CN116276921B - Single motor hip joint exoskeleton - Google Patents
Single motor hip joint exoskeleton Download PDFInfo
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- CN116276921B CN116276921B CN202310557860.4A CN202310557860A CN116276921B CN 116276921 B CN116276921 B CN 116276921B CN 202310557860 A CN202310557860 A CN 202310557860A CN 116276921 B CN116276921 B CN 116276921B
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- 210000004394 hip joint Anatomy 0.000 title claims abstract description 20
- 210000002414 leg Anatomy 0.000 claims abstract description 173
- 210000001624 hip Anatomy 0.000 claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 210000000689 upper leg Anatomy 0.000 claims description 56
- 238000005452 bending Methods 0.000 claims description 23
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 238000010276 construction Methods 0.000 claims description 2
- 230000010355 oscillation Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 6
- 238000004804 winding Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 241000238421 Arthropoda Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 241000270708 Testudinidae Species 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a single-motor hip joint exoskeleton, which relates to the technical field of robots and comprises a waist fixing mechanism, a power driving mechanism, a leg assisting mechanism and a control mechanism electrically connected with the power driving mechanism; the waist fixing mechanism is used for adjusting the waistline to be tightly attached to the circumference of the waist of the human body; the leg assisting mechanism comprises a first leg assisting part and a second leg assisting part which are symmetrically arranged along the central axis of the power driving mechanism, one ends of the first leg assisting part and the second leg assisting part are respectively in transmission connection with the power driving mechanism, and the other ends of the first leg assisting part and the second leg assisting part are respectively and fixedly connected with the legs of a human body; the adjusting mechanism is used for adjusting the horizontal relative distance between the first leg assisting part and the second leg assisting part; the power driving mechanism is positioned at the outer side right behind the waist fixing mechanism and is fixedly/detachably connected with the waist fixing mechanism and used for driving the first leg assisting part and the second leg assisting part to alternately and reciprocally swing to assist walking of the legs of the human body.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a single-motor hip joint exoskeleton.
Background
As the population ages progressively increases, the elderly population suffering from stroke and associated with different degrees of sequelae increases year by year. With the development of rotating motors and control technologies, devices for assisting actions of specific people gradually appear, commonly called exoskeleton walker. The exoskeleton walker is widely considered by the medical community to be capable of effectively helping later recovery of the crowd.
Exoskeleton is a popular name for arthropod shells, which is known because of the rigidity of bones. Such as crab shells, insect cuticle, etc., tortoise shells are also known as exoskeletons. The exoskeleton is used for particularly moving a wearable mobile machine in the field of robots, and is powered by a motor, a pneumatic system, a lever, a hydraulic system or a combination of various technologies to assist a human body to do various actions, so that limbs have higher strength and endurance.
The applicant found that the prior art has at least the following technical problems:
the existing hip joint exoskeleton has a small expansion range, can not be used for fitting people of different sizes comfortably with products of the same size, and has limitation in use. Moreover, the common volume is bigger, heavier, complex operation, and inconvenient to wear.
In view of this, the present invention has been made.
Disclosure of Invention
The invention aims to provide a single-motor hip joint exoskeleton, which solves the problems that the existing hip joint exoskeleton in the prior art has a small expansion range and cannot be used for realizing comfortable fit of products with the same size to people with different sizes, and has limitation in use. Moreover, the common volume is great, heavier, and complex operation wears inconvenient technical problem. The preferred technical solutions of the technical solutions provided by the present invention can produce a plurality of technical effects described below.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the invention provides a single-motor hip joint exoskeleton, which comprises a waist fixing mechanism, a power driving mechanism, a leg assisting mechanism, an adjusting mechanism and a control mechanism electrically connected with the power driving mechanism;
the waist fixing mechanism is used for adjusting the waistline to be tightly attached to the circumference of the waist of the human body;
the leg assisting mechanism comprises a first leg assisting part and a second leg assisting part which are symmetrically arranged along the central axis of the power driving mechanism, one ends of the first leg assisting part and the second leg assisting part are respectively in transmission connection with the power driving mechanism, and the other ends of the first leg assisting part and the second leg assisting part are respectively and fixedly connected with the legs of a human body;
the power driving mechanism is positioned at the outer side right behind the waist fixing mechanism and is fixedly/detachably connected with the waist fixing mechanism and used for driving the first leg assisting part and the second leg assisting part to alternately and reciprocally swing to assist walking of the legs of the human body.
Preferably, the first leg assisting part and the second leg assisting part comprise a leg assisting component and a leg fixing component which are sequentially connected from top to bottom, the leg assisting component comprises a straight section and a bending section which are sequentially connected and extend in the horizontal direction, one end of the straight section is in driving connection with a rotating motor, and the other end of the straight section is bent and extended to the middle part in front of the leg of the human body along the circumferential direction of the leg of the human body in a forward direction to form the bending section; the leg fixing component is sleeved on the leg of the human body and the inner diameter of the leg fixing component is adjustable; the leg fixing assembly comprises a thigh supporting plate and thigh binding bands, wherein two ends of the thigh binding bands are respectively and movably connected with the thigh supporting plate, the thigh supporting plate is hinged with the lower end part of the bending section, the thigh supporting plate and the thigh binding bands form an annular closed space which is circumferentially sleeved on the legs of a human body and has an adjustable inner diameter, and the thigh supporting plate is an arc-shaped plate matched with the front surface of the thighs of the human body;
preferably, the power driving mechanism comprises a rotating motor and a battery part, wherein the rotating motor and the battery part are sequentially arranged along the horizontal direction, a first straight section of the first leg assisting part is fixedly connected with a machine body of the rotating motor, and a second straight section of the second leg assisting part is fixedly connected with an output shaft of the rotating motor; the first straight section and the second straight section are discontinuous and the outer wall is flush;
preferably, the rotating motor is provided with an encoder electrically connected with the control mechanism, the encoder comprises a magnet and a magnetic sensor, the magnet is arranged on an output shaft of the rotating motor, and the magnetic sensor is used for detecting the rotation angle of the magnet, further detecting the rotation angle of the rotating motor and feeding back the rotation angle to the control mechanism to realize the adjustment of the output torque of the rotating motor;
preferably, the leg booster further comprises an adjusting mechanism for adjusting the horizontal relative distance between the first leg booster and the second leg booster; the adjusting mechanism comprises a telescopic locking part, wherein the telescopic locking part comprises a telescopic shaft, a telescopic sleeve axially sliding along the telescopic shaft and a locking assembly for locking the relative position between the telescopic sleeve and the telescopic shaft, the peripheral wall of the sliding part of the telescopic shaft is rectangular, and the inner peripheral wall of the sliding part of the telescopic sleeve is a rectangular notch matched with the peripheral arm of the sliding part of the telescopic shaft; the inner end part of the telescopic shaft is fixedly connected with an output shaft of the rotating motor, and the outer end part of the telescopic sleeve is fixedly connected with a second straight section of the second leg booster part; the outer wall of the telescopic sleeve is higher than or flush with the outer walls of the first straight section and the second straight section; the horizontal relative distance between the bending section of the first leg booster and the second bending section of the second leg booster is adjusted by adjusting the relative position between the telescopic sleeve and the telescopic shaft, so that the horizontal relative distance between the first leg fixing assembly of the first leg booster and the second leg fixing assembly of the second leg booster is adjusted;
preferably, the adjusting mechanism further comprises a positioning tube and a positioning sleeve which are positioned at the outer side right behind the waist fixing mechanism and are sequentially connected from inside to outside, and openings at two ends of the positioning tube form a hollow cavity for at least the first straight section or the second straight section to slide back and forth along the axial direction of the first straight section or the second straight section; the two ends of the positioning sleeve are opened, and the inner wall of the positioning sleeve is fixedly connected with the waist fixing mechanism after being attached to at least part of arc-shaped outline of the outer wall of the positioning tube;
preferably, the waist fixing mechanism comprises a waist sealing part with two open ends and an adjusting assembly for detachably connecting the two end parts of the waist sealing part;
preferably, the adjusting mechanism further comprises a hinge assembly, and the bending sections of the first leg assisting part and the second leg assisting part are of two-section structure and are hinged through the hinge assembly, so that the thigh support plate rotates around the hinge end of the hinge assembly along the rotation direction perpendicular to the swing direction of the first leg assisting part and the second leg assisting part.
The preferred technical scheme of the invention can at least have the following technical effects:
the invention effectively avoids the problem that the existing hip joint exoskeleton in the prior art has small expansion range, and can not achieve comfortable fitting of the same-size product to people with different body types, and has limitation in use. Moreover, the common volume is great, heavier, and complex operation wears inconvenient technical problem. According to the invention, the waist of a human body is tightly attached in the circumferential direction through the waist fixing mechanism, the leg fixing assembly is sleeved on thighs, and the power driving machine positioned at the outer side right behind the waist fixing mechanism is used for driving the first leg assisting part and the second leg assisting part to alternately and reciprocally swing, so that the walking assistance of the legs of the human body is realized. The waist fixing mechanism and the inner diameter of the leg fixing assembly are adjustable, waistline and leg circumference are adjusted, the telescopic locking part is used for adjusting the horizontal relative distance between the first straight section of the first leg power assisting part and the second straight section of the second leg power assisting part, hip size adjustment of a user is achieved, meanwhile, the waist fixing mechanism is combined with the first bending section and the second bending section of the two-section structure, the leg fixing assembly rotates relative to the first leg power assisting part through adjusting the rotation angle of the hinge assembly, adjustment of thigh space is achieved, and users with different body types are adapted. The invention has the advantages of simple structure, reasonable design, simple adjusting method and wide adjusting range, can individually adjust waistline, hip circumference, leg circumference and thigh distance according to the body type of a user, greatly improves the using comfort and matching degree of the user, and better realizes assisting. In put formula single motor drive design, drive first shank helping hand portion and second shank helping hand portion through rotating electrical machines corotation and reversal and reciprocate the swing in turn, coordinate the cooperation and provide the helping hand steadily, reliably for human shank walking, harmony and synchronism are good, moreover, have simplified the ectoskeleton structure, have reduced the holistic weight of ectoskeleton, have reduced processing preparation and maintenance cost, and the practicality is strong.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a single motor hip joint exoskeleton according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of another construction of a single motor hip joint exoskeleton according to an embodiment of the present invention;
FIG. 3 is a front view of FIG. 1;
FIG. 4 is a schematic view of a telescoping locking portion of a single motor hip joint exoskeleton according to an embodiment of the present invention;
fig. 5 is a side view of a telescoping locking portion of a single motor hip joint exoskeleton according to an embodiment of the present invention.
In the figure:
1-a waist fixing mechanism; 11-waist seals; 2-a power drive mechanism; 21-a rotating electric machine; 211-an output shaft; 22-battery pack; 3-a first leg booster; 31-a first straight section; 32-a first curved section; 33-a first thigh support panel; 331-a first adjustment tank; 34-a first thigh strap; 341-a first adjustment end; 4-a second leg booster; 41-a second straight section; 42-a second curved section; 43-a second thigh support panel; 431-a second adjustment slot; 44-a second thigh strap; 441-a second adjustment end; 5-a telescopic locking part; 51-a telescopic shaft; 511-rectangular slide; 512-through holes; 513-a motor fixed end; 52-telescoping sleeve; 521-rectangular notch; 522-adjusting holes; 523-a power-assisted fixed end; 53-locating pins; 6, positioning a tube; 7, positioning sleeves; 8-a hinge assembly; 9-connecting rods; 10-hinge slots; 12-switch button.
Detailed Description
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 will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
In the description of the present invention, it should be understood that the terms "center", "length", "width", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "side", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1:
as shown in fig. 1-5, the present invention provides a single rotary motor 21 hip joint exoskeleton, which comprises a waist fixing mechanism 1, a power driving mechanism 2, a leg assisting mechanism and a control mechanism electrically connected with the power driving mechanism 2. The waist fixing mechanism 1 is used for adjusting the waistline to be tightly attached to the circumference of the waist of a human body. The leg assisting mechanism comprises a first leg assisting part 3 and a second leg assisting part 4 which are symmetrically arranged along the central axis of the power driving mechanism 2, one ends of the first leg assisting part 3 and the second leg assisting part 4 are respectively in transmission connection with two end parts of the power driving mechanism 2, and the other ends of the first leg assisting part 3 and the second leg assisting part 4 are respectively in fixed connection with the legs of a human body. The power driving mechanism 2 is positioned at the outer side right behind the waist fixing mechanism 1 and is fixedly/detachably connected with the waist fixing mechanism 1, and is used for driving the first leg assisting part 3 and the second leg assisting part to alternately and reciprocally swing so as to assist walking of the legs of the human body. The control mechanism is preferably a controller, and the controller controls the power driving mechanism 2 to output forces with different magnitudes and directions to the legs according to the corresponding period because the user walks in a regular periodic motion, so that the power assisting when walking is finished.
As an alternative embodiment, as shown in fig. 1, 2 and 3, the first leg assist part 3 includes a first leg assist assembly and a first leg fixing assembly, the first leg assist assembly includes a first straight section 31 and a first curved section 32 which are connected in sequence and extend in a horizontal direction, one end of the first straight section 31 is in driving connection with the rotating motor 21, and the other end is curved obliquely forward along the circumferential direction of the leg of the human body and extends to the middle part in front of the leg of the human body to form the first curved section 32.
The first leg fixing component is sleeved on the leg of the human body and the inner diameter of the first leg fixing component is adjustable. The first leg fixing assembly comprises a first thigh supporting plate 33 and a first thigh binding belt 34 with two ends respectively movably connected with the first thigh supporting plate 33, wherein the first thigh supporting plate 33 and the first thigh binding belt 34 form an annular closed space which is circumferentially sleeved on the leg of the human body and has an adjustable inner diameter. Preferably, the vertical bar-shaped first adjusting grooves 331 through which the first thigh straps 34 pass are formed in the two ends of the first thigh supporting plate 33, the magic tape surface is arranged on the outer wall of the first adjusting end 341 of the first thigh straps 34, the hook surface is arranged on the inner wall of the first adjusting end 341, the two first adjusting ends 341 of the first thigh straps 34 respectively pass through the two first adjusting grooves 331 and turn outwards, the hook surface is hooked on the magic tape surface, and leg circumference adjustment is achieved by adjusting the relative positions of the hook surface and the magic tape surface. The first thigh support plate 33 is an arc plate matching the front face of the thigh of the human body, and further improves the fitting degree with the leg of the user.
The second leg assist part 4 includes a second leg assist assembly and a second leg fixing assembly, the second leg assist assembly includes a second straight section 41 and a second curved section 42 which are connected in sequence and extend in the horizontal direction, one end of the second straight section 41 is connected with the rotary motor 21 in a driving manner, and the other end of the second straight section 41 is curved and extends to the middle part in front of the leg of the human body in a direction inclined forward along the circumferential direction of the leg of the human body to form the second curved section 42.
The second leg fixing component is sleeved on the leg of the human body and the inner diameter of the second leg fixing component is adjustable. The second leg fixing assembly comprises a second thigh supporting plate 43 and a second thigh binding belt 44 with two ends respectively movably connected with the second thigh supporting plate 43, and the second thigh supporting plate 43 and the second thigh binding belt 44 form an annular closed space which is circumferentially sleeved on the leg of the human body and has an adjustable inner diameter. Preferably, the two ends of the second thigh supporting plate 43 are provided with vertical bar-shaped second adjusting grooves 431 for the second thigh binding bands 44 to pass through, the outer wall of the second adjusting end 441 of the second thigh binding bands 44 is provided with a magic tape surface, the inner wall of the second adjusting end 441 is provided with a magic tape hook surface, the two second adjusting ends 441 of the second thigh binding bands 44 respectively pass through the two second adjusting grooves 431 and are turned outwards, so that the magic tape hook surface is hooked on the magic tape surface, and leg circumference adjustment is realized by adjusting the relative positions of the magic tape hook surface and the magic tape surface. The second thigh support plate 43 is an arc plate matching the front face of the thigh of the human body, and further improves the fitting degree with the leg of the user.
The first straight section 31, the first bending section 32, the second straight section 41 and the second bending section 42 form a U-shaped semi-annular winding structure, the U-shaped semi-annular winding structure can be well attached to the hip of a user, the first bending section 32 and the second bending section 42 respectively extend from the rear waist position along the periphery of the leg to the middle part in front of the leg in a bending mode, the U-shaped semi-annular winding structure is matched with the first straight section 31 and the second straight section 41, locking and attaching to the hip and the leg of the user are achieved, the degree of attaching to the movement is high, and the following performance of the movement is good.
As an alternative embodiment, the first thigh support plate 33 and the second thigh support plate 43 are respectively hinged with the lower ends of the first bending section 32 and the second bending section 42 through the L-shaped connecting rod 9, the front of the first thigh support plate 33 and the second thigh support plate 43 are respectively provided with at least two groups of hinge grooves 10 for horizontally passing through the horizontal sections of the L-shaped connecting rod 9, and the vertical sections of the L-shaped connecting rod 9 are fixedly connected with the lower ends of the first bending section 32 and the second bending section 42, so that the following degree of the legs is improved.
As an alternative embodiment, as shown in fig. 2, the power drive mechanism 2 includes a rotary electric machine 21 and a battery section 22 for supplying power to the rotary electric machine 21, which are disposed in order in the horizontal direction. The first straight section 31 of the first leg assist part 3 is fixedly connected with the body of the rotary electric machine 21, preferably, the body of the rotary electric machine 21 is fitted into the open end of the first straight section 31, and the battery part 22 is detachably connected in the first straight section 31. The second straight section 41 of the second leg assist portion 4 is fixedly connected to the output shaft 211 of the rotary electric machine 21. The first and second straight sections 31, 41 are discontinuous and the outer wall is flush.
The first leg assisting part 3 and the second leg assisting part 4 are driven by the single rotating motor 21 to alternately swing in a reciprocating mode, so that walking assistance is achieved for the legs of a human body, the overall weight of the exoskeleton is reduced, the cost is low, and the rotating motor 21 is arranged in the leg assisting mechanism in the middle, so that the synchronism, the stability and the reliability are high.
As an alternative embodiment, the rotating electric machine 21 has an encoder electrically connected to the control mechanism, where the encoder includes a magnet and a magnetic sensor, the magnet is disposed on the output shaft 211 of the rotating electric machine 21, and the magnetic sensor is used to detect the rotation angle of the magnet, further detect the rotation angle of the rotating electric machine 21, and feed back the rotation angle to the controller, and the controller controls the current magnitude of the rotating electric machine 21, so as to realize that the rotating electric machine 21 outputs different angles and torques. Since the user walks in a regular periodic motion, the controller controls the rotary motor 21 to output forces in different directions to the legs in different phases according to the corresponding period, and thus the assisting force is achieved when the user walks.
As an alternative embodiment, as shown in fig. 1 to 3, the waist fixing mechanism 1 includes a waist seal 11 open at both ends and an adjustment assembly for detachably connecting both ends of the waist seal 11. The open end of the waist seal 11 is located right in front of the waist. Wherein, adjusting part is equipped with the magic subsides hair face including setting up the one end outer wall of waist portion 11 respectively, and the inner wall of another tip is equipped with the magic subsides and colludes the face, colludes the relative position of face and magic subsides hair face through the adjustment magic, realizes waistline regulation, convenient operation, realizes waistline fast adjustment.
As an alternative embodiment, as shown in fig. 3, the controller further includes a switch button 12, where the switch button 12 is electrically connected to the controller and is used for controlling the controller to be turned on and off. The switch button 12 is arranged in front of the first leg assistance part 3 or the second leg assistance part 4, so that the operation is convenient.
Example 2:
as shown in fig. 1 and 2, an adjusting mechanism for adjusting the horizontal relative distance between the first leg assistance portion 3 and the second leg assistance portion 4 is further included. The adjusting mechanism comprises a telescopic locking part 5, the telescopic locking part 5 comprises a telescopic shaft 51, a telescopic sleeve 52 axially sliding along the telescopic shaft 51 and a locking assembly for locking the relative position between the telescopic sleeve 52 and the telescopic shaft 51, a sliding part of the telescopic shaft 51 forms a rectangular slideway 511 for the telescopic sleeve 52 to slide reciprocally, and the inner peripheral wall of the sliding part of the telescopic sleeve 52 is a rectangular notch 521 matched with the outer peripheral arm of the sliding part of the telescopic shaft 51. The rectangular slide way 511 is close to the motor fixed end 513 of a disc-shaped structure formed by extending radially outwards from one end of the motor, the motor fixed end 513 of the telescopic shaft 51 is fixedly connected with the output shaft 211 of the rotary motor 21, the outer end part of the telescopic sleeve 52 is a power-assisted fixed end 523, the power-assisted fixed end 523 is fixedly connected with the second straight section 41 of the second leg power-assisted part 4, and the power-assisted fixed end 523 forms a smooth chamfer. The outer wall of the telescoping sleeve 52 is higher or flush with the outer walls of the first and second straight sections 31, 41. By adjusting the relative position between the telescopic sleeve 52 and the telescopic shaft 51, the horizontal relative distance between the bent section of the first leg assist portion 3 and the second bent section 42 of the second leg assist portion 4 is adjusted, and thus the horizontal relative distance between the first leg fixing assembly of the first leg assist portion 3 and the second leg fixing assembly of the second leg assist portion 4 is adjusted.
As an alternative embodiment, the adjusting mechanism further comprises a positioning tube 6 and a positioning sleeve 7 which are positioned at the outer side right behind the waist fixing mechanism 1 and are sequentially connected from inside to outside, and openings at two ends of the positioning tube 6 form a hollow cavity for at least the first straight section 31 or the second straight section 41 to slide back and forth along the axial direction of the hollow cavity. The two ends of the locating sleeve 7 are opened, and after the inner wall of the locating sleeve 7 is attached to the arc outline of the outer wall of the locating tube 6, the locating sleeve extends outwards to be fixedly connected with the waist fixing mechanism 1 respectively, so that the connection stability is improved. The first leg assistance part 3 and the second leg assistance part 4 slide back and forth along the positioning tube 6 to adapt to different movement postures of a user, and move along with the user in real time to provide assistance for the user.
Example 3:
as shown in fig. 1 and 2, the adjusting mechanism further includes a hinge assembly 8, and the curved sections of the first leg assist portion 3 and the second leg assist portion 4 are of a two-section structure and are hinged by the hinge assembly 8, so that the thigh support plate rotates around the hinge end of the hinge assembly 8 in a rotation direction perpendicular to the swing directions of the first leg assist portion 3 and the second leg assist portion. By adjusting the articulation angle of the articulation assembly 8, the relative position between the first thigh support 33 and the second thigh support 43 is changed, enabling adjustment of the thigh pitch to accommodate different stance and movement patterns of the user.
Example 4:
as shown in fig. 4 and 5, the locking assembly includes a positioning pin 53, a sliding portion of the positioning shaft is provided with a plurality of vertically penetrating through holes 512, and a sliding portion of the positioning sleeve 7 is provided with an adjusting hole 522 concentrically arranged with the through holes 512. After the positioning sleeve 7 slides to the matched position, the positioning pin 53 sequentially passes through the adjusting hole 522 and the through hole 512 concentrically arranged with the current position adjusting hole 522, so that the positioning shaft and the positioning sleeve 7 are locked, the adjustment of the horizontal relative distance between the first power assisting part and the second power assisting part is realized, the fitting degree of the first straight section 31 and the first bending section 32 and the second straight section 41 and the second bending section 42 with the hip of a user is improved, and the assistance is better provided.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. The single-motor hip joint exoskeleton is characterized by comprising a waist fixing mechanism, a power driving mechanism, a leg assisting mechanism, an adjusting mechanism and a control mechanism electrically connected with the power driving mechanism;
the waist fixing mechanism is used for adjusting the waistline to be tightly attached to the circumference of the waist of the human body;
the leg assisting mechanism comprises a first leg assisting part and a second leg assisting part which are symmetrically arranged along the central axis of the power driving mechanism, one ends of the first leg assisting part and the second leg assisting part are respectively in transmission connection with the power driving mechanism, and the other ends of the first leg assisting part and the second leg assisting part are respectively and fixedly connected with the legs of a human body;
the power driving mechanism is positioned at the outer side right behind the waist fixing mechanism and is fixedly and detachably connected with the waist fixing mechanism, and is used for driving the first leg assisting part and the second leg assisting part to alternately and reciprocally swing to assist walking of the legs of the human body;
the first leg assistance part and the second leg assistance part comprise leg assistance components and leg fixing components which are sequentially connected from top to bottom, and the leg assistance components comprise a straight section and a bending section which are sequentially connected and extend along the horizontal direction;
the adjusting mechanism is used for adjusting the horizontal relative distance between the first leg assisting part and the second leg assisting part; the adjusting mechanism comprises a telescopic locking part, wherein the telescopic locking part comprises a telescopic shaft, a telescopic sleeve axially sliding along the telescopic shaft and a locking assembly for locking the relative position between the telescopic sleeve and the telescopic shaft, the peripheral wall of the sliding part of the telescopic shaft is rectangular, and the inner peripheral wall of the sliding part of the telescopic sleeve is a rectangular notch matched with the peripheral arm of the sliding part of the telescopic shaft; the inner end part of the telescopic shaft is fixedly connected with an output shaft of the rotating motor, and the outer end part of the telescopic sleeve is fixedly connected with a second straight section of the second leg booster part; the outer wall of the telescopic sleeve is higher than or flush with the outer walls of the first straight section and the second straight section; the horizontal relative distance between the bending section of the first leg booster and the second bending section of the second leg booster is adjusted by adjusting the relative position between the telescopic sleeve and the telescopic shaft, so that the horizontal relative distance between the first leg fixing assembly of the first leg booster and the second leg fixing assembly of the second leg booster is adjusted;
the adjusting mechanism further comprises a positioning tube and a positioning sleeve which are positioned at the outer side right behind the waist fixing mechanism and are sequentially connected from inside to outside, and openings at two ends of the positioning tube form a hollow cavity for at least the first straight section or the second straight section to slide back and forth along the axial direction of the hollow cavity; the two ends of the locating sleeve are opened, and the inner wall of the locating sleeve is at least attached to part of the arc-shaped outline of the outer wall of the locating tube and then extends outwards to be fixedly connected with the waist fixing mechanism.
2. The single motor hip joint exoskeleton of claim 1, wherein said straight section has one end connected to the rotary motor and the other end bent and extended obliquely forward along the circumference of the leg of the human body to the middle of the front of the leg of the human body to form a bent section; the leg fixing component is sleeved on the leg of the human body and the inner diameter of the leg fixing component is adjustable; the leg fixing assembly comprises a thigh supporting plate and thigh binding bands with two ends respectively movably connected with the thigh supporting plate, the thigh supporting plate is hinged to the lower end portion of the bending section, the thigh supporting plate and the thigh binding bands form an annular closed space which is circumferentially sleeved on the legs of a human body and has an adjustable inner diameter, and the thigh supporting plate is an arc-shaped plate matched with the front face of the thighs of the human body.
3. The single-motor hip joint exoskeleton of claim 2, wherein said power driving mechanism comprises a rotating motor and a battery part for powering the rotating motor, which are sequentially arranged in a horizontal direction, a first straight section of said first leg booster is fixedly connected with a body of the rotating motor, and a second straight section of said second leg booster is fixedly connected with an output shaft of the rotating motor; the first straight section and the second straight section are discontinuous and the outer wall is flush.
4. A single motor hip joint exoskeleton as claimed in claim 3, wherein the rotating motor has an encoder electrically connected to the control mechanism, the encoder includes a magnet and a magnetic sensor, the magnet is disposed on an output shaft of the rotating motor, and the magnetic sensor is used for detecting a rotation angle of the magnet, further detecting the rotation angle of the rotating motor, and feeding back to the control mechanism to adjust the output torque of the rotating motor.
5. The single motor hip joint exoskeleton of claim 2 wherein said lumbar fixation means comprises a lumbar seal open at both ends and an adjustment assembly for removably connecting the ends of the lumbar seal.
6. The single motor hip joint exoskeleton of claim 1, wherein the adjustment mechanism further comprises a hinge assembly, wherein the curved sections of the first leg assist portion and the second leg assist portion are of two-piece construction and are hinged by the hinge assembly such that the thigh support plate rotates about the hinge end of the hinge assembly in a rotational direction perpendicular to the direction of oscillation of the first leg assist portion and the second leg assist portion.
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| CN115026800A (en) * | 2022-07-25 | 2022-09-09 | 巨灵神科技(上海)有限公司 | Lightweight human body assistance method based on single-drive actuator and booster |
| CN116533220A (en) * | 2023-07-07 | 2023-08-04 | 北京动思创新科技有限公司 | Leg holds in palm sliding displacement mechanism and hip joint ectoskeleton |
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