CN114346997A - Lower limb exoskeleton and manufacturing method thereof - Google Patents
Lower limb exoskeleton and manufacturing method thereof Download PDFInfo
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- CN114346997A CN114346997A CN202210008375.7A CN202210008375A CN114346997A CN 114346997 A CN114346997 A CN 114346997A CN 202210008375 A CN202210008375 A CN 202210008375A CN 114346997 A CN114346997 A CN 114346997A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 74
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 24
- 238000013499 data model Methods 0.000 claims abstract description 10
- 238000005457 optimization Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 14
- 230000005021 gait Effects 0.000 claims description 7
- 238000004088 simulation Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 5
- 238000009826 distribution Methods 0.000 claims description 3
- 230000004308 accommodation Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 7
- 210000002414 leg Anatomy 0.000 description 42
- 244000309466 calf Species 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011960 computer-aided design Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 210000004705 lumbosacral region Anatomy 0.000 description 1
- 201000006938 muscular dystrophy Diseases 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Abstract
The invention discloses a lower limb exoskeleton and a manufacturing method thereof, and belongs to the technical field of mechanical exoskeleton. The manufacturing method of the lower limb exoskeleton firstly utilizes a data model of a user bearing part to design an initial bearing plate; when the initial bearing plate meets the basic bearing requirements of a user, the initial bearing plate is optimally designed to obtain a leg support with a lattice structure, the leg support is more in line with human engineering, the comfort level and the attractiveness of the user in use are improved, the lattice structure enables the weight of the lower limb exoskeleton to be greatly reduced, the bearing capacity of the lower limb exoskeleton is ensured, and meanwhile, the portability of the lower limb exoskeleton is improved; finally, the waist support part, the leg support part and the foot support part are sequentially connected through the adjusting assembly to form the lower limb exoskeleton, the manufacturing efficiency of the lower limb exoskeleton can be improved through the modularized design, and the adjusting assembly can finely adjust the lower limb exoskeleton so that the lower limb exoskeleton is perfectly matched with a user.
Description
Technical Field
The invention relates to the technical field of mechanical exoskeletons, in particular to a lower limb exoskeleton and a manufacturing method thereof.
Background
Mechanical exoskeletons are commonly used in rehabilitation of patients with muscular dystrophy and in the process of carrying heavy objects, as an auxiliary device which is worn on the human body and provides additional energy to the limbs to drive the limbs to move.
Most of the existing mechanical exoskeletons are rigid rod frame structures, so that the structure of the mechanical exoskeletons is heavy and is not beneficial to the use of users. Moreover, although the existing mechanical exoskeletons can customize a user one-to-one, the data of the human body is not constant, and as time goes on, the data of the human body inevitably has certain floating, so that the customized mechanical exoskeletons are not perfectly adapted to the user.
Therefore, it is desirable to provide a lower extremity exoskeleton and a method for making the same to solve the above problems.
Disclosure of Invention
The invention aims to provide a method for manufacturing a lower limb exoskeleton, which solves the problem of heavy structure of the existing mechanical exoskeleton, ensures the bearing capacity of the lower limb exoskeleton and reduces the weight of the lower limb exoskeleton.
Another object of the present invention is to provide a lower extremity exoskeleton, which solves the problem that the lower extremity exoskeleton cannot be adapted to a user due to the floating of human body data, and improves the applicability of the lower extremity exoskeleton.
In order to realize the purpose, the following technical scheme is provided:
a method for manufacturing a lower limb exoskeleton comprises the following steps:
s1, three-dimensionally scanning a bearing part of a user to obtain a data model of the bearing part, and designing an initial bearing plate according to the data model;
s2, judging whether the initial bearing plate meets the basic bearing requirements of the user;
s3, if the initial bearing plate meets the basic bearing requirements of users, carrying out optimization design on the initial bearing plate to obtain a leg support with a lattice structure; otherwise, redesigning the initial bearing plate;
and S4, sequentially connecting the waist support, the leg supports and the foot supports by using the adjusting assembly to form the lower extremity exoskeleton.
As an alternative to the above method for manufacturing the lower extremity exoskeleton, step S3 includes the following steps:
s31, carrying out structural optimization on the initial bearing plate to obtain the optimal material for manufacturing the initial bearing plate, and the position distribution and density of the optimal material on the initial bearing plate;
and S32, carrying out parameter optimization on the initial bearing plate after the structure is optimized to obtain the leg support with the lattice structure.
As an alternative to the above method for manufacturing the lower extremity exoskeleton, step S2 includes the following steps:
s21, carrying out simulation analysis on the initial bearing plate by using CAE to obtain the maximum external force and the maximum torque which can be borne by the initial bearing plate;
and S22, when the maximum external force is not less than the minimum external force required by the user and the maximum torque is not less than the minimum torque required by the user, the initial bearing plate meets the basic bearing requirement of the user.
As an alternative to the above method for manufacturing the lower extremity exoskeleton, the initial bearing plate in step S21 is subjected to simulation analysis with the walking gait of the user as a constraint condition.
A lower extremity exoskeleton manufactured by the method for manufacturing a lower extremity exoskeleton according to any one of the above aspects, comprising:
a lumbar support against which a user's back can abut;
a leg support wrapping a leg surface of a user;
a connecting member for connecting the lumbar support member and the leg support members; the connecting piece comprises a first connecting piece and a second connecting piece, the lumbar support piece is connected with the first end of the first connecting piece through a first adjusting assembly, and the first adjusting assembly is used for adjusting the position of the connection position of the lumbar support piece and the first connecting piece; the second end of the first connecting piece is connected with the first end of the second connecting piece through a second adjusting assembly, and the second adjusting assembly is used for adjusting the length of the connecting piece; a first end of the leg support is connected to a second end of the second connector;
a foot support for carrying a user's foot; the foot support is connected to the second end of the leg support by a third adjustment assembly for adjusting the position of the connection of the leg support to the foot support.
As an alternative to the above lower extremity exoskeleton, a through slot is formed at any end of the lumbar support along a first direction, and a first end of the first connecting piece can be inserted into the through slot;
the first adjustment assembly includes:
the plurality of limiting grooves are arranged at the first end of the first connecting piece at intervals along the first direction;
one end of the limiting piece is connected with the waist supporting piece, and the other end of the limiting piece can be inserted into any limiting groove;
the first direction is an extending direction of the lumbar support.
As an alternative to the above lower extremity exoskeleton, the lumbar support has an accommodating groove along the first direction; the locating part comprises a sliding part and a limiting part, the limiting part and the sliding part are vertically arranged, and the sliding part can be slidably arranged in the accommodating groove, so that the limiting part is inserted in different limiting grooves.
As an alternative of the lower limb exoskeleton, the waist support is provided with a first fastening hole along the second direction, the first fastening hole is communicated with the accommodating groove, the sliding part is provided with a second fastening hole along the second direction, and the first adjusting assembly further comprises a first fastening piece, and the first fastening piece is connected with the waist support after sequentially penetrating through the first fastening hole and the second fastening hole.
As an alternative of the lower extremity exoskeleton, a second end of the first connecting piece is provided with a protrusion along the extending direction thereof, a first end of the second connecting piece is provided with a groove, and the protrusion can be inserted into the groove;
the second adjustment assembly includes:
the first positioning holes are arranged on the protrusions at intervals along the extending direction of the protrusions;
the second positioning holes are arranged on the two groove walls of the groove at intervals along the opening direction of the groove;
and the second fastening piece sequentially passes through the second positioning hole on one groove wall of the groove, the first positioning hole and the second positioning hole on the other groove wall of the groove.
As an alternative of the lower limb exoskeleton, a connecting plate is arranged at the second end of the leg supporting piece along the extending direction of the leg supporting piece, a rotating piece is rotatably arranged on the foot supporting piece, a clamping groove is formed in the rotating piece, and the connecting plate can be inserted into the clamping groove;
the third adjustment assembly includes:
the adjusting holes are formed in two groove walls of the clamping groove and are formed by sequentially overlapping a plurality of circles along the opening direction of the clamping groove;
the limiting half hole is arranged on the connecting plate, penetrates through the free end of the connecting plate and can form mounting spaces at different positions with the adjusting hole;
a third fastener insertable into the installation space.
Compared with the prior art, the invention has the beneficial effects that:
the manufacturing method of the lower limb exoskeleton provided by the invention comprises the steps of designing an initial bearing plate by utilizing a data model of a bearing part of a user; when the initial bearing plate meets the basic bearing requirements of a user, the initial bearing plate is optimally designed to obtain a leg support with a lattice structure, the leg support is more in line with human engineering, the comfort level and the attractiveness of the user in use are improved, the lattice structure enables the weight of the lower limb exoskeleton to be greatly reduced, the bearing capacity of the lower limb exoskeleton is ensured, and meanwhile, the portability of the lower limb exoskeleton is improved; finally, the waist support part, the leg support part and the foot support part are sequentially connected through the adjusting assembly to form the lower limb exoskeleton, the manufacturing efficiency of the lower limb exoskeleton can be improved through the modularized design, and the adjusting assembly can finely adjust the lower limb exoskeleton so that the lower limb exoskeleton is perfectly matched with a user.
The lower limb exoskeleton provided by the invention comprises a waist supporting piece, a leg supporting piece, a connecting piece and a foot supporting piece, wherein the waist supporting piece is connected with the first end of a first connecting piece through a first adjusting component, and the first adjusting component is used for adjusting the position of the connection position of the waist supporting piece and the first connecting piece; the second end of the first connecting piece is connected with the first end of the second connecting piece through a second adjusting assembly, and the second adjusting assembly is used for adjusting the length of the connecting piece; the foot support is connected to the second end of the leg support by a third adjustment assembly for adjusting the position of the connection of the leg support to the foot support. The lower limb exoskeleton can be finely adjusted by the aid of the arrangement, the condition that the lower limb exoskeleton is not matched with a user due to time increase is avoided, and the applicability of the lower limb exoskeleton and the comfort level of the user during use are improved.
Drawings
FIG. 1 is a flow chart of a method of making a lower extremity exoskeleton in an embodiment of the present invention;
FIG. 2 is a flowchart of step S3 according to an embodiment of the present invention;
FIG. 3 is a flowchart of step S2 according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a lower extremity exoskeleton in an embodiment of the present invention;
FIG. 5 is a schematic view of a lumbar support according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a first connecting member according to an embodiment of the present invention;
FIG. 7 is an enlarged view taken at A in FIG. 4;
FIG. 8 is a schematic structural diagram of a position-limiting element according to an embodiment of the present invention;
FIG. 9 is a schematic structural view of a second connector according to an embodiment of the present invention;
fig. 10 is an enlarged view at B in fig. 4.
Reference numerals:
1. a lumbar support; 2. a leg support; 3. a connecting member; 4. a foot support; 5. a first adjustment assembly; 6. a second adjustment assembly; 7. a third adjustment assembly;
11. a through groove; 12. accommodating grooves; 13. a first fastening hole;
21. a connecting plate; 211. a limiting half hole;
31. a first connecting member; 311. a limiting groove; 312. a protrusion; 3121. a first positioning hole; 32. a second connecting member; 321. a groove; 3211. a second positioning hole;
41. a rotating member; 411. an adjustment hole;
51. a limiting member; 511. a sliding part; 5111. a second fastening hole; 512. a connecting portion; 513. a limiting part; 52. a first fastener;
61. a second fastener;
71. and a third fastener.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are used only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements to be referred to must have specific orientations, be constructed in specific orientations, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1 to 3, the present embodiment provides a method for manufacturing a lower extremity exoskeleton, including the following steps:
s1, three-dimensionally scanning the bearing part of the user to obtain a data model of the bearing part, and designing an initial bearing plate according to the data model;
s2, judging whether the initial bearing plate meets the basic bearing requirements of the user;
s3, if the initial bearing plate meets the basic bearing requirements of the user, carrying out optimization design on the initial bearing plate to obtain a leg support 2 with a lattice structure; otherwise, redesigning the initial bearing plate;
s4, connecting the lumbar support 1, the leg supports 2 and the foot supports 4 in sequence using the adjustment assembly to form a lower extremity exoskeleton.
The leg support 2 is more in line with ergonomics, improves comfort and attractiveness of a user during use, greatly reduces the weight of the lower limb exoskeleton due to the lattice structure, ensures the bearing capacity of the lower limb exoskeleton and improves the portability of the lower limb exoskeleton. The modular design can improve the manufacturing efficiency of the lower limb exoskeleton, and the adjusting assembly can finely adjust the lower limb exoskeleton, so that the lower limb exoskeleton is perfectly matched with a user.
Specifically, the data used for establishing the data model of the user bearing part is point cloud data obtained through three-dimensional scanning, and the point cloud data generates the data model of the user bearing part through a Computer Aided Design (CAD), so that the initial bearing plate obtained in the step S1 is attached to the user bearing part, and compared with a traditional rigid rod frame structure, the streamlined initial bearing plate is convenient to carry and more attractive.
Referring to fig. 2, optionally, step S3 includes the steps of:
s31, carrying out structural optimization on the initial bearing plate to obtain the optimal material for manufacturing the initial bearing plate, and the position distribution and density of the optimal material on the initial bearing plate;
and S32, carrying out parameter optimization on the initial bearing plate after the structure optimization to obtain the leg support 2 with the lattice structure.
The material of the initial bearing plate, the position of the material to be coated and the density of the material can be selected by using a topological optimization algorithm in structural optimization, so that the initial bearing plate can improve the bearing capacity and reduce the weight after structural optimization.
The initial bearing plate after the structure optimization is optimized again by taking various requirements such as improvement of bearing capacity and fit degree, reduction of processing difficulty and the like as optimization purposes through parameter optimization, a lattice structure is used for replacing a plate-shaped structure, the leg support 2 with the lattice structure is obtained, and the weight of the lower limb exoskeleton is further reduced. Wherein the leg support 2 comprises a thigh support and a calf support. Further, a thigh support is obtained from the load bearing portion of the thigh, a calf support is obtained from the load bearing portion of the calf, and the leg support 2 is obtained by assembling the thigh support and the calf support in steps S1-S3.
Further, the different structures of the lattice have different effects on the weight and load bearing capacity of the leg support 2, and the selection of the lattice structure is a further optimization of the lower extremity exoskeleton and will not be described in any further detail herein.
As can be seen from fig. 3, step S2 further optionally includes the following steps:
s21, carrying out simulation analysis on the initial bearing plate by using CAE (Computer Aided Engineering) to obtain the maximum external force and the maximum torque which can be borne by the initial bearing plate;
and S22, when the maximum external force is not less than the minimum external force required by the user and the maximum torque is not less than the minimum torque required by the user, the initial bearing plate meets the basic bearing requirement of the user.
The steps accurately test and analyze the design scheme of the initial bearing plate, and the manufactured lower limb exoskeleton meets the requirements of users.
Further optionally, the initial bearing plate in step S21 is subjected to simulation analysis with the walking gait of the user as a constraint condition. The walking gait of the user is considered in the simulation analysis, the accuracy of the simulation analysis is improved, and each manufactured lower limb exoskeleton is unique, corresponds to the user one by one and is highly adaptive.
As shown in fig. 4-10, the present embodiment further provides a lower extremity exoskeleton, which is manufactured by the above method for manufacturing a lower extremity exoskeleton, comprising a waist support 1, a leg support 2, a connecting member 3 and a foot support 4. The user's back can abut the lumbar support 1, the leg supports 2 wrap around the user's leg surfaces, the connectors 3 serve to connect the lumbar support 1 and the leg supports 2, and the foot supports 4 serve to carry the user's feet.
The connecting piece 3 comprises a first connecting piece 31 and a second connecting piece 32, the lumbar support member 1 is connected with a first end of the first connecting piece 31 through a first adjusting component 5, and the first adjusting component 5 is used for adjusting the position of the connection position of the lumbar support member 1 and the first connecting piece 31. The second end of the first link 31 is connected to the first end of the second link 32 by a second adjustment assembly 6, the second adjustment assembly 6 is used to adjust the length of the link 3, and the first end of the leg support 2 is connected to the second end of the second link 32. The foot support 4 is connected to a second end of the leg support 2 by a third adjustment assembly 7, the third adjustment assembly 7 being used to adjust the position of the connection of the leg support 2 to the foot support 4. The lower limb exoskeleton can be finely adjusted by the aid of the arrangement, the condition that the lower limb exoskeleton is not matched with a user due to time increase is avoided, and the applicability of the lower limb exoskeleton and the comfort level of the user during use are improved.
Since the lumbar support member 1 extends along the first direction (i.e. the X direction in the drawing) so as to support the waist of the user, and the leg support members 2 extend along the second direction (i.e. the Y direction in the drawing) so as to cover the leg bearing portions of the user, the first end and the second end of the first connecting member 31 are disposed at an included angle, so that the connection between the lumbar support member 1 and the leg support members 2 can be realized through the connecting member 3.
Optionally, one side that waist support piece 1 and user contacted is equipped with the arcwall face, and the curved laminating of arcwall face and user's waist to comfort level when improving the user and using.
Further optionally, a battery compartment is arranged on one side of the waist support 1 away from the user, a power supply and a driving system are arranged in the battery compartment, the power supply supplies power to the driving system, and the driving system is used for driving the lower limb exoskeleton to move, so that the lower limb exoskeleton drives the user to move, and the travel of the user with the difficulty in moving is facilitated.
Further optionally, the driving system includes a correction module, the correction module stores health gait information of a human body of each age group, and the correction module can control the lower limb exoskeleton to move according to the health gait of the age group of the user, so as to achieve the purpose of correcting the gait of the user.
Optionally, a through groove 11 is formed at any end of the lumbar support member 1 along the first direction, and the first end of the first connecting member 31 can be inserted into the through groove 11, so as to connect the lumbar support member 1 and the first connecting member 31. The first adjusting assembly 5 includes a plurality of limiting grooves 311 and a limiting member 51, wherein the plurality of limiting grooves 311 are disposed at a first end of the first connecting member 31 at intervals along a first direction. One end of the limiting member 51 is connected to the lumbar support 1, and the other end of the limiting member 51 can be inserted into any one of the limiting grooves 311, so that the position of the connection between the leg support 2 and the first connecting member 31, that is, the abutting area between the lumbar support 1 and the user's lumbar region, can be changed by changing the position of the limiting member 51 in the plurality of limiting grooves 311.
Specifically, the lumbar support 1 is provided with an accommodating groove 12 along a first direction; the limiting member 51 includes a sliding portion 511 and a limiting portion 513, the limiting portion 513 is perpendicular to the sliding portion 511, the sliding portion 511 can be slidably disposed in the accommodating groove 12, that is, the position of the sliding portion 511 in the accommodating groove 12 is adjustable, so that the limiting portion 513 is inserted into different limiting grooves 311, thereby limiting the connecting member 3 on the lumbar support 1 by the limiting member 51. Further, the limiting member 51 further includes a connecting portion 512, the connecting portion 512 connects the sliding portion 511 and the limiting portion 513, and the limiting portion 513 protrudes relative to the connecting portion 512, so that interference of the connecting portion 512 when the limiting portion 513 is inserted into the limiting groove 311 is avoided. Further, the sliding portion 511, the connecting portion 512 and the limiting portion 513 are integrally formed, so that the production difficulty of the limiting member 51 is simplified, and the stability of the limiting member 51 in limiting the connecting member 3 on the lumbar support 1 is improved.
Further optionally, the lumbar support 1 is provided with a first fastening hole 13 along the second direction, the first fastening hole 13 is communicated with the accommodating groove 12, the sliding portion 511 is provided with a second fastening hole 5111 along the second direction, the first adjusting assembly 5 further includes a first fastening member 52, and the first fastening member 52 is connected with the lumbar support 1 after sequentially passing through the first fastening hole 13 and the second fastening hole 5111, so as to fix the sliding portion 511 in the accommodating groove 12. When the abutting area between the waist support 1 and the waist of the user is adjusted, the first fastening member 52 needs to be screwed out first, the connection between the sliding portion 511 and the accommodating groove 12 is released, then the sliding portion 511 slides to drive the limiting portion 513 to move, after a proper position is found, the limiting portion 513 is inserted into the corresponding limiting groove 311, and finally the first fastening member 52 penetrates through the first fastening hole 13 and the second fastening hole 5111 to lock the limiting member 51. Further, the first fastening member 52 may be a screw, or may be a structure having a fastening function, such as a screw, a bolt, or a pin, which is not limited herein.
Optionally, the second end of the first connecting member 31 is provided with a protrusion 312 along the extending direction thereof, the first end of the second connecting member 32 is provided with a groove 321, and the protrusion 312 can be inserted into the groove 321. The second adjusting assembly 6 includes a second fastening member 61, a plurality of first positioning holes 3121, and a plurality of second positioning holes 3211, the plurality of first positioning holes 3121 are disposed on the protrusion 312 at intervals along the extending direction of the protrusion 312, the plurality of second positioning holes 3211 are disposed on two groove walls of the groove 321 at intervals along the opening direction of the groove 321, the second fastening member 61 sequentially passes through the second positioning hole 3211 on one groove wall of the groove 321, the first positioning hole 3121, and the second positioning hole 3211 on the other groove wall of the groove 321, so as to connect the first connecting member 31 and the second connecting member 32. When adjusting the length of the connecting member 3, it is necessary to first unscrew the second fastening member 61, unlock the first connecting member 31 from the second connecting member 32, then change the position of the protrusion 312 in the groove 321 to a proper position, and then reconnect the first connecting member 31 to the second connecting member 32 by using the second fastening member 61. Further alternatively, two second fastening members 61 are provided to improve the stability of the connection of the first connecting member 31 and the second connecting member 32. Further, the second fastening member 61 may be a screw, or may be a structure having a fastening function, such as a screw, a bolt, or a pin, and is not limited to this.
Optionally, the second end of the leg supporting member 2 is provided with a connecting plate 21 along the extending direction thereof, the foot supporting member 4 is provided with a rotating member 41 in a rotating manner, the rotating member 41 is provided with a clamping groove, and the connecting plate 21 can be inserted into the clamping groove. The third adjusting component 7 comprises an adjusting hole 411, a limiting half hole 211 and a third fastener 71, the adjusting hole 411 is arranged on two groove walls of the clamping groove, and the adjusting hole 411 is formed by sequentially overlapping a plurality of circles along the opening direction of the clamping groove. Spacing half-hole 211 is located on connecting plate 21, and just spacing half-hole 211 runs through the free end of connecting plate 21, and spacing half-hole 211 can form the installation space of different positions department with regulation hole 411. The third fastener 71 can be inserted into the installation space to achieve the connection of the leg support 2 with the foot support 4. When fine-adjusting the position of the joint of the leg support 2 and the foot support 4, the third fastening member 71 is first screwed out to release the joint of the foot support 4 and the leg support 2, then the foot support 4 is moved to change the installation space formed by the limiting half-hole 211 and the inner wall of the adjusting hole 411, and after the position is adjusted to a proper position, the third fastening member 71 is used to connect the leg support 2 and the foot support 4. Further, the third fastening member 71 may be a screw, or may be a structure having a fastening function, such as a screw, a bolt, or a pin, and is not limited to this.
It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for manufacturing a lower limb exoskeleton is characterized by comprising the following steps:
s1, three-dimensionally scanning a bearing part of a user to obtain a data model of the bearing part, and designing an initial bearing plate according to the data model;
s2, judging whether the initial bearing plate meets the basic bearing requirements of the user;
s3, if the initial bearing plate meets the basic bearing requirements of users, the initial bearing plate is optimally designed to obtain a leg support (2) with a lattice structure; otherwise, redesigning the initial bearing plate;
and S4, sequentially connecting the waist support (1), the leg support (2) and the foot support (4) by using an adjusting assembly to form the lower limb exoskeleton.
2. The method of claim 1, wherein step S3 includes the steps of:
s31, carrying out structural optimization on the initial bearing plate to obtain the optimal material for manufacturing the initial bearing plate, and the position distribution and density of the optimal material on the initial bearing plate;
and S32, carrying out parameter optimization on the initial bearing plate after the structure is optimized to obtain the leg support (2) with the lattice structure.
3. The method of claim 1, wherein step S2 includes the steps of:
s21, carrying out simulation analysis on the initial bearing plate by using CAE to obtain the maximum external force and the maximum torque which can be borne by the initial bearing plate;
and S22, when the maximum external force is not less than the minimum external force required by the user and the maximum torque is not less than the minimum torque required by the user, the initial bearing plate meets the basic bearing requirement of the user.
4. The method of claim 3, wherein the initial load bearing plate is simulated and analyzed in step S21 using the walking gait of the user as a constraint.
5. A lower extremity exoskeleton, made by the method of making a lower extremity exoskeleton of any of claims 1 to 4, comprising:
a lumbar support (1) against which the back of a user can abut;
a leg support (2) covering a leg surface of a user;
a connection (3) for connecting the lumbar support (1) and the leg supports (2); the connecting piece (3) comprises a first connecting piece (31) and a second connecting piece (32), the lumbar support piece (1) is connected with the first end of the first connecting piece (31) through a first adjusting component (5), and the first adjusting component (5) is used for adjusting the position of the connection position of the lumbar support piece (1) and the first connecting piece (31); the second end of the first connecting piece (31) is connected with the first end of the second connecting piece (32) through a second adjusting component (6), and the second adjusting component (6) is used for adjusting the length of the connecting piece (3); a first end of the leg support (2) is connected to a second end of the second connector (32);
a foot support (4) for carrying a user's foot; the foot support (4) is connected to the second end of the leg support (2) by a third adjustment assembly (7), the third adjustment assembly (7) being for adjusting the position of the connection of the leg support (2) to the foot support (4).
6. The lower extremity exoskeleton of claim 5 wherein said lumbar support (1) is provided with a through slot (11) at either end in a first direction, said first link (31) having a first end insertable into said through slot (11);
the first adjustment assembly (5) comprises:
the limiting grooves (311) are arranged at the first end of the first connecting piece (31) at intervals along the first direction;
one end of the limiting piece (51) is connected with the lumbar support piece (1), and the other end of the limiting piece (51) can be inserted into any limiting groove (311);
the first direction is the direction of extension of the lumbar support (1).
7. The lower extremity exoskeleton of claim 6 wherein said lumbar support (1) is provided with accommodation slots (12) along said first direction; the limiting piece (51) comprises a sliding part (511) and a limiting part (513), the limiting part (513) and the sliding part (511) are arranged perpendicularly, and the sliding part (511) can be arranged in the accommodating groove (12) in a sliding mode, so that the limiting part (513) is inserted into different limiting grooves (311).
8. The lower extremity exoskeleton of claim 7 wherein said lumbar support (1) is provided with a first fastening hole (13) along a second direction, said first fastening hole (13) is in communication with said receiving slot (12), said sliding part (511) is provided with a second fastening hole (5111) along said second direction, said first adjusting assembly (5) further comprises a first fastening member (52), said first fastening member (52) is connected to said lumbar support (1) after passing through said first fastening hole (13) and said second fastening hole (5111) in sequence.
9. The lower extremity exoskeleton of claim 5 wherein said second end of said first link (31) is provided with a protrusion (312) along its extension, said first end of said second link (32) is provided with a groove (321), said protrusion (312) being insertable into said groove (321);
the second adjustment assembly (6) comprises:
the first positioning holes (3121) are arranged on the protrusion (312) at intervals along the extending direction of the protrusion (312);
the second positioning holes (3211), the second positioning holes (3211) are arranged on two groove walls of the groove (321) at intervals along the opening direction of the groove (321);
and the second fastening piece (61) sequentially passes through the second positioning hole (3211) on one groove wall of the groove (321), the first positioning hole (3121) and the second positioning hole (3211) on the other groove wall of the groove (321).
10. The lower extremity exoskeleton of claim 5 wherein said second end of said leg support (2) is provided with a connecting plate (21) along its extension, said foot support (4) is rotatably provided with a rotating member (41), said rotating member (41) is provided with a locking slot, said connecting plate (21) can be inserted into said locking slot;
the third adjustment assembly (7) comprises:
the adjusting holes (411) are formed in two groove walls of the clamping groove, and the adjusting holes (411) are formed by sequentially overlapping a plurality of circles along the opening direction of the clamping groove;
the limiting half hole (211) is arranged on the connecting plate (21), the limiting half hole (211) penetrates through the free end of the connecting plate (21), and the limiting half hole (211) and the adjusting hole (411) can form mounting spaces at different positions;
a third fastener (71) insertable into the installation space.
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