A cable-driven bionic heterogeneous multi-degree-of-freedom exoskeleton hip mechanism

Abstract

The present invention relates to a cable-driven, biomimetic, heterogeneous, multi-degree-of-freedom exoskeleton hip mechanism, belonging to the technical field of wearable devices. The mechanism comprises, in sequence, a heterogeneous cable transmission mechanism for the hip, a lower limb transfer mechanism with multi-level load adjustment, and a cable power transmission mechanism. Based on the freedom and reach of human hip and thigh movements, and accommodating the movement requirements of the human lower limb gait characteristics, the present invention achieves comfort, flexibility, and adaptability for wearable motion in a human-machine wearable device, while being compact, lightweight, and reliable.

Description

Technical Field

[0001] The present invention belongs to the technical field of wearable devices, and particularly relates to a flexible cable-driven bionic heterogeneous multi-degree-of-freedom exoskeleton hip mechanism. Background Art

[0002] The rapid development of exoskeleton assistance technology has promoted the application development of exoskeleton robots, which can greatly relieve the fatigue of human operations and the high consumption of physical energy. At present, most of the hip mechanisms of exoskeleton robots are based on driving methods such as chain type, pneumatic type, hydraulic type, and direct drive by motors, resulting in an unsatisfactory degree of freedom matching of the hip, a large volume, and a complex structure, which affect the portability, flexibility, and comfort during wearing and movement.

[0003] Patent document CN106236518B discloses a wire-wound drive hip joint of an exoskeleton robot, including a hip joint support seat, a hip joint support cover, a hip joint winch, a thigh support seat, a thigh support cover, and a clutch positioning component. The clutch positioning component uses a clutch sleeve, a clutch core, a compression spring, and steel balls to cooperate with the trapezoidal spline grooves on the hip joint support seat, the hip joint support cover, and the hip joint winch. The steel balls are driven to extend or retract through the steel ball moving device on the surface of the clutch core. The structure is simple, and the locking and unlocking operations are convenient. The disadvantages of the present invention are that the degree of freedom configuration of the hip joint is insufficient, and the structure of the mechanism is complex, with high requirements for processing accuracy and installation.

[0004] Patent document CN212399567U discloses a hip joint structure and an exoskeleton robot. On the basis that the existing hip joint body can achieve flexion and extension degrees of freedom, the following are added: 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 realizes the rotation of the above three degrees of freedom. The disadvantages of the present invention are that the volume of the hip joint mechanism is too large, lacking the internal and external rotation degrees of freedom of the lower limb, and the spatial position distance between the configured degrees of freedom and the corresponding degrees of freedom of the human body is relatively far, which is likely to cause uncomfortable phenomena such as human-machine movement interference and excessive resistance. Summary of the Invention

[0005] (1) Technical Problems to be Solved

[0006] The technical problem to be solved by the present invention is to provide a flexible cable-driven bionic heterogeneous multi-degree-of-freedom exoskeleton hip mechanism, which combines the degree-of-freedom characteristics and reach range of the hip and thigh limb movements of the human body and accommodates the movement requirements of the gait characteristics of the human lower limb.

[0007] (2) Technical Solutions

[0008] To solve the above technical problems, the present invention provides a cable-driven bionic heterogeneous multi-degree-of-freedom exoskeleton hip mechanism, which is characterized by comprising: a cable transmission mechanism 1 with hip heterogeneity, a lower limb adapter mechanism 2 with adjustable multi-level load, and a cable power transmission mechanism 3;

[0009] The cable transmission mechanism 1 with hip heterogeneity includes: an adjusting member 11, a first connecting pin 12, an inner swing member 13, an outer swing member 14, a wire guide frame 15, a wire track 16, a wire pressing block 17, a first screw 18, and a wire cover plate 19;

[0010] The lower limb adapter mechanism 2 with adjustable multi-level load includes: an inner and outer rotating member 21, a stepped screw 22, and a lower limb adapter plate 24;

[0011] The cable power transmission mechanism 3 includes: a cable inner core 31, a cable outer sheath 32, and a cable fixing head 33;

[0012] One end of the adjusting member 11 is arranged on the back frame, and the other end is connected to the inner swing member 13 through the first connecting pin 12. The lower end of the inner swing member 13 is connected to the outer swing member 14, and the wire guide frame 15 is fixed on the outer swing member 14;

[0013] The wire track 16 is a fan-shaped member that is symmetric about the left and right, and its lower part is a cylindrical surface that protrudes outward. The wire pressing block 17 is arranged on the wire track 16 through the first screw 18, and the wire cover plate 19 is fixed on the wire track 16. The fixed end is connected to the outer swing member 14 and is flush with the lower end positioning surface on the outer swing member 14. At the same time, the inner side surface of the arc-shaped wire cover plate 19 is tangent to the arc track of the wire track 16;

[0014] The inner and outer rotating member 21 is provided with an arc-shaped positioning surface, which is matched with the inner arc surface of the wire track 16. A stepped hole is provided at the lower part of the inner and outer rotating member 21, and the stepped hole is connected to the lower limb adapter plate 24 through the stepped screw 22;

[0015] The cable fixing head 33 is arranged on the wire guide frame 15. The cable fixing head 33 sleevs the cable inner core 31 through the cable outer sheath 32, and the cable inner core 31 passes through the wire track 16 and is tightly fixed through the wire pressing block 17.

[0016] Wherein, the cable transmission mechanism 1 with hip heterogeneity further includes: a second screw 110, a second connecting pin 111, a third screw 112, a spring 113, a lever 114, a locking pin 115, a fourth screw 116, a first shaft end gasket 117, a spline shaft 118, a bearing 120, a second shaft end gasket 121, and a fifth screw 122;

[0017] The wire guide frame 15 is fixed to the outer swing piece 14 by the second screw 110 and the second connecting pin 111. The end face of the fixed end is flush with the positioning surface on the outer swing piece 14. Part of the wire guide frame 15 is tangent to the arc surface track of the wire track 16. The wire guide frame 15 is also provided with a threaded hole for fixing the flexible cable fixing head 33;

[0018] The wire track 16 is provided with a stepped hole for installing the inner and outer rotating parts 21 on its cylindrical surface. The spline end of the spline shaft 118 is installed in the spline groove of the wire track 16. The stepped hole and the cylindrical surface are on the same axis. The wire track 16 is matched with the spline shaft 118 and fixed by the first shaft end gasket 117 and the fourth screw 116;

[0019] The wire pressing block 17 locks the inner core 31 of the flexible cable. It is provided with a threaded hole and is fixed to the wire track 16 by the first screw 18;

[0020] The wire cover plate 19 is fixed to the outer swing piece 14 by the second screw 110 and the second connecting pin 111;

[0021] The locking pin 115 is arranged to be able to slide freely in the cavity of the wire track 16, and is provided with a plane and a threaded hole for installing the lever 114. The lower part of the locking pin 115 is a conical surface, which is matched with the inner and outer rotating parts 21, so that the wire track 16 and the inner and outer rotating parts 21 rotate together;

[0022] The spring 113 is installed on the upper part of the locking pin 115, and the preload is adjusted by the third screw 112;

[0023] The spline shaft 118 is matched with the inner ring of the bearing 201 and locked by the second shaft end gasket 121 and the fifth screw 122.

[0024] Among them, the inner and outer rotating parts 21 are provided with four blind holes with adjustable grades;

[0025] The blind holes are matched with the outer convex cylindrical surface of the wire track 16 and fixed by the first shaft end gasket 11;

[0026] ]There is a gap between the simultaneous stepped screw 22 and the inner and outer rotating parts 21 for the rotation of the stepped screw 22 to provide the freedom of internal and external rotation of the lower limb.

[0027] Among them, a wear-resistant gasket 23 is provided between the inner and outer rotating parts 21 and the lower limb adapter plate 24.

[0028] Among them, the adjusting part 11 is used to adjust and adapt to the waist circumference change caused by body shape;

[0029] Two threaded holes are provided on the inner swing piece 13 for connection with a binding system such as a waistband;

[0030] The upper portion of the outer swing member 14 is provided with symmetrically distributed pin holes and threaded holes corresponding to the hole positions on the wire guide frame 15 and the wire cover plate 19.

[0031] (3) Beneficial effects

[0032] Compared with existing technologies, the present invention offers the following benefits: Adaptive hip freedom, flexibility, and conformity to the ergonomic requirements of bionic heterogeneous multi-degree-of-freedom, effectively improving the comfort, flexibility, and adaptability of wearable sports loads. Multi-level load adjustment allows for adaptability to various mission requirements, with multiple adjustable gears providing varying cable tensions based on mission scenarios. The modular design adapts to the wearer's body shape and surface, allowing for adaptive adjustment by increasing or decreasing the number of adjustment components based on the wearer's body shape and surface characteristics. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the structure of the present invention;

[0034] Figure 2 Schematic diagram of the flexible cable transmission mechanism of the present invention;

[0035] Figure 3 Schematic diagram of the lower limb transfer mechanism with multi-level load adjustment according to the present invention;

[0036] Figure 4 Schematic diagram of the flexible cable power transmission mechanism of the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, content, and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below with reference to the accompanying drawings and examples.

[0038] The structural diagram of a bionic heterogeneous multi-DOF exoskeleton hip mechanism driven by a flexible cable in this embodiment is shown in FIG. Figure 1 As shown, it includes a hip heterogeneous flexible cable transmission mechanism 1, a lower limb transfer mechanism 2 with multi-stage load adjustment, and a flexible cable power transmission mechanism 3 in sequence.

[0039] See also Figure 2, the adjusting member 11 is installed on the backrest frame and is connected to the inner swing member 13 through a connecting pin 1 to provide the degree of freedom for the abduction and adduction of the waist. The function of the adjusting member 11 is to adjust the dimensional differences required due to factors such as body shape and movement execution. The inner swing member 13 is also provided with threaded holes for connecting to the waistband. The outer swing member 14 is connected to the inner swing member 13 through a connecting pin 1, and the outer swing member 14 is used to provide the degree of freedom for the abduction and adduction of the hip joint. The wire guide frame 15 is fixed to the outer swing member through the second screw 110 and the second connecting pin 111. The end face of the fixed end is flush with the positioning surface on the outer swing member 14. At the same time, one plane is tangent to the arc track of the wire track. The wire guide frame 15 is also provided with threaded holes for fixing the flexible cable fixing head 33. The wire track 16 is a fan-shaped left-right symmetric member, and its lower part is a cylindrical surface protruding outward for installing the stepped hole on the inner and outer rotating member 21 to provide the degree of freedom for the flexion and extension of the lower limbs. And the cylindrical surface and the stepped hole are on the same axis, and the installation end faces are flush. The inner part of the cylindrical surface of the wire track 16 is provided with a spline groove for cooperating with the spline shaft 118, and the end face is fixed through the first shaft end gasket 117 and the fourth screw 116. The wire pressing block 17 is used to lock the inner core 31 of the flexible cable, and is provided with threaded holes and is installed on the wire track 16 through the first screw 18. The wire cover plate 19 is fixed to the outer swing member through the second screw 110 and the second connecting pin 111. The end face of the fixed end is flush with the positioning surface on the outer swing member 14. At the same time, the inner side surface of the arc cover plate is tangent to the arc track of the wire track 16. The locking pin 115 can slide freely in the cavity of the wire track 16, and is provided with a plane and a threaded hole for installing the lever 114. The lower part of the locking pin 115 is a conical surface that can cooperate with the stepped adjustment hole on the inner and outer rotating member 21 to make the wire track 16 and the inner and outer rotating member 21 rotate together. The spring 113 is installed on the upper part of the locking pin 115, and the preload is adjusted through the third screw 112. The spline end of the spline shaft 118 is installed in the spline groove of the wire track 16, and the other end step surface is installed in the through hole of the outer swing member 14 and is matched with the inner ring of the bearing 201, and is locked through the second shaft end gasket 121 and the fifth screw 122.

[0040] Such as Figure 3, the arc-shaped positioning surface of the inner and outer rotating member 21 cooperates with the inner arc surface of the wire track 16. At the same time, there are four hierarchically adjustable blind holes for cooperating with the locking pin 115. The blind holes cooperate with the convex cylindrical surface of the wire track 16, and the first shaft-end gasket 117 is installed for fixation. There is a stepped hole at the lower part for installing the stepped screw 22. At the same time, there is a small gap between the positioning surface of the stepped second screw 2 and the inner and outer rotating member 21 for the rotation of the stepped screw 22, providing the freedom of internal and external rotation of the lower limb. The lower limb adapter plate 24 is used for installing other components of the lower limb, and is provided with interfaces such as threaded holes and convex cylindrical surfaces. There is also a threaded blind hole at the upper part for connecting with the stepped second screw 2. In order to wear-resistant and reduce resistance, a wear-resistant gasket II 23 is installed between the inner and outer rotating member 21 and the lower limb adapter plate 24.

[0041] As Figure 4 , the flexible cable fixing head 33 is installed on the wire guide frame 15. The flexible cable inner core 31 sequentially passes through the arc-shaped track, vertical hole and inclined hole of the wire track 16, winds in an 8-shaped manner between the first screws 18, and is fixed by being pressed tightly by the wire pressing block 17.

[0042] The following combines some specific actions of a flexible cable-driven bionic heterogeneous multi-degree-of-freedom exoskeleton hip mechanism to illustrate the usage process of the present invention through the working principle.

[0043] During the process of the wearer using the bionic heterogeneous multi-degree-of-freedom hip mechanism, first, adjust the number of adjusting parts 11 according to the body type. Pull the lever 114 according to the load and pulling force requirements to adjust the hole position of the locking pin 115, so that the wire track 16 and the inner and outer rotating connectors 21 are connected. Then, when the wearer walks, the flexible cable inner core 31 drives the wire track 16 to rotate around the spline shaft 118. Under the action of the locking pin 115, the lower limb is further driven to perform flexion and extension movements. With the cooperation of the designed degrees of freedom, the wearer can also perform actions such as flexion and extension, adduction and abduction, and internal and external rotation of the lower limb.

[0044] The present invention mainly has the following technical characteristics:

[0045] The hip degrees of freedom are adapted, compliant and flexible, meeting the bionic heterogeneous multi-degree-of-freedom requirements of ergonomics, and effectively improving the comfort, flexibility and adaptability of the wearable movement load.

[0046] The load can be adjusted adaptively in multiple levels to meet various task requirements, and can be adjusted to different gears in multiple levels according to the task scenario to provide different flexible cable pulling forces.

[0047] The human body type and body surface are adapted and adjusted, with modular design. The number of adjusting parts can be increased or decreased according to the body type and body surface characteristics of the wearer for adaptive adjustment.

[0048] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A flexible cable-driven bionic heterogeneous multi-degree-of-freedom exoskeleton hip mechanism, characterized in that, Comprising: A hip heterogeneous cable drive mechanism (1), a lower limb adapter mechanism (2) with adjustable multi-level load, and a cable power transmission mechanism (3); The hip heterogeneous cable drive mechanism (1) includes: an adjusting member (11), a first connecting pin (12), an inner swing member (13), an outer swing member (14), a wire guide frame (15), a wire track (16), a wire pressing block (17), a first screw (18), and a wire cover plate (19); The lower limb adapter mechanism (2) with adjustable multi-level load includes: an inner and outer rotating member (21), a stepped screw (22), and a lower limb adapter plate (24); The cable power transmission mechanism (3) includes: a cable inner core (31), a cable outer sheath (32), and a cable fixing head (33); One end of the adjusting member (11) is arranged on the back frame, and the other end is connected to the inner swing member (13) through the first connecting pin (12). The lower end of the inner swing member (13) is connected to the outer swing member (14), and the wire guide frame (15) is fixed on the outer swing member (14); The wire track (16) is a fan-shaped member symmetric about the left and right, and its lower part is a cylindrical surface protruding outward. The wire pressing block (17) is arranged on the wire track (16) through the first screw (18), and the wire cover plate (19) is fixed on the wire track (16). The fixed end is connected to the outer swing member (14) and is flush with the lower positioning surface on the outer swing member (14). At the same time, the inner side surface of the arc-shaped wire cover plate (19) is tangent to the arc-shaped track of the wire track (16); The inner and outer rotating member (21) is provided with an arc-shaped positioning surface, which cooperates with the inner arc surface of the wire track (16). The lower part of the inner and outer rotating member (21) is provided with a stepped hole, and the stepped hole is connected to the lower limb adapter plate (24) through the stepped screw (22); The cable fixing head (33) is arranged on the wire guide frame (15). The cable fixing head (33) sleevs the cable inner core (31) through the cable outer sheath (32), and the cable inner core (31) passes through the wire track (16) and is tightly fixed by the wire pressing block (17).

2. The cable-driven bionic heterogeneous multi-degree-of-freedom exoskeleton hip mechanism according to claim 1, characterized in that, The hip heterogeneous cable drive mechanism (1) further includes: a second screw (110), a second connecting pin (111), a third screw (112), a spring (113), a lever (114), a locking pin (115), a fourth screw (116), a first shaft end gasket (117), a spline shaft (118), a bearing (120), a second shaft end gasket (121), and a fifth screw (122); The wire guide frame (15) is fixed on the outer swing member (14) through the second screw (110) and the second connecting pin (111). The end face of the fixed end is flush with the positioning surface on the outer swing member (14). A part of the wire guide frame (15) is tangent to the arc-shaped track of the wire track (16). The wire guide frame (15) is also provided with a threaded hole for fixing the cable fixing head (33); The cylindrical surface of the wire track (16) is provided with a stepped hole for installing the inner and outer rotating parts (21). The spline end of the spline shaft (118) is installed in the spline groove of the wire track (16). The stepped hole and the cylindrical surface are on the same axis. The wire track (16) is matched with the spline shaft (118) and fixed by the first shaft end gasket (117) and the fourth screw (116). The wire pressing block (17) locks the flexible cable inner core (31). It is provided with a threaded hole and is fixed on the wire track (16) by the first screw (18). The wire cover plate (19) is fixed on the outer swing part (14) by the second screw (110) and the second connecting pin (111). The locking pin (115) is arranged to be able to slide freely in the cavity of the wire track (16), and is provided with a plane and a threaded hole for installing the lever (114). The lower part of the locking pin (115) is a conical surface, which cooperates with the inner and outer rotating parts (21) to make the wire track (16) and the inner and outer rotating parts (21) rotate together. The spring (113) is installed on the upper part of the locking pin (115), and the preload is adjusted by the third screw (112). The spline shaft (118) is matched with the inner ring of the bearing (120) and locked by the second shaft end gasket (121) and the fifth screw (122).

3. The cable-driven bionic heterogeneous multi-degree-of-freedom exoskeleton hip mechanism according to claim 2, characterized in that The inner and outer rotating parts (21) are provided with four blind holes with adjustable grades. The blind holes are matched with the outer convex cylindrical surface of the wire track (16) and fixed by the first shaft end gasket (117). There is a gap between the stepped screw (22) and the inner and outer rotating parts (21) for the rotation of the stepped screw (22) to provide the freedom of internal and external rotation of the lower limb.

4. The cable-driven bionic heterogeneous multi-degree-of-freedom exoskeleton hip mechanism according to claim 3, characterized in that A wear-resistant gasket II (23) is provided between the inner and outer rotating parts (21) and the lower limb adapter plate (24).

5. The cable-driven bionic heterogeneous multi-degree-of-freedom exoskeleton hip mechanism according to claim 4, characterized in that, The adjusting part (11) is used to adjust and adapt to the waist circumference change caused by body type. Two threaded holes provided on the inner swing part (13) are used for connection with the belt binding system. The upper part of the outer swing part (14) is provided with symmetrically distributed pin holes and threaded holes corresponding to the hole positions on the wire guide frame (15) and the wire cover plate (19).

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