Flexion-extension mechanism for a rotating center adaptive hip exoskeleton and applications thereof

Abstract

A kind of flexion-extension mechanism for rotating center adaptive hip exoskeleton, adaptive elastic module is slidably connected on L-shaped support module, thigh lever swing module is fixedly connected on L-shaped support module;In the adaptive elastic module, two symmetrical stand column pipes are equipped on the front surface of fixed platform, two through holes are opened on the side surface of stand column pipe, through hole is opened in adaptive rod middle, round pipe is installed at both ends, two through holes are opened on the side surface of round pipe;Four hook springs are respectively connected with one end of fixed platform stand column pipe hole, and the other end is connected with adaptive rod round pipe hole;The back surface of fixed platform is equipped with convex shaft, convex shaft can slide on the L-shaped support module, convex shaft terminal is equipped with locking nut, and fixed platform can be fixed using locking nut.There is provided a kind of rotating center adaptive hip exoskeleton.The present application has the advantages of compact structure, wearing comfort, suitable for multi-position rehabilitation training, etc., and can provide three free rehabilitation training for patients with hip joint damage.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of rehabilitation equipment, in particular to a flexion and extension mechanism for a hip joint exoskeleton with adaptive rotation center and its application. BACKGROUND

[0002] With the improvement of people's living standards and the acceleration of population aging, the demand for rehabilitation medical services of elderly patients with physical mechanism degradation and motor dysfunction is increasing year by year. Wearable exoskeleton as a new rehabilitation technology can assist patients in repetitive motion training, thereby improving the motor function of patients.

[0003] The hip joint is an important joint connecting the human trunk and lower limbs, and plays a huge role in daily life. In the gait cycle, the hip joint is accompanied by three movements of flexion / extension, adduction / abduction, and internal rotation / external rotation, and the rotation center of the hip joint is instantaneously changing during the movement. However, most of the existing research results designed the hip joint exoskeleton mainly for the flexion and extension movement in the sagittal plane, ignoring the other two degrees of freedom of the human hip joint; the existing research results designed the hip joint exoskeleton without considering the problem that the rotation center of the human hip joint does not coincide with the rotation center of the hip joint exoskeleton during the movement, resulting in uncomfortable wearing for patients. In the applicable position, most of the existing research results designed the hip joint exoskeleton with part of the mechanism arranged in the back, without considering the rehabilitation training needs of patients with different disease courses in the supine and sitting positions.

[0004] For example, Chinese patent application No. 202110041824 discloses a three-degree-of-freedom hip joint exoskeleton for assistive applications, which is designed for the flexion and extension movement of the human hip joint, and adopts a motor-driven mode to assist human walking. It includes a hip joint backrest assembly (1), a right thigh assembly (2), a right assistive wearing assembly (3), a left thigh assembly (4), and a left assistive wearing assembly (5). For the abduction and adduction movement of the human hip joint, a double rotating pair plus moving pair mechanism is designed; for the internal and external rotation movement of the hip joint, a wearing mechanism that can rotate around the thigh is designed; and a back mechanism with symmetrical adjustment on both sides is used by utilizing gear and rack engagement. The technical defects of the existing invention are: in the flexion and extension movement, the position of the rotation center of the human hip joint is instantaneously changing, which results in the non-coincidence of the rotation center of the wearer's hip joint and the rotation center of the exoskeleton, causing uncomfortable wearing; in the abduction and adduction movement, the patient can only actively rehabilitate, without considering the passive training of the patient; at the same time, the existing invention cannot meet the needs of patients to perform rehabilitation exercises in a lying state. SUMMARY

[0005] In order to overcome the shortcomings of the prior art, the present application provides a flexion and extension mechanism for a rotation center adaptive hip exoskeleton and a hip exoskeleton thereof, which has the advantages of compact structure, comfortable wearing, suitability for multi-position rehabilitation, etc., and can effectively perform multi-degree-of-freedom rehabilitation training for patients with hip joint damage.

[0006] The technical solution adopted by the present application to solve its technical problems is:

[0007] The flexion and extension mechanism for the rotation center adaptive hip exoskeleton comprises an L-shaped support module, an adaptive elastic module and a thigh rod swing module, the adaptive elastic module is slidably connected to the L-shaped support module, and the thigh rod swing module is fixedly connected to the L-shaped support module; the adaptive elastic module comprises a fixed platform, an adaptive rod and four hook springs; the fixed platform is provided with two symmetrical stand column pipes on the front face, two through holes are formed in the side face of each stand column pipe, a through hole is formed in the middle of the adaptive rod, and a circular pipe is mounted at each end of the adaptive rod; two through holes are formed in the side face of each circular pipe. One end of each hook spring is connected to the through hole of the stand column pipe of the fixed platform, and the other end of each hook spring is connected to the through hole of the circular pipe of the adaptive rod; the back face of the fixed platform is provided with a convex shaft, the convex shaft can slide in the L-shaped support module, and the convex shaft is provided with a locking nut at the end, and the fixed platform can be fixed by using the locking nut.

[0008] Further, a rectangular groove is formed in the top of the L-shaped support module, transverse grooves are arranged on the two sides of the rectangular groove, the support shaft of the U-shaped support is slidably connected in the transverse grooves, a transverse groove is arranged on the outside of the top of the L-shaped support, a sliding block can slide in the transverse groove, the sliding block is provided with a convex shaft, the reduction motor of the U-shaped support drives the sliding block to slide in the transverse groove of the L-shaped support through a connecting rod, and the flexion and extension mechanism performs adduction / abduction movement relative to the waist mechanism with the support shaft of the U-shaped support as the rotation axis; a longitudinal groove is formed in the side face of the L-shaped support; and the convex shaft of the fixed platform can slide in the longitudinal groove of the L-shaped support module.

[0009] Still further, the thigh rod swing module comprises a bottom plate, a swing reduction motor, a motor seat, a rotating shaft rod, a connecting rod and a thigh rod, a through hole is formed in the upper end of the bottom plate, the bottom plate is fixedly connected to the L-shaped support module through bolts, the swing reduction motor is mounted on the bottom plate through the motor seat; the rotating shaft rod is connected to the shaft of the reduction motor through a key, one end of the connecting rod is connected to the rotating shaft rod through a pin, and the other end of the connecting rod is connected to the thigh rod through a pin; the top end of the thigh rod is connected to the adaptive rod through a pin, and the end of the thigh rod is fixedly connected to the thigh binding mechanism.

[0010] A rotating center adaptive hip exoskeleton, comprising a waist mechanism, a flexion-extension mechanism, a flexion-extension mechanism and a thigh binding mechanism; the flexion-extension mechanism comprises a left flexion-extension mechanism and a right flexion-extension mechanism; the left flexion-extension mechanism and the right flexion-extension mechanism are structurally identical and symmetrically arranged on the left and right sides of the waist mechanism; the flexion-extension mechanism comprises a left flexion-extension mechanism and a right flexion-extension mechanism; the left flexion-extension mechanism and the right flexion-extension mechanism are structurally identical and respectively connected with the left flexion-extension mechanism and the right flexion-extension mechanism; the thigh binding mechanism comprises a left thigh binding mechanism and a right thigh binding mechanism; the left thigh binding mechanism and the right thigh binding mechanism are structurally identical and respectively connected with the left flexion-extension mechanism and the right flexion-extension mechanism;

[0011] The left flexion-extension mechanism drives the left flexion-extension mechanism and the left thigh binding mechanism to realize the adduction / abduction movement of the left leg hip joint; the right flexion-extension mechanism drives the right flexion-extension mechanism and the right thigh binding mechanism to realize the adduction / abduction movement of the right leg hip joint;

[0012] The left flexion-extension mechanism drives the left thigh binding mechanism to realize the flexion / extension movement of the left leg hip joint; the right flexion-extension mechanism drives the right thigh binding mechanism to realize the flexion / extension movement of the right leg hip joint.

[0013] Further, the left flexion-extension mechanism and the right flexion-extension mechanism each comprise a U-shaped support and a flexion-extension reduction motor, one side of the U-shaped support is fixedly connected with the waist support; the other side of the U-shaped support is provided with a support shaft at the bottom, and the end of the support shaft is provided with a roller; the flexion-extension reduction motor is installed in the U-shaped support.

[0014] Further, the left flexion-extension mechanism and the right flexion-extension mechanism each comprise an L-shaped support module, an adaptive elastic module and a thigh rod swing module, the adaptive elastic module is slidably connected to the L-shaped support module, and the thigh rod swing module is fixedly connected to the L-shaped support module; the adaptive elastic module comprises a fixed platform, an adaptive rod and four hook springs; the front surface of the fixed platform is provided with two symmetrical stand column pipes, two through holes are formed in the side surface of the stand column pipe, a through hole is formed in the middle of the adaptive rod, and a circular pipe is installed at both ends of the adaptive rod; two through holes are formed in the side surface of the circular pipe. One end of the four hook springs is connected to the hole of the stand column pipe of the fixed platform, and the other end is connected to the hole of the circular pipe of the adaptive rod; the back surface of the fixed platform is provided with a convex shaft, the convex shaft can slide on the L-shaped support module, and the convex shaft is provided with a locking nut at the end, which can be used to fix the fixed platform.

[0015] Further, the L-shaped support module top is provided with a rectangular slot, and lateral grooves are arranged on both sides of the rectangular slot; the support shaft of the U-shaped support is slidably connected in the lateral grooves; the L-shaped support top outer side is provided with a lateral groove, and the sliding block can slide in the lateral groove; the sliding block is provided with a convex shaft; the U-shaped support reduction motor drives the sliding block to slide in the lateral groove of the L-shaped support through a connecting rod; the flexion-extension mechanism takes the support shaft of the U-shaped support as a rotation axis and performs adduction / abduction movement relative to the waist mechanism; the L-shaped support side is provided with a longitudinal slot; the convex shaft of the fixed platform can slide on the longitudinal slot of the L-shaped support module.

[0016] Still further, the thigh rod swing module comprises a bottom plate, a swing reduction motor, a motor seat, a rotating shaft rod, a connecting rod and a thigh rod; the bottom plate upper end is provided with a through hole, and is fixedly connected with the L-shaped support module through bolts; the swing reduction motor is installed on the bottom plate through the motor seat; the rotating shaft rod is connected with the reduction motor shaft through a key; one end of the connecting rod is connected with the rotating shaft rod through a pin, and the other end is connected with the thigh rod through a pin; the thigh rod top end is connected with the self-adapting rod through a pin, and the thigh rod tail end is fixedly connected with the thigh binding mechanism.

[0017] Still further, the left thigh binding mechanism and the right thigh binding mechanism each comprise an outer ring member and an inner ring member; the outer ring member is semicircular, and the outer side is provided with an outer convex platform, which is provided with a threaded hole; two T-shaped grooves are symmetrically distributed on the inner side of the outer ring; the inner ring member is provided with an opening, and the two ends of the opening are respectively fixed with elastic bands provided with plastic buckles; two arc convex platforms are symmetrically arranged on the outer side of the inner ring member, and the arc convex platforms are internally provided with stepped holes; a top rod passes through the stepped holes, and a pulley is arranged at the tail end of the top rod; a spring is sleeved on the side surface of the top rod between the stepped hole and the pulley, and is in a compressed state; the arc convex platforms of the inner ring member, the top rod and the T-shaped grooves of the outer ring member are slidably connected; the relative rotation of the outer ring member and the inner ring member of the thigh binding mechanism realizes the internal rotation / external rotation of the hip joint.

[0018] The waist mechanism comprises two symmetrically distributed arc-shaped waist support members, elastic bands and plastic buckles; the two waist support members are fixedly connected through elastic bands at the rear portions and are fixedly connected through elastic bands provided with plastic buckles at the front portions.

[0019] Preferably, the electric control assembly is installed at the front portion of the right waist support member; the outer side of the waist support member is provided with a convex platform, which is provided with a plurality of threaded holes; one side of the U-shaped support is provided with a threaded hole, and the convex platform of the waist support member is fixedly connected with the U-shaped support through bolts.

[0020] The beneficial effects of the present application mainly include:

[0021] (1) The arc-shaped waist support member and the elastic band are matched in the present application, and can be well fitted to the human waist, thereby playing a supporting role.

[0022] (2) The present application can realize the three-degree-of-freedom rehabilitation training of hip joint internal rotation / external rotation, forward flexion / backward extension and internal rotation / external rotation of the patient wearing the exoskeleton in the movement by setting the folding mechanism, the flexion mechanism and the thigh binding mechanism.

[0023] (3) The present application can solve the problem of misalignment of the rotation center of the sagittal plane hip joint and the rotation center of the exoskeleton hip joint when the human thigh swings forward and backward by setting the adaptive elastic module of the flexion mechanism; the problem of misalignment of the rotation center of the coronal plane human hip joint and the rotation center of the exoskeleton hip joint when the human thigh swings left and right can be solved by effectively cooperating the folding mechanism and the flexion mechanism, so that the wearing is more comfortable.

[0024] (4) The present application has compact structure, sets the folding mechanism, the flexion mechanism and the thigh binding mechanism on both sides of the waist mechanism, sets the electric control assembly in the front part of the waist mechanism, can meet the rehabilitation needs of the patients in different stages of disease course for lying, sitting and standing postures, and has wider application range. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a whole schematic view of the rotation center adaptive hip joint exoskeleton.

[0026] Figure 2 It is a left side structure schematic view of the rotation center adaptive hip joint exoskeleton.

[0027] Figure 3 It is a U-shaped support structure schematic view.

[0028] Figure 4 It is an L-shaped support structure schematic view.

[0029] Figure 5 It is an adaptive elastic module structure schematic view.

[0030] Figure 6 It is a thigh binding mechanism structure schematic view.

[0031] Figure 7 It is a cross-sectional view of the inner ring member boss. DETAILED DESCRIPTION

[0032] The present application will be further described below in combination with the drawings.

[0033] REFERENCE Figures 1-7The application discloses a flexion and extension mechanism of a rotating center adaptive hip joint exoskeleton, which comprises an L-shaped support module, an adaptive elastic module and a thigh rod swing module, the adaptive elastic module is slidably connected to the L-shaped support module, and the thigh rod swing module is fixedly connected to the L-shaped support module; the adaptive elastic module comprises a fixed platform, an adaptive rod and four hook springs; the fixed platform is provided with two symmetrical stand column pipes on the front side, two through holes are formed in the side of the stand column pipes, a through hole is formed in the middle of the adaptive rod, and a circular pipe is arranged at the two ends of the adaptive rod; two through holes are formed in the side of the circular pipe; one end of the four hook springs is connected to the through holes of the stand column pipes of the fixed platform, and the other end is connected to the through holes of the circular pipe of the adaptive rod; a convex shaft is arranged on the back of the fixed platform, the convex shaft can slide on the L-shaped support module, and a locking nut is arranged at the tail end of the convex shaft, so that the fixed platform can be fixed by using the locking nut.

[0034] Further, a rectangular groove is formed in the top of the L-shaped support module, lateral grooves are arranged on the two sides of the rectangular groove, the support shaft of the U-shaped support is slidably connected in the lateral grooves, lateral grooves are arranged on the top of the L-shaped support, a sliding block can slide in the lateral grooves, the sliding block is provided with a convex shaft, the reduction motor of the U-shaped support drives the sliding block to slide in the lateral grooves of the L-shaped support through a connecting rod, the flexion and extension mechanism makes internal rotation / external rotation relative to the waist mechanism with the support shaft of the U-shaped support as the rotation axis, and longitudinal grooves are formed in the side of the L-shaped support; the convex shaft of the fixed platform can slide on the longitudinal grooves of the L-shaped support module.

[0035] Still further, the thigh rod swing module comprises a bottom plate, a swing reduction motor, a motor seat, a rotating shaft rod, a connecting rod and a thigh rod, a through hole is formed in the upper end of the bottom plate, the bottom plate is fixedly connected to the L-shaped support module through bolts, and the swing reduction motor is arranged on the bottom plate through the motor seat; the rotating shaft rod is connected to the shaft of the reduction motor through a key, one end of the connecting rod is connected to the rotating shaft rod through a pin, and the other end of the connecting rod is connected to the thigh rod through a pin; the top end of the thigh rod is connected to the adaptive rod through a pin, and the tail end of the thigh rod is fixedly connected to the thigh binding mechanism.

[0036] A rotating center adaptive hip joint exoskeleton comprises a waist mechanism 1, a collection and extension mechanism 2, a flexion and extension mechanism 3 and a thigh binding mechanism 4.

[0037] The waist mechanism 1 comprises two symmetrical arc-shaped waist supports 11, elastic belts 12, plastic insertion buckles 13, elastic belts 14 and an electric control assembly 15; the two waist supports 11 are fixedly connected through two elastic belts 12 at the rear part, and are fixedly connected through two elastic belts 14 provided with plastic insertion buckles 13 at the front part. When a patient needs to wear the exoskeleton device, the plastic insertion buckles 13 are opened, the waist supports 11 are arranged on the two sides of the waist of the human body, the plastic insertion buckles 13 are locked, the waist mechanism can be well close to the waist of the human body, and plays a role in fixing and supporting other mechanisms. The outer side of the waist support 11 is provided with a convex platform 111, and the convex platform 111 is provided with two threaded holes.

[0038] The hip flexion / extension mechanism 3 comprises a left hip flexion / extension mechanism 31 and a right hip flexion / extension mechanism 32; the left hip flexion / extension mechanism 31 and the right hip flexion / extension mechanism 32 are identical in structure and are respectively connected with the left hip adduction / abduction mechanism 21 and the right hip adduction / abduction mechanism 22.

[0039] The hip flexion / extension mechanism 3 comprises a left hip flexion / extension mechanism 31 and a right hip flexion / extension mechanism 32; the left hip flexion / extension mechanism 31 and the right hip flexion / extension mechanism 32 are identical in structure and are respectively connected with the left hip adduction / abduction mechanism 21 and the right hip adduction / abduction mechanism 22.

[0040] The thigh binding mechanism 4 comprises a left thigh binding mechanism 41 and a right thigh binding mechanism 42; the left thigh binding mechanism 41 and the right thigh binding mechanism 42 are identical in structure and are respectively connected with the left hip flexion / extension mechanism 31 and the right hip flexion / extension mechanism 32.

[0041] The left hip adduction / abduction mechanism 21 can drive the left hip flexion / extension mechanism 31 and the left thigh binding mechanism 41 to realize the adduction / abduction movement of the left hip joint; the right hip adduction / abduction mechanism 22 can drive the right hip flexion / extension mechanism 32 and the right thigh binding mechanism 42 to realize the adduction / abduction movement of the right hip joint.

[0042] The left hip flexion / extension mechanism 31 can drive the left thigh binding mechanism 41 to realize the flexion / extension movement of the left hip joint; the right hip flexion / extension mechanism 32 can drive the right thigh binding mechanism 42 to realize the flexion / extension movement of the right hip joint.

[0043] As shown in FIGS. 3, Figure 1 , 2 , the left hip adduction / abduction mechanism 21 comprises a U-shaped support 211 and a speed reducer motor 212; the right side of the U-shaped support 211 is provided with a threaded hole, which is connected with the boss 111 of the waist support through a bolt; the bottom of the left side surface of the U-shaped support 211 is provided with a support shaft 2111, and the end of the support shaft is provided with a roller 2112; the speed reducer motor 212 is installed in the inside of the U-shaped support 211, which can effectively utilize the space position of the exoskeleton and has a compact structure.

[0044] As shown in FIGS. 4 and 5, Figure 1 , 2 , the left hip flexion / extension mechanism 31 comprises an L-shaped support module 311, an adaptive elastic module 312 and a thigh rod swing module 313.

[0045] The L-shaped support module 311 has a rectangular slot at the top, and lateral grooves 3111 are arranged on both sides of the rectangular slot. The support shaft 2111 of the U-shaped support is slidably connected in the lateral grooves 3111. The L-shaped support module 311 has a lateral groove 3112 on the outer side of the top. A sliding block 3113 can slide in the lateral groove 3112. The sliding block 3113 is provided with a protruding shaft. The reduction motor 212 of the U-shaped support drives the sliding block 3113 to slide in the lateral groove 3112 of the L-shaped support through a connecting rod 3114. The flexion-extension mechanism 31 performs adduction / abduction movement relative to the waist mechanism 1 with the support shaft 2111 of the U-shaped support as the rotation axis. The L-shaped support module 311 has a longitudinal slot 3115 on the side.

[0046] The adaptive elastic module 312 includes a fixed platform 3121, an adaptive rod 3122, and four hook springs 3123. The fixed platform 3121 is provided with two symmetrical column pipes 3121a on the front side. The column pipes are provided with two through holes 3121b on the side. The adaptive rod 3122 is provided with a through hole in the middle and two circular pipes 3122a at both ends. The circular pipes are provided with two through holes 3122b on the side. The four hook springs 3123 are respectively connected to the through holes 3121b of the fixed platform column pipes at one end and connected to the through holes 3122b of the adaptive rod circular pipes at the other end. The fixed platform 3121 is provided with a protruding shaft 3121c on the back. The protruding shaft 3121c can slide on the longitudinal slot 3115 of the L-shaped support module 311. The protruding shaft 3121c is provided with a locking nut 3121d at the end, which can be used to fix the fixed platform 3121.

[0047] The thigh rod swing module 313 includes a bottom plate 3131, a reduction motor 3132, a motor seat 3133, a rotating shaft rod 3134, a connecting rod 3135, and a thigh rod 3136. The bottom plate 3131 is provided with a through hole at the upper end and is fixedly connected to the L-shaped support module 311 through bolts. The reduction motor 3132 is installed on the bottom plate 3131 through the motor seat 3133. The rotating shaft rod 3134 is connected to the shaft of the reduction motor 3132 through a key. One end of the connecting rod 3135 is connected to the rotating shaft rod 3134 through a pin, and the other end is connected to the thigh rod 3136 through a pin. The top end of the thigh rod 3136 is connected to the adaptive rod 3122 through a pin, and the end of the thigh rod 3136 is connected to the boss 4111 of the outer ring member through a bolt.

[0048] As Figure 2 , 6As shown in FIG. 7, the left thigh binding mechanism 41 comprises an outer ring member 411 and an inner ring member 412. The outer ring member 411 is semicircular, and a boss 4111 is arranged on the outer side of the outer ring member 411. The boss 4111 is provided with a threaded hole, and T-shaped grooves 4112 are symmetrically arranged on the inner side of the outer ring member 411. The inner ring member 412 is provided with an opening, and elastic bands 4121 are fixed at both ends of the opening, respectively. The elastic bands 4121 are provided with plastic buckles 4122, which are locked to bind and fix the thigh of the human body. Two arc bosses 4123 are symmetrically arranged on the outer side of the inner ring member 412, and the arc bosses 4123 are provided with stepped holes 4124. A jack 4125 is arranged in the stepped hole 4124, and a pulley 4126 is arranged at the end of the jack 4125. A spring 4127 is arranged through the jack 4125 between the stepped hole 4124 and the pulley 4126, and is in a compressed state. The arc boss 4123 of the inner ring member 412, the jack 4125 and the T-shaped groove 4112 of the outer ring member 411 are in sliding fit. The left thigh binding mechanism 41 realizes the internal rotation / external rotation movement of the hip joint through the relative rotation of the outer ring member 411 and the inner ring member 412.

[0049] The working process of the embodiment is as follows:

[0050] When the patient needs to walk, first, the plastic buckle 13 on the waist is opened, and the plastic buckles 4122 of the thigh binding mechanism are opened to bind and fix the waist and thigh of the human body. According to different heights of the human body, the locking nuts 3121d of the two sides of the flexion and extension mechanism 3 are loosened, so that the rotation center of the hip joint of the exoskeleton is aligned with the rotation center of the human hip joint, and the locking nuts 3121d are tightened. The electric control assembly 15 fixed on the front of the waist support member is opened, the controller drives the speed reducer motor 3132 to drive the thigh binding mechanism 4 to realize the forward flexion / extension movement of the hip joint. In the walking process, the rotation center of the human hip joint will be instantaneously offset. The self-adaptive elastic module 312 is adopted to realize the stretching action between the four hook springs 3123, so that the rotation center of the hip joint of the exoskeleton is self-adaptive to the change of the rotation center of the hip joint of the human body in walking, and the wearing is more comfortable. While walking, the human hip joint will also drive the thigh to produce internal rotation / external rotation movement. The thigh binding mechanism 4 is arranged as the outer ring member 411 and the inner ring member 412, and the relative rotation of the inner and outer rings overcomes the problems existing in the prior art.

[0051] When the patient needs to swing the left and right thighs, first wear the exoskeleton, then tighten the locking nut 3121d on the supporting side of the thigh, loosen the locking nut 3121d on the side of the thigh that needs to be moved, and finally open the electric control assembly 15 fixed on the front of the waist support, drive the sliding block 3113 through the reduction motor 212 and the connecting rod 3114, and make the sliding block 3113 slide in the transverse groove 3112 on the top of the L-shaped support module 311, so as to achieve the purpose of flexion and extension of the exoskeleton mechanism 3 and the thigh binding mechanism 4, and realize the adduction and abduction movement of the hip joint. During the left and right swing, since the rotation centers of the human hip joint and the exoskeleton hip joint do not coincide in the coronal plane, the present application realizes the transverse adjustment of the exoskeleton mechanism by opening a rectangular groove on the top of the L-shaped support module 311 and arranging a transverse groove 3111 on both sides of the rectangular groove, and realizes the longitudinal adjustment of the exoskeleton mechanism by arranging a longitudinal groove 3115 on the side of the L-shaped support module 311, thereby effectively solving the problem that the rotation centers of the human hip joint and the exoskeleton hip joint do not coincide in the coronal plane during the left and right swing of the thigh.

[0052] When the patient needs to lie down for rehabilitation training, first wear the exoskeleton, then loosen the locking nuts 3121d on both sides of the thigh, and finally open the electric control assembly 15 fixed on the front of the waist support, and select the adduction and abduction movement mode of the hip joint, the flexion and extension movement mode of the hip joint, or the superposition mode of the two movements, drive the reduction motor 212 and the reduction motor 3132 to realize the adduction and abduction movement and the flexion and extension movement of the hip joint.

[0053] The content described in the embodiments of the present specification is only a list of implementation forms of the inventive concept, and is only for the purpose of description. The protection scope of the present application should not be regarded as being limited to the specific forms described in the embodiments, and the protection scope of the present application also includes equivalent technical means that can be thought of by those skilled in the art according to the inventive concept.

Claims

1. A flexion-extension mechanism for a rotating center adaptive hip exoskeleton, characterized in that, The mechanism comprises an L-shaped support module, an adaptive elastic module and a thigh rod swing module, the adaptive elastic module is slidably connected to the L-shaped support module, and the thigh rod swing module is fixedly connected to the L-shaped support module; the adaptive elastic module comprises a fixed platform, an adaptive rod and four hook springs; the fixed platform is provided with two symmetrical stand column pipes on the front face, two through holes are formed in the side face of the stand column pipe, a through hole is formed in the middle of the adaptive rod, and a circular pipe is mounted at both ends of the adaptive rod, and two through holes are formed in the side face of the circular pipe; the four hook springs are respectively connected to the through holes of the stand column pipe of the fixed platform at one end and connected to the through holes of the circular pipe of the adaptive rod at the other end, and sequentially connected; the fixed platform is provided with a convex shaft on the back face, the convex shaft can slide on the L-shaped support module, and the convex shaft is provided with a locking nut at the tail end, and the fixed platform can be fixed by using the locking nut; a rectangular groove is formed in the top of the L-shaped support module, lateral grooves are formed at the two sides of the rectangular groove, the support shaft of the U-shaped support in the folding and unfolding mechanism is slidably connected in the lateral grooves; a lateral groove is formed in the top outer side of the L-shaped support, a sliding block can slide in the lateral groove, the sliding block is provided with a convex shaft, the reduction motor of the U-shaped support drives the sliding block to slide in the lateral groove of the L-shaped support through a connecting rod, the flexion and extension mechanism makes the inboard / outboard movement relative to the waist mechanism with the support shaft of the U-shaped support as the rotation axis; a longitudinal groove is formed in the side face of the L-shaped support; the convex shaft of the fixed platform can slide on the longitudinal groove of the L-shaped support module; the thigh rod swing module comprises a bottom plate, a swing reduction motor, a motor seat, a rotating shaft rod, a connecting rod and a thigh rod, a through hole is formed in the upper end of the bottom plate, the bottom plate is fixedly connected to the L-shaped support module through bolts, and the swing reduction motor is mounted on the bottom plate through the motor seat; the rotating shaft rod is connected to the shaft of the reduction motor through a key, one end of the connecting rod is connected to the rotating shaft rod through a pin, and the other end of the connecting rod is connected to the thigh rod through a pin; the thigh rod is connected to the adaptive rod through a pin at the top end, and the thigh rod is fixedly connected to the thigh binding mechanism at the tail end.

2. A rotating center adaptive hip exoskeleton applying the flexion and extension mechanism of claim 1, characterized in that, The hip exoskeleton comprises a waist mechanism, a folding and unfolding mechanism, a flexion and extension mechanism and a thigh binding mechanism; the folding and unfolding mechanism comprises a left folding and unfolding mechanism and a right folding and unfolding mechanism; the left folding and unfolding mechanism and the right folding and unfolding mechanism are the same in structure and symmetrically arranged on the left and right sides of the waist mechanism; the flexion and extension mechanism comprises a left flexion and extension mechanism and a right flexion and extension mechanism; the left flexion and extension mechanism and the right flexion and extension mechanism are the same in structure and connected to the left folding and unfolding mechanism and the right folding and unfolding mechanism respectively; the thigh binding mechanism comprises a left thigh binding mechanism and a right thigh binding mechanism; the left thigh binding mechanism and the right thigh binding mechanism are the same in structure and connected to the left flexion and extension mechanism and the right flexion and extension mechanism respectively; the left folding and unfolding mechanism drives the left flexion and extension mechanism and the left thigh binding mechanism to realize the inboard / outboard movement of the left leg hip joint; the right folding and unfolding mechanism drives the right flexion and extension mechanism and the right thigh binding mechanism to realize the inboard / outboard movement of the right leg hip joint; the left flexion and extension mechanism drives the left thigh binding mechanism to realize the forward flexion / backward extension movement of the left leg hip joint; and the right flexion and extension mechanism drives the right thigh binding mechanism to realize the forward flexion / backward extension movement of the right leg hip joint.

3. The center-of-rotation adaptive hip exoskeleton of claim 2, wherein, The left and right collecting and stretching mechanisms each include a U-shaped support and a collecting and stretching reduction motor, one side of the U-shaped support is fixedly connected with the waist mechanism, and the other side of the U-shaped support is provided with a supporting shaft at the bottom, and a roller is arranged at the end of the supporting shaft.

4. The center-of-rotation adaptive hip exoskeleton of claim 3, wherein, The left and right flexion and extension mechanisms each include an L-shaped support module, an adaptive elastic module and a thigh rod swing module, the adaptive elastic module is slidably connected to the L-shaped support module, and the thigh rod swing module is fixedly connected to the L-shaped support module; the adaptive elastic module includes a fixed platform, an adaptive rod and four hook springs, the fixed platform is provided with two symmetrical stand column pipes on the front face, two through holes are formed in the side face of the stand column pipes, a through hole is formed in the middle of the adaptive rod, and two circular pipes are arranged at the two ends of the adaptive rod and are provided with two through holes on the side face; one end of each of the four hook springs is connected to the through hole of the stand column pipe of the fixed platform, and the other end is connected to the through hole of the circular pipe of the adaptive rod; the fixed platform is provided with a convex shaft on the back face, the convex shaft can slide on the L-shaped support module, and the convex shaft is provided with a locking nut at the end, and the fixed platform can be fixed by the locking nut.

5. The center-of-rotation adaptive hip exoskeleton of claim 4, wherein, The L-shaped support module is provided with a rectangular groove at the top, the two sides of the rectangular groove are provided with transverse grooves, the supporting shaft of the U-shaped support is slidably connected in the transverse grooves, the top of the L-shaped support is provided with a transverse groove on the outer side, a sliding block can slide in the transverse groove, the sliding block is provided with a convex shaft, the reduction motor of the U-shaped support drives the sliding block to slide in the transverse groove of the L-shaped support through a connecting rod, the flexion and extension mechanism performs the internal collection / external stretching movement relative to the waist mechanism with the supporting shaft of the U-shaped support as the rotation axis, and the L-shaped support is provided with a longitudinal groove on the side face; the convex shaft of the fixed platform can slide on the longitudinal groove of the L-shaped support module.

6. The center-of-rotation adaptive hip exoskeleton of claim 4, wherein, The thigh rod swing module includes a bottom plate, a swing reduction motor, a motor seat, a rotating shaft rod, a connecting rod and a thigh rod, the bottom plate is provided with a through hole at the upper end and is fixedly connected with the L-shaped support module through a bolt, the swing reduction motor is installed on the bottom plate through the motor seat, the rotating shaft rod is connected with the shaft of the reduction motor through a key, one end of the connecting rod is connected with the rotating shaft rod through a pin, and the other end is connected with the thigh rod through a pin, the top end of the thigh rod is connected with the adaptive rod through a pin, and the end of the thigh rod is fixedly connected with the thigh binding mechanism.

7. The rotation center adaptive hip exoskeleton of claim 2 or 3, wherein, The left and right thigh binding mechanisms each include an outer ring member and an inner ring member, the outer ring member is semicircular and is provided with an outer convex platform having a threaded hole on the outer side, two T-shaped grooves are symmetrically arranged on the inner side of the outer ring, the inner ring member is provided with an opening, the two ends of the opening are respectively fixed with elastic bands provided with plastic buckles, two arc-shaped convex platforms are symmetrically arranged on the outer side of the inner ring member, the arc-shaped convex platforms are provided with stepped holes in the inner parts, a top rod passes through the stepped holes and is provided with a pulley at the end, a spring is sleeved on the side face of the top rod between the stepped holes and the pulley and is in a compressed state, the arc-shaped convex platforms of the inner ring member, the top rod and the T-shaped grooves of the outer ring member are in sliding fit, and the thigh binding mechanism realizes the internal rotation / external rotation movement of the hip joint through the relative rotation of the outer ring member and the inner ring member.

8. The rotation center adaptive hip exoskeleton of claim 2 or 3, wherein, The waist mechanism comprises two symmetrically distributed arc-shaped waist supports, elastic bands and plastic inserts; the two waist supports are fixedly connected at the rear by elastic bands and at the front by elastic bands with plastic inserts; an electric control assembly is installed at the front of the right waist support; the outer side of the waist support is provided with a boss, the boss is provided with a plurality of threaded holes, one side of the U-shaped support is provided with a threaded hole, and the boss of the waist support is fixedly connected with the U-shaped support through bolts.

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