CN115721519A

CN115721519A - Hip joint moving mechanism and exoskeleton system

Info

Publication number: CN115721519A
Application number: CN202110983113.8A
Authority: CN
Inventors: 李建; 关文江; 齐关宇; 王智锋; 黄勇
Original assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Current assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Priority date: 2021-08-25
Filing date: 2021-08-25
Publication date: 2023-03-03

Abstract

The invention discloses a hip joint moving mechanism and an exoskeleton system, which relate to the technical field of rehabilitation equipment and comprise a base, a hip abduction arm and a guide rail, wherein the guide rail is slidably arranged in the base; the first hip joint moving component is rotationally connected with the hip abduction arm and limits a first rotation axis; the second hip joint moving component is rotationally connected with the first hip joint moving component and limits a second rotation axis; the leg assembly is rotationally coupled to the second hip joint moving member and defines a third axis of rotation; the first rotation axis and the third rotation axis are both located on the first plane, and are kept perpendicular to each other in a state that no external force is applied. Through the reasonable connection layout among the components, multidirectional movement freedom is provided for hip joints of lower limbs of a wearer, movement compatibility is improved, limitation on the movement of the hip joints of the wearer is reduced, rehabilitation gait is more natural, and rehabilitation effect of the wearer when the exoskeleton system is worn is improved.

Description

Hip joint moving mechanism and exoskeleton system

Technical Field

The invention relates to the technical field of rehabilitation equipment, in particular to a hip joint moving mechanism and an exoskeleton system.

Background

In order to reduce the burden of a rehabilitation teacher in a rehabilitation department in rehabilitation clinic, the rehabilitation of a patient is assisted and guided by various rehabilitation machines and instruments, a rehabilitation exoskeleton is a common rehabilitation training device, and in the wearing training process, certain power assistance or resistance is provided for the patient during limb movement of the patient so as to improve the rehabilitation effect.

The existing hip joint exoskeleton module has a relatively simple structure, human hip joints have 3 degrees of freedom (flexion/extension, abduction/adduction, internal rotation/external rotation), the existing hip joint exoskeleton cannot be completely compatible with the movement of the hip joints with 3 degrees of freedom, and a wearer can be bound to the existing hip joint exoskeleton module in natural movement.

The hip joint exoskeleton which needs to realize movement with 3 degrees of freedom has a relatively complex structure, is inconvenient for a patient to wear, has a relatively complex wearing process, reduces the wearing efficiency of the patient, and can cause serious wearing discomfort to the patient.

Disclosure of Invention

One of the purposes of the embodiment of the invention is that: the hip joint moving mechanism is provided, and the movement of the hip joint of the lower limb of a human body in three freedom directions is met through reasonable joint freedom degree layout, so that the problems in the prior art are solved.

The second purpose of the embodiment of the invention is: the exoskeleton system meets the requirements of the movement of hip joints and lower limbs of a wearer in different freedom directions on the basis of the above, so that the rehabilitation support of the wearer in the rehabilitation process is improved.

In order to achieve one of the purposes, the invention adopts the following technical scheme:

in one aspect, a hip joint motion mechanism is provided, comprising a base defining a guide track; a hip abduction arm slidably arranged on the guide rail and selectively locked on the current position of the guide rail; a first hip joint moving component, the first end of which is rotationally connected with the hip abduction arm and limits a first rotation axis and is used for providing abduction and adduction freedom degrees for the hip joint; a second hip joint moving member, which is rotatably connected with the second end of the first hip joint moving member and defines a second rotation axis for providing the hip joint with the freedom of movement in and out of rotation; a leg assembly rotationally coupled to the second hip joint motion member and defining a third axis of rotation for providing flexion and extension freedom of motion to the hip joint; the first rotation axis and the third rotation axis are both located on a first plane, and are perpendicular to each other when no external force is applied.

In order to achieve the second purpose, the invention adopts the following technical scheme:

in another aspect, there is provided an exoskeleton system comprising a waist assembly and a foot assembly, and further comprising a hip joint movement mechanism as described above, wherein the waist assembly is disposed on the base, and the end of the leg assembly remote from the second hip joint movement member is movably connected to the foot assembly via an ankle joint assembly.

The beneficial effects of the invention are as follows: the hip joint moving mechanism moves back and forth relative to the base through the hip abduction arm, so that the waist width size of a wearer can be adjusted, the hip joint moving mechanism is suitable for the wearers with different sizes, the base can be always kept at the central position of the body of the wearer in the wearing process of the wearer, and the stable wearing of the exoskeleton system is ensured;

through reasonable joint freedom degree connection layout among the hip abduction arm, the first hip joint moving component, the second hip joint moving component and the leg component, a first rotation axis, a second rotation axis and a third rotation axis are respectively defined, so that the motion freedom degrees in three directions are provided for the hip joint of the lower limb of a wearer, the motion compatibility is improved, the limitation on the hip joint motion of the wearer is reduced, and the wearing motion comfort is improved;

the first rotation axis and the third rotation axis are arranged on the first plane, and are kept perpendicular to each other in a state without external force application, so that the first rotation axis is kept to be superposed with the abduction/adduction rotation axis of a hip joint of a wearer in a wearing state of the exoskeleton system, and the third rotation axis is kept to be superposed with the flexion/extension rotation axis of the hip joint of the wearer, the matching degree of the exoskeleton system and limbs of the wearer is improved, a rehabilitation gait is more natural, and the rehabilitation effect of the wearer is finally improved.

Drawings

The invention is explained in more detail below with reference to the figures and examples.

FIG. 1 is a schematic view of the overall structure of a hip joint movement mechanism according to an embodiment of the present invention;

FIG. 2 is a second schematic view of the overall structure of the hip joint moving mechanism according to the embodiment of the present invention;

FIG. 3 is a front view of the hip joint motion mechanism according to the embodiment of the present invention;

FIG. 4 is a right side view of the hip joint motion mechanism according to the embodiment of the present invention;

FIG. 5 is an exploded view of the hip joint articulating mechanism according to the embodiment of the present invention;

FIG. 6 is an exploded view of a second embodiment of the present invention showing the installation of the hip joint movement mechanism;

FIG. 7 is a schematic view of an assembly structure of an embodiment of the present invention showing a locking driving member mounting manner;

FIG. 8 is a schematic view of an assembly structure of the transmission assembly according to the embodiment of the present invention;

FIG. 9 is a schematic diagram illustrating the positional relationship between the locking member and the locking driving member in a locked position according to the installation method of the embodiment of the present invention;

FIG. 10 is a schematic view of the position relationship between the locking member and the locking actuator in an unlocked position according to the embodiment of the present invention;

FIG. 11 is an exploded view of a second embodiment of the present invention;

FIG. 12 is a second exploded view of the hip joint moving mechanism according to the second embodiment of the present invention;

FIG. 13 is a schematic view of a second assembly structure of the transmission assembly according to the embodiment of the present invention;

FIG. 14 is a schematic view of the position relationship between the locking member and the locking driving member in a second locking position according to the embodiment of the present invention;

FIG. 15 is a schematic view of the relationship between the positions of the locking member and the locking driving member in the second unlocking position according to the embodiment of the present invention;

FIG. 16 is one of the exploded views of the hip abduction arm and the first hip joint moving member according to the embodiment of the present invention;

FIG. 17 is a second exploded view of the hip abduction arm and first hip joint movement member according to the present embodiment;

FIG. 18 is a schematic view of the assembly of the hip abduction arm and the first hip joint movement member according to the embodiment of the present invention;

FIG. 19 is one of exploded views of a first hip joint motion member and a second hip joint motion member according to an embodiment of the present invention;

fig. 20 is a second exploded view of the first and second hip joint movement members according to the embodiment of the present invention;

FIG. 21 is a schematic view of the assembly of a first hip joint mobility member and a second hip joint mobility member according to an embodiment of the present invention;

FIG. 22 is an exploded view of a second hip joint moving member and leg assembly according to an embodiment of the present invention;

figure 23 is a second exploded view of the second hip joint movement member and leg assembly according to the embodiment of the present invention;

fig. 24 is a schematic view of a wearing state of the exoskeleton system according to the embodiment of the invention;

fig. 25 is a second schematic view illustrating a wearing state of the exoskeleton system according to the embodiment of the present invention.

In the figure: 10. a base; 11. a guide rail; 12. a limit stop; 13. a through hole; 14. mounting a disc; 141. a mounting cavity; 142. an installation table; 143. avoiding holes; 20. a hip abduction arm; 21. a shaft hole; 211. a stopper; 2111. an elastic anti-collision block; 22. a guide plate; 23. a guide slider; 24. an end cap; 25. a first card slot; 26. a fixed cover; 27. a second card slot; 30. a first hip joint movement member; 31. a first axis of rotation; 32. a drive shaft; 321. a limiting hole; 33. a first elastic restoring member; 34. a first support hole; 35. a movable groove; 351. a limiting groove; 36. a first connection section; 37. a second connection section; 40. a second hip joint movement member; 41. a second axis of rotation; 42. a movable shaft; 421. a sliding bearing; 422. a cushion block; 423. an inner sleeve; 43. a second support hole; 44. a second elastic resetting piece; 45. a movable block; 451. a limiting block; 452. a second avoiding groove; 46. a cushion pad; 47. a fixed seat; 471. a boss; 472. pressing into blocks; 50. a leg assembly; 51. a third axis of rotation; 52. a first plane; 53. an arc-shaped slot; 54. a thigh bar assembly; 55. a shank rod assembly; 60. a transmission assembly; 61. a gear; 62. a rack; 63. a drive disc; 631. mounting holes; 632. a propping table; 70. a locking assembly; 71. a locking member; 711. a first locking portion; 72. locking the driving piece; 721. a second lock part; 722. a return torsion spring; 723. positioning pins; 724. a first avoiding groove; 725. a toggle pin; 726. a cam; 7261. a convex portion; 7262. a mating surface; 727. a deflector rod; 728. a tower spring; 80. a manipulation member; 81. a poking groove; 90. a joint module; 100. a waist feature; 200. an ankle joint component; 300. a foot component.

Detailed Description

In order to make the technical problems solved, technical solutions adopted, and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention are described in further detail below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. 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.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. 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 "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply 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.

As shown in fig. 1 to 4, in order to make the exoskeleton system more adaptive to hip joints and lower limb joints of a wearer and meet the activity requirements of different degrees of freedom of the hip joint part, the present embodiment provides a hip joint moving mechanism, which is intended to meet the wearing requirements of different widths of the hip joints of the wearer, improve joint components, and even match the exoskeleton system with limbs and joints of the wearer, so that the rehabilitation gait is more natural, and finally achieve the purpose of improving the rehabilitation effect of the wearer in the rehabilitation process.

As shown in fig. 5-6 and 11-12, the hip joint moving mechanism comprises a base 10, the base 10 is used as a supporting structure of the hip joint moving mechanism in the hip joint assembly, the inside of the supporting structure of the hip joint moving mechanism is processed with a guide rail 11, an outer guide rail 11 can also be installed inside the base 10, the guide rail 11 is respectively used for guiding two hip abduction arms 20, one end of each hip abduction arm 20 is matched with the guide rail 11 for realizing reciprocating movement on the base 10 and can be selectively locked on the current position on the guide rail 11 so as to adjust the distance between the two hip abduction arms 20, the base 10 and the two hip abduction arms 20 are both part of the hip joint assembly in the exoskeleton system, and the other ends of the hip abduction arms 20 extend towards the directions far away from each other for movably connecting with other parts of the hip joint assembly in the exoskeleton system.

The structure of the guide rail 11 may be a guide structure arranged along the length direction of the base 10, the two hip abduction arms 20 are both arranged on the guide rail 11, or may be two segments of split guide structures, the two segments of guide rails 11 are arranged at the two opposite ends of the base 10 along the same straight line at intervals, and the two hip abduction arms 20 are respectively arranged on the two segments of guide rails 11, so that the hip abduction arms 20 can reciprocate on the base 10 along the direction of the guide rails 11 to adapt to the waist width sizes of different wearers.

The hip joint moving mechanism and the exoskeleton system part are preferably made of metal materials, such as: the preferred mechanical strength that is higher for the aluminium material, aluminium alloy material, copper alloy material, iron material, stainless steel material, the structure possesses the section bar structure of certain resistance tangential moment of torsion ability to guarantee the support stability between two components, thereby promote its practicality, reliability and durability, of course, in order to let the ectoskeleton lightweight, some components also can be other hard material and/or carbon fiber material, also are favorable to hoist mechanism stability more. The exoskeleton system also comprises soft materials, the soft materials are generally used in a binding band structure in the exoskeleton system, so that a limb of a wearer can be worn in the exoskeleton system through the binding band structure, the soft materials can specifically adopt rubber (natural rubber or synthetic rubber can be selected as the rubber) which belongs to completely amorphous polymers, the soft materials are rich in elasticity at room temperature, can generate large deformation under the action of small external force, can recover the original shape after the external force is removed, and can improve the contact area with the limb (to-be-fixed part), thereby improving the stability and comfort of fixation. And a silica gel part (organic silica gel or inorganic silica gel can be selected) can be adopted, the silica gel has better chemical stability and better flexibility, and the contact area with limbs (to-be-fixed parts) can be increased, so that the stability and the comfort of fixation are improved. Or leather pieces can be used, and the leather is animal skin which is obtained by physical and chemical processing such as unhairing, tanning and the like and is denatured and not easy to rot. The leather is formed by tightly weaving natural protein fibers in a three-dimensional space, the surface of the leather is provided with a special grain surface layer, the grain surface layer has natural grains and luster, the hand feeling is comfortable, the leather has a better elastic deformation function, and the contact area between the leather and limbs (to-be-fixed parts) can be increased, so that the fixing stability and the comfort are improved.

The cross section of the base 10 in the embodiment is similar to a shape of' 20866, the guide rails 11 are arranged on two opposite inner side walls of the base 10 along the length direction, and the bottom and two ends of the base 10 are both open structures, so that the lower parts and two end parts of the two guide rails 11 are communicated with the outside through the open structures, and the hip abduction arms 20 can be embedded into the guide rails 11 from the two ends of the base 10, are in guiding fit with the guide rails 11, extend outwards from the bottom of the base 10 and are connected with other components in the hip joint assembly.

Specifically, since the two ends of the base 10 in the length direction are open in the embodiment, in order to prevent the hip abduction arm 20 from moving away from the base 10 in the direction limited by the guide rail 11 during the adjustment process after the assembly is completed, the two ends of the base 10 are opened with limit stops 12 to block the two ends of the guide rail 11, so that the hip abduction arm 20 can only slide back and forth in the range of the guide rail 11 between the two limit stops 12.

In order to improve the stability of the hip abduction arm 20 in the sliding process along the guide rail 11, a guide plate 22 having a shape matched with that of the guide rail 11 is arranged at one end of the hip abduction arm 20, which is used for being matched with the guide rail 11, the guide plate 22 and the hip abduction arm 20 can be integrally formed or detachably connected, the guide plate 22 in the embodiment is a rectangular plate-shaped structure, the guide plate 22 is in clearance fit with the guide rail 11 in the width direction and the thickness direction, so that a certain guide clearance is formed between the guide plate 22 and the guide rail 11, and further, guide sliders 23 are arranged on four corners of the guide plate 22, so that the guide plate 22 can be stably guided and matched with the guide rail 11 through the guide sliders 23.

The limit stop 12 and the guide slider 23 are preferably detachably connected to the base 10 and the guide plate 22, so as to facilitate replacement of the loss of the parts, and in this embodiment, the limit stop and the guide slider are connected by bolts, or other fasteners may be used instead of the bolts, or the limit stop and the guide slider are not limited to be connected by welding, bonding, or other connection methods.

Specifically, one end of the hip abduction arm 20, which is far away from the base 10, is configured to be rotatably connected to the first hip joint moving member 30, the hip abduction arm 20 and the first hip joint moving member 30 are rotatably connected through a moving structure, the moving structure between the two defines a first rotation axis 31, and in a wearing state of a wearer, the moving structure between the hip abduction arm 20 and the first hip joint moving member 30 is aligned with a rear side of the hip joint of the wearer.

As shown in fig. 16-17, in the present embodiment, the first hip joint moving member 30 includes a first connecting section 36 and a second connecting section 37, the first connecting section 36 is fixedly connected to one end of the second connecting section 37, the first connecting section 36 and the second connecting section 37 can be processed at one time to form an integrally formed connecting structure, or two members processed separately can be connected by welding, bonding, etc., the first end of the first hip joint moving member 30 is located at one end of the first connecting section 36 away from the second connecting section 37, the second end of the first hip joint moving member 30 is located at one end of the second connecting section 37 away from the second connecting section 37, further, after the first connecting sections 36 of the two first hip joint moving members 30 are connected to the hip abduction arms 20, the first connecting sections 36 extend in directions away from each other, and then extend horizontally in parallel directions to form an "L" -shaped structure, the first rotation axis 31 and the first connecting section 36 are perpendicular to each other, so that the two first hip joint moving members 30 are placed in an external space, and the hip joint space is defined by the bone abduction system 31 of the wearer, and the hip joint system can be worn in a state, so that the hip joint system can be worn freely worn, and the hip joint system can be worn.

The second end of the first hip joint moving member 30 is rotatably connected with the second hip joint moving member 40, a second rotation axis 41 is defined between the first hip joint moving member 30 and the second hip joint moving member 40, and in a wearing state of a wearer, a moving structure between the first hip joint moving member 30 and the second hip joint moving member 40 is aligned with a side of a hip joint of the wearer, and further, the second rotation axis 41 is arranged close to an external/internal rotation axis of the hip joint of the wearer as much as possible to provide an external and internal rotation freedom degree for the hip joint, it should be noted that for an exoskeleton system, the second rotation axis 41 is arranged inside the human body and is coincident with the external/internal rotation axis of the human body, which is obviously unsuitable, so that the scheme arranges the second rotation axis 41 as close to the external/internal rotation axis as possible, which is an approximate handling state, when the external/internal rotation angle of the wearer is not large, a wearing center of rotation and a small distance of the wearer are not large, and an arc-shaped connecting guide rail is not too large to facilitate the crossing of the external rotation and the exoskeleton system, so that the wearer can easily achieve the external and internal rotation freedom degree of the exoskeleton system is not too small.

As shown in fig. 19-20, in the present embodiment, the second hip joint moving member 40 includes a fixing seat 47 for rotatably connecting with the leg member and a rotating connection structure protruding from one side of the fixing seat 47, and the connection structure between the rotating connection structure and the second end of the first hip joint moving member 30 will be described in detail later herein, and will not be described in detail again here.

The fixing seat 47 is rotatably connected with the leg assembly 50, the leg assembly 50 comprises a thigh rod assembly 54 and a shank rod assembly 55, the thigh rod assembly 54 and the shank rod assembly 55 are respectively used for fixing with thighs and shanks of a wearer, the thigh rod assembly 54 and the shank rod assembly 55 are rotatably connected through a knee joint assembly to provide corresponding freedom of movement for knee joints of the wearer, the thigh rod assembly 54 is rotatably mounted on the fixing seat 47 to define a third rotation axis 51, in a wearing state of the wearer, a movable structure between the second hip joint movable component 40 and the leg component is aligned with the outer side of hip joints of the wearer, and further, the third rotation axis 51 is superposed with a hip joint flexion/extension rotation axis of the wearer, so that the third rotation axis 51 can be matched with the corresponding freedom of movement of a human body as much as possible to provide the flexion and extension freedom of movement for the hip joints.

Further, the first rotation axis 31 and the third rotation axis 51 can be defined as an X axis and a Y axis, and are located on the first plane 52, the second rotation axis 41 can be defined as a Z axis, and is perpendicular to the first plane 52, and a reset element is disposed between the hip-abduction arm 20, the first hip joint moving member 30, and the second hip joint moving member 40, so that the first rotation axis 31 and the third rotation axis 51 are perpendicular to each other in a state where no external force is applied, and it is ensured that the corresponding moving structures of the wearer are aligned with the joint rotation axes of the corresponding degrees of freedom of the human hip joint in a non-moving state.

As shown in fig. 5-8 and fig. 11-13, as a detailed description of the above general solution, the present hip joint moving mechanism further includes a transmission assembly 60, the transmission assembly 60 is movably disposed on the base 10 and is in transmission connection with the hip abduction arms 20, the base 10 is used as a supporting component of the transmission assembly 60 to prevent the transmission assembly 60 from being separated from the base 10 during the relative movement, the transmission assembly 60 is used as a transmission end and is in transmission connection with the hip abduction arms 20 through the base 10 as a fixed end to drive the hip abduction arms 20 to reciprocate within the stroke range defined by the guide rail 11, in this embodiment, the transmission assembly 60 is respectively in transmission connection with the hip abduction arms 20 and can drive the hip abduction arms 20 to reciprocate in the directions of approaching to and departing from each other, so as to achieve the effect of synchronously adjusting the waist width sizes of the left and the right sides, so that the base 10 can be always kept at the center of the body of the wearer in the wearing state, and the center of the body of the wearer can be kept stable, and the efficiency of adjusting the exoskeleton system and the need to be improved when the hip abduction arms 20 need to be adjusted independently.

As shown in fig. 5 to 15, in order to lock the hip-abduction arm 20 after adjusting the waist-width dimension, a locking assembly 70 is disposed between the transmission assembly 60 and the base 10, and the locking assembly 70 is used for locking the transmission assembly 60 to lock the hip-abduction arm 20 at the current position of the guide rail 11 or unlocking the transmission assembly 60 to enable the transmission assembly 60 to drive the hip-abduction arm 20 to move relative to the guide rail 11.

Here, the locking assembly 70 includes a locking member 71 and a locking driver 72, and the locking member 71 and the locking driver 72 have two installation manners respectively;

as shown in fig. 5-10, in a first installation manner, the locking member 71 is fixedly connected to the base 10, and the locking driving member 72 is disposed on the transmission assembly 60;

as shown in fig. 11-15, in the second installation mode, the locking member 71 is disposed on the transmission assembly 60 and can move synchronously with the transmission assembly 60, and the locking driving member 72 is movably disposed on the base 10.

The locking member 71 defines a first locking portion 711, the locking actuator 72 defines a second locking portion 721 cooperable with the first locking portion 711, the locking actuator 72 is movable relative to the transmission assembly 60 and has a locked position and an unlocked position;

in the locked position, the second locking portion 721 is locked and engaged with the first locking portion 711;

in the unlocked position, the second locking portion 721 is disengaged from the first locking portion 711;

the latch actuator 72 may be maintained in either a locked position or an unlocked position such that the transmission assembly 60 is maintained in a locked fixed or free-moving position relative to the base 10.

Through the structure, in the adjusting process of the hip abduction arm 20, a wearer or a rehabilitation technician can operate the locking driving piece 72 to unlock and lock the joint, the locking driving piece 72 can be kept in a locking position or an unlocking position, so that the adjustment can be completed by operating the driving assembly in the unlocking state, the hip abduction arm 20 is stably kept in a locking and fixing state, the stability in the exoskeleton adjusting process or the using process is improved, after the hip abduction arm 20 is unlocked, the relative distance between the two hip abduction arms 20 is adjusted through the operation transmission assembly 60, the operation steps in the exoskeleton size adjusting process are reduced, the operation process is simplified, the purposes of conveniently and quickly adjusting the hip joint part of the exoskeleton are achieved, the efficiency of the wearer wearing the exoskeleton system is finally improved, and the time consumption in the wearing and adjusting process is reduced.

As mentioned above, the transmission assembly 60 includes the gear 61 and the rack 62, the gear 61 specifically adopts the external gear 61, the gear 61 is rotatably disposed on the base 10, the base 10 only limits the axial degree of freedom of the gear 61, therefore, the gear 61 has the degree of freedom of rotation relative to the base 10, the middle portion of the base 10 is provided with the through hole 13 for supporting the rotating shaft at one end of the gear 61, the opposite ends of the gear 61 are both provided with the rotating shaft, the rotating shaft at one end of the gear 61 is fixed to the through hole 13 in a rotatable connection manner, so as to realize the support of one end of the gear 61, the lengths of the guide rails 11 located at both sides of the gear 61 and extending toward the end of the base 10 are consistent, and the adjustment stroke ranges of the two hip abduction arms 20 are the same. Matching with the scheme, in order to realize synchronous adjustment of the two hip abduction arms 20, the number of the racks 62 is the same as that of the hip abduction arms 20, of course, if the exoskeleton system is the hip abduction arm 20 only provided with one side, the number of the racks 62 can also be one, the racks 62 are parallel to the extension direction of the guide rail 11, are respectively arranged on two opposite sides of the gear 61 and are meshed with the gear 61, the two racks 62 are respectively and fixedly arranged on the two hip abduction arms 20, the locking driving piece 72 realizes locking or unlocking rotation of the gear 61 by being relatively fixed with the gear 61, and the gear 61 can be driven by the locking driving piece 72 to rotate forward or reversely, so that a transmission relation is generated between the racks 62, and the hip abduction arms 20 are driven to reciprocate in the directions close to or far away from each other along the guide rail 11.

Specifically, the locking assembly 70 is a ratchet mechanism, the locking member 71 is a ratchet, the first locking portion 711 is a ratchet disposed around the ratchet, and a central axis of the ratchet coincides with a rotation axis of the gear 61; the lock drive member 72 is a pawl engageable with the ratchet teeth, and the pawl has a second lock portion 721 at one end thereof, and is reciprocable between a locked position engaging the ratchet wheel and an unlocked position disengaging the ratchet wheel.

As shown in fig. 5 to 10, as a further scheme of the first installation mode, the locking member 71 is specifically an internal-tooth ratchet, the first locking portion 711 is a ratchet disposed around an inner circumferential surface of the internal-tooth ratchet, the internal-tooth ratchet is circular in an axial projection direction of the internal-tooth ratchet, and a fixing table is disposed on an outer circumference of the internal-tooth ratchet.

In a matching manner, the locking driving member 72 is embodied as a pawl capable of meshing with the ratchet teeth, a first end of the pawl is rotatably fixed relative to the gear 61, and a rotation axis of the pawl and a rotation axis of the gear 61 are staggered with each other, that is, the rotation axis of the pawl and the rotation axis of the gear 61 are eccentrically arranged, so that when the pawl is driven, the pawl can apply a tangential torque to the gear 61, so that the gear 61 rotates around the rotation axis thereof in a forward rotation or reverse rotation manner, a second end of the pawl is the second locking portion 721, and the first end of the second end of the pawl can be used as the rotation axis, so that the ratchet teeth selectively mesh with the ratchet teeth reaching the locking position or mesh with the ratchet teeth reaching the unlocking position.

As shown in fig. 11-15, as a further aspect of the second installation method, the locking member 71 is an external ratchet, the first locking portion 711 is a ratchet disposed around an outer circumferential surface of the external ratchet, the external ratchet is disposed coaxially with the gear 61, specifically, the external ratchet is perforated along an axis, the external ratchet is fixed on a rotating shaft at one end of the gear 61 away from the base 10 by a fixed sleeve, and achieves a synchronous rotation effect with the gear 61, when the external ratchet is locked and fixed by the locking driving member 72, the gear 61 is also unable to rotate, and therefore unable to generate a transmission relationship with the rack 62, the hip abduction arm 20 is locked at a current position of the guide rail 11, and when the external ratchet is disengaged from the locking driving member 72, the external ratchet loses fixation of external force, the gear 61 can move relative to the base 10 in a forward or reverse rotation direction, and thus generate a transmission relationship with the rack 62, and drive the hip abduction arm 20 to perform an adjustment movement.

In a matching manner, the locking driving member 72 is embodied as a pawl engageable with the ratchet, the pawl is disposed at a side portion of the external gear ratchet, a first end of the pawl is rotatably disposed on the base 10, a second end of the pawl is a second locking portion 721, and the second end of the pawl can be rotated with the first end thereof as a rotation axis, so that the pawl can be reciprocally swung between a locking position engaged with the ratchet and an unlocking position disengaged from the ratchet during swinging of the second end of the pawl.

In order to achieve an easy-to-operate effect of the transmission assembly 60, the hip articulation mechanism further comprises a handling member 80;

in the structural state of the first installation mode, the manipulation member 80 is in transmission connection with the locking driving member 72, the manipulation member 80 in this embodiment may be movably disposed on the transmission assembly 60 and in transmission connection with the locking driving member 72, so that the structural arrangement of components in the mechanism is more compact, the space occupied by the joint assembly is reduced, the wearer is prevented from being swollen after wearing the mechanism, and the wearer can move freely during the movement process, an operation portion convenient for the user to drive and operate is defined on the manipulation member 80, the manipulation member 80 drives the locking driving member 72 to reciprocate between the locking position and the unlocking position through the operation of the manipulation member 80, and when the locking driving member 72 is in the unlocking position, the manipulation member 80 continuously applies an acting force moving towards the unlocking position to the locking driving member 72 so that the locking driving member 72 drives the transmission assembly 60 to move relatively, thereby driving the hip abduction arm 20 to move along the guide rail 11;

in the second installation mode, the operating member 80 is fixedly connected to the transmission assembly 60, so as to provide a user with an operating component for operating the transmission assembly 60 more conveniently, and the operating member 80 is driven to drive the transmission assembly to move the hip abduction arm 20 along the guide rail 11.

Specifically, since the pawls in the conventional ratchet mechanism can only limit the unidirectional locking positioning of the ratchet, and the ratchet can still have the freedom of unidirectional rotation after being engaged and locked with one pawl, in order to achieve simultaneous locking of the forward rotation and reverse rotation directions of the gear 61 in the locking position, two pawls are preferably used, and the two pawls are arranged on the side portions of the external gear ratchet in a mirror image manner, and both pawls are engaged with the ratchet in the locking position state, so as to limit the freedom of rotation of the forward rotation and reverse rotation of the gear 61, respectively, and keep the hip abduction arm 20 at the current position of the guide rail 11.

As a further alternative to the first installation method, as shown in fig. 5-10, a return torsion spring 722 is disposed between the lock driver 72 and the gear 61, and the return torsion spring 722 is used to continuously apply an elastic force to the lock driver 72, so that the lock driver 72 is pressed against the lock position by the return torsion spring 722 in a normal state where no external force is applied, and is continuously kept in the lock position, thereby ensuring the locking stability between the hip-abduction arm 20 and the base 10.

The center hole of the reset torsion spring 722 is sleeved on the positioning pin 723 between the pawl and the transmission assembly 60, torsion arms at two ends of the torsion spring respectively abut against the pawl and the transmission assembly 60, under the condition of no external force, the elastic acting force of the reset torsion spring 722 enables the pawl to be in contact with the internal tooth ratchet wheel, when the waist width dimension of the exoskeleton needs to be adjusted, the acting force applied to the control member 80 is enabled to be larger than the elastic acting force applied to the pawl by the reset torsion spring 722 by operating the control member 80, the pawl can rotate around the self rotation axis in the direction away from the ratchet, the reset torsion spring 722 is compressed, the ratchet and the ratchet are finally disengaged, further acting force is continuously applied to the control member 80, the pawl applies tangential acting force to the gear 61, the drive gear 61 rotates, the abduction arm 20 is driven to slide along the guide rail 11 by matching with the rack 62 hip, after adjustment is completed, the control member 80 is loosened, the acting force applied to the control member 80 disappears, the elastic acting force of the reset torsion spring 722 is larger than the acting force applied to the pawl by the control member 80, so that the reset torsion spring 722 is reset torsion spring, the pawl is finally drives the ratchet wheel 61 to be reengaged to the pawl, the ratchet wheel 61 and the ratchet wheel and the abduction arm 20, and the hip locking operation is completed, and the hip locking operation can be completed by only one-locking operation of the abduction arm 20.

In order to make the gear 61 more stable in the transmission process, the transmission assembly 60 further includes a driving disc 63, the outer peripheral shape of the driving disc 63 matches with the inner peripheral shape of the internal gear ratchet, a mounting hole 631 is formed in the center of the driving disc 63, the mounting hole 631 is fixedly sleeved at one end of the gear 61, so that the driving disc 63 and the gear 61 are coaxially disposed, two abutting tables 632 are respectively disposed on the driving disc 63, the abutting tables 632 are disposed at one side of the pawls, after the reset torsion spring 722 is mounted on the positioning pin 723, one torsion arm of the reset torsion spring 722 abuts against the abutting table 632, and the effect that the one torsion arm of the reset torsion spring 722 abuts against the transmission assembly 60 is achieved.

The driving disk 63 is rotatably engaged with the inner peripheral surface of the internal gear ratchet, so that the opposite ends of the gear 61 are respectively supported by the base 10 and the driving disk 63, thereby achieving the effect of stable rotation.

The positioning pin 723 is arranged on the driving disc 63 and is eccentrically arranged with the driving disc 63, the first end of the pawl is rotatably sleeved on the positioning pin 723, in order to enable the reset torsion spring 722 to be sleeved on the positioning pin 723 and apply elastic acting force to the pawl, the middle part of the first end of the pawl is provided with a first avoiding groove 724, the positioning pin 723 is partially exposed outside the pawl through the first avoiding groove 724, during installation, the reset torsion spring 722 passes through the first avoiding groove 724, and two ends of a central hole of the reset torsion spring 722 are opposite to through holes 13 of the pawl, which are located at two sides of the first avoiding groove 724, so that the reset torsion spring 722 can be sleeved on the positioning pin 723 together when the first end of the pawl is sleeved on the positioning pin 723.

The number of the positioning pins 723 matched with the pawls is two, and the distance between the two positioning pins 723 and the internal tooth ratchet wheel is consistent, so that the two pawls can swing between a locking position and an unlocking position.

Further, in order to allow the operating member 80 to smoothly apply a force to the pawl in the direction of the unlock position and allow the pawl to return and simultaneously drive the operating member 80 to return when the force on the operating member 80 is removed, a tumbler pin 725 is fixed to the pawl, the operating member 80 is provided with a transmission structure drivingly connected to the tumbler pin 725 so that the operating member 80 is drivingly connected to the pawl, and the tumbler pin 725 is provided near the second end of the pawl and is eccentrically provided from the dowel pin 723 so that the pawl can rotate around the dowel pin 723 when a torque is applied to the tumbler pin 725, and finally the second lock 721 is driven to swing back and forth between the lock position and the unlock position.

When the control member 80 is operated, the transmission structure on the control member 80 can apply a certain acting force to the toggle pin 725, so that the toggle pin 725 drives the pawl to move from the locking position to the unlocking position, and the unlocking is realized after the limit position between the toggle rod and the transmission structure is reached, in this state, the transmission structure continues to push the toggle pin 725 by further applying an acting force to the control member 80, so that the toggle pin 725 applies an acting force to the positioning pin 723 through the pawl to drive the driving disc 63 to rotate, and finally the forward rotation or the reverse rotation of the gear 61 is realized. Upon release of the operating member 80, the return torsion spring 722 pushes against the pawl to return to the locked position, during which the toggle pin 725 pushes against the operating member 80 to return via the transmission structure on the operating member 80.

The control member 80 is arranged coaxially with the gear 61 and can rotate relative to the gear 61, a toggle groove 81 is formed in the control member 80 to form the transmission structure, a toggle pin 725 is in clearance fit with the toggle groove 81 and can move within a stroke range limited by the toggle groove 81, and the toggle groove 81 is used for pushing the toggle pin 725 to enable the pawl to move from the locking position to the unlocking position when the adjusting knob rotates.

As shown in fig. 11-15, as a further alternative of the second installation method, a tower spring 728 is disposed between the base 10 and the pawl serving as the locking driver 72, and both ends of the tower spring 728 for applying elastic force respectively abut against the locking driver 72 and the base 10, and is used for continuously applying elastic force tending to the locking position to the locking driver 72, so that the locking driver 72 is kept in the locking position in the normal state, and is continuously kept in the locking position, and the locking stability between the hip abduction arm 20 and the base 10 is ensured.

When the waist width of the exoskeleton needs to be adjusted, the locking driving piece 72 is operated to enable the acting force applied to the control component 80 to be larger than the elastic acting force applied to the pawl by the tower spring 728, the pawl can rotate around the rotation axis of the pawl in the direction away from the ratchet, the tower spring 728 is compressed, finally the ratchet is disengaged from the ratchet, in this state, a certain acting force is applied to the control component 80 to enable the control component 80 to drive the gear 61 to rotate, the hip abduction arm 20 is driven by the matching rack 62 to slide along the guide rail 11, after the adjustment is completed, the locking driving piece 72 is released, the acting force applied to the locking driving piece 72 disappears, the elastic acting force of the tower spring 728 is larger than the acting force applied to the pawl by the control component 80, so that the tower spring 728 resets, the pawl is finally pushed to be reengaged to lock the gear 61 and the hip abduction arm 20, the locking is completed, the stable meshing of the pawl and the locking from the unlocking position to the locking position can be saved when a user operates the pawl to be stably meshed.

In order to make the ratchet more stable in the swinging process and further improve the compactness of the whole mechanism, a mounting plate 14 is arranged between the base 10 and the locking driving piece 72, the mounting plate 14 is specifically and fixedly mounted at the lower part of the base 10, in the embodiment, the outer edge of the mounting plate 14 is bent towards the direction far away from the base 10, so that a mounting cavity 141 which is open towards one end far away from the base 10 is formed inside the mounting plate 14, the locking member 71 and the locking driving piece 72 are at least partially arranged in the mounting cavity 141, an avoiding hole 143 is formed in the center of the mounting plate 14, and a rotating shaft at one end, far away from the base 10, of the gear 61 movably penetrates through the avoiding hole 143 in the mounting plate 14 and then is connected with the locking member 71.

The mounting table 142 is formed between the cavity wall of the mounting cavity 141 and the locking driving member 72, in order to match with the scheme that the number of the pawls is two, the two mounting tables 142 are arranged oppositely, a circular groove is formed in the surface of the mounting table 142, the end with the larger diameter of the tower-shaped spring 728 is embedded in the groove, the end with the larger diameter of the tower-shaped spring 728 is abutted against the surface of the pawl, the pawl is used for one side abutted against by the tower-shaped spring 728, and the circular groove is also formed for the tower-shaped spring 728 to be embedded and fixed.

The two pawls are disposed between the two mounting platforms 142, and the two tower springs 728 are disposed on the sides of the two pawls, which are away from each other, respectively, and the ratchet wheel is disposed between the two pawls, so that the tower springs 728 respectively abut against the two pawls in the direction approaching to each other, and abut against the ratchet of the ratchet wheel to be in the locking position. When the pawls need to disengage from the ratchet, the second ends of the two pawls are swung in the direction away from each other to compress the tower-shaped spring 728, and finally the second locking portion 721 is disengaged from the first locking portion 711, and at this time, the two pawls can be swung in the direction away from or close to each other synchronously by providing a corresponding driving member between the two pawls, and the positioning structure is provided at the unlocking position away from each other, so that the pawls can be kept stable at the unlocking position, and the adjustment of the hip abduction arm 20 is facilitated.

Between the two pawls, a cam 726 is provided, and the cam 726 is rotatably provided on the base 10, specifically, in the mounting cavity 141 formed by the mounting plate 14 and is rotatably connected to the mounting plate 14.

The cam 726 and the elastic restoring member are respectively disposed at two opposite sides of the pawl, and can abut against the pawl in a direction away from the ratchet wheel during rotation, so that the second locking portion 721 moves in the direction of the unlocking position, and is finally disengaged from the first locking portion 711.

In order to facilitate the operation of the cam 726, a rod 727 is further disposed on the cam 726, one end of the rod 727 is connected to the cam 726 for driving the cam 726 to rotate around its rotation axis, and the other end of the rod 727 extends towards the outside of the cam 726.

In order to correspond to the scheme that the number of the pawls is two, the cam 726 is arranged between the two pawls, the outer peripheral surface of the cam 726 is oppositely provided with two protrusions 7261, so that the cam 726 forms a mirror symmetry shape in the axial projection direction, when the cam 726 rotates to the pawl unlocking position, the two protrusions 7261 respectively abut against two opposite pawl surfaces, so that the two pawls are respectively abutted by the two protrusions 7261 and swing towards the direction away from each other to be disengaged with the ratchet wheel, and when the cam 726 rotates to the pawl unlocking position, the protrusions 7261 of the cam 726 do not abut against the pawl surfaces, so that the pawls swing towards the direction close to each other to be engaged with the ratchet wheel.

In order to prevent the cam 726 from rotating around its rotation axis to cause the protrusion 7261 to disengage from the pawl and finally cause the pawl to return to the locked position from the unlocked position when the protrusion 7261 is in abutting engagement with the pawl, the surface of the protrusion 7261 is formed with a mating surface 7262 having a shape matching with the pawl, when the pawl is completely in contact with the mating surface 7262, the pawl is maintained in the unlocked position, the pawl can be stably in abutting engagement with the mating surface 7262, the pawl can abut against the mating surface 7262, so that the cam 726 cannot continue to rotate without applying other external force, and the pawl is stably maintained in the unlocked position, in this embodiment, the mating surface 7262 and the surface of the ratchet for abutting engagement with the protrusion 7261 are both in a planar structure.

As shown in fig. 16-23, further description of the connection relationship of the other components of the hip joint assembly; a transmission shaft 32 and a shaft hole 21 matched with the transmission shaft 32 are arranged between the hip abduction arm 20 and the first hip joint moving component 30;

in this embodiment, the shaft hole 21 between the hip abduction arm 20 and the first hip joint moving member 30 has two setting modes, respectively, a shaft hole 21 is formed at one end of the hip abduction arm 20 far away from the base 10, and a transmission shaft 32 is arranged at the first end of the first hip joint moving member 30; and a transmission shaft 32 is arranged at one end of the hip abduction arm 20 far away from the base 10, and a shaft hole 21 is formed at a first end of the first hip joint moving component 30.

In order to restore the first hip joint moving member 30 to a zero position in a state where no external force is applied, a first elastic restoring member 33 is disposed between the hip abduction arm 20 and the first hip joint moving member 30, such that the first plane 52 is parallel to the base 10 and the thigh of the wearer is in an upright or sitting state, and a certain supporting force is provided for the thigh of the wearer, one end of the first elastic restoring member 33 is fixed to the hip abduction arm 20, and the other end of the first elastic restoring member 33 is fixed to the first hip joint moving member 30, so as to keep the first plane 52 and the base 10 parallel to each other in a state where no external force is applied to the first hip joint moving member 30, and the first elastic restoring member 33 applies a restoring elastic acting force to the hip abduction arm 20 and the first hip joint moving member 30, and when the hip joint of the wearer moves in the abduction/adduction directions, the first elastic restoring member 33 can apply an elastic acting force to the wearer in the opposite movement direction, so that the wearer can apply a certain restoring force to the hip abduction arm 20 and the first hip joint moving member 30, and the wearer can provide a certain supporting force for the wearer to help the wearer to walk, and to balance the lower limb of the wearer, and provide a certain supporting force for the wearer.

Specifically, the end of the drive shaft 32 is provided with an end cap 24 by bolting, and the end cap 24 has a diameter slightly larger than the shaft hole 21 at the end of the hip-abduction arm 20, so as to prevent the first hip joint movement member 30 from coming off the hip-abduction arm 20. The end cap 24 is formed with a sleeve shaft having a similar structure to the transmission shaft 32 so as to allow the end cap 24 and the first hip joint moving member 30 to rotate in the abduction/adduction directions in synchronization, the first elastic restoring member 33 is preferably a torsion spring which is sleeved outside a sleeve of the end cap 24, the hip abduction arm 20 is provided with a first catching groove 25 for catching a torsion arm at one end of the first elastic restoring member 33, one end of the first elastic restoring member 33 is caught in the catching groove of the hip abduction arm 20, one end of the sleeve, which is far from the first hip joint moving member 30, is fixedly provided with a fixing cap 26, the fixing cap 26 is rotatable in synchronization with the end cap 24 and the first hip joint moving member 30, a diameter of the fixing cap 26 is larger than that of the first elastic restoring member 33 so as to axially confine the first elastic restoring member 33 between the end cap 24 and the fixing cap 26, the fixing cap 26 is provided with a second catching groove 27 for catching a torsion arm at the other end of the first elastic restoring member 33, and the other end of the first elastic restoring member 33 is caught in the second catching groove 27, thereby forming the first elastic restoring member 33 as the first hip joint moving member 30 and the hip joint moving member 20.

The structure formed by the above description is that the first hip joint moving member 30 can rotate around the shaft hole 21 of the hip abduction arm 20 within a certain angle range through the transmission shaft 32, the first elastic restoring piece 33 provides a positive or negative torque force for the first hip joint moving member 30 to drive the first hip joint moving member to restore to the zero position after the movement, and the restoring force can provide partial supporting and stabilizing effects for the wearer of the exoskeleton system and can also apply a certain resistance to the lower limb during the movement process, so that the muscle of the lower limb can be more fully moved.

In order to limit the movement of the lower limbs of the wearer within a certain range, avoid the hip joint from further damage caused by the over-range movement, and enable the joint to move within the range allowed by the rehabilitation movement, the limiting part 211 is convexly arranged on the inner wall surface of the shaft hole 21, and the limiting hole 321 is arranged on the outer peripheral surface of the transmission shaft 32.

The limiting member 211 is at least partially disposed in the limiting hole 321, and in the rotation direction of the transmission shaft 32, the size of the limiting hole 321 is larger than that of the limiting member 211, so that the limiting member 211 can reciprocate within the stroke range defined by the limiting hole 321, and when the first hip joint moving member 30 is at the zero position, the limiting member 211 is located in the middle of the limiting hole 321, so that the abduction/adduction moving angles of the first hip joint moving member 30 are consistent. When the first hip joint moving member 30 moves in the abduction/adduction direction, the limiting piece 211 is in a relatively static state, the limiting hole 321 moves along with the first hip joint moving member 30 and generates relative movement with the limiting piece 211, when the first hip joint moving member 30 moves to a certain angle, the end of the limiting hole 321 is abutted against the limiting piece 211, and at the moment, the first hip joint moving member 30 cannot move continuously in the current direction, so that the limiting is realized.

Specifically, the limiting part 211 may be a pin bolt, a thread section of the pin bolt is in threaded connection with the shaft hole 21 of the hip abduction arm 20, a polished rod section of the pin bolt protrudes out of the shaft hole 21 and is arranged in the limiting hole 321, an elastic anti-collision block 2111 is sleeved on the polished rod section of the pin bolt, when the first hip joint moving member 30 moves, the polished rod section of the pin bolt is responsible for abutting and limiting the limiting hole 321, and the elastic anti-collision block 2111 is sleeved on the polished rod section of the pin bolt, so that stress generated by collision between the limiting hole 321 and the pin bolt can be reduced when the polished rod section abuts against the hole wall of the limiting hole 321, thereby forming protection for joint members of the external skeletal system, and also reducing vibration generated by collision between the joint members to a wearer, and protecting limbs of the wearer.

In any state of the hip joint moving member the second axis of rotation 41 is perpendicular to the first plane 52, ensuring that the second axis of rotation 41 can match the hip external/internal revolute joint axis.

Between the first and second hip joint moving members 30, 40 a movable shaft 42 is arranged, the axis of rotation of the movable shaft 42 being defined as a second axis of rotation 41. Since the second end of the first hip joint moving member 30 and the second hip joint moving member 40 need to be processed into a relatively small-sized member structure in order to achieve the light weight of the exoskeleton system, directly processing the shaft hole 21 structure between the first hip joint moving member 30 and the second hip joint moving member 40 provides a certain processing difficulty and also reduces the connection stability between the two, and therefore, it is more appropriate to movably connect the two by using the movable shaft 42. In order to allow the first and second hip

joint moving members

30 and 40 to rotate about the movable shaft 42, the first and second hip

joint moving members

30 and 40 have a first support hole 34 formed therethrough at the second end thereof, the second hip joint moving member 40 has a second support hole 43 formed therethrough, the first and second support holes 34 and 43 preferably have the same diameter, and the movable shaft 42 is fitted into the first and second support holes 34 and 43 and movably inserted into the first and second support holes 34 and 43 so that the second hip joint moving member 40 can pivot about the second rotation axis 41 relative to the first hip joint moving member 30.

In order to return the first and second hip joint moving members 30 and 40 to the zero position in a state where no external force is applied, as described above, a second elastic returning element 44 is provided between the first and second hip joint moving members 30 and 40, thus, the second hip joint moving members 40 on both sides can be maintained in a state of being parallel to each other, respectively aligned with both sides of the hip joint of the wearer, under the state, the front sides of the two legs of the wearer face in the same direction, the wearer is ensured to be kept under the limb state required by the exoskeleton system, and provides a certain supporting force to prevent the lower limbs of the wearer from excessively rotating inwards or outwards to form an inner eight posture or an outer eight posture, one end of a second elastic resetting piece 44 is fixed on the first hip joint moving component 30, the other end of the second elastic resetting piece 44 is fixed on the second hip joint moving component 40, for keeping the third rotation axis 51 perpendicular to the first rotation axis 31, in this state, the third axes of rotation 51 on either side of the exoskeleton system coincide, and the second elastic restoring member 44 exerts a restoring elastic force on the first and second hip joint moving members 30 and 40, when the hip joint moves along the outward/inward rotation direction in the wearing state of the wearer, the second elastic reset piece 44 can apply reverse elastic acting force to the movement direction of the hip joint, apply certain resistance to the limbs of the wearer, improve the rehabilitation effect in the rehabilitation movement process, provide certain supporting force for the wearer, under the condition that the lower limbs of the wearer are not powerful enough, the body of the wearer is assisted to keep balance, and the wearer has enough capacity to walk and stand by himself.

Specifically, the connection structure between the first hip joint movement member 30 and the second hip joint movement member 40 has two setting modes, each setting is that the second end of the first hip joint movement member 30 is provided with an open movement groove 35, the opening direction of the movement groove 35 is the direction far away from the first hip joint movement member 30, the upper end and the lower end of the movement groove 35 are respectively communicated with the first support hole 34, the second hip joint movement member 40 is provided with a movement block 45 matched with the movement groove 35, and the second support hole 43 is communicated with the movement block 45; a second end of the first hip joint moving member 30 is provided with a moving block 45, and the first support hole 34 penetrates the moving block 45; the second hip joint movement member 40 is provided with an open movement groove 35, the opening direction is the direction in which the second hip joint movement member 40 is far away from the fixed seat 47, and the upper end and the lower end of the movement groove 35 are respectively communicated with the second support holes 43.

In the present embodiment, an open movable groove 35 is provided at the second end of the first hip joint moving member 30, the opening direction of the movable groove 35 is a direction away from the first hip joint moving member 30, the upper and lower ends of the movable groove 35 are respectively communicated with the first support holes 34, the second hip joint moving member 40 is provided with a movable block 45 matching with the movable groove 35, and the arrangement manner in which the second support hole 43 penetrates the movable block 45 is exemplified.

The movable block 45 is movably disposed in the movable slot 35 to connect the first support hole 34 with the second support hole 43, and the movable shaft 42 sequentially passes through the first support hole 34 and the second support hole 43 at one end of the movable slot 35 and the first support hole 34 at the other end of the movable slot 35, so as to realize the rotational connection between the first hip joint moving member 30 and the second hip joint moving member 40.

In this embodiment, the second elastic restoring element 44 is preferably a torsion spring, the torsion spring is sleeved outside the movable shaft 42, the first hip joint moving member 30 and the second hip joint moving member 40 are respectively provided with a clamping hole for fixing the torsion arms at two opposite ends of the second elastic restoring element 44, so as to form the second elastic restoring element 44 as the elastic body of the first hip joint moving member 30 and the second hip joint moving member 40, in this embodiment, the middle part of the movable block 45 is provided with a second avoiding groove 452 with an open structure, the upper end and the lower end of the second avoiding groove 452 are respectively communicated with the second supporting hole 43, so that the middle part of the movable shaft 42 is exposed from the second avoiding groove 452, the second elastic restoring element 44 is sleeved on the exposed part of the movable shaft 42, that is, the second elastic restoring element 44 is placed in the second avoiding groove 452, and the movable shaft 42 penetrates through the first supporting hole 34 at one side, the second supporting hole 43 at one side, the second avoiding groove 43, the second supporting hole 43 and the second avoiding hole 34 at the other side in sequence.

As shown in fig. 19-20, in this embodiment, two sliding bearings 421, two spacers 422, and an inner sleeve 423 are further disposed between the first support hole 34 and the second support hole 43, the two sliding bearings 421 are fixedly connected to the second support holes 43 on both sides by interference fit, and the movable shaft 42 is movably inserted into the sliding bearings 421 on both ends and fixedly connected to the first hip joint movable member 30, so that the second hip joint movable member 40 and the first hip joint movable member 30 are rotatably supported by the movable shaft 42 and can rotate relatively. Two ends of the movable shaft 42 penetrate through the first supporting holes 34 at the two ends and are respectively provided with a cushion block 422, and the two cushion blocks 422 are respectively fixed at the two ends of the movable shaft 42 through bolt locking, so that the cushion blocks 422 are tightly pressed against the first hip joint movable member 30 and the end part of the movable shaft 42. The inner sleeve 423 is disposed in the second avoiding groove 452 and sleeved on the movable shaft 42, so that the movable shaft 42 and the second elastic restoring member 44 are spaced from each other to protect the movable shaft 42.

In order to limit the movement of the lower limbs of the wearer within a certain range, the joint is prevented from being further damaged due to the fact that the hip joint moves beyond the range, the joint moves within the range allowed by rehabilitation movement, a limiting groove 351 is concavely arranged on the inner wall, far away from the movable block 45, of the movable groove 35, a limiting block 451 embedded in the limiting groove 351 is convexly arranged at one end, close to the movable groove 35, of the movable block 45, and the size of the limiting groove 351 is larger than that of the limiting block 451 in the rotating direction of the movable shaft 42, so that the limiting block 451 can move back and forth within the forming range limited by the limiting groove 351.

When the second hip joint moving member 40 is at the zero position, the stopper 451 is positioned at the middle of the stopper groove 351, so that the outward/inward rotation angles of the second hip joint moving member 40 are made uniform. When the second hip joint moving member 40 moves in the outward/inward rotation direction, the limiting groove 351 is in a relatively static state, the limiting block 451 moves along with the second hip joint moving member 40 to generate relative movement with the limiting groove 351, after the second hip joint moving member 40 moves to a certain angle, the end part of the limiting block 451 abuts against the groove wall of the limiting groove 351, and at the moment, the second hip joint moving member 40 cannot move continuously in the current direction to realize limiting.

The structure formed by the above description is that the second hip joint movement member 40 can rotate in a certain angle relative to the first hip joint movement member 30, and the second elastic restoring member 44 will provide a positive or negative torque force to drive the second hip joint movement member 40 to the zero position. Such restoring forces may provide partial support and stabilization for the wearer of the exoskeleton.

A flexible buffer pad 46 and an arc-shaped groove 53 are arranged between the second hip joint moving member 40 and the leg component 50, the flexible buffer pad 46 and the arc-shaped groove 53 are matched to limit the flexibility/extension freedom of the leg component, specifically, the buffer pad 46 and the arc-shaped groove 53 are arranged in two ways, the buffer pad 46 is circumferentially arranged around a third rotation axis 51 for the second hip joint moving member 40, and the arc-shaped groove 53 is circumferentially arranged on the leg component 50 along the third rotation axis 51; and the leg assembly 50 is provided with a cushion 46 circumferentially around the third axis of rotation 51, and an arcuate slot 53 is provided in the second hip joint moving member 40 along the third axis of rotation 51.

The present embodiment adopts the arrangement that the second hip joint moving member 40 is provided with the cushion 46 circumferentially around the third rotation axis 51, and the arc-shaped groove 53 is provided circumferentially around the third rotation axis 51 in the leg assembly 50 as an example.

The cushion 46 is movably disposed in the arc-shaped slot 53, the arc-shaped slot 53 is an arc-shaped slot 53, and the third rotation axis 51 passes through the center of the arc-shaped slot 53, so that the cushion 46 can reciprocate within the formation range defined by the arc-shaped slot 53 when the leg member moves.

In this embodiment, blotter 46 is two, two blotters 46 set up the fixing base 47 surface at second hip joint movable member 40, it is specific, fixing base 47 is provided with boss 471 with the one side protrusion of shank component connection, the concave cell body that is equipped with on the boss 471, the cell body both ends and keep away from one side of fixing base 47 all with outside intercommunication, two blotters 46 block respectively the both ends of cell body into, and use the bolt to compress tightly fixedly through a briquetting 472, make blotter 46 supported the pressure and fix in the middle of the cell body, move to certain angle when the shank component, the tip of arc wall 53 can contradict with one of them blotter 46, can alleviate the produced vibrations of contact collision between the component through blotter 46, can form spacing and the buffering to joint turned angle, protect the person's joint of wearing.

The fixing base 47 is further provided with a joint module 90, the joint module 90 includes a fixing end and an output end, the fixing end is fixedly arranged on the second hip joint moving member 40, and the output end is connected with the leg component 50.

The fixed end of the joint module 90 is connected with the fixed seat 47 through a bolt, the output end of the joint module 90 is connected with the leg component through a bolt, after a wearer wears the exoskeleton system, the joint module 90 can assist the wearer in flexion and extension of hip joints and movement of knee joints and ankle joints, and the joint module 90 specifically comprises a motor, a speed reducer, a torque sensor and a driving plate. The motor, the speed reducer, the torque sensor and the drive plate are integrated, the shell is connected with the fixed seat 47 as a fixed end through a bolt, and the output end of the shell is connected with the leg component through a bolt.

In the working process, the rotating power output by the motor is transmitted to the leg component after being decelerated by the speed reducer, the torque sensor can detect the flexion/extension angle of a wearer and the acting force applied to the exoskeleton system, judge the current motion state of the wearer and send related data to the control system of the exoskeleton system, so that the exoskeleton motion angle and the output torque which are most suitable for the wearer are given, and finally, the joint module 90 outputs power again to assist the wearer in rehabilitating.

As shown in fig. 24-25, the exoskeleton system of this embodiment includes a waist component 100 and a foot component 300, and further includes a hip joint moving mechanism as described above, the waist component 100 is disposed on the base 10, and one end of the leg component 50 away from the second hip joint moving member 40 is movably connected to the foot component 300 through the ankle joint component 200, so that the exoskeleton system can be adapted to the waist width size of the wearer through the hip joint moving mechanism, and provides the hip joints with the freedom of motion of abduction/adduction, supination/pronation and flexion/extension, and the wearer can provide assistance to rehabilitating his lower limbs by wearing the exoskeleton system.

The waist assembly 100 is used for fixing the waist of the wearer and serves as a main supporting component of the whole set of exoskeleton system, so that the subsequent hip joint moving mechanism, leg members and foot assembly 300 can be better matched with the corresponding limb worn on the wearer, and the system joint is ensured to be aligned with the lower limb joint of the wearer; the hip joint moving mechanism provides a plurality of degrees of freedom of movement of the leg at different angles for the leg of a wearer by adjusting the relative width of the leg component 50 on the lower leg of the thigh rod component 54 of the wearer, so that the system has higher adaptability, and the hip joint of the wearer can also have the degrees of freedom of movement in different directions, such as the degrees of freedom of rotation in/out, flexion/extension and abduction/adduction of the hip joint; the leg component comprises a thigh rod component 54 bound on the thigh of the wearer and a lower leg rod component 55 bound on the lower leg of the wearer, the thigh rod component 54 is connected with the lower leg rod component 55 through a knee joint component, and the knee joint component provides bending and stretching freedom degree for the knee joint of the wearer; finally, the foot section assembly provides a degree of freedom of movement for the ankle joint of the wearer by securing the foot of the wearer, thereby providing support for the lower limb of the wearer during the rehabilitation process.

In the description herein, it is to be understood that the terms "upper," "lower," "left," "right," and the like are used in an orientation or positional relationship merely for convenience in description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, configuration, and operation in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.

In the description herein, references to the description of "an embodiment," "an example" or the like are intended to 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, it should be understood that although the specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it will be understood by those skilled in the art that the specification as a whole and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims

1. A hip joint movement mechanism, comprising:

a base (10) defining a guide rail (11);

a hip abduction arm (20) slidably arranged on the guide rail (11) and selectively locked on the current position of the guide rail (11);

a first hip joint movement member (30) rotatably connected at a first end to said hip abduction arm (20) and defining a first rotation axis (31) for providing abduction and adduction freedom of movement for the hip joint;

a second hip joint movement member (40) rotatably connected to a second end of said first hip joint movement member (30) and defining a second axis of rotation (41) for providing an external and an internal degree of freedom of movement for the hip joint;

a leg assembly (50) rotationally connected to the second hip joint movement member (40) and defining a third axis of rotation (51) for providing flexion and extension freedom of movement to the hip joint;

the first rotation axis (31) and the third rotation axis (51) are both located on a first plane (52), and in a state where no external force is applied, the first rotation axis (31) and the third rotation axis (51) are kept perpendicular to each other.

2. The hip articulation mechanism according to claim 1, further comprising:

the transmission assembly (60) is movably arranged on the base (10) and is in transmission connection with the hip abduction arm (20) and is used for driving the hip abduction arm (20) to reciprocate in a stroke range limited by the guide rail (11);

a locking assembly (70) disposed between the transmission assembly (60) and the base (10) for locking the transmission assembly (60) so that the hip abduction arm (20) is locked at the current position of the guide rail (11), or unlocking the transmission assembly (60) so that the transmission assembly (60) drives the hip abduction arm (20) to move relative to the guide rail (11).

3. The hip articulation mechanism according to claim 2, characterized in that said locking assembly (70) comprises:

a locking member (71) fixedly connected to the base (10);

a locking drive member (72) provided to the transmission assembly (60);

or, the locking member (71) is arranged on the transmission assembly (60) and can move synchronously with the transmission assembly (60);

the locking driving piece (72) is movably arranged on the base (10);

said blocking member (71) defining a first blocking portion (711), said blocking actuator (72) defining a second blocking portion (721) cooperable with said first blocking portion (711), said blocking actuator (72) being movable with respect to said transmission assembly (60) and having a locking position and an unlocking position;

in a locked position state, the second locking part (721) is in locking fit with the first locking part (711);

in the unlocked position state, the second locking part (721) is disengaged from the first locking part (711);

the locking drive (72) can be held in a locked position or an unlocked position, so that the transmission assembly (60) is held in a state of being locked fixedly or having a degree of freedom of movement relative to the base (10).

4. The hip articulation mechanism according to claim 3, characterized in that said transmission assembly (60) comprises:

a gear (61) rotatably provided on the base (10);

and the rack (62) is parallel to the extending direction of the guide rail (11), and the rack (62) is meshed with the gear (61) and is fixedly arranged on the hip abduction arm (20).

5. The hip articulation mechanism according to claim 4, characterized in that said locking assembly (70) is a ratchet mechanism;

the locking component (71) is a ratchet wheel, the first locking part (711) is a ratchet wheel arranged around the ratchet wheel, and the central axis of the ratchet wheel is overlapped with the rotation axis of the gear (61);

the lock drive (72) is a pawl engageable with the ratchet teeth, one end of the pawl is the second lock part (721), and the pawl is reciprocable between a lock position engaged with the ratchet wheel and an unlock position disengaged from the ratchet wheel.

6. The hip articulation mechanism according to claim 3, further comprising:

the control component (80) is in transmission connection with the locking driving component (72) and is used for driving the locking component (70) to lock or unlock the transmission component (60), and can drive the locking component (70) to further move in the unlocking state of the transmission component (60) so as to drive the transmission component (60) to drive the hip abduction arm (20) to move along the guide rail (11);

or, the control component (80) is fixedly connected with the transmission component (60) so as to drive the transmission component to drive the hip abduction arm (20) to move along the guide rail (11) by driving the control component (80).

7. The hip articulation mechanism according to claim 1, characterized in that a transmission shaft (32) and a shaft hole (21) matching the transmission shaft (32) are provided between the hip abduction arm (20) and the first hip articulation member (30);

the end of the hip abduction arm (20) far away from the base (10) is provided with the shaft hole (21), and the first end of the first hip joint moving component (30) is provided with the transmission shaft (32);

or one end of the hip abduction arm (20) far away from the base (10) is provided with the transmission shaft (32), and the first end of the first hip joint moving component (30) is provided with the shaft hole (21).

8. The hip articulation mechanism according to claim 7, characterized in that a first elastic return (33) is arranged between the hip abduction arm (20) and the first hip articulation member (30);

one end of the first elastic resetting piece (33) is fixed on the hip abduction arm (20), and the other end of the first elastic resetting piece (33) is fixed on the first hip joint moving component (30) and used for keeping the first plane (52) and the base (10) parallel to each other under the condition that no external force is applied to the first hip joint moving component (30).

9. The hip joint movement mechanism according to claim 7, wherein a stopper (211) is protrudingly provided on an inner wall surface of the shaft hole (21), and a stopper hole (321) is provided on an outer peripheral surface of the transmission shaft (32);

the limiting piece (211) is at least partially arranged in the limiting hole (321), and in the rotating direction of the transmission shaft (32), the size of the limiting hole (321) is larger than that of the limiting piece (211), so that the limiting piece (211) can reciprocate in the stroke range limited by the limiting hole (321).

10. The hip articulation mechanism according to claim 1, characterized in that said second axis of rotation (41) is perpendicular to said first plane (52).

11. The hip joint movement mechanism according to claim 10, wherein a movement shaft (42) is arranged between the first hip joint movement member (30) and the second hip joint movement member (40), the axis of rotation of the movement shaft (42) being defined as the second axis of rotation (41);

the second end of the first hip joint moving component (30) is provided with a through first supporting hole (34), the second hip joint moving component (40) is provided with a through second supporting hole (43), and the moving shaft (42) is connected to the first supporting hole (34) and the second supporting hole (43) in a penetrating mode, so that the second hip joint moving component (40) can swing around the second rotating axis (41) relative to the first hip joint moving component (30).

12. The hip articulation mechanism according to claim 11, characterized in that a second elastic return (44) is arranged between said first hip articulation member (30) and said second hip articulation member (40);

one end of the second elastic restoring piece (44) is fixed to the first hip joint moving member (30), and the other end of the second elastic restoring piece (44) is fixed to the second hip joint moving member (40) and used for keeping the third rotation axis (51) perpendicular to the first rotation axis (31) under the condition that no external force is applied to the second hip joint moving member (40).

13. The hip joint movement mechanism according to claim 11, wherein the second end of the first hip joint movement member (30) is provided with an open movement groove (35), and both ends of the movement groove (35) are respectively communicated with the first support holes (34); the second hip joint moving component (40) is provided with a moving block (45) matched with the moving groove (35), and the second supporting hole (43) penetrates through the moving block (45);

or a movable block (45) is arranged at the second end of the first hip joint movable component (30), and the first supporting hole (34) penetrates through the movable block (45); the second hip joint moving component (40) is provided with an open moving groove (35), and two ends of the moving groove (35) are respectively communicated with the second supporting holes (43);

the movable block (45) is movably arranged in the movable groove (35) so as to enable the first support hole (34) to be communicated with the second support hole (43);

the inner wall of the movable groove (35) far away from the movable block (45) is concavely provided with a limiting groove (351), one end of the movable block (45) close to the movable groove (35) is convexly provided with a limiting block (451) embedded in the limiting groove (351), and in the rotating direction of the movable shaft (42), the size of the limiting groove (351) is larger than that of the limiting block (451), so that the limiting block (451) can reciprocate in the forming range limited by the limiting groove (351).

14. The hip joint movement mechanism according to claim 1, wherein a flexible cushion (46) and an arc-shaped slot (53) are provided between the second hip joint movement member (40) and the leg assembly (50);

said second hip joint movement member (40) being provided with said cushioning pad (46) circumferentially around said third axis of rotation (51), said arcuate slot (53) being provided with said leg assembly (50) circumferentially around said third axis of rotation (51);

or, the leg assembly (50) is provided with the cushion (46) circumferentially around the third axis of rotation (51), the arcuate slot (53) is provided to the second hip joint active member (40) along the third axis of rotation (51) axis;

the buffer cushion (46) is movably arranged in the arc-shaped groove (53), and the buffer cushion (46) can reciprocate in the forming range limited by the arc-shaped groove (53).

15. The hip articulation mechanism according to claim 1, further comprising:

the joint module (90) comprises a fixed end and an output end, the fixed end is fixedly arranged on the second hip joint moving component (40), and the output end is connected with the leg component (50).

16. An exoskeleton system comprising a lumbar assembly (100) and a foot assembly (300), further comprising:

the hip joint movement mechanism according to any one of claims 1 to 15, the lumbar assembly (100) being provided at the base (10), an end of the leg assembly (50) remote from the second hip joint movement member (40) being in movable connection with the foot assembly (300) via an ankle assembly (200).