Exoskeleton device capable of flexibly moving

Abstract

The invention provides an exoskeleton device capable of moving flexibly. The exoskeleton device comprises a back plate assembly, a lower limb assembly and a hip joint assembly movably connected with the back plate assembly and the lower limb assembly. The hip joint assembly comprises a first connecting piece, a second connecting piece and a movable assembly; the first connecting piece is fixedly connected with the back plate assembly, the second connecting piece is fixedly connected with the lower limb assembly, the movable assembly is connected with the first connecting piece and the second connecting piece, the first connecting piece and the second connecting piece can be movably connected, the first connecting piece and the second connecting piece can flexibly move, and the angle range of relative movement is larger. Therefore, the human body is not limited by the exoskeleton when doing activities after being worn, the human body can do more flexible activities in a larger range, and the exercise comfort degree during wearing is improved.

Description

Technical Field

[0001] The present invention generally relates to the technical field of exoskeleton, and in particular to an exoskeleton device capable of flexible movement. Background Art

[0002] Since the 21st century, my country's population has been aging more and more seriously, and the number of patients with lower limb motor dysfunction due to diseases such as stroke, lower limb muscle damage, or accidents has increased. How to enable patients to stand and walk and restore function has become the focus of research.

[0003] Lower limb rehabilitation exoskeleton technology is a new type of human motion-assisting robot technology. Applying exoskeleton technology to patients can drive the patient's lower limbs to move in a predetermined trajectory, assist the patient's gait training and power, which will enhance the patient's lower limb motor ability and provide patients with more personalized, immediate and convenient rehabilitation training.

[0004] There are many types of lower limb exoskeletons, but the hip joints of most exoskeletons are mainly rigid structures. Although they can provide support and enhance the mobility of people wearing exoskeletons, they have the characteristics of heavy weight, poor adaptability and convenience, and complex structure. In addition, most hip joints only have one degree of freedom of flexion / extension, without adduction / abduction and internal rotation / external rotation. The flexibility is not enough to adapt to various movements of the human body. When wearing it, the user's movement may be restricted by the exoskeleton, causing discomfort. Summary of the invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an exoskeleton device that can move flexibly.

[0006] The present invention provides an exoskeleton device capable of flexible movement, comprising:

[0007] back plate assembly and lower limb assembly;

[0008] A hip joint assembly, the hip joint assembly being used to flexibly connect the back plate assembly and the lower limb assembly;

[0009] The hip joint assembly comprises:

[0010] A first connecting member, the first connecting member is fixedly connected to the back plate assembly;

[0011] a second connecting member, the second connecting member being fixedly connected to the lower limb assembly;

[0012] A movable component, one end of which is connected to the first connecting member, and the other end of which is connected to the second connecting member, is used to enable the first connecting member to be movably connected to the second connecting member.

[0013] According to the technical solution provided by the present invention, the active component includes:

[0014] A third connecting member;

[0015] a first hinge assembly connected between the first connecting member and the third connecting member and / or a second hinge assembly connected between the second connecting member and the third connecting member;

[0016] The first hinge assembly is used to allow a first degree of freedom between the first connection member and the third connection member; the second hinge assembly is used to allow a second degree of freedom between the second connection member and the third connection member.

[0017] According to the technical solution provided by the present invention, the first hinge assembly includes:

[0018] A plurality of first hinges, wherein one end of the first hinge is flexibly connected to the first connecting member, and the other end of the first hinge is flexibly connected to the third connecting member.

[0019] According to the technical solution provided by the present invention, the first hinge assembly further includes:

[0020] a plurality of third hinges and a plurality of fourth hinges;

[0021] One end of the third hinge is flexibly connected to the first connecting member, and one end of the fourth hinge is flexibly connected to the third connecting member; the third hinge and the fourth hinge are flexibly connected.

[0022] According to the technical solution provided by the present invention, the sum of the lengths of the third hinge and the fourth hinge is greater than the length of the first hinge.

[0023] According to the technical solution provided by the present invention, the second hinge assembly includes:

[0024] A plurality of second hinges, wherein one end of the second hinge is flexibly connected to the second connecting member, and the other end of the second hinge is flexibly connected to the third connecting member.

[0025] According to the technical solution provided by the present invention, the second hinge assembly further includes:

[0026] a plurality of fifth hinges and a plurality of sixth hinges;

[0027] One end of the fifth hinge is flexibly connected to the second connecting member, and one end of the sixth hinge is flexibly connected to the third connecting member; the fifth hinge and the sixth hinge are flexibly connected.

[0028] According to the technical solution provided by the present invention, the sum of the lengths of the fifth hinge and the sixth hinge is greater than the length of the second hinge.

[0029] According to the technical solution provided by the present invention, when the movable component only includes the third connecting member and the first hinge component, the third connecting member is fixedly connected to the second connecting member.

[0030] According to the technical solution provided by the present invention, when the movable component only includes the third connecting member and the second hinge component, the third connecting member is fixedly connected to the first connecting member.

[0031] The beneficial effects of the present invention are:

[0032] The back plate assembly and the lower limb assembly are movably connected through the hip joint assembly. The hip joint assembly includes a first connecting member, a second connecting member and a movable assembly; the first connecting member is fixedly connected to the back plate assembly, the second connecting member is fixedly connected to the lower limb assembly, and the movable assembly is respectively connected to the first connecting member and the second connecting member, and the first connecting member and the second connecting member can be movably connected, so that the first connecting member and the second connecting member can move flexibly, and the angle range of relative movement is larger. As a result, when the human body is wearing the exoskeleton for activities, it is no longer restricted by the exoskeleton, and can perform more flexible activities in a wider range, which improves the comfort of movement when wearing it. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0034] Figure 1 It is a schematic diagram of the structure of an exoskeleton device capable of flexible movement;

[0035] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0036] Figure 3 It is a schematic structural diagram of a hip joint assembly in a first embodiment;

[0037] Figure 4 is another structural schematic diagram of the hip joint assembly in the first embodiment;

[0038] Figure 5 is a schematic structural diagram of a hip joint assembly in a second embodiment;

[0039] Figure 6 is a schematic structural diagram of a hip joint assembly in a third embodiment;

[0040] Among them: 1. back panel assembly; 2. lower limb assembly; 3. first connecting piece; 4. second connecting piece; 5. third connecting piece; 6. first hinge; 7. third hinge; 8. fourth hinge; 9. second hinge; 10. fifth hinge; 11. sixth hinge. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0042] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0043] Please refer to Figure 1-2 The present invention provides an exoskeleton device capable of flexible movement, comprising:

[0044] Back plate component 1 and lower limb component 2;

[0045] A hip joint assembly, the hip joint assembly is used to flexibly connect the back plate assembly 1 and the lower limb assembly 2;

[0046] The hip joint assembly comprises:

[0047] A first connecting member 3, wherein the first connecting member 3 is fixedly connected to the backplane assembly 1;

[0048] A second connecting member 4, wherein the second connecting member 4 is fixedly connected to the lower limb assembly 2;

[0049] A movable component, one end of which is connected to the first connecting member 3, and the other end of which is connected to the second connecting member 4, is used to enable the first connecting member 3 and the second connecting member 4 to be movably connected.

[0050] Specifically, the entire hip joint component is manufactured by 3D printing, which avoids complicated assembly processes and achieves simple connection and assembly.

[0051] The lower limb assembly is a necessary structure of the exoskeleton and is rotatably connected to the second connecting member 4. It can cooperate with the hip joint assembly to enable the human body to perform more actions after wearing it.

[0052] The movable assembly connects the first connecting member 3 and the second connecting member 4 respectively, and enables the first connecting member 3 and the second connecting member 4 to be movably connected, so that the first connecting member 3 and the second connecting member 4 can move flexibly, making the angle range of relative movement larger.

[0053] As a result, when the human body performs activities after wearing the exoskeleton, it is no longer restricted by the exoskeleton and can perform activities in a wider range and more flexibly, thereby improving the comfort of exercise while wearing it.

[0054] Furthermore, the activity component includes:

[0055] A third connecting member 5;

[0056] a first hinge assembly connected between the first connecting member 3 and the third connecting member 5 and / or a second hinge assembly connected between the second connecting member 4 and the third connecting member 5;

[0057] The first hinge assembly is used to allow a first degree of freedom between the first connecting member 3 and the third connecting member 5 ; the second hinge assembly is used to allow a second degree of freedom between the second connecting member 4 and the third connecting member 5 .

[0058] In a first embodiment, reference Figure 2-4 , the activity components include:

[0059] A first hinge assembly, one end of which is flexibly connected to the first connecting member 3;

[0060] a third connecting member 5, wherein the third connecting member 5 is flexibly connected to the other end of the first hinge assembly;

[0061] a second hinge assembly, wherein one end of the second hinge assembly is flexibly connected to the third connecting member 5, and the other end of the second hinge assembly is flexibly connected to the second connecting member 4;

[0062] The first hinge assembly is used to enable the first connecting member 3 and the third connecting member 5 to move along a first degree of freedom; the second hinge assembly is used to enable the second connecting member 4 and the third connecting member 5 to move along a second degree of freedom.

[0063] Specifically, the third connecting member 5 is movably connected to the first connecting member 3 through the first hinge assembly, so that a relative movement of a first degree of freedom can be generated between the first connecting member 3 and the third connecting member 5; it is also movably connected to the second connecting member 4 through the second hinge assembly, so that a relative movement of a second degree of freedom can be generated between the second connecting member 4 and the third connecting member 5.

[0064] Since the movable directions of the first hinge assembly and the second hinge assembly are different, two different directions of movement of the first degree of freedom and the second degree of freedom can be generated between the back plate assembly 1 and the lower limb assembly 2 connected by the hip joint assembly; compared with other exoskeletons worn by the human body, the movement mode is more flexible and the range of movement is larger.

[0065] Specifically, the directions of the activity axes of the first degree of freedom and the second degree of freedom both pass through the actual movement center of the human hip joint, which enables the exoskeleton to better cooperate with the human body and improve comfort.

[0066] Furthermore, the first hinge assembly comprises:

[0067] A plurality of first hinges 6 , one end of the first hinge 6 is flexibly connected to the first connecting member 3 , and the other end of the first hinge 6 is flexibly connected to the third connecting member 5 .

[0068] Specifically, the middle part of the first hinge 6 is thicker and harder, and the two ends are thinner and bendable. Thus, the parts connected to the ends can rotate relative to the middle part of the first hinge 6.

[0069] Two first hinges 6 are connected between the first connecting member 3 and the third connecting member 5, so that a quadrilateral-like structure is formed between the first connecting member 3, the third connecting member 5 and the two first hinges 6, and the four vertices can be bent and relatively rotated. Therefore, the first connecting member 3 and the third connecting member 5 can move along the first degree of freedom.

[0070] The two first hinges 6 are arranged far away from each other, so that the first hinge assembly is not easily broken by shear force or twisting force, thereby improving the structural strength.

[0071] Furthermore, the first hinge assembly further comprises:

[0072] a plurality of third hinges 7 and a plurality of fourth hinges 8;

[0073] One end of the third hinge 7 is flexibly connected to the first connecting member 3 , and one end of the fourth hinge 8 is flexibly connected to the third connecting member 5 ; the third hinge 7 and the fourth hinge 8 are flexibly connected.

[0074] Specifically, the connection between the third hinge 7 and the fourth hinge 8 is thin and bendable. The third hinge 7 and the fourth hinge 8 respectively connect the first connecting member 3 and the third connecting member 5 to strengthen the overall structural strength of the first hinge assembly to adapt to the situation when the exoskeleton is loaded with heavy objects.

[0075] In some embodiments, the sum of the lengths of the third hinge 7 and the fourth hinge 8 is greater than the length of the first hinge 6 .

[0076] Specifically, all the thinner joints of the first hinge 6, the third hinge 7 and the fourth hinge 8 can be bent, and after bending, a rebound force will be generated to restore the natural state; and because the greater the bending degree, the greater the rebound force. Therefore, after providing multiple third hinges 7 and fourth hinges 8, the total rebound force can be increased.

[0077] The sum of the lengths of the third hinge 7 and the fourth hinge 8 is greater than the length of the first hinge 6, so that the rebound force between the third hinge 7 and the fourth hinge 8 is always at a larger value, and the total rebound force can be further increased.

[0078] When the first connecting member 3 and the third connecting member 5 move along the first degree of freedom and lose power, the resilience between all the first hinges 6, the third hinges 7 and the fourth hinges 8 can drive the first connecting member 3 and the third connecting member 5 to restore the original state.

[0079] In some embodiments, since the sum of the lengths of the third hinge 7 and the fourth hinge 8 is greater than the length of the first hinge 6, the third hinge 7 and the fourth hinge 8 must be bent. Therefore, the bending directions between the third hinges 7 and the fourth hinges 8 can be set to be different. In this way, when the first connecting member 3 and the second connecting member 5 move in two directions of the first degree of freedom, the first hinge assembly can have sufficient resilience to drive the first connecting member 3 and the third connecting member 5 to return to the original state.

[0080] In some embodiments, multiple third hinges 7 and fourth hinges 8 are located between two first hinges 6. The thicker and harder middle portion of the first hinge 6 can be used to protect the third hinge 7 and the fourth hinge 8 and prevent the third hinge 7 and the fourth hinge 8 from being damaged by external force.

[0081] Furthermore, the second hinge assembly includes:

[0082] A plurality of second hinges 9 , one end of each second hinge 9 is flexibly connected to the second connecting member 4 , and the other end of each second hinge 9 is flexibly connected to the third connecting member 5 .

[0083] Furthermore, the second hinge assembly further comprises:

[0084] a plurality of fifth hinges 10 and a plurality of sixth hinges 11;

[0085] One end of the fifth hinge 10 is flexibly connected to the second connecting member 4 , and one end of the sixth hinge 11 is flexibly connected to the third connecting member 5 ; the fifth hinge 10 and the sixth hinge 11 are flexibly connected.

[0086] Furthermore, the sum of the lengths of the fifth hinge 10 and the sixth hinge 11 is greater than the length of the second hinge 9 .

[0087] Specifically, the second hinge assembly has the same principle as the first hinge assembly:

[0088] The plurality of second hinge components 9 connect the second connecting member 4 and the third connecting member 5 to form a quadrilateral-like structure therebetween, and can generate relative motion along the second degree of freedom.

[0089] The sum of the lengths of the multiple fifth hinges 10 and the multiple sixth hinges 11 is greater than the second hinge 9, and is used to generate a rebound force to drive the second connecting member 4 and the third connecting member 5 to reset; the multiple fifth hinges 10 and the multiple sixth hinges 11 have different bending directions, so that the second connecting member 4 and the third connecting member 5 can restore to their original state by moving in two directions along the second degree of freedom.

[0090] The plurality of fifth hinges 10 and the plurality of sixth hinges 11 are arranged between the two second hinges 9, so as to prevent the fifth hinges 10 and the sixth hinges 11 from being damaged by external collision.

[0091] In some cases, only one degree of freedom is required for the hip joint component to move, so the present invention also designs two other embodiments:

[0092] In the second embodiment, when the movable assembly only includes the third connecting member 5 and the first hinge assembly, the third connecting member 5 is fixedly connected to the second connecting member 4 .

[0093] refer to Figure 5 In this embodiment, the active component comprises:

[0094] A first hinge assembly, one end of which is flexibly connected to the first connecting member 3;

[0095] a third connecting member 5, wherein the third connecting member 5 is fixedly connected to the second connecting member 4 and flexibly connected to the other end of the first hinge assembly;

[0096] The first hinge assembly is used to allow the first connection member 3 and the third connection member 5 to have a first degree of freedom. In this case, the movable assembly only has the first degree of freedom to meet actual needs.

[0097] In the third embodiment, when the movable assembly only includes the third connecting member 5 and the second hinge assembly, the third connecting member 5 is fixedly connected to the first connecting member 3 .

[0098] refer to Figure 6 In this embodiment, the active component includes:

[0099] A second hinge assembly, one end of which is flexibly connected to the second connecting member 4;

[0100] a third connecting member 5, wherein the third connecting member 5 is fixedly connected to the first connecting member 3 and flexibly connected to the other end of the second hinge assembly;

[0101] The second hinge assembly is used to allow the second connection member 4 and the third connection member 5 to have a second degree of freedom. In this case, the movable assembly only has the second degree of freedom to meet actual needs.

[0102] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) to form a technical solution.

Claims

1. An exoskeleton device capable of flexible movement, characterized in that: include: A back plate assembly (1) and a lower limb assembly (2); A hip joint assembly, the hip joint assembly being used to flexibly connect the back plate assembly (1) and the lower limb assembly (2); The hip joint assembly comprises: A first connecting member (3), the first connecting member (3) being fixedly connected to the back plate assembly (1); A second connecting member (4), the second connecting member (4) being fixedly connected to the lower limb assembly (2); A movable component, one end of which is connected to the first connecting member (3) and the other end of which is connected to the second connecting member (4), and is used to enable the first connecting member (3) to be movably connected to the second connecting member (4).

2. The exoskeleton device capable of flexible movement according to claim 1, characterized in that: The activity components include: A third connecting member (5); a first hinge assembly connected between the first connecting member (3) and the third connecting member (5) and / or a second hinge assembly connected between the second connecting member (4) and the third connecting member (5); The first hinge assembly is used to enable the first connecting member (3) and the third connecting member (5) to have a first degree of freedom; the second hinge assembly is used to enable the second connecting member (4) and the third connecting member (5) to have a second degree of freedom.

3. The exoskeleton device capable of flexible movement according to claim 2, characterized in that: The first hinge assembly comprises: A plurality of first hinges (6), wherein one end of the first hinge (6) is flexibly connected to the first connecting member (3), and the other end of the first hinge (6) is flexibly connected to the third connecting member (5).

4. The exoskeleton device capable of flexible movement according to claim 3, characterized in that: The first hinge assembly also includes: a plurality of third hinges (7) and a plurality of fourth hinges (8); One end of the third hinge (7) is flexibly connected to the first connecting member (3), and one end of the fourth hinge (8) is flexibly connected to the third connecting member (5); the third hinge (7) and the fourth hinge (8) are flexibly connected.

5. The exoskeleton device capable of flexible movement according to claim 4, characterized in that: The sum of the lengths of the third hinge (7) and the fourth hinge (8) is greater than the length of the first hinge (6).

6. The exoskeleton device capable of flexible movement according to claim 2, characterized in that: The second hinge assembly comprises: A plurality of second hinges (9), one end of each second hinge (9) being flexibly connected to the second connecting member (4), and the other end of each second hinge (9) being flexibly connected to the third connecting member (5).

7. The exoskeleton device capable of flexible movement according to claim 6, characterized in that: The second hinge assembly also includes: a plurality of fifth hinges (10) and a plurality of sixth hinges (11); One end of the fifth hinge (10) is flexibly connected to the second connecting member (4), and one end of the sixth hinge (11) is flexibly connected to the third connecting member (5); the fifth hinge (10) and the sixth hinge (11) are flexibly connected.

8. The exoskeleton device capable of flexible movement according to claim 7, characterized in that: The sum of the lengths of the fifth hinge (10) and the sixth hinge (11) is greater than the length of the second hinge (9).

9. The exoskeleton device capable of flexible movement according to claim 2, characterized in that: When the movable component only includes the third connecting member (5) and the first hinge component, the third connecting member (5) is fixedly connected to the second connecting member (4).

10. The exoskeleton device capable of flexible movement according to claim 2, characterized in that: When the movable assembly only includes the third connecting member (5) and the second hinge assembly, the third connecting member (5) is fixedly connected to the first connecting member (3).

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