Passive hip power-assisted exoskeleton

Abstract

The passive hip power-assisted exoskeleton comprises leg rods, a waist module, an energy storage module and a quick release assembly, the waist module comprises a cross beam and waist protection plates perpendicular to the two ends of the cross beam respectively, and a tray is hinged to the middle of the cross beam; the energy storage module comprises energy storage boxes arranged at the two ends of the cross beam respectively, springs arranged in the energy storage boxes and connecting ropes penetrating through the springs, and the quick release assembly comprises protective plates arranged at the two ends of the cross beam respectively and used for clamping the corresponding energy storage boxes and quick release buttons with the pressing ends protruding out of the energy storage boxes. According to the invention, clockwise torque is generated by the energy storage module and can be counteracted with the torque in the opposite direction generated by the gravity of the knapsack, so that the wearing comfort of the exoskeleton is improved, and the energy storage module and the waist module on the corresponding side can be locked by sliding the energy storage box to a specified position; and the energy storage module and the waist module on the corresponding side can be unlocked by pressing the quick release button. The invention belongs to the field of robot design.

Description

Technical Field

[0001] This invention belongs to the field of robot design, and more specifically relates to a passive hip-assisted exoskeleton. Background Technology

[0002] Exoskeleton robots are wearable intelligent robot systems that involve many fields such as mechanics, materials, electronics, control, and robotics. They can assist in specific actions through reasonable structural design and passive energy storage.

[0003] Patent 202230629003.7 discloses a passive exoskeleton walking aid for the lower limbs, which consists of a waist module, a mechanical energy storage module, leg bars, and leg plates / leg straps. The waist module is equipped with a waist belt for wearing around the waist and is connected to the energy storage module by an adjustable width structure. The energy storage module uses mechanical energy storage mechanisms such as springs and torsion springs to store a portion of potential energy during walking and then release it through the leg bars and leg plates to provide assistance when lifting the legs.

[0004] However, since the assist curve changes linearly, that is, it decreases linearly as the leg lifting angle increases, the problem is that the waist bears a lot of reaction force when standing and kicking, the assist is not obvious and the assist effect is poor when lifting the leg. In addition, in order to balance the reaction force generated by the energy storage device, the waist needs to be designed with a large area of ​​structural support, which makes the device complex, heavy and bulky, and inconvenient to disassemble and store. Summary of the Invention

[0005] The main objective of this invention is to provide a passive hip-assisting exoskeleton that not only improves the assistive effect but also effectively improves the stress on the waist in previous exoskeleton walking aids, and is easy to disassemble and store quickly.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: A passive hip-assistive exoskeleton includes leg bars, a lumbar module, an energy storage module, and quick-release components. The leg bars consist of two legs, each with a leg strap assembly at one end. The lumbar module includes a crossbeam and lumbar support plates perpendicular to both ends of the crossbeam. A tray is hinged to the middle of the crossbeam, allowing it to support heavy objects by flipping. The energy storage module includes energy storage boxes at both ends of the crossbeam, springs within each energy storage box, and connecting ropes passing through the springs. One end of the connecting rope is fixedly connected to a corresponding end cam, and the other end of the connecting rope has a limiting component. The leg can drive the corresponding end of the cam to rotate, so that the connecting rope pulls the limiting member to compress the spring for energy storage. The quick-release assembly includes protective plates respectively provided at both ends of the crossbeam for engaging with the corresponding energy storage box, and a quick-release button with a pressing end protruding from the energy storage box. The movable end of the quick-release button is provided with a limiting protrusion that can extend into the limiting groove on the side of the protective plate. Sliding the energy storage box to a designated position can make the energy storage module and the waist module have a locked first state. Pressing the quick-release button can make the energy storage module and the waist module have an unlocked second state.

[0007] According to a first aspect of the present invention, the device further includes a width adjustment module, the width adjustment module including a plurality of stop holes respectively provided on both sides of the middle portion of the crossbeam and elastic stop plates respectively provided on the end of the guard plate away from the energy storage module.

[0008] According to a first aspect of the present invention, each of the elastic stop plates is provided with at least one positioning post that can be inserted into the stop hole, and the corresponding guard plate can be unlocked by pressing the positioning post.

[0009] According to a first aspect of the present invention, the device further includes an assisted opening and closing device, the assisted opening and closing device including a limit button that can reciprocate along the length direction of the energy storage box and a first reset spring having one end abutting against the limit button, and a limit block is provided below the limit button to limit the spring's rebound.

[0010] According to a first aspect of the present invention, the quick-release assembly further includes a second return spring sleeved on the quick-release button and sliding grooves respectively provided at the upper and lower ends of each energy storage box on the side near the protective plate.

[0011] According to a first aspect of the present invention, the limiting groove includes a straight section for the limiting protrusion to slide left and right and a vertical section for locking the energy storage box and the protective plate.

[0012] According to a first aspect of the present invention, the energy storage module further includes bearings respectively disposed on both sides of the cam and a sleeve for mounting the spring, one end of the spring abutting against the inner wall of the energy storage box, and the other end of the spring being connected to the limiting member under the action of the connecting rope.

[0013] According to a first aspect of the present invention, the energy storage box includes an outer cover and an inner cover, and an idler wheel that can rotate under the drive of the connecting rope is provided inside the energy storage box, the idler wheel being located between the cam and the spring.

[0014] According to a first aspect of the present invention, the outer circumferential surface of the idler wheel is provided with a U-shaped groove into which the connecting rope can be inserted, so that the stretching direction of the connecting rope is always consistent with the compression direction of the spring.

[0015] According to a first aspect of the present invention, a sealing assembly is further included, the sealing assembly comprising two dustproof grooves spaced apart on the cam and an inner cover flange and an outer cover flange respectively embedded in the corresponding dustproof grooves.

[0016] One of the above-described technical solutions of the present invention has at least one of the following advantages or beneficial effects: The present invention uses a tray hinged in the middle of the crossbeam. By flipping the tray to support the weight, a clockwise torque is generated on the energy storage module, which can cancel out the torque generated in the opposite direction by the weight of the backpack, thereby improving the comfort of wearing the exoskeleton. By setting guard plates at both ends of the crossbeam and setting sliding grooves at the upper and lower ends of each energy storage box near the guard plate, and setting a limiting protrusion that can extend into the limiting groove at the movable end of the quick release button, sliding the energy storage box to the designated position can lock the energy storage module with the waist module on the corresponding side, and pressing the quick release button can unlock the energy storage module with the waist module on the corresponding side. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments; Appendix Figure 1 This is an overall structural diagram of one embodiment of the present invention; Appendix Figure 2 This is a side view of an embodiment of the present invention; Appendix Figure 3 This is a partial perspective view of one embodiment of the present invention; Appendix Figure 4 This is a cross-sectional view along the AA direction according to an embodiment of the present invention; Appendix Figure 5 This is a front view of an embodiment of the present invention; Appendix Figure 6 This is a cross-sectional view along the BB direction of an embodiment of the present invention; Appendix Figure 7 This is an internal structural view of an energy storage box according to an embodiment of the present invention; Appendix Figure 8 This is a diagram showing the spring compression structure when the leg swings to its rear limit according to an embodiment of the present invention; Appendix Figure 9 This is an enlarged view of point A in one embodiment of the present invention; Appendix Figure 10 This is a structural diagram of the spring when the leg is raised in an embodiment of the present invention. Appendix Figure 11 This is a structural diagram of the waist module after the tray is flipped according to an embodiment of the present invention. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0020] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" and "second" may explicitly or implicitly include one or more features.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection or a connection that allows communication between the two components; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components, an indirect connection, or an interaction between two components.

[0023] The following disclosure provides many different implementations or examples for different ways of implementing the present invention.

[0024] See attached document Figure 1 To be continued Figure 11 As shown, a passive hip-assisting exoskeleton includes leg bars 1, leg strap components 2, waist module 3, energy storage module 4, quick-release components 5, sealing components, width adjustment module 6, and assist opening and closing device 7. There are two leg bars 1, and each leg bar 1 has a leg strap component 2 at one end.

[0025] In one embodiment of the present invention, the waist module 3 includes a crossbeam 31 and waist guard plates 32 respectively arranged perpendicular to both ends of the crossbeam 31. A tray 33 is hinged to the middle of the crossbeam 31. A connector is provided on the crossbeam 31 and is hinged to the tray 33 through the connector. A limit is provided between the tray 33 and the crossbeam 31. The tray 33 can be flipped to support heavy objects and can be folded up for easy storage. Thus, after the assistive exoskeleton is combined with the backpack, all structural components of the assistive exoskeleton are located at the bottom of the backpack and outside the waist belt, without contacting the human body and without affecting the wearing and use of the backpack.

[0026] In one embodiment of the present invention, the top of the waist guard plate 32 is provided with a first slot with a notch, the bottom of the waist guard plate 32 is provided with a second slot, the first slot and the second slot are respectively provided with waist belt straps, and the two ends of the middle section of the crossbeam 31 are provided with through holes for the left and right guard plates 51 to be inserted.

[0027] In one embodiment of the present invention, the energy storage module 4 includes energy storage boxes 41 respectively disposed at both ends of the crossbeam 31, springs 42 disposed in each energy storage box 41, connecting ropes 43 passing through the springs 42, bearings 46 respectively disposed on both sides of the cam 44, and sleeves 47 for mounting the springs 42. One end of the spring 42 abuts against the inner wall of the energy storage box 41, and the other end of the spring 42 can be connected to the limiting member 45 under the action of the connecting rope 43. One end of the connecting rope 43 is fixedly connected to the corresponding end cam 44, and the other end of the connecting rope 43 is provided with a limiting member 45 that can compress the spring 42 under the action of the cam 44. The leg 1 can drive the corresponding end cam 44 to rotate so that the connecting rope 43 pulls the limiting member 45 to compress the spring 42 for energy storage.

[0028] In one embodiment of the present invention, the cam 44 is connected to the energy storage box 41 by fixing two bearings 46 through the bosses on both sides. The sleeve 47 is disposed in the energy storage box 41 to reduce the coefficient of friction. The spring 42 is disposed in the sleeve 47. The bottom of the spring 42 is limited by the energy storage box 41, and the top is pressed down by the limiting member 45. One end of the high-strength, low-elongation connecting rope 43 is fixed on the limiting member 45, passes through the inner hole of the spring 42, goes around the idler wheel 48, and then covers the cam 44. Finally, the end is fixed on the cam 44 by the fixing pin.

[0029] In one embodiment of the present invention, the energy storage box 41 includes an outer cover and an inner cover. The energy storage box 41 is provided with an idler wheel 48 that can rotate under the drive of the connecting rope 43. The idler wheel 48 is located between the cam 44 and the spring 42. The outer circular surface of the idler wheel 48 is provided with a U-shaped groove into which the connecting rope 43 can be inserted. The idler wheel 48 is fixed to the inner wall of the energy storage box 41 by a fixing pin. The idler wheel 48 is a U-shaped groove wheel. The connecting rope 43 is inserted into the U-shaped groove of the idler wheel 48 to ensure that during the rotation of the cam 44, the tension direction of the connecting rope 43 in the spring 42 is always consistent with the compression direction of the spring 42.

[0030] The specific energy storage principle is as follows: the leg lever 1 drives the cam 44 to rotate, which in turn connects the rope 43 to compress the spring 42 to store energy. When the stepping leg moves from the highest point to the ground, it absorbs the gravitational potential energy of the leg's center of gravity during the fall and converts it into the elastic mechanical energy of the spring 42, which is released during the leg lifting and stepping process to assist in lifting the leg and realize the passive assistance function of leg pressing energy storage and leg lifting assistance.

[0031] In one embodiment of the present invention, a special design of an envelope surface is made on the surface of the cam 44, which can ensure that the change in the amount of assistance is smooth during the forward and backward swing of the thigh from +40° to -20° during walking, thereby further improving the user experience.

[0032] In one embodiment of the present invention, the sealing assembly includes two dustproof grooves 81 spaced apart on the cam 44 and an inner cover flange and an outer cover flange that can be respectively embedded in the corresponding dustproof grooves 81, thereby achieving a seal on the front side of the energy storage box 41 output port, preventing the energy storage module 4 from being directly exposed, and playing a certain role in dust and water protection.

[0033] In one embodiment of the present invention, the quick-release assembly 5 includes a protective plate 51 provided at both ends of the crossbeam 31 for engaging with the corresponding energy storage box 41, a quick-release button 52 with a pressing end protruding outward from the energy storage box 41, a second return spring 53 sleeved on the quick-release button 52, and sliding grooves provided at the upper and lower ends of each energy storage box 41 near the protective plate 51. The movable end of the quick-release button 52 is provided with a limiting protrusion 521 that can extend into the limiting groove on the side of the protective plate 51.

[0034] In one embodiment of the present invention, the limiting groove includes a straight section 511 for the limiting protrusion 521 to slide left and right, and a vertical section 512 for locking the energy storage box 41 and the protective plate 51. Sliding the energy storage box 41 to a designated position can enable the energy storage module 4 and the waist module 3 to have a locked first state, and pressing the quick release button 52 can enable the energy storage module 4 and the waist module 3 to have an unlocked second state.

[0035] The specific quick-release connection principle is as follows: by aligning the dovetail groove on the inner cover of the energy storage box 41 with the dovetail groove on the corresponding side guard plate 51 and pushing it in, the limiting protrusion 521 at the movable end of the quick-release button 52 slides under the guidance of the straight section 511. When the inner cover is pushed all the way in, the limiting protrusion 521 slides down and embeds into the vertical section 512 under the action of the second return spring 53, thus locking it. When unlocking, by pressing the quick-release button 52, the limiting protrusion 521 is driven to compress the second return spring 53 and slide down, disengaging from the vertical section 512 of the limiting groove. When the corresponding inner cover is pulled down, the limiting protrusion 521 can slide out along the vertical section 512 of the limiting groove, thus separating the corresponding inner cover from the corresponding side guard plate 51.

[0036] In one embodiment of the present invention, the width adjustment module 6 includes a plurality of stop holes 61 respectively provided on both sides of the middle part of the crossbeam 31 and elastic stop pieces respectively provided on the end of the guard plate 51 away from the energy storage module 4. Each elastic stop piece is provided with a positioning post 63 that can be inserted into the stop hole 61. The corresponding guard plate 51 can be unlocked by pressing the positioning post 63, and then the width between the left and right guard plates 51 can be adjusted by inserting the positioning post 63 into different stop holes 61 on the crossbeam 31.

[0037] In one embodiment of the present invention, the assisted opening and closing device 7 includes a limit button 71 that can reciprocate along the length of the energy storage box 41 and a first reset spring 72 with one end abutting against the limit button 71. A limit block 73 is provided below the limit button 71 to limit the rebound of the spring 42.

[0038] In one embodiment of the present invention, the limit button 71 is provided with a first guide groove and a second guide groove with an inclined surface. One end of the limit button 71 is provided with a first reset spring 72. The first reset spring 72 is inserted into the first guide groove by a fixing pin to achieve connection with the energy storage box 41. The fixing pin is provided on the inner wall of the energy storage box 41 so that the limit button 71 can move left and right along the direction of the first guide groove. The limit block 73 is inserted into the second guide groove by a fixing pin to achieve connection with the limit button 71.

[0039] In one embodiment of the present invention, the two sides of the limiting block 73 are respectively inserted into the slots of the inner cover and the outer cover of the same energy storage box 41, so that when the limiting button 71 slides left and right, the slots are driven to slide up and down through the second guide groove.

[0040] The specific operating principle is as follows: When the leg bar 1 is rotated counterclockwise or the leg is swung backward to its maximum angle of 30 degrees, the spring 42 is compressed until the top surface of the limiting member 45 is lower than the limiting block 73. At this time, pushing the limiting button 71 to the right will cause the limiting block 73 to engage with the sleeve 47 and block the limiting member 45. When the leg bar 1 is released, the limiting member 45 is locked by the limiting block 73 and cannot return to its original position, thus limiting the spring 42. At this time, the connecting rope 43 is in a slack state, and the leg bar 1 swings without force. This function can be activated when climbing steep slopes, on complex terrain, or when high lower limb flexibility is required. Alternatively, users with hemiplegia or similar conditions can choose to disable the assist on the healthy leg and assist only the affected leg.

[0041] The waist module 3 of this passive hip-assisted exoskeleton uses a strap to be softly connected to the waist belt of an outdoor backpack / dedicated carrying equipment. The crossbeam 31 and tray 33 of the rear waist module are placed at the bottom of the backpack. The tray 33 supports the weight of the backpack and generates a clockwise torque on the energy storage module 4. When the leg bar 1 is working, it is always subjected to a clockwise torque from the spring 42. Therefore, the reaction force on the energy storage is a counterclockwise torque. The reaction torque is opposite to the torque generated by the weight of the backpack, which can cancel each other out and improve the comfort of wearing the exoskeleton.

[0042] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A passive hip-assisted exoskeleton, characterized in that, include: Leg bar (1), the leg bar (1) consists of two legs, and each leg bar (1) has a leg binding assembly (2) at one end. The waist module (3) includes a crossbeam (31) and waist guards (32) respectively provided perpendicular to both ends of the crossbeam (31). A tray (33) is hinged in the middle of the crossbeam (31), and heavy objects can be supported by flipping the tray (33). The energy storage module (4) includes energy storage boxes (41) respectively disposed at both ends of the crossbeam (31), springs (42) disposed in each of the energy storage boxes (41), and connecting ropes (43) passing through the springs (42). One end of the connecting rope (43) is fixedly connected to the corresponding end cam (44), and the other end of the connecting rope (43) is provided with a limiting member (45). The leg (1) can drive the corresponding end of the cam (44) to rotate so that the connecting rope (43) pulls the limiting member (45) to compress the spring (42) for energy storage; The quick-release assembly (5) includes a protective plate (51) provided at both ends of the crossbeam (31) for engaging with the energy storage box (41) and a quick-release button (52) with its pressing end protruding outward from the energy storage box (41). The movable end of the quick-release button (52) is provided with a limiting protrusion (521) that can extend into the limiting groove on the side of the protective plate (51). Sliding the energy storage box (41) to a designated position allows the energy storage module (4) and the waist module (3) to be locked in a first state, and pressing the quick release button (52) allows the energy storage module (4) and the waist module (3) to be unlocked in a second state.

2. The passive hip-assisting exoskeleton according to claim 1, characterized in that, It also includes a width adjustment module (6), which includes multiple gear holes (61) respectively provided on both sides of the middle part of the crossbeam (31) and elastic gear pieces respectively provided on the end of the guard plate (51) away from the energy storage module (4).

3. The passive hip-assisting exoskeleton according to claim 2, characterized in that, Each of the elastic stop plates is provided with at least one positioning post (63) that can be inserted into the stop hole (61). The corresponding guard plate (51) can be unlocked by pressing the positioning post (63).

4. The passive hip-assisting exoskeleton according to claim 1, characterized in that, It also includes an assisted opening and closing device (7), which includes a limit button (71) that can reciprocate along the length of the energy storage box (41) and a first reset spring (72) with one end abutting against the limit button (71). A limit block (73) is provided below the limit button (71) to limit the spring (42) from rebounding.

5. The passive hip-assisting exoskeleton according to claim 1, characterized in that, The quick-release assembly (5) also includes a second reset spring (53) sleeved on the quick-release button (52) and sliding grooves respectively provided at the upper and lower ends of each energy storage box (41) near the guard plate (51).

6. The passive hip-assisting exoskeleton according to claim 5, characterized in that, The limiting groove includes a straight section (511) for the limiting protrusion (521) to slide left and right, and a vertical section (512) for locking the energy storage box (41) and the protective plate (51).

7. The passive hip-assisting exoskeleton according to claim 1, characterized in that, The energy storage module (4) also includes bearings (46) respectively provided on both sides of the cam (44) and sleeves (47) for mounting the spring (42). One end of the spring (42) abuts against the inner wall of the energy storage box (41), and the other end of the spring (42) can be connected to the limiting member (45) under the action of the connecting rope (43).

8. The passive hip-assisting exoskeleton according to claim 7, characterized in that, The energy storage box (41) includes an outer cover and an inner cover. The energy storage box (41) is provided with an idler wheel (48) that can rotate under the drive of the connecting rope (43). The idler wheel (48) is located between the cam (44) and the spring (42).

9. The passive hip-assisting exoskeleton according to claim 8, characterized in that, The outer surface of the idler wheel (48) is provided with a U-shaped groove into which the connecting rope (43) can be inserted, so that the stretching direction of the connecting rope (43) is always consistent with the compression direction of the spring (42).

10. The passive hip-assisting exoskeleton according to claim 8, characterized in that, It also includes a sealing assembly, which includes two dustproof grooves (81) spaced apart on the cam (44) and an inner cover flange and an outer cover flange that can be respectively embedded in the corresponding dustproof grooves (81).

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