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CN-121971277-A - Lower limb walking assisting exoskeleton

CN121971277ACN 121971277 ACN121971277 ACN 121971277ACN-121971277-A

Abstract

The invention discloses a lower limb walking auxiliary exoskeleton, which comprises an active rotating mechanism, a passive transmission mechanism, an energy storage mechanism, a first following bracket and a second following bracket, wherein the first following bracket is linked with the active rotating mechanism, the second following bracket is in transmission connection with the passive transmission mechanism, the energy storage mechanism comprises a sector gear, a first sliding energy storage mechanism and a second sliding energy storage mechanism which are rotatably arranged, and the first sliding energy storage mechanism and the second sliding energy storage mechanism recover the sector gear to rotate and link the passive transmission mechanism through elastic potential energy after the active rotating mechanism removes transmission force. By adopting the invention, the transmission distance is increased through the energy storage mechanism to amplify the energy storage effect, the transmission ratio is set according to the needs of the patient, and the patient can be ensured to better adjust the more proper training intensity.

Inventors

  • XING YANGHUI
  • LI HAOLI

Assignees

  • 汕头大学

Dates

Publication Date
20260505
Application Date
20260127

Claims (10)

  1. 1. The utility model provides a lower limb walking auxiliary exoskeleton, its characterized in that includes initiative rotary mechanism (1), passive drive mechanism (2), energy storage mechanism (3), first following support (4), second following support (5), first following support with healthy side thigh follow-up, and the linkage initiative rotary mechanism, the second following support is used for driving the sick side thigh, and with passive drive mechanism transmission connection, energy storage mechanism sets up in the waist to including rotating sector gear, first slip energy storage mechanism, the second slip energy storage mechanism that sets up, the upper and lower two tooth surfaces of sector gear respectively with first slip energy storage mechanism, second slip energy storage mechanism transmission connection, first slip energy storage mechanism pass through first rope with initiative rotary mechanism transmission connection, second slip energy storage mechanism pass through the second rope with passive drive mechanism transmission connection, first slip energy storage mechanism the second slip energy storage mechanism is in behind the initiative rotary mechanism removes the power through elasticity resumes sector gear gyration and transmission linkage.
  2. 2. The lower extremity walking assist exoskeleton of claim 1 wherein said sector gear includes a first sector gear and a second sector gear, said first sector gear and said second sector gear swinging synchronously about a rotational axis.
  3. 3. The lower limb walking assist exoskeleton of claim 2 wherein said first sliding energy storage mechanism comprises a first spring, a first slide rail and a first drive block, said first drive block fixedly connected with a first rack engaged with said first sector gear, said first rope and said first spring respectively fixedly connected to said first drive block in two sliding directions, said first drive block slidably disposed on said first slide rail.
  4. 4. The lower limb walking assist exoskeleton of claim 3, wherein said second sliding energy storage mechanism comprises a second spring, a second sliding rail, a second driving block and a sliding block, said second driving block is fixedly connected with a second rack engaged with said second sector gear, said second rope and said second spring are respectively fixedly connected to said sliding block in two sliding directions, said second driving block and said sliding block are arranged on said second sliding rail in parallel, and said sliding block is located on said affected side.
  5. 5. The lower extremity walking assist exoskeleton of claim 4 wherein said first rail is disposed in parallel with said second rail.
  6. 6. The lower extremity walking assist exoskeleton of claim 5 wherein the radius of said first sector is smaller than the radius of said second sector.
  7. 7. The lower limb walking assist exoskeleton of any one of claims 1 to 6 wherein said active rotation mechanism comprises a main swing link, a main swing link gear, and a main slide rail, said main swing link is fixedly connected to said first follower support and rotatably disposed on a healthy side, a main slide block is disposed on said main slide rail, said main slide block is fixedly provided with a main rack engaged with said main swing link gear, and said main slide block is fixedly connected to said first rope.
  8. 8. The lower limb walking assisting exoskeleton of claim 7, wherein the passive transmission mechanism comprises an auxiliary swing rod, an auxiliary swing rod gear and an auxiliary sliding rail, the auxiliary swing rod is fixedly connected with the second following support and is rotatably arranged on the side face of the affected side, an auxiliary sliding block is arranged on the auxiliary sliding rail, an auxiliary rack meshed with the auxiliary swing rod gear is fixedly arranged on the auxiliary sliding block, and the auxiliary sliding block is fixedly connected with the second rope.
  9. 9. The lower limb walking assist exoskeleton of claim 8 wherein said first and second follower brackets each comprise a fixed bracket, a rocker, and a rocker connector, said fixed bracket being fixedly connected to said rocker and fixedly connected to the shaft end of said primary or secondary rocker gear via said rocker connector.
  10. 10. The lower extremity walking aid exoskeleton of claim 8 wherein said fixed bracket is fixedly attached to the thigh by straps.

Description

Lower limb walking assisting exoskeleton Technical Field The invention relates to a medical rehabilitation auxiliary appliance, in particular to a lower limb walking auxiliary exoskeleton. Background Cerebral apoplexy is one of the main symptoms causing hemiplegia of a human body, and hemiplegia patients mainly show symptoms such as weakness of a single limb, incompatibility and the like, so that the patients need to carry out a great deal of rehabilitation exercise training in the rehabilitation training process. In the existing rehabilitation equipment, an active lower limb exoskeleton is a unilateral lower limb exoskeleton walking-assisting robot and a power-assisting control method thereof, as disclosed in Chinese patent publication No. CN114642572A, and the whole exoskeleton walking-assisting robot can provide certain power assistance for hip joints of thighs on affected sides when the hip joints need to be bent with force, so that the stepping action of the power-assisting thighs is completed. However, the active exoskeleton walker has poor man-machine interaction, human body injury is easily caused by man-machine collision due to system errors of the active exoskeleton walker, meanwhile, the active exoskeleton walker is heavy, the burden of a patient is increased intangibly when the active exoskeleton walker is worn on the human body, the rehabilitation of the patient is affected, the peripheral equipment is inconvenient, the manufacturing cost is high, the purchase or lease cost is high, and the active exoskeleton walker has no universality. The passive lower limb exoskeleton becomes a new focus of attention, and passive equipment utilizes the force of healthy side limbs when a human body walks to realize the assistance of hemiplegic side limbs, so that the daily rehabilitation training of a patient is helped to recover the normal functions. In the prior art, the auxiliary effect of the passive lower limb exoskeleton on a cerebral apoplexy hemiplegia patient is low, wherein the recovery and release effect on energy in the movement process is not ideal, so that the patient cannot guarantee the effective training time when wearing the passive lower limb exoskeleton device for rehabilitation training or walking, even the patient can bring a larger burden on the affected side legs, and the rehabilitation effect is influenced. The existing passive lower limb exoskeleton functions are established under the condition that both legs are healthy, and exoskeleton design for hemiplegic patients is lacking. Disclosure of Invention The technical problem to be solved by the embodiment of the invention is to provide the lower limb walking auxiliary exoskeleton, which can be used for acting on the thigh at the hemiplegia side by converting the movement energy of the leg at the healthy side into elastic potential energy. In order to solve the technical problems, the embodiment of the invention provides a lower limb walking auxiliary exoskeleton, which comprises an active rotating mechanism, a passive transmission mechanism, an energy storage mechanism, a first following bracket and a second following bracket, wherein the first following bracket is in follow-up connection with a healthy thigh, the active rotating mechanism is linked, the second following bracket is used for driving the thigh on the affected side and is in transmission connection with the passive transmission mechanism, the energy storage mechanism is arranged at the waist and comprises a sector gear, a first sliding energy storage mechanism and a second sliding energy storage mechanism which are rotatably arranged, the upper tooth surface and the lower tooth surface of the sector gear are respectively in transmission connection with the first sliding energy storage mechanism and the second sliding energy storage mechanism, the first sliding energy storage mechanism is in transmission connection with the active rotating mechanism through a first rope, the second sliding energy storage mechanism is in transmission connection with the passive transmission mechanism through a second rope, and the first sliding energy storage mechanism and the second sliding energy storage mechanism recover the sector gear through elastic potential energy after the active rotating mechanism removes the transmission force and is in transmission connection with the passive transmission mechanism. Further, the sector gear comprises a first sector gear and a second sector gear, and the first sector gear and the second sector gear synchronously swing around a rotating shaft. Further, the first sliding energy storage mechanism comprises a first spring, a first sliding rail and a first transmission block, the first transmission block is fixedly connected with a first rack meshed with the first sector gear, the first rope and the first spring are respectively and fixedly connected to the first transmission block in two sliding directions, and the first transmission block is arran