Lower limb exoskeleton hip joint mechanism and lower limb exoskeleton

Abstract

The lower limb exoskeleton hip joint mechanism comprises a connecting piece, guide rail pieces are symmetrically arranged on the two sides of the connecting piece, the guide rail pieces are in sliding connection with a moving plate through arc-shaped guide rails to achieve inward rotation and outward rotation of hip joints, and a sliding driving mechanism is arranged between the guide rail pieces and the moving plate. The bottom end of the moving plate is connected with the top end of the joint main plate, the bottom end of the joint main plate is rotationally connected with the inner end of the rotating arm, a rotation driving mechanism is arranged between the joint main plate and the rotating arm to achieve inward folding and outward unfolding movement, and the tail end of the rotating arm is connected with a pitching joint connecting assembly used for being connected with a driving mechanism for buckling and stretching movement. The hip joint mechanism provides a more flexible motion form for the lower limb exoskeleton, and is more suitable for the motion law of the hip joint of the human body.

Description

Technical Field

[0001] The present invention relates to the technical field of lower limb exoskeletons, and in particular to a lower limb exoskeleton hip joint mechanism and a lower limb exoskeleton. Background Art

[0002] The statements herein merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] A lower limb exoskeleton is a wearable robotic device that attaches to the lower body (legs) of the human body and is designed to enhance, assist or restore the user's walking and weight-bearing ability.

[0004] To provide more effective and comfortable assistance, the various degrees of freedom of the lower-limb exoskeleton need to conform as closely as possible to the movement patterns of human joints. The human hip joint is a key joint connecting the torso and lower limbs. Its complex movement can be simplified into a ball-and-spherical hinge mechanism with three rotational degrees of freedom. The three rotation axes are: Flexion / Extension: Controls the forward and backward swinging of the leg, such as the stepping motion during walking. Adduction / Abduction: Controls the left and right swinging of the leg, such as the side-to-side stride. Internal / External Rotation: Controls the rotation of the leg, such as the turning of the foot. These three rotation axes intersect at the center of rotation of the hip joint and together enable flexible movement of the hip joint.

[0005] Currently, most lower-limb exoskeleton hip joint designs focus primarily on achieving flexion / extension degrees of freedom, while achieving adduction / abduction and internal / external rotation degrees of freedom is relatively simple, or even directly restricts movement. While this design simplifies the structure and reduces control difficulty, it also limits the exoskeleton's flexibility, resulting in an unnatural gait, fatigue after prolonged use, and even joint damage. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a hip joint mechanism of a lower limb exoskeleton and a lower limb exoskeleton, which can simultaneously achieve flexion / extension freedom, adduction / abduction freedom and internal rotation / external rotation freedom, so that it is more in line with the movement laws of the human hip joint and improves the wearer's comfort and flexibility.

[0007] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0008] In the first aspect, an embodiment of the present invention provides a lower limb exoskeleton hip joint mechanism, including a connecting member, wherein guide rail members are symmetrically provided on both sides of the connecting member, and the guide rail members are slidingly connected to the movable plate through an arc guide rail to realize the internal rotation and external rotation movement of the hip joint. A sliding drive mechanism is provided between the guide rail member and the movable plate, and the bottom end of the movable plate is connected to the top of the joint main plate, and the bottom end of the joint main plate is rotatably connected to the inner end portion of the rotating arm, and a rotating drive mechanism is provided between the joint main plate and the rotating arm to realize adduction and abduction movement. The end of the rotating arm is connected to a pitch joint connection assembly, which is used to connect the drive mechanism of flexion and extension movement.

[0009] Optionally, the rotating arm includes a front plate and a rear plate that are arranged in parallel and fixed as a whole, and the joint main plate extends into the space between the front plate and the rear plate and is rotatably connected to the front plate and the rear plate through a rotating shaft.

[0010] Optionally, thrust bearings sleeved on the rotating shaft are provided between the joint main plate and the front plate and the rear plate.

[0011] Optionally, the rotation drive mechanism includes a first motor fixed to the front side of the outer end of the rotating arm, the output shaft of the first motor is connected to the driving wheel, a steel wire rope is wound around the driving wheel, and the two movable ends of the steel wire rope are connected to the joint main board.

[0012] Optionally, the two parts of the wire rope extending from the driving wheel and connected to the joint main board are both connected to a tension detection element, the tension detection element includes a pulley bracket fixed to the rotating arm, the pulley bracket is provided with a pulley pressed on the wire rope, and the pulley bracket is attached with a strain gauge.

[0013] Optionally, a wedge is provided between the movable plate and the joint main plate so that a set acute angle is formed between the movable plate and the plate surface of the joint main plate.

[0014] Optionally, the guide rail component includes an upper guide rail plate, a middle drive plate and a lower guide rail plate. The upper guide rail plate and the lower guide rail plate are both provided with arc tracks. The arc tracks are slidably connected to the sliders provided on the movable plate. A sliding drive mechanism is provided between the middle drive plate and the movable plate.

[0015] Optionally, the sliding drive mechanism includes a second motor fixed to the movable plate, the output shaft of the second motor is connected to the gear, the gear is engaged with the rack arranged on the middle driving plate, and the distribution of the rack is consistent with the distribution of the arc track.

[0016] Optionally, the upper guide rail plate is provided with an arc groove, and the portion of the upper guide rail plate located outside the arc groove serves as an arc track; the lower guide rail plate is provided with an arc groove, and the portion of the lower guide rail plate located outside the arc groove serves as an arc track.

[0017] In a second aspect, an embodiment of the present invention provides a lower limb exoskeleton comprising the lower limb exoskeleton hip joint mechanism described in the first aspect.

[0018] The beneficial effects of the present invention are as follows:

[0019] 1. The hip joint structure of the lower limb exoskeleton of the present invention is provided with a guide rail, a movable plate and a sliding drive mechanism. The sliding drive mechanism can drive the movable plate to slide along the arc track, thereby realizing the internal rotation and external rotation of the hip joint. The rotation drive mechanism can drive the rotating arm to rotate around the joint base plate, thereby realizing the adduction and abduction movement of the hip joint. The outer end of the rotating arm is provided with a pitch joint connection assembly for connecting the drive mechanism of flexion and extension movement. Therefore, the entire hip joint structure can realize internal rotation / external rotation movement, adduction / abduction movement and flexion / extension movement at the same time, providing a more flexible movement form for the lower limb exoskeleton, more in line with the movement law of the human hip joint, and can provide patients with more comprehensive hip joint training in the medical field.

[0020] 2. The hip joint structure of the lower limb exoskeleton of the present invention adopts a steel wire rope for driving the rotation drive mechanism, which can provide flexibility for the joint and improve the safety of the entire hip joint mechanism during operation. At the same time, the arc-shaped track is formed by the arc-shaped groove, which can reduce the weight of the guide rail part and improve the comfort of use. On the other hand, the arc-shaped groove limits the movement of the movable plate, further ensuring the safety of the hip joint structure during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0022] Figure 1 This is a schematic diagram of the overall structure of Example 1 of the present invention;

[0023] Figure 2 This is a front view of the overall structure of Example 1 of the present invention;

[0024] Figure 3 This is a top view of the overall structure of Example 1 of the present invention;

[0025] Figure 4 This is a side view of the overall structure of Example 1 of the present invention;

[0026] Figure 5 This is a schematic diagram of the cooperation between the guide rail member and the sliding drive mechanism in Example 1 of the present invention;

[0027] Figure 6 is a schematic diagram of the sliding drive mechanism of Example 1 of the present invention;

[0028] Figure 7 This is a schematic diagram of the wedge structure of Example 1 of the present invention;

[0029] Figure 8 This is a schematic diagram of the cooperation between the rotating arm and the joint mainboard in Example 1 of the present invention;

[0030] Figure 9 This is a schematic diagram of the cooperation between the rotating arm and the joint main board after the rear plate is removed in Example 1 of the present invention;

[0031] Figure 10 This is a schematic diagram of the drive disk structure of embodiment 1 of the present invention. Figure 1 ;

[0032] Figure 11 This is a schematic diagram of the drive disk structure of embodiment 1 of the present invention. Figure 2 ;

[0033] Figure 12 is a cross-sectional view of a drive disk according to embodiment 1 of the present invention;

[0034] Figure 13 This is a schematic diagram of the relative positions of the three axes in Example 1 of the present invention;

[0035] Figure 14 This is a top view of the relative positions of the three axes of Example 1 of the present invention;

[0036] Among them, 1. middle connecting piece, 2. upper connecting piece, 3. lower connecting piece, 4. lower hip joint connecting plate, 5. first motor, 6. front plate, 7. drive mechanism mounting plate, 8. upper hip joint connecting plate, 9. lower guide plate, 10. middle driving plate, 11. upper guide plate, 12. upper slider, 13. second motor, 14. moving plate, 15. joint main board, 16. wedge, 17. bearing, 18. first screw, 19. nut, 20. second screw, 21. motor bracket, 2 2. Gear, 23. Magnetic particle fixing frame, 24. Magnetic encoder fixing bracket, 25. Magnetic encoder, 26. Back plate, 27. Rotation axis of the rotating arm, 28. Convergence point, 29. Axis of the mounting hole, 30. Axis of the rotating shaft, 31. Radius line, 32. Drive plate, 33. Channel, 34. Guide plate, 35. Wire groove, 36. Pulley frame, 37. Pulley, 38. Side pulley, 39. Encoder fixing base, 40. Absolute encoder, 41. Magnetic particle fixing bracket, 42. Magnetic particles. DETAILED DESCRIPTION

[0037] Example 1

[0038] This embodiment provides a hip joint mechanism of a lower limb exoskeleton, such as Figure 1-Figure 4As shown, it includes a middle connecting member 1, which is provided with a rectangular opening for connecting to the test platform. Guide rail members are symmetrically arranged on both sides of the middle connecting member 1. The guide rail members are provided with arc guide rails. The arc guide rails adopt arc guide rails. The arc guide rails are slidably connected to the movable plate 14 through sliders. The movable plate 14 can move along the arc guide rails to set the arc track. A sliding drive mechanism is provided between the guide rail member and the movable plate. The sliding drive mechanism can drive the movable plate 14 to move along the arc track, thereby outputting the internal rotation and External rotation movement, the bottom end of the movable plate 14 is connected to the top end of the joint main plate 15, and the bottom end of the joint main plate 15 is rotatably connected to the inner end of the rotating arm. The rotating arm can swing around the bottom end of the joint main plate 15, thereby outputting the adduction and abduction movement of the hip joint. The outer end of the rotating arm is provided with a pitch joint connection assembly, which can be connected to a driving mechanism for outputting the flexion and extension movement of the hip joint, thereby realizing that the hip joint can simultaneously realize the internal rotation / external rotation degree of freedom, the adduction / abduction degree of freedom and the flexion / extension degree of freedom.

[0039] like Figure 5-Figure 6 As shown, the guide rail member includes an upper guide rail plate 11, a middle drive plate 10 and a lower guide rail plate 9 which are arranged in parallel up and down. The upper guide rail plate 11, the middle drive plate 10 and the lower guide rail plate 9 are arranged in parallel. They have the same shape and are all arc-shaped plates. They conform to ergonomic design and meet the comfort requirements of users. The corresponding edges of the upper guide rail plate 11, the middle guide rail plate 10 and the lower guide rail plate 9 are aligned.

[0040] The inner ends of the upper guide rail plate 11, the middle drive plate 10 and the lower guide rail plate 6 are fixedly connected to the connecting member 1, an upper connecting member 2 is provided between the outer ends of the upper guide rail plate 11 and the middle drive plate 10, and a lower connecting member 3 is provided between the middle drive plate 10 and the lower guide rail plate 9.

[0041] The upper connecting member 2 and the lower connecting member 3 connect the upper guide rail plate 11, the middle driving plate 10 and the lower guide rail plate 9 into a whole.

[0042] In this embodiment, the upper connecting member 2 and the lower connecting member 3 both use connecting plates. The upper connecting member 2 is distributed along the outer edge of the upper guide plate 11 and the middle drive plate 10, and the lower connecting member 3 is distributed along the outer edge of the middle drive plate 10 and the lower guide plate 9.

[0043] Furthermore, in order to reduce the weight of the entire hip joint mechanism, the upper guide plate 11, the middle drive plate 10 and the lower guide plate 9 are made of carbon fiber plates, and the upper connecting member 2 and the lower connecting member 3 are also made of carbon fiber material.

[0044] The upper guide rail plate 11 and the lower guide rail plate 9 are both provided with arc guide rails, and the arc guide rails adopt circular arc guide rails. A movable plate 14 is provided on the outer side of the upper guide rail plate 11, the middle drive plate 10 and the lower guide rail plate 9. The top of the movable plate 14 is provided with an upper slider 12, and the bottom end is provided with a lower slider. The upper slider 12 is slidably connected to the arc guide rail of the upper guide rail plate 11, and the lower slider is slidably connected to the arc guide rail of the lower guide rail plate 9, thereby realizing the sliding connection between the movable plate 14 and the guide rail member.

[0045] In this embodiment, the upper guide rail plate 11, the middle drive plate 10 and the lower guide rail plate 9 are all provided with arc grooves, and the outer groove surfaces of the arc grooves are parallel to the outer arc surfaces of the upper guide rail plate 11, the middle drive plate 10 and the lower guide rail plate 9.

[0046] The shapes, sizes and positions of the arcuate grooves of the upper guide rail plate 11, the middle drive plate 10 and the lower guide rail plate 9 correspond to each other.

[0047] The portion of the upper rail plate 11 located outside the arc groove forms an arc-shaped rail, and the portion of the lower rail plate 9 located outside the arc groove forms an arc-shaped rail.

[0048] An upper slider 12 is provided at the top end of the inner side of the movable plate 14 . The arc-shaped guide rail of the upper guide rail plate 11 passes through the cavity of the upper slider 12 and is slidably connected to the upper slider 12 .

[0049] A lower slider is provided at the bottom end of the inner side surface of the movable plate 14 , and the arc-shaped guide rail of the lower guide rail plate 9 passes through the cavity of the lower slider and is slidably connected to the lower slider.

[0050] The arc-shaped track is formed by the arc groove, which can reduce the weight of the guide rail component and improve the comfort of use. On the other hand, the arc groove limits the movement of the movable plate 14, further ensuring the safety of the hip joint structure during operation.

[0051] Furthermore, in order to enable the upper slider 12 and the lower slider to slide smoothly along the arc-shaped guide rail, bearings 17 are provided on the side surfaces of the cavities of the upper slider 12 and the lower slider for cooperating with the arc-shaped guide rail. The bearings 17 cooperate with the side surfaces of the arc-shaped guide rail to convert sliding friction into rolling friction, reduce friction, and ensure smooth sliding of the upper slider and the lower slider.

[0052] In this embodiment, both the upper slider 12 and the lower slider are composed of two half sliders distributed up and down, and a space for the arc-shaped guide rail to pass through is formed between the two half sliders.

[0053] A first screw 18 passes through the edges of the half sliders distributed tangentially along the arc-shaped guide rail. The first screw 18 is tightened with a nut 19 to fix the two half sliders. The part of the first screw 18 located between the two half sliders is provided with a bearing 17, and the bearing 17 cooperates with the side of the arc-shaped guide rail.

[0054] The half sliders are all passed through by second screws 20 distributed radially along the arc-shaped guide rail. The second screws 20 pass through the moving plate 14 and then tighten the nuts to fix the slider and the moving plate 14.

[0055] In the upper half slider, the second screw passes through the bearing groove set on its bottom surface, and a bearing 17 is set in the bearing groove and is sleeved on the outer circumference of the second screw. In the lower half slider, the second screw 18 passes through the bearing groove set on its top surface, and a bearing 17 is set in the bearing groove and is sleeved on the outer circumference of the second screw 18.

[0056] The bearing 17 of the upper half-slider contacts the top surface of the arc-shaped guide rail, and the bearing 17 of the lower half-slider contacts the bottom surface of the arc-shaped guide rail.

[0057] A sliding drive mechanism is provided between the movable plate 14 and the middle-layer drive plate 10. The sliding drive mechanism includes a second motor 13. The second motor is fixed on a motor bracket 21. The motor bracket 21 is fixed on the inner side surface of the movable plate 14. The output shaft of the second motor 13 is connected to a gear 22. The gear 22 is engaged with a rack provided on the outer groove surface of the arc groove of the middle-layer drive plate 10. The distribution form of the rack is consistent with the distribution form of the arc-shaped guide rail.

[0058] Preferably, the second motor 13 is a servo motor, and the second motor 13 drives the gear 22 to rotate. Under the meshing action of the gear 22 and the rack, the movable plate 14 can slide along the arc-shaped guide rail.

[0059] Furthermore, a magnetic particle fixing frame 23 is provided below the gear, and the magnetic particle fixing frame 23 is fixedly connected to the lower end surface of the gear 22. A magnetic particle is embedded in the magnetic particle fixing frame 23, and a magnetic encoder fixing bracket 24 is provided below the magnetic particle fixing frame 23. The magnetic encoder fixing bracket 24 is fixed to the upper surface of the lower slider, and the magnetic encoder fixing bracket 24 is fixed with a magnetic encoder 25 that cooperates with the magnetic particle. Through the cooperation of the magnetic encoder 25 and the magnetic particle, the number of rotations of the output shaft of the second motor 13 can be detected, thereby performing feedback control on the movement of the movable plate 14 along the circular arc guide rail.

[0060] In this embodiment, the guide rails on both sides of the connecting member are symmetrically arranged, and the arrangement of the movable plate 14, the upper slider 12, the lower slider, the arc-shaped guide rails, and the sliding drive mechanism are exactly the same, and will not be repeated here.

[0061] This embodiment realizes internal rotation and external rotation movements through guide rail parts, sliders, movable plates 14, arc-shaped guide rails and sliding drive mechanisms. Compared with traditional internal rotation and external rotation joints, it eliminates the complex connecting rod mechanism, has a simple structure, and good operating stability. It outputs movement around a virtual axis, which is convenient for intersecting with the axes of the other two joint degrees of freedom at one point.

[0062] The bottom ends of the two movable plates are provided with a curved section, and the curved section is bent in the direction in which the two movable plates face each other. The end of the curved section is fixedly connected to the top of the joint main plate 15. In this embodiment, a wedge 16 is provided between the end of the curved section and the top of the joint main plate 15. Figure 7 As shown, the wedge block 16 adopts a triangular prism structure, and multiple bolts pass through the curved section, the wedge block 16 and the top of the joint main plate 15. The bolts are tightened with nuts, thereby achieving the fixation between the movable plate 14 and the joint main plate 15.

[0063] The bottom end of the joint main plate 15 is rotatably connected to the inner end of the rotating arm, and the rotating arm can swing around the bottom end of the joint main plate.

[0064] By setting the wedge 16, the movable plate 14 and the joint main plate 15 are set at a set acute angle. The set acute angle can make the joint used for internal rotation and external rotation more fully utilize the arc guide rail. Specifically, if the wedge 16 is not set, the radius line 31 where the circular trajectory of the upper slider 12 and the lower slider is located coincides with the rotation axis 27 of the rotating arm from a top view. At this time, when the hip joint internal rotation / external rotation joint is at zero position, the upper slider and the lower slider are closer to the inner side of the arc guide rail, that is, closer to the middle connecting member 1, resulting in the upper slider and the lower slider having a limited rotation range toward the inside and a redundant rotation range toward the outside. Therefore, a wedge is added to adjust the relative position of the radius line 31 and the rotation axis 27 of the rotating arm to form an angle. The existence of the angle can make the upper and lower sliders further away from the middle connecting member 1, providing a relatively balanced range for rotation in both directions.

[0065] In this embodiment, the pivot arm includes a front plate 6 and a rear plate 26 arranged in parallel. The front plate 6 and the rear plate 26 are connected into a whole by bolts and nuts. There is a certain gap between the front plate and the rear plate. A rotating shaft is provided in the gap. The bottom end of the joint main plate 15 extends into the gap and is rotatably connected to the rotating shaft, thereby realizing the rotational connection between the joint main plate and the pivot arm.

[0066] In order to reduce the friction generated during rotation, thrust bearings are provided between the joint main plate 15 and the front plate 6 and the rear plate 26. The thrust bearings are sleeved on the outer periphery of the rotating shaft. The thrust bearings are in contact with the front plate 6 and the rear plate 26, reducing the friction between the joint main plate 15 and the front plate 6 and the rear plate 26.

[0067] A rotation drive mechanism is provided between the rotating arm and the bottom end of the joint main plate 15 , and the rotation drive mechanism can drive the rotating arm to swing around the bottom end of the joint main plate 15 .

[0068] In one embodiment, a motor is provided at the bottom end of the joint main plate 15, and the output shaft of the electrolysis is connected to one end of the rotating arm.

[0069] In this embodiment, Figure 8-Figure 9 As shown, the rotation drive mechanism includes a first motor 5. Preferably, the first motor 5 is a servo motor. The first motor 5 is fixed to the front side of the outer end of the front plate 6. The output shaft of the first motor 5 extends into the space between the front plate 6 and the rear plate 26 and is connected to a drive disk 32. The drive disk 32 is connected to a wire rope. Specifically, as shown Figure 10-12 As shown, a countersunk hole is provided in the center of the driving disk 32, and a threaded hole is provided in the middle of the bottom hole surface of the countersunk hole. The threaded hole can be threadedly connected to a bolt. Channels 33 are symmetrically provided on both sides of the countersunk hole. The channels 33 extend to the outer peripheral surface of the driving disk 32. The wire rope passes through the channel 33 on one side, the countersunk hole and the channel 33 on the other side in sequence. The bolt presses the wire rope against the bottom hole surface of the countersunk hole. The other end of the bolt is threadedly connected to a nut to ensure that the wire rope is pressed and fixed by the bolt. The wire rope is divided into two parts by the bolt, and the two parts extend to the outside of the driving disk 32 through the channels on both sides respectively. One part wraps around the driving disk 32 to form a movable end, and the end of the other part serves as the movable end.

[0070] The two parts of the wire rope are defined as the first part and the second part. The first part passes around the guide plate 34 provided at the bottom end of the joint main board 15, and is extended by the wire groove 35 provided on the front side of the joint main board 15. It passes through the through hole above the guide plate 34 from the front side to the back side of the joint main board 15. A bolt is provided on one side of the through hole. The bolt is threadedly connected to the joint main board 15, and the end of the first part is pressed and fixed to the front side of the joint main board 15, forming a fixed point of the first part located on the front side of the bottom end of the joint main board 15.

[0071] The second part passes over the guide plate 34 from above, extends through the wire groove provided on the back of the joint main plate 15, and then its movable end is fixedly connected to the joint main plate 15, forming a second part fixing point.

[0072] Furthermore, the diameter of the guide plate 34 is larger than the diameter of the driving plate so as to reduce the power output of the first motor 5, thereby eliminating the need for a reducer.

[0073] In this embodiment, both the first part and the second part are connected to a tension detection element, which includes a pulley frame 36 installed between the front plate and the rear plate. The pulley frame 36 is connected to the front plate 6 and the rear plate 26. The pulley frame 36 is rotatably connected to a pulley 37. The pulley 37 of the tension detection element connected to the first part is in contact with the first part, and the pulley 37 of the tension detection element connected to the second part is in contact with the second part.

[0074] The pulley frame is attached with a strain gauge. When the tension of the wire rope changes, the pulley frame 36 will be deformed. The strain gauge attached to it can detect this change and then calculate the tension of the wire rope.

[0075] Furthermore, the front plate 6 and the rear plate 26 are both rotatably connected to side pulleys 38, the first part of which contacts the side pulley of the rear plate 26, and the second part contacts the side pulley 38 connected to the front plate 6. The side pulleys 38 prevent the wire rope from contacting the front plate 6 and the rear plate 26.

[0076] The rotation drive mechanism is driven by a steel wire rope, which can provide flexibility for the joint and improve the safety of the entire hip joint mechanism during operation.

[0077] Furthermore, the front plate 6, the rear plate 26, and the joint main plate 15 are all made of carbon fiber plates, which are light in weight and meet the user's comfort requirements.

[0078] Furthermore, an absolute encoder 40 is fixed to the rotating position of the rotating arm around the bottom end of the joint main board 15 through an encoder fixing base 39, and a magnetic particle fixing bracket 41 is fixed to the bottom end of the joint main board 15. The magnetic particle fixing bracket 41 is provided with magnetic particles 42 that cooperate with the absolute encoder 40.

[0079] The absolute encoder 40 and the magnetic particles 42 cooperate to detect the rotation angle of the rotating arm.

[0080] The outer end of the rotating arm is fixed with a pitch joint connection assembly, which includes a driving mechanism mounting plate 7 fixed vertically to the outer ends of the front plate 3 and the rear plate 26. The upper edge of the driving mechanism mounting plate 7 is vertically fixed with an upper hip joint connection plate 8, and the lower edge is vertically fixed with a lower hip joint connection plate 4. The driving mechanism mounting plate 7, the upper hip joint connection plate 8 and the lower hip joint connection plate 4 are all made of carbon fiber plates, which are light in weight and meet the user's comfort requirements.

[0081] The drive mechanism mounting plate 7 is provided with a mounting hole for installing a drive mechanism for driving the hip joint to output flexion and extension movements. The drive mechanism can use a third motor, which is connected to the lower limb part of the lower limb exoskeleton. The third motor can be fixed to the mounting hole position of the drive mechanism mounting plate by bolts to output flexion and extension movements.

[0082] In this embodiment, Figure 13-14 As shown, the axis 29 of the mounting hole on the drive mechanism mounting plate 7 , the rotation axis 27 of the rotating arm and the axis 30 of the rotating shaft where the center of the motion trajectory of the moving plate 14 is located intersect at one point, which is the convergence point 28 .

[0083] The working method of the hip joint mechanism of the lower limb exoskeleton of this embodiment is as follows:

[0084] The second motor 13 drives the gear 21 to rotate. Under the meshing action of the gear 21 and the rack, the movable plate 14 moves along the arc-shaped guide rail, thereby outputting the internal rotation and external rotation movements. The first motor 5 works, so that the first part and the second part of the wire rope produce a tension difference, which can drive the rotating arm to swing around the bottom end of the joint main plate 15 through the wire rope, thereby outputting the adduction and abduction movements. The driving mechanism installed on the driving mechanism mounting plate 7 drives the lower limb part of the lower limb exoskeleton to rotate, thereby realizing flexion and extension movements.

[0085] The hip joint structure of this embodiment can realize internal rotation / external rotation, adduction / abduction and flexion / extension movements at the same time, providing a more flexible form of movement for the lower limb exoskeleton and more in line with the movement patterns of the human hip joint. In the medical field, it can provide patients with more comprehensive training of the hip joint, and at the same time expand the application direction of the exoskeleton, so that it can be developed into a self-balancing exoskeleton robot.

[0086] Example 2

[0087] This embodiment provides a lower limb exoskeleton, including the hip joint structure of the lower limb exoskeleton described in Example 1. The third motor on the driving mounting plate 7 is connected to the lower limb part of the lower limb exoskeleton. The lower limb part can adopt existing technology, and its specific structure will not be described in detail here.

[0088] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A lower limb exoskeleton hip joint mechanism, characterized in that: It includes a connecting part, and guide rail parts are symmetrically provided on both sides of the connecting part. The guide rail parts are slidably connected to the movable plate through an arc guide rail to realize the internal rotation and external rotation movement of the hip joint. A sliding drive mechanism is provided between the guide rail part and the movable plate. The bottom end of the movable plate is connected to the top of the joint main plate, and the bottom end of the joint main plate is rotatably connected to the inner end of the rotating arm. A rotating drive mechanism is provided between the joint main plate and the rotating arm to realize adduction and abduction movement. The end of the rotating arm is connected to a pitch joint connection assembly, which is used to connect the driving mechanism for flexion and extension movement.

2. A lower limb exoskeleton hip joint mechanism according to claim 1, characterized in that: The rotating arm comprises a front plate and a rear plate which are arranged in parallel and fixed as a whole. The joint main plate extends into the space between the front plate and the rear plate and is rotatably connected to the front plate and the rear plate via a rotating shaft.

3. A lower limb exoskeleton hip joint mechanism as claimed in claim 2, characterized in that: Thrust bearings sleeved on the rotating shaft are arranged between the joint main plate and the front plate and the rear plate.

4. The lower limb exoskeleton hip joint mechanism according to claim 1, characterized in that: The rotation drive mechanism includes a first motor fixed to the front side of the outer end of the rotating arm, the output shaft of the first motor is connected to the driving wheel, a steel wire rope is wound around the driving wheel, and the two movable ends of the steel wire rope are connected to the joint main board.

5. The lower limb exoskeleton hip joint mechanism according to claim 1, characterized in that: The two parts of the wire rope extending from the driving wheel and connected to the joint main board are both connected to a tension detection element. The tension detection element includes a pulley bracket fixed to the rotating arm, the pulley bracket is provided with a pulley pressed on the wire rope, and the pulley bracket is attached with a strain gauge.

6. The lower limb exoskeleton hip joint mechanism according to claim 1, characterized in that: A wedge is provided between the movable plate and the joint main plate so that a set acute angle is formed between the plate surfaces of the movable plate and the joint main plate.

7. The lower limb exoskeleton hip joint mechanism according to claim 1, characterized in that: The guide rail component includes an upper guide rail plate, a middle drive plate and a lower guide rail plate. The upper guide rail plate and the lower guide rail plate are both provided with arc tracks. The arc tracks are slidably connected to the sliders provided on the movable plate. A sliding drive mechanism is provided between the middle drive plate and the movable plate.

8. The lower limb exoskeleton hip joint mechanism according to claim 1, characterized in that: The sliding drive mechanism includes a second motor fixed to the moving plate, the output shaft of the second motor is connected to the gear, the gear is engaged with the rack arranged on the middle driving plate, and the distribution of the rack is consistent with the distribution of the arc track.

9. The lower limb exoskeleton hip joint mechanism according to claim 1, characterized in that: The upper guide rail plate is provided with an arc groove, and the part of the upper guide rail plate located outside the arc groove serves as an arc track. The lower guide rail plate is provided with an arc groove, and the part of the lower guide rail plate located outside the arc groove serves as an arc track.

10. A lower limb exoskeleton, characterized in that: A hip joint mechanism comprising the lower limb exoskeleton according to any one of claims 1 to 9.

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