A compact hip joint exoskeleton and implementation method thereof

Abstract

The present invention discloses a compact hip joint exoskeleton and its implementation method. The present invention adopts a push-pull wire to connect the motor assembly and the exoskeleton assembly, and reduces the weight at the joint through the push-pull wire transmission; the present invention has a waist fixed support plate with adjustable hip distance, which can adapt to the wearing requirements of people of different body shapes; a reduction motor is arranged on the back side of the waist, which effectively improves the concealment of the motor; the reduction motor output wheel, the hip joint execution wheel and the push-pull wire are coordinated to realize the simultaneous control of the two actions of flexion and extension by a single driving source, merge the flexion control with the extension control, reduce the driving and transmission components, simplify the control transmission link, and realize the lightweight of the exoskeleton; the present invention effectively reduces the walking burden of the user, reduces energy consumption, thereby improving the comfort of the wearer, and then improving the quality of life of the user.

Description

Technical Field

[0001] The present invention relates to an intelligent rehabilitation auxiliary device, and in particular to a compact hip joint exoskeleton and a realization method thereof. Background Art

[0002] With the acceleration of the aging process of my country's population, the elderly have problems such as walking instability and walking fatigue due to factors such as joint diseases, weakened lower limb muscle strength, and functional decline. Wearing exoskeletons can help them reduce energy consumption, or enhance endurance and improve their quality of life. The more common lower limb exoskeleton walkers on the market have one thing in common, which is that the motors are placed on both sides of the hip joint. This structure is simple, and at the same time, this device has the following problems: the motor is not concealed enough, the sensor installation position cannot well sense the wearer's intention, the battery power supply time is short, the manufacturing cost is high, and the price is expensive. Therefore, designing a lower limb hip joint exoskeleton walker with better concealment and better movement intention perception can help the elderly with lower limb muscle function decline reduce walking energy consumption, enhance walking ability, and increase walking speed, and use it in daily life scenarios. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the present invention proposes a compact hip joint exoskeleton and an implementation method thereof, which can effectively reduce the walking burden of the user, reduce energy consumption, thereby improving the user's comfort and further improving the user's quality of life.

[0004] An object of the present invention is to provide a compact hip exoskeleton.

[0005] The compact hip joint exoskeleton of the present invention comprises: a waist support component, a motor component, an exoskeleton component and a push-pull wire; wherein a group of motor components are respectively arranged on the left and right sides of the waist support component, and the motor components on the left and right sides are respectively connected to the exoskeleton components on the left and right sides through a group of push-pull wires on the left and right sides; the motor component, exoskeleton component and push-pull wire on the left side are completely the same as the motor component, exoskeleton component and push-pull wire on the right side and are symmetrical about the left and right sides;

[0006] The waist support assembly includes a fixed support plate, a left waist expansion plate, a right waist expansion plate and a waist belt; the fixed support plate is located at the rear side of the user's waist and is in the shape of a long strip; the left and right ends of the fixed support plate are respectively connected to the waist belt through the left waist expansion plate and the right waist expansion plate to form a circle, and the left waist expansion plate and the right waist expansion plate are respectively located on both sides of the user's waist;

[0007] The motor assembly includes a reduction motor, a motor output shaft, a motor output wheel, an end cover at the shaft end and an output wheel rope fixing plate; a reduction motor is arranged on the left and right sides of the outer surface of the fixed support plate of the lumbar support assembly respectively; the reduction motor is connected to the motor output wheel through the motor output shaft, and the top end of the motor output shaft passes through the center of the motor output wheel, and the motor output wheel is fixed to the top end of the motor output shaft through the end cover at the shaft end, and the motor output wheel and the motor output shaft are fixed so that the two rotate together and the motor output wheel is prevented from falling off; a circle of annular output wheel rope mounting groove is provided on the side wall of the motor output wheel, and the push-pull wire is attached to the motor output wheel by being embedded in the output wheel rope mounting groove; the bottom end of the output wheel rope fixing plate is vertically installed on the outer surface of the fixed support plate and is located on the outside of the reduction motor, and the top end of the output wheel rope fixing plate is respectively provided with an upper countersunk hole and a lower countersunk hole, and the connecting line of the upper countersunk hole and the lower countersunk hole is parallel to the plane where the motor output wheel is located;

[0008] The exoskeleton assembly includes a hip joint motion assembly, a thigh rod, a thigh front baffle, a strap, an execution wheel rope fixing plate and a butterfly hinge; the thigh rod is in the shape of a long strip plate, the thigh rod is vertical to the outside of the user's thigh, the top end of the thigh rod is fixedly installed with the hip joint motion assembly, the bottom end of the thigh rod is fixedly installed with the thigh front baffle, and the thigh front baffle is fixed to the user's thigh through the strap; the bottom end of the butterfly hinge is fixedly connected to the top end of the hip joint motion assembly, the top end of the butterfly hinge connected to the left hip joint motion assembly is fixed to the outside of the left waist telescopic plate, and the top end of the butterfly hinge connected to the right hip joint motion assembly is fixed to the outside of the right waist telescopic plate;

[0009] The hip joint motion assembly comprises a coaxially mounted hip joint motion fixing plate, a deep groove ball bearing, a thigh rod connecting plate, a bearing fixing plate and a hip joint actuator wheel; the top of the hip joint motion fixing plate is respectively fixedly mounted with the bottom of the butterfly hinge and the actuator wheel rope fixing plate; a circular boss is arranged on the outer surface of the hip joint motion fixing plate, and the inner ring of the annular deep groove ball bearing is sleeved on the outer ring of the circular boss through clearance fit; the inner ring of the annular thigh rod connecting plate is interference fit with the outer ring of the deep groove ball bearing; the bearing fixing plate is buckled on the hip joint motion fixing plate The hip joint motion fixing plate, the deep groove ball bearing and the thigh rod connecting plate are fixed on the same axis; the bottom end of the thigh rod connecting plate is fixedly connected to the top of the thigh rod; the inner surface of the annular hip joint actuator wheel is fixedly connected to the outer surface of the thigh rod connecting plate on the same axis; the front and rear countersunk holes are respectively provided at the front and rear of the actuator wheel rope fixing plate; a circle of annular actuator wheel rope installation groove is provided on the side wall of the hip joint actuator wheel, and the push-pull wire is attached to the hip joint actuator wheel by being embedded in the actuator wheel rope installation groove;

[0010] A set of push-pull wires includes a first push-pull wire and a second push-pull wire; one end of the first push-pull wire is fixed to the surface of the motor output wheel, the first push-pull wire passes through the upper countersunk hole of the output wheel rope fixing plate along the output wheel rope installation groove, and passes through the front countersunk hole of the executive wheel rope fixing plate, along the executive wheel rope installation groove, and the other end is fixed to the surface of the hip joint executive wheel; one end of the second push-pull wire is fixed to the surface of the motor output wheel, the second push-pull wire passes through the lower countersunk hole of the output wheel rope fixing plate along the output wheel rope installation groove, and passes through the rear countersunk hole of the executive wheel rope fixing plate, along the executive wheel rope installation groove, and the other end is fixed to the surface of the hip joint executive wheel;

[0011] The reduction motors on the left and right sides drive the motor output wheels to rotate through the motor output shafts, and drive the hip joint actuator wheels to rotate through a corresponding set of push-pull wires, thereby driving the thigh rod connecting plate together with the thigh rod to move. The thigh rod is linked to the rotation output of the hip joint motion component and also swings with the hip joint motion component; and the thigh movement is driven by the straps on the front baffle of the thigh, thereby assisting the user in walking.

[0012] The push-pull wire includes a coaxial steel wire core and a hose, wherein the steel wire core is inside and the coaxial hollow hose is outside.

[0013] A pair of fixed slots are respectively provided on the surface of the motor output wheel and the surface of the hip joint actuator wheel, so that the end points of a set of push-pull wires are fixed in the corresponding fixed slots.

[0014] The left waist expansion plate and the right waist expansion plate have the same structure, which is a curved thin plate. The shape of the curve is consistent with the waist of the user. The contact part of the curved thin plate and the fixed support plate is provided with multiple through holes, and a straight slot hole is provided in the middle of the fixed support plate. The multiple through holes of the curved thin plate coincide with the straight slot hole of the fixed support plate. The curved thin plate is moved along the path of the straight slot hole to adjust the hip distance. After the hip distance is adjusted appropriately, the through holes and the straight slot hole are fixed and clamped by bolts. The fixed support plate and the curved thin plate of the lumbar support assembly are made of one of stainless steel, aluminum alloy, carbon fiber and resin.

[0015] The hip joint motion component, thigh rod, thigh front baffle, and execution wheel rope fixing plate of the exoskeleton component are made of one of stainless steel, aluminum alloy, carbon fiber and resin; the butterfly hinge is a standard part made of one of stainless steel, aluminum alloy and resin.

[0016] Furthermore, it also includes an output wheel rope fixing sleeve, the two ends of which are respectively fixed to the outer surface of the motor output wheel to ensure that the push-pull wire does not separate from the output wheel rope mounting groove; it also includes an actuator wheel rope fixing sleeve, the two ends of which are fixed to the outer surface of the hip joint actuator wheel to ensure that the push-pull wire does not separate from the actuator wheel rope mounting groove.

[0017] The outside and inside, front and back, and left and right sides mentioned in the present invention are all directions relative to the user.

[0018] Another object of the present invention is to provide a method for realizing a compact hip joint exoskeleton.

[0019] The implementation method of the compact hip joint exoskeleton of the present invention comprises the following steps:

[0020] 1. Setting up the compact hip exoskeleton:

[0021] a) Set up the lumbar support assembly:

[0022] The fixed support plate is located at the rear side of the user's waist and is in the shape of a long strip; the left and right ends of the fixed support plate are respectively connected to the waist belt through the left waist expansion plate and the right waist expansion plate to form a circle, and the left waist expansion plate and the right waist expansion plate are respectively located on both sides of the user's waist;

[0023] b) Set up the motor assembly:

[0024] A reduction motor is respectively arranged on the left and right sides of the outer surface of the fixed support plate of the lumbar support assembly; the reduction motor is connected to the motor output wheel through the motor output shaft, and the top end of the motor output shaft passes through the center of the motor output wheel, and the motor output wheel is fixed to the top end of the motor output shaft through the shaft end cover, and the motor output wheel and the motor output shaft are fixed so that the two rotate together and the motor output wheel is prevented from falling off; a circle of annular output wheel rope installation groove is provided on the side wall of the motor output wheel, and the push-pull wire is attached to the motor output wheel by being embedded in the output wheel rope installation groove; the bottom end of the output wheel rope fixing plate is vertically installed on the outer surface of the fixed support plate and is located on the outside of the reduction motor, and the top end of the output wheel rope fixing plate is respectively provided with an upper countersunk hole and a lower countersunk hole, and the connecting line of the upper countersunk hole and the lower countersunk hole is parallel to the plane where the motor output wheel is located;

[0025] c) Set up the exoskeleton components:

[0026] The thigh rod is in the shape of a long strip plate, and is vertical to the outside of the thigh of the user. The top of the thigh rod is fixedly installed with a hip joint motion component, and the bottom of the thigh rod is fixedly installed with a thigh front baffle, which is fixed to the thigh of the user through a strap; the bottom end of the butterfly hinge is fixedly connected to the top of the hip joint motion component, the top of the butterfly hinge connected to the left hip joint motion component is fixed to the outside of the left waist telescopic plate, and the top of the butterfly hinge connected to the right hip joint motion component is fixed to the outside of the right waist telescopic plate;

[0027] A hip joint motion component is provided: comprising a coaxially mounted hip joint motion fixing plate, a deep groove ball bearing, a thigh rod connecting plate, a bearing fixing plate and a hip joint actuator wheel; the top of the hip joint motion fixing plate is respectively fixedly mounted with the bottom of the butterfly hinge and the actuator wheel rope fixing plate; a circular boss is provided on the outer surface of the hip joint motion fixing plate, and the inner ring of the annular deep groove ball bearing is sleeved on the outer ring of the circular boss through clearance fit; the inner ring of the annular thigh rod connecting plate is interference fit with the outer ring of the deep groove ball bearing; the bearing fixing plate is buckled on the hip joint motion fixing plate The circular boss of the fixed plate fixes the positions of the hip joint motion fixing plate, the deep groove ball bearing and the thigh rod connecting plate coaxially; the bottom end of the thigh rod connecting plate is fixedly connected to the top end of the thigh rod; the inner surface of the annular hip joint actuator wheel is coaxially fixedly connected to the outer surface of the thigh rod connecting plate; the front and rear countersunk holes are respectively provided at the front and rear of the actuator wheel rope fixing plate; a circle of annular actuator wheel rope installation groove is provided on the side wall of the hip joint actuator wheel, and the push-pull wire is attached to the hip joint actuator wheel by being embedded in the actuator wheel rope installation groove;

[0028] d) Connect the motor assembly and the exoskeleton assembly through a set of push-pull wires:

[0029] One end of the first push-pull wire is fixed to the surface of the motor output wheel, the first push-pull wire passes through the upper countersunk hole of the output wheel rope fixing plate along the output wheel rope installation groove, and passes through the front countersunk hole of the executive wheel rope fixing plate, along the executive wheel rope installation groove, and the other end is fixed to the surface of the hip joint executive wheel; one end of the second push-pull wire is fixed to the surface of the motor output wheel, the second push-pull wire passes through the lower countersunk hole of the output wheel rope fixing plate along the output wheel rope installation groove, and passes through the rear countersunk hole of the executive wheel rope fixing plate, along the executive wheel rope installation groove, and the other end is fixed to the surface of the hip joint executive wheel;

[0030] 2. Assisted walking:

[0031] The reduction motors on the left and right sides drive the motor output wheels to rotate, and drive the hip joint actuator wheels to rotate through a corresponding set of push-pull wires, thereby driving the thigh rod connecting plate to drive the thigh rod to move. The thigh rod is linked to the rotation output of the hip joint motion component and also swings with the hip joint motion component; and the thigh movement is driven by the straps on the front baffle of the thigh, thereby assisting the user in walking.

[0032] Advantages of the present invention:

[0033] 1. The present invention has a waist fixing support plate with adjustable hip distance, which can meet the wearing requirements of people of different body shapes;

[0034] 2. The present invention is provided with a reduction motor at the rear side of the waist, which effectively improves the concealment of the motor;

[0035] 3. The present invention adopts push-pull wire transmission, which reduces the weight of the joints compared with the transmission methods of other exoskeletons on the market;

[0036] 4. The present invention uses a reduction motor output wheel, a hip joint actuator wheel and a push-pull wire to achieve the simultaneous control of flexion and extension movements using a single drive source, merges flexion control with extension control, reduces drive and transmission components, simplifies the control transmission links, and achieves lightweight exoskeleton. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic diagram of an embodiment of a compact hip exoskeleton of the present invention;

[0038] Figure 2 Schematic diagram of a lumbar support assembly of an embodiment of a compact hip joint exoskeleton of the present invention, wherein (a) is a left view of the lumbar support assembly, and (b) is a right view of the right lumbar support assembly;

[0039] Figure 3 An exploded view of a motor assembly of one embodiment of a compact hip exoskeleton of the present invention;

[0040] Figure 4 A schematic diagram of an exoskeleton assembly of an embodiment of a compact hip joint exoskeleton of the present invention;

[0041] Figure 5 Schematic diagram of a hip joint motion component of an embodiment of a compact hip joint exoskeleton of the present invention.

[0042] Figure 6 A schematic diagram of a hip joint actuator wheel of an embodiment of a compact hip joint exoskeleton of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be further described below through specific embodiments in conjunction with the accompanying drawings.

[0044] like Figure 1 As shown, the compact hip joint exoskeleton and implementation method thereof of this embodiment include: a waist support component 1, a motor component 2, an exoskeleton component 3 and a push-pull wire 4; wherein a group of motor components 2 are respectively arranged on the left and right sides of the waist support component 1, and the motor components 2 on the left and right sides are respectively connected to the exoskeleton components 3 on the left and right sides through a group of push-pull wires 4 on the left and right sides; the motor component 2, exoskeleton component 3 and push-pull wire 4 on the left side are completely the same as the motor component, exoskeleton component and push-pull wire on the right side and are symmetrical about the left and right sides;

[0045] like Figure 2As shown, the lumbar support assembly 1 includes a fixed support plate 101, a left lumbar expansion plate 102, a right lumbar expansion plate 103 and a waist belt; the fixed support plate 101 is located at the rear side of the user's waist and is in the shape of a long strip; the left and right ends of the fixed support plate 101 are respectively connected to the waist belt through the left lumbar expansion plate 102 and the right lumbar expansion plate 103 to form a circle, and the left lumbar expansion plate 102 and the right lumbar expansion plate 103 are respectively located on the left and right sides of the user's waist; the left lumbar expansion plate 102 and the right lumbar expansion plate 103 have the same structure, which is a curved thin plate, and the shape of the curved surface is consistent with the user's waist. A plurality of through holes are provided at the contact portion between the curved thin plate and the fixed support plate 101, and a straight slot hole is provided in the middle of the fixed support plate 101, and the plurality of through holes of the curved thin plate coincide with the straight slot hole of the fixed support plate 101, and the curved thin plate is moved along the path of the straight slot hole to achieve hip distance adjustment;

[0046] like Figure 3 As shown, the motor assembly 2 includes a reduction motor 201, a motor output shaft 202, a motor output wheel 203, a shaft end cover 204, an output wheel rope fixing plate 205 and an output wheel rope fixing sleeve 206; a reduction motor 201 is respectively arranged on the left and right sides of the outer surface of the fixed support plate 101 of the lumbar support assembly 1; the reduction motor 201 is connected to the motor output wheel 203 through the motor output shaft 202, and the top end of the motor output shaft 202 passes through the center of the motor output wheel 203, and the motor output wheel 203 is fixed to the top end of the motor output shaft 202 through the shaft end cover 204, and the motor output wheel 203 is fixed to the motor output shaft 202. The output wheel 203 is fixed to the motor output shaft 202 so that the two rotate together and the motor output wheel 203 is prevented from falling off; A circle of annular output wheel rope installation groove is provided on the side wall of the output wheel 203, and the push-pull wire 4 is attached to the motor output wheel 203 by being embedded in the output wheel rope installation groove; the two ends of the output wheel rope fixing sleeve 206 are respectively fixed to the outer surface of the motor output wheel 203 to ensure that the push-pull wire 4 does not escape from the output wheel rope installation groove; the bottom end of the output wheel rope fixing plate 205 is vertically installed on the outer surface of the fixed support plate 101 and is located on the outer side of the reduction motor 201, and the top of the output wheel rope fixing plate 205 is respectively provided with an upper countersunk hole and a lower countersunk hole, and the upper countersunk hole and the lower countersunk hole are parallel to the motor output wheel 203; a pair of fixed card slots 207 are provided on the surface of the motor output wheel 203, so that the end points of a group of push-pull wires 4 are fixed in the fixed card slots, such as Figure 6 As shown;

[0047] like Figure 4As shown, the exoskeleton assembly 3 includes a hip joint motion assembly 301, a thigh rod 302, a thigh front baffle 303, a strap 304, an execution wheel rope fixing plate 305 and a butterfly hinge 306; the thigh rod 302 is in the shape of a long strip, and the thigh rod 302 is vertical to the outside of the user's thigh, the top end of the thigh rod 302 is fixedly installed with the hip joint motion assembly 301, and the bottom end of the thigh rod 302 is fixedly installed with the thigh front baffle 303 by bolts, and the thigh front baffle 303 is fixed to the user's thigh by the strap 304; the bottom end of the butterfly hinge 306 is fixedly connected to the top end of the hip joint motion assembly 301, the top end of the butterfly hinge 306 connected to the left hip joint motion assembly 301 is fixed to the outside of the left waist expansion plate 102, and the top end of the butterfly hinge 306 connected to the right hip joint motion assembly 301 is fixed to the outside of the right waist expansion plate 103;

[0048] like Figure 5 As shown, the hip joint motion component 301 includes a coaxially installed hip joint motion fixing plate 3011, a deep groove ball bearing 3012, a thigh rod connecting plate 3013, a bearing fixing plate 3014 and a hip joint actuator wheel 3015; the top of the hip joint motion fixing plate 3011 is respectively fixedly installed with the bottom of the butterfly hinge 306 and the actuator wheel rope fixing plate 305 by bolts; the outer surface of the hip joint motion fixing plate 3011 is provided with a circular boss, and the inner ring of the annular deep groove ball bearing 3012 is sleeved on the outer ring of the circular boss through clearance fit; the inner ring of the annular thigh rod connecting plate 3013 is interference fit with the outer ring of the deep groove ball bearing 3012; the bearing fixing plate 3014 is buckled on the circular boss of the hip joint motion fixing plate 3011, thereby the hip joint motion fixing plate 3011, the deep groove ball bearing 3012 and the thigh rod The position of the connecting plate 3013 is fixed coaxially; the bottom end of the thigh rod connecting plate 3013 is fixedly connected to the top end of the thigh rod 302 by bolts; the inner surface of the annular hip joint actuator wheel 3015 is coaxially fixedly connected to the outer surface of the thigh rod connecting plate 3013 by screws; the front and rear countersunk holes are respectively provided with front and rear countersunk holes at the front and rear of the actuator wheel rope fixing plate 305; a circle of annular actuator wheel rope installation grooves is provided on the side wall of the hip joint actuator wheel 3015, and the push-pull wire 4 is attached to the hip joint actuator wheel 3015 by being embedded in the actuator wheel rope installation groove; the two ends of the actuator wheel rope fixing sleeve are fixed to the outer surface of the hip joint actuator wheel 3015 to ensure that the push-pull wire 4 does not separate from the actuator wheel rope installation groove; a pair of fixed card slots are provided on the surface of the hip joint actuator wheel 3015, so that the end points of a group of push-pull wires 4 are fixed in the fixed card slots;

[0049] A group of push-pull wires 4 include a first push-pull wire and a second push-pull wire; one end of the first push-pull wire is fixed to the surface of the motor output wheel 203 through a fixed slot, the first push-pull wire passes through the upper countersunk hole of the output wheel rope fixing plate 205 along the output wheel rope mounting slot, and passes through the front countersunk hole of the executive wheel rope fixing plate 305, along the executive wheel rope mounting slot, and the other end is fixed to the surface of the hip joint executive wheel 3015; one end of the second push-pull wire is fixed to the surface of the motor output wheel 203 through a fixed slot, the second push-pull wire passes through the lower countersunk hole of the output wheel rope fixing plate 205 along the output wheel rope mounting slot, and passes through the rear countersunk hole of the executive wheel rope fixing plate 305, along the executive wheel rope mounting slot, and the other end is fixed to the surface of the hip joint executive wheel 3015.

[0050] In this embodiment, the interior of the push-pull wire 4 is a steel wire core, and the exterior is a coaxial hollow hose, the hose is made of a flat steel wire spiral wire with a PVC coating; the material of the curved thin plate is aluminum alloy; the fixed support plate 101 of the lumbar support component 1 is made of aluminum alloy; the hip joint motion component 301, thigh rod 302, thigh front baffle 303, and execution wheel rope fixing plate 305 of the exoskeleton component 3 are made of aluminum alloy; the butterfly hinge 306 is a standard part made of stainless steel.

[0051] The specific operation includes the following steps:

[0052] 1) Measure the hip width of the human body, then move the left waist expansion plate 102 and the right waist expansion plate 103, adjust the distance between the left exoskeleton component 3 and the right exoskeleton component to a suitable width, and tie the belt;

[0053] 2) Bind the straps 304 of the left exoskeleton assembly 3 and the right exoskeleton assembly to the user's thighs until they cannot be separated freely;

[0054] 3) Start the hip joint exoskeleton to start working, the reduction motors 201 on the left and right sides drive the motor output wheels 203 to rotate, and the hip joint actuator wheels 3015 are driven to rotate through a corresponding set of push-pull wires 4, thereby driving the thigh rod connecting plate 3013 to drive the thigh rod 302 to move, and the thigh rod 302 is linked with the hip joint motion component 301 to rotate and output, and also swings with the hip joint motion component 301; and the thigh movement is driven by the strap 304 on the thigh front baffle 303, thereby assisting the user to walk.

[0055] Finally, it should be noted that the purpose of publishing the embodiments is to help further understand the present invention, but those skilled in the art can understand that various substitutions and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the present invention should not be limited to the contents disclosed in the embodiments, and the scope of protection claimed by the present invention shall be subject to the scope defined in the claims.

Claims

1. A compact hip joint exoskeleton, characterized in that: The compact hip joint exoskeleton comprises: a waist support component, a motor component, an exoskeleton component and a push-pull wire; wherein a group of motor components are respectively arranged on the left and right sides of the waist support component, and the motor components on the left and right sides are respectively connected to the exoskeleton components on the left and right sides through a group of push-pull wires on the left and right sides; the motor component, exoskeleton component and push-pull wire on the left side are completely the same as the motor component, exoskeleton component and push-pull wire on the right side and are symmetrical about the left and right sides; The waist support assembly includes a fixed support plate, a left waist expansion plate, a right waist expansion plate and a waist belt; the fixed support plate is located at the rear side of the user's waist and is in the shape of a long strip; the left and right ends of the fixed support plate are respectively connected to the waist belt through the left waist expansion plate and the right waist expansion plate to form a circle, and the left waist expansion plate and the right waist expansion plate are respectively located on both sides of the user's waist; The motor assembly includes a reduction motor, a motor output shaft, a motor output wheel, an end cover at the shaft end and an output wheel rope fixing plate; a reduction motor is arranged on the left and right sides of the outer surface of the fixed support plate of the lumbar support assembly respectively; the reduction motor is connected to the motor output wheel through the motor output shaft, and the top end of the motor output shaft passes through the center of the motor output wheel, and the motor output wheel is fixed to the top end of the motor output shaft through the end cover at the shaft end, and the motor output wheel and the motor output shaft are fixed so that the two rotate together and the motor output wheel is prevented from falling off; a circle of annular output wheel rope mounting groove is provided on the side wall of the motor output wheel, and the push-pull wire is attached to the motor output wheel by being embedded in the output wheel rope mounting groove; the bottom end of the output wheel rope fixing plate is vertically installed on the outer surface of the fixed support plate and is located on the outside of the reduction motor, and the top end of the output wheel rope fixing plate is respectively provided with an upper countersunk hole and a lower countersunk hole, and the connecting line of the upper countersunk hole and the lower countersunk hole is parallel to the plane where the motor output wheel is located; The exoskeleton assembly includes a hip joint motion assembly, a thigh rod, a thigh front baffle, a strap, an execution wheel rope fixing plate and a butterfly hinge; the thigh rod is in the shape of a long strip plate, the thigh rod is vertical to the outside of the user's thigh, the top end of the thigh rod is fixedly installed with the hip joint motion assembly, the bottom end of the thigh rod is fixedly installed with the thigh front baffle, and the thigh front baffle is fixed to the user's thigh through the strap; the bottom end of the butterfly hinge is fixedly connected to the top end of the hip joint motion assembly, the top end of the butterfly hinge connected to the left hip joint motion assembly is fixed to the outside of the left waist telescopic plate, and the top end of the butterfly hinge connected to the right hip joint motion assembly is fixed to the outside of the right waist telescopic plate; The hip joint motion assembly comprises a coaxially mounted hip joint motion fixing plate, a deep groove ball bearing, a thigh rod connecting plate, a bearing fixing plate and a hip joint actuator wheel; the top of the hip joint motion fixing plate is respectively fixedly mounted with the bottom of the butterfly hinge and the actuator wheel rope fixing plate; a circular boss is arranged on the outer surface of the hip joint motion fixing plate, and the inner ring of the annular deep groove ball bearing is sleeved on the outer ring of the circular boss through clearance fit; the inner ring of the annular thigh rod connecting plate is interference fit with the outer ring of the deep groove ball bearing; the bearing fixing plate is buckled on the hip joint motion fixing plate The hip joint motion fixing plate, the deep groove ball bearing and the thigh rod connecting plate are fixed on the same axis; the bottom end of the thigh rod connecting plate is fixedly connected to the top of the thigh rod; the inner surface of the annular hip joint actuator wheel is fixedly connected to the outer surface of the thigh rod connecting plate on the same axis; the front and rear countersunk holes are respectively provided at the front and rear of the actuator wheel rope fixing plate; a circle of annular actuator wheel rope installation groove is provided on the side wall of the hip joint actuator wheel, and the push-pull wire is attached to the hip joint actuator wheel by being embedded in the actuator wheel rope installation groove; A set of push-pull wires includes a first push-pull wire and a second push-pull wire; one end of the first push-pull wire is fixed to the surface of the motor output wheel, the first push-pull wire passes through the upper countersunk hole of the output wheel rope fixing plate along the output wheel rope installation groove, and passes through the front countersunk hole of the executive wheel rope fixing plate, along the executive wheel rope installation groove, and the other end is fixed to the surface of the hip joint executive wheel; one end of the second push-pull wire is fixed to the surface of the motor output wheel, the second push-pull wire passes through the lower countersunk hole of the output wheel rope fixing plate along the output wheel rope installation groove, and passes through the rear countersunk hole of the executive wheel rope fixing plate, along the executive wheel rope installation groove, and the other end is fixed to the surface of the hip joint executive wheel; The reduction motors on the left and right sides drive the motor output wheels to rotate through the motor output shafts, and drive the hip joint actuator wheels to rotate through a corresponding set of push-pull wires, thereby driving the thigh rod connecting plate together with the thigh rod to move. The thigh rod is linked to the rotation output of the hip joint motion component and also swings with the hip joint motion component; and the thigh movement is driven by the straps on the front baffle of the thigh, thereby assisting the user in walking.

2. The compact hip exoskeleton according to claim 1, characterized in that: The push-pull wire comprises a coaxial steel wire core and a hose, wherein the steel wire core is inside and the coaxial hollow hose is outside.

3. The compact hip exoskeleton according to claim 1, characterized in that: A pair of fixed slots are respectively provided on the surface of the motor output wheel and the surface of the hip joint actuator wheel, so that the end points of a set of push-pull wires are fixed in the corresponding fixed slots.

4. The compact hip exoskeleton according to claim 1, characterized in that: The left waist expansion plate and the right waist expansion plate have the same structure, which is a curved thin plate. The shape of the curve is consistent with the waist of the user. A plurality of through holes are provided at the contact portion between the curved thin plate and the fixed support plate, and a straight slot hole is provided in the middle of the fixed support plate. The plurality of through holes of the curved thin plate coincide with the straight slot hole of the fixed support plate. The curved thin plate is moved along the path of the straight slot hole to adjust the hip distance. After the hip distance is appropriately adjusted, the through holes and the straight slot hole are fixed and clamped by bolts.

5. The compact hip exoskeleton according to claim 1, characterized in that: It also includes an output wheel rope fixing sleeve, and the two ends of the output wheel rope fixing sleeve are respectively fixed to the outer surface of the motor output wheel to ensure that the push-pull wire does not separate from the output wheel rope installation groove.

6. The compact hip exoskeleton according to claim 1, characterized in that: It also includes an actuator wheel rope fixing sleeve, and both ends of the actuator wheel rope fixing sleeve are fixed to the outer surface of the hip joint actuator wheel to ensure that the push-pull wire does not fall out of the actuator wheel rope installation groove.

7. The compact hip exoskeleton according to claim 1, characterized in that: The fixed support plate and the curved thin plate of the waist support assembly are made of one of stainless steel, aluminum alloy, carbon fiber and resin.

8. The compact hip exoskeleton according to claim 1, characterized in that: The hip joint motion component, the thigh rod, the thigh front baffle, and the execution wheel rope fixing plate of the exoskeleton component are made of one of stainless steel, aluminum alloy, carbon fiber and resin.

9. The compact hip exoskeleton according to claim 1, characterized in that: The butterfly hinge is a standard part made of one of stainless steel, aluminum alloy and resin.

10. A method for implementing the compact hip joint exoskeleton as claimed in claim 1, characterized in that: The implementation method comprises the following steps:

1. Setting up the compact hip exoskeleton: a) Set up the lumbar support assembly: The fixed support plate is located at the rear side of the user's waist and is in the shape of a long strip; the left and right ends of the fixed support plate are respectively connected to the waist belt through the left waist expansion plate and the right waist expansion plate to form a circle, and the left waist expansion plate and the right waist expansion plate are respectively located on both sides of the user's waist; b) Set up the motor assembly: A reduction motor is respectively arranged on the left and right sides of the outer surface of the fixed support plate of the lumbar support assembly; the reduction motor is connected to the motor output wheel through the motor output shaft, and the top end of the motor output shaft passes through the center of the motor output wheel, and the motor output wheel is fixed to the top end of the motor output shaft through the shaft end cover, and the motor output wheel and the motor output shaft are fixed so that the two rotate together and the motor output wheel is prevented from falling off; a circle of annular output wheel rope installation groove is provided on the side wall of the motor output wheel, and the push-pull wire is attached to the motor output wheel by being embedded in the output wheel rope installation groove; the bottom end of the output wheel rope fixing plate is vertically installed on the outer surface of the fixed support plate and is located on the outside of the reduction motor, and the top end of the output wheel rope fixing plate is respectively provided with an upper countersunk hole and a lower countersunk hole, and the connecting line of the upper countersunk hole and the lower countersunk hole is parallel to the plane where the motor output wheel is located; c) Set up the exoskeleton components: The thigh rod is in the shape of a long strip, and is vertical to the outside of the user's thigh. The top of the thigh rod is fixedly installed with a hip joint motion component, and the bottom of the thigh rod is fixedly installed with a thigh front baffle, which is fixed to the user's thigh through a strap; the bottom end of the butterfly hinge is fixedly connected to the top of the hip joint motion component. The top end of the butterfly hinge connecting the left hip joint motion component is fixed to the outside of the left waist expansion plate, and the top end of the butterfly hinge connecting the right hip joint motion component is fixed to the outside of the right waist expansion plate; A hip joint motion component is provided: comprising a coaxially mounted hip joint motion fixing plate, a deep groove ball bearing, a thigh rod connecting plate, a bearing fixing plate and a hip joint actuator wheel; the top of the hip joint motion fixing plate is respectively fixedly mounted with the bottom of the butterfly hinge and the actuator wheel rope fixing plate; a circular boss is provided on the outer surface of the hip joint motion fixing plate, and the inner ring of the annular deep groove ball bearing is sleeved on the outer ring of the circular boss through clearance fit; the inner ring of the annular thigh rod connecting plate is interference fit with the outer ring of the deep groove ball bearing; the bearing fixing plate is buckled on the hip joint motion fixing plate The circular boss of the fixed plate fixes the positions of the hip joint motion fixing plate, the deep groove ball bearing and the thigh rod connecting plate coaxially; the bottom end of the thigh rod connecting plate is fixedly connected to the top end of the thigh rod; the inner surface of the annular hip joint actuator wheel is coaxially fixedly connected to the outer surface of the thigh rod connecting plate; the front and rear countersunk holes are respectively provided at the front and rear of the actuator wheel rope fixing plate; a circle of annular actuator wheel rope installation groove is provided on the side wall of the hip joint actuator wheel, and the push-pull wire is attached to the hip joint actuator wheel by being embedded in the actuator wheel rope installation groove; d) Connect the motor assembly and the exoskeleton assembly through a set of push-pull wires: One end of the first push-pull wire is fixed to the surface of the motor output wheel, the first push-pull wire passes through the upper countersunk hole of the output wheel rope fixing plate along the output wheel rope installation groove, and passes through the front countersunk hole of the executive wheel rope fixing plate, along the executive wheel rope installation groove, and the other end is fixed to the surface of the hip joint executive wheel; one end of the second push-pull wire is fixed to the surface of the motor output wheel, the second push-pull wire passes through the lower countersunk hole of the output wheel rope fixing plate along the output wheel rope installation groove, and passes through the rear countersunk hole of the executive wheel rope fixing plate, along the executive wheel rope installation groove, and the other end is fixed to the surface of the hip joint executive wheel; 2. Assisted walking: The reduction motors on the left and right sides drive the motor output wheels to rotate, and drive the hip joint actuator wheels to rotate through a corresponding set of push-pull wires, thereby driving the thigh rod connecting plate to drive the thigh rod to move. The thigh rod is linked to the rotation output of the hip joint motion component and also swings with the hip joint motion component; and the thigh movement is driven by the straps on the front baffle of the thigh, thereby assisting the user in walking.

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