Hip exoskeleton mechanism

Abstract

The present invention discloses a hip exoskeleton mechanism, which relates to the technical field of assistive exoskeleton robots. Among them, the hip exoskeleton mechanism includes a waistband and an auxiliary mechanism. The auxiliary mechanism includes a driving device and an exoskeleton. The exoskeleton includes 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 fixing 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 fixing block is arranged on the hip joint guide rail. The slider is movably installed on the hip joint guide rail. The two ends of the first elastic member are respectively connected to the first fixing block and the slider. The binding member is connected to the slider. The second adjustment component is rotatably installed on the first adjustment component. The driving device is in transmission connection with the first adjustment component. Through the misalignment compensation component, the misalignment between the human body and the exoskeleton during the human body movement is dynamically compensated, so that the exoskeleton fits the human body movement better and improves the comfort of the user wearing the exoskeleton.

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:

[0005] belt;

[0006] 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;

[0007] 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;

[0008] 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.

[0009] 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.

[0010] In one embodiment, the hip exoskeleton mechanism further includes a control system, and both the laser ranging sensor and the driving device are communicatively connected to the control system;

[0011] When the hip joint of the human body is in an upright state, the measured value measured by the laser ranging sensor is the initial value;

[0012] When the hip joint of the human body changes from the upright state to the flexion state, the first measured 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 the first direction and adjusts the magnitude of the output torque of the driving device according to the first measured value;

[0013] When the hip joint of the human body changes from the upright state to the extension state, the second measured value of the laser ranging sensor is greater than the initial value, and the control system adjusts the output shaft of the driving device to rotate in the second direction and adjusts the magnitude of the output torque of the driving device according to the second measured value, and the first direction and the second direction are opposite.

[0014] In one embodiment, the hip 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.

[0015] In one embodiment, the laser ranging sensor is detachably connected to the hip joint guide rail; the first fixing block is detachably connected to the hip joint guide rail.

[0016] In one embodiment, the hip joint guide rail is provided with a plurality of first mounting hole groups, and the plurality of first mounting hole groups are arranged at intervals in sequence along the length direction of the hip joint guide rail. Each first mounting hole group includes at least one first through hole. The laser ranging sensor is provided with a threaded hole. The hip exoskeleton mechanism further includes a first bolt, and the first bolt passes through the first through hole and is threadedly connected to the threaded hole;

[0017] The hip joint guide rail is provided with a plurality of second mounting hole groups, and the plurality of second mounting hole groups are arranged at intervals in sequence along the length direction of the hip joint guide rail. Each second mounting hole group includes at least one second through hole. The first fixing block is provided with a third through hole. The hip exoskeleton mechanism further includes a second bolt, and the second bolt passes through the second through hole and the third through hole and is threadedly connected to a fixing nut.

[0018] In one embodiment, the dislocation compensation assembly further includes a second fixing block and a second elastic member. The second fixing block is disposed on the hip joint guide rail, and the first fixing block, the slider, and the second fixing 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 the end of the slider facing away from the first fixing block, and the other end of the second elastic member is connected to the second fixing block.

[0019] In one embodiment, the dislocation compensation assembly further includes a guide post. The guide post includes a limit head and a post body. One end of the post body is connected to the limit head, and the other end of the post body is provided with an external thread. The first fixing block is provided with a stepped hole, and the slider and the second fixing block are respectively provided with a guide hole and a communication hole. The limit head abuts against the stepped surface of the stepped hole to limit the movement of the limit head in the direction close to the second fixing block. The post body passes through the stepped hole, the guide hole, and the communication hole, and the external thread is threadedly connected to a fastening nut. The fastening nut is located on the side of the second fixing block facing away from the first fixing block.

[0020] In one embodiment, the first elastic member includes a first spring, and the second elastic member includes a second spring. The first spring and the second spring are both wound around the periphery of the guide post.

[0021] In one embodiment, the number of the exoskeletons is two, and the two exoskeletons are arranged at intervals.

[0022] The technical solution of the present invention is strapped to the waist of the human body through a belt and strapped to the thigh of the human body through a strapping member. Relying on the driving device, the thigh is driven to move through the first adjustment assembly, the second adjustment assembly, and the dislocation compensation assembly, so as to assist the hip joint to make flexion or extension movements. The second adjustment assembly provides a guarantee for the hip joint to achieve abduction or adduction. 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 fixing block, and the strapping member is connected to the slider. Thus, during the movement of the human body, the dislocation between the human body and the exoskeleton is dynamically compensated, so that the exoskeleton fits the human movement better and improves the comfort of the user wearing the exoskeleton. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0024] Figure 1Schematic diagram of misalignment between an existing hip exoskeleton and the human body;

[0025] Figure 2 Schematic structural diagram of an embodiment of the hip exoskeleton mechanism provided by the present invention;

[0026] Figure 3 Schematic structural diagram of an embodiment of the misalignment compensation component provided by the present invention;

[0027] Figure 4 Schematic structural diagram of another embodiment of the misalignment compensation component provided by the present invention;

[0028] Figure 5 Exploded schematic structural diagram of an embodiment of the hip exoskeleton mechanism provided by the present invention.

[0029] Explanation of the reference numerals in the drawings:

[0030] 100, hip exoskeleton mechanism; 1, waistband; 2, auxiliary mechanism; 21, drive 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, guiding hole; 2234, first elastic member; 2235, binding member; 2236, second fixing block; 22361, communication hole; 2237, second elastic member; 2238, guiding column; 22381, limiting head; 22382, column body; 3, laser distance measuring sensor; 4, measuring member; 51, first bolt; 52, second bolt; 6, fixing nut; 7, fastening nut.

[0031] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0033] It should be noted that if there are directional indications (such as up, down, left, right, front, back,...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship, movement conditions, etc. between components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0034] In addition, if there are descriptions such as "first", "second", etc. involved in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, or scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those skilled in the art can implement it. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0035] As an auxiliary device for the human body, exoskeleton technology can improve daily life performance by assisting human movement. In this field, exoskeleton technology can enhance the human-machine interaction ability through aspects such as control strategy design, motion trajectory planning, and intention recognition. After the existing exoskeleton is normally installed and used for a period of time, users will feel discomfort, so that users have to readjust and reinstall the exoskeleton.

[0036] After research by the inventor, it is found that if the exoskeleton joint axis is misaligned with the human joint anatomical axis, the exoskeleton will apply additional torque, resulting in relative translational movement of the skin, internal musculoskeletal system, and torso, 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 the femur, and has strong flexibility, enabling the joint to move in different directions, such as flexion / extension, abduction / adduction, and internal rotation / external rotation.

[0037] Refer to Figure 1 , Figure 1It is a schematic diagram of the dislocation between the existing hip exoskeleton and the human body. Before the movement starts, the hip exoskeleton robot is aligned with the human joint. However, during the movement, due to the incomplete cooperation of the physical human-machine connection interface at the waist, the belt will inevitably shift (dx1) relative to the human waist, resulting in the misalignment (dx2) of the center of the assisting rotation of the hip exoskeleton robot relative to the human joint. There will also be a displacement (dx3) at the physical human-machine connection interface in the thigh area. Such an offset may generate interface loads of up to 200N and 1.5Nm, causing obvious discomfort at the position where the exoskeleton is strapped to the human thigh area.

[0038] The present invention provides a hip exoskeleton mechanism, aiming to solve the technical problem of how to improve the comfort of users wearing the exoskeleton.

[0039] Please refer to Figure 2 、 Figure 3 and Figure 5 In an embodiment of the present invention, the hip exoskeleton mechanism 100 includes a 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 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 disposed on the hip joint guide rail 2231. 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 first fixing block 2232, and 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 for binding to the human thigh. The second adjustment component 222 is rotatably installed on the first adjustment component 221 to enable the human hip joint to abduct or adduct. The driving device 21 is in transmission connection with the first adjustment component 221, so that the driving device 21 can drive the human hip joint to flex or extend through the first adjustment component 221, the second adjustment component 222, and the misalignment compensation component 223.

[0040] The technical solution of the present invention is to be strapped to the waist of the human body through the waistband 1 and to the thigh of the human body through the strapping member 2235. Relying on the driving device 21, the thigh is driven to move through the first adjustment assembly 221, the second adjustment assembly 222 and the misalignment compensation assembly 223, so as to assist the hip joint to make flexion or extension movements. The second adjustment assembly 222 can rotate relative to the first adjustment assembly 221 to provide 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, and the other end of the first elastic member 2234 is connected to the first fixed block 2232. The strapping member 2235 is connected to the slider 2233. During the movement of the human body, if the waistband 1 inevitably deviates from the initial strapping position, the waistband 1 will drive the hip joint guide rail 2231 to move relative to the human body through the first adjustment assembly 221 and the second adjustment assembly 222. The moving hip joint guide rail 2231 will move relative to the slider 2233. Relying on the movement of the slider 2233 relative to the hip joint guide rail 2231, it is ensured that the strapping member 2235 provided on the slider 2233 does not change its strapping position relative to the human body, and the misalignment (dx3) between the human body and the strapping member 2235 is compensated for misalignment, reducing the discomfort caused by the misalignment between the strapping member 2235 and the human body due to the misalignment between the waistband 1 and the human body; by setting the first elastic member 2234 to dynamically adjust the position of the slider 2233 relative to the hip joint guide rail 2231, the hip joint guide rail 2231, the second adjustment assembly 222, the first adjustment assembly 221 and the waistband 1 are driven to move through the first elastic member 2234, so as to compensate for the misalignment of the waistband 1 and the first adjustment assembly 221 at different positions, that is, to reduce or eliminate the misalignment (dx1) between the waistband 1 and the human body and the misalignment (dx2) between the driving device 21 and the human body, thereby improving the comfort of the user wearing the exoskeleton 22.

[0041] For example, if the waistband 1 moves upward relative to its starting position during human movement, the waistband 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, generating a misalignment (dx1) between the waistband 1 and the human body and a misalignment (dx2) between the driving device 21 and the human body. The slider 2233 is in sliding fit with the hip joint guide rail 2231. Therefore, 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 does not move, ensuring that the binding member 2235 provided on the slider 2233 does not move relative to the binding position of the human body, thereby eliminating the misalignment (dx3) between the binding member 2235 and the thigh; the upward moving hip joint guide rail 2231 will drive the first fixing block 2232 provided on the hip joint guide rail 2231 to move 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, when the first fixing block 2232 moves upward relative to the slider 2233, the first elastic member 2234 will be stretched and undergo elastic deformation. 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 further driving the first adjustment component 221, the second adjustment component 222, and the waistband 1 to move downward, thereby reducing or eliminating the misalignment (dx1) between the waistband 1 and the human body and the misalignment (dx2) between the driving device 21 and the human body, achieving dynamic misalignment compensation between the human body and the exoskeleton 22, and improving the comfort of the user wearing the exoskeleton 22. Moreover, 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 in a lighter and more convenient manner.

[0042] It should be noted that the driving device 21 can be a stepper motor or a reduction motor, etc., and there is no limitation here; the driving device 21 is used to drive the first adjustment component 221 to rotate around the x-axis to achieve hip joint flexion or extension, and the second adjustment component 222 can rotate relative to the first adjustment component 221 around the y-axis to achieve hip joint abduction or adduction. The x-axis and 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.

[0043] 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.

[0044] 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;

[0045] 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;

[0046] 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;

[0047] When the hip joint of the human body changes from the upright state to the extended state, the second measurement value of the laser range finder sensor 3 is greater than the initial value. The control system adjusts the output shaft of the drive device 21 to rotate in the second direction and adjusts the magnitude of 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 numerical change measured by the laser range finder sensor 3, and then outputs an appropriate flexion or extension assist torque to better assist the user to complete the movement. It should be noted that the second direction is Figure 2 the A direction shown in the figure.

[0048] For example, when the hip joint of the human body changes from the upright state to the flexed state, the first measurement value of the laser range finder sensor 3 is less than the initial value. That is, when the control system receives the information fed back by the laser range finder sensor 3 and recognizes that the first measurement value of the laser range finder sensor 3 is less than the initial value, the control system can learn from this numerical change that the user is performing a flexion movement, and thus outputs an appropriate flexion assist torque to assist the user to complete this movement, avoiding the phenomenon that the output assist torque is not suitable for the user's current movement and causing the user to feel significantly uncomfortable, 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 range finder 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 accordingly.

[0049] For example, when the hip joint of the human body changes from the upright state to the extended state, the second measurement value of the laser range finder sensor 3 is greater than the initial value. That is, when the control system receives the information fed back by the laser range finder sensor 3 and recognizes that the second measurement value of the laser range finder sensor 3 is greater than the initial value, the control system can learn from this numerical change that the user is performing an extension movement, and thus outputs an appropriate extension assist torque to assist the user to complete this movement, avoiding the phenomenon that the output assist torque is not suitable for the user's current movement and causing the user to feel significantly uncomfortable, 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 range finder 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 accordingly.

[0050] In one embodiment, the hip exoskeleton mechanism 100 further includes an acceleration sensor (not shown in the figure), a gyroscope (not shown in the figure), an angle sensor (not shown in the figure), and a delay adjustment module (not shown in the figure). The acceleration sensor, the gyroscope, the angle sensor, and the delay adjustment module are all communicatively connected to the control system. The motion parameters (such as acceleration, angular velocity, and angle) are obtained by relying on the acceleration sensor, the gyroscope, and the angle sensor, and the assistance features (such as inclination angle, angular velocity, angular velocity difference, stride length, and step phase percentage) are extracted. The hip exoskeleton mechanism 100 further includes an assistance calculation module. The delay adjustment module adjusts the delay time according to the terrain slope, stride length, and step phase percentage, and then obtains the delay-processed assistance features to adjust the response speed of the walking assistance relative to the motion parameters, so as to achieve the effect of accelerating or delaying the assistance, enabling the hip exoskeleton mechanism 100 to adapt to different walking conditions of the user. Finally, the assistance value is determined through the assistance calculation module to support the movement of the hip joint and enter the next control loop.

[0051] Please refer to Figures 3 to 5 , in one embodiment, the laser range finder 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 detachable connection between the laser range finder sensor 3 and the hip joint guide rail 2231 facilitates the replacement and maintenance of the laser range finder sensor 3; the detachable connection between the first fixing block 2232 and the hip joint guide rail 2231 facilitates the replacement of the first fixing block 2232. It should be noted that the laser range finder sensor 3 can be snap-fitted with the hip joint guide rail 2231 or connected by screws in a threaded manner, which is not limited here. Similarly, the first fixing block 2232 and the hip joint guide rail 2231 can be snap-fitted or connected by screws in a threaded manner, which is also not limited here.

[0052] In one embodiment, the hip joint guide rail 2231 is provided with a plurality of first mounting hole groups 22311 which are arranged at intervals in sequence along the length direction of the hip joint guide rail 2231. Each first mounting hole group 22311 includes at least one first through hole 22312. The laser distance sensor 3 is provided with a threaded hole. The hip exoskeleton mechanism 100 further includes a first bolt 51. The first bolt 51 passes through the first through hole 22312 and is threadedly connected to the threaded hole. The hip joint guide rail 2231 is provided with a plurality of second mounting hole groups 22313 which are arranged at intervals in sequence along the length direction of the hip joint guide rail 2231. Each second mounting hole group 22313 includes at least one second through hole 22314. The first fixing block 2232 is provided with a third through hole 22321. The hip exoskeleton mechanism 100 further includes a second bolt 52. 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. By sequentially arranging a plurality of first mounting hole groups 22311 along the length direction of the hip joint guide rail 2231, the user can adjust the position of the laser distance sensor 3 as needed. Among them, the number of the first through holes 22312 in each first mounting hole group 22311 is the same as the number of the threaded holes and the number of the first bolts 51 and they are arranged in one-to-one correspondence, ensuring the connection strength between the laser distance sensor 3 and the hip joint guide rail 2231. By sequentially arranging a plurality of second mounting hole groups 22313 along the length direction of the hip joint guide rail 2231, the user can flexibly adjust the position of the first fixing block 2232 according to different binding positions. For example, the binding member 2235 is bound to the upper / middle / lower part of the thigh, thereby facilitating the measurement of the influence of different binding positions on the wearing performance. Among them, the number of the second through holes 22314, the third through holes 22321 and the second bolts 52 in each second mounting hole group 22313 is the same and they are arranged in one-to-one correspondence, thereby improving the connection strength between the first fixing block 2232 and the hip joint guide rail 2231.

[0053] Please refer to Figure 3 and Figure 5, in an embodiment, the dislocation compensation component 223 further includes a second fixing block 2236 and a second elastic member 2237. The second fixing block 2236 is disposed on the hip joint guide rail 2231, and the first fixing block 2232, the slider 2233, and the second fixing 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 the end of the slider 2233 facing away from the first fixing block 2232, and the other end of the second elastic member 2237 is connected to the second fixing block 2236. By setting the second fixing block 2236 to cooperate with the first fixing block 2232, the stroke of the slider 2233 is restricted. By setting the second elastic member 2237 to cooperate with the first elastic member 2234, the dislocation (dx1) between the waist belt 1 and the human body and the dislocation (dx2) between the driving device 21 and the human body are reduced or eliminated together. 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. The first elastic member 2234 and the second elastic member 2237 generate a downward acting 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.

[0054] In an embodiment, the dislocation compensation component 223 further includes a guide post 2238. The guide post 2238 includes a limit head 22381 and a post body 22382. One end of the post body 22382 is connected to the limit head 22381, and the other end of the post body 22382 is provided with an external thread. The first fixing block 2232 is provided with a stepped hole 22322. The slider 2233 and the second fixing block 2236 are respectively provided with a guide hole 22331 and a communication hole 22361. The limit head 22381 abuts against the stepped surface of the stepped hole 22322 to limit the movement of the limit head 22381 in the direction close to the second fixing block 2236. The post body 22382 passes through the stepped hole 22322, the guide hole 22331, and the communication hole 22361, and the external thread is threadedly connected to the fastening nut 7. The fastening nut 7 is located on the side of the second fixing block 2236 facing away from the first fixing block 2232. By setting the guide post 2238 to guide the movement of the slider 2233, the stability of the movement of the slider 2233 is improved; the first fixing block 2232 is provided with a stepped hole 22322, and the limit head 22381 is located in the stepped hole 22322. By setting the stepped hole 22322, the downward movement of the guide post 2238 relative to the first fixing block 2232 is restricted. The fastening nut 7 is threadedly connected to the external thread, thereby restricting the upward movement of the guide post 2238 relative to the second fixing block 2236. It should be noted that the number of guide posts 2238 is multiple, and the number of the first spring and the second spring is the same as that of the guide posts 2238 and they are arranged in one-to-one correspondence.

[0055] In one embodiment, the first elastic member 2234 includes a first spring, and the second elastic member 2237 includes a second spring. Both the first spring and the second spring are wound around the periphery of the guide post 2238. Winding both the first spring and the second spring around the periphery of the guide post 2238 avoids the phenomenon of skew when the first spring or the second spring is compressed under force, enabling the first spring and the second spring to be stretched or compressed along the extension direction of the guide post 2238.

[0056] Please refer to Figure 2 , in one embodiment, the number of exoskeletons 22 is two, and the two exoskeletons 22 are arranged at intervals. By providing two exoskeletons 22, it is thus possible to better assist the user in moving or meet the needs of different groups of people.

[0057] The above are only exemplary embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A hip 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; The hip joint exoskeleton mechanism further includes a laser distance measuring sensor and a measuring piece, wherein the laser distance measuring sensor is arranged on the hip joint guide rail, the measuring piece is arranged on the side of the slider away from the binding piece, the light emitting side of the laser distance measuring sensor is arranged toward the measuring piece, and the laser distance measuring sensor is used to measure the distance between the laser distance measuring sensor and the measuring piece; 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.

2. The hip exoskeleton mechanism according to claim 1, wherein 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.

3. The hip exoskeleton mechanism according to claim 1, wherein 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.

4. The hip exoskeleton mechanism according to claim 3, wherein, 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.

5. The hip exoskeleton mechanism according to any one of claims 1 to 4, 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.

6. The hip exoskeleton mechanism according to claim 5, 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.

7. The hip exoskeleton mechanism according to claim 6, 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.

8. The hip exoskeleton mechanism according to any one of claims 1 to 4, characterized in that The number of the exoskeletons is two, and the two exoskeletons are arranged at intervals.

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