Hip joint exoskeleton robot with sitting and standing assisting function
By introducing passive strut charging mechanism and transmission mechanism into hip exoskeleton robots, the problem that existing exoskeleton robots are difficult to provide seating and rest functions is solved, safe sitting and standing support and energy assistance are achieved, and the diversity and safety of rehabilitation training is improved.
Patent Information
- Application Number
- CN202510527255.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-25
- Publication Date
- 2025-06-24
AI Technical Summary
Existing exoskeleton robots are difficult to provide a sitting and rest function during rehabilitation training, which limits the diversity, comfort and safety of rehabilitation training.
A hip exoskeleton robot with seating and standing assistance function is designed, adopting a passive strut accumulator mechanism, and through the strut transmission mechanism and the drive rod adjustment mechanism, stable support and energy accumulation and release in the sit-standing mode are achieved.
The strut is always in contact with the ground in sit-standing mode, providing a safe sitting and rest function, and assisting the standing and sitting process of assisting the patient through energy accumulation and release, improving the diversity and safety of rehabilitation training.
Smart Images
Figure CN120189322A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of exoskeleton robots, and particularly to a hip exoskeleton robot with a sitting and standing assistance function. Background Art
[0002] Especially, the physical function degradation of the elderly and the high-incidence diseases brought about by aging, such as stroke, Parkinson's syndrome, spinal cord injury (SCI), etc., have greatly reduced the quality of life and motor ability of the elderly. This kind of population needs long-term physical rehabilitation training to restore daily activities. However, due to the strong professionalism of rehabilitation treatment, high labor costs, and the relatively late start of the rehabilitation medical discipline in China, there are few practitioners such as professional rehabilitation physicians and physical therapists. A large number of patients and the elderly cannot obtain timely and effective rehabilitation treatment and walking assistance. In recent years, exoskeleton robots have obvious advantages in terms of repeatability, diversity, cost, and efficiency in rehabilitation treatment assistance. They can replace rehabilitation physicians to perform repetitive or heavy rehabilitation training, and at the same time can increase the diversity and interest of rehabilitation training. Therefore, exoskeleton robots for rehabilitation have become a new choice for patients with walking difficulties and the elderly to carry out rehabilitation training. Currently, such exoskeleton rehabilitation robots have been gradually applied to the lives of patients. However, after completing the rehabilitation training, the patient needs appropriate rest. But for patients who carry out rehabilitation training alone, the existing exoskeleton robots often cannot provide a sitting and standing rest function and usually require the assistance of a caregiver. In addition, there are not many exoskeleton robots that can support sitting and standing rehabilitation training, which limits the diversity, comfort, and safety of rehabilitation training. Summary of the Invention
[0003] In view of this, in order to provide a safe sitting and standing rest function during the process of patients using an exoskeleton robot for rehabilitation walking training and to provide a sitting and standing rehabilitation training method to enrich the functions of the rehabilitation exoskeleton robot, the present invention provides a hip exoskeleton robot with a sitting and standing assistance function, and the overall equipment structure is adjustable in multiple parts, and the sitting and standing walking modes are separated and do not affect each other.
[0004] The technical solution adopted by the present invention is: a hip exoskeleton robot with a sitting and standing assistance function, including a waist adjustment mechanism 1, a strut transmission mechanism 2, a power device 3, a folding strut mechanism 4, a strut energy storage mechanism 5, a drive rod adjustment mechanism 6, a power supply and control device 8. The waist adjustment mechanism 1 is connected to the strut transmission mechanism 2 and the power device 3. The strut transmission mechanism 2 is connected to the power device 3, the folding strut mechanism 4, and the strut energy storage mechanism 5. The power device 3 is connected to the drive rod adjustment mechanism 6. The power supply and control device 8 is fixed on one side of the waist adjustment mechanism 1 and is connected to the power device 3. A sitting rope 7 is installed between the waist adjustment mechanism 1 and the strut transmission mechanism 2.
[0005] Specifically, the waist adjustment mechanism 1 includes a waist support plate 101, a waist flexible binding, a waist adjustment support base 105, a waist adjustment support rod 106, and a waist adjustment device 107. The inner and outer sides of the front part of the waist support plate 101 are connected to the power device 3 and the strut transmission mechanism 2. The inner and outer sides of the rear part of the waist support plate 101 are connected to the waist flexible binding and the waist adjustment support base 105. The waist flexible binding includes a flexible binding pad 102, a waist belt 103, and a waist belt buckle 104. The flexible binding pad 102 is connected to the waist support plate 101 and is worn on the patient through the waist belt 103 and the waist belt buckle 104. The waist adjustment support rod 106 is fixed on the waist adjustment support base 105 and passes through the waist adjustment support base 105 oppositely. The waist adjustment device 107 is passed through oppositely by the waist adjustment support rod 106 to adjust the opposite movement of the waist adjustment support rod 106. The waist adjustment device 107 is installed with a waist adjustment gear 110, a waist adjustment rack 109, a waist adjustment worm gear 111, a waist adjustment worm 112, a waist adjustment worm gear shaft 113, a waist adjustment worm shaft 114, and a waist adjustment knob 115. The waist adjustment rack 109 is installed on the waist adjustment support rod 106 and cooperates with the waist adjustment gear 110. The waist adjustment gear 110 and the waist adjustment worm gear 111 are installed on the waist adjustment worm gear shaft 113. The waist adjustment worm 112 cooperates with the waist adjustment worm gear 111 and is installed on the waist adjustment worm shaft 114. The waist adjustment worm gear shaft 113 and the waist adjustment worm shaft 114 are installed on the waist adjustment device 107. The waist adjustment knob 115 is installed on one end of the waist adjustment worm shaft 114 that exposes the waist adjustment device 107.
[0006] Specifically, the strut transmission mechanism 2 includes a transmission system base 201, a transmission system base cover 202, a transmission gear set, a gear moving block 210, and a gear moving lever 211. The transmission system base 201 is fixed on the waist support plate 101. The transmission gear set is placed in the transmission system base 201. One end gear is installed on the power device 3, and one end gear cooperates with the rack in the folding strut mechanism 4. The gear moving block 210 is installed on one gear in the gear set. The gear moving lever 211 is connected to the gear moving block 210 through a rotating shaft and passes through the hole position on the transmission system base 201 to cooperate to realize the axial movement of the gear connected by the gear moving block 210. The transmission system base cover 202 is installed on the transmission system base 201, and a ring-shaped limit structure is designed on it. The folding strut mechanism 4 passes through this structure to limit its rotation angle.
[0007] Specifically, the power device 3 includes a motor mounting seat 301, a motor 302, and a motor transmission connecting member 303. The motor mounting seat 301 is fixedly connected to the waist adjustment mechanism 1, the motor 302 is installed on the motor mounting seat 301, and the motor transmission connecting member 303 is installed on the rotating end of the motor 302 and is fixedly connected to the support rod transmission mechanism 2 and the drive rod adjustment mechanism 6.
[0008] Specifically, the transmission gear set includes a first gear set, a second gear set, a third gear set, a keyless gear shaft 204, a keyed gear shaft 205, a bearing 203, and a gear retaining ring 212. The first gear set includes a spur gear I 206 fixed concentrically with the motor transmission connector 303. The second gear set includes a double spur gear II 207. The pinion end of the double spur gear II 207 is meshed with the spur gear I 206 of the first gear set. The double spur gear II 207 is mounted on the keyless gear shaft 204 and fixed by the gear retaining ring 212. The third gear set includes a spur gear I 206 fixed concentrically with the motor transmission connector 303. The second gear set includes a double spur gear II 207. The pinion end of the double spur gear II 207 is meshed with the spur gear I 206 of the first gear set. The double spur gear II 207 is mounted on the keyless gear shaft 204 and fixed by the gear retaining ring 212. The gear set includes two spur gears with notches. The small gear III 208 with notches is connected to the gear moving block 210 and moves axially through the gear moving lever 211 to engage and disengage with the large gear end of the double spur gear II 207. The large gear IV 209 with notches is engaged with the rack in the folding support rod mechanism 4. The third gear set is installed on the keyway gear shaft 205 and is limited and fixed by the gear retaining ring 212. The bearing 203 includes two pairs of four pieces installed on the transmission system base 201 and the transmission system base cover 202 to support the keyless gear shaft 204 and the keyway gear shaft 205.
[0009] Specifically, the folding strut mechanism 4 includes a strut rack 402, a rack covering a strut 401, a support rod rotating shell 403, a folding mechanism, a lower support rod 406, and a lower support rod anti-skid pad 408. The strut rack 402 is meshed with a transmission gear set in the strut transmission mechanism 2. The strut rack 402 is installed inside the rack covering the strut 401 and forms an upper support rod with it. The ring structure in the support rod rotating shell 403 is rotatably connected to the strut transmission mechanism 2. The support rod rotating shell 403 is also designed with a retaining structure for retaining the strut rack 402. The meshing with the gear enables the upper support rod to move along the rod direction relative to the support rod rotating shell 403. The folding mechanism includes a support rod connecting piece 404, a support rod locking piece 405, a spring and a support rod folding fixing piece 407. The support rod connecting piece 404 has an arc-shaped groove that cooperates with the upper support rod and connects the lower support rod 406. The support rod locking piece 405 cooperates with the spring and is installed on the support rod connecting piece 404. The support rod folding fixing piece 407 is installed on the lower support rod 406. The lower support rod 406 is installed with a support rod anti-slip pad 408 with a universal ball joint.
[0010] Specifically, the strut energy storage mechanism 5 includes an energy storage device housing 501, a clockwork spring 502, an energy storage ratchet 503, an energy storage device housing cover 504, a ratchet pawl 505, and a torsion spring. The energy storage device housing 501 is fixed on the strut transmission mechanism 2 and simultaneously restricts the axial movement of the folding strut mechanism 4. A clockwork spring 502 is installed in the energy storage ratchet 503. One end of the spring at the central end of the clockwork spring 502 passes through the strut transmission mechanism 2, and the other end is stuck on the energy storage ratchet 503. The energy storage device housing cover 504 is installed on the energy storage device housing 501 to restrict the axial movement of the internal energy storage ratchet 503. The ratchet pawl 505 and the torsion spring are cooperatively installed on the energy storage device housing 501 to restrict the axial rotation of the energy storage ratchet 503. The energy storage ratchet 503 is also designed with a protruding round hole perpendicular to the rotation axis. By inserting a stick into the round hole to rotate the energy storage ratchet 503, the energy storage ratchet 503 further winds up the clockwork spring 502 and transmits the force to the strut transmission mechanism 2 to achieve the active energy storage process.
[0011] Specifically, the drive rod adjustment mechanism 6 includes a drive rod extension rod 601, a drive rod connection clamp 602, a drive rod 604, a quick-release clamp 603, and a thigh strap. The drive extension rod 601 is connected to the motor transmission connector 303 through a rotating shaft, enabling the drive extension rod 601 to abduct and adduct around the rotating shaft. The inner ring of the drive rod connection clamp 602 has a guide rail through which the drive rod extension rod 601 and the drive rod 604 pass and allows relative movement between them. The quick-release clamp 603 is sleeved on the drive rod connection clamp 602 and can clamp and release the drive rod connection clamp 602 to lock and release the relative sliding between it and the drive rod extension rod 601 and the drive rod 604. The end of the drive rod 604 is connected to the thigh strap. The thigh strap includes a thigh strap connection member 605, a thigh strap support plate 606, and a strap 607. The thigh strap connection member 605 connects the drive rod 604 and the thigh strap support plate 606, and the thigh strap support plate 606 can rotate at a certain angle around the thigh strap connection member 605.
[0012] Specifically, the backrest rope 7 includes three rope bands. Two rope bands are respectively connected to the left and right waist support plates 101 and the transmission system base 201, and one rope band is movably tied in the middle of the other two rope bands.
[0013] Specifically, the power supply and control device 8 includes a power supply and control box fixing bracket 801, a power supply and control device box 802, and a power supply and control device box cover 803. The power supply and control box fixing bracket 801 is stuck on one side of the waist support plate and fixes the power supply and control device box 802. The power supply and control device box 802 is connected to the power device 3 through a through hole opened at its bottom.
[0014] The beneficial effects of the present invention are as follows: Based on the walking-assisting hip exoskeleton, the present invention realizes the sitting and standing assistance of the exoskeleton by adding a passive strut energy storage mechanism. In the sitting and standing mode, the strut unfolds to keep in contact with the ground. Meanwhile, during the sitting process, the rotation of the driving rod in the driving rod adjustment mechanism is converted into the displacement of the folding strut mechanism through the strut transmission mechanism, and the folding strut mechanism always keeps in contact with the ground during this process. In addition, the strut energy storage mechanism stores the energy of this process to provide effective buffering and releases it during the standing process to assist in standing. In the walking-assisting mode, the lower strut in the folding strut mechanism is retracted, and the passive strut energy storage mechanism is disengaged. The driving rod in the driving rod adjustment mechanism is driven by the power device to assist the patient in walking. In this way, the needs of sitting and resting and performing sitting and standing rehabilitation training during the use of the exoskeleton are solved. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 is a schematic diagram of the overall structure of the device of the present invention; Figure 2 is a schematic diagram of the movement of the device of the present invention in the sitting and standing mode (the left figure is a schematic diagram of the standing posture, and the right figure is a schematic diagram of the sitting posture); Figure 3 is a schematic diagram of the structure of the waist adjustment mechanism in the present invention; Figure 4 is a schematic diagram of the internal structure of the waist adjustment device in the present invention; Figure 5 is a schematic diagram of the structure of the folding strut mechanism in the present invention; Figure 6 is a schematic diagram of the connection structure between the folding strut mechanism and the strut transmission mechanism in the present invention; Figure 7 is an exploded schematic diagram of the structure of the strut transmission mechanism in the present invention; Figure 8 is a schematic diagram of the connection structure between the strut transmission mechanism and the power device in the present invention; Figure 9 is a schematic diagram of the structure of the strut transmission mechanism in the present invention; Figure 10 is a schematic diagram of the structure of the strut energy storage mechanism in the present invention; Figure 11 is a schematic diagram of the structure of the power device and the driving rod adjustment mechanism in the present invention; Figure 12 is a schematic diagram of the structure of the power supply and control device in the present invention.
[0016] In the figure, 1-waist adjustment mechanism, 101-waist support plate, 102-flexible binding pad, 103-waist belt, 104-waist belt buckle, 105-waist adjustment support base, 106-waist adjustment support rod, 107-waist adjustment device housing, 108-waist adjustment device housing cover, 109-waist adjustment rack, 110-waist adjustment gear, 111-waist adjustment worm gear, 112-waist adjustment worm, 113-waist adjustment worm gear shaft, 114 -Waist adjustment worm shaft, 115-Waist adjustment knob, 2-Strut transmission mechanism, 201-Transmission system base, 202-Transmission system base cover, 203-Bearing, 204-Keyless gear shaft, 205-Keyless gear shaft, 206-Spur gear I, 207-Double gear II, 208-Spur gear III, 209-Spur gear IV, 210-Gear moving block, 211-Gear moving lever, 212-Gear retaining ring, 3-Power device, 301 -motor mounting base, 302-motor, 303-motor transmission connector, 4-folding support rod mechanism, 401-rack covering support rod, 402-support rod rack, 403-support rod rotating housing, 404-support rod connector, 405-support rod locking member, 406-lower support rod, 407-support rod folding fixing member, 408-support rod anti-skid pad, 5-support rod power storage mechanism, 501-power storage device housing, 502-spring spring, 503-power storage thorn Wheel, 504-power storage device housing cover, 505-ratchet pawl, 6-drive rod adjustment mechanism, 601-drive rod extension rod, 602-drive rod connecting clamp, 603-quick release clamp, 604-drive rod, 605-thigh binding connector, 606-thigh binding support plate, 607-thigh binding, 7-sitting rope, 8-power supply and control device, 801-power supply and control box fixing bracket, 802-power supply and control box, 803-power supply and control box cover. DETAILED DESCRIPTION
[0017] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.
[0018] Example 1: Figure 1As shown in the figure, the present invention provides a hip exoskeleton robot with a sitting and standing assistance function. The overall robot is arranged symmetrically left and right (including structure and dimensions), and includes a waist adjustment mechanism 1, a strut transmission mechanism 2, a power device 3, a folding strut mechanism 4, a strut energy storage mechanism 5, a drive rod adjustment mechanism 6, and a power supply and control device 8. The waist adjustment mechanism 1, as the main wearable part of the present invention, is fixedly connected to the strut transmission mechanism 2 and the power device 3 respectively. The folding strut mechanism 4 and the strut energy storage device 5 are installed on the strut transmission mechanism 2. At the same time, the strut transmission mechanism 2 is fixedly connected to the power device 3. The power device 3 is also connected to the drive rod adjustment mechanism 6. The power supply and control device 8 for system power supply and control is fixed on one side of the waist adjustment mechanism 1 and is connected to the power device 3. A sitting support rope 7 is installed between the waist adjustment mechanism 1 and the strut transmission mechanism 2 to provide support for the buttocks when sitting down.
[0019] Further, the waist adjustment mechanism 1 includes a waist support plate 101, a waist flexible binding, a waist adjustment support base 105, a waist adjustment support rod 106, and a waist adjustment device 107. The inner and outer sides of the front part of the waist support plate 101 are connected to the power device 3 and the strut transmission mechanism 2. The inner and outer sides of the rear part of the waist support plate 101 are connected to the waist flexible binding and the waist adjustment support base 105. The waist flexible binding includes a flexible binding pad 102, a waist belt 103, and a waist belt buckle 104. The flexible binding pad 102 is connected to the waist support plate 101 and is worn on the patient through the waist belt 103 and the waist belt buckle 104. The waist adjustment support rod 106 is fixed on the waist adjustment support base 105 and passes through the waist adjustment support base 105 oppositely. The waist adjustment device 107 is passed through oppositely by the waist adjustment support rod 106 and can adjust the opposite movement of the waist adjustment support rod 106. An outer cover 108 of the waist adjustment device is provided on the outside of the waist adjustment device 107.
[0020] Further, a waist adjustment gear 110, a waist adjustment rack 109, a waist adjustment worm gear 111, a waist adjustment worm 112, a waist adjustment worm gear shaft 113, a waist adjustment worm shaft 114, and a waist adjustment knob 115 are installed in the waist adjustment device 107. The waist adjustment rack 109 is installed on the waist adjustment support rod 106 and cooperates with the waist adjustment gear 110. The waist adjustment gear 110 and the waist adjustment worm gear 111 are installed on the waist adjustment worm gear shaft 113. The waist adjustment worm 112 cooperates with the waist adjustment worm gear 111 and is installed on the waist adjustment worm shaft 114. The waist adjustment worm gear shaft 113 and the waist adjustment worm shaft 114 are installed on the waist adjustment device 107. The waist adjustment knob 115 is installed on one end of the waist adjustment worm shaft 114 that exposes outside the waist adjustment device 107.
[0021] Furthermore, the strut transmission mechanism 2 includes a transmission system base 201, a transmission system base cover 202, a transmission gear set, a gear moving block 210, and a gear moving lever 211. The transmission system base 201 is fixed on the lumbar support plate 101, and the transmission gear set is placed in the transmission system base 201, wherein one end of the gear is installed on the power device 3, and the other end of the gear cooperates with the rack in the folding strut mechanism 4, and the gear moving block 210 is installed on a gear in the gear set, and the gear moving lever 211 is connected to the gear moving block 210 through a rotating shaft, and passes through the hole position on the transmission system base 201 to cooperate to realize the axial movement of the gear connected to the gear moving block 210, and the transmission system base cover 202 is installed on the transmission system base 201, and is designed with an annular limiting structure, and the folding strut mechanism 4 passes through the structure to limit its rotation angle.
[0022] Furthermore, the power device 3 includes a motor mounting seat 301, a motor 302, and a motor transmission connecting member 303. The motor mounting seat 301 is connected to the lumbar support plate 101 in the lumbar adjustment mechanism 1, and the motor 302 is installed on the motor mounting seat 301. The motor transmission connecting member 303 is installed on the rotating end of the motor 302 and is fixedly connected to one end gear of the transmission gear group in the strut transmission mechanism 2. At the same time, the motor transmission connecting member 303 is fixedly connected to the driving extension rod 601 in the driving rod adjustment mechanism 6.
[0023] Further, the transmission gear set includes a first gear set, a second gear set 2, a third gear set, a keyless gear shaft 204, a keyed gear shaft 205, a bearing 203, and a gear retaining ring 212. The first gear set includes a spur gear I 206 that is concentrically fixed to the motor transmission connector 303. The second gear set includes a double spur gear II 207. The pinion end of the double spur gear II 207 is meshed with the spur gear I 206 of the first gear set. The double spur gear II 207 is mounted on the keyless gear shaft 204 and fixed by the gear retaining ring 212. The three-gear set includes two spur gears with notches. The small gear III 208 with notches is connected to the gear moving block 210 and moves axially through the gear moving lever 211 to engage and disengage with the large gear end of the two-linked spur gear II 207. The large gear IV 209 with notches is engaged with the rack in the folding support rod mechanism 4. The third gear set is installed on the keyway gear shaft 205 and is limited and fixed by the gear retaining ring 212. The bearing 203 includes two pairs of four pieces installed on the transmission system base 201 and the transmission system base cover 202 to support the keyless gear shaft 204 and the keyway gear shaft 205.
[0024] Further, the folding strut mechanism 4 includes a strut rack 402, a strut-covering strut 401, a support rod rotating housing 403, a folding mechanism, a lower support rod 406, and a lower support rod anti-slip pad 408. The strut rack 402 meshes with the transmission gear set in the strut transmission mechanism 2. The strut rack 402 is installed inside the strut-covering strut 401 and forms an upper support rod with it. The strut-covering strut 401 has a handgrip for the patient to grasp. The circular ring structure in the support rod rotating housing 403 is sleeved on the cylindrical structure composed of the transmission system base 201 and the transmission system base cover 202 and can rotate around the concentric axis with the transmission system base cover 202. The support rod rotating housing 403 is also designed with a retaining structure to maintain the engagement between the strut rack 402 and the gear, enabling the upper strut to move along the rod direction relative to the support rod rotating housing 403. The folding mechanism includes a support rod connecting member 404, a support rod locking member 405, a spring, and a support rod folding fixing member 407. The support rod connecting member 404 has an arc-shaped notch to cooperate with the upper strut and connect the lower strut 406. The support rod locking member 405 cooperates with the spring and is installed on the support rod connecting member 404 to lock the strut by snapping into the notch after the support rod is unfolded. The support rod folding fixing member 407 is installed on the lower support rod 406 to fix the lower support rod 406 after the support rod is folded. The lower support rod 406 is installed with a support rod anti-slip pad 408 having a universal ball joint to achieve stable contact with the ground.
[0025] Further, the strut energy storage mechanism 5 includes an energy storage device housing 501, a clockwork spring 502, an energy storage ratchet 503, an energy storage device housing cover 504, a ratchet pawl 505, and a torsion spring. The energy storage device housing 501 is fixed on the transmission system base cover 202 while restricting the axial movement of the support rod rotating housing 403. A clockwork spring 502 is installed in the energy storage ratchet 503. The spring at the central end of the clockwork spring 502 passes through the through hole at one end of the keyway gear shaft 205 in the strut transmission mechanism 2 and the other end is stuck on the energy storage ratchet 503. The energy storage device housing cover 504 is installed on the energy storage device housing 501 and can restrict the axial movement of the internal energy storage ratchet 503. The ratchet pawl 505 cooperates with the torsion spring and is installed on the energy storage device housing 501 to restrict the axial rotation of the energy storage ratchet 503. The energy storage ratchet 503 is also designed with a protruding round hole perpendicular to the rotation axis. By inserting a rod into the round hole to rotate the energy storage ratchet 503, the energy storage ratchet 503 further winds up the clockwork spring 502 and transmits the force to the strut transmission mechanism 2 to achieve the active energy storage process.
[0026] Further, the drive rod adjustment mechanism 6 includes a drive rod extension rod 601, a drive rod connection clamp 602, a drive rod 604, a quick-release clamp 603, and a thigh strap. The drive extension rod 601 is connected to the motor transmission connector 303 through a rotating shaft, enabling the drive extension rod 601 to abduct and adduct around the rotating shaft. The inner ring of the drive rod connection clamp 602 has a guide rail through which the drive rod extension rod 601 and the drive rod 604 pass and allows relative movement between them. The quick-release clamp 603 is sleeved on the drive rod connection clamp 602 and can clamp and release the drive rod connection clamp 602 to lock and release the relative sliding between it and the drive rod extension rod 601 and the drive rod 604. The end of the drive rod 604 is connected to the thigh strap. The thigh strap includes a thigh strap connection member 605, a thigh strap support plate 606, and a strap 607. The thigh strap connection member 605 connects the drive rod 604 and the thigh strap support plate 606, and the thigh strap support plate 606 can rotate at a certain angle around the thigh strap connection member 605.
[0027] Further, the backrest rope 7 includes three rope bands, two of which are respectively connected to the left and right waist support plates 101 and the transmission system base 201, and one rope band is movably tied between the other two rope bands.
[0028] Further, the power supply and control device 8 includes a power supply and control box fixing bracket 801, a power supply and control device box 802, and a power supply and control device box cover 803. The power supply and control box fixing bracket 801 is clamped on one side of the waist support plate and fixes the power supply and control device box 802. The power supply and control device box cover 803 is used to cover the components inside the power supply and control device box 802, such as power batteries, control circuit boards, etc. There are holes at the bottom of the power supply and control device box 802 for connecting the circuits of the motor 302.
[0029] The working principle of the present invention is as follows: As Figure 2 shown, a sitting and standing mode realized by the device of the present invention, through the designed passive strut energy storage mechanism 5 when switching to the sitting and standing mode, converts the rotation of the drive rod adjustment mechanism 6 (i.e., the rotation of the hip joint when the patient sits down) into the movement of the folding strut mechanism 4 with a designed transmission ratio through the strut transmission mechanism 2, realizing that the folding strut mechanism 4 moves upward as the patient sits down and moves downward as the patient stands up, ensuring that the folding strut mechanism 4 always contacts the ground to guarantee the safety of the patient during the sitting and standing process. At the same time, the folding strut mechanism 4 can rotate at a certain angle (restricted by the strut transmission mechanism 2), and the patient can adjust the inclination angle of the folding strut mechanism 4 to adapt to the sitting and standing postures. The strut energy storage mechanism 5 stores energy during the sitting process to provide buffering and releases it during standing to assist the patient in standing. In addition, the strut energy storage mechanism 5 can also actively store energy to provide different degrees of auxiliary effects.
[0030] like Figure 3 The waist support plate 101 in the waist adjustment mechanism 1 is an important load-bearing part, and its front and rear ends are provided with mounting holes. The flexible binding pad 102, the waist belt 103, and the waist belt buckle 104 form a flexible binding fixed on the rear end mounting hole of the waist support plate to achieve comfortable wearing of the waist. The waist adjustment support base 105 in the waist adjustment mechanism 1 is fixed on the waist support plate 101, and the waist adjustment support rod 106 passes through the guide rail of the waist adjustment support base 105. The waist adjustment device housing 107 is passed through by the waist adjustment support rod 106 and placed between the waist support plates 101. The size of the waist support plate 101 is adjusted to adapt to different patients.
[0031] like Figure 4 The waist adjustment device is internally driven by a worm gear with a self-locking function. The waist adjustment knob 115 drives the waist adjustment worm shaft 114, and the waist adjustment worm shaft 114 drives the waist adjustment worm 112. The waist adjustment worm 112 cooperates with the waist adjustment worm wheel 111. The waist adjustment worm wheel 111 drives the coaxial waist adjustment gear 110 through the waist adjustment worm wheel shaft 113. The waist adjustment gear 110 cooperates with the waist adjustment rack 109 to convert the gear rotation into rack movement. The waist adjustment rack 109 is fixed on the waist adjustment support rod 106 and finally drives the movement of the waist adjustment support plate 101.
[0032] like Figures 5 - 9 The folding support rod mechanism 4 is composed of an upper and lower support rod, which are connected by a support rod connector 404. There is an arc-shaped notch in the support rod connector 404 that cooperates with the cylindrical protrusion at the end of the rack-covered support rod 401. The rack-covered support rod 401 is equipped with a support rod rack 402. The support rod rack 402 cooperates with the gear in the transmission system base 201. The rack-covered support rod 401 is restricted on the transmission system base cover 202 by the arc-shaped guide hole protruding on the transmission system base cover 202 and the support rod rotating shell 403. The ring structure in the support rod rotating shell 403 is sleeved on the transmission system base 201 and the transmission system base cover 202. The support rod 406 is in a folded state, and the support rod folding fixing part 407 which can rotate around the lower support rod 406 holds the rack and covers the support rod 401 to prevent it from unfolding, so as not to affect the patient's walking. When the patient wants to sit down, the support rod locking part 405 clamps the notch of the support rod connecting part 404 to achieve stable support after the support rod is unfolded. At the same time, the support anti-slip pad with a universal joint provides stable support for the patient during sitting.
[0033] The support rod transmission mechanism 2 is internally provided with a gear transmission group, wherein a spur gear I206 at one end of the gear transmission group is fixed on the power device 3, the motor transmission connector 303 is fixed to the aforementioned spur gear I206, and a spur gear IV209 at the other end of the gear transmission group is meshed with the support rod rack 402, and the spur gear I206 is meshed with the small gear end of the double gear II207 fixed on the gear shaft without a keyway, and the large gear end of the double gear II207 is meshed with the spur gear III208 capable of axial movement, and the spur gear IV209 and the spur gear IV208 are both mounted on the gear shaft with a keyway 205 by a keyway to realize torque. Transmission, the two ends of the two gear shafts are installed on bearings 203, the bearings 203 are fixed on the transmission system base 201 and the transmission system base cover 202, the gears on the gear shaft are limited by the gear retaining ring 212 clamped on the gear shaft, the axial movement of the spur gear III 208 is driven by the gear moving lever 211 to drive the gear moving block 210 installed thereon to move, so as to realize the disengagement and engagement of the spur gear III 208 and the double gear II 207 (that is, the selection of walking mode and sitting mode), and the gear moving lever 211 passes through the hole on the transmission system base 201 to realize accurate shifting.
[0034] like Figure 10 In the support rod force storage device 5, the support rod transmission mechanism 2 transfers the energy conversion of the sitting process to the spring spring 502 through the keyway gear shaft 205, the spring spring 502 is connected to the force storage ratchet 503, and the ratchet pawl 505 clamps and releases the force storage ratchet 503 to achieve energy accumulation and release, and the force storage device housing cover 504 is fixed on the force storage device housing 501 to limit the axial movement of the force storage ratchet 503, as shown in FIG. Figure 5 The power storage device housing 501 is fixed on the transmission system base cover 202 to limit the support rod rotation housing 403.
[0035] like Figure 11 The driving rod adjustment mechanism 6 is driven to rotate by the motor 302 through the motor transmission connector 303, and finally the thigh of the patient is driven to move by the thigh binding 607, and the length of the driving rod can be adjusted to adapt to patients of different body shapes. Here, the motor transmission connector 303 is connected to the driving rod extension rod 601 through a rotating shaft, and the driving rod extension rod 601 and the driving rod 604 are connected through a driving rod connecting clamp 602 and can move relatively. The quick-release clamp 603 is mounted on the driving rod connecting clamp 602 to clamp and release the driving rod connecting clamp 602 to achieve convenient adjustment of the length of the driving rod. The driving rod 604 is connected to the thigh binding support plate 606 through the thigh binding connector 605, and a certain rotation angle is allowed between them, so that it can conform to the patient's limbs during sitting, standing and walking.
[0036] like Figure 12, the power supply and control box fixing bracket 801 is clamped on one side of the waist support plate 101, and it has screw holes for fixing the power supply and control box 802. The fixed power supply and control box 802 is used to install components such as the power battery and control circuit board of the exoskeleton robot (not shown). There are through holes at the bottom, and the power supply and control lines pass through the through holes and are connected to the motor 302. There are also through holes on one side of the motor mounting seat 301.
[0037] The above are examples of the best implementation modes of the present invention. The parts not described in detail are all common general knowledge of those skilled in the art. The protection scope of the present invention is subject to the content of the claims, and any equivalent transformation based on the technical inspiration of the present invention is also within the protection scope of the present invention.
Claims
1. A hip joint exoskeleton robot with a sit-stand assist function, characterized in that: The invention comprises a waist adjustment mechanism (1), a support rod transmission mechanism (2), a power device (3), a folding support rod mechanism (4), a support rod power storage mechanism (5), a driving rod adjustment mechanism (6), and a power supply and control device (8). The waist adjustment mechanism (1) is connected to the support rod transmission mechanism (2) and the power device (3). The support rod transmission mechanism (2) is connected to the power device (3), the folding support rod mechanism (4) and the support rod power storage mechanism (5). The power device (3) is connected to the driving rod adjustment mechanism (6). The power supply and control device (8) is fixed to one side of the waist adjustment mechanism (1) and connected to the power device (3). A sitting rope (7) is installed between the waist adjustment mechanism (1) and the support rod transmission mechanism (2).
2. A hip joint exoskeleton robot with a sit-stand assist function according to claim 1, characterized in that: The waist adjustment mechanism (1) comprises a waist support plate (101), a waist flexible binding, a waist adjustment support base (105), a waist adjustment support rod (106), and a waist adjustment device (107); the front inner and outer sides of the waist support plate (101) are connected to a power device (3) and a support rod transmission mechanism (2); the rear inner and outer sides of the waist support plate (101) are connected to the waist flexible binding and the waist adjustment support base (105); the waist flexible binding comprises a flexible binding pad (102), A waist belt (103), a waist belt buckle (104), a flexible binding pad (102) connected to a waist support plate (101) and worn on a patient through the waist belt (103) and the waist belt buckle (104); the waist adjustment support rod (106) is fixed on a waist adjustment support base (105) and passes through the waist adjustment support base (105); the waist adjustment device (107) passes through the waist adjustment support rod (106) in an opposite direction to adjust the opposite movement of the waist adjustment support rod (106); The waist adjustment device (107) is equipped with a waist adjustment gear (110), a waist adjustment rack (109), a waist adjustment worm wheel (111), a waist adjustment worm (112), a waist adjustment worm wheel shaft (113), a waist adjustment worm shaft (114), and a waist adjustment knob (115). The waist adjustment rack (109) is installed on the waist adjustment support rod (106) and cooperates with the waist adjustment gear (110). The waist adjustment gear (110) is connected to the waist adjustment support rod (106). The waist adjustment worm wheel (111) is mounted on the waist adjustment worm wheel shaft (113); the waist adjustment worm (112) cooperates with the waist adjustment worm wheel (111) and is mounted on the waist adjustment worm shaft (114); the waist adjustment worm wheel shaft (113) and the waist adjustment worm shaft (114) are mounted on the waist adjustment device (107); and the waist adjustment knob (115) is mounted on one end of the waist adjustment worm shaft (114) that is exposed from the waist adjustment device (107).
3. The hip joint exoskeleton robot with a sit-stand assist function according to claim 1, characterized in that: The support rod transmission mechanism (2) comprises a transmission system base (201), a transmission system base cover (202), a transmission gear set, a gear moving block (210), and a gear moving lever (211). The transmission system base (201) is fixed on the waist support plate (101). The transmission gear set is placed in the transmission system base (201), wherein one end of the gear is mounted on the power device (3), and the other end of the gear cooperates with the rack in the folding support rod mechanism (4). The gear moving block (210) is mounted on a gear in the gear set. The gear moving lever (211) is connected to the gear moving block (210) via a rotating shaft, and passes through a hole on the transmission system base (201) to cooperate to realize axial movement of the gear connected to the gear moving block (210). The transmission system base cover (202) is mounted on the transmission system base (201), and is designed with an annular limiting structure. The folding support rod mechanism (4) passes through the structure to limit its rotation angle.
4. The hip joint exoskeleton robot with a sit-stand assist function according to claim 1, characterized in that: The power device (3) comprises a motor mounting seat (301), a motor (302), and a motor transmission connecting piece (303); the motor mounting seat (301) is fixedly connected to the waist adjustment mechanism (1); the motor (302) is mounted on the motor mounting seat (301); the motor transmission connecting piece (303) is mounted on the rotating end of the motor (302) and is fixedly connected to the support rod transmission mechanism (2) and the drive rod adjustment mechanism (6).
5. The hip joint exoskeleton robot with a sit-stand assist function according to claim 3, characterized in that: The transmission gear set comprises a first gear set, a second gear set, a third gear set, a keyless gear shaft (204), a keyed gear shaft (205), a bearing (203), and a gear retaining ring (212); the first gear set comprises a spur gear I (206) fixed concentrically with the motor transmission connecting member (303); the second gear set comprises a double spur gear II (207); the pinion end of the double spur gear II (207) meshes with the spur gear I (206) of the first gear set; the double spur gear II (207) is mounted on the keyless gear shaft (204) and fixed via the gear retaining ring (212); the third gear set The invention comprises two spur gears with notches, wherein a small gear III (208) with notches is connected to a gear moving shift block (210) and moves axially through a gear moving shift rod (211) to mesh with and disengage from a large gear end of a double spur gear II (207), a large gear IV (209) with notches meshes with a rack in a folding support rod mechanism (4), a third gear set is mounted on a gear shaft with a keyway (205) and is limited and fixed by a gear retaining ring (212), and the bearings (203) comprise two pairs of four bearings mounted on a transmission system base (201) and a transmission system base cover (202) to support a gear shaft without a keyway (204) and a gear shaft with a keyway (205).
6. The hip joint exoskeleton robot with a sit-stand assist function according to claim 1, characterized in that: The folding support rod mechanism (4) comprises a support rod rack (402), a rack covering the support rod (401), a support rod rotating shell (403), a folding mechanism, a lower support rod (406), and a lower support rod anti-skid pad (408); the support rod rack (402) is meshed with a transmission gear set in the support rod transmission mechanism (2); the support rod rack (402) is installed inside the rack covering the support rod (401) and forms an upper support rod with the support rod; the ring structure in the support rod rotating shell (403) is rotatably connected to the support rod transmission mechanism (2); the support rod rotating shell (403) is also designed with a retaining structure for retaining the support rod rack (402) and the support rod anti-skid pad (408); The meshing of the gears enables the upper support rod to move relative to the support rod rotating housing (403) along the rod direction. The folding mechanism comprises a support rod connecting piece (404), a support rod locking piece (405), a spring and a support rod folding fixing piece (407). The support rod connecting piece (404) has an arc-shaped notch that cooperates with the upper support rod and connects the lower support rod (406). The support rod locking piece (405) cooperates with the spring and is installed on the support rod connecting piece (404). The support rod folding fixing piece (407) is installed on the lower support rod (406). The lower support rod (406) is installed with a support rod anti-slip pad (408) with a universal ball joint.
7. The hip joint exoskeleton robot with a sit-stand assist function according to claim 1, characterized in that: The strut force storage mechanism (5) comprises a force storage device housing (501), a spring spring (502), a force storage ratchet (503), a force storage device housing cover (504), a ratchet pawl (505), and a torsion spring. The force storage device housing (501) is fixed to the strut transmission mechanism (2) and simultaneously limits the axial movement of the folding strut mechanism (4). A spring spring (502) is installed in the force storage ratchet (503). One end of the spring (502) located at the center end passes through the strut transmission mechanism (2), and the other end is clamped on the force storage ratchet (503). The force device housing cover (504) is installed on the force storage device housing (501) to limit the axial movement of the internal force storage ratchet (503). The ratchet pawl (505) is installed on the force storage device housing (501) in cooperation with the torsion spring to limit the axial rotation of the force storage ratchet (503). The force storage ratchet (503) is also designed with a protruding circular hole perpendicular to the rotation axis. A stick is inserted into the circular hole to rotate the force storage ratchet (503). The force storage ratchet (503) further tightens the clockwork spring (502) and transmits force to the strut transmission mechanism (2) to realize an active force storage process.
8. The hip joint exoskeleton robot with a sit-stand assist function according to claim 1, characterized in that: The drive rod adjustment mechanism (6) comprises a drive rod extension rod (601), a drive rod connection fixture (602), a drive rod (604), a quick-release fixture (603), and a thigh tie. The drive rod extension rod (601) is connected to the motor transmission connector (303) via a rotating shaft, so that the drive rod extension rod (601) can be extended or retracted around the rotating shaft. The inner ring of the drive rod connection fixture (602) has a guide rail, through which the drive rod extension rod (601) and the drive rod (604) pass in opposite directions and allow relative movement with them. The quick-release fixture (603) is sleeved on the drive rod connection fixture (603). 02) can clamp and release the driving rod connecting clamp (602) so as to lock and release the relative sliding between the driving rod extension rod (601) and the driving rod (604); the end of the driving rod (604) is connected to the thigh binding, and the thigh binding comprises a thigh binding connecting piece (605), a thigh binding support plate (606), and a strap (607); the thigh binding connecting piece (605) connects the driving rod (604) and the thigh binding support plate (606); the thigh binding support plate (606) can rotate around the thigh binding connecting piece (605) at a certain angle.
9. The hip joint exoskeleton robot with a sit-stand assist function according to claim 1, characterized in that: The sitting rope (7) comprises three rope belts, two of which respectively connect the left and right waist support plates (101) and the transmission system base (201), and one rope belt is movably tied between the other two rope belts.
10. The hip joint exoskeleton robot with a sit-stand assist function according to claim 1, characterized in that: The power supply and control device (8) comprises a power supply and control box fixing bracket (801), a power supply and control device box (802), and a power supply and control device box cover (803); the power supply and control box fixing bracket (801) is clamped on one side of the waist support plate and fixes the power supply and control device box (802); the power supply and control device box (802) is connected to the power device (3) via a through hole provided at the bottom thereof.