A lightweight hip-assisted exoskeleton

Abstract

This invention relates to the field of industrial automation technology, and in particular to a lightweight hip-assisted exoskeleton, comprising a waist belt assembly and a power unit. The power unit is disposed on both sides of the waist belt assembly. The waist belt assembly includes a rear waist support and side waist supports, with the side waist supports rotatably disposed on both sides of the rear waist support. The rear waist support corresponds to the wearer's lower back, and the side waist supports correspond to the wearer's side waist. The power unit is disposed at the end of the side waist support away from the rear waist support. A mounting plate is disposed on the side waist support, corresponding to the position of the human hip joint. The mounting plate is rotatably connected to the side waist support, and the rotation axis of the mounting plate is arranged along the length direction of the side waist support. The output shaft of the power unit is disposed on the mounting plate, and the power unit can rotate along the output shaft. The power unit is disposed perpendicular to the side waist support, and a leg-binding assembly for fixing the thigh is disposed at the bottom of the power unit. This design alters the power distribution and improves the fit.

Description

Technical Field

[0001] This invention relates to the field of industrial automation technology, and in particular to a lightweight hip joint assistive exoskeleton. Background Technology

[0002] Currently, exoskeleton devices are being gradually adopted in various work scenarios, including logistics warehousing, industrial manufacturing, military industry, and civilian mobility assistance, for tasks such as lifting heavy objects and assisting with walking. These devices can reduce user fatigue, decrease the occurrence of safety accidents, improve work efficiency, and reduce muscle damage.

[0003] However, current exoskeletons still have some problems, such as their heavy weight, discomfort when worn, and poor body shape adaptation. Additionally, existing lightweight assistive exoskeletons sometimes fail to fit snugly when the user makes large movements, resulting in poor assistive effects. Summary of the Invention

[0004] To address the existing problems with exoskeletons, such as their heavy weight, discomfort, and poor body conformation, and the fact that current lightweight assistive exoskeletons do not fit snugly when the user makes large movements, resulting in poor assistive effect, this application provides a lightweight hip joint assistive exoskeleton, the specific solution of which is as follows.

[0005] A lightweight hip joint assistive exoskeleton includes a waist belt assembly and a power unit. The power unit is disposed on both sides of the waist belt assembly. The waist belt assembly includes a rear waist support and a side waist support. The side waist supports are rotatably disposed on both sides of the rear waist support. The rear waist support is used to correspond to the position of the wearer's lower back, and the side waist supports are used to correspond to the position of the wearer's side waist.

[0006] The power unit is located at the end of the lateral waist support away from the posterior waist support. The lateral waist support is provided with a mounting plate, which is used to correspond to the position of the human hip joint. The mounting plate is rotatably connected to the lateral waist support, and the rotation axis of the mounting plate is set along the length direction of the lateral waist support.

[0007] The output shaft of the power unit is mounted on the mounting plate. The power unit can rotate along the output shaft. The power unit is vertically supported on the side waist. The power unit is used to wrap around the front side of the wearer's thigh. The bottom of the power unit is provided with a leg wrap assembly for fixing the thigh.

[0008] By adopting the above technical solution, the position of the power structure has been rearranged, with the power unit placed on the front of the thigh, transmitting power to both sides of the hip joint. This allows the exoskeleton structure to fit the human hip joint more closely, and the overall structure to be lighter and thinner, making it easier to carry. During use, it can support the human body more closely and is less likely to fall off even during large movements, thus improving the assistive effect.

[0009] Optionally, the power unit includes a front bumper, side bumpers, and a motor. The motor is located inside the front bumper and is used to drive the output shaft of the power unit. The front bumper and side bumpers are integrally formed. The front bumper is positioned corresponding to the front side of the wearer's thigh, and the side bumpers are positioned corresponding to the side of the wearer's thigh. The front bumper and side bumpers are curved together. The leg wrap assembly is located at the bottom of the front bumper. The leg wrap assembly includes a leg wrap piece. The two ends of the leg wrap piece have grooves for the straps to pass through.

[0010] By adopting the above technical solution, the front and side surrounds of the power unit are integrated and curved, which can better fit the front side of the wearer's thigh and provide stable wrapping. The motor is placed inside the front surround to drive the output shaft. The arrangement of the power structure is more reasonable. The leg strap assembly is located at the bottom, and the grooves at both ends of the leg strap allow the straps to pass through, which facilitates the fixation of the thigh.

[0011] Optionally, the angle between the front bumper and the side bumper is greater than 90 degrees and less than 135 degrees, and the angle between the line connecting the front bumper and the thigh is 45 degrees.

[0012] By adopting the above technical solution, the obtuse angle between the front bumper and the side bumper is more suitable for the shape of the wearer's thigh, while the front bumper avoids the front of the thigh and is set on the front side, which can not only fit effectively, but also reduce the situation where the front bumper hits the wearer's upper body when raising the leg or squatting.

[0013] Optionally, a heat dissipation grille is provided on the front bumper at the position corresponding to the leg strap assembly. The heat dissipation grille is located on the lower side of the motor, and a corresponding heat dissipation grille is also provided on the leg strap plate of the leg strap assembly.

[0014] By adopting the above technical solution, heat dissipation grilles are opened at the position of the leg strap component in the front bumper and on the leg strap plate, which can realize heat dissipation of the motor and the legs, reduce the accumulation of heat and the resulting increase in the wearer's perceived temperature, and improve the comfort of wearing.

[0015] Optionally, the side waist supports are slidably connected to both sides of the rear waist support, and the side waist supports can slide along the rear waist support.

[0016] By adopting the above technical solution, the side waist supports on both sides of the waist belt component can slide on both sides of the back waist support, and the position of the side waist support can be flexibly adjusted according to different wearers' body shapes and needs, thereby improving the adaptability and wearing comfort of the exoskeleton.

[0017] Optionally, the rear waist support is provided with a dovetail groove slide rail corresponding to the side waist support, and the side waist support is embedded in the dovetail groove slide rail and can move along the dovetail groove slide rail.

[0018] By adopting the above technical solutions, the waist belt assembly can flexibly adapt to wearers with different waist sizes. The dovetail groove slide rail allows for stable sliding of the side waist support, making it easy to adjust the size of the exoskeleton to adapt to different body shapes, thereby improving wearing comfort and fit.

[0019] Optionally, the rear waist support includes a sliding frame and a sliding piece, the sliding piece being slidably disposed at both ends of the sliding frame, the sliding piece being able to slide along the sliding frame, and the dovetail groove slide rail being disposed on the sliding piece.

[0020] By adopting the above technical solution, the side waist support can slide along the sliding frame together with the sliding plate through the dovetail groove slide rail, realizing the sliding adjustment of the side waist support relative to the back waist support. This allows the position of the side waist support to be flexibly adjusted according to the waist size of different wearers, improving the fit and comfort of the exoskeleton with the wearer's body, while also making it easier to put on and take off the exoskeleton.

[0021] Optionally, the dovetail groove slide rail is provided with an elastic preload member, which has the tendency to pull the side waist support toward the sliding frame.

[0022] By adopting the above technical solution, it is ensured that the power units on both sides have an inward tightening preload, so that during use, when the thigh part makes large movements, the power unit can always conform to the human body structure and achieve a certain hip joint width adaptive effect.

[0023] Optionally, the leg straps are provided in two parts, which are respectively located at the upper and lower ends of the front bumper.

[0024] By adopting the above technical solution, leg straps are provided on both the upper and lower sides of the front bumper, which can effectively fix the power unit on both sides of the front bumper, further improving the stability during use.

[0025] In summary, this application has at least the following beneficial effects:

[0026] This application addresses several issues that still exist with existing exoskeletons, such as their heavy weight, discomfort, and poor body shape adaptation. Furthermore, existing lightweight assistive exoskeletons often fail to fit snugly when the user makes large movements, resulting in poor assistive performance. This application resolves these issues by rearranging the power structure, making the exoskeleton structure more closely conform to the human hip joint and resulting in a thinner overall structure, making it easier to use in assistive work.

[0027] This application also effectively prevents the power unit from hitting the human body during large movements by bending the front and side surrounds of the power unit and positioning the front surround on the front side of the thigh, rather than directly in front of the thigh. Attached Figure Description

[0028] Figure 1 This is a perspective view of this embodiment.

[0029] Figure 2 This is a perspective view of this embodiment.

[0030] Figure 3 This is a cross-sectional view of this embodiment.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1. Waist belt assembly; 11. Rear waist support; 111. Sliding frame; 112. Sliding plate; 113. Dovetail groove slide rail; 114. Elastic pretensioner; 12. Side waist support; 13. Mounting plate;

[0033] 2. Power unit; 21. Front bumper; 211. Radiator grille; 22. Side bumper;

[0034] 3. Leg binding assembly; 31. Leg binding piece; 311. Groove. Detailed Implementation

[0035] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] A lightweight hip-assisted exoskeleton, such as Figure 1 and Figure 2 As shown, the device includes a waist belt assembly 1 and a power unit 2. The power unit 2 is located on both sides of the waist belt assembly 1. The waist belt assembly 1 includes a rear waist support 11 and side waist supports 12. The side waist supports 12 are rotatably mounted on both sides of the rear waist support 11. The rear waist 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 position of the wearer's side waist. In practice, after wearing the device, the side waist supports 12 and the rear waist support 11 can surround the wearer's waist except for the front side, forming a good enclosure and support without completely surrounding the waist, reducing the restriction of the waist and the impact on the wearer's movement.

[0037] like Figure 1 and Figure 2 As shown, the power unit 2 is located at the end of the side waist support 12 away from the rear waist support 11. A mounting plate 13 is mounted on the side waist support 12, corresponding to the position of the hip joint. The mounting plate 13 is rotatably connected to the side waist support 12, and its rotation axis is along the length of the side waist support 12. The output shaft of the power unit 2 is mounted on the mounting plate 13, allowing the power unit 2 to rotate along it. The power unit 2 is perpendicular to the side waist support 12 and is used to wrap around the front side of the wearer's thigh. A leg-binding assembly 3 for securing the thigh is located at the bottom of the power unit 2. In practice, the bottom of the power unit 2 is secured to the thigh via the leg-binding assembly 3. The power unit 2 is connected to the mounting plate 13. During leg-raising or other movements, the power unit 2 drives the mounting plate 13 to rotate, reducing interference with the wearer's movements. When the power unit 2 is outputting power, it rotates along the output shaft, thus providing auxiliary support and assisting the wearer's movement.

[0038] like Figure 2 and Figure 3 As shown, the power unit 2 includes a front surround 21, a side surround 22, and a motor. The motor is located inside the front surround 21 and drives the output shaft of the power unit 2. The front surround 21 and the side surround 22 are integrally formed. The front surround 21 corresponds to the front of the wearer's thigh, and the side surround 22 corresponds to the side of the wearer's thigh. The front surround 21 and the side surround are curved. The leg binding assembly 3 is located at the bottom of the front surround 21. The leg binding assembly 3 includes a leg binding piece 31. The two ends of the leg binding piece 31 have grooves 311 for the binding strap to pass through. In a specific implementation, the front surround 21 and the side surround 22 are integrally formed by injection molding. The motor can transmit power to the output shaft within the front surround 21 via belt drive. The leg binding piece 31 is fixed to the thigh by a strap. The leg binding piece 31 is arc-shaped to correspond to the shape of the thigh, further improving the tightness of the leg binding.

[0039] like Figure 1 and Figure 2As shown, optionally, the angle between the front bumper 21 and the side bumper 22 is greater than 90 degrees and less than 135 degrees, and the angle between the front bumper 21 and the line connecting the thigh is 45 degrees. In specific implementation, an obtuse angle between the front bumper 21 and the side bumper 22 is more suitable for the shape of the wearer's thigh, while the front bumper 21 avoids being directly in front of the thigh and is set on the front side. When the wearer performs actions such as squatting or raising the leg, the front bumper 21 will move upward with the movement of the thigh. If the front bumper 21 is set directly in front of the thigh, it is easy for the front bumper 21 to hit the wearer's upper body, causing discomfort. Therefore, setting it on the front side of the thigh can effectively prevent this situation from occurring.

[0040] like Figure 2 and Figure 3 As shown, a heat dissipation grille 211 is provided on the front bumper 21 at the position corresponding to the leg strap assembly 3. The heat dissipation grille 211 is located below the motor, and a corresponding heat dissipation grille 211 is also provided on the leg strap plate 31 of the leg strap assembly 3. In specific implementation, a mounting frame is also provided inside the front bumper 21 corresponding to the motor. Since the fit is relatively tight, continuous heat dissipation is required. The internal motor is powered by a rechargeable battery.

[0041] like Figure 1 and Figure 2 As shown, the side waist supports 12 are 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 supports 12. The side waist supports 12 are embedded in the dovetail groove slide rail 113 and can move along the dovetail groove slide rail 113. In specific implementation, the side waist supports 12 can move along the dovetail groove slide rail 113. The dovetail groove slide rail 113 can guide and position the side waist supports 12, providing relatively stable movement guidance. When the wearer exercises, the side waist supports 12 can move to a certain extent, thereby reducing the impact on the exercise.

[0042] like Figure 2 As shown, an elastic pretensioner 114 is provided inside the dovetail groove slide rail 113. The elastic pretensioner 114 has the tendency to pull the side waist support 12 toward the sliding frame 111. In specific implementation, the elastic pretensioner 114 includes a spring or other elastic device. The elastic pretensioner 114 has the effect of pulling the side waist support 12 inward and tightening it. Even with large movements, the power unit 2 can be continuously tightened inward, further improving the fit when the wearer uses it.

[0043] Working principle: The power structure has been rearranged, with the motor placed on the front of the thigh, allowing for a more snug fit when bearing weight. This makes the exoskeleton structure fit the human hip joint better, and also makes the overall structure thinner, making it easier to use in assistive work.

[0044] The above are preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made to the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A lightweight hip joint assistive exoskeleton, characterized in that: The device includes a waist belt assembly (1) and a power unit (2). The power unit (2) is disposed on both sides of the waist belt assembly (1). The waist belt assembly (1) includes a rear waist support (11) and a side waist support (12). The side waist supports (12) are rotatably disposed on both sides of the rear waist support (11). The rear waist 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 position of the wearer's side waist. The power unit (2) is located at one end of the side waist support (12) away from the rear waist support (11). The side waist support (12) is provided with an installation plate (13). 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 set along the length direction of the side waist support (12). The output shaft of the power unit (2) is mounted on the mounting plate (13). The power unit (2) can rotate along the output shaft. The power unit (2) is mounted on the vertical side waist support (12). The power unit (2) is used to wrap the front side of the wearer's thigh. The bottom of the power unit (2) is provided with a leg binding assembly (3) for fixing the thigh. The power unit (2) includes a front surround (21), a side surround (22) and a motor. The motor is located inside the front surround (21) and is used to drive the output shaft of the power unit (2). The front surround (21) and the side surround (22) are integrally formed. The front surround (21) is located on the front side of the wearer's thigh, close to the side. The side surround (22) is located on the side of the wearer's thigh. The front surround (21) and the side surround are curved. The leg wrap assembly (3) is located at the bottom of the front surround (21). The leg wrap assembly (3) includes a leg wrap piece (31). The two ends of the leg wrap piece (31) are provided with grooves (311) for the straps to pass through. The angle between the front bumper (21) and the side bumper (22) is greater than 90 degrees and less than 135 degrees, and the angle between the front bumper (21) and the line connecting the thigh is 45 degrees. A heat dissipation grille (211) is provided on the front bumper (21) at the position corresponding to the leg strap assembly (3). The heat dissipation grille (211) is located on the lower side of the motor. A corresponding heat dissipation grille (211) is also provided on the leg strap piece (31) of the leg strap assembly (3). The side waist support (12) is slidably connected to both sides of the rear waist support (11), and the side waist support (12) can slide along the rear waist support (11).

2. The lightweight hip joint assistive exoskeleton according to claim 1, characterized in that: The rear waist support (11) is provided with a dovetail groove slide rail (113) 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).

3. The lightweight hip joint assistive exoskeleton according to claim 2, characterized in that: The rear waist support (11) includes a sliding frame (111) and a sliding piece (112). The sliding piece (112) is slidably disposed at both ends of the sliding frame (111). The sliding piece (112) can slide along the sliding frame (111). The dovetail groove slide rail (113) is disposed on the sliding piece (112).

4. The lightweight hip joint assistive exoskeleton according to claim 3, characterized in that: The dovetail groove slide rail (113) is provided with an elastic pretensioner (114), which has the tendency to pull the side waist support (12) toward the sliding frame (111).

5. The lightweight hip joint assistive exoskeleton according to claim 1, characterized in that: Two leg straps (31) are provided and are respectively located at the upper and lower ends of the front bumper (21).

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