Light hip joint assisting exoskeleton

Abstract

The invention relates to the technical field of industrial automation, in particular to a light hip joint assisting exoskeleton which comprises a waistband assembly and power units, the power units are arranged on the two sides of the waistband assembly, the waistband assembly comprises a rear waist support and side waist supports, and the side waist supports are rotationally arranged on the two sides of the rear waist support respectively. The rear waist support is used for corresponding to the position of the rear waist of the wearer, and the side waist support is used for corresponding to the position of the side waist of the wearer; the power unit is arranged at the end, away from the rear waist support, of the side waist support, a mounting plate is arranged on the side waist support and used for corresponding to the position of a hip joint of a human body, the mounting plate is rotationally connected with the side waist support, and the rotating axis of the mounting plate is arranged in the length direction of the side waist support; an output shaft of the power unit is arranged on the mounting plate, the power unit can rotate along the output shaft, the power unit is arranged perpendicular to the side waist support, and a leg binding assembly used for fixing the thigh is arranged at the bottom of the power unit. The power distribution is changed, and the fitting degree is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation, and more particularly to a lightweight hip-assisted exoskeleton. Background Art

[0002] Currently, in some working scenarios in fields such as logistics warehousing, industrial manufacturing, military, and civilian walking assistance, exoskeleton devices have been gradually adopted for carrying heavy objects, walking assistance, etc., which can reduce the fatigue of users, reduce the occurrence of safety accidents, improve work efficiency, and reduce muscle injuries.

[0003] However, the exoskeletons under the existing technology still have some problems, such as the large self-weight of the exoskeleton, uncomfortable wearing, poor body type adaptability, etc. At the same time, the existing lightweight assisted exoskeletons have the problem that when the user makes large-amplitude movements after wearing, they are not close to the body, resulting in poor assistance effect. Summary of the Invention

[0004] To solve the problems existing in the exoskeletons under the existing technology, such as the large self-weight of the exoskeleton, uncomfortable wearing, poor body type adaptability, etc. At the same time, the existing lightweight assisted exoskeletons have the problem that when the user makes large-amplitude movements after wearing, they are not close to the body, resulting in poor assistance effect, this application provides a lightweight hip-assisted exoskeleton, and the specific scheme is as follows.

[0005] A lightweight hip-assisted exoskeleton includes a belt assembly and a power unit. The power unit is arranged on both sides of the belt assembly. The belt assembly includes a rear waist support and side waist supports. The side waist supports are respectively rotatably arranged on both sides of the rear waist support. The rear waist support is used for corresponding to the position of the wearer's rear waist, and the side waist supports are used for corresponding to the positions of the wearer's side waists. The power unit is arranged at one end of the side waist support far from the rear waist support. An installation plate is arranged on the side waist support. The installation plate is used for corresponding to the position of the human hip joint. The installation plate is rotatably connected to the side waist support. The rotation axis of the installation plate is arranged along the length direction of the side waist support. The output shaft of the power unit is arranged on the installation plate. The power unit can rotate along the output shaft. The power unit is arranged perpendicular to the side waist support. The power unit is used to wrap the front side of the wearer's thigh. A leg strap assembly for fixing the thigh is arranged at the bottom of the power unit.

[0006] By adopting the above technical solutions, the position of the power structure is rearranged. The power unit is placed on the front side of the thigh, and the power is transmitted to both sides of the hip joint, so that the exoskeleton structure can be more closely attached to the human hip joint, the overall structure is thinner and lighter, and it is more convenient to carry. When in use, it can support the human body more closely, and it is not easy to fall off even when large-amplitude movements occur, improving the assistance effect.

[0007] Optionally, the power unit includes a front enclosure, side enclosures, and a motor. The motor is disposed within the front enclosure and is used to drive the output shaft of the power unit. The front enclosure and the side enclosures are integrally formed. The front enclosure is disposed corresponding to the front side of the wearer's thigh, and the side enclosures are disposed corresponding to the sides of the wearer's thigh. The front enclosure and the side enclosures are bent. The leg binding assembly is disposed at the bottom of the front enclosure. The leg binding assembly includes leg binding pieces, and both ends of the leg binding pieces are provided with slots through which the straps pass.

[0008] By adopting the above technical solution, the front enclosure and the side enclosures of the power unit are integrally formed and bent, which can better fit the front and side of the wearer's thigh, providing stable wrapping. The motor is placed within the front enclosure to drive the output shaft, and the layout of the power structure is more reasonable. The leg binding assembly is disposed at the bottom, and the slots at both ends of the leg binding pieces allow the straps to pass through, facilitating the fixation of the thigh.

[0009] Optionally, the included angle between the front enclosure and the side enclosures is greater than 90 degrees and less than 135 degrees, and the included angle between the line connecting the front enclosure and the thigh is 45 degrees.

[0010] By adopting the above technical solution, an obtuse included angle between the front enclosure and the side enclosures is more suitable for the shape of the wearer's thigh, and the front enclosure avoids the front of the thigh and is disposed at the front side, which can not only effectively fit but also reduce the situation where the front enclosure touches the upper body of the wearer during leg raising or squatting movements.

[0011] Optionally, heat dissipation grilles are provided at the position of the front enclosure corresponding to the leg binding assembly. The heat dissipation grilles are disposed below the motor, and corresponding heat dissipation grilles are also provided on the leg binding pieces of the leg binding assembly.

[0012] By adopting the above technical solution, heat dissipation grilles are provided at the position of the front enclosure corresponding to the leg binding assembly and on the leg binding pieces, which can achieve heat dissipation of the motor and the legs, reduce the situation where the body temperature of the wearer rises due to heat accumulation, and improve the wearing comfort.

[0013] Optionally, the side waist supports are respectively slidably connected to both sides of the rear waist support, and the side waist supports can slide along the rear waist support.

[0014] By adopting the above technical solution, the side waist supports on both sides of the belt assembly can slide on both sides of the rear waist support, and can flexibly adjust the position of the side waist supports according to the body types and needs of different wearers, improving the adaptability and wearing comfort of the exoskeleton.

[0015] Optionally, dovetail groove rails are provided on the rear waist support corresponding to the side waist supports, and the side waist supports are embedded in the dovetail groove rails and can move along the dovetail groove rails.

[0016] By adopting the above technical solution, the belt assembly can flexibly adapt to wearers with different waist circumferences. The dovetail groove slide rail allows the side waist support to slide stably, making it easy to adjust the size of the exoskeleton to adapt to different body shapes, thereby improving wearing comfort and fit.

[0017] Optionally, the rear lumbar support includes a sliding frame and a sliding sheet, the sliding sheet is slidably arranged at both ends of the sliding frame, the sliding sheet can slide along the sliding frame, and the dovetail groove slide rail is arranged on the sliding sheet.

[0018] By adopting the above technical solution, the side lumbar support can slide along the sliding frame together with the sliding plate through the dovetail groove slide rail, thereby realizing the sliding adjustment of the side lumbar support relative to the rear lumbar support, so that the position of the side lumbar support can be flexibly adjusted according to the waist size of different wearers, thereby improving the adaptability and wearing comfort of the exoskeleton to the wearer's body, and making it easier to put on and take off the exoskeleton.

[0019] Optionally, an elastic preload member is provided in the dovetail groove slide rail, and the elastic preload member has a tendency to pull the side waist support to move toward the sliding frame.

[0020] By adopting the above technical solution, it is ensured that the power units on both sides have a pre-tightening force to tighten inwards at the same time, ensuring that during use, when the thigh part makes a large range of movements, the power unit can always fit the human body structure and achieve a certain hip joint width adaptation effect.

[0021] Optionally, two leggings are provided and are respectively arranged at the upper and lower ends of the front surround.

[0022] By adopting the above technical solution, leggings are provided on the upper and lower sides of the front surround, which can effectively fix the power unit on the upper and lower sides of the front surround, further improving the stability during use.

[0023] In summary, this application has at least the following beneficial effects: This application solves some problems that still exist in the exoskeleton under the existing technology, such as the heavy weight of the exoskeleton itself, the discomfort of wearing, the poor body adaptation effect, etc. At the same time, the existing light-weight power-assisted exoskeleton has the problem that when the user makes large movements after wearing it, it does not fit the body, resulting in poor power-assisted effect. This application rearranges the power structure to make the exoskeleton structure fit the human hip joint better, and also makes the overall structure thinner, which is easier to use in auxiliary work.

[0024] The present application also arranges the front surround and the side surround of the power unit in a curved manner, and arranges the front surround on the front side of the thigh instead of directly in front of the thigh, thereby effectively preventing the power unit from hitting the human body when performing large-scale movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is the perspective view of this embodiment.

[0026] Figure 2 is the perspective view of this embodiment.

[0027] Figure 3 is the sectional view of this embodiment.

[0028] Explanation of reference numerals: 1. Belt assembly; 11. Rear waist support; 111. Sliding frame; 112. Sliding piece; 113. Dovetail groove slide rail; 114. Elastic pre-tightening member; 12. Side waist support; 13. Mounting plate; 2. Power unit; 21. Front enclosure; 211. Heat dissipation grille; 22. Side enclosure; 3. Leg binding assembly; 31. Leg binding piece; 311. Groove body. Detailed implementation manners

[0029] The following further details the present application with reference to the accompanying drawings through specific embodiments.

[0030] A lightweight hip joint assist exoskeleton, as Figure 1 and Figure 2 shown, includes a belt assembly 1 and a power unit 2. The power unit 2 is arranged on both sides of the belt assembly 1. The belt assembly 1 includes a rear waist support 11 and side waist supports 12. The side waist supports 12 are respectively rotatably arranged on both sides of the rear waist support 11. The rear waist support 11 is used for the position corresponding to the wearer's rear waist, and the side waist supports 12 are used for the positions corresponding to the wearer's side waists. During specific implementation, after wearing, the side waist supports 12 and the rear waist support 11 can surround the wearer except for the front side of the waist, forming good surrounding and support, and will not surround the entire waist, reducing the situation where the waist is restricted and affecting the wearer's movement.

[0031] As Figure 1 and Figure 2As shown in the figure, the power unit 2 is arranged at one end of the side waist support 12 away from the lower back support 11. An installation plate 13 is arranged on the side waist support 12, and the installation plate 13 is used to correspond to the position of the human hip joint. The installation plate 13 is rotatably connected to the side waist support 12, and the rotation axis of the installation plate 13 is arranged along the length direction of the side waist support 12. The output shaft of the power unit 2 is arranged on the installation plate 13, and the power unit 2 can rotate along the output shaft. The power unit 2 is arranged perpendicular to the side waist support 12, and the power unit 2 is used to wrap the front side of the wearer's thigh. A leg binding component 3 for fixing the thigh is arranged at the bottom of the power unit 2. Specifically, during implementation, the bottom of the power unit 2 is bound to the thigh through the leg binding component 3. The power unit 2 is connected to the installation plate 13. When the wearer makes movements such as lifting the leg, the power unit 2 can drive the installation plate 13 to rotate, reducing the situation that affects the wearer's movements. When the power unit 2 outputs power, the power unit 2 can rotate along the output shaft. At this time, the power unit 2 can play an auxiliary support role for the wearer, achieving an exercise assistance effect.

[0032] As Figure 2 and Figure 3 shown in the figure, the power unit 2 includes a front enclosure 21, a side enclosure 22 and a motor. The motor is arranged inside the front enclosure 21 and is used to drive the output shaft of the power unit 2. The front enclosure 21 and the side enclosure 22 are integrally arranged. The front enclosure 21 corresponds to the front side of the wearer's thigh, and the side enclosure 22 corresponds to the side of the wearer's thigh. The front enclosure 21 and the side enclosure are bent. The leg binding component 3 is arranged at the bottom of the front enclosure 21. The leg binding component 3 includes a leg binding piece 31. Grooves 311 are opened at both ends of the leg binding piece 31, and the grooves 311 are for the binding straps to pass through. Specifically, during implementation, the front enclosure 21 and the side enclosure 22 are integrally arranged by injection molding. The motor can transmit power to the output shaft through belt drive inside the front enclosure 21 for driving. The leg binding piece 31 is fixed to the thigh by lacing. The leg binding piece 31 is arranged in an arc shape corresponding to the shape of the thigh, further improving the tightness during leg binding.

[0033] As Figure 1 and Figure 2 shown in the figure, optionally, the included angle between the front enclosure 21 and the side enclosure 22 is greater than 90 degrees and less than 135 degrees, and the included angle between the front enclosure 21 and the thigh is 45 degrees. Specifically, during implementation, an obtuse included angle between the front enclosure 21 and the side enclosure 22 is more suitable for the shape of the wearer's thigh. The front enclosure 21 avoids the direct front of the thigh and is arranged at the front side. When the wearer makes movements such as squatting or lifting the leg, the front enclosure 21 will move upward with the movement of the thigh. At this time, if the front enclosure 21 is arranged directly in front of the thigh, the front enclosure 21 is very likely to hit the upper body of the wearer, causing discomfort. Therefore, arranging it at the front side of the thigh can effectively prevent this situation from occurring.

[0034] AsFigure 2 and Figure 3 As shown in Figure 2 and Figure 3 , a heat dissipation grille 211 is provided at the position on the front surround 21 corresponding to the leg binding assembly 3. The heat dissipation grille 211 is arranged on the lower side of the motor, and a corresponding heat dissipation grille 211 is also provided on the leg binding piece 31 of the leg binding assembly 3. During specific implementation, a mounting frame is also provided inside the front surround 21 corresponding to the motor. Since the wearing area fits closely, heat dissipation needs to be carried out continuously, and the internal motor is powered by a battery for charging.

[0035] As Figure 1 and Figure 2 shown in Figure 1 and Figure 2 , the side waist supports 12 are respectively slidably connected to both sides of the rear waist support 11, and the side waist supports 12 can slide along the rear waist support 11. A dovetail groove slide rail 113 is provided on the rear waist support 11 corresponding to the side waist support 12. The side waist support 12 is embedded in the dovetail groove slide rail 113 and can move along the dovetail groove slide rail 113. During specific implementation, the side waist support 12 can move along the dovetail groove slide rail 113. The dovetail groove slide rail 113 can provide a guiding and positioning effect for the side waist support 12, and can relatively stably provide a movement guide for the side waist support 12. When the wearer is exercising, the side waist support 12 can move to a certain extent to reduce the situation of affecting the movement.

[0036] As Figure 2 shown in Figure 2 , an elastic pre-tightening member 114 is arranged inside the dovetail groove slide rail 113, and the elastic pre-tightening member 114 has a tendency to pull the side waist support 12 towards the sliding frame 111. During specific implementation, the elastic pre-tightening member 114 includes an elastic device such as a spring. The elastic pre-tightening member 114 has an effect of pulling the side waist support 12 to tighten inward. Even during large-scale movements, the power unit 2 can be continuously tightened inward, further improving the fitting degree when the wearer uses it.

[0037] Working principle: The power structure is rearranged, and the motor is arranged on the front side of the thigh, which can be more fitting during weight-bearing, making the exoskeleton structure more fitting to the human hip joint, and also making the overall structure thinner and more convenient to be applied to auxiliary work.

[0038] The above is the preferred embodiment of this application. It does not limit the protection scope of this application accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A lightweight hip joint assisted exoskeleton, characterized in that: It includes a waistband assembly (1) and a power unit (2). The power unit (2) is arranged on both sides of the waistband assembly (1). The waistband assembly (1) includes a lower back support (11) and side waist supports (12). The side waist supports (12) are respectively rotatably arranged on both sides of the lower back support (11). The lower back support (11) is used to correspond to the position of the wearer's lower back, and the side waist supports (12) are used to correspond to the positions of the wearer's side waists. The power unit (2) is arranged at one end of the side waist support (12) away from the lower back support (11). An installation plate (13) is arranged on the side waist support (12). The installation plate (13) is used to correspond to the position of the human hip joint. The installation plate (13) is rotatably connected to the side waist support (12). The rotation axis of the installation plate (13) is arranged along the length direction of the side waist support (12). The output shaft of the power unit (2) is arranged on the installation plate (13). The power unit (2) can rotate along the output shaft. The power unit (2) is arranged perpendicular to the side waist support (12). The power unit (2) is used to wrap the front side of the wearer's thigh. A leg binding assembly (3) for fixing the thigh is arranged at the bottom of the power unit (2).

2. The lightweight hip joint assistance exoskeleton according to claim 1, characterized in that: The power unit (2) includes a front enclosure (21), side enclosures (22) and a motor. The motor is arranged inside the front enclosure (21) and is used to drive the output shaft of the power unit (2). The front enclosure (21) and the side enclosures (22) are integrally arranged. The front enclosure (21) is arranged corresponding to the position on the front side near the side of the wearer's thigh. The side enclosures (22) are arranged corresponding to the sides of the wearer's thigh. The front enclosure (21) and the side enclosures are bent. The leg binding assembly (3) is arranged at the bottom of the front enclosure (21). The leg binding assembly (3) includes a leg binding piece (31). Grooves (311) are opened at both ends of the leg binding piece (31). The straps pass through the grooves (311).

3. The lightweight hip joint-assisted exoskeleton according to claim 2, wherein: The included angle between the front enclosure (21) and the side enclosures (22) is greater than 90 degrees and less than 135 degrees. The included angle between the connection line of the front enclosure (21) and the thigh is 45 degrees.

4. A lightweight hip joint assistive exoskeleton according to claim 2, characterized in that: Heat dissipation grilles (211) are opened at the position of the front enclosure (21) corresponding to the leg binding assembly (3). The heat dissipation grilles (211) are arranged below the motor. Heat dissipation grilles (211) are also opened on the leg binding piece (31) of the leg binding assembly (3).

5. A lightweight hip joint assisted exoskeleton according to claim 3, characterized in that: The side waist supports (12) are respectively slidably connected to both sides of the lower back support (11). The side waist supports (12) can slide along the lower back support (11).

6. The lightweight hip joint assisted exoskeleton according to claim 5, characterized in that: Dovetail groove slides (113) are arranged on the lower back support (11) corresponding to the side waist supports (12). The side waist supports (12) are embedded in the dovetail groove slides (113) and can move along the dovetail groove slides (113).

7. A lightweight hip joint assisted exoskeleton according to claim 6, wherein: The rear lumbar support (11) includes a sliding frame (111) and sliding pieces (112). The sliding pieces (112) are slidably arranged at both ends of the sliding frame (111), and the sliding pieces (112) can slide along the sliding frame (111). The dovetail groove slide rail (113) is arranged on the sliding pieces (112).

8. A lightweight hip joint assisted exoskeleton according to claim 7, characterized in that: An elastic pre-tightening member (114) is arranged in the dovetail groove slide rail (113), and the elastic pre-tightening member (114) has a tendency to pull the side lumbar support (12) to move towards the sliding frame (111).

9. A lightweight hip joint assistive exoskeleton according to claim 2, characterized in that: There are two leg binding pieces (31) which are respectively arranged at the upper and lower ends of the front enclosure (21).

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