Active two-degree-of-freedom hip joint walking assisting exoskeleton device

Abstract

The invention discloses an active two-degree-of-freedom hip joint walking assisting exoskeleton device, belongs to the technical field of human body assistance, and can change the size of an adjusting mechanism according to people with different heights and body types; the hip joint has two degrees of freedom, multi-rotation-center alignment of the exoskeleton hip joint and the human hip joint can be achieved, a chain type series mechanism of the hip joint can adjust the length of a tension spring according to movement of the human hip joint, and good fitting performance is achieved. The thigh mechanism can achieve self-adaption according to the size of the thigh through the arranged connecting block, and therefore the thigh mechanism can be better attached to the thigh. In a word, the active type two-degree-of-freedom hip joint walking assisting exoskeleton device has the advantages of being simple and adjustable in structure, comfortable and convenient to wear and capable of achieving alignment with the hip joint rotation center, the thigh part is composed of the connecting blocks and can be attached to the thigh, the high attaching performance is achieved while the assisting effect is guaranteed, and the exoskeleton device can be used for assisting walking of the hip joint. The application prospect is wide.

Description

Technical Field

[0001] The present invention belongs to the technical field of human body assisting, and in particular relates to an active dual-degree-of-freedom hip joint walking assisting exoskeleton device. Background Art

[0002] The active dual-degree-of-freedom hip joint walking assist exoskeleton is a wearable device used to assist the lower limbs of the human body. It is used to enhance the strength and flexibility of the hip joint and help users complete actions such as walking, running, and going up and down stairs. It can be used in the fields of lower limb medical rehabilitation, lower limb exercise assistance for the elderly, and military and industrial operation exercise enhancement.

[0003] Most of the existing lower limb exoskeleton hip joint assist devices adopt a bionic design that simulates the human body in order to improve human-machine coordination. However, considering the simplicity of the structure, the degree of freedom is often limited at the hip joint. This causes the multi-center rotation joint of the human hip joint to be misaligned with the rotation center of the exoskeleton hip joint, which is inconsistent with human movement, causing discomfort to the human body. Since the lower limb exoskeleton assist device needs to be worn on the human body, the exoskeleton must have a low weight, a simple structure, adjustable size, and be comfortable to wear. However, the lower limb exoskeleton assist device in the prior art is not only complex in structure and bulky, but also has a strong sense of weight when worn on the human body. In addition, because the lower limb exoskeleton often needs to play a supporting role, its rigid structure will interfere with the human body in the thigh part, causing discomfort to the human body.

[0004] A Chinese patent (application number: CN202210373267.X) discloses a lower limb power-assisted exoskeleton robot. The patent mainly provides a lower limb power-assisted exoskeleton robot with two electric drive mechanisms. The thigh component drives the human thigh to swing back and forth under the drive of the first electric drive mechanism, and the calf component drives the human calf to swing back and forth under the drive of the second electric drive mechanism. By driving the thigh and calf to swing, the walking assistance effect is achieved. Its hip joint has only one degree of freedom, which cannot meet the characteristics of multiple rotation centers of the hip joint, and because its thigh component is a rigid structure, the wearer will interfere with the exoskeleton when walking, making the human body feel uncomfortable.

[0005] A Chinese patent (application number: CN201610511532.0) discloses a lower limb power-assisted exoskeleton robot. This patent mainly provides a lower limb power-assisted exoskeleton robot. Based on ergonomics, the relationship between the human lower limb skeletal structure and the human lower limb joint movement mechanism, the structure of the specific components (such as hip joints, knee joints, and waist) of the lower limb power-assisted exoskeleton robot and the connection relationship between the components are designed. However, the hip joint has only one degree of freedom and cannot adapt to the human hip joint. The thigh part is a rigid structure, and the fit is poor when worn by different people.

[0006] A Chinese patent (application number: CN202310802873.3) discloses a lower limb assisted walking exoskeleton, whose hip joint has three degrees of freedom, and only flexion and extension are directly and actively controlled by a motor, while internal and external rotation as well as adduction and abduction of the hip joint are all passive movements; the active dual-degree-of-freedom hip joint walking assist exoskeleton device disclosed in this patent has a two-degree-of-freedom hip joint, and flexion and extension as well as adduction and abduction are all actively controlled. It also adopts a rope-driven method, and arranges electrodes and battery modules on the backboard, so that when the human body walks, the inertia generated by the heavy motor as the thigh swings is reduced, and the wearing comfort of the wearer is improved. There are significant differences in the hip joint structure and drive system design ideas of the two.

[0007] A Chinese patent (application number: CN 202211193113.9) discloses a hip joint exoskeleton structure and a control method thereof that can simultaneously assist carrying and walking. The structure integrates walking assistance and carrying bending assistance functions. Its flexion and extension push rod is a rigid straight rod. For different human bodies, the curves of the thigh surface are different, which interferes with the human body during walking, and the wearer's comfort decreases; the active dual-degree-of-freedom hip joint walking assist exoskeleton device proposed in this patent, the chain series mechanism of the hip joint can adjust the length of the tension spring according to the movement of the human hip joint, and the thigh mechanism is composed of connecting blocks connected in series with pins, which can achieve adaptive fit according to the thigh sizes of different human bodies, thereby better achieving the fit of the exoskeleton and the thigh part during walking. There are significant differences between the two in terms of leg rod structure and human comfort considerations. Summary of the invention

[0008] In order to solve the above problems, the present invention discloses an active dual-degree-of-freedom hip joint walking assist exoskeleton device, which has a simple and adjustable structure, is comfortable and convenient to wear, has the characteristics of multiple rotation centers and can be aligned with the hip joint. The thigh part is composed of connecting blocks and can fit with the thigh part, ensuring the power assist effect while having high comfort.

[0009] To achieve the above object, the technical solution adopted by the present invention is: An active dual-degree-of-freedom hip joint walking assist exoskeleton device, characterized in that: it includes a back structure, on which adjustment structures with the same structure are symmetrically installed, the adjustment structure includes an adjustment mechanism, a back wire pulling mechanism, a chain series mechanism, a hip joint wire pulling mechanism, and a thigh mechanism, the back structure includes a back plate, a back plate, a drive motor and a winding drum, the back plate is fixedly connected to the back plate, the drive motor is installed on both sides of the outer side of the back plate and is symmetrically distributed, and the winding drum is fixedly connected to the output end of the drive motor; The adjustment mechanism includes a horizontal adjustment device and a vertical adjustment device for adjusting the width and height to suit the height and body width of the user, the horizontal adjustment device is connected to the back plate, and a horizontal limit hole is provided on the back plate, and one end of the vertical adjustment device is connected to the horizontal adjustment device, and a vertical limit hole is provided on the back plate, when the horizontal adjustment device is adjusted to a width suitable for the user's body width, the horizontal adjustment device is limited by inserting a bolt into the horizontal limit hole, and when the vertical adjustment device is adjusted to a height suitable for the user's height, the vertical adjustment device is limited by inserting a bolt into the vertical limit hole; The back wire pulling mechanism comprises a first rotating shaft, a first winding drum, a first thrust ball bearing, a first supporting seat, a first flange bearing, and a first screw locking retaining ring. The first supporting seat is installed at the other end of the vertical adjustment device. The first rotating shaft is fixedly connected to the first winding drum by screws. The first winding drum, the first thrust ball bearing, the first supporting seat, the first flange bearing, and the first screw locking retaining ring are sequentially installed on the first rotating shaft. The first screw locking retaining ring is locked by screws. The chain-type serial mechanism comprises a guide rail mounting plate, a tension spring mounting seat, a guide rail, a slider, a first rotating pair, a second rotating pair, a third rotating pair, and a second thrust ball bearing. The guide rail mounting plate is mounted between the first support seat and the first screw locking retaining ring. The tension spring mounting seat is mounted on the side of the guide rail mounting plate close to the first support seat. The guide rail is mounted on the guide rail mounting plate. The slider is slidably mounted on the guide rail. The first rotating pair is mounted on the slider. The first rotating pair and the second rotating pair are mounted together through the second thrust ball bearing and the pin. The second rotating pair and the third rotating pair are mounted together through the second thrust ball bearing and the pin. The hip joint wire pulling mechanism comprises an end connecting rod, a second screw locking ring, a second flange bearing, a second support seat, a third thrust ball bearing, a second winding drum, and a second rotating shaft. The end connecting rod is connected to the third rotating pair through the third thrust ball bearing and a pin. The second support seat is installed at the end of the end connecting rod. The second screw locking ring, the second flange bearing, the second support seat, the third thrust ball bearing, and the second winding drum are installed on the second rotating shaft in sequence. The thigh mechanism comprises a connecting rod, a connecting device and a binding device. The connecting rod is mounted on the second rotating shaft of the hip joint wire pulling mechanism. The connecting device is formed by connecting blocks connected in series at the head and tail ends. The head end connecting block is connected to the connecting rod by screws, and the tail end connecting block is fixedly connected to the binding device by screws. It also includes a steel wire rope, one end of which passes through the winding drum, the first winding drum, and the second winding drum respectively.

[0010] In the above structure: the active dual-degree-of-freedom hip joint walking auxiliary exoskeleton device proposed by the present invention includes a back structure, and an adjustment structure with the same structure is installed symmetrically on the back structure. The adjustment structure includes an adjustment mechanism, a back wire pulling mechanism, a chain series mechanism, a hip joint wire pulling mechanism, and a thigh mechanism. The back structure includes a back plate, a back plate, a driving motor and a winding drum. The back plate is fixedly connected to the back plate. When in use, the back of the human body is closely attached to the back plate. The driving motor is installed on both sides of the outer side of the back plate and is symmetrically distributed. The winding drum is fixedly connected to the output end of the driving motor. The output end of the driving motor controls the rotation of the winding drum, thereby driving the rotation of the wire rope on the winding drum, the first winding drum and the second winding drum. The adjustment mechanism includes a horizontal adjustment device and a vertical adjustment device for adjusting the width and height to suit the height and body width of the user. The horizontal adjustment device is connected to the back plate, and one end of the vertical adjustment device is connected to the horizontal adjustment device. When the horizontal adjustment device is adjusted to a width suitable for the user's body width, the horizontal adjustment device is limited by inserting a bolt into the horizontal limit hole. When the vertical adjustment device is adjusted to a height suitable for the user's height, the vertical adjustment device is limited by inserting a bolt into the vertical limit hole to suit users of different heights and body widths. The back wire pulling mechanism comprises a first rotating shaft, a first winding drum, a first thrust ball bearing, a first supporting seat, a first flange bearing, and a first screw locking retaining ring. The first supporting seat is installed at the other end of the vertical adjustment device. The first rotating shaft is fixedly connected to the first winding drum by screws. The first winding drum, the first thrust ball bearing, the first supporting seat, the first flange bearing, and the first screw locking retaining ring are sequentially installed on the first rotating shaft. The first screw locking retaining ring is locked by screws. The back wire pulling mechanism is used as a transfer to realize the transmission of the wire rope between the winding drum and the second winding drum. The chain-type serial mechanism comprises a guide rail mounting plate, a tension spring mounting seat, a guide rail, a slider, a first rotating pair, a second rotating pair, a third rotating pair, and a second thrust ball bearing. The guide rail mounting plate is mounted between the first support seat and the first screw locking retaining ring, the tension spring mounting seat is mounted on the side of the guide rail mounting plate close to the first support seat, the guide rail is mounted on the guide rail mounting plate, the slider is slidably mounted on the guide rail, the first rotating pair is mounted on the slider, the first rotating pair and the second rotating pair are mounted together through the second thrust ball bearing and the pin, and the second rotating pair and the third rotating pair are mounted together through the second thrust ball bearing and the pin. The chain-type serial mechanism set in the present application can adjust the length of the tension spring according to the movement of the human hip joint to achieve better fitting performance; The hip joint wire pulling mechanism includes an end connecting rod, a second screw locking ring, a second flange bearing, a second support seat, a third thrust ball bearing, a second winding drum, and a second rotating shaft. The end connecting rod is connected to the third rotating pair through the third thrust ball bearing and a pin. The second support seat is installed at the end of the end connecting rod. The second screw locking ring, the second flange bearing, the second support seat, the third thrust ball bearing, and the second winding drum are sequentially installed on the second rotating shaft. The hip joint has two degrees of freedom. Through the linkage of the wire rope and the second winding drum, the multi-rotation center alignment of the exoskeleton hip joint and the human hip joint can be achieved. The thigh mechanism includes a connecting rod, a connecting device, and a binding device. The connecting rod is installed on the second rotating shaft of the hip joint tensioning mechanism. The connecting device is formed by a plurality of connecting blocks connected in series at the head and tail ends. The head end connecting block is connected to the connecting rod by screws, and the tail end connecting block is fixed to the binding device by screws. When in use, the plurality of soft-connected connecting blocks can be adapted according to the thigh size, so as to better fit the thigh part.

[0011] As a preferred technical solution of the present invention: the back structure also includes a battery module, and the battery modules are respectively installed in the middle and upper parts of the back plate, and the battery modules are connected to the driving motor to supply power to it.

[0012] In the above structure: a plurality of battery modules are provided, which are rechargeable battery modules, and after being fully charged, they can supply power to the drive motor for a long time, thus providing guarantee for the normal operation of the drive motor.

[0013] As a preferred technical solution of the present invention: the back structure also includes a first steel wire rope limiter, and the first steel wire rope limiter is installed on the outside of the output end of the driving motor.

[0014] In the above structure: two first wire rope limiters are symmetrically arranged, respectively located on the outside of the output end of the driving motor, for limiting and protecting the wire rope to prevent it from deviating during operation.

[0015] As a preferred technical solution of the present invention: the back structure also includes an exoskeleton connection and mounting block, the exoskeleton connection and mounting block is fixedly mounted on the lower part of the back plate, and the horizontal adjustment device is fixed on the exoskeleton connection and mounting block to achieve fixation.

[0016] In the above structure: two exoskeleton connection and installation blocks are symmetrically arranged, and the two exoskeleton connection and installation blocks are vertically fixed to the lower part of the back plate, so as to facilitate the installation and fixing of the horizontal adjustment device.

[0017] As a preferred technical solution of the present invention: the back plate is configured as a curved structure, which is closely attached to the back of the human body.

[0018] In the above structure, in order to enable the back plate to fit closely to the back of the human body, the back plate is configured as a curved surface structure, which makes the user more comfortable when using it.

[0019] As a preferred technical solution of the present invention: the horizontal adjustment device includes a horizontal adjustment rod and a horizontal connecting rod, the vertical adjustment device includes a vertical connecting rod and a vertical adjustment rod, one end of the horizontal adjustment rod is installed on the back plate, one end of the horizontal connecting rod is installed in the other end of the horizontal adjustment rod, the horizontal limit hole is arranged on the side of the horizontal adjustment rod, the vertical connecting rod is fixedly connected to the other end of the horizontal connecting rod by bolts, one end of the vertical adjustment rod is installed on the vertical connecting rod, and the vertical limit hole is arranged on the side of the vertical adjustment rod.

[0020] As a preferred technical solution of the present invention: the horizontal adjustment rod, the horizontal connecting rod, the vertical connecting rod and the vertical adjustment rod are all provided with internal threaded holes.

[0021] In the above structure: the horizontal connecting rod is used to realize the connection and fixation of the vertical connecting rod, and the width of the application can be adjusted through the horizontal adjustment rod to make it suitable for the body width of different users; the vertical connecting rod is used to realize the installation and fixation of the vertical adjustment rod, and the height of the application can be adjusted through the vertical adjustment rod to make it suitable for the height of different users, thereby realizing the versatility of the application; wherein, the internal threaded holes on the horizontal adjustment rod, the horizontal connecting rod, the vertical connecting rod and the vertical adjustment rod are for the convenience of connecting and fixing the four to each other.

[0022] As a preferred technical solution of the present invention: the hip joint wire pulling mechanism also includes a second steel wire rope limiter, and the second steel wire rope limiter is installed on the outside of the terminal connecting rod.

[0023] In the above structure: two second wire rope limiters are symmetrically arranged and installed on the outside of the end connecting rod to limit and protect the wire rope to prevent it from deviating during operation.

[0024] As a preferred technical solution of the present invention: four connecting blocks are provided, and the four connecting blocks are fixed in series in sequence by pins to form a connecting device, the head end connecting block is fixedly connected to the connecting rod, and the tail end connecting block is fixedly connected to the binding device.

[0025] In the above structure: a plurality of connection blocks are provided, which are fixed in series head to tail by pins. When in use, the plurality of connection blocks can be adapted according to the size of the thigh, so as to better fit the thigh part.

[0026] As a preferred technical solution of the present invention: the binding device includes a binding belt, and the binding belt is provided with Velcro for fixing.

[0027] In the above structure: the binding device is used to fix the present application on the user's body, which includes a binding belt. After the user adjusts the present application, the present application can be fixed on the body through the Velcro on the binding belt.

[0028] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can change the size of the adjustment mechanism according to people of different heights and body shapes, thereby achieving versatility.

[0029] 2. The hip joint of the present invention has two degrees of freedom, which can realize the multi-rotation center alignment of the exoskeleton hip joint and the human hip joint, and the chain series mechanism of the hip joint can adjust the length of the tension spring according to the movement of the human hip joint to achieve better fitting performance.

[0030] 3. The thigh mechanism of the present invention can adapt itself according to the thigh size through the connection blocks provided, so as to better fit the thigh part.

[0031] In summary, the active dual-degree-of-freedom hip joint walking assist exoskeleton device of the present invention has a simple and adjustable structure, is comfortable and convenient to wear, has the characteristics of multiple rotation centers, and can be aligned with the hip joint. The thigh part is composed of connecting blocks and can fit with the thigh part. It has high fit while ensuring the power-assisting effect, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of an active dual-degree-of-freedom hip joint walking assist exoskeleton device; Figure 2 It is a schematic diagram of the side structure of the back structure; Figure 3 It is a schematic diagram of the back structure of the back structure; Figure 4 It is a schematic diagram of the regulating mechanism; Figure 5 This is an exploded diagram of the back wire pulling mechanism; Figure 6 It is a schematic diagram of the chain series mechanism structure; Figure 7 It is a schematic diagram of the explosion of the hip joint mechanism; Figure 8 It is a schematic diagram of the thigh mechanism; List of Figure Symbols: 1. Back structure; 101. Back plate; 102. Back plate; 103. Drive motor; 104. Battery module; 105. Winding drum; 106. First wire rope limiter; 107. Exoskeleton connection mounting block; 2. Adjustment mechanism; 201. Horizontal adjustment rod; 202. Horizontal connecting rod; 203. Vertical connecting rod; 204. Vertical adjustment rod; 3. Back wire pulling mechanism; 301. First rotating shaft; 302. First winding drum; 303. First thrust ball bearing; 304. First support seat; 305. First flange bearing; 306. First screw locking ring; 4. Chain series mechanism; 401. Guide rail installation Mounting plate; 402, tension spring mounting seat; 403, guide rail; 404, slider; 405, first rotating pair; 406, second rotating pair; 407, third rotating pair; 408, second thrust ball bearing; 5, hip joint tensioning mechanism; 501, end connecting rod; 502, second wire rope limiter; 503, second screw locking ring; 504, second retaining side bearing; 505, second supporting seat; 506, third thrust ball bearing; 507, second winding drum; 508, second rotating shaft; 509, fourth thrust ball bearing; 6, thigh mechanism; 601, connecting rod; 602, connecting block; 603, binding device. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments: like Figure 1-8 As shown, the active dual-degree-of-freedom hip joint walking auxiliary exoskeleton device proposed in the present invention includes a back structure 1, and an adjustment structure with the same structure is symmetrically installed on the back structure 1, and the adjustment structure includes an adjustment mechanism 2, a back wire pulling mechanism 3, a chain series mechanism 4, a hip joint wire pulling mechanism 5, and a thigh mechanism 6. The back structure 1 includes a back plate 102, a back plate 102, a drive motor 103 and a winding drum 105. The back plate 102 is fixedly connected to the back plate 101, and the drive motor 103 is installed on both sides of the outer side of the back plate 102 and is symmetrically distributed. The winding drum 105 is fixedly connected to the output end of the drive motor 103; The adjustment mechanism 2 includes a horizontal adjustment device and a vertical adjustment device for adjusting the width and height to suit the height and body width of the user. The horizontal adjustment device is connected to the back plate 102 and is provided with a horizontal limit hole. One end of the vertical adjustment device is connected to the horizontal adjustment device and is provided with a vertical limit hole. When the horizontal adjustment device is adjusted to a width suitable for the user's body width, the horizontal adjustment device is limited by inserting a bolt into the horizontal limit hole. When the vertical adjustment device is adjusted to a height suitable for the user's height, the vertical adjustment device is limited by inserting a bolt into the vertical limit hole. The back wire pulling mechanism 3 includes a first rotating shaft 301, a first wire reel 302, a first thrust ball bearing 303, a first support seat 304, a first flange bearing 305, and a first screw locking retaining ring 306. The first support seat 304 is installed at the other end of the vertical adjustment device. The first rotating shaft 301 is fixedly connected to the first wire reel 302 by screws. The first wire reel 302, the first thrust ball bearing 303, the first support seat 304, the first flange bearing 305, and the first screw locking retaining ring 306 are sequentially installed on the first rotating shaft 301, and the first screw locking retaining ring 306 is locked by screws. The chain-type serial mechanism 4 comprises a guide rail mounting plate 401, a tension spring mounting seat 402, a guide rail 403, a slider 404, a first rotating pair 405, a second rotating pair 406, a third rotating pair 407, and a second thrust ball bearing 408. The guide rail mounting plate 401 is mounted between the first support seat 304 and the first screw locking retaining ring 306. The tension spring mounting seat 402 is mounted on the guide rail mounting plate 401 on a side close to the first support seat 304. The guide rail 403 is mounted on the guide rail mounting plate 401. The slider 404 is slidably mounted on the guide rail 403. The first rotating pair 405 is mounted on the slider 404. The first rotating pair 405 and the second rotating pair 406 are mounted together through the second thrust ball bearing 408 and a pin. The second rotating pair 406 and the third rotating pair 407 are mounted together through the second thrust ball bearing 408 and a pin. The hip joint wire pulling mechanism 5 includes an end connecting rod 501, a second screw locking ring 503, a second flange bearing 504, a second support seat 505, a third thrust ball bearing 506, a second winding drum 507, and a second rotating shaft 508. The end connecting rod 501 is connected to the third rotating pair 407 through the third thrust ball bearing 506 and a pin, and the second support seat 505 is installed at the end of the end connecting rod 501. The second screw locking ring 503, the second flange bearing 504, the second support seat 505, the third thrust ball bearing 506, and the second winding drum 507 are installed on the second rotating shaft 508 in sequence; The thigh mechanism 6 includes a connecting rod 601, a connecting device, and a binding device 603. The connecting rod 601 is installed on the second rotating shaft 508 of the hip joint tensioning mechanism 5. The connecting device is formed by connecting blocks 602 connected in series at the head and tail ends. The head end connecting block 602 is connected to the connecting rod 601 by screws, and the tail end connecting block 602 is fixedly connected to the binding device 603 by screws. It also includes a steel wire rope, one end of which passes through the winding drum 105, the first winding drum 302, and the second winding drum 507 respectively.

[0034] The back structure 1 also includes a battery module 104, which is respectively installed in the middle and upper parts of the back plate 102, and the battery module 104 is connected to the drive motor 103 to supply power. The back structure 1 also includes a first wire rope limiter 106, which is installed on the outside of the output end of the drive motor 103. The back structure 1 also includes an exoskeleton connection and mounting block 107, which is fixedly installed at the lower part of the back plate 102, and the horizontal adjustment device is fixed on the exoskeleton connection and mounting block 107 to achieve fixation. The back plate 101 is set as a curved surface structure, which is close to the back of the human body. The horizontal adjustment device includes a horizontal adjustment rod 201 and a horizontal connecting rod 202, and the vertical adjustment device includes a vertical connecting rod 203 and a vertical adjustment rod 204. One end of the horizontal adjustment rod 201 is mounted on the back plate 102, and one end of the horizontal connecting rod 202 is mounted in the other end of the horizontal adjustment rod 201. The horizontal limit hole is set on the side of the horizontal adjustment rod 201. The vertical connecting rod 203 is fixedly connected to the other end of the horizontal connecting rod 202 by bolts. One end of the vertical adjustment rod 204 is mounted on the vertical connecting rod 203, and the vertical limit hole is set on the side of the vertical adjustment rod 204. The horizontal adjustment rod 201, the horizontal connecting rod 202, the vertical connecting rod 203 and the vertical adjustment rod 204 are all provided with internal threaded holes. The hip joint wire pulling mechanism 5 also includes a second wire rope limit 502, which is mounted on the outside of the terminal connecting rod 501. The four connection blocks 602 are provided, and the four connection blocks 602 are fixed in series in sequence through pins to form a connection device, the head end connection block 602 is fixedly connected to the connection rod 601, and the end connection block 602 is fixedly connected to the binding device 603. The binding device 603 includes a binding belt, and the binding belt is provided with Velcro for fixing.

[0035] In this embodiment: the active dual-degree-of-freedom hip joint walking auxiliary exoskeleton device proposed by the present invention includes a back structure 1, and an adjustment structure with the same structure is installed symmetrically on the back structure 1. The adjustment structure includes an adjustment mechanism 2, a back wire pulling mechanism 3, a chain series mechanism 4, a hip joint wire pulling mechanism 5, and a thigh mechanism 6. The back structure 1 includes a back plate 101, a back plate 102, a drive motor 103 and a winding drum 105. The back plate 102 is fixedly connected to the back plate 101. When in use, the back of the human body is closely attached to the back plate 101. The drive motor 103 is installed on both sides of the outer side of the back plate 102 and is symmetrically distributed. The winding drum 105 is fixedly connected to the output end of the drive motor 103. The output end of the drive motor 103 controls the rotation of the winding drum 105, thereby driving the rotation of the wire rope on the winding drum 105, the first winding drum 302 and the second winding drum 507. The adjustment mechanism 2 includes a horizontal adjustment device and a vertical adjustment device for adjusting the width and height to suit the height and body width of the user. The horizontal adjustment device is connected to the back plate 102, and one end of the vertical adjustment device is connected to the horizontal adjustment device. When the horizontal adjustment device is adjusted to a width suitable for the user's body width, the horizontal adjustment device is limited by inserting a bolt into the horizontal limit hole. When the vertical adjustment device is adjusted to a height suitable for the user's height, the vertical adjustment device is limited by inserting a bolt into the vertical limit hole to suit users of different heights and body widths. The back wire pulling mechanism 3 includes a first rotating shaft 301, a first wire reel 302, a first thrust ball bearing 303, a first support seat 304, a first flange bearing 305, and a first screw locking retaining ring 306. The first support seat 304 is installed at the other end of the vertical adjustment device. The first rotating shaft 301 is fixedly connected to the first wire reel 302 by screws. The first wire reel 302, the first thrust ball bearing 303, the first support seat 304, the first flange bearing 305, and the first screw locking retaining ring 306 are sequentially installed on the first rotating shaft 301. The first screw locking retaining ring 306 is locked by screws. The back wire pulling mechanism 3 is set as a transit to realize the transmission of the wire rope between the winding reel 105 and the second wire reel 507. The chain series mechanism 4 includes a guide rail mounting plate 401, a tension spring mounting seat 402, a guide rail 403, a slider 404, a first rotating pair 405, a second rotating pair 406, a third rotating pair 407, and a second thrust ball bearing 408. The guide rail mounting plate 401 is installed between the first support seat 304 and the first screw locking retaining ring 306, the tension spring mounting seat 402 is installed on the guide rail mounting plate 401 on a side close to the first support seat 304, the guide rail 403 is installed on the guide rail mounting plate 401, the slider 404 is slidably installed on the guide rail 403, the first rotating pair 405 is installed on the slider 404, the first rotating pair 405 and the second rotating pair 406 are installed together through the second thrust ball bearing 408 and the pin, the second rotating pair 406 and the third rotating pair 407 are installed together through the second thrust ball bearing 408 and the pin, and the chain series mechanism 4 set in the present application can adjust the length of the tension spring according to the movement of the human hip joint to achieve better fitting performance; The hip joint wire pulling mechanism 5 includes an end connecting rod 501, a second screw locking ring 503, a second flange bearing 504, a second support seat 505, a third thrust ball bearing 506, a second cable reel 507, and a second rotating shaft 508. The end connecting rod 501 is connected to the third rotating pair 407 through the third thrust ball bearing 506 and a pin. The second support seat 505 is installed at the end of the end connecting rod 501. The second screw locking ring 503, the second flange bearing 504, the second support seat 505, the third thrust ball bearing 506, and the second cable reel 507 are sequentially installed on the second rotating shaft 508. The hip joint has two degrees of freedom. Through the linkage of the steel wire rope and the second cable reel 507, the multi-rotation center alignment of the exoskeleton hip joint and the human hip joint can be achieved. The thigh mechanism 6 includes a connecting rod 601, a connecting device, and a binding device 603. The connecting rod 601 is installed on the second rotating shaft 508 of the hip joint tension wire mechanism 5. The connecting device is formed by a plurality of connecting blocks 602 connected in series at the head and tail ends. The head end connecting block 602 is connected to the connecting rod 601 by screws, and the tail end connecting block 602 is fixedly connected to the binding device 603 by screws. When in use, the plurality of soft-connected connecting blocks 602 can be adapted according to the thigh size, so as to better fit the thigh part.

[0036] In this embodiment, a plurality of battery modules 104 are provided, which are rechargeable battery modules 104 . After being fully charged, the battery modules 104 can supply power to the drive motor 103 for a long time, thereby ensuring the normal operation of the drive motor 103 .

[0037] In this embodiment: two first wire rope limiters 106 are symmetrically arranged, respectively located on the outside of the output end of the driving motor 103, for limiting and protecting the wire rope to prevent it from deviating during operation.

[0038] In this embodiment, two exoskeleton connection and installation blocks 107 are symmetrically arranged, and the two exoskeleton connection and installation blocks 107 are vertically fixed to the lower part of the back plate 102, so as to facilitate the installation and fixation of the horizontal adjustment device.

[0039] In this embodiment, in order to allow the back plate 101 to fit closely against the back of the human body, the back plate 101 is configured as a curved structure, which makes the user more comfortable when using it.

[0040] In this embodiment: the horizontal connecting rod 202 is used to realize the connection and fixation of the vertical connecting rod 203. The width of the application can be adjusted through the horizontal adjustment rod 201 to make it suitable for the body width of different users. The vertical connecting rod 203 is used to realize the installation and fixation of the vertical adjustment rod 204. The height of the application can be adjusted through the vertical adjustment rod 204 to make it suitable for the height of different users, thereby realizing the versatility of the application. Among them, the internal threaded holes on the horizontal adjustment rod 201, the horizontal connecting rod 202, the vertical connecting rod 203 and the vertical adjustment rod 204 are for the convenience of connecting and fixing the four to each other.

[0041] In this embodiment: two second wire rope limiters 502 are symmetrically arranged and installed on the outside of the end connecting rod 501, and are used to limit and protect the wire rope to prevent it from deviating during operation.

[0042] In this embodiment, a plurality of connection blocks 602 are provided, which are fixed in series end to end by pins. When in use, the plurality of connection blocks 602 can adapt to the size of the thigh, so as to better fit the thigh part.

[0043] In this embodiment: the binding device 603 is used to fix the present application on the user's body, which includes a binding belt. After the user adjusts the present application, the present application can be fixed on the body through the Velcro on the binding belt.

[0044] The beneficial effects of the present invention are as follows: 1. The present invention can provide appropriate assisting torque for the hip joint during human movement, and can learn and predict the output torque of the hip joint to improve the assisting effect.

[0045] 2. The present invention can change the size of the length adjustment mechanism according to people of different heights and body shapes, thereby achieving universality.

[0046] 3. The hip joint of the present invention has three degrees of freedom, which can realize the multi-rotation center alignment of the exoskeleton hip joint and the human hip joint, and the chain series mechanism 4 of the hip joint can adjust the length of the tension spring according to the movement of the human hip joint to achieve better fitting performance.

[0047] 4. The thigh mechanism 6 of the present invention can realize self-adaptation according to the thigh size by means of the connecting block 602, so as to better fit the thigh part.

[0048] In summary, the active dual-degree-of-freedom hip joint walking assist exoskeleton device of the present invention has a simple and adjustable structure, is comfortable and convenient to wear, has the characteristics of multiple rotation centers, and can be aligned with the hip joint. The thigh part is composed of multiple soft-connected connecting blocks 602, which can fit the thigh part. It has high fit while ensuring the power-assisting effect, and has broad application prospects.

[0049] The above description is only a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any modification or equivalent change made based on the technical essence of the present invention still falls within the scope of protection required by the present invention.

Claims

1. An active dual-degree-of-freedom hip joint walking assist exoskeleton device, characterized in that: The invention comprises a back structure (1), on which an adjustment structure having the same structure is symmetrically installed on the left and right sides of the back structure (1), the adjustment structure comprises an adjustment mechanism (2), a back wire pulling mechanism (3), a chain series mechanism (4), a hip joint wire pulling mechanism (5), and a thigh mechanism (6); the back structure (1) comprises a back plate (101), a back plate (102), a driving motor (103), and a winding drum (105); the back plate (102) is fixedly connected to the back plate (101), the driving motor (103) is installed on both sides of the outer side of the back plate (102) and is symmetrically distributed; and the winding drum (105) is fixedly connected to the output end of the driving motor (103); The adjustment mechanism (2) comprises a horizontal adjustment device and a vertical adjustment device for adjusting the width and height to suit the height and body width of a user, the horizontal adjustment device being connected to the back plate (102) and having a horizontal limit hole thereon, and one end of the vertical adjustment device being connected to the horizontal adjustment device and having a vertical limit hole thereon, when the horizontal adjustment device is adjusted to a width suitable for the body width of the user, a bolt is inserted into the horizontal limit hole to achieve the limit of the horizontal adjustment device, and when the vertical adjustment device is adjusted to a height suitable for the height of the user, a bolt is inserted into the vertical limit hole to achieve the limit of the vertical adjustment device; The back wire pulling mechanism (3) comprises a first rotating shaft (301), a first wire reel (302), a first thrust ball bearing (303), a first support seat (304), a first flange bearing (305), and a first screw locking retaining ring (306); the first support seat (304) is installed at the other end of the vertical adjustment device; the first rotating shaft (301) is fixedly connected to the first wire reel (302) by screws; the first wire reel (302), the first thrust ball bearing (303), the first support seat (304), the first flange bearing (305), and the first screw locking retaining ring (306) are sequentially installed on the first rotating shaft (301); and the first screw locking retaining ring (306) is locked by screws; The chain-type serial mechanism (4) comprises a guide rail mounting plate (401), a tension spring mounting seat (402), a guide rail (403), a slider (404), a first rotation pair (405), a second rotation pair (406), a third rotation pair (407), and a second thrust ball bearing (408); the guide rail mounting plate (401) is mounted between the first support seat (304) and the first screw locking retaining ring (306); the tension spring mounting seat (402) is mounted on the guide rail mounting plate (401) near the first support seat (304), the guide rail (403) is mounted on the guide rail mounting plate (401), the slider (404) is slidably mounted on the guide rail (403), the first rotating pair (405) is mounted on the slider (404), the first rotating pair (405) and the second rotating pair (406) are mounted together through a second thrust ball bearing (408) and a pin, and the second rotating pair (406) and the third rotating pair (407) are mounted together through a second thrust ball bearing (408) and a pin; The hip joint wire pulling mechanism (5) comprises an end connecting rod (501), a wire rope limiter (502), a second screw locking retainer (503), a second flange bearing (504), a second support seat (505), a third thrust ball bearing (506), a second winding drum (507), and a second rotating shaft (508); the end connecting rod (501) is connected to the third rotating pair (407) via the third thrust ball bearing (506) and a pin; the wire rope limiter (502) is mounted on the outside of the end connecting rod (501); the second support seat (505) is mounted at the end of the end connecting rod (501); the second screw locking retainer (503), the second flange bearing (504), the second support seat (505), the third thrust ball bearing (506), and the second winding drum (507) are sequentially mounted on the second rotating shaft (508); The thigh mechanism (6) comprises a connecting rod (601), a connecting device, and a binding device (603); the connecting rod (601) is mounted on the second rotating shaft (508) of the hip joint wire pulling mechanism (5); the connecting device is formed by connecting blocks (602) connected in series at the head and tail ends; the head end connecting block (602) is connected to the connecting rod (601) by screws, and the tail end connecting block (602) is fixedly connected to the binding device (603) by screws. It also includes a steel wire rope, one end of which passes through the winding drum (105), the first winding drum (302), and the second winding drum (507).

2. The active dual-degree-of-freedom hip joint walking assist exoskeleton device according to claim 1, characterized in that: The back structure (1) further comprises a battery module (104), wherein the battery module (104) is respectively mounted on the middle and upper parts of the back plate (102), and the battery module (104) is connected to the drive motor (103) to supply power thereto.

3. The active dual-degree-of-freedom hip joint walking assist exoskeleton device according to claim 1, characterized in that: The back structure (1) further comprises a first steel wire rope limiter (106), wherein the first steel wire rope limiter (106) is installed on the outside of the output end of the driving motor (103).

4. The active dual-degree-of-freedom hip joint walking assist exoskeleton device according to claim 1, characterized in that: The back structure (1) further comprises an exoskeleton connection and mounting block (107), wherein the exoskeleton connection and mounting block (107) is fixedly mounted on the lower part of the back plate (102), and the horizontal adjustment device is fixed on the exoskeleton connection and mounting block (107) to achieve fixation.

5. The active dual-degree-of-freedom hip joint walking assist exoskeleton device according to claim 1, characterized in that: The back plate (101) is configured as a curved surface structure and is closely attached to the back of a human body.

6. The active dual-degree-of-freedom hip joint walking assist exoskeleton device according to claim 1, characterized in that: The horizontal adjustment device comprises a horizontal adjustment rod (201) and a horizontal connecting rod (202); the vertical adjustment device comprises a vertical connecting rod (203) and a vertical adjustment rod (204); one end of the horizontal adjustment rod (201) is mounted on the back plate (102); one end of the horizontal connecting rod (202) is mounted on the other end of the horizontal adjustment rod (201); the horizontal limiting hole is arranged on the side of the horizontal adjustment rod (201); the vertical connecting rod (203) is fixedly connected to the other end of the horizontal connecting rod (202) by bolts; one end of the vertical adjustment rod (204) is mounted on the vertical connecting rod (203); and the vertical limiting hole is arranged on the side of the vertical adjustment rod (204).

7. The active dual-degree-of-freedom hip joint walking assist exoskeleton device according to claim 6, characterized in that: The horizontal adjustment rod (201), the horizontal connecting rod (202), the vertical connecting rod (203) and the vertical adjustment rod (204) are all provided with internal thread holes.

8. The active dual-degree-of-freedom hip joint walking assist exoskeleton device according to claim 1, characterized in that: The hip joint wire pulling mechanism (5) further comprises a second steel wire rope limiter (502), wherein the second steel wire rope limiter (502) is installed on the outside of the terminal connecting rod (501).

9. The active dual-degree-of-freedom hip joint walking assist exoskeleton device according to claim 1, characterized in that: Four connecting blocks (602) are provided, and the four connecting blocks (602) are sequentially connected in series and fixed by pins to form a connecting device, wherein the head end connecting block (602) is fixedly connected to the connecting rod (601), and the tail end connecting block (602) is fixedly connected to the binding device (603).

10. The active dual-degree-of-freedom hip joint walking assist exoskeleton device according to claim 1, characterized in that: The binding device (603) comprises a binding belt, on which a Velcro strip is provided for fixing.

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