CN-116135481-B - Passive assistance lower limb exoskeleton walking assisting device and method based on carrying load driving

Abstract

The invention discloses a passive power-assisted lower limb exoskeleton walking aid device and method based on carrying load driving, wherein the passive power-assisted lower limb exoskeleton walking aid device comprises an exoskeleton waist and back support mechanism, an exoskeleton hip joint mechanism, an exoskeleton knee joint mechanism and an exoskeleton shoe cover mechanism, wherein the exoskeleton waist and back support mechanism comprises a back plate, a sliding rail, a back frame, waist plates, two side support pipes and a connecting rod, the exoskeleton hip joint mechanism comprises a guide pipe, a first spring end, a second spring end, a spring, a roller connecting piece, a roller and a cam, the exoskeleton thigh mechanism comprises a first thigh rod, a second thigh rod and thigh straps, the exoskeleton knee joint mechanism comprises a special-shaped rotary assembly, a knee joint rotary assembly and knee joint shank rods, the exoskeleton shank mechanism comprises an exoskeleton shank rod and shank straps, and the exoskeleton shoe cover mechanism combines functions of carrying exoskeleton and power-assisted exoskeleton, and energy of up-down fluctuation of a knapsack load relative to the gravity center of a human body when a human body walks is utilized to convert energy of power-assisted thigh walking, and simultaneously energy consumed by the knapsack load in the impact process of the human body is reduced, and energy utilization efficiency is improved.

Inventors

• MA JIANFENG
• LIU KAIMING

Assignees

• 北京工业大学

Dates

Publication Date

20260505

Application Date

20230224

Claims (4)

1. 1. The passive power-assisted lower limb exoskeleton walking aid is characterized by comprising a back plate, a sliding rail, a back frame, a waist plate, a waist support, back plate fixing strips, a hip joint energy storage device, a first thigh rod, a second thigh rod, thigh binding strips, knee joint bearings, a first shank rod, a second shank rod, shank binding strips and sole plates, wherein the hip joint energy storage device is arranged between the back frame and the first thigh rod; The back plate is connected with the waist plate through the back plate fixing strip, the back frame is connected with the back plate through the sliding rail, the back frame is connected with the hip joint energy storage device through a connecting rod, the side face of the back frame is connected with one end of the connecting rod through a screw in a rotating mode, the other end of the connecting rod is connected with the hip joint energy storage device through a screw, the hip joint energy storage device is connected with a first thigh rod through a screw, the first thigh rod is connected with a second shank rod through a bolt and a nut, the relative distance between the first thigh rod and the second thigh rod is adjusted through a bolt and a nut so as to adapt to the height difference of different human bodies, the thigh binding band is fixedly connected with the second thigh rod, the second thigh rod is connected with the first shank rod through a knee joint bearing, the outer side of the knee joint bearing is connected with the second thigh rod through a screw, the inner side of the knee joint bearing is connected with the first shank rod through a knee joint bearing, the first thigh rod is connected with the second shank rod through a knee joint, the second shank rod is connected with the second shank rod through a bolt and a nut in a bending mode, the relative distance between the first shank rod and the shank rod is adjusted through a bolt and a nut so as to meet the height difference of the shank binding band of different human bodies; the hip joint energy storage device comprises a guide pipe, a connecting rod spring end, a spring fixing end, a roller connecting piece, a roller and a cam, wherein the guide pipe is connected with the waist plate through a metal pipe, the cam is fixedly connected with the first thigh rod, the connecting rod spring end is connected with the connecting rod through a screw, the connecting rod rotates around the center of the connecting rod spring end, the connecting rod spring end slides in the guide pipe, the spring is in contact with the connecting rod spring end in the guide pipe, the other end of the spring is sleeved on a boss of the spring fixing end to achieve the positioning effect, the spring fixing end is sleeved at one end of the roller connecting piece, the center of the roller is fixed at the other end of the roller connecting piece, the roller can rotate around the fixing end, and the roller is in contact with the cam; the exoskeleton hip joint mechanism is aligned with the hip joint of the human body and can rotate along with the movement of the human body, so that the function of connecting the waist and leg mechanisms of the exoskeleton is achieved; the first thigh rod and the special-shaped rotary assembly are both provided with connecting grooves, so that the length of the exoskeleton thigh mechanism can be adjusted, the exoskeleton is suitable for people with different heights to wear, and the rotary center of the exoskeleton knee joint mechanism can be ensured to coincide with the rotary center of the knee joint of a human body; The second thigh rod and the knee joint shank rod are respectively provided with a connecting groove, the length of the whole exoskeleton shank mechanism is adjusted to meet the requirement that people with different shank lengths wear the knee joint shank rod, and the second thigh rod is provided with an inclined angle, so that the exoskeleton is matched with a human body.
2. 2. The passive power assisting lower limb exoskeleton walker based on the driving of the carrying load of claim 1, wherein the back frame and the backboard can slide up and down, when the back frame slides up and down, the back frame compresses the spring in the guide tube through the connecting rod to store energy, the spring applies pressure to the roller through the roller connecting piece, and the roller presses the cam to achieve a power assisting effect.
3. 3. The passive assisting lower limb exoskeleton assisting device based on carrying load driving of claim 2, wherein springs are arranged inside the guide tube and at the bottom of the back frame, and play a damping role after being compressed by a heavy object, so that the up-and-down fluctuation range of the back frame is reduced, and the impact of knapsack load on a human body and the energy consumption of the human body are reduced.
4. 4. The passive power assisting lower limb exoskeleton walker based on the driving of the carrying load of claim 1, wherein the first thigh rod, the second thigh rod, the first calf rod, the second calf rod and the sole plate are sequentially connected in series and connected with the outer sides of the legs of a person in parallel, when a load weight is placed above the back frame, the weight of the weight is sequentially transferred from the back frame to the sole plate, the weight of the load is transferred to the ground through the sole plate, and the pressure of the knapsack load on a human body is relieved.

Description

Passive assistance lower limb exoskeleton walking assisting device and method based on carrying load driving Technical Field The invention relates to a passive power-assisted lower limb exoskeleton based on carrying load driving, and belongs to the field of passive lower limb exoskeleton. Background The walking motion of the human body is not as simple and stiff as the walking of a robot, and the muscles of the human body are always adjusting the motion state of bones to adapt to the change of the gravity center of the body during the walking process. The body moves forward in the motion gait cycle, and the track of the body gravity center in the sagittal plane is kept horizontal from the energy demand point of view, so that the influence of the body weight on walking is reduced, but only wheels with the center of circle coincident with the axle can realize the effect in nature. As a bipedal creature, each step of a person walking produces a relatively pronounced vertical shift of the center of gravity in the sagittal plane. When the distance of divergence in the leg travel reaches a maximum, the body weight starts to transfer from one foot to the other, at which point the body's center of gravity will drop to a minimum, and when the support legs are substantially perpendicular to the ground, the center of gravity will rise to a maximum. This vertical displacement of the centre of gravity is between 4-5cm, so that the centre of gravity is raised and lowered by such a distance every step of the body. The inherent characteristic of the human body walking is that the weight can move along with the gravity center of the human body to wear the exoskeleton when the human body carries the weight to walk. If the weight shakes up and down at the back of the human body when the human body walks in the long-time movement process, the metabolic energy of the human body is greatly consumed, and the fatigue of the human body is increased. Even if the movement of the gravity center of the human body cannot be changed, the movement of the weight carried by the human body can be weakened and eliminated by a mechanism, and even the fluctuation energy can be utilized to provide assistance for walking of the human body. Disclosure of Invention The invention provides a passive power-assisted lower limb exoskeleton based on carrying load driving, wherein a power assisting mechanism in the lower limb exoskeleton stores and converts the energy of the fluctuation of a backpack load during walking of a human body into the energy of thigh forward swing during walking of the human body by utilizing the compression amount of a cam pair and a spring, so that the energy interaction between the load and the human body is realized. The invention provides a passive power-assisted lower limb exoskeleton based on carrying load driving, which comprises a backboard, a sliding rail, a back frame, a waist plate, a waist support, backboard fixing strips, a hip joint energy storage device, a first thigh rod, a second thigh rod, thigh binding strips, knee joint bearings, a first shank rod, a second shank rod, shank binding strips and a sole plate, wherein the hip joint energy storage device is arranged between the back frame and the first thigh rod. The back plate is connected with the waist plate through the back plate fixing strip, the back frame is connected with the back plate through the sliding rail, the back frame is connected with the hip joint energy storage device through the connecting rod, the side face of the back frame is connected with the connecting rod in a rotating mode through a screw, the other end of the connecting rod is connected with the hip joint energy storage device through the screw, the hip joint energy storage device is connected with a first thigh rod through the screw, the first thigh rod is connected with a second shank rod through a bolt and a nut, in order to adapt to the height difference of different human bodies, the relative distance between the first thigh rod and the second thigh rod can be adjusted through the bolt and the nut, the thigh binding band is fixedly connected with the second thigh rod, the second thigh rod is connected with the first shank rod through the knee joint bearing, the outer side of the knee joint bearing is connected with the second thigh rod through the screw, the inner side of the knee joint bearing is connected with the first shank rod through the knee joint bearing, the second thigh rod can be connected with the second shank rod through the knee joint bearing through the bolt, the second shank rod can be adjusted through the bolt and the shank binding band, the relative distance between the shank rod and the shank plate can be adjusted through the bolt and the bolt to adapt to the height difference of the shank plate; The hip joint energy storage device comprises a guide pipe, a connecting rod spring end, a spring fixing end, a roller connecting piece, a roller, a cam and the like,