Hip joint exoskeleton mechanism

Abstract

The invention discloses a hip joint exoskeleton mechanism, and relates to the technical field of power-assisted exoskeleton robotics.The hip joint exoskeleton mechanism comprises a waistband and an auxiliary mechanism, the auxiliary mechanism comprises a driving device and an exoskeleton, and the exoskeleton comprises a first adjusting assembly, a second adjusting assembly and a dislocation compensation assembly; the dislocation compensation assembly comprises a hip joint guide rail, a first fixing block, a sliding block, a first elastic piece and a binding piece, the hip joint guide rail is connected with the second adjusting assembly, the first fixing block is arranged on the hip joint guide rail, the sliding block is movably installed on the hip joint guide rail, the two ends of the first elastic piece are connected with the first fixing block and the sliding block respectively, and the binding piece is connected with the sliding block; the second adjusting assembly is rotatably mounted on the first adjusting assembly; the driving device is in transmission connection with the first adjusting assembly; the dislocation between the human body and the exoskeleton is dynamically compensated through the dislocation compensation assembly in the human body movement process, so that the exoskeleton better fits the human body movement, and the comfort of a user wearing the exoskeleton is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power-assisted exoskeleton robots, and in particular to a hip joint exoskeleton mechanism. Background Art

[0002] Exoskeleton technology is an auxiliary device for the human body, which improves daily life performance by assisting human movement. In this field, exoskeleton technology can enhance human-computer interaction capabilities through control strategy design, motion trajectory planning and intention recognition. After the existing exoskeleton is installed and used normally for a period of time, the user will feel uncomfortable, so the user has to adjust and reinstall the exoskeleton. Summary of the invention

[0003] The main purpose of the present invention is to propose a hip joint exoskeleton mechanism, aiming to solve the technical problem of how to improve the comfort of users wearing the exoskeleton.

[0004] To achieve the above-mentioned purpose, the hip joint exoskeleton mechanism proposed in the present invention comprises: belt; An auxiliary mechanism, the auxiliary mechanism comprising a driving device and an exoskeleton, the driving device is connected to the waist belt, and the exoskeleton comprises a first adjustment component, a second adjustment component and a misalignment compensation component; The misalignment compensation component includes a hip joint guide rail, a first fixed block, a slider, a first elastic member and a binding member, the hip joint guide rail is connected to the second adjustment component, the first fixed block is arranged on the hip joint guide rail, the slider is movably mounted on the hip joint guide rail, one end of the first elastic member is connected to the first fixed block, the other end of the first elastic member is connected to the slider, the binding member is connected to the slider, and the binding member is used to be bound to the thigh of a human body; The second adjustment component is rotatably mounted on the first adjustment component to abduct or adduct the human hip joint; the driving device is transmission-connected to the first adjustment component so that the driving device drives the human hip joint to flex or extend through the first adjustment component, the second adjustment component and the misalignment compensation component.

[0005] In one embodiment, the hip joint exoskeleton mechanism also includes a laser ranging sensor and a measuring piece, wherein the laser ranging sensor is arranged on the hip joint guide rail, and the measuring piece is arranged on the side of the slider away from the binding piece, and the light emitting side of the laser ranging sensor is arranged toward the measuring piece, and the laser ranging sensor is used to measure the distance between the laser ranging sensor and the measuring piece.

[0006] In one embodiment, the hip joint exoskeleton mechanism further includes a control system, and the laser ranging sensor and the drive device are both communicatively connected to the control system; When the hip joint of the human body is in an upright state, the measurement value measured by the laser ranging sensor is an initial value; When the hip joint of the human body changes from the upright state to the flexed state, the first measurement value of the laser ranging sensor is less than the initial value, and the control system adjusts the output shaft of the driving device to rotate in a first direction and adjusts the output torque of the driving device according to the first measurement value; When the human body's hip joint changes from the upright state to the extended state, the second measurement value of the laser ranging sensor is greater than the initial value, and the control system adjusts the output shaft of the drive device to rotate in a second direction and adjusts the output torque of the drive device according to the second measurement value, and the first direction is opposite to the second direction.

[0007] In one embodiment, the hip joint exoskeleton mechanism further includes an acceleration sensor, a gyroscope, an angle sensor and a delay adjustment module, and the acceleration sensor, the gyroscope, the angle sensor and the delay adjustment module are all communicatively connected to the control system.

[0008] In one embodiment, the laser ranging sensor is detachably connected to the hip joint guide rail; and the first fixing block is detachably connected to the hip joint guide rail.

[0009] In one embodiment, the hip joint guide rail is provided with a plurality of first mounting hole groups, the plurality of first mounting hole groups are sequentially spaced apart along the length direction of the hip joint guide rail, each of the first mounting hole groups includes at least one first through hole, the laser ranging sensor is provided with a threaded hole, and the hip joint exoskeleton mechanism further includes a first bolt, and the first bolt passes through the first through hole and is threadedly connected with the threaded hole; The hip joint guide rail is provided with a plurality of second mounting hole groups, which are arranged in sequence along the length direction of the hip joint guide rail, each of the second mounting hole groups includes at least one second through hole, the first fixing block is provided with a third through hole, and the hip joint exoskeleton mechanism also includes a second bolt, which passes through the second through hole and the third through hole and is threadedly connected to a fixing nut.

[0010] In one embodiment, the misalignment compensation assembly also includes a second fixed block and a second elastic member, the second fixed block is arranged on the hip joint guide rail, and the first fixed block, the slider and the second fixed block are arranged in sequence along the length direction of the hip joint guide rail, one end of the second elastic member is connected to an end of the slider away from the first fixed block, and the other end of the second elastic member is connected to the second fixed block.

[0011] In one embodiment, the misalignment compensation assembly also includes a guide column, which includes a limit head and a column body, one end of the column body is connected to the limit head, and the other end of the column body is provided with an external thread, the first fixed block is provided with a step hole, the slider and the second fixed block are respectively provided with a guide hole and a connecting hole, the limit head abuts against the step surface of the step hole to limit the movement of the limit head in a direction close to the second fixed block, the column body passes through the step hole, the guide hole and the connecting hole, the external thread is threadedly connected to a fastening nut, and the fastening nut is located on the side of the second fixed block away from the first fixed block.

[0012] In one embodiment, the first elastic member includes a first spring, the second elastic member includes a second spring, and the first spring and the second spring are both wound around the periphery of the guide column.

[0013] In one embodiment, the number of the exoskeletons is two, and the two exoskeletons are arranged at intervals.

[0014] The technical solution of the present invention is to be tied to the waist of the human body through a belt, to the thigh of the human body through a binding piece, and to the thigh of the human body through a driving device through a first adjustment component, a second adjustment component and a misalignment compensation component, thereby assisting the hip joint to perform flexion or extension movements, and to provide a guarantee for the hip joint to achieve abduction or adduction through the second adjustment component. The slider is movably installed on the hip joint guide rail, one end of the first elastic member is connected to the slider, the other end of the first elastic member is connected to the first fixed block, and the binding piece is connected to the slider, thereby dynamically compensating for the misalignment between the human body and the exoskeleton during human movement, making the exoskeleton more fit to the human body movement and improving the comfort of the user wearing the exoskeleton. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0016] Figure 1A schematic diagram of the misalignment between the existing hip joint exoskeleton and the human body; Figure 2 A schematic structural diagram of an embodiment of a hip joint exoskeleton mechanism provided by the present invention; Figure 3 A schematic structural diagram of an embodiment of a misalignment compensation assembly provided by the present invention; Figure 4 A schematic structural diagram of another embodiment of a misalignment compensation assembly provided by the present invention; Figure 5 This is a schematic diagram of the exploded structure of an embodiment of the hip joint exoskeleton mechanism provided by the present invention.

[0017] Description of Figure Numbers: 100, hip joint exoskeleton mechanism; 1, waist belt; 2, auxiliary mechanism; 21, driving device; 22, exoskeleton; 221, first adjustment component; 222, second adjustment component; 223, misalignment compensation component; 2231, hip joint guide rail; 22311, first mounting hole group; 22312, first through hole; 22313, second mounting hole group; 22314, second through hole; 2232, first fixing block; 22321, third through hole; 22322, stepped hole; 2233, slider; 22331, guide hole; 2234, first elastic member; 2235, binding member; 2236, second fixing block; 22361, connecting hole; 2237, second elastic member; 2238, guide column; 22381, limit head; 22382, column body; 3, laser ranging sensor; 4, measuring member; 51, first bolt; 52, second bolt; 6, fixing nut; 7, tightening nut.

[0018] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0021] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0022] Exoskeleton technology is an auxiliary device for the human body, which improves daily life performance by assisting human movement. In this field, exoskeleton technology can enhance human-computer interaction capabilities through control strategy design, motion trajectory planning and intention recognition. After the existing exoskeleton is installed and used normally for a period of time, the user will feel uncomfortable, so the user has to adjust and reinstall the exoskeleton.

[0023] The inventors have found that if the exoskeleton joint axis is misaligned with the human joint anatomical axis, the exoskeleton will apply additional torque to cause relative translational movement of the skin, internal musculoskeletal system, and trunk, causing discomfort or even pain to the user. Among them, the human lower limb joints include the hip joint, knee joint, and ankle joint. The hip joint is mainly composed of the acetabulum and the femoral head, connecting the pelvis and femur, and has strong flexibility, which can realize the movement of the joint in different directions, such as flexion / extension, abduction / adduction, and internal rotation / external rotation.

[0024] See also Figure 1 , Figure 1 The figure is a schematic diagram of the misalignment between the existing hip joint exoskeleton and the human body. Before the movement starts, the hip joint exoskeleton robot and the human body's joints are in an aligned state. However, during the movement, due to the incomplete coordination of the physical human-machine connection interface at the waist, the belt will inevitably shift relative to the human waist (dx1), causing the power-assisted rotation center of the hip joint exoskeleton robot to be misaligned relative to the human body's joints (dx2). There will also be a displacement (dx3) at the physical human-machine connection interface in the thigh area. This offset may generate interface loads of up to 200N and 1.5Nm, causing obvious discomfort in the thigh area of ​​the human body where the exoskeleton is strapped.

[0025] The present invention proposes a hip joint exoskeleton mechanism, aiming to solve the technical problem of how to improve the comfort of users wearing the exoskeleton.

[0026] See also Figure 2 , Figure 3 and Figure 5 In one embodiment of the present invention, the hip joint exoskeleton mechanism 100 includes a waist belt 1 and an auxiliary mechanism 2, the auxiliary mechanism 2 includes a driving device 21 and an exoskeleton 22, the driving device 21 is connected to the waist belt 1, the exoskeleton 22 includes a first adjustment component 221, a second adjustment component 222 and a misalignment compensation component 223; the misalignment compensation component 223 includes a hip joint guide rail 2231, a first fixing block 2232, a slider 2233, a first elastic member 2234 and a binding member 2235, the hip joint guide rail 2231 is connected to the second adjustment component 222, the first fixing block 2232 is arranged on the hip joint guide rail 2231, and the slider 2233 is movable The first adjusting component 222 is rotatably mounted on the hip joint guide rail 2231, one end of the first elastic member 2234 is connected to the first fixed block 2232, the other end of the first elastic member 2234 is connected to the slider 2233, the binding member 2235 is connected to the slider 2233, and the binding member 2235 is used to be bound to the thigh of the human body; the second adjusting component 222 is rotatably mounted on the first adjusting component 221 so that the human hip joint can be abducted or adducted; the driving device 21 is transmission-connected to the first adjusting component 221, so that the driving device 21 can drive the human hip joint to flex or extend through the first adjusting component 221, the second adjusting component 222 and the dislocation compensation component 223.

[0027] The technical solution of the present invention is to bind the waist of the human body through the waist belt 1, and to bind the thigh of the human body through the binding piece 2235, and rely on the driving device 21 to drive the thigh to move through the first adjustment component 221, the second adjustment component 222 and the misalignment compensation component 223, so as to assist the hip joint to perform flexion or extension. The second adjustment component 222 can rotate relative to the first adjustment component 221 to provide a guarantee for the hip joint to achieve abduction or adduction. The slider 2233 is movably installed on the hip joint guide rail 2231, one end of the first elastic member 2234 is connected to the slider 2233, the other end of the first elastic member 2234 is connected to the first fixed block 2232, and the binding piece 2235 is connected to the slider 2233. During the movement of the human body, if the waist belt 1 is inevitably offset relative to the initial binding position, the waist belt 1 will drive the hip joint guide rail 2231 to move relative to the human body through the first adjustment component 221 and the second adjustment component 222, and the moving hip joint guide rail 2231 will be moved relative to the human body. Rail 2231 moves relative to slider 2233, and relies on slider 2233 to move relative to hip joint guide rail 2231, thereby ensuring that the binding position of binding member 2235 arranged on slider 2233 relative to the human body does not change, and the misalignment (dx3) between the human body and binding member 2235 is compensated, thereby reducing the discomfort caused by the misalignment of binding member 2235 and the human body due to the misalignment of waist belt 1 and the human body; by setting a first elastic member 2234, the position of slider 2233 relative to hip joint guide rail 2231 is dynamically adjusted, and the first elastic member 2234 drives the hip joint guide rail 2231, the second adjustment component 222, the first adjustment component 221 and the waist belt 1 to move, thereby compensating for the misalignment of waist belt 1 and the first adjustment component 221 in different positions, that is, reducing or eliminating the misalignment (dx1) between waist belt 1 and the human body and the misalignment (dx2) between driving device 21 and the human body, thereby improving the comfort of the user wearing exoskeleton 22.

[0028] For example, if the waist belt 1 deviates upward relative to its starting position during exercise, the waist belt 1 will drive the hip joint guide rail 2231 to move upward together through the first adjustment component 221 and the second adjustment component 222, resulting in a misalignment (dx1) between the waist belt 1 and the human body and a misalignment (dx2) between the driving device 21 and the human body. The slider 2233 slides with the hip joint guide rail 2231, so the hip joint guide rail 2231 will move upward relative to the slider 2233, and the position of the slider 2233 relative to the human body will not move, ensuring that the binding position of the binding piece 2235 set on the slider 2233 and the human body will not move, thereby eliminating the misalignment (dx3) between the binding piece 2235 and the thigh; the upward moving hip joint guide rail 2231 will drive the driving device 21 and the hip joint guide rail 2231 to move upward relative to the slider 2233. The first fixing block 2232 on the joint guide rail 2231 moves upward together. Since one end of the first elastic member 2234 is connected to the first fixing block 2232 and the other end is connected to the slider 2233, the first fixing block 2232 moves upward relative to the slider 2233, which will cause the first elastic member 2234 to stretch and elastically deform. The first fixing block 2232 will move downward under the elastic force of the first elastic member 2234, thereby driving the hip joint guide rail 2231 to move downward, and then driving the first adjustment component 221, the second adjustment component 222 and the waist belt 1 to move downward, thereby reducing or eliminating the misalignment (dx1) between the waist belt 1 and the human body and the misalignment (dx2) between the driving device 21 and the human body, realizing dynamic misalignment compensation between the human body and the exoskeleton 22, and improving the comfort of the user wearing the exoskeleton 22. In addition, the entire hip joint exoskeleton mechanism 100 has a relatively simple structure, so it has a smaller mass, and realizes dynamic misalignment compensation between the hip joint exoskeleton 22 and the human body during exercise in a lighter and more convenient way.

[0029] It should be noted that the driving device 21 can be a stepping motor or a reduction motor, etc., which is not limited here; the driving device 21 is used to drive the first adjustment component 221 to rotate around the x-axis to achieve hip flexion or extension, and the second adjustment component 222 can rotate around the y-axis relative to the first adjustment component 221 to achieve hip abduction or adduction. Figure 2The left and right directions shown are parallel, and the up and down directions, the left and right directions and the y-axis extension direction are arranged perpendicular to each other; a sliding groove can be arranged on the slider 2233, and a sliding rail that slides with the sliding groove can be arranged on the hip joint guide 2231 to achieve the sliding cooperation between the slider 2233 and the hip joint guide 2231. It can also be that a sliding hole is opened on the slider 2233, and the hip joint guide 2231 passes through the sliding hole and slides with the sliding hole to achieve the sliding cooperation between the slider 2233 and the hip joint guide 2231, which is not limited here; the second adjustment component 222 can be rotatably connected by shaft hole cooperation, or it can be rotatably connected by a bearing, which is also not limited here; the first elastic member 2234 can be a metal spring or a gas spring, which is also not limited here; the driving device 21 is transmission-connected to the first adjustment component 221, and the rotating shaft of the driving device 21 can be directly connected to the first adjustment component 221, or the driving device 21 drives the first adjustment component 221 to rotate through gear meshing transmission.

[0030] See also Figures 3 to 5 In one embodiment, the hip joint exoskeleton mechanism 100 further includes a laser distance sensor 3 and a measuring member 4. The laser distance sensor 3 is arranged on the hip joint guide rail 2231, and the measuring member 4 is arranged on the side of the slider 2233 away from the binding member 2235. The light emitting side of the laser distance sensor 3 is arranged toward the measuring member 4, and the laser distance sensor 3 is used to measure the distance between the laser distance sensor 3 and the measuring member 4. The laser distance sensor 3 is arranged to measure the distance between the laser distance sensor 3 and the measuring member 4 to obtain the displacement (dx3) of the misalignment compensation between the binding member 2235 and the hip joint guide rail 2231, thereby achieving the acquisition of the data at a lower cost. It should be noted that some experiments or electronic control equipment will use this data, and this embodiment obtains this data at a lower cost.

[0031] In one embodiment, the hip joint exoskeleton mechanism 100 further includes a control system (not shown), and the laser distance sensor 3 and the drive device 21 are both in communication connection with the control system; When the human body's hip joint is in an upright state, the measurement value measured by the laser distance sensor 3 is an initial value; When the human body's hip joint changes from an upright state to a flexed state, the first measurement value of the laser distance sensor 3 is less than the initial value, and the control system adjusts the output shaft of the driving device 21 to rotate in the first direction and adjusts the output torque of the driving device 21 according to the first measurement value; When the human body's hip joint changes from an upright state to an extended state, the second measurement value of the laser ranging sensor 3 is greater than the initial value, and the control system adjusts the output shaft of the drive device 21 to rotate in the second direction and adjusts the output torque of the drive device 21 according to the second measurement value. The first direction and the second direction are opposite. In this embodiment, the control system determines the gait cycle of the human body according to the change in the value measured by the laser ranging sensor 3, and then outputs the appropriate flexion or extension assist torque to better assist the user to complete the action. It should be noted that the second direction is Figure 2 A direction shown.

[0032] For example, when the human body's hip joint changes from an upright state to a flexed state, the first measurement value of the laser ranging sensor 3 is less than the initial value, that is, when the control system receives the information fed back by the laser ranging sensor 3 and recognizes that the first measurement value of the laser ranging sensor 3 is less than the initial value, the control system can understand that the user is performing a flexion action through the change in the value, and thus output a suitable flexion assist torque to assist the user in completing the action, thereby avoiding the phenomenon that the user feels obvious discomfort due to the output assist torque being inappropriate for the user's current action, and improving the comfort and convenience of the user wearing the exoskeleton 22. It should be noted that when the control system recognizes that the first measurement value of the laser ranging sensor 3 is less than the initial value, the greater the difference between the first measurement value and the initial value, the greater the output torque will be.

[0033] For example, when the human body's hip joint changes from an upright state to an extended state, the second measurement value of the laser ranging sensor 3 is greater than the initial value, that is, when the control system receives the feedback information from the laser ranging sensor 3 and recognizes that the second measurement value of the laser ranging sensor 3 is greater than the initial value, the control system can understand that the user is performing an extension action through the change in the value, and thus output a suitable extension assist torque to assist the user in completing the action, thereby avoiding the phenomenon that the user feels obvious discomfort due to the output assist torque being inappropriate for the user's current action, and improving the comfort and convenience of the user wearing the exoskeleton 22. It should be noted that when the control system recognizes that the second measurement value of the laser ranging sensor 3 is greater than the initial value, the greater the difference between the second measurement value and the initial value, the greater the output torque will be.

[0034] In one embodiment, the hip joint exoskeleton mechanism 100 further includes an acceleration sensor (not shown), a gyroscope (not shown), an angle sensor (not shown) and a delay adjustment module (not shown), and the acceleration sensor, gyroscope, angle sensor and delay adjustment module are all connected to the control system in communication. The acceleration sensor, gyroscope and angle sensor are used to obtain motion parameters (such as acceleration, angular velocity and angle), and to extract power characteristics (such as inclination, angular velocity, angular velocity difference, stride and step phase percentage). The hip joint exoskeleton mechanism 100 also includes a power calculation module, and the delay adjustment module adjusts the delay time according to the terrain slope, stride and step phase percentage, and then obtains the power characteristics after delay processing, so as to adjust the response speed of walking power relative to the motion parameters, achieve the effect of accelerating or delaying power, and enable the hip joint exoskeleton mechanism 100 to adapt to different walking conditions of the user. Finally, the power calculation module determines the power value to support the movement of the hip joint and enters the next control cycle.

[0035] See also Figures 3 to 5 In one embodiment, the laser ranging sensor 3 is detachably connected to the hip joint guide rail 2231; the first fixing block 2232 is detachably connected to the hip joint guide rail 2231. The laser ranging sensor 3 is detachably connected to the hip joint guide rail 2231, so as to facilitate the replacement and maintenance of the laser ranging sensor 3; the first fixing block 2232 is detachably connected to the hip joint guide rail 2231, so as to facilitate the replacement of the first fixing block 2232. It should be noted that the laser ranging sensor 3 can be snap-fitted with the hip joint guide rail 2231, or can be threadedly connected by screws, which is not limited here. Similarly, the first fixing block 2232 and the hip joint guide rail 2231 can be snap-fitted with each other, or can be threadedly connected by screws, which is also not limited here.

[0036] In one embodiment, the hip joint guide rail 2231 is provided with a plurality of first mounting hole groups 22311, and the plurality of first mounting hole groups 22311 are sequentially arranged at intervals along the length direction of the hip joint guide rail 2231, and each first mounting hole group 22311 includes at least one first through hole 22312, and the laser ranging sensor 3 is provided with a threaded hole, and the hip joint exoskeleton mechanism 100 also includes a first bolt 51, and the first bolt 51 passes through the first through hole 22312 and is threadedly connected with the threaded hole; the hip joint guide rail 2231 is provided with a plurality of second mounting hole groups 22313, and the plurality of second mounting hole groups 22313 are arranged in sequence along the length direction of the hip joint guide rail 2231, and each second mounting hole group 22313 includes at least one second through hole 22314, and the first fixing block 2232 is provided with a third through hole 22321. The hip joint exoskeleton mechanism 100 also includes a second bolt 52, and the second bolt 52 passes through the second through hole 22314 and the third through hole 22321 and is threadedly connected to the fixing nut 6. A plurality of first mounting hole groups 22311 are sequentially arranged along the length direction of the hip joint guide rail 2231, so that the user can adjust the position of the laser ranging sensor 3 as needed, wherein the number of the first through holes 22312 in each first mounting hole group 22311 is consistent with the number of the threaded holes and the number of the first bolts 51 and are arranged one-to-one, thereby ensuring the connection strength between the laser ranging sensor 3 and the hip joint guide rail 2231; a plurality of second mounting hole groups 22313 are sequentially arranged along the length direction of the hip joint guide rail 2231, so that the user can flexibly adjust the position of the first fixing block 2232 according to different binding positions, for example, binding the binding member 2235 to the upper / middle / lower part of the thigh, thereby facilitating the measurement of the influence of different binding positions on the wearing performance; wherein the number of the second through holes 22314 in each second mounting hole group 22313 is consistent with the number of the third through holes 22321 and the second bolts 52 and are arranged one-to-one, thereby improving the connection strength between the first fixing block 2232 and the hip joint guide rail 2231.

[0037] See also Figure 3 and Figure 5In one embodiment, the misalignment compensation component 223 further includes a second fixed block 2236 and a second elastic member 2237. The second fixed block 2236 is arranged on the hip joint guide rail 2231, and the first fixed block 2232, the slider 2233 and the second fixed block 2236 are arranged in sequence along the length direction of the hip joint guide rail 2231. One end of the second elastic member 2237 is connected to one end of the slider 2233 away from the first fixed block 2232, and the other end of the second elastic member 2237 is connected to the second fixed block 2236. By setting the second fixed block 2236 to cooperate with the first fixed block 2232, the travel of the slider 2233 is limited. By setting the second elastic member 2237 to cooperate with the first elastic member 2234, the misalignment (dx1) between the waist belt 1 and the human body and the misalignment (dx2) between the driving device 21 and the human body are reduced or eliminated. It should be noted that when the hip joint guide rail 2231 moves upward relative to the slider 2233, the first elastic member 2234 is stretched and the second elastic member 2237 is compressed, and the first elastic member 2234 and the second elastic member 2237 exert a downward force on the hip joint guide rail 2231, driving the hip joint guide rail 2231 to move downward. It should also be noted that the second elastic member 2237 can be a metal spring or a gas spring, which is not limited here.

[0038] In one embodiment, the misalignment compensation component 223 also includes a guide column 2238, which includes a limit head 22381 and a column body 22382. One end of the column body 22382 is connected to the limit head 22381, and the other end of the column body 22382 is provided with an external thread. The first fixed block 2232 is provided with a stepped hole 22322, and the slider 2233 and the second fixed block 2236 are respectively provided with a guide hole 22331 and a connecting hole 22361. The limit head 22381 abuts against the stepped surface of the step hole 22322 to limit the limit head 22381 from moving toward the direction approaching the second fixed block 2236. The column body 22382 passes through the stepped hole 22322, the guide hole 22331 and the connecting hole 22361, and the external thread is threadedly connected to the fastening nut 7, and the fastening nut 7 is located on the side of the second fixed block 2236 away from the first fixed block 2232. The guide column 2238 is provided to guide the movement of the slider 2233, thereby improving the stability of the movement of the slider 2233; the first fixed block 2232 is provided with a stepped hole 22322, and the limit head 22381 is located in the stepped hole 22322. The stepped hole 22322 is provided to limit the downward movement of the guide column 2238 relative to the first fixed block 2232, and the fastening nut 7 is threadedly connected with the external thread, thereby limiting the upward movement of the guide column 2238 relative to the second fixed block 2236. It should be noted that the number of the guide columns 2238 is multiple, and the first spring and the second spring are consistent with the number of the guide columns 2238 and are provided in a one-to-one correspondence.

[0039] In one embodiment, the first elastic member 2234 includes a first spring, the second elastic member 2237 includes a second spring, and the first spring and the second spring are both wound around the periphery of the guide column 2238. The first spring and the second spring are both wound around the periphery of the guide column 2238, which avoids the phenomenon that the first spring or the second spring is compressed and skewed, so that the first spring and the second spring can be stretched or compressed along the extension direction of the guide column 2238.

[0040] See also Figure 2 In one embodiment, there are two exoskeletons 22, and the two exoskeletons 22 are arranged at intervals. By arranging two exoskeletons 22, it is possible to better assist the user in moving or meet the needs of different groups of people.

[0041] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A hip joint exoskeleton mechanism, characterized in that: include: belt; An auxiliary mechanism, the auxiliary mechanism comprising a driving device and an exoskeleton, the driving device is connected to the waist belt, and the exoskeleton comprises a first adjustment component, a second adjustment component and a misalignment compensation component; The misalignment compensation component includes a hip joint guide rail, a first fixed block, a slider, a first elastic member and a binding member, the hip joint guide rail is connected to the second adjustment component, the first fixed block is arranged on the hip joint guide rail, the slider is movably mounted on the hip joint guide rail, one end of the first elastic member is connected to the first fixed block, the other end of the first elastic member is connected to the slider, the binding member is connected to the slider, and the binding member is used to be bound to the thigh of a human body; The second adjustment component is rotatably mounted on the first adjustment component to abduct or adduct the human hip joint; the driving device is transmission-connected to the first adjustment component so that the driving device drives the human hip joint to flex or extend through the first adjustment component, the second adjustment component and the misalignment compensation component.

2. The hip joint exoskeleton mechanism according to claim 1, characterized in that: The hip joint exoskeleton mechanism also includes a laser ranging sensor and a measuring piece. The laser ranging sensor is arranged on the hip joint guide rail, and the measuring piece is arranged on the side of the slider away from the binding piece. The light emitting side of the laser ranging sensor is arranged toward the measuring piece. The laser ranging sensor is used to measure the distance between the laser ranging sensor and the measuring piece.

3. The hip joint exoskeleton mechanism according to claim 2, characterized in that: The hip joint exoskeleton mechanism also includes a control system, and the laser ranging sensor and the driving device are both communicatively connected to the control system; When the hip joint of the human body is in an upright state, the measurement value measured by the laser ranging sensor is an initial value; When the hip joint of the human body changes from the upright state to the flexed state, the first measurement value of the laser ranging sensor is less than the initial value, and the control system adjusts the output shaft of the driving device to rotate in a first direction and adjusts the output torque of the driving device according to the first measurement value; When the human body's hip joint changes from the upright state to the extended state, the second measurement value of the laser ranging sensor is greater than the initial value, and the control system adjusts the output shaft of the drive device to rotate in a second direction and adjusts the output torque of the drive device according to the second measurement value, and the first direction is opposite to the second direction.

4. The hip joint exoskeleton mechanism according to claim 3, characterized in that: The hip joint exoskeleton mechanism also includes an acceleration sensor, a gyroscope, an angle sensor and a delay adjustment module. The acceleration sensor, the gyroscope, the angle sensor and the delay adjustment module are all connected to the control system for communication.

5. The hip joint exoskeleton mechanism according to claim 2, characterized in that: The laser distance measuring sensor is detachably connected to the hip joint guide rail; the first fixing block is detachably connected to the hip joint guide rail.

6. The hip joint exoskeleton mechanism according to claim 5, characterized in that: The hip joint guide rail is provided with a plurality of first mounting hole groups, the plurality of first mounting hole groups are sequentially spaced and arranged along the length direction of the hip joint guide rail, each of the first mounting hole groups includes at least one first through hole, the laser ranging sensor is provided with a threaded hole, and the hip joint exoskeleton mechanism further includes a first bolt, which passes through the first through hole and is threadedly connected with the threaded hole; The hip joint guide rail is provided with a plurality of second mounting hole groups, which are arranged in sequence along the length direction of the hip joint guide rail, each of the second mounting hole groups includes at least one second through hole, the first fixing block is provided with a third through hole, and the hip joint exoskeleton mechanism also includes a second bolt, which passes through the second through hole and the third through hole and is threadedly connected to a fixing nut.

7. The hip joint exoskeleton mechanism according to any one of claims 1 to 6, characterized in that: The misalignment compensation assembly also includes a second fixed block and a second elastic member, the second fixed block is arranged on the hip joint guide rail, and the first fixed block, the slider and the second fixed block are arranged in sequence along the length direction of the hip joint guide rail, one end of the second elastic member is connected to an end of the slider away from the first fixed block, and the other end of the second elastic member is connected to the second fixed block.

8. The hip joint exoskeleton mechanism according to claim 7, characterized in that: The misalignment compensation assembly also includes a guide column, which includes a limit head and a column body. One end of the column body is connected to the limit head, and the other end of the column body is provided with an external thread. The first fixed block is provided with a stepped hole, and the slider and the second fixed block are respectively provided with a guide hole and a connecting hole. The limit head abuts against the stepped surface of the stepped hole to limit the movement of the limit head toward the direction approaching the second fixed block. The column body passes through the stepped hole, the guide hole and the connecting hole, and the external thread is threadedly connected to a fastening nut. The fastening nut is located on the side of the second fixed block away from the first fixed block.

9. The hip joint exoskeleton mechanism according to claim 8, characterized in that: The first elastic member includes a first spring, the second elastic member includes a second spring, and the first spring and the second spring are both wound around the periphery of the guide column.

10. The hip joint exoskeleton mechanism according to any one of claims 1 to 6, characterized in that: The number of the exoskeletons is two, and the two exoskeletons are arranged at intervals.

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