Compact lower limb exoskeleton hip pitching degree-of-freedom joint assembly

Abstract

The invention provides a compact lower limb exoskeleton hip pitching degree-of-freedom joint assembly which comprises a hip motor fixing plate and a hip motor, the hip motor is installed on the hip motor fixing plate through a hip motor fixing piece, the hip motor fixing plate is connected with a hip joint upper connecting plate and a hip joint lower connecting plate, and the hip joint upper connecting plate is connected with the hip joint lower connecting plate. A stable supporting structure is formed; a motor flange plate is mounted at the output end of the hip motor, and a motor output shaft is fixed on the motor flange plate to transmit torque generated by the motor; the other end of the motor output shaft is connected with a knee joint motor, and meanwhile the motor output shaft transmits power to the thigh rod connecting piece through a transmission bolt.

Description

Technical Field

[0001] The present invention relates to the field of lower limb exoskeletons, and in particular to a method for realizing the pitch freedom of a hip joint of a lower limb exoskeleton. Background Art

[0002] Lower-limb exoskeletons are wearable devices that enhance or restore lower-limb motor function. They are widely used in rehabilitation, military, and industrial fields, particularly in helping patients with limited mobility regain their ability to carry out daily activities. In lower-limb exoskeleton design, the freedom of movement and functionality of the hip joint are key factors influencing overall performance. As the hinge connecting the lower limb to the trunk, the hip's movement directly influences the natural movement patterns of the lower limb, particularly pitch freedom (i.e., forward and backward swing).

[0003] Currently, existing lower-limb exoskeleton designs utilize large and heavy motors and mechanical components for the hip joint. This not only increases the overall weight but also compromises the exoskeleton's flexibility and comfort. The hip joint's power transmission system is complex, and the hip motor and transmission components require significant space, posing significant design challenges. Balancing weight, size, and performance remains a significant challenge in exoskeleton design, particularly when compact design within limited space is required. Summary of the Invention

[0004] The purpose of the present invention is to provide a compact lower limb exoskeleton hip pitch freedom joint assembly to solve the problems of large design volume, heavy weight and complex structure of hip joints in the prior art.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows: A compact lower limb exoskeleton hip pitch freedom joint assembly includes a hip motor fixing plate and a hip motor. The hip motor is mounted on the hip motor fixing plate via a hip motor fixing piece. The hip motor fixing plate is connected to an upper connecting plate and a lower connecting plate of the hip joint to form a stable support structure.

[0006] A motor flange is installed at the output end of the hip motor, and a motor output shaft is fixed on the motor flange to transmit the torque generated by the motor; the other end of the motor output shaft is connected to the knee joint motor. At the same time, the motor output shaft transmits power to the thigh rod connector through a transmission bolt.

[0007] The present invention achieves a more compact structural design by integrating the hip motor with the knee motor; the close arrangement of the two motors effectively reduces space occupancy and reduces the weight of the device. The design method of shortening the distance between the motors can significantly reduce the rotational inertia of the exoskeleton legs, improve the response speed and movement accuracy of the exoskeleton, and has obvious advantages in complex gait control and fine movement coordination. The present invention simplifies the power transmission system by rationally arranging the motor flange, motor output shaft and transmission bolts, reduces the complexity of the transmission part, and improves the stability and durability of the system. By optimizing the layout of the motor and transmission mechanism, the present invention effectively reduces the volume of the joint assembly, making the device more adaptable to the human body structure and improving the wearing experience. It is particularly suitable for rehabilitation treatment and long-term wear.

[0008] As a further technical solution, a limit stop is provided on one side of the motor flange.

[0009] As a further technical solution, the limit block adopts a symmetrical structure, both ends of which can play a limiting role and are fixed on the hip motor fixing plate.

[0010] As a further technical solution, the hip motor fixing piece is connected to the hip motor sleeve, and the thigh rod connecting piece is sleeved on the hip motor sleeve.

[0011] As a further technical solution, two bearings are provided between the thigh rod connector and the hip motor sleeve, and a bearing retaining ring is provided between the two bearings.

[0012] As a further technical solution, the hip motor fixing member includes a fixing tube, which is provided with bolt holes. The bolt holes are used to connect to the hip motor. Two connecting plates extend from the outer circle of the fixing tube, and the connecting plates are connected to the hip motor fixing plates.

[0013] As a further technical solution, the hip motor sleeve includes a sleeve, a flange is provided at one end of the sleeve, a circle of connecting holes is opened on the flange, and the circle of connecting holes is connected to the fixing tube of the hip motor fixing part to form a whole. As a further technical solution, the motor output shaft includes a first connecting part and a second connecting part. The first connecting part is buckled together with the motor flange. A connecting hole is provided on the first connecting part. The connecting hole is connected to the connecting hole on the motor flange. A connecting ear is provided on the side of the first connecting part and is connected to the transmission bolt. The second connecting part is connected to the knee joint motor.

[0014] As a further technical solution, the second connecting portion is a semicircular connecting portion; the first connecting portion is a semicircular connecting portion, and the cross-sectional shape of the first connecting portion is L-shaped.

[0015] The beneficial effects of the present invention are as follows: 1. The present invention achieves a more compact structural design by integrating the hip motor with the knee motor; the close arrangement of the two motors effectively reduces space occupancy and reduces the weight of the equipment. The design method of shortening the distance between the motors can significantly reduce the rotational inertia of the exoskeleton legs, improve the response speed and movement accuracy of the exoskeleton, and has obvious advantages in complex gait control and fine movement coordination; the present invention simplifies the power transmission system by rationally arranging the motor flange, motor output shaft and transmission bolts, reduces the complexity of the transmission part, and improves the stability and durability of the system. By optimizing the layout of the motor and transmission mechanism, the present invention effectively reduces the volume of the joint assembly, making the device more adaptable to the human body structure, improving the wearing experience, and is particularly suitable for rehabilitation treatment and long-term wear.

[0016] 2. By setting a limit block on the motor output shaft, it is ensured that the range of motion of the hip joint does not exceed the natural range of motion of the human body, avoiding joint injury or equipment damage caused by excessive exercise. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the lower limb exoskeleton hip pitch freedom joint assembly Figure 1 ; Figure 2 Schematic diagram of the lower limb exoskeleton hip pitch freedom joint assembly Figure 2 ; Figure 3 Schematic diagram of the lower limb exoskeleton hip pitch freedom joint assembly Figure 3 ; Figure 4 Schematic diagram of the lower limb exoskeleton hip pitch freedom joint assembly Figure 4 ; Figure 5 Schematic diagram of the lower limb exoskeleton hip pitch freedom joint assembly Figure 5 ; Figure 6 is a schematic diagram of the hip motor fixing parts; Figure 7 is a schematic diagram of the hip motor sleeve; Figure 8 is a schematic diagram of the thigh rod connection; Figure 9 、 Figure 10 is a schematic diagram of the motor output shaft; Figure 11 、 Figure 12 This is a schematic diagram of the assembly status of the motor output shaft, knee joint motor, motor flange, etc. In the figure: 1. Hip joint upper connecting plate, 2. Hip motor fixing plate, 3. Limit block, 4. Motor flange, 5. Motor output shaft, 6. Knee joint motor, 7. Thigh rod connector, 8. Hip motor, 9. Hip joint lower connecting plate, 10. Hip motor sleeve, 11. Hip motor fixing member, 12. First bearing, 13. Bearing retaining ring, 14. Second bearing, 15. Drive bolt, 16. Hexagonal nut; 5-1. First connecting portion, 5-2. Second connecting portion; 5-3. Connecting ear; 7-1. Annular connector, 7-2. Bolt connection, 7-3. Thigh rod connection; 10-1. Sleeve, 10-2. Flange; 11-1. Fixed cylinder, 11-2. Bolt hole, 11-3. Connecting plate; DETAILED DESCRIPTION It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0018] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless otherwise clearly indicated in the present invention, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "comprising" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations; For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, they only indicate that they are consistent with the up, down, left and right directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they cannot be understood as limiting the present invention.

[0019] As described in the background technology section, the hip joints in the lower limb exoskeleton designs in the prior art use larger and heavier motors and mechanical components, which not only increases the weight of the entire machine, but also affects the flexibility and comfort of the exoskeleton. In the existing design, the power transmission system of the hip joint is complex, and the motor and transmission parts need to occupy a large space, which makes the design face greater challenges. Especially when a compact layout is required in a limited space, how to balance weight, volume and motion performance has always been a difficult point in exoskeleton design. Therefore, it is necessary to develop a compact joint system that can effectively solve the problems of excessive volume, excessive weight, and complex structure in the hip joint design in the prior art, which has become an urgent need for current technological development.

[0020] Based on this existing technology, Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 As shown, the compact lower limb exoskeleton hip pitch freedom joint assembly disclosed in this embodiment includes a hip joint upper connecting plate 1, a hip motor fixing plate 2, a hip joint lower connecting plate 9, a knee joint motor 6, and a hip motor 8. The hip motor 8 is mounted on the hip motor fixing plate 2 via a hip motor fixing member 11. The hip motor fixing plate 2 is connected to the hip joint upper connecting plate 1 and the hip joint lower connecting plate 9 to form a stable support structure. A motor flange 4 is mounted on the output end of the hip motor 8, and a motor output shaft 5 is fixed on the motor flange 4 to transmit the torque generated by the motor. The motor output shaft 5 adopts a disc-shaped structure, one end of which is connected to the motor flange 4 and the other end is connected to the knee joint motor 6. By integrating the hip motor and the knee joint motor, a more compact structural design is achieved, effectively saving space. The close arrangement of the two motors and the shortened distance between the two motors effectively reduce space occupancy and reduce the weight of the device, which helps to reduce the moment of inertia of the exoskeleton leg and improve movement responsiveness.

[0021] Furthermore, shortening the distance between the motors can significantly reduce the moment of inertia of the exoskeleton legs, improving the exoskeleton's response speed and movement accuracy, especially for complex gait control and fine movement coordination.

[0022] Furthermore, in this embodiment, a stopper 3 is installed on one side of the motor flange 4 to prevent the motor output shaft 5 from moving beyond the natural range of motion of the human hip joint, thereby avoiding possible injury or safety accidents. The stopper 3 has a symmetrical structure, with both ends acting as limiters and fixed to the hip motor mounting plate 2. This ensures that the range of motion of the hip joint does not exceed the natural range of motion of the human body, preventing joint injury or equipment damage caused by excessive movement.

[0023] Furthermore, the motor output shaft 5 transmits power to the thigh rod connector 7 through the transmission bolt 15, and the end of the transmission bolt is fastened with a hexagonal nut 16 to ensure the stability and reliability of power transmission; by rationally arranging the motor flange, motor output shaft and transmission bolt, the power transmission system is simplified, the complexity of the transmission part is reduced, and the stability and durability of the system are improved.

[0024] Furthermore, the hip motor fixing member 11 is as follows Figure 6 As shown, it includes a fixing tube 11-1, on which a bolt hole 11-2 is provided. The bolt hole is used to connect with the hip motor. Two connecting plates 11-3 extend from the outer circle of the fixing tube. The connecting plates 11-3 are connected to the hip motor fixing plate 2.

[0025] Furthermore, the hip motor sleeve 10 is closely connected to the hip motor fixing member 11, and the inner diameter of the hip motor sleeve 10 is slightly larger than the outer diameter of the motor. Specifically, the hip motor sleeve 10 is as follows: Figure 7 As shown, it includes a sleeve 10-1, a flange 10-2 is provided at one end of the sleeve, a circle of connecting holes is provided on the flange, and the circle of connecting holes is connected to the fixing cylinder of the hip motor fixing part 11 to form a whole; the motor is provided inside the hip motor sleeve 10 and the hip motor fixing part 11; Furthermore, the thigh rod connector 7 fits over the sleeve 10-1 of the hip motor sleeve 10, allowing the two to rotate relative to each other. To ensure smooth rotation, two bearings—a first bearing 12 and a second bearing 14—are positioned between the two. Bearing retaining rings 13 position and secure the first and second bearings 12, 14 to prevent slippage or displacement. All of these components (the first bearing 12, the second bearing 14, and the bearing retaining ring 13) fit over the hip motor sleeve 10, forming a stable transmission system.

[0026] Further, such as Figure 8 The figure shows a schematic diagram of the thigh rod connecting member 7, which includes an annular connecting member 7-1. A bolt connecting portion 7-2 and a thigh rod connecting portion 7-3 are provided on the side of the annular connecting member 7-1. The bolt connecting portion 7-2 is connected to the transmission bolt 15, and the thigh rod connecting portion 7-3 is connected to the thigh rod.

[0027] Furthermore, specifically, the structure of the motor output shaft 5 is as follows Figure 9 、 Figure 10 、 Figure 11 、 Figure 12As shown, the motor output shaft 5 includes a first connecting part 5-1 and a second connecting part 5-2. The first connecting part 5-1 is snapped together with the motor flange 4. A connecting hole is provided on the first connecting part 5-1, and the connecting hole is connected to the connecting hole on the motor flange 4. A connecting ear 5-3 is provided on the side of the first connecting part 5-1, and a connecting hole is provided on the connecting ear 5-3, which is connected to the transmission bolt 15. The second connecting part 5-2 is connected to the knee joint motor 6, and the second connecting part 5-2 is a semicircular connecting part; the first connecting part 5-1 is a semicircular connecting part, and the cross-sectional shape of the first connecting part 5-1 is L-shaped.

[0028] The working principle of the present invention is as follows: The hip motor 8 outputs torque and transmits power to the thigh rod connector through the motor flange 4, the motor output shaft 5 and the transmission bolt, driving the thigh rod connector to rotate, and the knee joint motor will also rotate synchronously.

[0029] In summary, through this compact structural design, this embodiment makes the power transmission of the hip joint more efficient, while improving the stability and movement accuracy of the entire exoskeleton system; by optimizing the layout of the motor and transmission mechanism, the present invention effectively reduces the volume of the joint assembly, making the device more adaptable to the human body structure, improving the wearing experience, and is particularly suitable for rehabilitation treatment and long-term wear.

[0030] Finally, it should be noted that relational terms such as first and second are merely used to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0031] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A compact lower limb exoskeleton hip pitch freedom joint assembly, characterized in that: It includes a hip motor fixing plate and a hip motor. The hip motor is installed on the hip motor fixing plate through a hip motor fixing piece. The hip motor fixing plate is connected to the upper connecting plate of the hip joint and the lower connecting plate of the hip joint to form a stable supporting structure. A motor flange is installed at the output end of the hip motor, and a motor output shaft is fixed on the motor flange to transmit the torque generated by the motor. The other end of the motor output shaft is connected to the knee joint motor. At the same time, the motor output shaft transmits power to the thigh rod connecting piece through a transmission bolt.

2. The compact lower limb exoskeleton hip pitch freedom joint assembly according to claim 1, characterized in that: The motor output shaft includes a first connecting part and a second connecting part. The first connecting part is buckled together with the motor flange. A connecting hole is provided on the first connecting part. The connecting hole is connected to the connecting hole on the motor flange. A connecting ear is provided on the side of the first connecting part and is connected to the transmission bolt. The second connecting part is connected to the knee joint motor.

3. The compact lower limb exoskeleton hip pitch freedom joint assembly according to claim 2, characterized in that: The second connecting portion is a semicircular connecting portion.

4. The compact lower limb exoskeleton hip pitch freedom joint assembly according to claim 2, characterized in that: The first connecting portion is a semicircular connecting portion, and the cross-sectional shape of the first connecting portion is L-shaped.

5. The compact lower limb exoskeleton hip pitch freedom joint assembly according to claim 1, characterized in that: A limit block is provided on one side of the motor flange.

6. The compact lower limb exoskeleton hip pitch freedom joint assembly according to claim 5, characterized in that: The limit stop adopts a symmetrical structure, both ends of which can play a limiting role and are fixed on the hip motor fixing plate.

7. The compact lower limb exoskeleton hip pitch freedom joint assembly according to claim 1, characterized in that: The hip motor fixing piece is connected to the hip motor sleeve, and the thigh rod connecting piece is sleeved on the hip motor sleeve.

8. The compact lower limb exoskeleton hip pitch freedom joint assembly according to claim 1, characterized in that: Two bearings are arranged between the thigh rod connecting piece and the hip motor sleeve, and a bearing retaining ring is arranged between the two bearings.

9. The compact lower limb exoskeleton hip pitch freedom joint assembly according to claim 1, characterized in that: The hip motor fixing part includes a fixing tube with bolt holes provided on the fixing tube. The bolt holes are used to connect with the hip motor. Two connecting plates extend from the outer circle of the fixing tube. The connecting plates are connected to the hip motor fixing plates.

10. The compact lower limb exoskeleton hip pitch freedom joint assembly according to claim 1, characterized in that: The hip motor sleeve comprises a sleeve, a flange is provided at one end of the sleeve, a circle of connecting holes is provided on the flange, and the circle of connecting holes is connected to the fixing cylinder of the hip motor fixing piece to form a whole.

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