Hip joint structure and exoskeleton robot

Abstract

The present invention relates to the technical field of exoskeleton robots, and specifically to a hip joint structure and an exoskeleton robot, comprising: a hip joint body, a first connecting rod and a second connecting rod, wherein one end of the first connecting rod is connected to the hip joint body, the other end of the first connecting rod is rotationally connected to the vertical section of the second connecting rod along a first direction, the bent section of the second connecting rod is rotationally connected to a fixing member along a second direction, and the first direction is perpendicular to the second direction; the present invention adds, on the basis of the existing hip joint body being able to achieve flexion and extension degrees of freedom: the first connecting rod can drive the hip joint body to rotate along the first direction with the second connecting rod as the center; according to the force transmission effect, the second connecting rod drives the first connecting rod and the hip joint body to rotate along the second direction with the fixing member as the center, so that the hip joint achieves the above three degrees of freedom of rotation, thereby expanding the scope of use of the exoskeleton robot.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and in particular to a hip joint structure and an exoskeleton robot. Background Art

[0002] An exoskeleton robot is a new type of wearable intelligent device that integrates the "physical strength" of a mechanical system and the "intelligence" of humans into one system. When in use, the wearer steps on the foot structure and ties each component of the robot to the user's legs in turn. In this way, the robot's mechanical system becomes a part of the human body, and the wearer can complete tasks that cannot be accomplished by the human body alone, thereby improving the body's mobility and load-bearing capacity.

[0003] However, the hip joint structure of the exoskeleton robot in the prior art can only achieve one degree of freedom, flexion and extension, thereby narrowing the scope of use of the exoskeleton robot. Summary of the invention

[0004] The purpose of the present application is to provide a hip joint structure and an exoskeleton robot to solve the problem in the prior art that the hip joint structure can only achieve one degree of freedom, flexion and extension.

[0005] (I) Technical solution

[0006] To achieve the above-mentioned objectives, the first aspect of the present invention proposes a hip joint structure, including: a hip joint body, a first connecting rod and a second connecting rod, the second connecting rod is arranged in an L shape, one end of the first connecting rod is connected to the hip joint body, the other end of the first connecting rod is rotatably connected to the vertical section of the second connecting rod along a first direction, the bent section of the second connecting rod is rotatably connected to the fixing member along a second direction, and the first direction is perpendicular to the second direction.

[0007] Optionally, the vertical sections of the first connecting rod and the second connecting rod are rotationally connected via a first rotating shaft and rotate along a first direction.

[0008] Optionally, a limiting member for limiting the rotation of the first rotating shaft is further provided between the vertical sections of the first connecting rod and the second connecting rod.

[0009] Optionally, the limiting member includes: a connecting portion for connecting the first connecting rod and the vertical section, and a first limiting component remaining on the outside, and a second limiting component cooperating with the first limiting component is provided on the vertical section of the second connecting rod.

[0010] Optionally, the first limiting component is configured as an annular structure having a notch, and the second limiting component is configured as a protrusion matching the notch.

[0011] Optionally, the connecting portion includes:

[0012] A sleeve, one end of which is connected to the annular structure with a notch, and the other end of which is provided with a through hole along the circumferential direction;

[0013] A limiting ball, movably connected in the through hole, wherein the diameter of the limiting ball is larger than the diameter of the through hole;

[0014] The clamping rod is threadedly connected in the sleeve, the clamping rod is in abutment connection with the limiting ball, and one end of the clamping rod close to the limiting ball is arranged as a conical structure.

[0015] Optionally, a handle is provided at one end of the pressing rod close to the annular structure.

[0016] Optionally, the bent section of the second connecting rod is rotationally connected to the fixing member via a second rotating axis and rotates along the second direction.

[0017] Optionally, a damping structure is further provided between the bent section of the second connecting rod and the fixing member.

[0018] Optionally, the damping structure includes an adjusting bolt and a disc spring, the disc spring is arranged between the bending section of the second connecting rod and the fixing member, and the bending section of the second connecting rod is movably connected to the second rotating shaft through the adjusting bolt.

[0019] Optionally, an adjustment rod is further provided between the hip joint body and the first connecting rod, one end of the first connecting rod is fixedly connected to the hip joint body, and the other end is inserted into the first connecting rod and fixedly connected via a limiter.

[0020] Optionally, the adjusting rod is provided with an adjusting hole for the limiting member to pass through, and the number of the adjusting holes is at least two.

[0021] To achieve the above objectives, the second aspect of the present invention proposes an exoskeleton robot, comprising: an adjustable foot structure, an ankle joint, a knee joint and a hip joint structure as described in any of the above items, which are connected in sequence.

[0022] Optionally, the ankle joint is also provided with a damping structure.

[0023] Optionally, the ankle joint and the knee joint, and the knee joint and the hip joint body are telescopically connected through adjustment holes and limit members.

[0024] Optionally, a crossbeam is provided between the two hip joint structures, and two ends of the crossbeam are movably connected to the hip joint structures respectively.

[0025] (II) Beneficial effects

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention provides a hip joint structure, including: a hip joint body, a first connecting rod and a second connecting rod, the second connecting rod is set to an L shape, one end of the first connecting rod is connected to the hip joint body, the other end of the first connecting rod is rotatably connected to the vertical section of the second connecting rod along a first direction, the bent section of the second connecting rod is rotatably connected to a fixing member along a second direction, and the first direction is perpendicular to the second direction; the present invention adds the following on the basis that the existing hip joint body can achieve flexion and extension freedom: first, the first connecting rod can drive the hip joint body to rotate along the first direction with the second connecting rod as the center, and second, according to the force transmission effect, the second connecting rod drives the first connecting rod and the hip joint body to rotate along the second direction with the fixing member as the center, so that the hip joint realizes the above three degrees of freedom of rotation, thereby expanding the scope of use of the exoskeleton robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0030] Figure 1 is a schematic structural diagram of the hip joint structure of the present invention;

[0031] Figure 2 It is a schematic structural diagram of the hip joint structure in another direction of the present invention;

[0032] Figure 3 yes Figure 2 A partial enlarged view of position A in the middle;

[0033] Figure 4 It is a structural schematic diagram of the position limiting member in the present invention;

[0034] Figure 5 It is a cross-sectional view of the limiting member of the present invention when it is working;

[0035] Figure 6 It is a schematic diagram of the structure of the cooperation of the second connecting rod, the fixing member and the damping structure in the present invention;

[0036] Figure 7 is a schematic diagram of the structure of the adjustable foot structure and ankle joint in the present invention;

[0037] Figure 8 It is a schematic diagram of the structure of the knee joint in the present invention;

[0038] Fig. 9 It is a schematic diagram of the structure of the exoskeleton robot in the present invention;

[0039] Fig.10 It is a schematic diagram of the structure of the exoskeleton robot in another direction of the present invention;

[0040] Fig.11 is a structural schematic diagram of an embodiment of the present invention without a cover plate;

[0041] Fig.12 It is a structural schematic diagram of the shortening adjustment of the present invention;

[0042] Fig.13 It is a schematic structural diagram of the front sole in one direction of the present invention;

[0043] Fig.14 It is a schematic structural diagram of the front sole in another direction of the present invention;

[0044] Fig.15 It is a schematic diagram of the structure of the cooperation between the first adjusting member and the second adjusting member in the present invention;

[0045] Fig.16 It is a schematic diagram of the structure of the cooperation between the rotating blade and the driving mechanism in the present invention;

[0046] Fig.17 It is a structural schematic diagram of the first engaging member in the present invention;

[0047] Fig.18 It is a structural schematic diagram of the cover plate in the present invention.

[0048] In the figure: 1, hip joint body; 2, first connecting rod; 3, second connecting rod; 4, vertical section; 5, bending section; 6, first rotation axis; 7, stopper; 8, connecting part; 9, first stopper assembly; 10, second stopper assembly; 11, sleeve; 12, stopper ball; 13, clamping rod; 14, handle; 15, adjustment rod; 16, adjustment hole; 17, adjustable foot structure; 18, ankle joint; 19, knee joint; 20, crossbeam; 21, second rotation axis; 22, fixing member; 23, resistance nylon structure; 24, adjusting bolt; 25, disc spring; 26, through hole; 27, front sole; 28, rear sole; 29, first connecting assembly; 30, second connecting assembly; 31, first adjusting member; 32, positioning member; 33, upper blade; 34, sleeve; 35, lower blade; 36, rotating shaft; 37, first engaging member; 38, second engaging member; 39, arc handle; 40, first limiting part; 41, second limiting part; 42, third limiting part; 43, cover plate; 44, second adjusting member. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0051] In order to increase the degree of freedom of the hip joint in the prior art, Figure 1 and Figure 2 As shown, the first aspect of the present application provides a hip joint structure, including: a hip joint body 1, a first connecting rod 2 and a second connecting rod 3, the second connecting rod 3 is set to an L shape, one end of the first connecting rod 2 is connected to the hip joint body 1, and the other end of the first connecting rod 2 is rotationally connected to the vertical section 4 of the second connecting rod 3 along a first direction. Specifically, the first connecting rod 2 and the vertical section 4 of the second connecting rod 3 are rotationally connected through a first rotating shaft 6, and rotate along a first direction (direction b in the figure); the bending section 5 of the second connecting rod 3 is rotationally connected to the fixing member 22 along a second direction (direction c in the figure), specifically, the bending section 5 of the second connecting rod 3 is rotationally connected to the fixing member 22 through a second rotating shaft 21, and rotates along the second direction (direction c in the figure); the first direction (direction b in the figure) is perpendicular to the second direction (direction c in the figure).

[0052] Specifically, Figure 1As shown, in the prior art, the setting direction of the hip joint is along the X-axis, so that the hip joint can rotate along the direction a in the figure, thereby realizing the flexion and extension of the robot. This process is usually defined as the flexion and extension degree of freedom (i.e., the first degree of freedom). The first rotation axis of the present scheme is based on the hip joint and is set along the Z-axis direction of the hip joint. The vertical sections of the first connecting rod and the second connecting rod are connected by the first rotation axis, so that the first connecting rod can drive the hip joint body to rotate along the first direction (b direction in the figure) with the first rotation axis as the center, that is, the second degree of freedom is realized; the second rotation axis is based on the hip joint and is set along the Y-axis direction of the hip joint. The bending section of the second connecting rod and the fixing part are connected by the second rotation axis. Through the transmission of force, the bending section of the second connecting rod drives the first connecting rod and the hip joint to rotate along the second direction (c direction in the figure) with the second rotation axis as the center in turn, that is, the third degree of freedom is realized. By adopting the above scheme, the hip joint structure claimed to be protected by this scheme can realize movement in three degrees of freedom, thereby expanding the scope of use of the exoskeleton robot.

[0053] According to one embodiment of the present invention, Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, in order to achieve autonomous control of the second degree of freedom, that is, to control the rotation of the vertical section of the first connecting rod relative to the second connecting rod as needed, a limit member 7 for limiting the rotation of the first rotation axis 6 is also provided between the vertical sections 4 of the first connecting rod 2 and the second connecting rod 3; in order to ensure the limiting effect of the limit member, preferably, the limit member is arranged at a position parallel to the first rotation axis. Specifically, a first through hole for installing the limit member is provided on the vertical section of the second connecting rod close to the first rotation axis, and a second through hole for installing the limit member is provided at a corresponding position of the second connecting rod, and the limit member passes through the first through hole for installing the limit member and the second through hole for installing the limit member in sequence; the specific structure of the limit member is not specifically limited, as long as the structure can achieve limiting the rotation of the first rotation axis, it belongs to the protection scope of this scheme, such as the cooperation of bolts and nuts, etc., through the cooperation of bolts and nuts, the connection strength between the vertical sections of the first connecting rod and the second connecting rod is enhanced to limit their mutual rotation.

[0054] During use, when the first connecting rod is no longer needed to drive the hip joint body to rotate along the first direction (direction b in the figure) with the first rotation axis as the center, the wearer only needs to manually insert the limiter into the mounting through hole, and the limiter limits the rotation of the first rotation axis; on the contrary, when the first connecting rod is needed to drive the hip joint body to rotate along the first direction (direction b in the figure) with the first rotation axis as the center, the wearer only needs to manually remove the limiter from the mounting through hole.

[0055] According to one embodiment of the present invention, Figure 3 , Figure 4 and Figure 5 As shown, the limiting member 7 includes: a connecting portion 8 for connecting the first connecting rod 2 and the vertical section 4, and a first limiting component 9 left on the outside, and a second limiting component 10 matching the first limiting component 9 is provided on the vertical section 4 of the second connecting rod 3. In this embodiment, preferably, as Figure 3 As shown, the first limiting component 9 is configured as an annular structure with a notch, and the second limiting component 10 is configured as a protrusion that matches the notch. Preferably, the shape of the protrusion matches the shape of the notch. When in use, the connecting portion passes through the limiting component mounting hole in sequence, thereby limiting the axial movement between the vertical sections of the first connecting rod and the second connecting rod. For example, when the connecting portion adopts a bolt and a nut, the bolt passes through the limiting component mounting hole in sequence, and extends out to be fixed with the nut. At the same time, the radial movement between the vertical sections of the first connecting rod and the second connecting rod is limited by the cooperation between the notch left on the outer ring structure of the limiting component and the protrusion set on the vertical section of the second connecting rod, and the rotation of the first rotating shaft is limited by the scheme claimed to be protected in this embodiment.

[0056] According to one embodiment of the present invention, Figure 4 and Figure 5 As shown, the connecting portion 8 includes:

[0057] A sleeve 11, one end of the sleeve 11 is connected to the annular structure with a notch, and the other end is provided with a through hole 26 along the circumferential direction. Preferably, the shape of the sleeve above the through hole 26 is adapted to the shape of the stopper installation through hole. When the sleeve is inserted into the stopper installation through hole, the annular structure with a notch will be left on the outside to cooperate with the protrusion to play a radial limiting role for the two to-be-limited parts, and the through hole 26 arranged at the bottom of the sleeve will extend from the stopper installation through hole to the outside;

[0058] The limiting ball 12 is movably connected in the through hole 26, and the diameter of the limiting ball 12 is larger than the diameter of the through hole 26. This design is to ensure that the limiting ball 12 can rotate in the through hole 26 without being separated from the through hole 26; in order to further prevent the limiting ball from being separated from the through hole 26, preferably, a limiting groove is provided on the wall surface of the sleeve close to the limiting ball, and the limiting ball is confined in the space formed by the limiting groove and the through hole. The size of the limiting groove can be pre-designed according to production needs, as long as it can be ensured that the limiting ball can rotate in the limiting groove, and when it moves to the edge of the limiting groove, the edge of the limiting ball can leak out of the through hole 26;

[0059] The clamping rod 13 is threadedly connected in the sleeve 11. The clamping rod 13 and the limiting ball 12 are in abutting connection, and one end of the clamping rod 13 close to the limiting ball 12 is set as a conical structure, which can push the limiting ball to move toward the through hole.

[0060] According to one embodiment of the present invention, in order to facilitate the wearer to install the compression rod, such as Figure 4 and Figure 5 As shown, a handle 14 is provided at one end of the pressing rod 13 close to the annular structure.

[0061] When using, refer to Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, when the first connecting rod is no longer needed to drive the hip joint body to rotate along the first direction (direction b in the figure) with the first rotation axis as the center: first, the sleeve needs to be inserted into the limiting member mounting hole, and the annular structure with a notch is left on the outside to ensure that the protrusion falls into the notch of the annular structure, thereby limiting the radial movement of the two members to be limited; at the same time, the through hole 26 set at the bottom of the sleeve is extended from the limiting member mounting hole to the outside. At this time, the limiting ball can rotate freely in the through hole 26; then the wearer turns the handle clockwise to prompt the clamping rod 13 to be inserted into the sleeve through the threaded cooperation with the inner wall of the sleeve. Since the bottom of the clamping rod 13 is a conical structure, it is ensured that during the process of the clamping rod rotating into the sleeve, the side wall surface at the bottom of the clamping rod 13 will push the limiting ball to move toward the through hole until as shown in FIG. Figure 4 As shown in Figure 5, when the edge of the limiting ball leaks out from the through hole 26, stop turning the handle, and through the cooperation of the clamping rod with a conical structure at the bottom and the limiting ball of a larger size, the axial movement of the two parts to be limited is limited.

[0062] On the contrary, when the first connecting rod is required to drive the hip joint body to rotate along the first direction (direction b in the figure) with the first rotation axis as the center;

[0063] The wearer first turns the handle counterclockwise to cause the handle to drive the clamping rod to be pulled out of the sleeve. At this time, after the pressure exerted by the clamping rod on the limiting ball disappears, the limiting ball can rotate freely in the through hole 26. After that, the wearer manually pulls the sleeve outward. During the pulling process, the hole wall of the limiting piece installation through hole will exert an inward pressure on the limiting ball, thereby pushing the limiting ball to move toward the center of the through hole 26, ensuring that the sleeve is smoothly pulled out of the limiting piece installation through hole.

[0064] According to one embodiment of the present invention, Figure 1 , Figure 2 , Figure 7 , Fig. 9 and Fig.10As shown, a damping structure 23 is further provided between the bent section 5 of the second connecting rod 3 and the fixing member 22. By adding the damping structure 23 at the connection between the components, the mechanical vibration between the components and the consumption of kinetic energy can be effectively reduced, thereby ensuring the safety of the wearer during use.

[0065] According to one embodiment of the present invention, referring to Figure 6 It can be seen that the damping structure 23 includes an adjusting bolt 24 and a disc spring 25 . The disc spring 25 is arranged between the bending section 5 of the second connecting rod 3 and the fixing member 22 . The bending section 5 of the second connecting rod 3 is movably connected to the second rotating shaft 21 through the adjusting bolt 24 .

[0066] Specifically, the fixing part is provided with a through hole matching the second rotating shaft, the fixing part is sleeved on the second rotating shaft through the through hole, and is movably connected to the second rotating shaft through an adjusting bolt, wherein the bolt cap end of the adjusting bolt presses the fixing part, and the pressure of the disc spring of the fixing part is adjusted by turning the adjusting bolt, thereby adjusting the damping strength between the bending section 5 of the second connecting rod 3 and the fixing part 22, and the adjustment range is: 0-50NM.

[0067] According to one embodiment of the present invention, in order to further increase the applicable scope of the hip joint structure, referring to Figure 1 and Figure 2 As shown, an adjustment rod 15 is further provided between the hip joint body 1 and the first connecting rod 2. One end of the first connecting rod 2 is fixedly connected to the hip joint body 1, and the other end is inserted into the first connecting rod 2 and fixedly connected through a limiter 7.

[0068] According to an embodiment of the present invention, the adjusting rod 15 is provided with an adjusting hole 16 for the limiting member 7 to pass through, and there are at least two adjusting holes 16 .

[0069] When the length between the hip joint body and the first connecting rod needs to be extended, the wearer first removes the limit piece from the limit piece mounting hole, then manually pulls the hip joint body to move it away from the first connecting rod, prompting the adjustment rod to extend from the first connecting rod until the limit piece mounting hole set on the first connecting rod coincides with the next adjustment hole set on the adjusting rod. After the length is determined, the limit piece is inserted into the limit piece mounting hole and the adjustment hole in sequence again to complete the extension adjustment; similarly, when the length between the hip joint body and the first connecting rod needs to be shortened, the wearer first removes the limit piece from the limit piece mounting hole, then pushes and pulls the hip joint body to move it toward the first connecting rod, prompting the adjustment rod to be inserted into the first connecting rod until the limit piece mounting hole set on the first connecting rod coincides with the next adjustment hole set on the adjusting rod. After the length is determined, the limit piece is inserted into the limit piece mounting hole and the adjustment hole in sequence again to complete the shortening adjustment.

[0070] like Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, the second aspect of the present application provides an exoskeleton robot, comprising: an adjustable foot structure 17, an ankle joint 18, a knee joint 19 and a hip joint structure as any of the foregoing connected in sequence.

[0071] According to one embodiment of the present invention, the ankle joint 18 is also provided with a damping structure 23, so as to effectively reduce the mechanical vibration of the ankle joint 18 and consume kinetic energy, thereby ensuring the safety of the wearer during use.

[0072] To further improve the application scope of exoskeleton robots, refer to Figure 7 and Figure 8 As shown, the ankle joint 18 and the knee joint 19, as well as the knee joint 19 and the hip joint body 1 are telescopically connected through the adjustment hole 16 and the limit member 7, and can be adaptively adjusted according to the wearer's height, etc.

[0073] According to one embodiment of the present invention, the participants Fig. 9 As shown, a crossbeam 20 is provided between the two hip joint structures. When in use, batteries, backpacks and other devices can be attached to the crossbeam 20; the two ends of the crossbeam 20 are movably connected to the hip joint structures respectively; the crossbeam 20 and the two hip joint structures are also adjusted by adjusting holes and limit members to achieve the length adjustment between the crossbeam and the hip joint structures, and the specific adjustment length can be adjusted in time according to actual needs.

[0074] According to one embodiment of the present invention, Fig.11 and Fig.12 As shown, in order to solve the technical problem that the foot structure of the prior art exoskeleton robot is not adjustable and cannot adapt to different wearers, this embodiment designs an adjustable foot structure, including: a front sole 27, a rear sole 28, and a first connecting component 29 and a second connecting component 30 that are plugged together. One of the first connecting component 29 and the second connecting component 30 is arranged on the front sole 27, and the other is arranged on the rear sole 28. For example, Figure 1 As shown, the first connecting component 29 is arranged on the rear sole 28, and the second connecting component 30 is arranged on the front sole 27, and the positions of the first connecting component 29 and the second connecting component 30 correspond to each other, so as to realize the plug-in cooperation of the first connecting component 29 and the second connecting component 30; Figure 1 and Figure 2As shown, the second connecting component 30 is a connecting plate, and the first connecting component 29 is configured as a shell with an opening at one end, and the opening direction is toward the second connecting component 30, so as to facilitate the insertion or removal of the second connecting component 30, and a mounting groove for mounting the first connecting component 29 is opened on the rear sole 28, and the first connecting component 29 is stably fixed in the mounting groove, and the first connecting component 29 includes a cover plate 43 and a U-shaped bottom plate. In order to improve the maintenance performance, the cover plate 43 and the U-shaped bottom plate are designed to be detachably connected, and illustratively, the detachable connection is realized by a bolt structure;

[0075] The first connecting component 29 is rotatably connected with a first adjusting member 31, specifically, Fig.11 As shown, the first adjustment component is rotatably connected to the U-shaped bottom plate; a positioning member 32 is also provided below the first adjustment member 31 to cooperate with it. Specifically, as Figure 1 As shown, the positioning member 32 is fixedly connected to a position below the first adjusting member 31 on the U-shaped bottom plate. This design is to fix the first adjusting member 31 when the first adjusting member 31 is stationary, and to ensure the separation of the first adjusting member 31 from the positioning member 32 when the first adjusting member 31 rotates. Preferably, the first adjusting member 31 is made of iron material, and the positioning member 32 is configured as a magnet. When in use, after the first adjusting member 31 is rotated to a desired position, the first adjusting member 31 is positioned by adsorbing the magnet on the first adjusting member 31. Similarly, when the foot structure needs to be adjusted, a force is applied to the first adjusting member 31 to drive its rotation, so that the end thereof that conflicts with the magnet is separated from the magnet. Of course, the specific structure of the positioning member 32 is not limited to the above structure. As long as the structure can achieve the above effect, it belongs to the protection scope of this embodiment.

[0076] The second connecting assembly 30 is provided with a second adjusting member 44 movably connected to the first adjusting member 31; Figure 1 , Figure 3 and Figure 5 As shown, the second adjusting member 44 is disposed on the wall surface of the second connecting assembly 30 close to the first adjusting member 31;

[0077] Taking the shortening adjustment of the foot structure as an example, firstly, the first adjusting member 31 is rotated counterclockwise to cause one end of the first adjusting member 31 to be disengaged from the current position and the other end to be disengaged from the positioning member 32, so as to provide sufficient space for the front sole 27 to move closer to the rear sole 28, and then the front sole 27 is manually pushed until it moves to the desired position, and the first adjusting member 31 is rotated clockwise again to cause one end of the first adjusting member 31 to collide with another position of the second adjusting member 44 and the other end to be fixed by the positioning member 32, so that the adjustment is completed;

[0078] Similarly, when the foot structure needs to be lengthened and adjusted, the first adjusting member 31 is first rotated counterclockwise to cause one end of the first adjusting member 31 to disengage from the current position and the other end to disengage from the positioning member 32, thereby providing sufficient space for the front sole 27 to move away from the rear sole 28. The front sole 27 is then manually pulled until it moves to the desired position, and the first adjusting member 31 is rotated clockwise again to cause one end of the first adjusting member 31 to come into contact with another position of the second adjusting member 44 and the other end to be fixed by the positioning member 32, thereby completing the adjustment. It can be seen from the above adjustment process that the present solution can achieve that the same foot structure can be adapted to different wearers, thereby avoiding waste of resources.

[0079] Preferably, Fig.11 , Fig.15 and Fig.16 The first adjusting member 31 is configured as a rotating blade, and the second adjusting member 44 is configured as a rack that cooperates with the rotating blade. Preferably, one end of the rotating blade that cooperates with the rack is configured as a straight plate; the length of the rack is adapted to the length of the second connecting component 30. The specific length of the rack and the length of the second connecting component 30 can be pre-designed according to the adjustment range, so it is not limited here.

[0080] According to one embodiment of the present invention, Fig.15 As shown, the inclination direction of the serrations on the rack matches the inclination direction of the rotating blades. Such a design can be achieved that when the foot structure needs to be lengthened and adjusted, it is only necessary to pull the front sole 27 to move away from the rear sole 28. According to the force transmission effect, the rack will synchronously move away from the rear sole 28, thereby prompting the rotating blades to passively disengage from the current plug-in position and plug in with the next position, thereby completing the elongation adjustment of the foot structure.

[0081] According to one embodiment of the present invention, Fig.11 and Fig.16 As shown, the rotating blade includes an upper blade 33, a sleeve 34 and a lower blade 35 connected to each other. Preferably, the upper blade 33, the sleeve 34 and the lower blade 35 are integrally formed, and the upper blade 33 and the lower blade 35 are symmetrically arranged on both sides of the sleeve 34; the upper blade 33 is arranged to be a straight plate that matches the rack, and the end of the lower blade 35 that contacts the positioning member 32 is arranged to be an arc structure. The arc structure of the lower blade 35 is designed to increase the contact area between the lower blade 35 and the magnet, thereby ensuring the stable positioning of the rotating blade by the magnet.

[0082] According to one embodiment of the present invention, Fig.11 and Fig.16As shown, the first adjusting member 31 is rotatably connected to the first connecting assembly 29 via a driving mechanism. Specifically, a fixing through hole is provided at the center of the sleeve 34, and the fixing member is fixed to the driving mechanism via the fixing through hole, thereby achieving synchronous rotation following the rotation of the fixing mechanism.

[0083] like Fig.11 , Fig.16 and Fig.17 As shown, the driving mechanism includes: a matching rotating shaft 36 and a first engaging member 37, one end of the rotating shaft 36 is connected to a second engaging member 38, and the other end of the connecting shaft is connected to an arc handle 39, the first engaging member 37 is engaged in the second engaging member 38, preferably, the second engaging member 38 is configured as an annular groove, and the first engaging member 37 is configured as a C-shaped retaining spring.

[0084] According to one embodiment of the present invention, Fig.11 , Fig.12 , Fig.13 and Fig.14 As shown, the wall surface of the second connecting component 30 opposite to the second adjusting member 44 is provided with a first limiting portion 40, and the cover plate 43 of the first connecting component 29 is provided with a second limiting portion 41 which cooperates with the first limiting portion 40. In this embodiment, through the cooperation of the first limiting portion 40 and the second limiting portion 41, a limiting structure for adjusting the foot structure can be formed to prevent the front sole 27 and the rear sole 28 from being separated when the elongation adjustment is performed.

[0085] Preferably, one of the first limiting portion 40 and the second limiting portion 41 is configured as a protrusion, and the other is configured as a closed-loop groove near the edge of the connecting component, such as Figure 1 As shown, the first limiting portion 40 is configured as a closed-loop groove near the edge of the second connecting assembly 30 and is disposed on the wall opposite to the rack, as shown in FIG. Fig.10 As shown, the second limiting portion 41 is configured as a protrusion, which is disposed on the wall surface close to the groove on the cover plate 43 of the first connecting component 29 and is disposed at the edge. Of course, a protrusion can also be disposed on the first connecting component 29, and a closed-loop groove can be disposed on the mating wall surface of the second connecting component 30, or other structures that can achieve limiting can be used. The specific design can be pre-designed according to actual production needs.

[0086] During use, since the inclination direction of the serrations on the preset rack matches the inclination direction of the rotating blades, when the foot structure needs to be lengthened and adjusted, the wearer manually pulls the front sole 27 to move away from the rear sole 28. According to the force transmission, the rack will synchronously move away from the rear sole 28, thereby prompting the rotating blades to passively disengage from the current plug-in position and plug in with the next position. At the same time, the protrusions provided on the first connecting member will slide in the grooves provided on the opposite wall of the rack, and the sliding direction is opposite to the movement direction of the front sole 27, that is, sliding toward the closed loop of the groove. When the protrusions contact the closed loop of the groove, it means that the foot structure has been stretched to the limit.

[0087] According to one embodiment of the present invention, Fig.11 , Fig.14 and Fig.18 As shown, a third limiting portion 42 engaged with the second limiting portion 41 is further provided at the connection between the first limiting portion 40 and the sole. Through the cooperation between the second limiting portion 41 and the third limiting portion 42, when the plantar structure is shortened to the shortest, that is, when the front sole 27 and the rear sole 28 are in contact with each other, the second limiting portion 41 is engaged into the third limiting portion 42, thereby achieving a close fit between the front sole 27 and the rear sole 28.

[0088] Preferably, Fig.11 As shown, the second limiting portion 41 is a protruding structure arranged at the edge of the cover plate 43, and the third limiting portion 42 is a groove arranged at the connection of the sole. When the sole structure is shortened to the shortest, the protrusion will snap into the groove, thereby achieving a close fit between the front sole 27 and the rear sole 28.

[0089] Each embodiment in this specification is described in a progressive manner, and some embodiments focus on the differences from other embodiments. The same or similar parts between the embodiments can be referenced to each other.

[0090] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying importance; the words "bottom surface" and "top surface", "inside" and "outside" refer to the geometric direction toward or away from a specific component, respectively.

[0091] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the inside of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0092] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A hip joint structure, characterized in that: include: A hip joint body (1), a first connecting rod (2) and a second connecting rod (3), wherein the second connecting rod (3) is arranged in an L shape, one end of the first connecting rod (2) is connected to the hip joint body (1), the other end of the first connecting rod (2) is rotatably connected to a vertical section (4) of the second connecting rod (3) along a first direction, and the bent section (5) of the second connecting rod (3) is rotatably connected to a fixing member (22) along a second direction, and the first direction is perpendicular to the second direction; The first connecting rod (2) and the vertical section (4) of the second connecting rod (3) are rotationally connected via a first rotating shaft (6), and rotate along a first direction; A limiting member (7) for limiting the rotation of the first rotating shaft (6) is also provided between the vertical sections (4) of the first connecting rod (2) and the second connecting rod (3); The limiting member (7) comprises: a connecting portion (8) for connecting the first connecting rod (2) and the vertical section (4), and a first limiting component (9) remaining on the outside, and a second limiting component (10) matching with the first limiting component (9) is provided on the vertical section (4) of the second connecting rod (3); The first limiting component (9) is configured as a ring-shaped structure having a notch, and the second limiting component (10) is configured as a protrusion that matches the notch; The connecting portion (8) comprises: A sleeve (11), one end of the sleeve (11) being connected to the annular structure having a notch, and the other end of the sleeve (11) being provided with a through hole (26) along the circumferential direction; A limiting ball (12) is movably connected in the through hole (26), and the diameter of the limiting ball (12) is larger than the diameter of the through hole (26); A clamping rod (13) is threadedly connected to the sleeve (11); the clamping rod (13) and the limiting ball (12) are in abutting connection; and one end of the clamping rod (13) close to the limiting ball (12) is provided with a conical structure, and the conical structure is used to push the limiting ball (12) and make the edge of the limiting ball (12) exposed from the through hole (26); a damping structure (23) is also provided between the bent section (5) of the second connecting rod (3) and the fixing member (22).

2. The hip joint structure according to claim 1, characterized in that: A handle (14) is provided at one end of the pressing rod (13) close to the annular structure.

3. The hip joint structure according to claim 1, characterized in that: The bent section (5) of the second connecting rod (3) is rotationally connected to the fixing member (22) via a second rotating shaft (21), and rotates along a second direction.

4. The hip joint structure according to claim 3, characterized in that: The damping structure (23) comprises an adjusting bolt (24) and a disc spring (25); the disc spring (25) is arranged between the bent section (5) of the second connecting rod (3) and the fixing member (22); the bent section (5) of the second connecting rod (3) is movably connected to the second rotating shaft (21) via the adjusting bolt (24).

5. The hip joint structure according to claim 1, characterized in that: An adjustment rod (15) is further provided between the hip joint body (1) and the first connecting rod (2); one end of the adjustment rod (15) is fixedly connected to the hip joint body (1), and the other end is inserted into the first connecting rod (2) and fixedly connected via a stopper (7).

6. The hip joint structure according to claim 5, characterized in that: The adjusting rod (15) is provided with an adjusting hole (16) for the limiting member (7) to pass through, and the number of the adjusting holes (16) is at least two.

7. An exoskeleton robot, characterized in that: include: An adjustable foot structure (17), an ankle joint (18), a knee joint (19) and a hip joint structure as claimed in any one of claims 1 to 6 connected in sequence.

8. The exoskeleton robot according to claim 7, characterized in that: The ankle joint (18) is also provided with a damping structure (23).

9. The exoskeleton robot according to claim 7, characterized in that: The ankle joint (18) and the knee joint (19), and the knee joint (19) and the hip joint body (1) are both telescopically connected through the adjustment hole (16) and the limiting member (7).

10. The exoskeleton robot according to claim 7, characterized in that: A crossbeam (20) is also provided between the two hip joint structures, and two ends of the crossbeam (20) are respectively movably connected to the hip joint structures.

Images