Wearable lower limb exoskeleton rehabilitation and power-assisted robotTechnical Field
The invention relates to the technical field of medical rehabilitation instruments, in particular to a wearable lower limb exoskeleton rehabilitation and power-assisted robot.
Background
The number of people suffering from lower limb movement dysfunction caused by traffic accidents and the like is increased year by year, and the problems of helping the old (helping walking) and helping the disabled (rehabilitation training) are not sustained. Compared with the traditional manual auxiliary training, the robot auxiliary training has better effect, reduces the cost by half, and also reduces the number of medical staff.
The lower limb exoskeleton robot is a man-machine combined wearable device combining artificial intelligence, a mechanical power device and mechanical energy. The device can be divided into two types according to application classification, namely a first type used for enhancing the exercise capacity and the load bearing capacity of a wearer and mainly used for helping soldiers and workers to execute load bearing walking tasks and a second type used for assisting old people and people with body injuries to realize power-assisted walking and rehabilitation training. The robot is divided into a power type (active type) lower limb exoskeleton robot and an unpowered type (passive type) lower limb exoskeleton robot according to the existence of a power source, wherein the power type (active type) lower limb exoskeleton robot takes a motor, pneumatic and hydraulic drive as the power source, a bioelectric signal sensor, a mechanical signal sensor and the like are used for transmitting the movement intention of a wearer, the assistance of the wearer is completed under the guidance of a control strategy, and the unpowered type (passive type) exoskeleton does not need an external energy source, converts the gravitational potential energy of the robot or the kinetic energy of limb movement into an elastic element, and assists the lower limb movement by an energy switching device.
The power type (active type) lower limb exoskeleton robot can obtain larger driving force, but the driving device is heavy in design and is not beneficial to wearing, and the unpowered type (passive type) robot faces the problem of insufficient driving force. In addition, the existing lower limb exoskeleton robot also has the problem of single function.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a wearable lower limb exoskeleton rehabilitation and power-assisted robot.
In order to achieve the above purpose, the invention adopts the following technical scheme:
The utility model provides a wearable low limbs ectoskeleton rehabilitation and helping hand robot, includes waist subassembly, thigh subassembly, shank subassembly and the foot subassembly that connects gradually from top to bottom, thigh subassembly, shank subassembly and foot subassembly all include two sets of the symmetry setting, the front end portion of waist subassembly with the upper end portion of thigh subassembly passes through the hip joint regulation pole and is connected, the hip joint regulation pole links to each other with the regulation fixed block, realizes through the installation and the dismantlement of four bolts that the hip joint is adjusted pole vertical slip from top to bottom and fixed with the position, shank subassembly includes shank loop bar, thigh subassembly and shank subassembly pass through knee joint transmission fixed plate and connect, knee joint transmission fixed plate is connected in shank loop bar inboard upper end, and shank loop bar installs in shank loop bar inside, and the length adjustment of shank loop bar is realized through the flexible adjust knob clamp shank loop bar of installing in shank loop bar rear end.
The thigh assembly comprises a hip joint Z-shaped connecting rod and a thigh rod, the adjusting fixing block is connected with the hip joint Z-shaped connecting rod, the lower end of the hip joint Z-shaped connecting rod is sleeved on a rolling bearing and a bearing gasket, the rolling bearing and the bearing gasket are in sliding connection and sleeved on a hip joint transmission shaft, one end of the hip joint transmission shaft is connected with a first bevel gear II, the other end of the hip joint transmission shaft is hinged to a hinge hole at the top of a thigh transmission fixing plate, the tail end of the hip joint transmission fixing plate is clamped with the hip joint transmission fixing plate through nuts and gaskets, the hip joint transmission fixing plate is connected with a thigh sleeve rod through bolts, the inner side of the thigh sleeve rod is connected with a thigh strap fixing block, the thigh strap is connected with the thigh strap fixing block, the thigh rod is installed inside the thigh sleeve rod, the outer side of the thigh rod is provided with a hole groove at the matched position of two fixing support plates, the outer side of the upper end of the thigh rod is directly connected with a first fixing support plate, the outer thigh fixing plate is directly connected with a second fixing support plate, the two fixing support plates are connected with thigh outer fixing plates through four thigh rods at the upper end and lower end of the thigh sleeve rods, the thigh strap fixing plates are respectively connected with the two thigh fixing plates, and the two thigh fixing plates are respectively fixed with the upper end fixing plates and the two thigh fixing plates.
Further, the wearable lower limb exoskeleton rehabilitation and power-assisted robot further comprises a driving energy storage integrated device, the driving energy storage integrated device comprises two driving motors, two energy storage units and two generators, the first driving motor is connected with the first energy storage unit, a transmission shaft of the first driving motor is connected with the first generator, the second driving motor is connected with the second energy storage unit, a transmission shaft of the second driving motor is connected with the second generator, the upper end and the lower end of the driving energy storage integrated device are respectively connected with a first speed reduction output piece and a second speed reduction output piece, the first speed reduction output piece comprises a first speed reducer and a first rotating disc which are connected with each other, the second speed reduction output piece comprises a second speed reducer and a second rotating disc which are connected with each other, specifically, the first driving motor is connected with the first rotating disc, the second driving motor is connected with a transmission shaft of the first speed reducer, the first bevel gear II is meshed with the first bevel gear I, the second bevel gear I is meshed with the second bevel gear I, and the second bevel gear I is meshed with the second bevel gear II.
The knee joint transmission shaft is characterized in that the lower end of the thigh inserted link is sleeved on a rolling bearing and a bearing gasket, the rolling bearing and the bearing gasket are in sliding connection and sleeved on a knee joint transmission shaft, one end of the knee joint transmission shaft is connected with a second bevel gear II, the other end of the knee joint transmission shaft is hinged to a hinge hole at the top of a knee joint transmission fixing plate, and the tail end of the knee joint transmission shaft is clamped on the knee joint transmission fixing plate through a nut and the gasket.
The lower end of the shank rod is sleeved on an ankle joint rolling bearing and a bearing gasket, the rolling bearing and the bearing gasket are in sliding connection and sleeved on an ankle joint transmission shaft, the outer side of the lower end of the shank rod is in sliding connection with an ankle joint elastic element through two connecting pins, one end of the ankle joint transmission shaft is connected with the ankle joint elastic element through a spring, and the other end of the shank rod is hinged to a hinge hole at the top of an ankle joint transmission fixing plate and fixed through a connecting pin.
Further, the foot component comprises a foot bottom plate, a foot surface binding belt and a heel binding belt, wherein the bottom end of the ankle joint transmission fixing plate is connected with the foot bottom plate, the inner side and the outer side of the foot bottom plate are respectively connected with the inner side arc-shaped supporting plate and the outer side arc-shaped supporting plate, the two ends of the foot surface binding belt are connected with one group of buckles on the cambered surfaces of the inner side arc-shaped supporting plate and the outer side arc-shaped supporting plate, and the two ends of the heel binding belt are connected with the other group of buckles on the cambered surfaces of the inner side arc-shaped supporting plate and the outer side arc-shaped supporting plate.
Further, the waist subassembly includes waist rest, waist curb plate and waist rest backup pad, the waist rest backup pad is connected with the waist rest to fix in waist curb plate concave surface center department, two bandage fixed plates are installed in waist curb plate left and right sides, and waist bandage is connected in bandage fixed plate two hole departments, and the eye-splice is installed in waist bandage center department.
Further, the wearable lower limb exoskeleton rehabilitation and power-assisted robot further comprises a control box, and the first driving motor, the second driving motor, the first speed reducer, the second speed reducer, the first energy storage unit and the second energy storage unit are electrically connected with the control box and are connected through control signals.
Further, an acceleration sensor, an inclination sensor or a gyroscope is arranged on the waist side plate, the acceleration sensor is arranged on the inner side of the upper end of the thigh loop bar, the outer side of the lower end of the thigh loop bar, the outer side of the upper end of the shank loop bar and the outer side of the lower end of the shank loop bar, a pressure sensor and an acceleration sensor are arranged on the plantar plate, and all the sensors are in signal connection with the control box.
Further, the waist strap, thigh strap, shank strap and foot strap all use soft elastic materials.
Further, the lower ends of the hip joint Z-shaped connecting rod, the thigh inserted link and the shank inserted link are respectively hinged with the hip joint transmission shaft, the knee joint transmission shaft and the ankle joint transmission shaft, and two safety pins are arranged on the inner sides of the hinged positions of the lower ends of the hip joint Z-shaped connecting rod, the thigh inserted link and the shank inserted link.
Further, two pairs of bevel gears (first bevel gear II, first bevel gear I, second bevel gear I, and second bevel gear II), two fixed sealing plates (second fixed sealing plate and first fixed sealing plate), a driving energy storage integrator, and two deceleration output pieces (first deceleration output piece and second deceleration output piece) are all vertically installed outside the thigh external fixing plate.
Further, the waist side plate is U-shaped, connecting holes matched with hip joint adjusting rods are formed in two ends of the waist side plate, the hip joint adjusting rods are cylindrical, and the section of the upper end of each hip joint adjusting rod is T-shaped and matched with the connecting holes in two ends of the waist side plate.
Further, the control box comprises a detachable battery, an external interface component and a controller, and is connected to the center of the convex surface of the waist side plate.
The invention relates to a driving and energy storage integrated device which comprises a driving and energy storage function dual-purpose module, and the specific principle is as follows:
The power driving module is characterized in that the first driving motor drives the first bevel gear I to rotate through a first adapter plate and a first speed reducer, and then drives the first bevel gear II to drive the thigh loop bar and the thigh insert bar through a hip joint transmission shaft and a hip joint transmission fixing plate, so that the movement of the thigh assembly in the sagittal plane is completed;
The lower leg assembly is subjected to manual control on the sagittal plane, the knee joint reversely drives the second bevel gear II to rotate, and the second bevel gear I and the second generator store energy to the second energy storage unit.
Compared with the prior art, the invention has the following beneficial effects:
1. The lower limb exoskeleton robot has a simple structure and is easy to assemble and disassemble by the modularized design of the waist, the legs and the feet, the transmission of the hip joint and the knee joint adopts an integrated design on thigh components, the ankle joint adopts an unpowered elastic element design, and the shank component driven by a knee joint power source is utilized to complete accompanying movement, so that the lower limb exoskeleton robot is light and comfortable as a whole, and can meet the requirements of rehabilitation training of patients and power-assisted walking of old people with insufficient muscle strength;
2. The power type (active type) lower limb exoskeleton robot and the unpowered type (passive type) lower limb exoskeleton robot are used as auxiliary devices for rehabilitation training of patients at different stages or walking of old people with insufficient power-assisted muscle strength, and energy in the unpowered type wearing walking process is recovered and stored, so that energy sources are saved;
3. The length adjusting mode and the design of the binding band are set, and the body type adaptability and the interaction comfort in the wearing process are improved.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIGS. 1-2 are axial schematic views of an overall structure of an embodiment of a wearable lower limb exoskeleton rehabilitation and assistance robot provided by the invention;
FIG. 3 is a schematic diagram of a lumbar assembly of an embodiment of a wearable lower extremity exoskeleton rehabilitation and assistance robot provided by the present invention;
FIG. 4 is a schematic diagram of thigh assembly structure of an embodiment of a wearable lower limb exoskeleton rehabilitation and assistance robot provided by the invention;
FIG. 5 is a schematic side view of the overall structure of an embodiment of the wearable lower limb exoskeleton rehabilitation and assistance robot provided by the invention;
In the figures, 1-lumbar assembly, 2-thigh assembly (2 a-left thigh exoskeleton, 2 b-right thigh exoskeleton), 3-calf assembly (3 a-left calf exoskeleton, 3 b-right calf exoskeleton), 4-foot assembly (4 a-left foot exoskeleton, 4 b-right foot exoskeleton), 101-lumbar support, 102-lumbar side plate, 103-strap attachment plate, 104-control box, 105-lumbar strap, 106-buckle, 107-lumbar support plate, 108-detachable lithium battery, 109-external interface assembly, 201-hip joint adjustment lever, 202-adjustment attachment block, 203-hip joint Z-bar, 204-rolling bearing, 205-bearing washer, 206-hip joint transmission shaft, 207-first bevel gear II, 208-first bevel gear I, 209-first reduction output, 210-drive energy storage integrator, 211-second reduction output, 212-second bevel gear I, 213-second bevel gear II, 214-hip drive fixation plate, 215-thigh loop, 216-thigh strap fixation block, 217-thigh strap, 218-first fixation support plate, 219-second fixation support plate, 220-thigh outer fixation plate, 221-first reducer, 222-first adapter plate, 223-first generator, 224-first energy storage unit, 225-first drive motor, 226-second drive motor, 227-second energy storage unit, 228-second generator, 229-second adapter plate, 230-second reducer, 231-second fixed sealing plate, 232-first fixed sealing plate, 233-thigh rod, 234-knee joint transmission shaft, 301-knee joint transmission fixing plate, 302-shank rod, 303-shank strap fixing block, 304-shank strap, 305-shank rod, 306-telescopic adjusting knob, 307-ankle elastic element, 308-ankle transmission shaft, 309-spring, 310-ankle rolling bearing, 311-connecting pin, 401-ankle transmission fixing plate, 402-foot sole plate, 403-outside arc support plate, 404-inside arc support plate, 405-foot face strap, 406-heel strap.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
As shown in fig. 1-5, the wearable lower limb exoskeleton rehabilitation and assistance robot sequentially comprises a waist component 1, a thigh component 2, a shank component 3 and a foot component 4 from top to bottom, wherein the thigh component 2 comprises a left thigh exoskeleton 2a and a right thigh exoskeleton 2b which are symmetrically arranged at the left end and the right end of the waist component respectively, the shank component 3 comprises a left shank exoskeleton 3a and a right shank exoskeleton 3b which are symmetrically arranged at the left end and the right end of the thigh component respectively, and the foot component 4 comprises a left foot exoskeleton 4a and a right foot exoskeleton 4b which are symmetrically arranged at the left end and the right end of the shank component respectively. The lower limb exoskeleton robot can move in sagittal planes at the hip joint, the knee joint and the ankle joint, and has three degrees of freedom;
The front end of the waist unit 1 is connected with the upper end of the thigh unit 2 through a hip joint adjusting rod 201, the thigh unit 2 and the shank unit 3 are connected through a knee joint transmission fixing plate 301 by bolts, and the shank unit 3 is connected with the foot unit 4 through an ankle joint transmission fixing plate 401 by bolts.
The waist assembly 1 comprises a waist support 101, a waist side plate 102, a strap fixing plate 103, a control box 104, waist straps 105, a buckle 106 and the like, wherein a waist support plate 107 is connected with the waist support 101 and is fixed at the center of the concave surface of the waist side plate 102 through screws, the control box 104 comprises a detachable battery 108, an external interface assembly 109 and a controller, the control box 104 is connected at the center of the convex surface of the waist side plate 102, the two strap fixing plates 103 are arranged on the left side and the right side of the waist side plate 102 through screws, the waist straps 105 are connected at two holes of the strap fixing plate 103, and the buckle 106 is arranged at the center of the waist straps 105. The waist strap 105 and the U-shaped waist side panels 102 ensure the fit of the human waist to the device. The waist side plate 102 is U-shaped, connecting holes matched with the hip joint adjusting rods 201 are formed in two ends of the waist side plate 102, the hip joint adjusting rods 201 are cylindrical, and the section of the upper end of each hip joint adjusting rod is T-shaped and matched with the connecting holes in two ends of the waist side plate 102.
Thigh assembly 2 comprises hip adjustment rod 201, two pairs of bevel gears, two reduction outputs, drive energy storage integrator 210, thigh loop bar 215, thigh strap 217 and thigh insert bar 233; the hip joint adjusting rod 201 is connected with the adjusting fixing block 202, and the hip joint adjusting rod 201 realizes position fixing and vertical sliding adjustment through the installation and the disassembly of four bolts; the adjusting fixing block (202) is connected with the hip joint Z-shaped connecting rod (203), the lower end of the hip joint Z-shaped connecting rod 203 is sleeved on the rolling bearing 204 and the bearing gasket 205, the rolling bearing 204 and the bearing gasket 205 are connected in a sliding way and sleeved on the hip joint transmission shaft 206, one end of the hip joint transmission shaft 206 is connected with a first bevel gear II207 through a screw, the other end of the hip joint transmission shaft 206 is hinged with a hinge hole at the top of the hip joint transmission fixing plate 214 and is fixed through a key, the tail end of the end is clamped with the hip joint transmission fixing plate 214 through a nut and a gasket, the hip joint transmission fixing plate 214 is connected with a thigh sleeve rod 215 through bolts, the inner side of the thigh sleeve rod 215 is connected with a thigh strap fixing block 216, the thigh strap 217 is connected with the thigh strap fixing block 216 through four screws, the thigh strap 233 is arranged in the thigh sleeve rod 215, the outer side of the thigh strap 233 is provided with a hole groove at the joint of the two fixing support plates, the outer side of the thigh strap 233 is directly connected with a first fixing support plate 218, the outer side of the lower end of the thigh strap is directly connected with a second fixing support plate 219, the two fixing support plates 220 are connected with the thigh outer fixing plates 220 through four thigh strap fixing plates 220, the two thigh strap fixing plates are respectively connected with the two thigh strap fixing plates and two sealing plates are fixedly connected with the two sealing plates 231 through the upper end and lower end of the thigh strap fixing plates, the thigh strap fixing plate is respectively, the included angles are 90 degrees, and the two pairs of bevel gears, the two fixed sealing plates, the driving energy storage integrated device and the two deceleration output pieces are vertically arranged outside the thigh external fixing plate 220.
The upper end and the lower end of the driving energy storage integrated device 210 are respectively connected with the first speed reduction output piece 209 and the second speed reduction output piece 211, the first speed reduction output piece 209 comprises a first speed reducer 221 and a first switching disc 222, the first speed reducer 221 is connected with the first switching disc 222, the second speed reduction output piece 211 comprises a second speed reducer 230 and a second switching disc 229, and the second speed reducer 230 is connected with the second switching disc 229.
The first bevel gear I208 is connected with a transmission shaft of the first speed reducer 230, the first bevel gear II207 is meshed with the first bevel gear I208 at right angles, the second bevel gear I212 is connected with a transmission shaft of the second speed reducer 230, the second bevel gear II213 is meshed with the second bevel gear I212 at right angles, the driving energy storage integrated device 210 comprises two driving motors, two energy storage units and two generators, the first driving motor 225 is connected with the first energy storage unit 224, the transmission shaft of the first driving motor 225 is connected with the first generator 223, the second driving motor 226 is connected with the first energy storage unit 227, the transmission shaft of the first driving motor 226 is connected with the first generator 226, the lower end of the thigh inserted rod 233 is sleeved on a rolling bearing and a bearing gasket, the rolling bearing and the bearing gasket are in sliding connection and sleeved on the knee joint transmission shaft 234, one end of the knee joint transmission shaft 234 is connected with the second bevel gear II213 through a screw, the other end of the knee joint transmission shaft 234 is hinged at a top hinge hole of the knee joint transmission fixing plate 301 and is fixed through a key connection, and the end of the knee joint transmission fixing plate 301 is clamped by a nut and the gasket.
The calf assembly 3 comprises a knee joint transmission fixing plate 301, a calf shank 302, a calf strap 304 and a calf shank 305, wherein the knee joint transmission fixing plate 301 is connected to the upper end of the inner side of the calf shank 302 through bolts, the calf strap 303 is connected to the inner side of the calf shank 302, the calf strap 304 and the calf strap 303 are connected through four screws, the calf shank 305 is installed inside the calf shank 302, the length of the calf shank 305 is adjusted through clamping the calf shank 305 through a telescopic adjusting knob 306 installed at the rear end of the calf shank 302, the lower end of the calf shank 305 is sleeved on an ankle joint rolling bearing 310 and a bearing washer, the rolling bearing and the bearing washer are connected in a sliding mode and sleeved on an ankle joint transmission shaft 308, the outer side of the lower end of the calf shank 305 is connected with an ankle joint elastic element 307 through two connecting pins 311 in a sliding mode, one end of the ankle joint transmission shaft 308 is connected with the ankle joint elastic element 307 through springs 309, and the other end of the ankle joint transmission shaft 308 is hinged to the top hinge hole of the ankle joint transmission fixing plate 401 and fixed through connecting pins.
The foot component 4 comprises an ankle joint transmission fixing plate 401, a plantar plate 402, two arc-shaped supporting plates and two binding bands, wherein the bottom end of the ankle joint transmission fixing plate 401 is connected with the plantar plate 402 through screws, the inner side and the outer side of the plantar plate 402 are respectively connected with the inner arc-shaped supporting plate 404 and the outer arc-shaped supporting plate 403, the two ends of the foot face binding band 405 are connected with one group of buckles on the cambered surfaces of the inner arc-shaped supporting plate 404 and the outer arc-shaped supporting plate 403, and the two ends of the heel binding band 406 are connected with the other group of buckles on the cambered surfaces of the inner arc-shaped supporting plate 404 and the outer arc-shaped supporting plate 403. The ankle joint has no power source, the kinetic energy of the movement of the lower leg part is converted into an elastic element, and the elastic element drives the foot sole plate 402 to complete energy release through the ankle joint transmission shaft 308 and the ankle joint transmission fixing plate 401;
The lower ends of the hip joint Z-shaped connecting rod 203, the thigh inserted link 233 and the shank inserted link 305 are respectively hinged with the hip joint, the knee joint and the ankle joint transmission shaft, and two safety pins are arranged on the inner sides of the hinged positions of the lower ends of the hip joint Z-shaped connecting rod 203, the thigh inserted link 233 and the shank inserted link 305, so that the thigh assembly 2 at the hip joint, the shank assembly 3 at the knee joint and the foot assembly 4 at the ankle joint are prevented from rotating in an excessive angle, and are physically limited, so that sufficient safety is ensured.
The waist side plate 102 is provided with an acceleration sensor, an inclination angle sensor or a gyroscope for detecting the change rule of the gravity center in the running process of a patient, the inner side of the upper end of the thigh loop bar 215, the outer side of the lower end of the thigh loop bar 233, the outer side of the upper end of the shank loop bar 302 and the outer side of the lower end of the shank loop bar 305 are respectively provided with the acceleration sensor, the accurate movement speed of each joint cannot be obtained by means of an encoder of a motor in the running process, the accelerator sensor is additionally arranged for obtaining the real-time movement parameters of each joint, the plantar plate 402 is provided with the pressure sensor and the acceleration sensor, and the sensors are connected with a control box through signals, so that the overall coordination stability of an auxiliary device is more accurately controlled.
The first driving motor 225, the second driving motor 226, the first speed reducer 221, the second speed reducer 230, the first energy storage unit 224 and the second energy storage unit 229 are all electrically connected with the control box 104 and connected through control signals.
The waist strap 105, the thigh strap 217, the shank strap 304 and the foot strap are made of soft elastic materials, such as TPU materials, and the TPU elastic strap is environment-friendly, nontoxic, mildew-proof, antibacterial, good in elasticity, soft in hand feeling, wear-resistant, water-resistant, yellowing-resistant and the like.
The driving and energy-storing integrated device 210 comprises a driving and energy-storing function dual-purpose module:
In the driving mode, the device is in a power (active) mode, the first driving motor 225 drives the first bevel gear I208 to rotate through the first adapter plate 222 and the first speed reducer 221, then drives the first bevel gear II207 to drive the thigh loop bar 215 and the thigh insert bar 233 through the hip joint transmission shaft 206 and the hip joint transmission fixing plate 214, so that the movement of the thigh assembly 2 in the sagittal plane is completed, the second driving motor 226 drives the second bevel gear I212 to rotate through the second adapter plate 229 and the second speed reducer 230, then drives the second bevel gear II213 to drive the calf loop bar 302 and the calf insert bar 305 through the knee joint transmission shaft 234 and the knee joint transmission fixing plate 301, so that the movement of the calf assembly 3 in the sagittal plane is completed, wherein the motor driving and the energy storage are used as power sources, the movement of a wearer is transmitted through a bioelectric signal sensor, a mechanical signal sensor and the like, and the assistance of the wearer is completed under the guidance of a control strategy, and the mode is mainly used for rehabilitation training of a patient with the intention of the movement disorder of the lower limbs.
In the energy storage mode, the device is in an unpowered (passive) mode, the thigh assembly 2 is subjected to manual control on the sagittal plane, meanwhile, the hip joint drives the first bevel gear II207 to rotate reversely, energy is stored to the first energy storage unit 224 through the first bevel gear I208 and the first generator 223, the calf assembly 3 is subjected to manual control on the sagittal plane, meanwhile, the knee joint drives the second bevel gear II213 to rotate reversely, the energy is stored to the second energy storage unit 229 through the second bevel gear I212 and the second generator 228, external energy is not needed, self gravitational potential energy or kinetic energy of limb movement is stored, and the lower limb movement is assisted by the energy switching device.
The invention is designed according to different characteristics of thigh parts and shank parts, improves the matching performance with the height of a patient, ensures that the lower limb exoskeleton robot has a simple structure and is easy to mount and dismount through the modularized design of waist, legs and feet, adopts an integrated design on thigh components by transmission of hip joints and knee joints, adopts an unpowered elastic element design on ankle joints, is light and comfortable as a whole, adopts two modes of a powered (active) lower limb exoskeleton robot and an unpowered (passive) lower limb exoskeleton robot as an auxiliary device for rehabilitation training of the patient at different stages or walking of the elderly with insufficient power, and recovers and stores energy in the unpowered (passive) wearing and walking process, thereby saving energy.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention.