CN218018503U - Hip joint backward extension limiting mechanism and exoskeleton system - Google Patents

Abstract

The invention discloses a hip joint backward extension limiting mechanism and an exoskeleton system. When a wearer is in an upright state, the limiting structure can limit the backward inclination angle of the upper body of the wearer, so that the hip joint movable seat can provide certain support for the hip joint of the wearer through the limiting structure, at least part of torque generated by acting force is offset, the weight reduction effect of the exoskeleton system when the exoskeleton system is in a static standing state is improved to a greater extent, the burden of the wearer in the upright state is reduced, and meanwhile, the hip joint of the wearer has a certain backward extension angle in the normal movement process of the wearer, and the influence on the normal movement of the wearer is reduced as much as possible.

Description

Hip joint backward extension limiting mechanism and exoskeleton system

Technical Field

The disclosure relates to the technical field of mechanical joints, in particular to a hip joint backward extension limiting mechanism and an exoskeleton system.

Background

The mechanical exoskeleton is a mechanical device which is composed of a material frame with high rigidity and can be worn by a human body, is mainly used for assisting the limb of a wearer to move, and is widely applied to the fields of medicine, building, military and the like.

Current mechanical exoskeleton systems generally include both active and passive forms. Taking a passive mechanical exoskeleton as an example, the passive mechanical exoskeleton is a mechanical skeletal system which does not have a driving device and only assists a joint part of a wearer to move through a mechanical structure. The existing exoskeleton structure is generally connected with a leg module through a hip joint module, so that a movement freedom degree is provided for hip joints of a human body, when the human body is in an upright state, the gravity G1G2 formed by the whole weight of a mechanical exoskeleton and a weight can generate a torque of T1 on a flexion-extension rotating shaft of the hip joints, so that the upper body of a wearer can have an acting force inclining towards the rear side of the body, in order to balance the torque T1, the wearer needs to apply an acting force F1 on shoulder straps worn on a shoulder frame on the back frame, the shoulder straps pull the back frame and the weight, so that a torque T2 opposite to the torque T1 is generated, when the wearer normally stands, because the hip joint module provides the backward extension freedom degree of the hip joints rotating along with the T1, the deflection angle of the flexion-extension rotating shaft of the hip joints is not effectively limited, the wearer mainly needs to balance the torque T1 through the acting force of the shoulder on the shoulder straps, so that the shoulder oppression feeling is increased, the burden of the wearer and the consumption speed of physical energy of the exoskeleton are increased, and the wearing speed of the mechanical exoskeleton is reduced.

SUMMERY OF THE UTILITY MODEL

The purpose of the disclosed embodiment is: the hip joint backward extension limiting mechanism and the exoskeleton system solve the technical problems in the prior art that the backward extension torque of the mechanical exoskeleton hip joint is large and the like by changing the structure of a hip joint module.

In order to achieve the purpose, the following technical scheme is adopted in the disclosure:

in a first aspect, a hip joint posterior extension limiting mechanism is provided, comprising:

a hip joint movable seat;

the hip joint movable seat is rotatably connected with the leg movable part to limit a flexion and extension rotation axis and provide the hip joint movement freedom degree of a wearer;

and a limiting structure is arranged between the hip joint movable seat and the leg moving part and is used for limiting the backward extending limit position between the hip joint movable seat and the leg moving part.

As an alternative embodiment, the leg moving part also has an upright position, and the swing angle of the leg moving part between the upright position and the rear extension limit position ranges from 2 ° to 10 °.

As an optional implementation manner, the limiting structure includes:

the first limiting part is fixed on the hip joint movable seat;

the second limiting part is fixed on the leg moving part;

the first limiting part and the second limiting part can relatively move around the flexion-extension rotation axis in the process of rotating the leg movable part;

when the leg moving part moves to the backward extending limit position, the first limit part and the second limit part are abutted and limited.

As an alternative embodiment, the first limiting portion is formed with a first structural surface, and the second limiting portion is formed with a second structural surface, and when the hip joint movable seat and the leg movable member are located at the rear extension limit position, the first structural surface abuts against the second structural surface.

As an alternative embodiment, the first construction surface extends in a vertical direction;

the leg moving part is limited with a second reference line extending along the length direction of the leg moving part, and a limit included angle is formed between the second structure surface and the second reference line, so that when the hip joint moving seat and the leg moving part are located at the backward extension limit position, the first structure surface and the second structure surface are abutted and limited along the vertical direction. .

As an optional implementation manner, the limiting structure further includes:

the third limiting part is used for limiting the forward bending limit position between the hip joint movable seat and the leg movable part;

the leg moving part is provided with a second installation part along the length direction, and when the hip joint moving seat and the leg moving part are located at the forward bending limit position, the third limit part is abutted to the second installation part for limiting.

As an optional embodiment, the hip joint movable seat is provided with two spacing limit blocks, a movable groove is formed between the two limit blocks, and the movable groove provides a movement space for the leg movable member;

the leg moving part is arranged in the moving groove, the hip joint moving seat is positioned between the two limiting blocks and is provided with the first limiting part, and the second limiting part is arranged on the peripheral surface of the leg moving part.

As an optional embodiment, the first limiting part is a groove arranged at the bottom of the movable groove;

the second limiting part is a boss arranged on the surface of the leg moving part.

As an optional implementation manner, a rotating shaft and a shaft hole matched with the rotating shaft are arranged between the hip joint movable seat and the leg movable part, and the rotating shaft forms the flexion and extension rotating axis and is in clearance fit with the shaft hole;

the shaft hole is formed in the leg moving part and communicated with the moving space, and the rotating shaft is arranged on one side, facing the shaft hole, of the at least one limiting block;

or, the shaft hole is opened in at least one the stopper and communicates the motion space, the shank moving part orientation one side in shaft hole sets up the axis of rotation.

In a second aspect, there is provided an exoskeleton system comprising:

the hip joint backward extension limiting mechanism is described above.

The beneficial effect of this disclosure does: the hip joint backward extension limiting mechanism is characterized in that a limiting structure is arranged between a hip joint movable seat and a leg movable part, the limiting structure limits the backward extension limiting position between the hip joint movable seat and the leg movable part, the limiting structure can limit the backward extension angle of the upper body of a wearer in an upright state of the wearer, when the backward extension angle of the upper body of the wearer is larger than a preset angle, namely the hip joint of the wearer moves to the preset angle along the backward extension angle direction relative to the thigh joint, the limiting structure can limit the backward extension movement direction of the hip joint of the wearer, the hip joint movable seat can provide a certain support for the hip joint of the wearer through the limiting structure, the limiting structure can apply a counter acting force opposite to the acting force applied to the hip joint movable seat by a mechanical exoskeleton and a heavy object to counteract the torque generated by the acting force, the heavy object and the torque are effectively transmitted to the ground through a leg module with certain rigidity, the heavy object weight reducing effect of the exoskeleton system when the heavy object is in an upright state is greatly improved, the burden of the wearer is relieved when the wearer is in the upright state, the wearing system is prolonged, and the heavy object carrying capacity of the exoskeleton is improved.

Meanwhile, the backward tilting included angle is set to be less than or equal to 10 degrees, so that the hip joint movable seat has a backward extension limiting function, and the hip joint of a wearer has a certain backward extension angle in the normal movement process, thereby reducing the influence on the normal movement of the wearer as much as possible.

Drawings

The present disclosure is described in further detail below with reference to the figures and examples.

FIG. 1 is a force analysis diagram of an exoskeleton system structure according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of the overall architecture of the exoskeleton system according to the embodiment of the present disclosure;

FIG. 3 is an isometric view of an assembly structure of the hip joint posterior extension limiting mechanism according to the embodiment of the disclosure;

FIG. 4 is an exploded view of the hip joint extension back limiting mechanism according to the embodiment of the present disclosure;

FIG. 5 is a front view of an assembly structure of the hip joint backward extension limiting mechanism according to the embodiment of the present disclosure;

FIG. 6 isbase:Sub>A sectional view taken along line A-A of FIG. 5 (in an upright state);

FIG. 7 is an enlarged view of section A of FIG. 6;

FIG. 8 is a sectional view of the back extension limiting position of the hip joint back extension limiting mechanism according to the embodiment of the present disclosure;

FIG. 9 is a schematic view of a motion trajectory of the hip joint backward extension limiting mechanism according to the embodiment of the present disclosure;

FIG. 10 is a schematic view of a hip joint motion block according to an embodiment of the present disclosure;

fig. 11 is a schematic structural view of a leg moving member according to an embodiment of the disclosure.

In the figure: 10. a hip joint movable seat; 11. a first reference line; 12. a first limiting part; 121. a first structural face; 13. a limiting block; 131. a movable groove; 132. a rotating shaft; 133. a fixing hole; 14. a first mounting portion; 15. a third limiting part; 20. a leg moving member; 21. a second reference line; 22. a second limiting part; 221. a second structural face; 23. a shaft hole; 24. a second mounting portion; 30. a flexion-extension rotation axis; 40. a protective member; 50. a back frame; 60. a hip joint module; 61. a connecting arm; 70. a leg module; 71. a thigh assembly; 72. a lower leg assembly; 80. a footwear assembly.

Detailed Description

In order to make the technical problems solved, technical solutions adopted, and technical effects achieved by the present disclosure clearer, the following describes technical solutions of embodiments of the present disclosure in further detail, and it is obvious that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

In the description of the present disclosure, 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 meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact, not directly, but via another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In this embodiment, referring to fig. 1 to fig. 2, which are schematic overall structural diagrams of the exoskeleton system according to this embodiment, specifically, the hip joint backward extension limiting mechanism according to this embodiment can be applied to an active exoskeleton system and a passive exoskeleton system, and as for the passive exoskeleton, the inventors of this application have found through long-term research that: as shown in fig. 1, in a stress analysis diagram of the exoskeleton system according to the embodiment, taking a wearer standing on a horizontal standing surface as an example, a gravity G1G2 formed by the weight of the whole mechanical exoskeleton and the weight of a load will generate a torque T1 on the flexion and extension rotation axis 30, the torque T1 will cause the upper body of the wearer to move in a backward tilting direction, and in order to balance the torque T1, the wearer needs to apply an acting force F1 to a shoulder strap worn on the back frame 50, so that the shoulder strap pulls the back frame 50 to approach the back in a forward tilting direction, and a torque T2 opposite to T1 is generated to the back frame 50 to maintain body balance in a standing state, thereby increasing a physical burden of the wearer. To this end, the present application provides the following examples.

Referring to fig. 1 and 6, which are schematic diagrams illustrating an upright state of the exoskeleton system according to the present embodiment, that is, a front view of the hip joint movable seat 10 and the leg movable member 20 in an upright position, before describing this embodiment in detail, it should be noted that, in the present embodiment, for the hip joint movable seat 10, the leg movable member 20 and other components in the exoskeleton system, in a state of being worn by a wearer, a side of each component close to a leg of the wearer is an inner side of each component; one side of each component far away from the leg of the wearer is the outer side of each component; when the exoskeleton system is in use, the forward direction of a wearer to the right front of the wearer is the front side direction of each component in the exoskeleton system, namely the front direction indicated by an arrow in the attached drawing; conversely, the direction in which the wearer is moving backward is the rearward direction of the components in the exoskeleton system, i.e., the "rearward" direction as indicated by the arrows in the figure.

Referring to fig. 1-2, the present embodiment provides an exoskeleton system, generally speaking, a passive exoskeleton system includes a back frame 50, a hip joint module 60, a leg module 70 and a shoe assembly 80, in order to enable the exoskeleton system to be worn on a human body and assist the movement of the limbs of the wearer, the above parts are all provided with wearing components to provide a wearing space for the wearer, the wearing components are generally flexible wearing belts adapted to different limb sizes and lines, and the specific structure thereof is not described herein in detail. In order to match the human body structure, the back frame 50 and the hip joint modules 60 are generally designed in a bilateral symmetry structure, and two leg modules 70 are respectively connected to the left and right sides of the hip joint modules 60, and are generally arranged outside the legs of the wearer, or can be arranged on the inner and outer sides of the legs of the wearer or cover the periphery of the legs of the wearer, and two shoe components 80 are provided to provide wearing spaces for the two feet of the wearer.

Specifically, the back frame 50 is used for fixing the mechanical exoskeleton and the waist and back of the wearer and has a function of bearing a load, and in the active exoskeleton structure, the back frame 50 is generally replaced by a waist component (not shown) and is bound with the waist of the wearer, which is beneficial to improving the positioning accuracy and the man-machine fit of each part of the exoskeleton system, and of course, the back frame 50 in the present embodiment also has the function. The first side of the hip joint module 60 is fixedly connected to one end of the back frame 50 worn on the waist of the wearer, and the second side of the hip joint module 60 is movably connected to the leg module 70, and generally, in order to adapt the hip joint structure of the human body to the hip joint module 60, the hip joint module 60 generally has two or more degrees of freedom of movement, thereby providing the degree of freedom of movement of the hip joint of the human body. The hip joint movable seat 10 is used as a part of a hip joint module 60, the leg movable piece 20 is used as a part of a leg module 70, the hip joint movable seat 10 and the leg movable piece 20 are rotatably connected to provide the freedom degree of the hip joint of a human body in the forward bending and backward extending directions, and the leg module 70 can provide the swinging freedom degree for the knee joint of the human body. The footwear assembly 80 provides a space for securing the foot of the wearer's shoe, and in general, the footwear assembly 80 includes a base plate for securing the wearer's shoe and a wear assembly disposed about the base plate, but in another arrangement, the footwear assembly 80 includes a footwear that the wearer can directly penetrate the foot into the footwear carried by the exoskeleton system itself to complete the wear with the footwear assembly 80. The footwear assembly 80, by being movably coupled to the leg module 70, forms an ankle assembly that provides the wearer with freedom of movement about the ankle.

As shown in fig. 3, which is a schematic view of an overall structure of the hip joint backward extension limiting mechanism according to the present embodiment, the hip joint moving seat 10 includes a hip joint moving seat 10 and a leg moving member 20, the hip joint moving seat 10 is rotatably connected with the leg moving member 20 to define a flexion-extension rotation axis 30, so as to provide a degree of freedom for forward flexion and backward extension of the hip joint of a wearer. In the present embodiment, in the wearing state of the exoskeleton system, taking the structure that the hip joint modules 60 can provide the freedom of movement of the hip joints on the left and right sides of the wearer and the structure that the leg modules 70 are two and are respectively arranged on the legs of the wearer as an example, the hip joint movable seat 10 is positioned at the outer side of the hip joint of the wearer, the hip joint movable seat 10 provides the first installation part 14 connected with other parts of the hip joint module 60, and optimally, the flexion and extension rotation axis 30 between the hip joint movable seat 10 and the leg movable member 20 is coincident with the flexion and extension rotation axis of the hip joint of the wearer so as to match the flexion and extension movement of the hip joint of the human body, and the leg movable member 20 provides the second installation part 24 connected with other parts of the leg module 70 so that the hip joint module 60 and the leg module 70 are connected through the two parts.

In this embodiment, the hip joint movable seat 10 and the leg movable member 20 may be formed by machining components such as sheet metal parts, profile parts, injection molded parts, cast parts and the like through different processes, structural strength required by the hip joint movable seat 10 and the leg movable member 20 is calculated according to the analysis of the overall stress of the exoskeleton system, and the hip joint movable seat 10 and the leg movable member 20 can be stably connected by increasing the thickness of the components or machining reinforcing ribs on the components, so that the gravity of the upper body and the negative weight of the exoskeleton system is transmitted to the leg module 70 and finally transmitted to the supporting surface where the wearer is located.

As shown in fig. 3-11, in order to enable the exoskeleton system to provide backward tilting support for the hip joint of the wearer, a limit structure is disposed between the hip joint movable seat 10 and the leg movable member 20, and the limit structure can limit the hip joint movable seat 10 and the leg movable member 20 to the backward extension limit position, when the hip joint movable seat 10 and the leg movable member 20 are in the backward extension limit position, the hip joint of the wearer cannot move in the backward extension direction, and at least a part of the torque T1 can be offset between the hip joint movable seat 10 and the leg movable member 20 through the limit structure, the leg movable member 20 can apply a certain acting force to the hip joint movable seat 10, which is a reaction force F3 of the exoskeleton system and the weight applied to the leg movable member 20 by the hip joint movable seat 10, so that due to the existence of the limit structure, the gravity G1G2 and the torque T1 of the exoskeleton system and the weight can be more transferred to the leg module 70 and the leg movable member 20 through the hip joint movable seat 10 and the leg movable seat 20, and finally transferred to the shoe movable member 80, thereby increasing the burden of the wearing time of the exoskeleton system, increasing the weight-bearing operation of the wearer.

As shown in fig. 8, it is easy to understand that the hip sliding seat 10 is formed with a first reference line 11, the leg moving member 20 is formed with a second reference line 21, both the first reference line 11 and the second reference line 21 are perpendicular to and intersect the flexion rotation axis 30, and when the hip sliding seat 10 and the leg moving member 20 are at the backward extension limit position, a backward inclination angle F ° is formed between the first reference line 11 and the second reference line 21, and the backward inclination angle F ° is smaller than or equal to 10 °.

For the understanding of the embodiment, the upright state, the upright position and the standing state in the present embodiment are taken as an example of a horizontal plane of a supporting surface on which a wearer is located, and refer to a state in which a wearer's body is vertical or nearly vertical to the horizontal plane, that is, a state in which an upper body and a lower body of the wearer are vertical or nearly vertical to the horizontal plane, and a direction in which the upper body and the lower body of the wearer extend substantially coincides with a gravity direction. In an ideal state, when the wearer is in an upright state, the first reference line 11 is parallel to the extending direction of the upper body of the wearer, and the second reference line 21 is parallel to the extending direction of the legs of the wearer, so that the first reference line 11 and the second reference line 21 in an upright state are in a state of being overlapped or nearly overlapped, it can be understood that, according to the standing habits of different wearers, the included angle between the upper body and the lower body of the wearer is not necessarily completely overlapped, as shown in fig. 6, in the upright state, the first reference line 11 and the second reference line 21 are overlapped reference lines L4, so that, the state described in the present embodiment is an ideal state, which does not specifically limit the included angle between the first reference line 11 and the second reference line 21 in the upright state of the wearer, a flexion-extension rotation axis 30 is formed between the first reference line 11 and the second reference line 21, the first reference line 11 can rotate around the flexion-extension rotation axis 30 relative to the second reference line 21, it is considered that the wearer swings forwards or backwards, and the hip-extension angle is equal to the maximum hip-extension angle when the wearer moves backwards and the hip-extension direction is considered as a backward movement limited by the vertical movement angle of the reference line 10, and the hip-extension direction is equal to the vertical movement limit structure, and the hip-backward-extension direction is not limited by the horizontal direction, and the horizontal-extension angle is equal to the maximum hip-extension angle is equal to the vertical movement of the wearer, as shown in the vertical movement of the wearer, and the wearer is equal to the vertical movement limit structure in the vertical movement of the wearer.

It should be noted that the leg moving member 20 further has an upright position, and on the basis of the above-mentioned solution, in order not to affect the normal movement state of the wearer, the swing angle range of the leg module 30 between the upright position and the backward extension limit position is 2 ° to 10 °, that is, the angle range of the backward tilt included angle F ° is set to 2 ° to 10 °, that is, the hip joint moving seat 10 and the leg moving member 20 move in the backward extension direction around the flexion-extension rotation axis 30, and the maximum deflection angle of the first reference line 11 and the second reference line 21 is 2 ° to 10 °.

It should be understood that, when the human body is walking normally and lifting legs and climbing, when one of the legs of the human body is located at the rear side position compared with the upper half of the human body, it can be understood that the back of the human body is located at the backward tilting posture compared with the legs, the swing angle range of the leg module 30 between the upright position and the backward extension limit position is set to be greater than 2 °, it can be ensured that the hip joint module 60 can be turned backwards by a certain angle and drives the back frame 50 to be turned backwards so as to meet and match the backward tilting posture of the wearer when the wearer is walking normally or lifting legs and climbing. Meanwhile, when the back frame 50 is turned backwards to the backward extending limit position, the wearer can maintain the standing state, the swing angle range of the leg module 30 between the vertical position and the backward extending limit position is set to be smaller than 10 degrees, the standing posture of the wearer when the back frame is at the backward extending limit position can be ensured to be vertical, the back frame is not inclined backwards much, the reverse moment of the legs of the wearer required to be overcome is small, and the standing is comfortable.

As shown in fig. 6 to 9, in particular, the limiting structure includes a first limiting portion 12 and a second limiting portion 22, and the first limiting portion 12 and the second limiting portion 22 can limit the hip joint movable base 10 and the leg movable member 20 at the rear extension limit position. The first limit part 12 is fixed on the hip joint movable seat 10, and the first limit part 12 can move around the flexion and extension rotation axis 30 along with the hip joint movable seat, and for the convenience of understanding of the solution, the movement track of the first limit part 12 is defined as a first movement track. The second position-limiting portion 22 is fixed to the leg moving member 20, the second position-limiting portion 22 can move around the flexion-extension rotation axis 30 along with the leg moving member 20, and a movement track of the second position-limiting portion 22 is defined as a second movement track.

In order to enable the first limiting portion 12 and the second limiting portion 22 to achieve a limiting effect during a relative movement process of the hip joint movable seat 10 and the leg movable member 20 in the backward extending direction, the second limiting portion 22 is disposed on the first movement track, or the first limiting portion 12 is disposed on the second movement track, so that an intersection point can be formed between the first movement track and the second movement track, the intersection point of the first movement track and the second movement track is located at the backward extending limit position, when the hip joint movable seat 10 and the leg movable member 20 move to the backward extending limit position, because an intersection point exists between the first movement track and the second movement track, the first limiting portion 12 and the second limiting portion 22 interfere with each other, the first limiting portion 12 and the second limiting portion 22 move to abut against each other, so as to limit the hip joint movable seat 10 and the leg movable member 20 at the backward extending limit position, and a backward extending angle of the hip joint of a wearer is kept at a position consistent with a preset included angle of F degrees.

The specific structures of the first position-limiting portion 12 and the second position-limiting portion 22 of the present embodiment include, but are not limited to, a boss structure, a groove structure, etc., and the first position-limiting portion 12 and the second position-limiting portion 22 may be disposed on any portion of the hip movable seat 10 and the leg movable member 20, as long as the effect that the movement trajectories of the two position-limiting portions at least partially overlap and interfere with each other can be achieved.

The connection mode between the first limit portion 12 and the hip joint movable seat 10 and between the second limit portion 22 and the leg moving member 20 may be a fixed connection (such as welding, bonding, riveting, etc.), or a detachable connection (such as snap connection, threaded connection, etc.), and certainly, in order to improve the production efficiency of the hip joint backward extension limit mechanism and the exoskeleton system and reduce the assembly difficulty thereof, the first limit portion 12 and the hip joint movable seat 10 and the second limit portion 22 and the leg moving member 20 may be made of the same material, so as to facilitate the processing and production through an integrated processing and forming mode (such as integrated injection molding, integrated extrusion molding, integrated casting molding, bending molding, etc.).

Further, in order to improve the stability between the first position-limiting portion 12 and the second position-limiting portion 22 in the interference position-limiting state, the first position-limiting portion 12 is formed with a first structure surface 121, the first structure surface 121 extends in the vertical direction in the upright state of the wearer, the extending direction of the first structure surface 121 is parallel to the first reference line 11, the second position-limiting portion 22 is formed with a second structure surface 221, a position-limiting included angle is formed between the second structure surface 221 and the second reference line 21, the included angle is 2 ° to 10 ° so that when the hip joint movable seat 10 and the leg portion 20 are located at the rear-extending limit position, the first structure surface 121 and the second structure surface 221 abut against each other in the vertical direction for limiting, specifically, during the movement of the first structure surface 121 and the second structure surface 221 along with the hip joint movable seat 10 and the movable piece 20, the first structure surface 121 and the second structure surface 221 form a plurality of first movement tracks and second movement tracks, wherein at least a part of the first movement tracks and at least a part of the second movement tracks form an intersection point. As shown in fig. 9, the part of the minimum distance between the first limiting portion 12 and the leg moving member 20 is taken, the first motion track L1 is formed in the process of relative motion, the part of the maximum distance between the second limiting portion 22 and the leg moving member 20 is taken, the second motion track L2 is formed in the process of relative motion, the intersection point a is arranged between the L1 and the L2, so that the first motion portion is close to the second motion portion in the process of motion, the position where the point a interferes with each other is formed to be in surface contact and offset spacing, the problem that the limiting structure is too large in pressure under the limiting state is avoided, the force transmission uniformity can be improved, and the load transmission is smoother.

Specifically, the angle of the limit included angle a is equal to the backward inclined angle F, so that when the hip joint movable seat 10 and the leg movable member 20 are located at the backward extending limit position, the first structure surface 121 abuts against the second structure surface 221, and the hip joint movable seat 10 and the leg movable member 20 are limited at a preset angle and kept at the backward extending limit position. Through the butt of face between first structure face 121 and the second structure face 221, can avoid pressure intensity too big on the one hand, increase life, on the other hand, two butt faces through the transmission of the realization load of large tracts of land contact, improved the transmission efficiency of load, and then be favorable to promoting the bearing capacity of body ectoskeleton. Meanwhile, in an ideal state, when two surfaces are abutted, the vertical direction is kept, the load can be more smoothly transmitted to the leg module 70 and further transmitted to the ground through the shoe assembly 80, and compared with horizontal or inclined abutting limit, the load transmission effect is better.

In order to prevent the leg moving member 20 and the hip joint moving seat 10 from interfering with each other during the relative movement, the leg moving member 20 moves around the flexion-extension rotation axis 30 to define a third movement track L3, it should be noted that a track formed by any part on the leg moving member 20 during the movement process can be defined as the third movement track L3, and the radius of the third movement track L3 is smaller than that of the first movement track, so that the leg moving member 20 does not interfere with the second limiting portion 22 and the hip joint moving seat 10 during the relative movement, and the leg moving member 20 and the hip joint moving seat 10 need to be limited at the rear-extension limiting position by the first limiting portion 12 and the second limiting portion 22.

In order to avoid excessive forward flexion of the hip joint of the wearer, the limiting structure further comprises a third limiting part 15, and the third limiting part is used for limiting the forward flexion limit position between the hip joint movable seat 10 and the leg movable part 20. Specifically, the leg moving member 20 is provided with a second mounting portion 24 along the length direction thereof, the second mounting portion 24 is used for being connected with other components of the leg module 70, and when the hip joint moving seat 10 and the leg moving member 20 are at the forward bending limit position, that is, in a state where the leg moving member 20 rotates to the third limiting portion 15 along the counterclockwise direction as shown in fig. 6, the third limiting portion 15 abuts against the second mounting portion 24 for limiting.

As shown in fig. 2, in the present embodiment, in order to connect the hip joint movable seat 10 to other components of the hip joint module 60, the hip joint movable seat 10 is further provided with a first mounting portion 14, it can be understood that the hip joint module 60 generally includes connecting arms 61 extending from the center of the hip joint of the wearer to both sides thereof, the two connecting arms 61 can swing relative to the back frame 50 to provide the wearer with freedom of movement in the extending and retracting directions of the external hip joint, the first mounting portion 14 is used for connecting with the connecting arms 61, the connecting manner can be fixed connection or movable connection, taking movable connection as an example, the connection between the first mounting portion 14 and the connecting arms 61 can provide the hip joint of the wearer with freedom in the outward and inward rotation directions, so that the hip joint modules 60 can be matched with each other to provide the wearer with three degrees of freedom of movement of the hip joint, and improve the man-machine adaptability of the exoskeleton system to the wearer.

While the leg moving member 20 is provided with the second mounting portion 24 to achieve connection between the leg moving member 20 and other parts of the leg module 70, it can be understood that the leg module 70 generally includes a thigh component 71 and a shank component 72, the length of the thigh component 71 matches with the length of the thigh of the wearer, and the length of the shank component 72 matches with the length of the shank of the wearer, so that the hinge point between the thigh component 71 and the shank component 72 is at the position of the knee joint of the wearer. Thigh subassembly 71 and shank subassembly 72 can be for the long rod-shaped structure, also can be for with human shank peripheral structure assorted, can coat at the irregular structure spare of human shank periphery, in this embodiment, thigh subassembly 71 and shank subassembly 72 can directly be dressed in the thigh of wearer and shank department, and roughly be the structure that long rod-shaped structure, strip structure etc. extend along wearer's thigh and shank length direction respectively, then need dress through dressing the subassembly cooperation. Further, the second reference line 21 in the present embodiment is parallel to the extending direction of the thigh assembly 71, one end of the thigh assembly 71 is mounted on the second mounting portion 24, so that the thigh assembly 71 can swing around the flexion-extension rotation axis 30, the other end of the thigh assembly 71 is rotatably connected with one end of the shank assembly 72, so as to provide the freedom of movement of the knee joint of the wearer, and the other end of the shank assembly 72 is hinged with the shoe assembly 80, so as to provide the freedom of movement of the ankle joint of the wearer.

In order to provide the forward flexion limit position of the wearer during forward flexion movement between the hip joint movable seat 10 and the leg movable seat 20, the movement tracks of the first installation part 14 and the second installation part 24 form an intersection point, and when the leg movable seat 20 and the hip joint movable seat 10 move to a preset angle in the forward flexion direction, the first installation part 14 and the second installation part 24 can interfere with each other, so that the hip joint of the wearer is limited from being bent forwards continuously, and the flexion and extension movement of the hip joint of the wearer is effectively protected.

It can be understood that the connection mode between the first installation portion 14 and the hip joint movable seat 10 and the connection mode between the second installation portion 24 and the leg moving member 20 may be a fixed connection (such as welding, bonding, screwing, riveting, etc.), or a detachable connection (such as snap connection, screw connection, etc.), and certainly, in order to improve the production efficiency of the hip joint backward extension limiting mechanism and the exoskeleton system and reduce the assembly difficulty thereof, the connection mode between the first installation portion 14 and the hip joint movable seat 10 and the connection mode between the second installation portion 24 and the leg moving member 20 may be made of the same material, so as to be processed and produced through an integrated processing and forming mode (such as integrated injection molding, integrated extrusion molding, integrated casting molding, bending molding, etc.).

As shown in fig. 10-11, in order to improve the structural compactness of the hip joint backward extension limiting mechanism and improve the stability of the hip joint movable seat 10 and the leg movable member 20 during the relative movement, the hip joint movable seat 10 is provided with two limiting blocks 13 which are arranged at intervals, a movable groove 131 is formed between the two limiting blocks 13, and the movable groove 131 provides the movement space of the leg movable member 20. The leg moving member 20 is disposed in the moving groove 131, so that in the radial direction of the flexion-extension rotation axis 30, the leg moving member 20 is located at a position near the middle of the hip joint moving seat 10, the first limiting portion 12 is disposed between the two limiting blocks 13 of the hip joint moving seat 10, and the second limiting portion 22 is disposed on the outer peripheral surface of the leg moving member 20.

Specifically, the first position-limiting portion 12 is a groove disposed at the bottom of the movable groove 131, the first structural surface 121 is formed at the bottom of the groove, and correspondingly, the second position-limiting portion 22 is a boss disposed at the structural surface of the leg movable member 20 around the periphery of the bending and extending rotation axis.

Specifically, the first structural surface 121 formed by the first limiting portion 12 is disposed on the bottom of the movable groove 131, and serves as a part of the bottom of the movable groove 131, so that the consumables required by the hip joint movable seat 10 for disposing the first limiting portion 12 can be saved, the overall volume of the hip joint movable seat 10 can be kept in a relatively unchanged state, the second limiting portion 22 is disposed on the periphery of the leg movable member 20, and when the hip joint movable seat 10 and the leg movable member 20 are located at the backward extension limiting position, the second limiting portion 22 faces the first limiting portion 12, i.e., faces the bottom of the movable groove 131, so that the second limiting portion 22 can be well hidden, and the installation space required by additionally disposing the hip joint backward extension limiting mechanism with a limiting structure can be saved.

In the present embodiment, the hip joint movable seat 10 and the leg movable member 20 are connected by the way of the shaft hole 23 being rotatably connected, a rotating shaft 132 and a shaft hole 23 matching with the rotating shaft 132 are provided between the hip joint movable seat 10 and the leg movable member 20, and the rotating shaft 132 forms the flexion-extension rotation axis 30 and is in clearance fit with the shaft hole 23.

The arrangement of the shaft hole 23 and the rotating shaft 132 may be:

1) The shaft hole 23 is opened in the leg moving member 20 and communicates with the movement space, and a rotating shaft 132 is disposed on one side of the at least one limiting block 13 facing the shaft hole 23;

2) The shaft hole 23 is opened in at least one of the stoppers 13 and communicates with the movement space, and a rotation shaft 132 is disposed on a side of the leg moving member 20 facing the shaft hole 23.

In the present embodiment, the installation mode 1) is taken as an exemplary illustration, in order to facilitate the installation of the rotation shaft 132 and the connection between the rotation shaft 132 and the shaft hole 23, the rotation shaft 132 and the hip joint movable seat 10 are detachably connected, wherein one of the stoppers 13 is provided with a through fixing hole 133, and the fixing hole 133 is communicated with the movable groove 131, so that the rotation shaft 132 can penetrate into the movable groove 131 from the fixing hole 133. Specifically, the shaft holes 23 penetrate through opposite sides of the leg moving member 20, and the length of the rotating shaft 132 is greater than that of the shaft holes 23, so that the rotating shaft 132 can penetrate through the shaft holes 23.

One end of the rotating shaft 132 penetrates into the movable groove 131 through the fixing hole 133 from the side of the limit block 13 with the fixing hole 133 and penetrates through the shaft hole 23, so that the hip joint movable seat 10 is hinged to the leg movable member 20, the rotating shaft 132 penetrates out from one end of the shaft hole 23 and then is connected with another limit block 13, so that the rotating shaft 132 is supported by the limit blocks 13 on two sides, the contact area between the rotating shaft 132 and the shaft hole 23 is relatively increased, the rotating shaft 132 cannot form a force arm, and the rotating stability of the shaft hole 23 and the rotating shaft is improved.

The protecting member 40 is disposed between the rotating shaft 132 and the shaft hole 23, and the protecting member 40 is made of a low-friction wear-resistant material, and may be a sleeve, a bushing, or the like, which is preferably a self-lubricating member. Thereby reducing the friction coefficient between the shaft hole 23 and the rotating shaft 132 and improving the rotating fluency of the hip joint movable seat 10 and the leg movable piece 20.

By means of the technical scheme, the wearer can support the hip joint backward-extending movement direction under the load-bearing vertical state, so that the body load feeling of the wearer is reduced, meanwhile, the influence on the hip joint backward-extending movement of the wearer under the movement state is reduced to the maximum extent, the wearer can move freely under the movement state, and the bearing capacity of the wearer and the wearing duration of the exoskeleton system are improved.

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, be constructed and operated in a particular orientation, and are not to be considered limiting of the present disclosure. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have a special meaning.

In the description herein, references to "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 disclosure. 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 present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.

The technical principles of the present disclosure have been described above in connection with specific embodiments. The description is only intended to explain the principles of the disclosure and should not be taken in any way as limiting the scope of the disclosure. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present disclosure without inventive effort, which shall fall within the scope of the present disclosure.

Claims (10)

1. A hip joint backward extension limiting mechanism is characterized by comprising:

a hip joint movable seat (10);

a leg moving member (20), the hip joint moving seat (10) is rotatably connected with the leg moving member (20) to define a flexion-extension rotating axis (30) for providing a hip joint movement freedom of a wearer;

a limiting structure is arranged between the hip joint movable seat (10) and the leg moving part (20), and the limiting structure is used for limiting the backward extending limit position between the hip joint movable seat (10) and the leg moving part (20).

2. The hip joint posterior extension limiting mechanism according to claim 1, wherein the leg moving member (20) further has an upright position, and the leg moving member (20) has a swing angle ranging from 2 ° to 10 ° between the upright position and the posterior extension limiting position.

3. The hip joint posterior extension limiting mechanism of claim 1, wherein the limiting structure comprises:

a first limit part (12) fixed on the hip joint movable seat (10);

a second limiting part (22) fixed on the leg moving part (20);

the first limit part (12) and the second limit part (22) can relatively move around the flexion-extension rotation axis (30) in the process of rotating the leg movable part (20);

when the leg moving part (20) moves to the backward extending limit position, the first limit part (12) and the second limit part (22) are abutted and limited.

4. The hip joint backward extension limiting mechanism according to claim 3, wherein the first limiting portion (12) is formed with a first structure surface (121), the second limiting portion (22) is formed with a second structure surface (221), and the first structure surface (121) and the second structure surface (221) abut against each other when the hip joint movable seat (10) and the leg movable member (20) are in the backward extension limiting position.

5. The hip extension limiting mechanism according to claim 4, wherein the first structural surface (121) extends in a vertical direction;

the leg moving part (20) is limited by a second reference line (21) extending along the length direction of the leg moving part, and a limit included angle is formed between the second structure surface (221) and the second reference line (21), so that when the hip joint moving seat (10) and the leg moving part (20) are located at a rear extension limit position, the first structure surface (121) and the second structure surface (221) are abutted and limited along the vertical direction.

6. The hip joint posterior extension limiting mechanism of claim 3, wherein the limiting structure further comprises:

a third limiting part (15) for limiting the forward bending limit position between the hip joint movable seat (10) and the leg movable part (20);

the leg moving part (20) is provided with a second installation part (24) along the length direction, and when the hip joint moving seat (10) and the leg moving part (20) are located at the forward bending limit position, the third limit part (15) is abutted to the second installation part (24) for limiting.

7. The hip joint backward extension limiting mechanism according to any one of claims 3-6, characterized in that the hip joint movable seat (10) is provided with two limiting blocks (13) arranged at intervals, a movable groove (131) is formed between the two limiting blocks (13), and the movable groove (131) provides a movement space of the leg movable member (20);

the leg moving part (20) is arranged in the moving groove (131), the hip joint moving seat (10) is positioned between the two limit blocks (13) and is provided with the first limit part (12), and the second limit part (22) is arranged on the peripheral surface of the leg moving part (20).

8. The hip joint backward extension limiting mechanism according to claim 7, wherein the first limiting part (12) is a groove provided at the bottom of the movable groove (131);

the second limiting part (22) is a boss arranged on the surface of the leg moving part (20).

9. The hip joint backward extension limiting mechanism according to claim 7, characterized in that a rotating shaft (132) and a shaft hole (23) matched with the rotating shaft (132) are arranged between the hip joint movable seat (10) and the leg movable piece (20), and the rotating shaft (132) forms the flexion-extension rotation axis (30) and is in clearance fit with the shaft hole (23);

the shaft hole (23) is formed in the leg moving piece (20) and communicated with the motion space, and the rotating shaft (132) is arranged on one side, facing the shaft hole (23), of the at least one limiting block (13);

or, shaft hole (23) are seted up in at least one stopper (13) and are linked together the motion space, shank moving part (20) orientation one side in shaft hole (23) sets up axis of rotation (132).

10. An exoskeleton system, comprising:

the hip joint posterior extension stop mechanism of any one of claims 1-9.

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