Three-degree-of-freedom passive self-weight compensation exoskeleton hip joint and use method thereof

Abstract

The invention discloses a three-degree-of-freedom passive self-weight compensation exoskeleton hip joint and a use method thereof. The three-degree-of-freedom passive self-weight compensation exoskeleton hip joint comprises a rod-shaped elastic component, a hip joint abduction mechanism, a hip joint motor and a hip joint flexion and extension mechanism, the rod-shaped elastic component is installed between the hip joint abduction mechanism and the hip joint flexion and extension mechanism, and the outward rotation degree of freedom is provided through the degree of freedom of a joint. According to the three-degree-of-freedom passive self-weight compensation exoskeleton hip joint, the self-weight of the lower limbs is compensated through arrangement of the rod-shaped elastic components, the effects of compact structure and free movement are achieved, the situation that the human body is subjected to large interaction force to limit the movement of the lower limbs is avoided, and the movement control precision is improved. The exoskeleton hip joint is passively driven through human body movement, and flexion and extension, abduction and adduction, extorsion and internal rotation freedom degrees of the hip joint are provided.

Description

Technical Field

[0001] The present invention belongs to the technical field of exoskeleton passive joints, and in particular relates to a three-degree-of-freedom passive deadweight compensation exoskeleton hip joint and a use method thereof. Background Art

[0002] At present, lower limb exoskeleton robots are developing rapidly in the military and health care fields in the direction of human capacity enhancement and lower limb rehabilitation for sick and elderly patients. The application scenarios are constantly expanding, and exoskeletons are gradually beginning to show their advantages.

[0003] At present, the hip joint design of mainstream exoskeletons generally only considers matching the three degrees of freedom of the hip joint through the design of the mechanism, which has achieved the effect of improving the comfort of human movement and not hindering the body's own movement. However, the exoskeleton hip joint structure design that generally does not consider self-weight compensation will lead to problems such as inconvenience in lower limb movement caused by the large inertia of the exoskeleton lower limb, large interaction force, etc., which is not conducive to interactive control between humans and machines. Therefore, it is necessary to develop an exoskeleton joint that can compensate for the self-weight of the lower limbs without affecting the flexion / extension, abduction / adduction, and external rotation / internal rotation degrees of freedom of the hip joint. Summary of the invention

[0004] The present invention aims to provide a three-degree-of-freedom passive self-weight compensation exoskeleton hip joint and a method of using the same, so as to prevent the lower limb movement of the human body from being restricted by a large interactive force and to improve the accuracy of motion control.

[0005] In order to achieve the purpose of the present invention, on the one hand, the present invention provides a three-degree-of-freedom passive self-weight compensation exoskeleton hip joint, including a rod-shaped elastic component, a hip joint abduction mechanism, a hip joint motor, and a hip joint flexion and extension mechanism; the rod-shaped elastic component is connected to the hip joint abduction mechanism and the hip joint flexion and extension mechanism through a ball joint; the base of the hip joint abduction mechanism for the exoskeleton hip joint is connected to the rod-shaped elastic component through a ball joint; the hip joint motor is installed on the hip joint flexion and extension mechanism through a thread; the hip joint flexion and extension mechanism is connected to the rod-shaped elastic component through a ball joint.

[0006] On the other hand, the present invention also provides a method for using a three-degree-of-freedom passive self-weight compensation exoskeleton hip joint, specifically: when the exoskeleton hip joint needs to be externally rotated, under the support of the rod-shaped elastic element and the spatial motion coupling of the ball joint, the motor bracket rotates backward around the external rotation axis; when the exoskeleton hip joint needs to be internally rotated, the motor bracket rotates forward around the external rotation axis; when the exoskeleton hip joint needs to be abducted, the hip joint abduction frame rotates clockwise around the hip joint abduction axis; when the exoskeleton hip joint needs to be abducted, the hip joint abduction frame rotates counterclockwise around the hip joint abduction axis; when the exoskeleton hip joint needs to be externally rotated and abducted, internally rotated and abducted, externally rotated and adducted, or internally rotated and adducted at the same time, the three-degree-of-freedom rotation in the spherical motion of the rod-shaped elastic element and the ball joint provides the exoskeleton hip joint with coronal and sagittal plane movement.

[0007] Compared with the prior art, the significant progress of the present invention is that the present invention compensates for the weight of the lower limbs through the arrangement of a passive elastic element, achieving the effect of compact structure and free movement, avoiding the human body from being restricted by a large interactive force on the lower limbs, and facilitating the improvement of the control of movement accuracy. At the same time, it provides abduction / adduction, external rotation / internal rotation freedom to a certain extent, meeting the different movement postures of the human body such as walking, squatting, climbing, etc.

[0008] In order to more clearly illustrate the functional characteristics and structural parameters of the present invention, further description is given below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0010] Figure 1 It is a schematic diagram of the structure explosion of the present invention;

[0011] Figure 2 It is a force analysis diagram of the exoskeleton hip joint of the present invention in a balanced state;

[0012] Figure 3 is a schematic diagram of the degrees of freedom of hip abduction of the exoskeleton of the present invention;

[0013] Figure 4 is a schematic diagram of the degrees of freedom of the exoskeleton hip adduction of the present invention;

[0014] Figure 5 It is a schematic diagram of the degrees of freedom of the exoskeleton hip joint abduction and simultaneous internal rotation of the present invention;

[0015] Figure 6 It is a schematic diagram of the degrees of freedom of the exoskeleton hip joint adduction and simultaneous external rotation of the present invention;

[0016] Figure 7 It is a schematic diagram of the application of the exoskeleton hip joint of the present invention in the lower limb exoskeleton.

[0017] The reference numerals in the figure are: rod-shaped elastic element 101, ball joint 102, nut 103, back connecting plate 201, hip abduction frame 202, hip abduction shaft 203, plastic sleeve 204, gasket 205, screw 206, external rotation shaft 207, external rotation shaft locking screw 208, hip joint motor 301, motor bracket 401, motor output rod 402, exoskeleton thigh rod 403. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0019] A three-degree-of-freedom passive self-weight compensation exoskeleton hip joint of the present invention comprises a rod-shaped elastic component, a hip joint abduction mechanism, a hip joint motor, and a hip joint flexion and extension mechanism; the rod-shaped elastic component is connected to the hip joint abduction mechanism and the hip joint flexion and extension mechanism through a ball joint; the base of the hip joint abduction mechanism for the exoskeleton hip joint is connected to the rod-shaped elastic component through a ball joint; the hip joint motor is installed on the hip joint flexion and extension mechanism through a thread; the hip joint flexion and extension mechanism is connected to the rod-shaped elastic component through a ball joint.

[0020] Combination Figure 1 The rod-shaped elastic component includes a rod-shaped elastic element 101, a ball joint 102, and a nut 103; both ends of the rod-shaped elastic element 101 are connected to the ball joint 102, one end of the ball joint 102 is provided with a ball hole, and the other end is provided with a threaded column, one end of the rod-shaped elastic element 101 is provided with an outer ball head, which cooperates with the ball hole of the ball joint 102 to form a ball joint structure, and the threaded column at the other end of the ball joint 102 is fixed to the positioning holes of the hip abduction mechanism and the hip flexion and extension mechanism through the nut 103; the nut 103 fixes the ball joint 102 to the hip flexion and extension mechanism; the connection between the ball joint 102 and the rod-shaped elastic element 101 provides freedom of spatial rotation.

[0021] The hip abduction mechanism includes a back connecting plate 201, a hip abduction frame 202, a hip abduction shaft 203, a plastic sleeve 204, a gasket 205, a screw 206, an external rotation shaft 207, and an external rotation shaft locking screw 208; the back connecting plate 201 is connected to the hip abduction shaft 203 through the gasket 205 and the screw 206, and the hip abduction frame 202 and the hip abduction shaft 203 form a revolute pair under the lubrication of the plastic sleeve 204, and can rotate within a certain angle; the hip abduction shaft 203 is threadedly connected and fixed in the positioning groove of the back connecting plate 201 through the screw 206, and the plastic sleeve 204 is assembled on the hip abduction frame 20 On both sides of the axial hole, the flange surface of the plastic sleeve 204 is in close contact with the surface of the hip joint abduction frame 202; the gasket 205 is cushioned between the back connecting plate 201 and the screw 206 to form an anti-loosening effect, and the screw 206 is tightly fixed on the threaded hole of the hip joint abduction shaft 203; the external rotation shaft 207 is inserted into the concentric axial holes on both sides of the hip joint abduction frame 202, and the positioning is formed by the surface contact between the boss on one side of the external rotation shaft 207 and the countersunk hole of the hip joint abduction frame 202; the external rotation shaft is threadedly connected to the locking screw 208 and the internal thread on the other side of the external rotation shaft 207, and the external rotation shaft 207 is fastened in the axial hole of the hip joint abduction frame 202 to form a revolute pair.

[0022] The hip joint flexion and extension mechanism includes a motor bracket 401, a motor output rod 402, and an exoskeleton thigh rod 403; the motor bracket 401 cooperates with the axial hole of the external rotation axis 207 and is supported on the hip joint abduction frame 202; the motor output rod 402 is positioned by pin control with the output surface of the hip joint motor and assembled with bolts; the motor output rod 402 is positioned with the edge of the exoskeleton thigh rod 403 through a side step and is circumferentially fixed with bolts; the exoskeleton thigh rod 403 serves as the end of the device and generates swing through the rotation of the motor.

[0023] The hip joint motor is fixed to the motor bracket 401 by means of circumferential bolts that cooperate with the threaded holes on the flange surface.

[0024] Combination Figure 2 Furthermore, the rod-shaped elastic element 101 adopts a gas spring structure, is in a compressed state in the exoskeleton hip joint structure, and outputs a rebound force to the outside. Since the rod-shaped elastic element 101 is compressed and limited on the back connecting plate 201 and the motor bracket 401, and the back connecting plate 201 is fixed on the exoskeleton back frame, the thigh movable part connected to the hip joint abduction frame 202 is driven by the rebound force of the rod-shaped elastic element 101 and converted into a torque to balance the torque of the hip joint thigh itself relative to the rotation center of the back connecting plate 201, thereby offsetting the self-weight on the coronal plane and realizing passive self-weight compensation.

[0025] The present invention also includes a method for using a three-degree-of-freedom passive deadweight compensation exoskeleton hip joint, which is characterized by:

[0026] Combination Figure 7 When the exoskeleton hip joint needs to be externally rotated, the motor bracket rotates backward around the external rotation axis under the support of the rod-shaped elastic element and the spatial motion coupling of the ball joint; when the exoskeleton hip joint needs to be internally rotated, the motor bracket rotates forward around the external rotation axis; when the exoskeleton hip joint needs to be abducted, the hip abduction frame rotates clockwise around the hip abduction axis; when the exoskeleton hip joint needs to be abducted, the hip abduction frame rotates counterclockwise around the hip abduction axis; when the exoskeleton hip joint needs to be externally rotated and abducted, internally rotated and abducted, externally rotated and adducted, or internally rotated and adducted at the same time, the three-degree-of-freedom rotation in the spherical motion of the rod-shaped elastic element and the ball joint provides the exoskeleton hip joint with coronal and sagittal plane motion.

[0027] Example

[0028] like Figure 3 When the exoskeleton hip joint is normally abducted, the rod-shaped elastic element 101 always offsets the weight of the thigh load below the hip joint, and the joint abduction frame 202 rotates in the limiting groove of the back connecting plate 201 under the support of the hip joint abduction axis 203; when the rod-shaped elastic element 101 pushes the ball joint 102 to the longest distance, the joint abduction frame 202 touches and aligns with the lower edge of the limiting groove in the back connecting plate 201, and the exoskeleton hip joint abduction reaches the maximum limiting angle.

[0029] like Figure 4 When the exoskeleton hip joint is normally abducted, the ball joint 102 compresses the rod-shaped elastic element 10 to the shortest length, and the joint abduction frame 202 rotates under the support of the hip joint abduction axis 203, and performs rotational movement in the limiting groove of the back connecting plate 201; the joint abduction frame 202 touches and aligns with the upper edge of the limiting groove in the back connecting plate 201, and the exoskeleton hip joint adduction reaches the maximum limiting angle.

[0030] like Figure 5 As shown, when the hip joint is abducted and internally rotated at the same time, the ball joint 102 releases the rotational freedom, the rod-shaped elastic element 101 deviates toward the direction close to the back connecting plate 201, and the motor bracket 401 rotates clockwise relative to the external rotation axis 207 to achieve simultaneous satisfaction of abduction and internal rotation.

[0031] like Figure 6As shown, when the hip joint is adducted and externally rotated at the same time, the ball joint releases the rotational freedom, the rod-shaped elastic element 101 deviates in the direction away from the back connecting plate 201, and the motor bracket 401 rotates counterclockwise relative to the external rotation axis 207, thereby achieving simultaneous adduction and external rotation.

[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A three-degree-of-freedom passive self-weight compensation exoskeleton hip joint, characterized in that: It includes a rod-shaped elastic component, a hip joint abduction mechanism, a hip joint motor, and a hip joint flexion and extension mechanism; the rod-shaped elastic component is connected to the hip joint abduction mechanism and the hip joint flexion and extension mechanism through a ball joint; the base of the hip joint abduction mechanism for the exoskeleton hip joint is connected to the rod-shaped elastic component through a ball joint; the hip joint motor is installed on the hip joint flexion and extension mechanism through a thread; the hip joint flexion and extension mechanism is connected to the rod-shaped elastic component through a ball joint.

2. A three-degree-of-freedom passive deadweight compensation exoskeleton hip joint according to claim 1, characterized in that: The rod-shaped elastic component comprises a rod-shaped elastic element (101), a ball joint (102), and a nut (103); both ends of the rod-shaped elastic element (101) are connected to the ball joint (102); one end of the ball joint (102) is provided with a ball hole, and the other end is provided with a threaded column; one end of the rod-shaped elastic element (101) is provided with an outer ball head, which cooperates with the ball hole of the ball joint (102) to form a ball joint structure; the threaded column at the other end of the ball joint (102) is fixed to the positioning holes of the hip joint abduction mechanism and the hip joint flexion and extension mechanism through the nut (103); the nut (103) fixes the ball joint (102) to the hip joint flexion and extension mechanism; the connection between the ball joint (102) and the rod-shaped elastic element (101) provides a degree of freedom of spatial rotation.

3. The three-degree-of-freedom passive deadweight compensation exoskeleton hip joint according to claim 1, characterized in that: The hip joint abduction mechanism comprises a back connecting plate (201), a hip joint abduction frame (202), a hip joint abduction shaft (203), a plastic sleeve (204), a gasket (205), a screw (206), an external rotation shaft (207), and an external rotation shaft locking screw (208); the back connecting plate (201) is connected to the hip joint abduction shaft (203) via the gasket (205) and the screw (206); the hip joint abduction frame (202) and the hip joint abduction shaft (203) form a rotation pair under the lubrication of the plastic sleeve (204); the hip joint abduction shaft (203) is threadedly connected and fixed in the positioning groove of the back connecting plate (201) via the screw (206); the plastic sleeve (204) is assembled on the hip joint abduction shaft (207). On both sides of the axial hole of the hip joint abduction frame (202), the flange surface of the plastic sleeve (204) is attached to the surface of the hip joint abduction frame (202); the gasket (205) is placed between the back connecting plate (201) and the screw (206), and the screw (206) is fixed on the threaded hole of the hip joint abduction shaft (203); the external rotation shaft (207) is inserted into the coaxial holes on both sides of the hip joint abduction frame (202), and the boss on one side of the external rotation shaft (207) and the countersunk hole of the hip joint abduction frame (202) are in surface contact; the external rotation shaft is threadedly connected to the locking screw (208) and the internal thread on the other side of the external rotation shaft (207), and the external rotation shaft (207) is fastened in the axial hole of the hip joint abduction frame (202).

4. A three-degree-of-freedom passive deadweight compensation exoskeleton hip joint according to claim 3, characterized in that: The hip joint flexion and extension mechanism comprises a motor support (401), a motor output rod (402), and an exoskeleton thigh rod (403); the motor support (401) cooperates with the axial hole of the external rotation axis (207) and is supported on the hip joint abduction frame (202); the motor output rod (402) is positioned by pin control with the output surface of the hip joint motor and assembled by bolt connection; the motor output rod (402) is positioned with the edge of the exoskeleton thigh rod (403) through a side step and is circumferentially fixed with bolts; the exoskeleton thigh rod (403) serves as the end of the device and generates swing through the rotation of the motor.

5. A three-degree-of-freedom passive deadweight compensation exoskeleton hip joint according to claim 4, characterized in that: The hip joint motor is fixed to the motor bracket (401) by means of circumferential bolts that cooperate with the threaded holes on the flange surface.

6. A three-degree-of-freedom passive self-weight compensation exoskeleton hip joint according to claim 2, characterized in that: The rod-shaped elastic element (101) adopts a gas spring structure, is in a compressed state in the exoskeleton hip joint structure, and outputs a rebound force to the outside.

7. A method for using a three-degree-of-freedom passive deadweight compensation exoskeleton hip joint based on any one of claims 1 to 6, characterized in that: Specifically: When the exoskeleton hip joint needs to be externally rotated, the motor bracket rotates backward around the external rotation axis under the support of the rod-shaped elastic element and the spatial motion coupling of the ball joint; when the exoskeleton hip joint needs to be internally rotated, the motor bracket rotates forward around the external rotation axis; when the exoskeleton hip joint needs to be abducted, the hip abduction frame rotates clockwise around the hip abduction axis; when the exoskeleton hip joint needs to be abducted, the hip abduction frame rotates counterclockwise around the hip abduction axis; when the exoskeleton hip joint needs to be externally rotated and abducted, internally rotated and abducted, externally rotated and adducted, or internally rotated and adducted at the same time, the three-degree-of-freedom rotation in the spherical motion of the rod-shaped elastic element and the ball joint provides the exoskeleton hip joint with coronal and sagittal plane motion.

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