CN113601489B

CN113601489B - Hip joint assistance exoskeleton

Info

Publication number: CN113601489B
Application number: CN202111178999.5A
Authority: CN
Inventors: 董世谦
Original assignee: Beijing Dongsi Innovation Technology Co ltd
Current assignee: Beijing Dongsi Innovation Technology Co ltd
Priority date: 2021-10-11
Filing date: 2021-10-11
Publication date: 2021-12-28
Anticipated expiration: 2041-10-11
Also published as: CN113601489A

Abstract

The application relates to the technical field of hip joint assistance, in particular to a hip joint assistance exoskeleton, which comprises a waist framework for surrounding the waist of a wearer, wherein the waist framework is of an annular structure which can be bent along the length direction and is limited to be bent along the width direction; the waist skeleton includes first connecting portion and second connecting portion, and the tip of first connecting portion passes through buckle structure detachable with the tip of second connecting portion to be connected, can adjust the regional size that the waist skeleton encloses through the length of changing first connecting portion or second connecting portion. By means of the arrangement, the annular structure can ensure longitudinal rigidity and simultaneously has flexibility in the transverse direction. The waist framework can bear the torque of the power-assisted motor, ensure the accurate transmission of the power-assisted torque of the hip joint, and simultaneously fit the waist of the human body, thereby ensuring the comfort and the convenience; meanwhile, the design is light in weight, easy to wear and adjust quickly, and good in use experience.

Description

Hip joint assistance exoskeleton

Technical Field

The application relates to the technical field of hip joint assistance, in particular to a hip joint assistance exoskeleton.

Background

The hip joint assisting exoskeleton generates torque at the left hip joint and the right hip joint through the actuator, and generates assisting torque for leg lifting and leg pressing of a wearer so as to assist the wearer in leg lifting, walking, squatting, going upstairs and downstairs and other actions.

In order to ensure the stability of the trunk of the user and the wearing comfort, the left actuator and the right actuator are rigidly connected through a framework so as to counteract the reaction torque of the opposite side motor. At the same time the rigid skeleton must be firmly worn on the user and at the same time ensure comfort. Therefore, in the existing hip-joint assisting exoskeleton design, a rigid skeleton structure is adopted at the waist fixing position, and adaptation to users of different sizes is realized by additionally adding an adjustable bolt or a telescopic mechanism, as shown in fig. 1, when the front and back width of the hip-joint exoskeleton needs to be adjusted, firstly, a corresponding bolt assembly is taken down, then, the third link 523 is moved to the width adapted to the body shape of the wearer, and finally, the bolt assembly is installed to fixedly connect the third link 523 and the second link 522. This kind of regulation mode need dismouting bolt when the adjustment width, has increased the operation complexity, causes very big inconvenience for medical personnel and wearing person, has also increased extra weight and cost.

Therefore, how to solve the problems that the bolts need to be disassembled and assembled when the width of the existing hip joint assisting exoskeleton is adjusted and the operation is complex is a key technical problem to be solved by the technical personnel in the field.

Disclosure of Invention

In order to overcome the problems in the related art at least to a certain extent, the application aims to provide a hip joint assisting exoskeleton which can solve the problems that when the width of the existing hip joint assisting exoskeleton is adjusted, bolts need to be disassembled and assembled, and the operation is complex. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the application are described in detail in the following.

The application provides a hip joint assistance exoskeleton which comprises a waist framework used for surrounding the waist of a wearer, wherein the waist framework is in an annular shape capable of being bent along the length direction of the waist framework and being limited to be bent along the width direction of the waist framework; the waist skeleton includes first connecting portion and second connecting portion, the tip of first connecting portion with the tip of second connecting portion passes through buckle structure detachable and connects, through changing the length of first connecting portion or second connecting portion can be adjusted the regional size that the waist skeleton encloses.

Preferably, the waist skeleton is provided in a chain link structure; or the waist skeleton is arranged into a semi-surrounding chain structure, and the semi-surrounding chain structure comprises a chain section and an elastic section.

Preferably, still including rotationally with waist skeleton is connected and is used for driving the shank skeleton of the action of wearer's shank, the shank skeleton is the strip that can buckle and be restricted along self width direction along self length direction the chain link structure, the shank skeleton extends the setting along wearer's shank.

Preferably, the link structure comprises a conventional link and at least two quick release links, the length of the link structure is adjusted by replacing the conventional link number between two adjacent quick release links, and the snap-fit structure is formed on the quick release links.

Preferably, the link structure further comprises an expansion link, the expansion link comprises a first sliding part, a second sliding part connected with the first sliding part in a sliding manner, and a limiting part for limiting the relative sliding of the first sliding part and the second sliding part, and the length of the expansion link is adjusted by adjusting the relative position of the first sliding part and the second sliding part through the limiting part.

Preferably, the waist frame is provided with a rope transmission actuator for driving the leg frame to rotate relative to the waist frame, and the rope transmission actuator comprises a rotating part connected with the waist frame and positioned at the hip joint of the wearer, a driving part connected with the waist frame and far away from the hip joint of the wearer, and a rope transmission mechanism in transmission connection between the rotating part and the driving end of the driving part.

Preferably, the rope transmission mechanism includes a driving capstan provided at an output end of the driving member, a leg capstan formed at the rotating portion, a sleeve fixed between the leg capstan and the driving capstan, and a transmission rope inserted into the sleeve, and the transmission rope is in a ring shape and is wound and connected with the driving capstan and the leg capstan, respectively.

Preferably, the waist support frame further comprises a bearing framework, and the bearing framework is connected with the waist framework and can be borne on the shoulders of a wearer.

Preferably, still include rotationally with waist skeleton is connected and is used for driving the shank of the action of the wearer's leg, the shank skeleton sets up to rod-like structure and extends the setting along the wearer's shank.

Preferably, the waist and waist combined type electric scooter further comprises a direct-drive actuator for driving the leg framework to rotate relative to the waist framework, the direct-drive actuator is fixed with the waist framework and is positioned at a hip joint of a wearer, and the output end of the direct-drive actuator is in transmission connection with the leg framework.

The technical scheme provided by the application can comprise the following beneficial effects:

waist skeleton sets up to loop configuration, loop configuration can buckle along length direction, so that waist skeleton has better flexibility on horizontal after wearing, conveniently tighten up or relax the person's of wearing waist, and in addition, loop configuration is restricted and is buckled on the width direction, so that waist skeleton has better rigidity on vertical after wearing, consequently, this loop configuration's waist skeleton can bear helping hand motor's moment of torsion, guarantee hip joint helping hand moment's accurate transmission, again can laminate simultaneously at the person's of wearing waist, ensure travelling comfort and convenience. And, the waist skeleton is divided into first connecting portion and second connecting portion along the extending direction, the tip of first connecting portion passes through buckle structure detachable with the tip of second connecting portion to be connected, so that first connecting portion and second connecting portion can enclose into above-mentioned loop configuration through two buckle structure, and like this, when needing the different size width's of adaptation wearer, the regional size that the length adjustment waist skeleton of only needing to change first connecting portion or second connecting portion encloses, easily dress fast, and adjust the waist elasticity of wearer, good use experience has.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a block diagram of a prior art hip-assist exoskeleton;

FIG. 2 is a block diagram of the present hip-assist exoskeleton, according to some exemplary embodiments;

FIG. 3 is a block diagram of the present hip-assist exoskeleton according to further exemplary embodiments;

FIG. 4 is an assembly view of a quick release link according to some exemplary embodiments;

FIG. 5 is an exploded view of a quick release link shown in accordance with certain exemplary embodiments;

FIG. 6 is an assembly view of a telescoping link according to some exemplary embodiments;

FIG. 7 is an effect drawing of a telescoping link according to some exemplary embodiments;

FIG. 8 is an exploded view of a telescoping link according to some exemplary embodiments;

FIG. 9 is a schematic diagram illustrating a cord drive actuator, according to some exemplary embodiments;

FIG. 10 is a connection diagram of a piggyback skeleton shown in accordance with some exemplary embodiments;

FIG. 11 is a front side view of a semi-enclosed chain structure shown in accordance with some exemplary embodiments;

FIG. 12 is a back side view of a semi-enclosed chain structure shown in accordance with some exemplary embodiments.

In the figure: 1. a waist skeleton; 2. a leg skeleton; 3. directly driving an actuator; 4. a rope drive actuator; 5. leg fastening support plates; 6. a fixed seat; 7. a liner; 8. a harness framework; 10. a conventional chain link; 20. a quick release link; 21. a male head is buckled; 22. buckling the female head; 30. a telescopic link; 31. a first sliding section; 32. a second sliding section; 33. a fastening tape; 34. a fixing ring; 41. a drive member; 42. driving the winch; 43. a leg winch; 44. a sleeve; 45. a transmission rope.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus or methods consistent with aspects of the present application.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

Hereinafter, embodiments will be described with reference to the drawings. The embodiments described below do not limit the contents of the invention described in the claims. The entire contents of the configurations shown in the following embodiments are not limited to those required as solutions of the inventions described in the claims.

Referring to fig. 2-12, the present embodiment provides a hip-assisted exoskeleton comprising a waist skeleton 1, wherein the waist skeleton 1 is configured as a ring-shaped structure and can be wrapped around the waist of a wearer to fix the waist skeleton 1 on the wearer.

Waist skeleton 1 can be buckled along self length direction, so that waist skeleton 1 has better flexibility on horizontal after wearing, conveniently tighten up or relax the waist of the person of wearing, moreover, waist skeleton is restricted and is buckled on self width direction, so that waist skeleton 1 has better rigidity on vertical after wearing, consequently, this loop configuration's waist skeleton 1 can bear helping hand motor's moment of torsion, guarantee hip joint helping hand moment's accurate transmission, again can laminate simultaneously at the waist of the person of wearing, ensure travelling comfort and convenience.

Specifically, the annular structure may be a chain structure or a fin structure, for example, the annular structure is formed by sequentially hinging a plurality of connecting pieces end to end, a hinge shaft between two adjacent connecting pieces is perpendicular to an extending direction of the annular structure and is located on a plane where the two adjacent connecting pieces are located, or a plurality of rigid pieces for limiting the flexible belt from bending along a width direction are arranged on the flexible belt.

It should be noted that, since the waist frame 1 is annular, the longitudinal direction and the extending direction of the waist frame 1 are annular circumferential directions, and are in the lateral direction of the wearer after wearing, which corresponds to the horizontal direction in fig. 2, the width direction of the waist frame 1 is annular axial direction, and are in the longitudinal direction of the wearer after wearing, which corresponds to the vertical direction in fig. 2.

Waist skeleton 1 is divided into first connecting portion and second connecting portion along the extending direction, the tip of first connecting portion passes through buckle structure detachable with the tip of second connecting portion to be connected, so that first connecting portion and second connecting portion can enclose into above-mentioned loop configuration through two buckle structure, and like this, when needing the wearer of the different size width of adaptation, the regional size that waist skeleton 1 encloses is adjusted to the length that only needs to change first connecting portion or second connecting portion, easily dress fast, and adjust the waist elasticity of wearer, good use experience has.

Of course, for the different size width of adaptation, the second connecting portion can be provided with the length dimension of multiple difference, through changing the second connecting portion of unidimensional, can realize the quick adjustment to the width of waist skeleton 1.

It should be noted that, in order to realize the power assisting function of the hip joint assisting exoskeleton, the exoskeleton should further comprise a leg framework 2 and an actuator, wherein the leg framework 2 is fixed on the leg of the wearer and is rotatably connected to the waist framework 1 through the actuator, and here, in order to facilitate rapid width adjustment, the leg framework 2 and the actuator are both connected to the first connecting portion, so that when the second connecting portion is replaced to realize width adjustment, other components do not need to be disassembled and assembled.

By means of the arrangement, the annular structure can ensure longitudinal rigidity and simultaneously has flexibility in the transverse direction. The waist framework 1 can bear the torque of the power-assisted motor, ensure the accurate transmission of the power-assisted torque of the hip joint, and simultaneously fit the waist of the human body, thereby ensuring the comfort and the convenience; meanwhile, the design is light in weight, easy to wear and adjust quickly, and good in use experience.

In some preferred schemes, the waist frame 1 is provided with a chain structure, wherein, the waist frame 1 is an annular chain structure formed by sequentially hinging a plurality of chain links, thus, the structure is simple and the processing and manufacturing are convenient.

Of course, as shown in fig. 11 to 12, the waist frame may be configured as a semi-encircling chain structure, wherein the semi-encircling chain structure comprises a chain section and an elastic section, the chain section and the elastic section are connected end to form a ring, specifically, the chain section is configured at the back side of the waist of the wearer, and the elastic section is configured at the front side of the waist of the wearer, wherein the elastic section is configured as an elastic material. Like this, can reduce the weight of waist skeleton, promote the travelling comfort.

Among the plurality of links of the link structure, one part is a conventional link 10 mainly playing a role of connection, and the other part is a quick release link 20 playing a role of quick release.

Here, at least two quick release links 20 are provided, so that the waist frame 1 can be split into at least two sections, i.e., the first connecting portion and the second connecting portion, and of course, the waist frame can be split into three or four sections, i.e., the first connecting portion and/or the second connecting portion are provided with multiple sections. In this way, by adjusting the number of the conventional links 10 between two adjacent quick release links 20, the distance between two adjacent quick release links 20, that is, the length of the second connecting portion, can be adjusted, so as to adjust the size of the region surrounded by the waist frame 1.

In this way, the snap structure between the first connecting portion and the second connecting portion is formed on the quick release link 20, so as to integrate the snap structure on the link, which is beneficial to ensuring the uniformity and balance of the link on the waist frame 1.

Specifically, as shown in fig. 4-5, the quick release link 20 includes a male snap head 21 and a female snap head 22, the male snap head 21 is inserted into the female snap head 22, and a latch on the male snap head 21 is inserted into a latch hole on the female snap head 22, so as to realize the snap connection between the male snap head 21 and the female snap head 22. When the clamping block needs to be detached, the clamping block is moved out of the clamping hole, and the clamping male head 21 can be pulled out of the clamping female head 22.

In order to realize fine adjustment of the width of the waist frame 1, the plurality of chain links forming the waist frame 1 further comprise telescopic chain links 30, and the size of the area surrounded by the waist frame 1 can be changed to a small extent by adjusting the length of the telescopic chain links 30.

Here, the telescopic link 30 includes a first sliding portion 31, a second sliding portion 32, and a stopper, the first sliding portion 31 and the second sliding portion 32 are slidably connected, and the direction of the sliding displacement coincides with the length direction of the lumbar frame 1, when the first sliding portion 31 and the second sliding portion 32 slide toward each other, the telescopic link 30 contracts and becomes shorter in length, and when the first sliding portion 31 and the second sliding portion 32 slide toward each other, the telescopic link 30 extends and becomes longer in length;

the limiting member is used for limiting the relative sliding of the first sliding portion 31 and the second sliding portion 32, so that the length of the telescopic link 30 is kept fixed, and thus, the limiting member is used for adjusting the relative position of the first sliding portion 31 and the second sliding portion 32 to adjust the length of the telescopic link 30, which is beneficial to realizing the accurate adjustment of the telescopic link 30 and the lumbar framework 1.

Specifically, as shown in fig. 6 to 8, the first sliding portion 31 is provided with a sliding hole, and the second sliding portion 32 is provided with a sliding block, wherein the extending direction of the sliding hole is consistent with the length direction of the waist frame 1, and the sliding block can slide in the sliding hole. The second sliding portion 32 is provided with an inner cavity into which the first sliding portion 31 is inserted, and the slider is disposed in the inner cavity so that the first sliding portion 31 can be located in the inner cavity to slide, and the slider can be prevented from coming out of the sliding hole. Of course, the structures of the sliding holes and the sliding blocks can be arranged in parallel in multiple groups; or the sliding block is arranged to be slender so as to reduce the shaking caused by the gap.

The outer walls of the first sliding portion 31 and the second sliding portion 32 are provided with fixing rings 34, the two fixing rings 34 are connected through an annular fastening belt 33 with adjustable length to form the limiting part, when the fastening belt 33 is tightened, the telescopic chain links 30 automatically contract inwards, the total length of the waist skeleton 1 is shortened, a wearer of a thin waistline can conveniently adapt to the waist, and the operation is convenient, time and labor are saved.

Of course, the fixing rings 34 can also be arranged on other links on both sides of the telescopic link 30, the length of the telescopic link 30 being limited by the distance between two fixing rings 34 being tightened.

In order to improve the wearing comfort of the waist framework 1, the outer side of the waist framework 1 can be coated with a circle of cloth belt to increase the stability and wearing comfort of the chain structure; the inner portion of the waist frame 1 may be lined with an inner lining 7 of elastic plastic and may be covered with a flexible material to relieve the chain from pressure on the wearer's body.

In some embodiments, as shown in fig. 2, the leg frame 2 of the hip-assisted exoskeleton is provided in a bar shape, the leg frame 2 extends along the leg of the wearer, and the leg frame 2 can be bent along the length direction, so that the leg frame 2 can have flexibility in the longitudinal direction of the leg, so that the leg frame 2 can be attached to the leg of the wearer, and the leg frame 2 is limited to be bent along the width direction, so that the leg frame 2 can have rigidity in the transverse direction of the leg, so that the actuator drives the leg frame 2 to rotate relative to the waist frame 1.

Therefore, the leg framework 2 can bear the torque of the power-assisted motor, ensure the accurate transmission of the power-assisted torque of the hip joint, and can be attached to the legs of a wearer at the same time, thereby ensuring the comfort and convenience; and the strip-shaped leg framework 2 can be attached to the leg of a wearer, so that the occupied space is small and the use is convenient.

It should be noted that, since the leg frame 2 is in a strip shape, the length direction of the leg frame 2 is the extending direction of the strip shape, and is in the longitudinal direction of the wearer after being worn, which is equivalent to the vertical direction in fig. 2, and the width direction of the leg frame 2 is the width direction of the strip shape, and is in the transverse direction of the wearer after being worn, which is equivalent to the horizontal direction in fig. 2.

Wherein, shank skeleton 2 sets up to the chain link structure, and the bar that forms is articulated end to end in proper order by a plurality of chain links, partly be conventional chain link 10 in a plurality of chain links, mainly play the connection effect, and another part is quick detach chain link 20, plays quick assembly disassembly's effect.

Here, the quick release chain links 20 are at least two, so that the leg frame 2 can be detached into at least three sections, two sections at two ends are respectively connected with the waist frame 1 and the leg fastening support plate 5, the middle section can be set as an adjusting section and used for adjusting the overall length of the leg frame 2, and of course, the quick release chain links can also be detached into four sections or five sections, that is, the adjusting section is provided with multiple sections. In this way, by adjusting the number of conventional links 10 between two adjacent quick release links 20, the distance between two adjacent quick release links 20, i.e., the length of the adjustment segment, can be adjusted so as to adjust the overall length of the leg frame 2.

It should be noted that the leg fastening support plate 5 is arranged at one end of the leg frame 2 far away from the waist frame 1 and is used for fixing with the leg of the wearer, and the leg fastening support plate 5 is arranged in an arc shape matched with the leg and is connected to the leg of the wearer in a surrounding manner through a connecting band.

Like this, when the different wearers' of needs adaptation shank length, the total length of shank skeleton 2 can be adjusted to the length that only needs to change above-mentioned regulation section, easily dresses fast to the great different users of adaptation height difference.

Of course, in order to adapt to the leg length of different wearers, the adjustment section may be provided with a variety of different length dimensions, and by replacing the adjustment sections of different dimensions, a quick adjustment of the length of the leg armature 2 may be achieved.

In order to achieve fine adjustment of the width of the leg frame 2, the above-mentioned telescopic links 30 are further included in the plurality of links constituting the leg frame 2, and the overall length of the leg frame 2 can be changed to a small extent by adjusting the length of the telescopic links 30.

It should be noted that the chain links forming the waist frame 1 or the leg frame 2 may be made of metal or engineering plastic, and have better rigidity and connection strength, which is beneficial to ensuring the stability and lightness of the structure.

Of course, in some other embodiments, as shown in fig. 3, the leg frame 2 may be provided as a rod-like structure, and the leg frame 2 is extended along the leg of the wearer, so that one end of the rod-like structure is rotatably connected to the waist frame 1, and the other end is connected to the leg fastening plate 5, so that the rod-like structure is low in cost and easy to implement.

Wherein, the one end that waist skeleton 1 was kept away from to bar-shaped structure is provided with the right angle and buckles, and this right angle is buckled and is rotationally connected through the structure of axle and axle sleeve between the shank fastening layer board 5 to the different leg types of adaptation.

Here, the rod-shaped structure can be directly formed by bending a metal pipe, and the cost is lower.

In some embodiments, the actuator of the hip-assisted exoskeleton is configured as a rope-driven actuator 4, the rope-driven actuator 4 comprises a rotating part, a driving part 41 and a rope-driven mechanism, wherein the rotating part and the driving part 41 are both connected with the waist skeleton 1, when the exoskeleton is worn, the rotating part is located at the hip joint position of the wearer, and the driving part 41 is located at a position far away from the hip joint of the wearer, specifically, the hip joint position or the back; rope drive structure connects between the output of rotation portion and driving piece 41, transmits the kinetic energy of driving piece 41 for rotation portion through rope drive mechanism to form the rotation of rotation portion, and then drive shank skeleton 2 through rotation portion and rotate for waist skeleton 1.

With the arrangement, the leg framework 2 is driven to rotate relative to the waist framework 1 by the rotating part arranged at the hip joint position of the wearer, and the main driving piece 41 is arranged at the position far away from the hip joint of the wearer, so that the actuator structure at the hip joint position of the wearer is simplified, the width of the hip joint position is reduced, the wearing concealment is improved, and the walking swing arm of the wearer can be prevented from being blocked.

In particular, the drive 41 is provided as a servomotor for the controlled adjustment of the speed of rotation.

As shown in fig. 2, a fixing seat 6 is disposed on the waist frame 1, a first portion of the fixing seat 6 is connected to the waist frame 1 and located at the waist of the wearer, and a second portion of the fixing seat 6 extends to the hip joint position of the wearer to provide a connection position for the rotation portion and the leg support.

As shown in fig. 9, the rope transmission mechanism includes a driving winch 42, a leg winch 43, a sleeve 44 and a transmission rope 45, the driving winch 42 is connected to the output end of the driving member 41 and is driven by the driving member 41 to rotate; the leg winch 43 is rotatably connected to the second part of the fixed seat 6, and the rotating part is formed on the leg winch 43; the sleeve 44 is positioned between the leg winch 43 and the driving winch 42 and is fixed, and particularly can be fixed on the fixed seat 6 or the waist framework 1; drive rope 45 wears to establish in sleeve pipe 44, drive rope 45 be the annular and with respectively with drive capstan 42 and shank capstan winch 43 coiling be connected, through drive rope 45's linkage effect to make drive capstan winch 42 rotate and to drive shank capstan winch 43 and rotate, and then make shank skeleton 2 rotate for waist skeleton 1.

Thus, the distance between the rope transmission mechanism and the leg winch 43 is not required to be constant, the requirement on wearing is not high, and the rope transmission mechanism is beneficial to free and flexible movement after being worn by a wearer.

Here, the driving winch 42 and the leg winch 43 are each provided with a housing outside, and two bushings 44 are fixed between the housings.

Of course, in some other embodiments, as shown in fig. 3, the actuator may also be configured as a direct drive actuator 3, the direct drive actuator 3 is fixed to the waist frame 1 and is located at the hip joint of the wearer after being worn, and the output end of the direct drive actuator 3 is in transmission connection with the leg frame 2, so that a large number of transmission structures can be reduced in the form of direct drive, and the structural stability can be improved.

Here, the direct drive actuator 3 may be provided as a servomotor.

Of course, the direct drive actuator 3 may comprise both active and passive devices, such as other forms of electrically actuated elements, hydraulic or pneumatic devices, springs, etc.

In some embodiments, the hip joint assisting exoskeleton further comprises a bearing framework 8, when the exoskeleton is worn, the bearing framework 8 is hung on the shoulders of a wearer and connected with the waist framework 1 to transfer part of the weight to the shoulders, and the stress on the waist of the wearer is reduced through the stress on the shoulders, so that the use comfort of the wearer is improved.

Specifically, as shown in fig. 10, the back frame 8 is provided as a harness.

The outer sides of the back frame 8 and the waist frame 1 are provided with a battery module, an electric control module, or the like.

It should be noted that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like as used herein, are intended to indicate an orientation or positional relationship relative to that shown in the drawings, but are merely used to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be considered limiting. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description herein, it is also noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments. The multiple schemes provided by the application comprise basic schemes of the schemes, are independent of each other and are not restricted to each other, but can be combined with each other under the condition of no conflict, so that multiple effects are achieved together.

While embodiments of the present application have been shown and described above, it is to be understood that the above embodiments are exemplary and not to be construed as limiting the present application, and that changes, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. The hip joint assisting exoskeleton is characterized by comprising a waist framework (1) for encircling the waist of a wearer, wherein the waist framework (1) is in an annular shape which can be bent along the length direction of the waist framework and is limited to be bent along the width direction of the waist framework; the waist frame (1) comprises a first connecting part and a second connecting part, the end part of the first connecting part is detachably connected with the end part of the second connecting part through a buckle structure, the size of an area enclosed by the waist frame (1) can be adjusted by changing the length of the first connecting part or the second connecting part, the waist frame further comprises a leg frame (2) which is rotatably connected with the waist frame (1) and used for driving the legs of a wearer to move, the leg frame (2) is of a strip-shaped chain link structure which can be bent along the length direction of the leg frame and is limited to be bent along the width direction of the leg frame, and the leg frame (2) extends along the legs of the wearer; the chain link structure comprises a conventional chain link (10) and at least two quick release chain links (20), the length of the chain link structure is adjusted by replacing the number of the conventional chain links (10) between two adjacent quick release chain links (20), and the snap-fit structure is formed on the quick release chain links (20); the chain link structure further comprises an expansion chain link (30), wherein the expansion chain link (30) comprises a first sliding part (31), a second sliding part (32) connected with the first sliding part (31) in a sliding mode and a limiting part used for limiting the relative sliding of the first sliding part (31) and the second sliding part (32), and the length of the expansion chain link (30) is adjusted by adjusting the relative position of the first sliding part (31) and the second sliding part (32) through the limiting part.

2. The hip-assisted exoskeleton of claim 1 wherein said lumbar skeleton is provided as said link structure; or the waist skeleton is arranged into a semi-surrounding chain structure, and the semi-surrounding chain structure comprises a chain section and an elastic section.

3. The hip-assisted exoskeleton of claim 1, further comprising a rope-driven actuator (4) for driving a leg skeleton (2) to rotate relative to the waist skeleton (1), the rope-driven actuator (4) comprising a rotating part connected to the waist skeleton (1) and located at a hip joint of the wearer, a driving part (41) connected to the waist skeleton (1) and located away from the hip joint of the wearer, and a rope-driven mechanism drivingly connected between the rotating part and a driving end of the driving part (41).

4. The hip-assisted exoskeleton of claim 3, wherein the rope transmission mechanism comprises a driving capstan (42) disposed at the output end of the driving member (41), a leg capstan (43) formed at the rotating portion, a sleeve (44) fixed between the leg capstan (43) and the driving capstan (42), and a transmission rope (45) inserted in the sleeve (44), wherein the transmission rope (45) is ring-shaped and is connected with the driving capstan (42) and the leg capstan (43) in a winding manner.

5. The hip joint assistance exoskeleton of claim 1, further comprising a backpack skeleton (8), wherein the backpack skeleton (8) is connected to the waist skeleton (1) and can be carried on the shoulders of the wearer.

6. The hip-assisted exoskeleton of claim 1, further comprising a leg skeleton (2) rotatably connected to the waist skeleton (1) for moving the legs of the wearer, wherein the leg skeleton (2) is configured as a rod-like structure and extends along the legs of the wearer.

7. The hip joint assisting exoskeleton as claimed in claim 1, further comprising a direct drive actuator (3) for driving a leg framework (2) to rotate relative to the waist framework (1), wherein the direct drive actuator (3) is fixed with the waist framework (1) and is located at a hip joint of a wearer, and an output end of the direct drive actuator (3) is in transmission connection with the leg framework (2).