedly connected with one side of the waist shell 1-8 close to the hip joint winding module 4, and the other end of the waist Bowden wire tube 1-6 is fixedly connected with the input end of the hip joint winding module 4; one end of the thigh Bowden wire tube 1-7 is fixedly connected to the thigh telescopic module 6, and one end of the thigh Bowden wire tube 1-7 is fixedly connected with the input end of the knee joint winding module 7; one end of the Bowden cable assembly 1-5 is fixedly connected in a wire casing of the waist wire winding wheel assembly 1-3 and can rotate along with the waist wire winding wheel assembly 1-3; the other end of the Bowden cable assembly 1-5 sequentially passes through the waist Bowden cable tubes 1-6, bypasses the hip joint winding module 4, passes through the thigh Bowden cable tubes 1-7, bypasses the knee joint winding module 7 and is finally fixedly connected to the knee joint cable fixing blocks 7-9 of the knee joint winding module 7.

Optionally, the waist reel assembly 1-3 includes a first waist reel 1-3-1 and a first reel catch 1-3-2; wherein, the first waist reel 1-3-1 is coaxially and fixedly connected with the rotor of the motor component 1-2, the outer ring surface of the first waist reel 1-3-1 is provided with a wire slot, the end surface of the first waist reel 1-3-1 is provided with a first waist reel fixing slot for fixing one end of the Bowden wire component 1-5, and the first reel catch 1-3-2 is fixedly connected with the first waist reel 1-3-1 and is used for covering the first waist reel fixing slot.

Specifically, the waist reel assembly 1-3 includes a first waist reel 1-3-1 and a first reel catch 1-3-2, the Bowden cable assembly 1-5 includes a Bowden cable body and cable terminals (terminals may be cylindrical stoppers) connecting both ends of the Bowden cable body, the cable terminals are fixedly connected to the Bowden cable body, the terminal at one end of the Bowden cable body is placed in a first waist reel fixing groove on the first waist reel 1-3-1, then the first reel catch 1-3-2 is fixedly connected to the first lumbar reel 1-3-1 by bolts and covers the first lumbar reel 1-3-1, i.e. one end of the bowden cable assembly 1-5 is fixed to the waist reel assembly 1-3. The stator of the motor component 1-2 is fixedly connected to the waist back plate 3-1 through bolts, the first waist reel 1-3-1 in the waist reel component 1-3 is fixedly connected to the rotor of the motor component 1-2 through bolts in a coaxial mode, the waist winding baffle plate 1-4 is fixedly connected to the stator of the motor component 1-2 through bolts in a coaxial mode, the inner ring surface of the waist reel baffle plate 1-4 wraps the wire grooves of the first waist reel 1-3-1, a gap is reserved between the inner ring surface of the waist reel baffle plate 1-4 and the outer ring surface of the first waist reel 1-3-1, and the distance value of the gap is smaller than the diameter of the Bowden rope body of the Bowden wire component 1-5. The waist shell 1-8 is fixedly connected to the waist back plate 3-1 through bolts and nuts. One end of the waist Bowden cable tube 1-6 is fixedly connected with the side face of the waist shell 1-8 through a cable tube terminal, the other end of the waist Bowden cable tube 1-6 is fixedly connected with the upper end of the hip-waist connecting plate 4-2 through the cable tube terminal, the upper end of the thigh Bowden cable tube 1-7 is fixedly connected with the upper end of the thigh guide plate 6-2 through the cable tube terminal, and the lower end of the thigh Bowden cable tube 1-7 is fixedly connected with the upper end of the thigh connecting plate 7-1 through the cable tube terminal. One end of the Bowden cable assembly 1-5 is fixedly connected to the waist wire winding wheel assembly 1-3, then penetrates through the waist Bowden cable tube 1-6 to the cable tube of the hip-waist connecting plate 4-2, and penetrates through the cable hole at the lower end of the second hip joint baffle plate 4-7 after bypassing the first hip joint reel 4-4 and the second hip joint reel 4-5, then penetrates through the thigh Bowden cable tube 1-7 and winds on the knee joint actuating wheel 7-4, the other end of the Bowden cable assembly 1-5 is fixedly connected to the knee joint cable fixing block 7-9, the knee joint cable fixing block 7-9 is fixed to the knee joint tension sensor 9-3, and the knee joint tension sensor 9-3 is fixedly connected to the knee joint actuating wheel 7-4.

By adopting the technical scheme, the power system is placed at the waist by virtue of the characteristics of the Bowden cable assembly and the Bowden cable tube remote transmission, so that the weight and inertia of the leg of the exoskeleton of the lower limb are greatly reduced, and the power is provided for a wearer without bringing large mechanical impedance to the wearer; meanwhile, one end of the Bowden cable assembly is fixed on the first waist reel of the waist winding assembly, so that the rope driving of the power system at the waist output end is realized, and more flexible force is output and transmitted; on the other hand, because the bowden cable assembly bypasses the hip and knee joints at the same time, the powered system is able to provide assistance to both the hip and knee joints of the wearer at the same time.

Optionally, the hip wire winding module 4 comprises a hip waist connecting plate 4-2, a hip leg connecting plate 4-3, a first hip wire winding wheel 4-4, a second hip wire winding wheel 4-5 and a second hip wire winding plate 4-7; wherein, the first hip-joint reel 4-4 is rotationally connected with a first hip-joint rotating shaft 4-2-1 at one side of the hip-waist connecting plate 4-2 through a bearing, one side of the hip-leg connecting plate 4-3 is rotationally connected with a second hip-joint rotating shaft 4-2-2 at the other side of the hip-waist connecting plate 4-2 through a bearing, the second hip-joint reel 4-5 is rotationally connected with a third hip-joint rotating shaft 4-3-1 of the hip-leg connecting plate 4-3 through a bearing, the first hip-joint reel 4-4 and the second hip-joint reel 4-5 are positioned at the same side of the hip-waist connecting plate 4-2, the first hip-joint rotating shaft 4-2-1, the third hip joint rotating shaft 4-3-1 is positioned at the same side of the hip waist connecting plate 4-2; the second hip joint baffle 4-7 is fixedly connected with one side of the hip leg connecting plate 4-3 close to the second hip joint reel 4-5; one end of the waist Bowden wire tube 1-6 in the power system 1, which is far away from the waist shell 1-8, is fixedly connected with one end of the hip waist connecting plate 4-2, which is far away from the first hip joint reel 4-4, and the Bowden wire assembly 1-5 in the power system 1 passes through the waist Bowden wire tube 1-6, then passes through the wire tube on the hip waist connecting plate 4-2, sequentially bypasses the first hip joint reel 4-4 and the second hip joint reel 4-5, and then passes out of the wire tube on the second hip joint baffle 4-7 through the Bowden wire assembly 1-5. When the external pendulum and internal pendulum limiting piece 4-1 is not included, the hip joint wire winding module 4 is connected with a protective plate sliding block 3-3 in the waist adjustable module 3 through a hip waist connecting plate 4-2.

By adopting the technical scheme, the bending/stretching freedom degree of the lower limb exoskeleton at the hip joint can be realized, and the bending/stretching freedom degree requirement of the hip joint of a human body is met; meanwhile, the Bowden cable assembly can simultaneously penetrate through the two winding wheels of the hip joint winding module, and a certain assistance force is provided for the hip joint of the wearer in the leg movement process of the wearer through the relative position relation of the two winding wheels of the hip joint.

Optionally, the hip joint winding module 4 further comprises an outer swing inner swing limiting piece 4-1, the upper end of the outer swing inner swing limiting piece 4-1 is rotatably connected with the lower end of a guard plate sliding block 3-3 in the waist adjustable module 3 through a shaft shoulder screw, an outer rotation inner rotation limiting piece 4-1-1 is arranged on one side, close to the guard plate sliding block 3-3, of the outer swing inner swing limiting piece 4-1, and an outer rotation inner rotation limiting groove for limiting the rotation of the outer rotation inner rotation limiting piece 4-1 is arranged on one side, close to the outer swing inner swing limiting piece 4-1, of the lower end of the guard plate sliding block 3-3; one end of the outer-pendulum inner-pendulum limiting piece 4-1, which is far away from the guard plate sliding block 3-3, is rotatably connected with one end of the hip waist connecting plate 4-2, which is far away from the first hip joint reel 4-4, and the axial direction of the rotating shaft of the outer-pendulum inner-pendulum limiting piece 4-1 is vertical to the axial line of the rotating shaft of the first hip joint reel 4-4 and is horizontally arranged (the non-coplanar vertical); the hip joint outer swing limiting block 4-2-3 is arranged on one side, close to the outer swing inner swing limiting block 4-1, of the hip waist connecting plate 4-2, and when the hip waist connecting plate 4-2 rotates around the outer swing inner swing limiting block 4-1, the hip joint outer swing limiting block 4-2-3 can be in contact with the outer swing inner swing limiting block 4-1 and can block the rotation of the hip waist connecting plate 4-2.

By adopting the technical scheme, the external rotation/internal rotation degree of freedom and the external swing/internal swing degree of freedom of the lower limb exoskeleton at the hip joint are realized, the limitation of the external rotation/internal rotation angle of the lower limb exoskeleton at the hip joint and the limitation of the external swing rotation angle are realized, the requirements of the external rotation/internal rotation degree of freedom and the external swing/internal swing degree of freedom of the hip joint of a human body are met, the movement range of the two degrees of freedom at the hip joint of the lower limb exoskeleton can be limited, and the injury caused by excessive movement of the hip joint of a wearer corresponding to the degree of freedom is prevented.

Optionally, a first hip joint baffle 4-6 and a hip joint end cover 4-8 can be further included, the first hip joint baffle 4-6 is fixedly connected with one side of the hip waist connecting plate 4-2 close to the first hip joint reel 4-4, and the hip joint end cover 4-8 is fixedly connected with one side of the hip leg connecting plate 4-3 far away from the third hip joint rotating shaft 4-3-1.

Specifically, the hip joint winding module 4 comprises an external pendulum and internal pendulum limiting piece 4-1, a hip waist connecting plate 4-2, a hip leg connecting plate 4-3, a first hip joint reel 4-4, a second hip joint reel 4-5, a first hip joint baffle plate 4-6, a second hip joint baffle plate 4-7 and a hip joint end cover 4-8; the upper end of the outer-pendulum inner-pendulum limiting piece 4-1 is rotatably connected with the lower end of the protective plate sliding block 3-3 through a shaft shoulder screw and a nut, an outer-rotation inner-rotation limiting piece 4-1-1 is arranged on one side, close to the protective plate sliding block 3-3, of the outer-pendulum inner-pendulum limiting piece 4-1, an outer-rotation inner-rotation limiting groove for limiting the outer-rotation inner-rotation limiting piece 4-1 to rotate is arranged on one side, close to the outer-pendulum inner-pendulum limiting piece 4-1, of the lower end of the protective plate sliding block 3-3, and the rotating angle of the outer-pendulum inner-pendulum limiting piece 4-1 relative to the protective plate sliding block 3-3 is limited within a certain range. One end of the external swing internal swing limiting piece 4-1, which is far away from the external rotation internal rotation limiting piece 4-1-1, is rotatably connected with the upper end of the hip waist connecting plate 4-2 through a shaft shoulder screw and a nut, the upper end of the hip waist connecting plate 4-2 is integrally formed with a hip joint external swing limiting piece 4-2-3, and when the hip waist connecting plate 4-2 rotates to a certain angle around the external swing internal swing limiting piece 4-1, the hip joint external swing limiting piece 4-2-3 is contacted with one surface of the external swing internal swing limiting piece 4-1, which is close to the hip waist connecting plate 4-2, so that the hip waist connecting plate 4-2 is prevented from continuously rotating outwards with the external swing internal swing limiting piece 4-1; the left side and the right side of one end of the hip waist connecting plate 4-2 far away from the outer swing inner swing limiting piece 4-1 are respectively provided with a first hip joint rotating shaft 4-2-1 and a second hip joint rotating shaft 4-2-2, the first hip joint reel 4-4 is rotationally connected with the first hip joint rotating shaft 4-2-1 through a bearing and a spring retainer ring, one side of the hip leg connecting plate 4-3 is rotationally connected with the second hip joint rotating shaft 4-2-2 through a bearing and a spring retainer ring, a hip joint encoder 9-1 is fixedly connected on a hip joint end cover 4-8 through a copper column and a screw, the hip joint end cover 4-8 is fixedly connected on the hip leg connecting plate 4-3 through a bolt, and one end of the second hip joint rotating shaft 4-2-2 near the hip joint end cover 4-8 is coaxially bonded and fixed with a round magnet, the hip joint encoder 9-1 is arranged coaxially with the second hip joint rotation axis 4-2-2, so that the angle of rotation of the hip leg link 4-3 relative to the hip waist link 4-2 can be measured by the hip joint encoder 9-1. A third hip joint rotating shaft 4-3-1 is integrally formed on the side surface of one end, far away from the hip joint end cover 4-8, of the hip leg connecting plate 4-3, the first hip joint rotating shaft 4-2-1 and the third hip joint rotating shaft 4-3-1 are located on the same side of the hip leg connecting plate 4-3, and the second hip joint reel 4-5 is rotatably connected with the third hip joint rotating shaft 4-3-1 through a bearing and a spring retainer ring. The first hip joint baffle 4-6 is fixedly connected with the hip waist connecting plate 4-2 through bolts, the first hip joint baffle 4-6 and the first hip joint rotating shaft 4-2-1 are positioned at the same side of the hip waist connecting plate 4-2, the second hip joint baffle 4-7 is fixedly connected with the hip leg connecting plate 4-3 through bolts, and the second hip joint baffle 4-7 and the third hip joint rotating shaft 4-3-1 are positioned at the same side of the hip leg connecting plate 4-3.

Optionally, the thigh telescoping module 6 comprises a thigh adjusting plate 6-1, a thigh guide plate 6-2 and a thigh locking screw 6-3; wherein, one end of a thigh adjusting plate 6-1 is fixedly connected with a hip leg connecting plate 4-3 in a hip joint winding module 4, a plurality of first adjusting holes 6-1-1 are equidistantly arranged on the thigh adjusting plate 6-1 along the length direction of the thigh adjusting plate, a guide groove 6-2-1 for the thigh adjusting plate 6-1 to slide is arranged on a thigh guide plate 6-2 along the length direction of the thigh guide plate, a first threaded hole 6-2-2 for the thigh locking screw 6-3 to be in threaded connection is arranged on the outer side surface of the thigh guide plate 6-2, the central line of the first threaded hole 6-2-2 is parallel to or coincided with the central line of the first adjusting hole 6-1-1, one end of a thigh Bowden wire tube 1-7 in a power system 1 is fixedly connected with the thigh guide plate 6-2, the other end of the thigh Bowden wire tube 1-7 is fixedly connected to a thigh connecting plate 7-1 in the knee joint winding module 7 and is connected with a thigh connecting plate 7-1 in the knee joint winding module 7 through a thigh guide plate 6-2.

Specifically, the thigh telescoping module 6 includes a thigh adjusting plate 6-1, the thigh adjusting plate comprises a thigh guide plate 6-2 and thigh locking screws 6-3, the upper end of a thigh adjusting plate 6-1 is fixedly connected to a hip leg connecting plate 4-3 through bolts, a plurality of first adjusting holes 6-1-1 are equidistantly arranged on the thigh adjusting plate 6-1 along the length direction of the thigh adjusting plate, a guide groove 6-2-1 for the thigh adjusting plate 6-1 to slide is formed in the thigh guide plate 6-2 along the length direction of the thigh adjusting plate, a first threaded hole 6-2-2 for the thigh locking screws 6-3 to be in threaded connection is formed in the outer side face of the thigh guide plate 6-2, and the center line of the first threaded hole 6-2-2 is parallel to the center line of the first adjusting hole 6-1-1 and can be overlapped. The thigh adjusting plate 6-1 and the thigh guide plate 6-2 can keep a relatively fixed or relatively sliding relationship by rotating the thigh locking screw 6-3, thereby achieving the purpose of extension and retraction.

According to the technical scheme, the thigh locking screw is manually rotated, so that the relative position relation between the thigh adjusting plate and the thigh guide plate can be adjusted and loosened or locked, and the telescopic function of the thigh telescopic module is realized to adapt to the leg lengths of different wearers.

Optionally, the knee joint winding module 7 comprises a thigh connecting plate 7-1, a first knee joint supporting plate 7-2, a second knee joint supporting plate 7-3, a knee joint actuating wheel 7-4, an actuating wheel connecting plate 7-5, a knee joint wire baffle plate 7-6 and a knee joint rope fixing block 7-9; wherein one side of the executive wheel connecting plate 7-5 is fixedly connected with one side of the knee joint executive wheel 7-4, the outer ring surface of the knee joint executive wheel 7-4 is provided with a knee joint winding groove 7-4-1, two sides of the knee joint executive wheel 7-4 are respectively provided with a first knee joint rotating shaft 7-4-2 and a second knee joint rotating shaft 7-4-3, the knee joint winding groove 7-4-1 is coaxially arranged with the first knee joint rotating shaft 7-4-2 and the second knee joint rotating shaft 7-4-3, the second knee joint rotating shaft 7-4-3 and the executive wheel connecting plate 7-5 are positioned at the same side of the knee joint executive wheel 7-4, the first knee joint supporting plate 7-2 is rotatably connected with the first knee joint rotating shaft 7-4-2 through a bearing, a second knee joint support plate 7-3 positioned at one side of the execution wheel connecting plate 7-5 is rotationally connected with a second knee joint rotating shaft 7-4-3 through a bearing, one end of the first knee joint support plate 7-2 far away from the first knee joint rotating shaft 7-4-2 and one end of the second knee joint support plate 7-3 far away from the second knee joint rotating shaft 7-4-3 are respectively and fixedly connected with two sides of one end of a thigh connecting plate 7-1, the other end of the thigh connecting plate 7-1 is connected with a thigh guide plate 6-2 in a thigh telescopic module 6, a knee joint line baffle plate 7-6 is fixedly connected with the other side of the execution wheel connecting plate 7-5, the inner ring surface of the knee joint line baffle plate 7-6 is matched with the outer ring surface of the knee joint execution wheel 7-4 and is used for preventing the Bowden wire component 1-5 in the knee joint line winding groove 7-4-1 from separating from the knee joint winding groove 7-4-1 7-4-1, the knee joint execution wheel 7-4 limits rotation through the matching of the thigh connecting plate 7-1 and the execution wheel connecting plate 7-5 and/or the knee joint line blocking plate 7-6 (namely, the knee joint execution wheel 7-4 limits rotation through the matching of the thigh connecting plate 7-1 and the execution wheel connecting plate 7-5, or the knee joint execution wheel 7-4 limits rotation through the matching of the thigh connecting plate 7-1 and the knee joint line blocking plate 7-6, or the knee joint execution wheel 7-4 limits rotation through the matching of the thigh connecting plate 7-1, the execution wheel connecting plate 7-5 and the knee joint line blocking plate 7-6); one end of a thigh Bowden wire tube 1-7 in the power system 1, which is far away from the hip joint wire winding module 4, is fixedly connected with a thigh connecting plate 7-1, a Bowden wire assembly 1-5 which penetrates through the thigh Bowden wire tube 1-7 is wound in a knee joint wire winding groove 7-4-1 through a wire groove in the thigh connecting plate 7-1, and one end of the Bowden wire assembly 1-5 in the power system 1, which is far away from the power system 1, is fixedly connected with a knee joint actuating wheel 7-4 through a knee joint rope fixing block 7-9. When the knee joint tension sensor 9-3 is installed, the knee joint rope fixing block 7-9 can be fixed on the knee joint tension sensor 9-3, and the knee joint tension sensor 9-3 is fixedly connected to the knee joint actuating wheel 7-4.

Optionally, the knee joint execution wheel 7-4 restricts rotation through the cooperation of the thigh connecting plate 7-1 and the execution wheel connecting plate 7-5 and/or the knee joint baffle plate 7-6, specifically: a plug tongue is arranged at one end of the thigh connecting plate 7-1, and a clamping groove matched with the plug tongue is arranged on the execution wheel connecting plate 7-5 and/or the knee joint baffle plate 7-6 to realize the anticlockwise limiting of the knee joint execution wheel 7-4; the knee joint executing wheel 7-4 is limited clockwise by the contact of the extending structure arranged on the executing wheel connecting plate 7-5 and/or the knee joint baffle plate 7-6 with the thigh connecting plate 7-1 (namely when the knee joint executing wheel 7-4 rotates clockwise to the executing wheel connecting plate 7-5 and/or the extending structure of the knee joint baffle plate 7-6 is contacted with the thigh connecting plate 7-1 and props against the knee joint executing wheel 7-4 to limit clockwise, the structure belt extending structure shown as the executing wheel connecting plate 7-5 in the figure is a structure extending out of the end face of the knee joint executing wheel 7-4 after the executing wheel connecting plate 7-5 and the knee joint executing wheel 7-4 are installed together).

Optionally, a knee joint inner end cover 7-7 and a knee joint outer end cover 7-8 can be further included; the inner end cover 7-7 of the knee joint is fixedly connected to the second knee joint support plate 7-3 through bolts, and the outer end cover 7-8 of the knee joint is fixedly connected to the first knee joint support plate 7-2 through bolts.

Specifically, the knee joint winding module 7 comprises a thigh connecting plate 7-1, a first knee joint supporting plate 7-2, a second knee joint supporting plate 7-3, a knee joint executing wheel 7-4, an executing wheel connecting plate 7-5, a knee joint baffle plate 7-6, a knee joint inner end cover 7-7, a knee joint outer end cover 7-8 and a knee joint rope fixing block 7-9; a first knee joint rotating shaft 7-4-2 and a second knee joint rotating shaft 7-4-3 are integrally formed at the left side and the right side of the knee joint actuating wheel 7-4, a knee joint winding groove 7-4-1 is coaxially arranged on the outer annular surface of the knee joint actuating wheel 7-4, the knee joint winding groove 7-4-1, the first knee joint rotating shaft 7-4-2 and the second knee joint rotating shaft 7-4-3 are coaxially arranged, an actuating wheel connecting plate 7-5 is fixedly connected at the right side of the knee joint actuating wheel 7-4 through bolts, the second knee joint rotating shaft 7-4-3 and the actuating wheel connecting plate 7-5 are positioned at the same side of the knee joint actuating wheel 7-4, and a knee joint baffle plate 7-6 is fixedly connected at the left side of the actuating wheel connecting plate 7-5 through bolts, the knee joint line baffle plate 7-6 is arc-shaped, and the inner ring surface of the knee joint line baffle plate can cover part of the knee joint winding groove 7-4-1 so as to prevent the Bowden wire component 1-5 in the knee joint winding groove 7-4-1 from being separated from the knee joint winding groove 7-4-1. The first knee joint supporting plate 7-2 is rotatably connected with the first knee joint rotating shaft 7-4-2 through a bearing and a spring retainer ring, the second knee joint supporting plate 7-3 is rotatably connected with the second knee joint rotating shaft 7-4-3 through a bearing and a spring retainer ring, the inner end cover 7-7 of the knee joint is fixedly connected on the second knee joint supporting plate 7-3 through bolts, and one end of the first knee joint supporting plate 7-2, far away from the first knee joint rotating shaft 7-4-2, and one end of the second knee joint supporting plate 7-3, far away from the second knee joint rotating shaft 7-4-3, are respectively and fixedly connected with two sides of the thigh connecting plate 7-1 through bolts. The knee joint encoder 9-2 is fixedly connected to the knee joint outer end cover 7-8 through a copper column and a screw, the knee joint outer end cover 7-8 is fixedly connected to the first knee joint supporting plate 7-2 through a bolt, a circular magnet is coaxially bonded to the end face, close to the knee joint encoder 9-2, of the first knee joint rotating shaft 7-4-2, and the circular magnet and the knee joint encoder 9-2 are coaxially arranged, so that the rotating angle of the knee joint actuating wheel 7-4 relative to the first knee joint supporting plate 7-2 can be measured through the knee joint encoder 9-2. The knee joint tension sensor 9-3 is fixedly connected to the knee joint actuating wheel 7-4 through a bolt, the knee joint rope fixing block 7-9 is fixedly connected with the output end of the knee joint tension sensor 9-3 through threaded connection, and one end, close to the knee joint actuating wheel 7-4, of the Bowden cable assembly 1-5 is fixedly connected to the knee joint rope fixing block 7-9 through a screw, so that the tension transmitted to the knee joint actuating wheel 7-4 by the Bowden cable assembly 1-5 can be measured through the knee joint tension sensor 9-3.

By adopting the technical scheme, the degree of freedom of bending/stretching of the lower limb exoskeleton at the knee joint is realized, and the requirement of the degree of freedom of bending/stretching at the knee joint of a human body is met; meanwhile, the knee joint is driven by the rope drive, the driving force is more flexible, and the wearer does not feel uncomfortable when the assisting force is provided for the knee joint of the wearer.

Optionally, the waist adjustable module 3 comprises a waist back plate 3-1, a waist side guard plate 3-2, a guard plate slide block 3-3 and an adjusting bolt 3-4; one end of the waist side guard plate 3-2 is rotatably connected with the side edge of the waist back plate 3-1, the guard plate slide block 3-3 is slidably connected with the side surface of the waist side guard plate 3-2, and the guard plate slide block 3-3 is fixed at a certain position of the guard plate slide block 3-3 through an adjusting bolt 3-4 and a nut. The positions of all the parts arranged on the guard plate sliding blocks 3-3 can be adjusted conveniently.

Specifically, the relative distance between the two waist side guard plates 3-2 can be changed to adapt to the waist size of a user by manually adjusting the rotating positions of the waist side guard plates 3-2, the tightness state between the guard plate slide blocks 3-3 and the waist side guard plates 3-2 can be changed by rotating the adjusting bolts 3-4, and then the relative positions of the guard plate slide blocks 3-3 and the waist side guard plates 3-2 can be adjusted. By adjusting the positions of the waist side guard plate 3-2 and the guard plate slide block 3-3, wearers with different waistlines can wear the exoskeleton, the waist adjustment is very convenient, and the wearing requirements of wearers with different waistlines are met.

Through adopting above-mentioned technical scheme, this kind of ectoskeleton can all be dressed to the wearing person of different waistlines, and the waist is adjusted very conveniently, satisfies different waistline wearing person's wearing demand.

Optionally, the shank adjustable module 8 comprises a double-hinge connecting plate 8-1 and a shank connecting plate 8-2; one end of a double-hinge connecting plate 8-1 is rotatably connected with an execution wheel connecting plate 7-5 in the knee joint winding module 7, the other end of the double-hinge connecting plate 8-1 is rotatably connected with a shank connecting plate 8-2, and the central lines of two revolute pairs of the double-hinge connecting plate 8-1 are parallel and are perpendicular to the central line of a knee joint execution wheel 7-4 in the knee joint winding module 7.

Specifically, the shank adjustable module 8 comprises a double-hinge connecting plate 8-1 and a shank connecting plate 8-2, one end of the double-hinge connecting plate 8-1 is rotatably connected with the lower end of the execution wheel connecting plate 7-5 through a shoulder screw and a nut, and the other end of the double-hinge connecting plate 8-1 is rotatably connected with the shank connecting plate 8-2 through the shoulder screw and the nut, so that the requirement of the eversion and inversion freedom degree of the human knee joint is met.

By adopting the technical scheme, the degree of freedom of the lower limb exoskeleton in eversion/inversion at the knee joint is realized, the requirement of the degree of freedom of eversion/inversion at the knee joint of a human body is met, and the uncomfortable feeling or injury of a wearer in the movement process due to the absence of the degree of freedom is avoided.

Optionally, the device further comprises a sensing system 9, wherein the sensing system 9 comprises a hip joint encoder 9-1, a knee joint encoder 9-2, a knee joint tension sensor 9-3 and an inertial sensor 9-4; the hip joint encoder 9-1 is fixedly connected with a hip joint end cover 4-8 in the hip joint winding module 4, a hip leg connecting plate 4-3 in the hip joint winding module 4 rotates around a hip waist connecting plate 4-2 in the axial direction and is coaxial with the hip joint encoder 9-1, the hip joint end cover 4-8 is fixedly connected with one side, far away from the first hip joint reel 4-4, of the hip leg connecting plate 4-3, a hip joint magnet is fixedly connected with one side, close to the hip joint encoder 9-1, of the hip waist connecting plate 4-2, and the hip joint magnet and the hip joint encoder 9-1 are coaxially arranged; the knee joint encoder 9-2 is fixedly connected with an outer end cover 7-8 of a knee joint in the knee joint winding module 7, the outer end cover 7-8 of the knee joint is fixedly connected with a first knee joint supporting plate 7-2 in the knee joint winding module 7, a knee joint magnet is coaxially and fixedly connected to a first knee joint rotating shaft 7-4-2 provided with the first knee joint supporting plate 7-2, and the knee joint encoder 9-2 and the knee joint magnet are coaxially arranged; the knee joint tension sensor 9-3 is fixedly connected to a knee joint actuating wheel 7-4 in the knee joint winding module 7; the thigh guide plate 6-2 and the shank connecting plate 8-2 are provided with inertial sensors 9-4.

Specifically, the thigh guide plate 6-2 and the shank connecting plate 8-2 can be fixedly connected with inertial sensors 9-4 through bolts or glue, and the inertial sensors are respectively used for measuring postures and other motion information of thighs and shanks of a wearer; the device can further comprise a controller 2, wherein the hip joint encoder 9-1, the knee joint encoder 9-2, the knee joint tension sensor 9-3 and the inertial sensor 9-4 are electrically connected with the controller 2, the controller 2 obtains the movement intention of a wearer by receiving the information of the sensors, further drives the motor assembly 1-2 in the power system 1, and drives the Bowden cable assembly 1-5 to transmit force to the hip joint winding module 4 and the knee joint winding module 7 through the motor assembly 1-2, so that proper assistance is provided for the wearer. A power supply 1-1 may also be included, the power supply 1-1 being used to supply power (which may be used to power the motor assembly 1-2, the sensing system 9).

By adopting the technical scheme, the hip joint encoder can measure the rotation angle of the thigh telescopic module relative to the hip waist connecting plate, the knee joint encoder can measure the rotation angle of the shank adjustable module relative to the thigh telescopic module, the knee joint tension sensor can measure the tension applied to the knee joint actuating wheel by the Bowden cable assembly, and the inertial sensor can measure the postures, the movement angular speed and the acceleration of the thigh telescopic module and the shank adjustable module relative to the ground; the controller acquires the motion state and the motion intention of a wearer through the hip joint encoder, the knee joint tension sensor and the inertial sensor, and prepares for controlling the lower limb exoskeleton.

Optionally, the leg binding module 5 comprises a thigh baffle 5-1 and a shank baffle 5-2, the thigh baffle 5-1 is fixedly connected to the thigh guide plate 6-2 through bolts, the shank baffle 5-2 is fixedly connected to the shank connecting plate 8-2 through bolts, and the thigh baffle 5-1 and the shank baffle 5-2 are used for fixedly connecting the leg structure of the lower extremity exoskeleton and the leg structure of the wearer through magic tape binding bands. When the motor component 1-2 in the power system 1 drives the waist reel component 1-3 to rotate, the waist reel component 1-3 can simultaneously apply force to the first hip reel 4-4, the second hip reel 4-5 and the knee joint actuating wheel 7-4 through the Bowden cable component 1-5, so that the power can be simultaneously provided for the hip joint and the knee joint of a wearer.

The implementation principle of the embodiment is as follows: the wearer first adjusts the waist adjustable module 3, the thigh telescopic module 6 and the shank adjustable module 8 to the waist and leg length of the wearer and fixes the waist and leg adjustable module to the waist and leg of the wearer by a binding band or other binding mechanism, so as to ensure that the height of the second hip joint rotation axis 4-2-2 is approximately aligned with the hip joint of the wearer and the height of the first knee joint rotation axis 7-4-2 is approximately aligned with the knee joint of the wearer. When a wearer wears the exoskeleton to move, the controller receives information of each sensor in the sensing system 9 to obtain the movement intention of the wearer, the motor assembly 1-2 is controlled by the controller to output power according to the rotating speed and the rotating angle so as to drive the waist wire winding wheel assembly 1-3, the waist wire winding wheel assembly 1-3 applies appropriate force to the hip joint wire winding module 4 and the knee joint wire winding module 7 through the bowden wire assembly 1-5 simultaneously, and then the force is transmitted to thighs and calves of the wearer through the leg binding module 5, namely appropriate assistance is provided for the wearer at appropriate time according to the movement intention of the wearer.

While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims (10)

1. The utility model provides a lower limbs ectoskeleton robot based on rope sheave drive which characterized in that: comprises a power system (1), a waist adjustable module (3), a hip joint winding module (4), a leg binding module (5), a thigh stretching module (6), a knee joint winding module (7) and a shank adjustable module (8); a power system (1) is installed on the waist adjustable module (3), one end of the hip joint winding module (4) is connected with the waist adjustable module (3), the other end of the hip joint winding module (4) is connected with one end of the knee joint winding module (7) through a thigh telescopic module (6), the other end of the knee joint winding module (7) is connected with one end of a shank adjustable module (8), and the other end of the shank adjustable module (8) is a free end; the Bowden cable assemblies (1-5) in the power system (1) sequentially bypass the hip joint winding module (4) and bypass the knee joint winding module (7) and are finally fixedly connected to the knee joint winding module (7).

2. The lower extremity exoskeleton robot of claim 1, based on sheave drive, wherein: the power system (1) comprises a motor component (1-2), a waist reel component (1-3), a waist reel baffle (1-4), a Bowden cable component (1-5), a waist Bowden cable pipe (1-6), a thigh Bowden cable pipe (1-7) and a waist shell (1-8); wherein, the waist shell (1-8) is fixedly connected with a waist back plate (3-1) in the waist adjustable module (3), a stator of the motor component (1-2) is fixedly connected with the waist back plate (3-1), a rotor of the motor component (1-2) is coaxially and fixedly connected with the waist reel component (1-3), a waist reel baffle plate (1-4) is fixedly connected with the stator of the motor component (1-2), an inner ring surface of the waist reel baffle plate (1-4) is coaxial with the waist reel component (1-3), the waist reel baffle (1-4) is sleeved on the periphery of a wire slot of the waist reel assembly (1-3), and a gap exists between the inner ring surface of the waist reel baffle (1-4) and the outer ring surface of the waist reel assembly (1-3); one end of the waist Bowden wire tube (1-6) is fixedly connected with one side of the waist shell (1-8) close to the hip joint winding module (4), and the other end of the waist Bowden wire tube (1-6) is fixedly connected with the input end of the hip joint winding module (4); one end of each thigh Bowden wire tube (1-7) is fixedly connected to the thigh telescopic module (6), and one end of each thigh Bowden wire tube (1-7) is fixedly connected with the input end of the knee joint winding module (7); one end of the Bowden cable assembly (1-5) is fixedly connected in a wire slot of the waist wire winding wheel assembly (1-3) and can rotate along with the waist wire winding wheel assembly (1-3); the other end of the Bowden cable assembly (1-5) sequentially passes through the waist Bowden cable tube (1-6), bypasses the hip joint winding module (4), passes through the thigh Bowden cable tube (1-7), bypasses the knee joint winding module (7) and is finally fixedly connected to a knee joint cable fixing block (7-9) of the knee joint winding module (7).

3. The lower extremity exoskeleton robot of claim 2 based on sheave drive, wherein: the waist reel assembly (1-3) comprises a first waist reel (1-3-1) and a first reel catch (1-3-2); wherein, the first waist reel (1-3-1) is coaxially and fixedly connected with the rotor of the motor assembly (1-2), the outer ring surface of the first waist reel (1-3-1) is provided with a wire groove, the end surface of the first waist reel (1-3-1) is provided with a first waist reel fixing groove for fixing one end of the bowden cable assembly (1-5), and the first reel catch (1-3-2) is fixedly connected with the first waist reel (1-3-1).

4. The lower extremity exoskeleton robot of claim 1, based on sheave drive, wherein: the hip joint wire winding module (4) comprises a hip waist connecting plate (4-2), a hip leg connecting plate (4-3), a first hip joint reel (4-4), a second hip joint reel (4-5) and a second hip joint baffle plate (4-7); wherein, the first hip joint reel (4-4) is rotationally connected with a first hip joint rotating shaft (4-2-1) at one side of the hip waist connecting plate (4-2) through a bearing, one side of the hip leg connecting plate (4-3) is rotationally connected with a second hip joint rotating shaft (4-2-2) at the other side of the hip waist connecting plate (4-2) through a bearing, the second hip joint reel (4-5) is rotationally connected with a third hip joint rotating shaft (4-3-1) of the hip leg connecting plate (4-3) through a bearing, and the first hip joint rotating shaft (4-2-1) and the third hip joint rotating shaft (4-3-1) are positioned at the same side of the hip waist connecting plate (4-2); the second hip joint baffle (4-7) is fixedly connected with one side of the hip leg connecting plate (4-3) close to the second hip joint reel (4-5); one end, far away from the waist shell (1-8), of a waist Bowden wire tube (1-6) in the power system (1) is fixedly connected with one end, far away from the first hip joint reel (4-4), of a hip waist connecting plate (4-2), and a Bowden wire assembly (1-5) penetrates through the waist Bowden wire tube (1-6) in the power system, then passes through the wire tube on the hip waist connecting plate (4-2), sequentially bypasses the first hip joint reel (4-4) and the second hip joint reel (4-5), and then penetrates out of the wire tube on the second hip joint baffle (4-7) through the Bowden wire assembly (1-5).

5. The lower extremity exoskeleton robot of claim 1, based on sheave drive, wherein: the hip joint winding module (4) further comprises an outer swing inner swing limiting piece (4-1), the upper end of the outer swing inner swing limiting piece (4-1) is rotatably connected with the lower end of a protective plate sliding block (3-3) in the waist adjustable module (3) through a shaft shoulder screw, an outer rotation inner rotation limiting piece (4-1-1) is arranged on one side, close to the protective plate sliding block (3-3), of the outer swing inner swing limiting piece (4-1), and an outer rotation inner rotation limiting groove for limiting the rotation of the outer rotation inner rotation limiting piece (4-1-1) is arranged on one side, close to the outer swing inner swing limiting piece (4-1), of the lower end of the protective plate sliding block (3-3); one end of the outer-pendulum inner-pendulum limiting piece (4-1), which is far away from the guard plate sliding block (3-3), is rotatably connected with one end of the hip waist connecting plate (4-2), which is far away from the first hip joint reel (4-4), and the axial direction of the rotating shaft of the outer-pendulum inner-pendulum limiting piece (4-1) is vertical to and horizontal to the axis of the rotating shaft of the first hip joint reel (4-4); one side of the hip waist connecting plate (4-2) close to the outer swing inner swing limiting piece (4-1) is provided with a hip joint outer swing limiting block (4-2-3).

6. The lower extremity exoskeleton robot of claim 1, based on sheave drive, wherein: the thigh telescopic module (6) comprises a thigh adjusting plate (6-1), a thigh guide plate (6-2) and a thigh locking screw (6-3); wherein, one end of a thigh adjusting plate (6-1) is fixedly connected with a hip leg connecting plate (4-3) in a hip joint winding module (4), a plurality of first adjusting holes (6-1-1) are equidistantly arranged on the thigh adjusting plate (6-1) along the length direction of the thigh adjusting plate, a guide groove (6-2-1) for the thigh adjusting plate (6-1) to slide is arranged on a thigh guide plate (6-2) along the length direction of the thigh guide plate, a first threaded hole (6-2-2) for the thigh locking screw (6-3) to be in threaded connection is arranged on the outer side surface of the thigh guide plate (6-2), the central line of the first threaded hole (6-2-2) is parallel to or coincident with the central line of the first adjusting hole (6-1-1), one end of a thigh Bowden wire tube (1-7) in a power system (1) is fixedly connected with the thigh guide plate (6-2) And a thigh connecting plate (7-1) in the knee joint winding module (7) is connected through a thigh guide plate (6-2).

7. The lower extremity exoskeleton robot of claim 1, based on sheave drive, wherein: the knee joint winding module (7) comprises a thigh connecting plate (7-1), a first knee joint supporting plate (7-2), a second knee joint supporting plate (7-3), a knee joint executing wheel (7-4), an executing wheel connecting plate (7-5), a knee joint line blocking plate (7-6) and a knee joint rope fixing block (7-9); wherein, one side of the execution wheel connecting plate (7-5) is fixedly connected with one side of the knee joint execution wheel (7-4), the outer ring surface of the knee joint execution wheel (7-4) is provided with a knee joint winding groove (7-4-1), two sides of the knee joint execution wheel (7-4) are respectively provided with a first knee joint rotating shaft (7-4-2) and a second knee joint rotating shaft (7-4-3), the knee joint winding groove (7-4-1), the first knee joint rotating shaft (7-4-2) and the second knee joint rotating shaft (7-4-3) are coaxially arranged, the second knee joint rotating shaft (7-4-3) and the execution wheel connecting plate (7-5) are positioned at the same side of the knee joint execution wheel (7-4), the first knee joint supporting plate (7-2) is positioned at the first knee joint rotating shaft (7-4) through a bearing -2) is rotatably connected, a second knee joint support plate (7-3) positioned at one side of the actuating wheel connecting plate (7-5) is rotatably connected with a second knee joint rotating shaft (7-4-3) through a bearing, one end of the first knee joint support plate (7-2) far away from the first knee joint rotating shaft (7-4-2) and one end of the second knee joint support plate (7-3) far away from the second knee joint rotating shaft (7-4-3) are respectively fixedly connected with two sides of one end of a thigh connecting plate (7-1), the other end of the thigh connecting plate (7-1) is connected with a thigh guide plate (6-2) in a thigh telescopic module (6), a knee joint line stop plate (7-6) is fixedly connected with the other side of the actuating wheel connecting plate (7-5), an inner ring surface of the knee joint line stop plate (7-6) is matched with an outer ring surface of the knee joint actuating wheel (7-4), the knee joint execution wheel (7-4) is matched with the execution wheel connecting plate (7-5) and/or the knee joint baffle plate (7-6) through the thigh connecting plate (7-1) to limit rotation; one end, far away from the hip joint winding module (4), of a thigh Bowden wire tube (1-7) in the power system (1) is fixedly connected with a thigh connecting plate (7-1), a Bowden wire assembly (1-5) penetrating through the thigh Bowden wire tube (1-7) is wound in a knee joint winding groove (7-4-1) through a wire groove in the thigh connecting plate (7-1), and one end, far away from the power system (1), of the Bowden wire assembly (1-5) is fixedly connected to a knee joint actuating wheel (7-4) through a knee joint rope fixing block (7-9).

8. The lower extremity exoskeleton robot of claim 1, based on sheave drive, wherein: the waist adjustable module (3) comprises a waist rear plate (3-1), a waist side guard plate (3-2), a guard plate sliding block (3-3) and an adjusting bolt (3-4); one end of the waist side guard plate (3-2) is rotatably connected with the side edge of the waist rear plate (3-1), the guard plate sliding block (3-3) is slidably connected with the side surface of the waist side guard plate (3-2), and the guard plate sliding block (3-3) is fixed on the guard plate sliding block (3-3) through an adjusting bolt (3-4).

9. The lower extremity exoskeleton robot of claim 1, based on sheave drive, wherein: the shank adjustable module (8) comprises a double-hinge connecting plate (8-1) and a shank connecting plate (8-2); one end of the double-hinge connecting plate (8-1) is rotatably connected with an execution wheel connecting plate (7-5) in the knee joint winding module (7), the other end of the double-hinge connecting plate (8-1) is rotatably connected with a shank connecting plate (8-2), and the central lines of two revolute pairs of the double-hinge connecting plate (8-1) are parallel and are perpendicular to the central line of a knee joint execution wheel (7-4) in the knee joint winding module (7).

10. The lower extremity exoskeleton robot of claim 1, based on sheave drive, wherein: the device is characterized by further comprising a sensing system (9), wherein the sensing system (9) comprises a hip joint encoder (9-1), a knee joint encoder (9-2), a knee joint tension sensor (9-3) and an inertial sensor (9-4); the hip joint encoder (9-1) is fixedly connected with a hip joint end cover (4-8) in the hip joint wire winding module (4), the axis direction of the rotation of a hip leg connecting plate (4-3) in the hip joint wire winding module (4) around a hip waist connecting plate (4-2) is coaxial with the hip joint encoder (9-1), the hip joint end cover (4-8) is fixedly connected with one side, far away from the first hip joint reel (4-4), of the hip leg connecting plate (4-3), a hip joint magnet is fixedly connected to one side, close to the hip joint encoder (9-1), of the hip waist connecting plate (4-2), and the hip joint magnet and the hip joint encoder (9-1) are coaxially arranged; the knee joint encoder (9-2) is fixedly connected with an outer knee joint end cover (7-8) in the knee joint winding module (7), the outer knee joint end cover (7-8) is fixedly connected with a first knee joint support plate (7-2) in the knee joint winding module (7), a knee joint magnet is coaxially and fixedly connected to a first knee joint rotating shaft (7-4-2) provided with the first knee joint support plate (7-2), and the knee joint encoder (9-2) and the knee joint magnet are coaxially arranged; the knee joint tension sensor (9-3) is fixedly connected to a knee joint executing wheel (7-4) in the knee joint winding module (7); inertial sensors (9-4) are arranged on the thigh guide plate (6-2) and the shank connecting plate (8-2).

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