A passive exoskeleton hip joint torque adjustable device

Abstract

The present invention discloses a passive exoskeleton hip joint torque adjustable device, which relates to the technical field of exoskeleton adjustment devices, and aims to solve the problems of low integration, poor reliability and poor assistance effect of the current passive exoskeleton hip joint device. The device includes: a housing, a cover plate, an outer shell, a potentiometer seat, a turbine, a volute spring, and a torque adjustment device for driving the turbine to rotate; an installation table is arranged on one side of the housing facing the cover plate, and the housing is installed on the cover plate through the installation table. The outer shell is rotatably installed between the housing and the cover plate. The potentiometer seat is installed on the other side of the housing. The turbine is rotatably installed in the outer shell. The two ends of the volute spring are respectively fixed on the turbine and the outer shell. The torque adjustment device is rotatably installed on the potentiometer seat, and the torque adjustment device is in transmission connection with the turbine. The above adjustable device has high integration and strong load-bearing capacity, can effectively adjust the torque, improves the movement flexibility and assistance efficiency of the exoskeleton, and has high practicability.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton adjustment devices, and in particular to a passive exoskeleton hip joint torque adjustable device. Background Art

[0002] In recent years, passive exoskeletons have developed rapidly. As one of the key technologies in the field of exoskeletons, the hip joint system should adopt a design approach that integrates human-machine coordination and high assistance effect based on the requirements of assistance effect, comfort, fit, and reliability of the hip joint system. A highly integrated hip joint device realizes passive assistance for the human hip joint. At present, the main hip joints of passive exoskeletons have no assistance effect, and it is required that the hip joint device integrates the transmission system and the assistance effect to improve the assistance effect and integration degree of the passive exoskeleton hip joint.

[0003] With the development requirements of exoskeleton technology - especially reliability, ergonomics, and assistance efficiency, there is an urgent need for the passive exoskeleton hip joint device to develop in the direction of integration, comfort, and high-efficiency assistance.

[0004] In recent years, the research on passive exoskeletons in China has just started. Compared with the high-tech level of international exoskeletons, the degree of engineering and practical application is low, and there is still a large gap from practical use. The integrated degree of the passive exoskeleton hip joint devices developed in China is not high, the reliability is poor, the assistance effect is poor, and the wearing comfort and assistance efficiency of the whole machine urgently need to be improved. Summary of the Invention

[0005] The purpose of the present invention is to provide a passive exoskeleton hip joint torque adjustable device, which is used to solve the problems that the integrated degree of the passive exoskeleton hip joint devices developed in China is not high, the reliability is poor, the assistance effect is poor, and the wearing comfort and assistance efficiency of the whole machine urgently need to be improved.

[0006] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0007] Provide a passive exoskeleton hip joint torque adjustable device, including: a housing, a cover plate, an outer shell, a potentiometer base, a turbine, a volute spring, and a torque adjustment device for driving the turbine to rotate;

[0008] One side of the housing facing the cover plate is provided with a mounting table. The housing is mounted on the cover plate through the mounting table. The body of the housing is separated from the body of the cover plate. The outer shell is rotatably mounted between the housing and the cover plate. The potentiometer base is mounted on the other side of the housing. The turbine is rotatably mounted in the outer shell. Both ends of the volute spring are respectively fixed on the turbine and the outer shell. The torque adjustment device is rotatably mounted on the potentiometer base, and the torque adjustment device is in transmission connection with the turbine.

[0009] The housing and cover plate of the passive exoskeleton hip joint torque adjustable device provided by the present invention are assembled and installed. The outer shell is installed between the housing and the cover plate. The potentiometer base is installed on the housing. The scroll spring is installed inside the outer shell. The torque adjustment device is rotatably installed on the potentiometer base, so that the adjustable device forms an integral structure. The two ends of the scroll spring are respectively installed on the turbine and the outer shell. When the torque adjustment device drives the turbine to rotate, it will drive the scroll spring to tighten or loosen, realizing the adjustment of the torque output to the outer shell. The whole device has high integration and strong load-bearing capacity, can effectively adjust the torque, has strong torque adjustability, makes the hip joint passive assistance effect good, increases the human-machine coordination, improves the movement flexibility of the exoskeleton, enhances the assistance efficiency of the exoskeleton, increases the reliability of the exoskeleton, and has high practicability.

[0010] Preferably, in the above technical solution, the adjustable device further includes a transmission shaft;

[0011] The transmission shaft is a columnar hollow structure. An abduction and adduction copper sleeve is arranged on the circumferential side of the transmission shaft. The transmission shaft is fixedly installed inside the outer shell, and its two ends respectively extend into the housing and the cover plate and are rotatably connected with the housing and the cover plate.

[0012] Preferably, in the above technical solution, the longitudinal section of the transmission shaft is U-shaped. The scroll spring is installed inside the transmission shaft. The two ends of the turbine are respectively rotatably installed in the middle of the transmission shaft and the potentiometer base.

[0013] Preferably, in the above technical solution, the transmission shaft further includes a first shaft sleeve and a second shaft sleeve;

[0014] The first shaft sleeve and the second shaft sleeve are respectively installed inside the housing and the cover plate. The two ends of the transmission shaft are respectively rotatably connected with the first shaft sleeve and the second shaft sleeve.

[0015] Preferably, in the above technical solution, the turbine further includes a first bearing and a second bearing. The first bearing and the second bearing are respectively installed at the two ends of the turbine. The turbine is rotatably installed on the transmission shaft and the potentiometer base through the first bearing and the second bearing.

[0016] Preferably, in the above technical solution, the torque adjustment device includes an adjustment core shaft, a transmission rod, and a first bevel gear;

[0017] The adjustment core shaft is rotatably installed on the potentiometer base. The fixed end of the adjustment core shaft is fixedly connected with the first bevel gear. Its adjustment end passes through the potentiometer base. The transmission rod is rotatably installed on the side of the potentiometer base facing the turbine. The first bevel gear meshes with the second bevel gear at one end of the transmission rod. The other end of the transmission rod meshes with the turbine.

[0018] Preferably, in the above technical solution, the potentiometer base further includes a worm pressure plate and a first copper sleeve. The first copper sleeve is sleeved on the middle part of the transmission rod, and the transmission rod is rotatably mounted on the potentiometer base through the worm pressure plate and the first copper sleeve.

[0019] Preferably, in the above technical solution, the adjusting mandrel further includes a first gasket, a second copper sleeve and a third copper sleeve;

[0020] The second copper sleeve is fixedly mounted on the potentiometer base. The third copper sleeve and the first gasket are sleeved on the adjusting mandrel. Both ends of the third copper sleeve abut against the first bevel gear and the first gasket respectively. The first gasket abuts against one side of the potentiometer base facing the turbine. The adjusting end of the adjusting mandrel is rotatably connected to the second copper sleeve.

[0021] Preferably, in the above technical solution, the adjusting mandrel further includes a knob, and the knob is mounted on the adjusting end of the adjusting mandrel.

[0022] Preferably, in the above technical solution, the adjustable device further includes a second gasket and a third gasket;

[0023] The second gasket is sleeved on the turbine and is located between the volute spring and the transmission shaft. There are two third gaskets, which are respectively located between the transmission shaft and the first bearing and the second bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0025] Figure 1 is a schematic structural diagram of a passive exoskeleton hip joint torque adjustable device provided by an embodiment of the present invention;

[0026] Figure 2 is Figure 1 a partial development view of the passive exoskeleton hip joint torque adjustable device in;

[0027] Figure 3 is Figure 1 a longitudinal sectional view of;

[0028] Figure 4 is Figure 1 a longitudinal sectional view of the position of the torque adjusting device in;

[0029] Figure 5 is Figure 1Exploded view of the adjustable device for the moment of the hip joint of the passive exoskeleton.

[0030] Reference numerals:

[0031] 1 - Inner and outer abduction bronze bushing, 2 - Outer shell, 3 - Housing, 4 - Potentiometer base, 5 - Cover plate, 6 - Volute spring, 7 - Worm gear, 8 - Transmission shaft, 9 - First bushing, 10 - Second bushing, 11 - First bearing, 12 - Second bearing, 13 - Adjusting mandrel, 14 - Transmission rod, 15 - First bevel gear, 16 - Worm gear pressure plate, 17 - First bronze bushing, 18 - First gasket, 19 - Second bronze bushing, 20 - Third bronze bushing, 21 - Knob, 22 - Second gasket, 23 - Third gasket, 24 - Thigh. Detailed implementation manners

[0032] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0033] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0034] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined. "Several" means one or more unless otherwise specifically defined.

[0035] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. is based on the orientation or positional relationship shown in the 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 thus cannot be understood as a limitation to the present invention.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" 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 an indirect connection through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] See Figures 1 to 5 , the passive exoskeleton hip joint torque adjustable device provided by the present invention includes: a housing 3, a cover plate 5, an outer shell 2, a potentiometer base 4, a turbine, a scroll spring 6, and a torque adjustment device for driving the turbine to rotate;

[0038] One side of the housing 3 facing the cover plate 5 is provided with a mounting table, and the housing 3 is mounted on the cover plate 5 through the mounting table. The body of the housing 3 is separated from the body of the cover plate 5. The outer shell 2 is rotatably mounted between the housing 3 and the cover plate 5. The potentiometer base 4 is mounted on the other side of the housing 3. The turbine is rotatably mounted inside the outer shell 2. Both ends of the scroll spring 6 are respectively fixed on the turbine and the outer shell 2. The torque adjustment device is rotatably mounted on the potentiometer base 4, and the torque adjustment device is in transmission connection with the turbine.

[0039] During specific implementation:

[0040] The housing 3 is fixedly connected to the potentiometer base 4. One end of the adjusting mandrel 13 is fixed to the knob 21, and the other end is connected to the first bevel gear 15. The first bevel gear 15 meshes with the second bevel gear on the transmission shaft 8. The second bevel gear meshes with the worm gear 7. The inner ring end of the scroll spring 6 is snapped into the opening groove of the worm gear 7 and fixed. The transmission shaft 8 is fixed to the outer shell 2 with screws. The outer ring end of the scroll spring 6 is fixed in the groove of the outer shell 2 through the notch of the transmission shaft 8. Rotating the knob 21 drives the first bevel gear 15, the transmission shaft 8, and the worm gear 7 to rotate through the adjusting mandrel 13. The transmission of the worm gear 7 changes the initial compression amount of the scroll spring 6, thereby achieving the purpose of adjusting the hip joint torque.

[0041] One end of the housing 3 is structurally connected to the thigh 24, and the other end is fixedly connected to the potentiometer base 4. When the thigh 24 swings, it drives the housing 3, the transmission system, and the worm gear 7 to rotate. As the transmission system and the worm gear 7 rotate, the scroll spring 6 compresses and expands, stores energy and releases energy, thereby achieving the purpose of passive assistance for the hip joint.

[0042] The housing and cover plate of the above-mentioned passive exoskeleton hip joint torque adjustable device are combined and installed. The outer shell is installed between the housing and the cover plate. The potentiometer seat is installed on the housing. The volute spring is installed inside the outer shell. The torque adjustment device is rotatably installed on the potentiometer seat, so that the adjustable device forms an integral structure. The two ends of the volute spring are respectively installed on the turbine and the outer shell. When the torque adjustment device drives the turbine to rotate, it will drive the volute spring to tighten or loosen, realizing the adjustment of the torque output to the outer shell. The whole device has a high integration degree and strong bearing capacity, can effectively adjust the torque, has strong torque adjustability, makes the hip joint passive assistance effect good, increases the human-machine coordination, improves the movement flexibility of the exoskeleton, enhances the assistance efficiency of the exoskeleton, increases the reliability of the exoskeleton, and has high practicability.

[0043] As an implementable manner, the adjustable device further includes a transmission shaft 8; the transmission shaft 8 is a columnar hollow structure. An abduction and adduction copper sleeve 1 is arranged on the circumferential side of the transmission shaft 8. The transmission shaft 8 is fixedly installed inside the outer shell 2, and its two ends respectively extend into the housing 3 and the cover plate 5 and are rotatably connected to the housing 3 and the cover plate 5.

[0044] The columnar hollow structure of the transmission shaft 8 facilitates the installation of the volute spring 6. The volute spring 6 is accommodated in the cavity of the transmission shaft 8. One end of the volute spring 6 is installed on the turbine, and the other end passes through the notch on the transmission shaft 8 and is installed on the outer shell 2, enabling the power of the volute spring 6 to be better transmitted to the outer shell 2; the transmission shaft 8 is installed inside the outer shell 2, and its two ends respectively extend into the housing 3 and the cover plate 5 and are rotatably connected, realizing the fixation of the transmission shaft 8 to the outer shell 2 and ensuring the rotation effect of the outer shell 2 between the housing 3 and the cover plate 5, making the overall structure of the passive exoskeleton hip joint torque adjustable device stronger.

[0045] As an implementable manner, the longitudinal section of the transmission shaft 8 is U-shaped. The volute spring 6 is installed inside the transmission shaft 8. The two ends of the turbine are respectively rotatably installed in the middle of the transmission shaft 8 and the potentiometer seat 4.

[0046] The transmission shaft 8 with a U-shaped longitudinal section can better accommodate the volute spring 6 in the space of the transmission shaft 8. The two ends of the turbine are rotatably installed on the transmission shaft 8 and the potentiometer seat 4, reducing the friction when the turbine rotates and making the structure of the passive exoskeleton hip joint torque adjustable device more compact.

[0047] As an implementable manner, the transmission shaft 8 further includes a first shaft sleeve 9 and a second shaft sleeve 10; the first shaft sleeve 9 and the second shaft sleeve 10 are respectively installed inside the housing 3 and the cover plate 5, and the two ends of the transmission shaft 8 are respectively rotatably connected to the first shaft sleeve 9 and the second shaft sleeve 10.

[0048] The setting of the first shaft sleeve 9 and the second shaft sleeve 10 reduces the friction when the transmission shaft 8 rotates, making the transmission shaft 8 more sensitive when rotating.

[0049] As an implementable manner, the turbine further includes a first bearing 11 and a second bearing 12. The first bearing 11 and the second bearing 12 are respectively installed at two ends of the turbine. The turbine is rotatably installed on the transmission shaft 8 and the potentiometer seat 4 through the first bearing 11 and the second bearing 12.

[0050] The turbine is rotatably installed by using the first bearing 11 and the second bearing 12, which further reduces the friction force when the turbine rotates and improves the effect when the turbine drives the scroll spring 6 to contract or expand.

[0051] As an implementable manner, the torque adjusting device includes an adjusting mandrel 13, a transmission rod 14 and a first bevel gear 15. The adjusting mandrel 13 is rotatably installed on the potentiometer seat 4. The fixed end of the adjusting mandrel 13 is fixedly connected to the first bevel gear 15, and its adjusting end passes through the potentiometer seat 4. The transmission shaft 8 is rotatably installed on one side of the potentiometer seat 4 facing the turbine. The first bevel gear 15 meshes with a second bevel gear at one end of the transmission rod 14, and the other end of the transmission rod 14 meshes with the turbine.

[0052] The setting of the adjusting mandrel 13 can better adjust the rotation of the turbine. The settings of the first bevel gear 15 and the transmission shaft 8 can better transmit the driving force of the adjusting mandrel 13 to the turbine, and the scroll spring 6 is adjusted by the rotation of the turbine.

[0053] As an implementable manner, the potentiometer seat 4 further includes a worm pressure plate 16 and a first copper sleeve 17. The first copper sleeve 17 is sleeved on the middle of the transmission rod 14. The transmission rod 14 is rotatably installed on the potentiometer seat 4 through the worm pressure plate 16 and the first copper sleeve 17.

[0054] The setting of the worm pressure plate 16 facilitates the installation of the transmission rod 14, while the setting of the first copper sleeve 17 reduces the friction force when the transmission rod 14 rotates and ensures the kinetic energy transmission effect.

[0055] As an implementable manner, the adjusting mandrel 13 further includes a first gasket 18, a second copper sleeve 19 and a third copper sleeve 20. The second copper sleeve 19 is fixedly installed on the potentiometer seat 4. The third copper sleeve 20 and the first gasket 18 are sleeved on the adjusting mandrel 13. The two ends of the third copper sleeve 20 respectively abut against the first bevel gear 15 and the first gasket 18, the first gasket 18 abuts against one side of the potentiometer seat 4 facing the turbine, and the adjusting end of the adjusting mandrel 13 is rotatably connected to the second copper sleeve 19.

[0056] As an implementable manner, the adjusting mandrel 13 further includes a knob 21, and the knob 21 is installed at the adjusting end of the adjusting mandrel 13.

[0057] The setting of the knob 21 can better rotate and adjust the adjusting mandrel 13, and further realize the adjustment of the turbine.

[0058] As an implementable embodiment, the adjustable device further includes a second spacer 22 and a third spacer 23; the second spacer 22 is sleeved on the turbine and is located between the scroll spring 6 and the transmission shaft 8, and there are two third spacers 23, which are respectively located between the transmission shaft 8 and the first bearing 11 and the second bearing 12.

[0059] The arrangement of the second spacer 22 can better avoid the friction between the scroll spring 6 and the transmission shaft 8, improving the transmission effect of the turbine; the arrangement of the two third spacers 23 reduces the frictional force between the transmission shaft 8 and the housing 3 and the cover plate 5, improving the rotation effect of the transmission shaft 8.

[0060] In the description of the above embodiments, the specific features, structures, materials or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0061] The above is only the specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A passive exoskeleton hip joint torque adjustable device, characterized in that, Comprising: A housing, a cover plate, an outer shell, a potentiometer base, a turbine, a volute spring, and a torque adjusting device for driving the rotation of the turbine; On one side of the housing facing the cover plate, there is an installation platform. The housing is installed on the cover plate through the installation platform. The body of the housing is separated from the body of the cover plate. The outer shell is rotatably installed between the housing and the cover plate. The potentiometer base is installed on the other side of the housing. The turbine is rotatably installed inside the outer shell. Two ends of the volute spring are respectively fixed on the turbine and the outer shell. The torque adjusting device is rotatably installed on the potentiometer base and is in transmission connection with the turbine; The adjustable device further includes a transmission shaft; The transmission shaft is a columnar hollow structure. An inner and outer expanding copper sleeve is arranged on the circumferential side of the transmission shaft. The transmission shaft is fixedly installed inside the outer shell, and its two ends respectively extend into the housing and the cover plate and are rotatably connected with the housing and the cover plate; The torque adjusting device includes an adjusting mandrel, a transmission rod, and a first bevel gear; The adjusting mandrel is rotatably installed on the potentiometer base. The fixed end of the adjusting mandrel is fixedly connected with the first bevel gear, and its adjusting end passes through the potentiometer base. The transmission rod is rotatably installed on the side of the potentiometer base facing the turbine. The first bevel gear meshes with a second bevel gear at one end of the transmission rod, and the other end of the transmission rod meshes with the turbine.

2. The passive exoskeleton hip joint torque adjustable device according to claim 1, characterized in that The longitudinal section of the transmission shaft is U-shaped. The volute spring is installed inside the transmission shaft. Two ends of the turbine are respectively rotatably installed in the middle of the transmission shaft and the potentiometer base.

3. The passive exoskeleton hip joint torque adjustable device according to claim 2, characterized in that The transmission shaft further includes a first shaft sleeve and a second shaft sleeve; The first shaft sleeve and the second shaft sleeve are respectively installed inside the housing and the cover plate. Two ends of the transmission shaft are respectively rotatably connected with the first shaft sleeve and the second shaft sleeve.

4. The passive exoskeleton hip joint torque adjustable device according to claim 2, characterized in that, The turbine further includes a first bearing and a second bearing. The first bearing and the second bearing are respectively installed at two ends of the turbine. The turbine is rotatably installed on the transmission shaft and the potentiometer base through the first bearing and the second bearing.

5. The passive exoskeleton hip joint torque adjustable device according to claim 1, wherein, The potentiometer base further includes a worm pressure plate and a first copper sleeve. The first copper sleeve is sleeved on the middle of the transmission rod. The transmission rod is rotatably installed on the potentiometer base through the worm pressure plate and the first copper sleeve.

6. The passive exoskeleton hip joint torque adjustable device according to claim 1, characterized in that, The adjusting mandrel further includes a first gasket, a second copper sleeve, and a third copper sleeve; The second copper sleeve is fixedly installed on the potentiometer base. The third copper sleeve and the first gasket are sleeved on the adjusting mandrel. Two ends of the third copper sleeve respectively abut against the first bevel gear and the first gasket. The first gasket abuts against the side of the potentiometer base facing the turbine. The adjusting end of the adjusting mandrel is rotatably connected with the second copper sleeve.

7. The passive exoskeleton hip joint torque adjustable device according to claim 6, characterized in that, The adjusting mandrel further includes a knob. The knob is installed at the adjusting end of the adjusting mandrel.

8. The passive exoskeleton hip joint torque adjustable device according to claim 4, characterized in that, The adjustable device further includes a second gasket and a third gasket; The second gasket is sleeved on the turbine and is located between the scroll spring and the transmission shaft. There are two third gaskets, which are respectively located between the transmission shaft and the first bearing and the second bearing.

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