CN109986535B - Hip joint structure - Google Patents
Hip joint structure Download PDFInfo
- Publication number
- CN109986535B CN109986535B CN201711474797.9A CN201711474797A CN109986535B CN 109986535 B CN109986535 B CN 109986535B CN 201711474797 A CN201711474797 A CN 201711474797A CN 109986535 B CN109986535 B CN 109986535B
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- Prior art keywords
- hip
- joint structure
- connecting piece
- limiting
- dead axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The invention provides a hip joint structure, which comprises a back base body connecting piece, a waist connecting piece, a hip fixed shaft, a hip pin shaft, a driving device and a hip thigh, wherein the back base body connecting piece is connected with the waist connecting piece; the hip dead axle can rotate relative to the waist connecting piece under the action of external force so as to realize internal rotation and external rotation of the hip thighs; the hip pin shaft can rotate relative to the hip fixed shaft under the action of external force so as to realize abduction and adduction of the thigh of the hip; the hip thighs can complete the forward and backward stretching actions under the driving of the driving device. According to the hip joint structure provided by the invention, the hip positioning shaft can rotate relative to the waist connecting piece under the action of external force, the hip pin shaft can rotate relative to the hip positioning shaft under the action of external force, and the two rotation modes are passive, so that the rotation coordination is better, and the height consistency with the action of a user can be kept.
Description
Technical Field
The invention relates to the field of wearable exoskeletons, in particular to a hip joint structure applied to a wearable exoskeletons.
Background
The hip joint structure is an important part in the whole structure of the wearable exoskeleton, and firstly, the hip joint structure is related to whether a user can wear the exoskeleton comfortably and operate the exoskeleton flexibly and can fit the motion range of a person to the maximum extent. Secondly, the reasonable structure can ensure that the user and the exoskeleton device are coordinated and consistent, and the mutual interference between the user and the exoskeleton device is reduced.
The hip joint structure in the existing exoskeleton device has the problems that the movement range of a user is limited, the coordination is poor, and the hip joint structure cannot keep synchronous with the action of the user.
Disclosure of Invention
The present invention has been made to solve at least one of the above problems, and an object of the present invention is to provide a hip joint structure which has good compatibility and a controllable range of motion, and can keep the same synchronization with the movement of the user.
In order to achieve the purpose, the invention adopts the following technical scheme:
the present invention provides a hip joint structure comprising:
a back substrate connection;
a lumbar connection member connected to the back base connection member;
a hip dead axle rotatably connected to an end of the waist link remote from the back base link; a lifting lug is arranged at the lower end of the hip fixed shaft, and a lifting lug mounting through hole is formed in the lifting lug;
the hip pin shaft is rotatably arranged in the lifting lug mounting through hole;
the hip output end cover is fixedly arranged below the hip pin shaft and drives the hip pin shaft to rotate;
the driving device is fixedly arranged on the hip output end cover;
a hip thigh connected with the drive device;
the hip dead axle can rotate relative to the waist connecting piece under the action of external force so as to realize internal rotation and external rotation of the hip thighs; the hip pin shaft can rotate relative to the hip fixed shaft under the action of external force so as to realize abduction and adduction of the thigh of the hip; the hip thighs can complete the forward and backward stretching actions under the driving of the driving device.
In some embodiments, the position of the waist link coupled to the back base link is adjustable to vary the length of the waist link between the back base link and the hip dead axle.
In some embodiments, the top end of the hip dead axle is provided with an eyenut, and the hip dead axle and the waist connecting piece are connected through the eyenut.
In some embodiments, a waist connecting piece through hole is formed at the end of the waist connecting piece, the hip dead axle part is located in the waist connecting piece through hole, a waist connecting piece limiting groove is formed in the side wall of the waist connecting piece through hole, a hip dead axle limiting part is arranged at the position of the hip dead axle corresponding to the waist connecting piece limiting groove, and at least part of the hip dead axle limiting part is located in the waist connecting piece limiting groove.
In some embodiments, two lifting lugs arranged side by side are arranged at the lower end of the hip dead axle, a lifting lug mounting through hole is arranged on each lifting lug, and the hip pin shaft penetrates through and is supported in the two lifting lug mounting through holes.
In some embodiments, a hip limiting plate is arranged at the end of the hip pin shaft, a hip limiting plate limiting groove is arranged at one end of the hip limiting plate close to the lifting lug, a lifting lug limiting piece matched with the limiting groove is arranged on the lifting lug, and at least part of the lifting lug limiting piece is positioned in the hip limiting groove.
In some embodiments, the hip output end cap is fixedly connected to the lower end of the hip limiting plate.
In some embodiments, a hip bearing is disposed on a portion of the hip pin located inside the hip limit plate, and the hip bearing is cooperatively disposed in the shackle mounting through hole to enable rotation between the hip pin and the hip dead axle.
In some embodiments, a hip stopper is disposed between the hip thigh and the driving device for limiting the angle of flexion and extension of the hip thigh.
In some embodiments, the driving device is a driving motor, the driving motor drives a harmonic reducer to move and drive a driving shaft to rotate, and the hip thigh is connected with a driving flexible gear of the reducer.
The invention has the beneficial effects that: according to the hip joint structure provided by the invention, the hip positioning shaft can rotate relative to the waist connecting piece under the action of external force, the hip pin shaft can rotate relative to the hip positioning shaft under the action of external force, and the two rotation modes are passive, so that the rotation coordination is better, and the height consistency with the action of a user can be kept.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a hip joint structure according to an embodiment of the present invention.
Figure 2 is a general schematic diagram of the connection between the hip dead axle, the hip pin and the hip output end cap in one embodiment of the present invention.
Figure 3 is an exploded view of the connection between the hip dead axle, the hip pin and the hip output end cap in accordance with one embodiment of the present invention.
Figure 4 is a schematic view of the connection between the lumbar link and the hip dead axle in one embodiment of the present invention.
Figure 5 is an exploded view of the connection between the lumbar link and the hip positioning in one embodiment of the present invention.
Reference numerals:
a back base connector 10; a waist link 20; a waist link through hole 201; a waist connecting piece limiting groove 202; a hip dead axle 30; a lifting lug 301; a shackle mounting through hole 302; a lifting eye nut 303; a lug limiter 304; hip dead axle limiter 305; a hip pin 40; hip plate 401; hip limiting plate limiting groove 402; a hip bearing 403; a hip output end cap 50; a drive device 60; a hip thigh 70; hip stopper 80.
Detailed Description
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 drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The hip joint structure provided by the present invention will be described in detail below with reference to fig. 1 to 5.
As shown in fig. 1, 2 and 3, in one embodiment of the present invention, the hip joint structure includes a back base connector 10, a waist connector 20, a hip dead axle 30, a hip pin 40, a hip output cap 50, a drive device 60 and hip thighs 70.
The back base connector 10 serves as an integral support for the hip joint structure in use with the human body. In use, the back base connector 10 and the lumbar connector 20 are applied around the human lumbar region to secure the entire hip joint structure to the human body.
The lumbar connection 20 is connected to the dorsal base connection 10. The hip dead axle 30 is rotatably connected to the end of the waist link 20 remote from the back base link 10; a lifting lug 301 is arranged at the lower end of the hip fixed shaft 30, and a lifting lug mounting through hole 302 is arranged on the lifting lug 301. The hip pin 40 is rotatably mounted within the shackle mounting through bore 302. The hip output end cap 50 is fixedly disposed below the hip pin 40, and drives the hip pin 40 to rotate. The drive is fixedly mounted on the hip output end cap 50. The hip thighs 70 are connected to the drive device 60.
The hip dead axle 30 can rotate relative to the waist connecting piece 20 under the action of external force so as to realize the internal rotation and external rotation action of the hip thighs 70; the hip pin shaft 40 can rotate relative to the hip fixed shaft 30 under the action of external force so as to realize abduction and adduction of the hip thighs 70; the hip thighs 70 can complete the forward and backward extending actions under the driving of the driving device 60. The motion of the three degrees of freedom, the forward flexion and the backward extension, is an active degree of freedom, and the front two degrees of freedom are passive degrees of freedom.
The human body has two legs, so that it is well understood that the hip joint structure has two groups of bilaterally symmetrical structures except the back base body connecting piece 10.
According to the hip joint structure provided by the invention, the hip positioning shaft can rotate relative to the waist connecting piece 20 under the action of external force, the hip pin shaft 40 can rotate relative to the hip positioning shaft under the action of external force, and the two rotation modes are passive, so that the rotation coordination is better, and the height consistency with the action of a user can be kept.
In one embodiment of the present invention, the connection location of the lumbar connection member 20 to the dorsal base connection member 10 is adjustable to vary the length of the lumbar connection member 20 between the dorsal base connection member 10 and the hip dead axle 30. Thereby meeting the use requirements of users with different statures.
As shown in fig. 4 and 5, the top end of the hip dead axle 30 is provided with an eye nut 303, and the hip dead axle 30 and the lumbar connecting member 20 are connected by the eye nut 303. On one hand, the lifting ring nut 303 plays a role in supporting and limiting the hip fixed shaft 30; on the other hand, the eye nut 303 is provided to facilitate the user to drive and adjust the angle of the hip dead axle 30, i.e., to adjust the rotation angle between the hip dead axle 30 and the lumbar attachment 20.
The adjustment is a passive adjustment process, and in general use, the hip dead axle 30 and the waist connecting member 20 can rotate through the rotation of a human body or manual adjustment, so that the rotation of the hip dead axle and the movement of a user can be kept highly synchronous and consistent.
As shown in fig. 2 and 3, a waist connecting member through hole 201 is formed at an end of the waist connecting member 20, the hip shaft 30 is at least partially located in the waist connecting member through hole 201, a waist connecting member limiting groove 202 is formed on a sidewall of the waist connecting member through hole 201, a hip shaft limiting member 305 is disposed at a position of the hip shaft 30 corresponding to the waist connecting member limiting groove 202, and at least a portion of the hip shaft limiting member 305 is located in the waist connecting member limiting groove 202.
The side wall of the waist connecting piece through hole 201 is provided with a waist connecting piece limiting groove 202, so that the rotation angle of the hip dead axle 30 relative to the waist connecting piece 20 is limited in a reasonable range, and the adverse effects of unnecessary damage and the like on a user due to excessive rotation are avoided. The hip fixed shaft 30 rotates in the waist connecting member through hole 201, and drives the hip fixed shaft limiting piece 305 to move in the waist connecting member limiting groove 202, when the hip fixed shaft limiting piece 305 moves to the end of the waist connecting member limiting groove 202, the hip fixed shaft 30 is limited, and the hip fixed shaft 30 rotates to the maximum angle relative to the waist connecting member 20.
As shown in fig. 3, in order to improve the stability of hip pin 40, two lugs 301 are arranged side by side at the lower end of hip fixed shaft 30, a lug mounting through hole 302 is arranged on each lug 301, and hip pin 40 passes through and is supported in two lug mounting through holes 302.
In order to limit the rotation angle of hip pin shaft 40 and avoid the adverse effect of over-rotation on the user, as shown in fig. 3, a hip limiting plate 401 is disposed at an end of hip pin shaft 40, a hip limiting plate limiting groove 402 is disposed at an end of hip limiting plate 401 adjacent to ear 301, ear limiting member 304 cooperating with hip limiting groove 402 is disposed on ear 301, and at least a portion of ear limiting member 304 is located in hip limiting groove 402.
The rotation of the hip pin shaft 40 in the lifting lug 301 can drive the hip thigh 70 positioned below the hip pin shaft to swing. The engagement of shackle limit stop 304 with hip limit stop slot 402 allows the swinging motion of hip thigh 70 to be maintained within a range of angles.
Typically, the hip output cap 50 is adapted to support the hip output cap 50 on the hip pin 40 by engagement of the through-hole provided therein with the hip pin 40.
In order to fix the hip output end cap 50 and the hip pin shaft 40 and ensure the rotational consistency between the two, the hip output end cap 50 is fixedly connected with the lower end of the hip limiting plate 401. More specifically, as shown in fig. 3, the lower ends of the hip output cover 50 and the hip limiting plate 401 are provided with screw holes which are matched with each other and fixedly connected with each other by screws.
In order to improve the rotation capability of hip pin 40 in shackle mounting through hole 302, as shown in fig. 3, the portion of hip pin 40 located inside hip limiting plate 401 is provided with hip bearing 403, and hip bearing 403 is fittingly arranged in shackle mounting through hole 302 to realize rotation between hip pin 40 and hip fixed shaft 30.
As shown in fig. 1, in order to control the forward flexion and backward extension of the hip thighs 70 within a certain angle range, a hip stopper 80 for limiting the forward flexion and backward extension angle of the hip thighs 70 is disposed between the hip thighs 70 and the driving device 60.
In one embodiment of the present invention, the driving device 60 may be a driving motor, and the driving motor drives the harmonic reducer to move, so as to drive the driving shaft to rotate, and the hip thigh 70 is connected with the driving flexible wheel of the reducer. The drive unit 60 thus drives the flexion and extension movement of the hip thighs 70.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (9)
1. A hip joint construction, comprising:
a back substrate connection;
a lumbar connection member connected to the back base connection member;
a hip dead axle rotatably connected to an end of the waist link remote from the back base link; a lifting lug is arranged at the lower end of the hip fixed shaft, and a lifting lug mounting through hole is formed in the lifting lug;
the hip pin shaft is rotatably arranged in the lifting lug mounting through hole;
the hip output end cover is fixedly arranged below the hip pin shaft and drives the hip pin shaft to rotate;
the driving device is fixedly arranged on the hip output end cover;
a hip thigh connected with the drive device;
the hip dead axle can rotate relative to the waist connecting piece under the action of external force so as to realize internal rotation and external rotation of the hip thighs; the hip pin shaft can rotate relative to the hip fixed shaft under the action of external force so as to realize abduction and adduction of the thigh of the hip; the hip thighs can complete forward and backward stretching actions under the driving of the driving device;
the hip fixed shaft is arranged at the position corresponding to the waist connecting piece limiting groove, and at least part of the hip fixed shaft limiting part is positioned in the waist connecting piece limiting groove.
2. The hip joint structure of claim 1, wherein the connection location of the lumbar link to the back base link is adjustable to vary the length of the lumbar link between the back base link and the hip dead center.
3. The hip joint structure according to claim 1, characterized in that the top end of the hip dead axle is provided with an eye nut, and the hip dead axle and the waist connecting piece are connected through the eye nut.
4. The hip joint structure according to claim 1, wherein the hip dead axle is provided at a lower end thereof with two lugs arranged side by side, each lug is provided with a lug mounting through hole, and the hip pin shaft passes through and is supported in the two lug mounting through holes.
5. The hip joint structure according to claim 1, wherein a hip limiting plate is disposed at an end of the hip pin, a hip limiting plate limiting groove is disposed at an end of the hip limiting plate adjacent to the ear, an ear limiting member is disposed on the ear for cooperating with the hip limiting groove, and at least a portion of the ear limiting member is disposed in the hip limiting groove.
6. The hip joint structure of claim 5, wherein the hip output end cap is fixedly attached to the lower end of the hip restraint plate.
7. The hip joint structure of claim 5, wherein the portion of the hip pin located inside the hip limit plate is provided with a hip bearing, and the hip bearing is fittingly disposed within the shackle mounting through hole to enable rotation between the hip pin and the hip dead axle.
8. The hip joint structure according to claim 1, wherein a hip stopper is provided between the hip thighs and the drive device for limiting the angle of flexion and extension of the hip thighs.
9. The hip joint structure according to claim 1, wherein the drive means is a drive motor driving a harmonic reducer in motion, the hip thigh being connected to a drive flexspline of the reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711474797.9A CN109986535B (en) | 2017-12-29 | 2017-12-29 | Hip joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711474797.9A CN109986535B (en) | 2017-12-29 | 2017-12-29 | Hip joint structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109986535A CN109986535A (en) | 2019-07-09 |
| CN109986535B true CN109986535B (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711474797.9A Active CN109986535B (en) | 2017-12-29 | 2017-12-29 | Hip joint structure |
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| CN (1) | CN109986535B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113041100B (en) * | 2019-12-27 | 2022-12-06 | 沈阳新松机器人自动化股份有限公司 | Separable multipurpose lower limb exoskeleton robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103610524B (en) * | 2013-12-16 | 2015-09-09 | 哈尔滨工业大学 | A kind of Portable energy storage ectoskeleton power-assisting robot |
| US9808073B1 (en) * | 2014-06-19 | 2017-11-07 | Lockheed Martin Corporation | Exoskeleton system providing for a load transfer when a user is standing and kneeling |
| CN104758142B (en) * | 2015-04-10 | 2017-06-27 | 电子科技大学 | A kind of assistance exoskeleton robot |
| CN105856194A (en) * | 2016-05-19 | 2016-08-17 | 成都润惠科技有限公司 | Bearing device for hip exoskeleton |
| CN106891328B (en) * | 2017-04-19 | 2023-06-02 | 深圳市极拓医疗科技有限公司 | Passive hip joint automatic centering mechanism and exoskeleton robot |
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| CN109986535A (en) | 2019-07-09 |
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