Hip joint auxiliary exoskeleton robot capable of adaptively adjusting joint rotation center

Abstract

A hip joint auxiliary exoskeleton robot capable of adjusting the joint rotation center in a self-adaptive mode comprises a power and control module, a center-variable driving module, a self-adaptive adjusting module and a binding module, and the power and control module, the center-variable driving module, the self-adaptive adjusting module and the binding module are installed in a bilateral symmetry mode. The binding module comprises a waist binding module and a thigh binding module, the center-variable driving module is rigidly connected with the power and control module through a space connecting piece, and a spring fixing seat and a center-variable pulley in the center-variable driving module are fixed to the waist binding module and the thigh binding module respectively; the self-adaptive adjusting module is connected with the power and control module through a shear type self-adaptive connecting rod and a cylindrical sliding block, and a waist base in the self-adaptive adjusting module is centrally installed on a waist arc-shaped binding piece in the waist binding module. The self-adaptive joint rotation center adjusting device is good in power assisting effect, high in comfort, high in portability and good in economical efficiency and can adjust the joint rotation center in a self-adaptive mode.

Description

Technical Field

[0001] The present invention belongs to the field of rehabilitation exoskeletons, and in particular relates to a portable hip joint assisting exoskeleton. Background Art

[0002] In today's society, the phenomenon of population aging is becoming increasingly serious. With the improvement of people's living standards and the demand for quality of life, sarcopenia and myasthenia gravis are receiving more and more attention. When sarcopenia and myasthenia gravis affect the lower limbs, the patient's lower limb muscle strength will be reduced, the muscle quality will be poor, and the patient will not be able to fully exert force, causing difficulty and instability in walking. Even basic movements such as walking on flat ground, going up and down stairs, and going up and down slopes will be very difficult or even impossible to complete. Portable lower limb exoskeletons can provide assistance to patients and assist them in various scenarios in their daily lives.

[0003] The hip joint is an important joint that connects the upper torso and lower limbs of the human body. It is one of the indispensable joints for daily activities such as walking. During the power-assisting process, there will be frequent interactions between the hip-assisted exoskeleton and the human body. Therefore, the flexibility of its movements and the comfort of wearing are very important to patients. During the human gait movement, the position of the rotation center of the hip joint is not always fixed, and it will move within a certain range in the sagittal plane. However, most of the existing hip-assisted exoskeleton designs do not take this into account. During the actual power-assisting process, the rotation center of the hip exoskeleton will not coincide with the center of the human hip joint. This problem will not only reduce the patient's wearing comfort, but also affect the power-assisting effect and waste part of the active power-assisting energy. For example, the existing patent CN114227650B proposes "a hip joint assisted exoskeleton". This invention can solve the problem of insufficient energy utilization of the hip joint assisted exoskeleton structure. However, the hip joint rotation center of the lower limb exoskeleton of this invention can only rotate around a fixed point, ignoring the energy waste caused by the inability to align the hip joint rotation center, while reducing the patient's wearing comfort; in addition, this invention also uses pneumatic muscles to pull the Bowden cable. Pneumatic muscles have good flexibility, but are expensive and require an air pump to inflate during use. They are not suitable for daily portable use by ordinary household patients.

[0004] In summary, designing a hip-assisted exoskeleton robot with good assist effect, high comfort, high portability and good economy has certain practical value and realistic research significance. Summary of the invention

[0005] In order to overcome the shortcomings of the existing technology, the present invention provides a hip joint assisting exoskeleton robot which has good assisting effect, high comfort, high portability and good economy and can adaptively adjust the joint rotation center. During the assisting process, the exoskeleton hip joint center can automatically align with the human hip joint center, thereby improving the patient's wearing comfort, reducing energy loss and improving assisting efficiency.

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] A hip-joint assisted exoskeleton robot capable of adaptively adjusting the rotation center of the joint comprises a power and control module, a variable-center drive module, an adaptive adjustment module and a binding module, wherein the power and control module, the variable-center drive module, the adaptive adjustment module and the binding module are all installed in a bilaterally symmetrical manner; the binding module comprises a waist binding module and a thigh binding module. The variable-center drive module is rigidly connected to the power and control module via a space connector, the spring fixing seat and the variable center pulley in the variable-center drive module are respectively fixed to the waist binding module and the thigh binding module, the adaptive adjustment module is connected to the power and control module via a scissor-type adaptive connecting rod and a cylindrical slider, and the waist base in the adaptive adjustment module is centrally installed on the waist arc binding piece in the waist binding module;

[0008] The adaptive adjustment module includes a waist base, a spring, a vertical slider, a scissor-type adaptive connecting rod, a transverse slider, a transverse guide rail, a rotating rod and a cylindrical slider. The spring includes a gravity compensation spring and an adaptive adjustment spring. A spring fixing hook is provided on the waist base, and a vertical slide groove is also provided directly below it. The vertical slider can slide in the vertical slide groove. One end of the gravity compensation spring is connected to the spring fixing hook, and the other end is connected to the vertical slider to keep the vertical slider in the middle position in the vertical slide groove at the initial time. A transverse guide rail is fixed on the vertical slider, and a transverse slider is provided on the transverse guide rail. The transverse slider can move laterally on the transverse guide rail. A hinge connection is provided on the transverse slider. One end of the rotating rod is located in the transverse guide rail. The horizontal slider is hinged at the connection, and the other end of the rotating rod is connected to the fixed hinge connection located at the lower right side of the vertical slide groove on the waist base. When the rotating rod is rotated, the horizontal slider will move horizontally, and at the same time drive the vertical slider to slide; the vertical slider is also provided with a horizontal slide groove, and there are two freely sliding cylindrical sliders in the horizontal slide groove, one end of the two scissor-type adaptive connecting rods are respectively connected to the two cylindrical sliders, and the cylindrical sliders can drive the scissor-type adaptive connecting rods to move; the two scissor-type adaptive connecting rods are connected by a round pin in the middle to form a scissor-type structure; the other end of the scissor-type adaptive connecting rod is also connected to the horizontal slide groove on the outer side boss of the front seat of the backpack through a cylindrical slider, and the scissor-type adaptive connecting rods are also connected to each other by an adaptive adjustment spring.

[0009] Furthermore, the power and control module includes a backpack shell, a bearing seat cover, a ball screw pair, a moving seat, a Bowden rope, a tension sensor, a universal steel ball roller, a synchronous pulley, a synchronous belt, a DC brushless motor, an encoder, a drive control integrated board and a lithium battery. The Bowden rope includes a steel wire rope and a Bowden rope sheath. The steel wire rope can move in the Bowden rope sheath for transmitting power. The Bowden rope sheath can protect the steel wire rope. The ball screw pair is installed on the front seat of the backpack. The ball screw pair includes a ball screw and a screw nut. The DC brushless motor is installed in parallel with the ball screw on the same horizontal plane. The DC brushless motor transmits power to the ball screw through the synchronous pulley and the synchronous belt. The seat and the lead screw nut are fixed by screws, and a small hole is provided on the movable seat, through which the wire rope can pass, and one end of the wire rope is fixed to the small hole by a wire locker; both ends of the tension sensor are connected to the wire rope through screws with holes on the head and wire lockers, which are used to measure the tension inside the wire rope during movement; two universal ball rollers are staggered on the movable seat, and the universal steel ball rollers are threadedly connected to the movable seat, and the balls are tangent to the bottom of the backpack shell to form rolling friction; the encoder is used to measure the position of the DC brushless motor, convert the motor rotation angle into the ball screw rotation angle, and then indirectly measure the distance the lead screw nut moves and calculate the change in length of the wire rope; the drive control integrated board and the lithium battery are fixed to the back cover of the backpack.

[0010] Furthermore, the variable center drive module includes a variable center pulley, a spring, a spring fixing seat and a space connector. The outer side of the variable center pulley is provided with a spring connection part, which is evenly distributed around the circumference. The inner ring of the spring fixing seat is provided with a spring connection part, which is evenly distributed around the circumference. The front end of the spring is connected to the spring connection part of the variable center pulley, and the rear end of the spring is connected to the spring fixing seat. The two parts of the spring connection parts are evenly staggered at a certain angle in the radial direction. The variable center pulley is also provided with a winding groove, and one end of the wire rope is fixed to the variable center pulley by screws, and is wound around the winding groove to drive the variable center pulley to rotate by friction. The outer side of the variable center pulley is connected to the thigh rod by screws, and the inner side is connected to the space connector at the center of rotation. The other end of the space connector is connected to the backpack, and there are several Bowden rope sheath fixing seats on the space connector.

[0011] Preferably, the binding module includes a waist binding module and a thigh binding module, the waist binding module includes a waist arc binding piece, a strap and a plastic socket, the waist arc binding piece is divided into left and right parts, respectively fixed to the left and right sides of the waist base, and the waist base and the waist arc binding piece are both provided with adjustment holes; the strap and the plastic socket are located in the front of the patient, the waist arc binding piece is provided with a threaded hole on the side, connected to the spring fixing seat, and provides a fixed connection point for the spring in the variable-heart drive module; the thigh binding module includes a thigh rod, a thigh binding piece and a plastic socket. The thigh rod is connected to the thigh binding piece by screws, and the thigh rod is provided with an adjustment hole.

[0012] The beneficial effects of the present invention are mainly manifested in:

[0013] 1. The variable center drive module and the adaptive adjustment module work together to solve the problem of hip rotation center offset during patient movement and improve patient comfort. Since the offset of the human hip rotation center is unknown, a spring is used to fix the variable center pulley, which does not restrict its movement within a certain range, so that the exoskeleton hip rotation center can be aligned with the patient's hip rotation center.

[0014] 2. The tension spring in the variable-center drive module has the function of releasing and storing energy. It actively shortens during the patient's flexion movement, converts the elastic potential energy into the kinetic energy of the variable center pulley, and reduces the energy consumption of the motor; it is lengthened during extension movement, storing the energy generated by the human leg falling due to gravity. The gravitational potential energy is slowly converted into elastic potential energy for energy recovery. At the same time, it also makes the patient's leg-releasing process more stable, improving the safety of use.

[0015] 3. It is driven by a motor, decelerated by a ball screw pair, and transmitted by a Bowden rope. It uses a ball screw pair to decelerate, and is directly powered by a lithium battery, avoiding the defect of requiring an additional power source. It is highly economical, light in overall weight, simple and compact in structure, and is convenient for assisting patients in daily walking and other activities. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of the hip-assisted exoskeleton robot.

[0017] Figure 2 It is a schematic diagram of the power and control module.

[0018] Figure 3 It is a schematic diagram of the adaptive adjustment module.

[0019] The accompanying drawings are marked as follows: 1: power and control module; 2: adaptive adjustment module; 3: backpack; 4: Bowden rope sheath; 5: variable-center drive module; 6: space connector; 7: thigh binding; 8: plastic socket; 9: thigh rod; 10: variable center pulley; 11: spring; 12: spring fixing seat; 13: waist arc binding; 14: waist base; 15: waist strap; 1-1: drive control integrated board; 1-2: lithium battery; 1-3 encoder; 1-4: bearing; 1-5: tension sensor; 1-6: wire rope; 1-7: Universal steel ball roller; 1-8: moving seat; 1-9: ball screw nut; 1-10: synchronous belt; 1-11: ball screw; 1-12: synchronous pulley; 1-13: DC brushless motor; 2-1: horizontal slider; 2-2: horizontal guide rail; 2-3: rotating rod; 2-4: cylindrical slider; 2-5: scissor-type adaptive connecting rod; 2-6: adaptive adjustment spring; 2-7: vertical slider; 2-8: gravity compensation spring; 2-9: vertical slide; 3-1: backpack back cover; 3-2: backpack front seat; 3-3: bearing seat cover. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with the accompanying drawings.

[0021] Reference Figure 1 to Figure 3 , a hip joint auxiliary exoskeleton robot capable of adaptively adjusting the rotation center of a joint, comprising a power and control module 1, a variable-center driving module 5, an adaptive adjustment module 2 and a binding module, wherein the power and control module 1, the variable-center driving module 5, the adaptive adjustment module 2 and the binding module are all installed in a bilaterally symmetrical manner;

[0022] The adaptive adjustment module 2 includes a waist base 14, a spring, a vertical slider 2-7, a scissor-type adaptive connecting rod 2-5, a transverse slider 2-1, a transverse guide rail 2-2, a rotating rod 2-3 and a cylindrical slider 2-4. The spring includes a gravity compensation spring 2-8 and an adaptive adjustment spring 2-6. A spring fixing hook is provided on the waist base 14, and a vertical slide groove 2-9 is also provided directly below it. The vertical slider 2-7 can slide in the vertical slide groove 2-9. One end of the gravity compensation spring 2-8 is connected to the spring fixing hook, and the other end is connected to the vertical slider 2-7 to keep the vertical slider 2-7 in the middle position in the vertical slide groove 2-9 at the initial time; a transverse guide rail 2-1 is fixed on the vertical slider 2-7, and a transverse slider 2-2 is provided on the transverse guide rail 2-1. The transverse slider 2-2 can move laterally on the transverse guide rail. The transverse slider 2-2 is provided with a hinge connection. One end of the rotating rod 2-3 Located at the hinge connection of the transverse slider, the other end is connected to the fixed hinge connection below the vertical slide groove 2-9 on the waist base 14. When the rotating rod 2-3 rotates, the transverse slider 2-2 will move laterally, and at the same time drive the vertical slider 2-7 to slide; the vertical slider 2-7 is also provided with a transverse slide groove, and there are two freely sliding cylindrical sliders 2-4 in the transverse slide groove. One end of the two scissor-type adaptive connecting rods 2-5 are respectively connected to the two cylindrical sliders 2-4, and the cylindrical sliders 2-4 can drive the scissor-type adaptive connecting rods 2-5 to move; the two scissor-type adaptive connecting rods 2-5 are connected by a round pin in the middle to form a scissor-type structure; the other end of the scissor-type adaptive connecting rod 2-5 is also connected to the transverse slide groove on the outer side boss of the front seat 3-2 of the backpack through the cylindrical slider 2-4, and the scissor-type adaptive connecting rods 2-5 are connected to each other by adaptive adjustment springs 2-6 to improve the flexibility and safety of the scissor-type adaptive connecting rod movement.

[0023] The power and control module 1 includes a backpack shell, a bearing seat cover 3-3, a ball screw pair, a moving seat 1-8, a Bowden rope, a tension sensor 1-5, a universal steel ball roller 1-7, a synchronous pulley 1-12, a synchronous belt 1-10, a DC brushless motor 1-13, an encoder 1-3, a drive control integrated board 1-1 and a lithium battery 1-2. The Bowden rope includes a steel wire rope 1-6 and a Bowden rope outer sheath 4. The steel wire rope 1-6 can move in the Bowden rope outer sheath 4 and is used for Transmission power; the backpack shell includes two parts, front and rear. In order to reduce the overall weight of the backpack, the backpack front seat 3-2 is designed and processed into an integral part with the bearing base and the motor bracket. The ball screw pair includes a ball screw 1-11 and a screw nut 1-9, which are installed on the backpack front seat 3-2. The DC brushless motor 1-13 is installed parallel to the ball screw 1-11 on the same horizontal plane. The DC brushless motor 1-13 transmits power through the synchronous pulley 1-12 and the synchronous belt 1-10 The force is applied to the ball screw 1-11, and the movable seat 1-8 is fixed to the screw nut 1-9 by screws. A small hole is provided on the movable seat 1-8, through which the wire rope 1-6 can be passed, and one end of the wire rope is fixed to the small hole by a wire locker; both ends of the tension sensor 1-5 are connected to the wire rope through screws with holes on the head and the wire locker, which is used to measure the tension inside the wire rope during movement; two universal ball rollers 1-7 are staggered on the movable seat 1-8, and the universal steel ball rollers 1-7 are threadedly connected to the movable seat 1-8, and the balls are tangent to the bottom of the backpack shell to form rolling friction, which is used to prevent the screw nut from flipping when it moves; the encoder 1-3 is used to measure the position where the DC brushless motor has rotated, and convert the motor rotation angle into the ball screw rotation angle, and then indirectly measure the distance the screw nut has moved, and calculate the change in length of the wire rope; the drive control integrated board 1-1 and the lithium battery 1-2 are fixed to the back cover 3-1 of the backpack, and the front and back parts of the backpack are connected by threads.

[0024] The variable center drive module includes a variable center pulley 10, a spring 11, a spring fixing seat 12 and a space connector 6. The outer side of the variable center pulley 10 has not limited to 8 spring connection parts, which are evenly distributed around the circumference. The inner circle of the spring fixing seat 12 has not limited to 8 spring connection parts, which are evenly distributed around the circumference. The front end of the spring 11 is connected to the spring connection part of the variable center pulley 10, and the rear end of the spring 11 is connected to the spring fixing seat 12. The two parts of the spring connection parts are evenly staggered at a certain angle in the radial direction; the variable center pulley 10 is also provided with a winding Groove, one end of the wire rope 1-6 is fixed to the variable center pulley 10 by screws, and is driven to rotate by friction around the winding groove. The outer side of the variable center pulley 10 is connected to the thigh rod 9 by screws, and the inner side is connected to the space connector 6 at the rotation center position. The other end of the space connector 6 is connected to the backpack 3. There are several Bowden rope outer sheath fixing seats on the space connector 6 to prevent unnecessary accidents caused by the Bowden rope not being fixed outside. The rotation of the variable center pulley 10 will not affect the movement of the space connector, nor will it cause the space connector to rotate.

[0025] The variable center drive module and the adaptive adjustment module can adaptively adjust the movement of the rotation center of the exoskeleton hip joint by working together. The variable center pulley 10 and the spring fixing seat 12 are connected by several springs, and a certain pulling force is formed in the tangential direction of the variable center pulley, which can keep it suspended when stationary. The variable center pulley 10 will adaptively deviate in the sagittal plane to adapt to the deviation of the patient's hip joint rotation center, and the deviation is decomposed into vertical deviation and lateral deviation. The variable center pulley 9 compensates for the lateral deviation through the scissor-type rotation of the spatial connector 6, the backpack 3 and the scissor-type adaptive link 2-5, and then compensates for the vertical deviation through the vertical slider 2-7, the lateral slider 2-1 and the rotating rod 2-3; reverse description: the scissor-type rotation of the scissor-type adaptive link 2-5 drives the backpack 3 to move horizontally on the sagittal plane, and the backpack 3 drives the variable center pulley 10 to move horizontally on the sagittal plane through the spatial connector 6; at the same time, the movement of the vertical slider 2-7 will also bring the backpack 3 to move vertically, and the backpack 3 drives the variable center pulley 10 to move vertically on the sagittal plane through the spatial connector 6.

[0026] The binding module includes a waist binding module and a thigh binding module, the waist binding module includes a waist arc binding piece 13, a strap 15 and a plastic socket, the waist arc binding piece 13 is divided into two parts, which are respectively fixed on the left and right sides of the waist base 14, and the waist base 14 and the waist arc binding piece 13 are both provided with adjustment holes, which can be adjusted to a suitable height and width according to the body shape of different patients, and a sponge pad is provided between the patient and the waist arc binding piece 13 to improve the patient's wearing comfort; the strap 15 and the plastic socket are located in the front of the patient for easy wearing; a threaded hole is provided on the side of the waist arc binding piece 13, which is connected to the spring fixing seat 12 to provide a fixed connection point for the spring in the variable-heart drive module; the thigh binding module includes a thigh rod 9, a thigh binding piece 7 and a plastic socket 8. The thigh rod 9 is connected to the thigh binding 7 by screws. An adjustment hole is provided on the thigh rod 9, and the height of the thigh binding 7 can be adjusted before wearing to meet the needs of patients of different heights. A sponge pad is provided between the patient's thigh and the thigh binding 7 to improve the patient's wearing comfort.

[0027] When the patient needs to use the hip joint assisted exoskeleton robot for daily assisted walking, first adjust the waist arc binding 13 to fit the human waist to ensure the patient's waist comfort, and at the same time pay attention to adjust the rotation center of the variable center pulley 10 to align with the rotation center of the human hip joint. According to the height of different patients, adjust the height of the thigh binding 7, and finally fix it with the plastic socket 8. In the initial state, there is a certain pre-tension in the wire rope, and the springs 11 in the variable center drive module 5 are all in a stretched state.

[0028] When the patient is ready to lift his legs to walk, the tension sensor 1-5 connected to the wire rope part of the Bowden rope first identifies which leg is flexed first, and then controls the DC brushless motor 1-13 on the corresponding side to work, and transmits the motion to the ball screw 1-11 through the synchronous pulley 1-12 and the synchronous belt 1-10, and the ball screw nut 1-9 drives the moving seat 1-8 connected thereto to move linearly. To prevent the moving seat 1-8 from tipping over, two universal steel ball rollers 1-7 are staggeredly installed on the moving seat 1-8 through threaded connection, and the steel balls in the universal steel ball rollers are tangent to the inner wall of the backpack front seat 3-2. The movable seat 1-8 is provided with a central small hole, through which the steel wire rope is passed and fixed with a wire locker. On the same horizontal plane as the steel wire rope, the bearing base and the outer wall on one side of the backpack front seat 3-2 are provided with a through small hole for fixing the Bowden rope sheath 4. The Bowden rope sheath 4 passes through the hole outside the backpack and is fixed on several Bowden rope sheath fixing seats on the space connector 6. Finally, it is wound in the wire groove of the variable center pulley 10, and the end is fixed to the variable center pulley 10 by screws. The movable seat 1-8 pulls the steel wire rope 1-6 to "contract" and move together, and the length of the steel wire rope in the variable center pulley 10 is reduced. When the steel wire rope moves, sliding friction is formed between the steel wire rope and the variable center pulley 10, and the variable center pulley 10 is driven to rotate "forward" by friction. The rotation of the variable center pulley 10 drives the thigh rod 9 to rotate, and finally assists the human leg to complete the flexion movement. During the flexion process, the spring 11 in the variable center drive module 5 is shortened, and the elastic potential energy is converted into the kinetic energy of the variable center pulley 10, and the auxiliary motor 1-13 drives the variable center pulley 10 to rotate together. When the patient's thigh is flexed to a certain height, the patient's center of gravity moves forward to prepare for movement, and the thigh enters the extension stage. The motor 1-13 is reversed, and the moving direction of the ball screw nut 1-9 is changed at this time, and the wire rope is "stretched" and rewound back into the wire groove of the variable center pulley 10, and the friction drives the variable center pulley 10 to rotate slowly "backward", and the thigh rod 9 drives the patient's thigh to extend. In the extension stage, the spring 11 in the variable center drive module 5 is stretched again, and the gravitational potential energy of the patient's leg falling to the ground is converted into the elastic potential energy of the spring. Through the energy conversion of the spring 11, the energy in the movement process can be fully utilized, energy waste can be reduced, and the safety of the patient's use can be guaranteed.

[0029] During the patient's walking movement, the position of the hip joint rotation center will deviate a certain amount in the sagittal plane. We decompose this deviation into sagittal plane lateral deviation and vertical deviation. When deviation occurs, the center of the variable center pulley 10 follows the human hip joint center deviation, and this deviation is finally transferred to the adaptive adjustment module 2. One end of the spatial connector 6 is connected to the rotation center of the variable center pulley 10 through a round pin, and the other end is connected to the backpack 3-2 through a screw. The backpack 3-2 can deviate together with the spatial connector 6 and the variable center pulley 10. One end of the two scissor-type adaptive links 2-5 is connected to the backpack 3-2, and the other end is connected to the vertical slider 2-7 on the waist base 14. The lateral movement of the backpack 3 in the sagittal plane can be converted into the scissor-type movement of the two scissor-type adaptive links 2-5. The scissor-type adaptive links 2-5 are connected to each other by adaptive adjustment springs 2-6 to improve the flexibility and safety of the movement; the vertical movement of the backpack 3 in the sagittal plane is converted into the movement of the vertical slider 2-7. The initial position of the vertical slider 2-7 is located in the middle of the vertical slide groove 2-9, and a gravity compensation spring 2-8 is hung on the upper end. The vertical slider 2-7 is also provided with a transverse guide rail 2-2 and a transverse slider 2-1, which together with the rotating rod 2-3 assist the vertical slider 2-7 to move.

[0030] The hip joint assisting exoskeleton robot with adaptive adjustment of the joint rotation center of this embodiment has a simple structure and is portable. It can be used to assist the patient's hip joint activities in various scenarios such as walking on flat ground, going up and down stairs, and going up and down slopes. At the same time, it can be adjusted in multiple sizes in advance according to the height and body shape of different patients. In addition, considering the energy waste caused by the instantaneous offset of the hip joint rotation center and the poor wearing comfort of the patient, the variable-heart drive module and adaptive adjustment module designed by the present invention can store the wasted energy and release it at the appropriate time, thereby improving the assisting efficiency. At the same time, it can dynamically adjust the rotation center of the exoskeleton hip joint, improve the flexibility of movement and the comfort of the patient, and meet the requirements of ergonomics.

[0031] The contents described in the embodiments of this specification are merely an enumeration of the implementation forms of the inventive concept and are for illustrative purposes only. The protection scope of the present invention should not be considered to be limited to the specific forms described in this embodiment, and the protection scope of the present invention also extends to equivalent technical means that can be thought of by ordinary technicians in this field based on the inventive concept.

Claims

1. A hip joint auxiliary exoskeleton robot capable of adaptively adjusting the rotation center of the joint, characterized in that: It includes a power and control module, a variable-center drive module, an adaptive adjustment module and a binding module, wherein the power and control module, the variable-center drive module, the adaptive adjustment module and the binding module are all installed in a bilaterally symmetrical manner; the binding module includes a waist binding module and a thigh binding module, the variable-center drive module is rigidly connected to the power and control module through a space connector, and the spring fixing seat and the variable center pulley in the variable-center drive module are respectively fixed to the waist binding module and the thigh binding module; the adaptive adjustment module is connected to the power and control module through a scissor-type adaptive connecting rod and a cylindrical slider, and the waist base in the adaptive adjustment module is centrally installed on the waist arc binding piece in the waist binding module; The adaptive adjustment module includes a waist base, a spring, a vertical slider, a scissor-type adaptive connecting rod, a transverse slider, a transverse guide rail, a rotating rod and a cylindrical slider. The spring includes a gravity compensation spring and an adaptive adjustment spring. A spring fixing hook is provided on the waist base, and a vertical slide groove is also provided directly below it. The vertical slider can slide in the vertical slide groove. One end of the gravity compensation spring is connected to the spring fixing hook, and the other end is connected to the vertical slider to keep the vertical slider in the middle position in the vertical slide groove at the initial time. A transverse guide rail is fixed on the vertical slider, and a transverse slider is provided on the transverse guide rail. The transverse slider can move laterally on the transverse guide rail. A hinge connection is provided on the transverse slider. One end of the rotating rod is located in the transverse guide rail. The horizontal slider is hinged at the connection, and the other end of the rotating rod is connected to the fixed hinge connection located at the lower right side of the vertical slide groove on the waist base. When the rotating rod is rotated, the horizontal slider will move horizontally, and at the same time drive the vertical slider to slide; the vertical slider is also provided with a horizontal slide groove, and there are two freely sliding cylindrical sliders in the horizontal slide groove, one end of the two scissor-type adaptive connecting rods are respectively connected to the two cylindrical sliders, and the cylindrical sliders can drive the scissor-type adaptive connecting rods to move; the two scissor-type adaptive connecting rods are connected by a round pin in the middle to form a scissor-type structure; the other end of the scissor-type adaptive connecting rod is also connected to the horizontal slide groove on the outer side boss of the front seat of the backpack through a cylindrical slider, and the scissor-type adaptive connecting rods are also connected to each other by an adaptive adjustment spring.

2. The hip joint auxiliary exoskeleton robot with adaptive adjustment of joint rotation center as claimed in claim 1, characterized in that: The power and control module includes a backpack shell, a bearing seat cover, a ball screw pair, a moving seat, a Bowden rope, a tension sensor, a universal steel ball roller, a synchronous pulley, a synchronous belt, a DC brushless motor, an encoder, a drive control integrated board and a lithium battery. The Bowden rope includes a steel wire rope and a Bowden rope sheath. The steel wire rope can move in the Bowden rope sheath for transmitting power. The Bowden rope sheath can protect the steel wire rope. The ball screw pair is installed on the front seat of the backpack. The ball screw pair includes a ball screw and a screw nut. The DC brushless motor is installed in parallel with the ball screw on the same horizontal plane. The DC brushless motor transmits power to the ball screw through the synchronous pulley and the synchronous belt. The moving seat and The lead screw nut is fixed by screws, and a small hole is provided on the moving seat, through which the wire rope can be passed, and one end of the wire rope is fixed to the small hole with a wire locker; both ends of the tension sensor are connected to the wire rope through screws with holes on the head and wire lockers, which are used to measure the tension inside the wire rope during movement; two universal ball rollers are staggered on the moving seat, and the universal steel ball rollers are threadedly connected to the moving seat, and the balls are tangent to the bottom of the backpack shell to form rolling friction; the encoder is used to measure the position of the DC brushless motor, convert the motor rotation angle into the ball screw rotation angle, and then indirectly measure the distance the lead screw nut moves and calculate the change in length of the wire rope; the drive control integrated board and the lithium battery are fixed to the back cover of the backpack.

3. The hip joint auxiliary exoskeleton robot with adaptive adjustment of joint rotation center as claimed in claim 2, characterized in that: The variable-center drive module includes a variable center pulley, a spring, a spring fixing seat and a space connector. The outer side of the variable center pulley is provided with a spring connecting part, which is evenly distributed around the circumference. The inner circle of the spring fixing seat is provided with a spring connecting part, which is evenly distributed around the circumference. The front end of the spring is connected to the spring connecting part of the variable center pulley, and the rear end of the spring is connected to the spring fixing seat. The two parts of the spring connecting parts are evenly staggered at a certain angle in the radial direction. The variable center pulley is also provided with a winding groove, one end of the steel wire rope is fixed to the variable center pulley by a screw, and is wound around the winding groove to drive the variable center pulley to rotate by friction. The outer side of the variable center pulley is connected to the thigh rod by a screw, and the inner side is connected to the space connector at the center of rotation. The other end of the space connector is connected to the backpack, and there are several Bowden rope outer sheath fixing seats on the space connector.

4. The hip joint auxiliary exoskeleton robot with adaptive adjustment of joint rotation center as claimed in claim 1 or 2, characterized in that: The binding module includes a waist binding module and a thigh binding module. The waist binding module includes a waist arc binding piece, a strap and a plastic socket. The waist arc binding piece is divided into left and right parts, which are respectively fixed on the left and right sides of the waist base. The waist base and the waist arc binding piece are both provided with adjustment holes; the strap and the plastic socket are located in the front of the patient, and the side of the waist arc binding piece is provided with a threaded hole, which is connected to the spring fixing seat to provide a fixed connection point for the spring in the variable-heart drive module; the thigh binding module includes a thigh rod, a thigh binding piece and a plastic socket. The thigh rod is connected to the thigh binding piece by screws, and the thigh rod is provided with an adjustment hole.

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