Active dual-degree-of-freedom hip joint walking assist exoskeleton device

Abstract

This invention discloses an active dual-degree-of-freedom hip joint walking assistive exoskeleton device, belonging to the field of human assistive technology. This invention allows for adjustment of the exoskeleton's size to accommodate individuals of different heights and body types. The hip joint has two degrees of freedom, enabling alignment of the exoskeleton's hip joint with multiple rotational centers of the human hip joint. Furthermore, the chain-like linkage mechanism of the hip joint adjusts the spring length according to the movement of the human hip joint, achieving good fit performance. The thigh mechanism, through its connecting blocks, can adapt to thigh size, thus achieving better fit. In summary, this active dual-degree-of-freedom hip joint walking assistive exoskeleton device features a simple and adjustable structure, comfortable and convenient wear, multiple rotational centers for alignment with the hip joint's rotational center, and a thigh section composed of connecting blocks for a close fit. It ensures both assistive effect and high fit, and has broad application prospects.

Description

Technical Field

[0001] This invention belongs to the field of human assistive technology, and in particular relates to an active dual-degree-of-freedom hip joint walking assistive exoskeleton device. Background Technology

[0002] The active dual-degree-of-freedom hip joint walking assistive exoskeleton is a wearable device designed to assist lower limb movement, enhancing hip joint strength and flexibility to help users perform actions such as walking, running, and climbing stairs. It can be applied in lower limb medical rehabilitation, lower limb movement assistance for the elderly, and motion enhancement for military and industrial operations.

[0003] Most existing lower limb exoskeleton hip joint assistive devices employ biomimetic designs to improve human-machine coordination. However, to maintain structural simplicity, the degree of freedom at the hip joint is often restricted. This leads to a misalignment between the rotation center of the human hip joint (a multi-center rotational joint) and the exoskeleton's hip joint, resulting in inconsistent movement and discomfort. Furthermore, since lower limb exoskeleton assistive devices need to be worn on the human body, they must be lightweight, have a simple structure, adjustable dimensions, and be comfortable to wear. However, current lower limb exoskeleton assistive devices are not only complex and bulky, resulting in a heavy load on the wearer, but also, because the exoskeleton often needs to provide support, its rigid structure interferes with the human body at the thigh level, causing discomfort.

[0004] Chinese patent (application number: CN202210373267.X) discloses a lower limb assistive exoskeleton robot. This patent mainly provides a lower limb assistive exoskeleton robot with two electric drive mechanisms. The thigh component, driven by the first electric drive mechanism, causes the human thigh to swing back and forth, while the lower leg component, driven by the second electric drive mechanism, causes the human lower leg to swing back and forth. This movement of the thigh and lower leg assists in walking. However, its hip joint has only one degree of freedom, failing to meet the requirements of a multi-center of rotation characteristic of the hip joint. Furthermore, because its thigh component is a rigid structure, interference occurs between the wearer and the exoskeleton during walking, causing discomfort.

[0005] Chinese patent (application number: CN201610511532.0) discloses a lower limb assistive exoskeleton robot. This patent mainly provides a lower limb assistive exoskeleton robot, based on ergonomics and the relationship between the human lower limb skeletal structure and the movement mechanism of the human lower limb joints. It designs the structure of specific components (such as the hip joint, knee joint, and waist) and the connection relationships between these components. However, the hip joint only has one degree of freedom, making it unsuitable for the human hip joint, and the thigh area has a rigid structure, resulting in poor fit when worn by different people.

[0006] Chinese patent (application number: CN202310802873.3) discloses a lower limb assistive walking exoskeleton, whose hip joint has three degrees of freedom, with only flexion and extension movements being directly and actively controlled by a motor, while internal and external rotation, as well as adduction and abduction of the hip joint, are passive movements. The active dual-degree-of-freedom hip joint walking assistive exoskeleton device disclosed in this patent has two degrees of freedom in its hip joint, with flexion, extension, adduction, and abduction all being actively controlled. It also uses a rope drive method, arranging electrodes and battery modules on the back plate, which reduces the inertia generated by the heavy motor swinging with the thigh during walking, thus improving the wearer's comfort. The hip joint structure and drive system design concepts of the two are significantly different.

[0007] Chinese Patent (Application No.: CN 202211193113.9) discloses a hip joint exoskeleton structure and its control method that can simultaneously assist in carrying and walking. The structure integrates walking assistance and carrying / bending assistance functions. Its flexion-extension push rod is a rigid straight rod. For different human bodies, the curve of the thigh surface varies, which causes interference with the human body during walking, reducing the wearer's comfort. The active dual-degree-of-freedom hip joint walking assistance exoskeleton device proposed in this patent has a chain-like serial mechanism of the hip joint that can adjust the length of the tension spring according to the movement of the human hip joint. In addition, the thigh mechanism is composed of connecting blocks connected by pins, which can achieve adaptive fit according to the thigh size of different human bodies, thereby achieving better fit between the exoskeleton and the thigh part during walking. The two have significant differences in the consideration of leg structure and human comfort. Summary of the Invention

[0008] To address the aforementioned issues, this invention discloses an active dual-degree-of-freedom hip joint walking assistive exoskeleton device. It features a simple and adjustable structure, is comfortable and convenient to wear, and has multiple rotation centers to achieve alignment with the hip joint. The thigh portion is composed of connecting blocks that conform to the thigh, ensuring both assistive effect and high comfort.

[0009] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0010] An active dual-degree-of-freedom hip joint walking assistive exoskeleton device is characterized by: including a back structure, on which identical adjustment structures are symmetrically installed on the left and right sides; the adjustment structures include an adjustment mechanism, a back cable pulling mechanism, a chain-connected mechanism, a hip joint cable pulling mechanism, and a thigh mechanism; the back structure includes a back plate, a back panel, a drive motor, and a winding reel; the back plate is fixedly connected to the back plate; the drive motor is symmetrically distributed on both sides of the back plate; and the winding reel is fixedly connected to the output end of the drive motor.

[0011] The adjustment mechanism includes a horizontal adjustment device and a vertical adjustment device for adjusting the width and height to suit the user's height and body width. The horizontal adjustment device is connected to the back panel and has a horizontal limiting hole. One end of the vertical adjustment device is connected to the horizontal adjustment device and has a vertical limiting hole. When the horizontal adjustment device is adjusted to the width suitable for the user's body width, a bolt is inserted into the horizontal limiting hole to limit the horizontal adjustment device. When the vertical adjustment device is adjusted to the height suitable for the user's height, a bolt is inserted into the vertical limiting hole to limit the vertical adjustment device.

[0012] The back cable pulling mechanism includes a first rotating shaft, a first winding reel, a first thrust ball bearing, a first support base, a first edge bearing, and a first screw locking ring. The first support base is installed at the other end of the vertical adjustment device. The first rotating shaft is fixedly connected to the first winding reel by screws. The first winding reel, the first thrust ball bearing, the first support base, the first edge bearing, and the first screw locking ring are sequentially installed on the first rotating shaft. The first screw locking ring is locked by screws.

[0013] The chain-type serial mechanism includes a guide rail mounting plate, a tension spring mounting seat, a guide rail, a slider, a first rotating joint, a second rotating joint, a third rotating joint, and a second thrust ball bearing. The guide rail mounting plate is installed between a first support seat and a first screw locking ring. The tension spring mounting seat is installed on the side of the guide rail mounting plate near the first support seat. The guide rail is installed on the guide rail mounting plate. The slider is slidably installed on the guide rail. The first rotating joint is installed on the slider. The first rotating joint and the second rotating joint are installed together by a second thrust ball bearing and a pin. The second rotating joint and the third rotating joint are installed together by a second thrust ball bearing and a pin.

[0014] The hip joint cable pulling mechanism includes an end connecting rod, a second screw locking ring, a second side bearing, a second support seat, a third thrust ball bearing, a second cable reel, and a second rotating shaft. The end connecting rod is connected to a third rotating pair via 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 side bearing, the second support seat, the third thrust ball bearing, and the second cable reel are sequentially installed on the second rotating shaft.

[0015] The thigh mechanism includes a connecting rod, a connecting device, and a binding device. The connecting rod is mounted on the second rotating shaft of the hip joint cable mechanism. The connecting device is formed by connecting blocks connected in series at both ends. The first connecting block is connected to the connecting rod by screws, and the last connecting block is fixed to the binding device by screws.

[0016] It also includes a wire rope, one end of which passes through a winding reel, a first winding reel, and a second winding reel, respectively.

[0017] In the above structure: the active dual-degree-of-freedom hip joint walking assistive exoskeleton device proposed in this invention includes a back structure, on which identical adjustment structures are symmetrically installed left and right. The adjustment structures include an adjustment mechanism, a back cable mechanism, a chain-link mechanism, a hip joint cable mechanism, and a thigh mechanism.

[0018] The back structure includes a back plate, a back panel, a drive motor, and a winding reel. The back plate is fixed to the back panel. When in use, the back of the human body is pressed against the back panel. The drive motor is installed on both sides of the back plate in a symmetrical arrangement. The winding reel is fixed to the output end of the drive motor. The output end of the drive motor controls the rotation of the winding reel, thereby driving the rotation of the wire rope on the winding reel, the first winding reel, and the second winding reel.

[0019] The adjustment mechanism includes a horizontal adjustment device and a vertical adjustment device for adjusting the width and height to suit the user's height and body width. The horizontal adjustment device is connected to the back panel, and one end of the vertical adjustment device is connected to the horizontal adjustment device. When the horizontal adjustment device is adjusted to the width suitable for the user's body width, the horizontal adjustment device is limited by inserting a bolt into the horizontal limiting hole. When the vertical adjustment device is adjusted to the height suitable for the user's height, the vertical adjustment device is limited by inserting a bolt into the vertical limiting hole, so as to suit users of different heights and body widths.

[0020] The back-pull mechanism includes a first rotating shaft, a first winding reel, a first thrust ball bearing, a first support seat, a first edge bearing, and a first screw locking retaining ring. The first support seat is installed at the other end of the vertical adjustment device. The first rotating shaft is fixed to the first winding reel by screws. The first winding reel, the first thrust ball bearing, the first support seat, the first edge 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-pull mechanism serves as a transfer mechanism to realize the transmission of the wire rope between the winding reel and the second winding reel.

[0021] The chain-type serial mechanism includes a guide rail mounting plate, a tension spring mounting seat, a guide rail, a slider, a first rotating joint, a second rotating joint, a third rotating joint, and a second thrust ball bearing. The guide rail mounting plate is installed between a first support seat and a first screw locking ring. The tension spring mounting seat is installed on the side of the guide rail mounting plate near the first support seat. The guide rail is installed on the guide rail mounting plate. The slider is slidably installed on the guide rail. The first rotating joint is installed on the slider. The first and second rotating joints are installed together by the second thrust ball bearing and a pin. The second and third rotating joints are installed together by the second thrust ball bearing and a pin. Through the chain-type serial mechanism, this application can adjust the tension spring length according to the movement of the human hip joint to achieve better fit performance.

[0022] The hip joint cable pulling mechanism includes an end connecting rod, a second screw locking ring, a second side bearing, a second support seat, a third thrust ball bearing, a second reel, and a second rotating shaft. The end connecting rod is connected to a third rotating pair via 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 side bearing, the second support seat, the third thrust ball bearing, and the second reel 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 reel, the multi-rotation center alignment between the exoskeleton hip joint and the human hip joint can be achieved.

[0023] The thigh mechanism includes a connecting rod, a connecting device, and a binding device. The connecting rod is mounted on the second rotating shaft of the hip joint cable mechanism. The connecting device is formed by multiple connecting blocks connected in series. The first connecting block is connected to the connecting rod by screws, and the last connecting block is fixed to the binding device by screws. In use, the multiple soft connecting blocks can adapt to the thigh size, thereby achieving a better fit to the thigh.

[0024] As a preferred embodiment of the present invention, the back structure further includes a battery module, which is respectively installed in the middle and upper part of the back plate, and the battery module is connected to the drive motor to supply power to it.

[0025] In the above structure, there are multiple battery modules, which are rechargeable battery modules. After being fully charged, they can provide power to the drive motor for a long time, ensuring the normal operation of the drive motor.

[0026] As a preferred embodiment of the present invention, the back structure further includes a first wire rope limiter, which is installed on the outside of the output end of the drive motor.

[0027] In the above structure: two first wire rope limiters are symmetrically arranged, located on the outside of the output end of the drive motor, to limit and protect the wire rope and prevent it from deviating during operation.

[0028] As a preferred technical solution of the present invention: the back structure further 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 for fixation.

[0029] In the above structure, there are two symmetrical exoskeleton connection mounting blocks, which are vertically fixed to the lower part of the back plate to facilitate the installation and fixation of the horizontal adjustment device.

[0030] As a preferred technical solution of the present invention: the back panel is configured as a curved structure and fits tightly against the back of the human body.

[0031] In the above structure: In order for the back panel to fit snugly against the human back, the back panel is designed with a curved structure, which will make it more comfortable for the user.

[0032] As a preferred embodiment of the present invention: the horizontal adjustment device includes a horizontal adjustment rod and a horizontal connecting rod, and the vertical adjustment device includes a vertical connecting rod and a vertical adjustment rod. One end of the horizontal adjustment rod is mounted on the back plate, and one end of the horizontal connecting rod is mounted in the other end of the horizontal adjustment rod. The horizontal limiting hole is provided 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 mounted on the vertical connecting rod, and the vertical limiting hole is provided on the side of the vertical adjustment rod.

[0033] As a preferred embodiment of the present invention, the horizontal adjusting rod, the horizontal connecting rod, the vertical connecting rod, and the vertical adjusting rod are all provided with internal threaded holes.

[0034] In the above structure: the horizontal connecting rod is used to connect and fix the vertical connecting rod. The width of this application can be adjusted by the horizontal adjusting rod to suit the body width of different users. The vertical connecting rod is used to install and fix the vertical adjusting rod. The height of this application can be adjusted by the vertical adjusting rod to suit the height of different users, thus achieving the universality of this application. The internal threaded holes on the horizontal adjusting rod, the horizontal connecting rod, the vertical connecting rod, and the vertical adjusting rod are for facilitating the connection and fixation of the four components.

[0035] As a preferred embodiment of the present invention, the hip joint cable pulling mechanism further includes a second wire rope limiter, which is installed on the outside of the end connecting rod.

[0036] 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 and prevent it from deviating during operation.

[0037] As a preferred technical solution of the present invention: four connecting blocks are provided, and the four connecting blocks are connected in series by pins to form a connecting device. The first connecting block is fixedly connected to the connecting rod, and the last connecting block is fixedly connected to the binding device.

[0038] In the above structure, multiple connecting blocks are provided, which are fixed in series by pins. In use, the multiple connecting blocks can adapt to the thigh size to achieve a better fit with the thigh.

[0039] As a preferred embodiment of the present invention: the binding device includes a binding strap, and the binding strap is provided with Velcro for fixing.

[0040] In the above structure: the binding device is used to fix the application to the user's body, and it includes a binding strap. After the user adjusts the application, the application can be fixed to the body by the Velcro on the binding strap.

[0041] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0042] 1. This invention can change the size of the adjustment mechanism according to people of different heights and body types, thus achieving versatility.

[0043] 2. The hip joint of the present invention has two degrees of freedom, which can realize the alignment of multiple rotation centers between the exoskeleton hip joint and the human hip joint, and the chain-like serial mechanism of the hip joint can adjust the length of the tension spring according to the movement of the human hip joint, so as to achieve better fit performance.

[0044] 3. The thigh mechanism of the present invention can adapt to the thigh size through the set connecting block, thereby achieving a better fit with the thigh part.

[0045] In summary, the active dual-degree-of-freedom hip joint walking assistive exoskeleton device of the present invention has a simple and adjustable structure, is comfortable and convenient to wear, and features multiple rotation centers to achieve alignment with the hip joint. The thigh part is composed of connecting blocks to fit snugly against the thigh, ensuring both assistive effect and high fit, and has broad application prospects. Attached Figure Description

[0046] Figure 1 A schematic diagram of the overall structure of an active dual-degree-of-freedom hip joint walking assistive exoskeleton device;

[0047] Figure 2 A schematic diagram of the side structure of the back structure;

[0048] Figure 3 This is a schematic diagram of the rear structure of the back structure;

[0049] Figure 4 This is a schematic diagram of the adjustment mechanism;

[0050] Figure 5 This is a schematic diagram of the explosion of the back pull wire mechanism;

[0051] Figure 6 This is a schematic diagram of a chain-type serial mechanism.

[0052] Figure 7 This is a schematic diagram of an explosion of a hip joint mechanism.

[0053] Figure 8 This is a schematic diagram of the thigh mechanism;

[0054] List of identifiers in attached diagrams:

[0055] 1. Back Structure; 101. Back Panel; 102. Back Panel; 103. Drive Motor; 104. Battery Module; 105. Winding Reel; 106. First Steel 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 Cable Pulling Mechanism; 301. First Rotating Shaft; 302. First Winding Reel; 303. First Thrust Ball Bearing; 304. First Support Seat; 305. First Edge Bearing; 306. First Screw Locking Retaining Ring; 4. Chain Series Mechanism; 401. Guide Rail Mounting 402. Mounting plate; 403. Spring mounting base; 404. Guide rail; 405. Slider; 406. First rotating joint; 407. Second rotating joint; 408. Third rotating joint; 409. Second thrust ball bearing; 5. Hip joint cable pulling mechanism; 501. End connecting rod; 502. Second wire rope limiter; 503. Second screw locking retaining ring; 504. Second side bearing; 505. Second support base; 506. Third thrust ball bearing; 507. Second winding reel; 508. Second rotating shaft; 509. Fourth thrust ball bearing; 6. Thigh mechanism; 601. Connecting rod; 602. Connecting block; 603. Binding device. Detailed Implementation

[0056] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0057] like Figure 1-8 As shown, the active dual-degree-of-freedom hip joint walking assistive exoskeleton device proposed in this invention includes a back structure 1. On the back structure 1, identical adjustment structures are symmetrically installed on the left and right sides. Each adjustment structure includes an adjustment mechanism 2, a back cable pulling mechanism 3, a chain-connected mechanism 4, a hip joint cable pulling mechanism 5, and a thigh mechanism 6. The back structure 1 includes a back plate 102, a drive motor 103, and a winding reel 105. The back plate 102 is fixedly connected to the back plate 101. The drive motor 103 is symmetrically distributed on both sides of the outer side of the back plate 102. The winding reel 105 is fixedly connected to the output end of the drive motor 103.

[0058] The adjustment mechanism 2 includes a horizontal adjustment device and a vertical adjustment device for adjusting the width and height to suit the user's height and body width. The horizontal adjustment device is connected to the back plate 102 and has a horizontal limiting hole. One end of the vertical adjustment device is connected to the horizontal adjustment device and has a vertical limiting hole. When the horizontal adjustment device is adjusted to the width suitable for the user's body width, a bolt is inserted into the horizontal limiting hole to limit the horizontal adjustment device. When the vertical adjustment device is adjusted to the height suitable for the user's height, a bolt is inserted into the vertical limiting hole to limit the vertical adjustment device.

[0059] The back cable pulling mechanism 3 includes a first rotating shaft 301, a first winding reel 302, a first thrust ball bearing 303, a first support base 304, a first edge bearing 305, and a first screw locking ring 306. The first support base 304 is installed at the other end of the vertical adjustment device. The first rotating shaft 301 is fixedly connected to the first winding reel 302 by screws. The first winding reel 302, the first thrust ball bearing 303, the first support base 304, the first edge bearing 305, and the first screw locking ring 306 are sequentially installed on the first rotating shaft 301. The first screw locking ring 306 is locked by screws.

[0060] The chain-type serial 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 joint 405, a second rotating joint 406, a third rotating joint 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 the side near 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 joint 405 is installed on the slider 404. The first rotating joint 405 and the second rotating joint 406 are installed together by the second thrust ball bearing 408 and a pin. The second rotating joint 406 and the third rotating joint 407 are installed together by the second thrust ball bearing 408 and a pin.

[0061] The hip joint cable pulling mechanism 5 includes an end connecting rod 501, a second screw locking retaining ring 503, a second side bearing 504, a second support seat 505, a third thrust ball bearing 506, a second winding reel 507, and a second rotating shaft 508. The end connecting rod 501 is connected to a third rotating pair 407 via 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 retaining ring 503, the second side bearing 504, the second support seat 505, the third thrust ball bearing 506, and the second winding reel 507 are sequentially installed on the second rotating shaft 508.

[0062] The thigh mechanism 6 includes 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 cable mechanism 5. The connecting device is formed by connecting blocks 602 connected in series at both ends. The first connecting block 602 is connected to the connecting rod 601 by screws, and the last connecting block 602 is fixed to the binding device 603 by screws.

[0063] It also includes a steel wire rope, one end of which passes through a winding reel 105, a first winding reel 302, and a second winding reel 507 respectively.

[0064] The back structure 1 also includes a battery module 104, which is installed in the middle and upper parts of the back plate 102, respectively. The battery module 104 is connected to the drive motor 103 to supply power. The back structure 1 also includes a first steel 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 mounting block 107, which is fixedly installed on the lower part of the back plate 102. The horizontal adjustment device is fixed on the exoskeleton connection mounting block 107 for fixation. The back plate 101 is designed with a curved structure to fit snugly against the back of the human body. The horizontal adjustment device includes a horizontal adjustment rod 201 and a horizontal connecting rod 202. 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. A horizontal limiting hole is provided 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 a vertical limiting hole is provided on the side of the vertical adjustment rod 204. Each of the horizontal adjustment rod 201, horizontal connecting rod 202, vertical connecting rod 203, and vertical adjustment rod 204 has an internal threaded hole. The hip joint cable mechanism 5 also includes a second wire rope limiter 502, which is installed on the outside of the end connecting rod 501. Four connecting blocks 602 are provided, and the four connecting blocks 602 are connected in series by pins to form a connecting device. The first connecting block 602 is fixedly connected to the connecting rod 601, and the last connecting block 602 is fixedly connected to the binding device 603. The binding device 603 includes a binding strap, and the binding strap is provided with Velcro for fixing.

[0065] In this embodiment: The active dual-degree-of-freedom hip joint walking assistive exoskeleton device proposed in this invention includes a back structure 1, on which identical adjustment structures are symmetrically installed. The adjustment structures include an adjustment mechanism 2, a back cable mechanism 3, a chain-connected mechanism 4, a hip joint cable mechanism 5, and a thigh mechanism 6.

[0066] The back structure 1 includes a back plate 101, a back plate 102, a drive motor 103, and a winding reel 105. The back plate 102 is fixed to the back plate 101. In use, the back of the human body is pressed against the back plate 101. The drive motor 103 is installed on both sides of the back plate 102 in a symmetrical distribution. The winding reel 105 is fixed to the output end of the drive motor 103. The output end of the drive motor 103 controls the rotation of the winding reel 105, thereby driving the rotation of the wire rope on the winding reel 105, the first winding reel 302, and the second winding reel 507.

[0067] The adjustment mechanism 2 includes a horizontal adjustment device and a vertical adjustment device for adjusting the width and height to suit the user's height and body width. 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 the width suitable for the user's body width, the horizontal adjustment device is limited by inserting a bolt into the horizontal limiting hole. When the vertical adjustment device is adjusted to the height suitable for the user's height, the vertical adjustment device is limited by inserting a bolt into the vertical limiting hole, so as to suit users of different heights and body widths.

[0068] The back-pull mechanism 3 includes a first rotating shaft 301, a first winding reel 302, a first thrust ball bearing 303, a first support seat 304, a first edge bearing 305, and a first screw locking 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 winding reel 302 by screws. The first winding reel 302, the first thrust ball bearing 303, the first support seat 304, the first edge bearing 305, and the first screw locking ring 306 are sequentially installed on the first rotating shaft 301. The first screw locking ring 306 is locked by screws. The back-pull mechanism 3 serves as a transfer mechanism to realize the transmission of the wire rope between the winding reel 105 and the second winding reel 507.

[0069] The chain-type serial 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 joint 405, a second rotating joint 406, a third rotating joint 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 the side near 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 joint 405 is installed on the slider 404. The first rotating joint 405 and the second rotating joint 406 are installed together by the second thrust ball bearing 408 and a pin. The second rotating joint 406 and the third rotating joint 407 are installed together by the second thrust ball bearing 408 and a pin. By setting the chain-type serial mechanism 4, this application can adjust the length of the tension spring according to the movement of the human hip joint, thereby achieving better fit performance.

[0070] The hip joint cable pulling mechanism 5 includes an end connecting rod 501, a second screw locking retaining ring 503, a second side bearing 504, a second support seat 505, a third thrust ball bearing 506, a second winding 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 retaining ring 503, the second side bearing 504, the second support seat 505, the third thrust ball bearing 506, and the second winding 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 winding reel 507, the multi-rotation center alignment between the exoskeleton hip joint and the human hip joint can be achieved.

[0071] The thigh mechanism 6 includes 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 cable mechanism 5. The connecting device is formed by multiple connecting blocks 602 connected in series at their ends. The first connecting block 602 is connected to the connecting rod 601 by screws, and the last connecting block 602 is fixed to the binding device 603 by screws. In use, the multiple soft connecting blocks 602 can adapt to the thigh size, thereby achieving a better fit with the thigh.

[0072] In this embodiment, multiple battery modules 104 are provided, which are rechargeable battery modules 104. After being fully charged, they can provide power to the drive motor 103 for a long time, ensuring the normal operation of the drive motor 103.

[0073] In this embodiment, two first wire rope limiters 106 are symmetrically arranged, located on the outside of the output end of the drive motor 103, to limit and protect the wire rope and prevent it from deviating during operation.

[0074] In this embodiment, two exoskeleton connection mounting blocks 107 are symmetrically arranged. The two exoskeleton connection mounting blocks 107 are vertically fixed to the lower part of the back plate 102, which facilitates the installation and fixation of the horizontal adjustment device.

[0075] In this embodiment: In order for the back panel 101 to fit snugly against the back of the human body, the back panel 101 is designed with a curved structure, which will make it more comfortable for the user.

[0076] In this embodiment: the horizontal connecting rod 202 is used to connect and fix the vertical connecting rod 203. The width of this application can be adjusted by the horizontal adjusting rod 201 to suit the body width of different users. The vertical connecting rod 203 is used to install and fix the vertical adjusting rod 204. The height of this application can be adjusted by the vertical adjusting rod 204 to suit the height of different users, thus achieving the universality of this application. The internal threaded holes on the horizontal adjusting rod 201, the horizontal connecting rod 202, the vertical connecting rod 203, and the vertical adjusting rod 204 are for the purpose of facilitating the connection and fixation of the four components.

[0077] In this embodiment, two second wire rope limiters 502 are symmetrically arranged and installed on the outside of the end connecting rod 501 to limit and protect the wire rope and prevent it from deviating during operation.

[0078] In this embodiment, multiple connecting blocks 602 are provided and are fixed in series by pins. In use, the multiple connecting blocks 602 can adapt to the thigh size to achieve a better fit with the thigh.

[0079] In this embodiment: the binding device 603 is used to fix the application to the user's body. It includes a binding strap. After the user adjusts the application, the application can be fixed to the body by the Velcro on the binding strap.

[0080] The beneficial effects of this invention are as follows:

[0081] 1. This invention can provide appropriate assist torque to the hip joint during human movement, and can learn and predict the output torque of the hip joint to improve the assist effect.

[0082] 2. This invention can adjust the size of the length adjustment mechanism according to people of different heights and body types, thus achieving versatility.

[0083] 3. The hip joint of the present invention has three degrees of freedom, which can realize the alignment of multiple rotation centers between the exoskeleton hip joint and the human hip joint, and the chain-type serial 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 fit performance.

[0084] 4. The thigh mechanism 6 of the present invention, through the provided connecting block 602, can adapt to the thigh size, thereby achieving a better fit with the thigh part.

[0085] In summary, the active dual-degree-of-freedom hip joint walking assistive exoskeleton device of the present invention has a simple and adjustable structure, is comfortable and convenient to wear, and features multiple rotation centers to achieve alignment with the hip joint. The thigh part is composed of multiple soft-connected connecting blocks 602 to fit snugly against the thigh. While ensuring the assistive effect, it also has a high degree of fit and has broad application prospects.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any modifications or equivalent changes made based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. An active dual-degree-of-freedom hip joint walking assistive exoskeleton device, characterized in that: The back structure (1) includes a back structure, on which the same adjustment structure is symmetrically installed on the left and right sides. The adjustment structure includes an adjustment mechanism (2), a back cable pulling mechanism (3), a chain-connected mechanism (4), a hip joint cable 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 reel (105). The back plate (102) is fixed to the back plate (101). The drive motor (103) is installed on both sides of the back plate (102) in a symmetrical distribution. The winding reel (105) is fixed 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 user's height and body width. The horizontal adjustment device is connected to the back plate (102) and has a horizontal limiting hole. One end of the vertical adjustment device is connected to the horizontal adjustment device and has a vertical limiting hole. When the horizontal adjustment device is adjusted to the width suitable for the user's body width, the bolt is inserted into the horizontal limiting hole to limit the horizontal adjustment device. When the vertical adjustment device is adjusted to the height suitable for the user's height, the bolt is inserted into the vertical limiting hole to limit the vertical adjustment device. The back cable pulling mechanism (3) includes a first rotating shaft (301), a first winding reel (302), a first thrust ball bearing (303), a first support seat (304), a first edge 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 winding reel (302) by screws. The first winding reel (302), the first thrust ball bearing (303), the first support seat (304), the first edge 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 chain-type serial 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 joint (405), a second rotating joint (406), a third rotating joint (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) near the first support seat. On one side of (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 by a second thrust ball bearing (408) and a pin, and the second rotating pair (406) and the third rotating pair (407) are mounted together by a second thrust ball bearing (408) and a pin; The hip joint cable pulling mechanism (5) includes an end connecting rod (501), a wire rope limiter (502), a second screw locking retainer (503), a second side bearing (504), a second support seat (505), a third thrust ball bearing (506), a second winding 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 wire rope limiter (502) is installed on the outside of the end connecting rod (501). The second support seat (505) is installed at the end of the end connecting rod (501). The second screw locking retainer (503), the second side bearing (504), the second support seat (505), the third thrust ball bearing (506), and the second winding reel (507) are sequentially installed on the second rotating shaft (508). The thigh mechanism (6) includes 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 cable mechanism (5). The connecting device is formed by connecting blocks (602) connected in series at both ends. The first connecting block (602) is connected to the connecting rod (601) by screws, and the last connecting block (602) is fixed to the binding device (603) by screws. It also includes a wire rope, one end of which passes through a winding reel (105), a first winding reel (302), and a second winding reel (507).

2. The active dual-degree-of-freedom hip joint walking assistive exoskeleton device according to claim 1, characterized in that: The back structure (1) also includes a battery module (104), which is installed in the middle and upper part of the back plate (102) respectively, and the battery module (104) is connected to the drive motor (103) to supply power to it.

3. The active dual-degree-of-freedom hip joint walking assistive exoskeleton device according to claim 1, characterized in that: 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).

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

5. The active dual-degree-of-freedom hip joint walking assistive exoskeleton device according to claim 1, characterized in that: The back panel (101) is configured as a curved structure and fits snugly against the back of the human body.

6. The active dual-degree-of-freedom hip joint walking assistive exoskeleton device according to claim 1, characterized in that: 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 limiting hole is provided 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 provided on the side of the vertical adjustment rod (204).

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

8. The active dual-degree-of-freedom hip joint walking assistive exoskeleton device according to claim 1, characterized in that: The hip joint cable mechanism (5) further includes a second wire rope limiter (502), which is installed on the outside of the end connecting rod (501).

9. The active dual-degree-of-freedom hip joint walking assistive exoskeleton device according to claim 1, characterized in that: The connecting block (602) is provided in four parts. The four connecting blocks (602) are connected in series by pins to form a connecting device. The first connecting block (602) is fixedly connected to the connecting rod (601), and the last connecting block (602) is fixedly connected to the binding device (603).

10. The active dual-degree-of-freedom hip joint walking assistive exoskeleton device according to claim 1, characterized in that: The binding device (603) includes binding straps with Velcro straps for securing the device.

Images