Material moving exoskeleton hip joint cooperative motion energy storage amplification mechanism

Abstract

The invention discloses an exoskeleton hip joint cooperative movement energy storage amplification mechanism for material moving. The exoskeleton hip joint cooperative movement energy storage amplification mechanism is composed of a hip installation fixing piece, an energy storage swimming assembly and a hip joint flexion and extension winding roller assembly. According to the energy storage swimming assembly, a passive energy storage release element serves as a core, and is connected to left and right hip joint flexion and extension winding roller assemblies through matching of steel wires and movable and static pulleys, so that energy storage and release in the thigh flexion and extension process are completed. In the operation process, when the two legs are bent at the same time, the steel wires on the two sides drive the winding idler wheels and the movable pulleys to compress the energy storage element at the same time to achieve bidirectional energy storage, and the energy storage element is forced to move towards the middle of the hip installation fixing piece; when a single leg is bent, single-side energy storage and one-way swimming of an energy storage element can be completed, and in the alternate gait walking process, two-side energy storage release conversion along with changes of the supporting direction is achieved, and cooperative auxiliary assistance of free movement of the swing phase is achieved. The mechanism is compact and light, and can be used as an important component of an exoskeleton system.

Description

Technical Field

[0001] The present invention belongs to the technical field of wearable devices, and in particular relates to a hip joint coordinated motion energy storage and amplification mechanism for a material handling exoskeleton. Background Art

[0002] The hip joint is a crucial joint in the human kinetic chain, not only providing power for lower limb movement but also supporting the upper body and maintaining a stable center of gravity. The human hip joint is divided into two sides, left and right, which work alternately or synergistically to complete walking or squatting. Material handling requires the hip joint to output a large amount of explosive force or endure a long-term endurance. Exoskeleton assistance is the primary approach to exploring solutions to this problem. Currently, most material handling exoskeleton systems have independent active or passive hip joints. Their functional performance indicators, such as functional integration, synergistic correlation, and effective power-to-weight ratio, are significantly different from the requirements of wearable sports operations. This, in a sense, impacts the engineering and practical application of exoskeleton systems. Summary of the Invention

[0003] To overcome the shortcomings of the prior art, the present invention provides a material handling exoskeleton hip joint coordinated motion energy storage and amplification mechanism, comprising a hip mounting fixture, a floating energy storage assembly, and left and right hip joint flexion and extension winding roller assemblies. Based on the kinematic characteristics of the human hip joint during squatting and walking during material handling, the present invention designs and develops an integrated energy storage unit based on the principle of a movable pulley, and implements a floating arrangement within the hip mounting fixture. This floating energy storage assembly, with a passive energy storage and release element at its core, is connected to the left and right hip joint flexion and extension winding roller assemblies via a combination of steel wire and a dynamic and static pulley, completing energy storage and release during thigh flexion and extension. When wearing an exoskeleton system and operating, when both legs are flexed simultaneously, the steel wires on either side drive their respective winding rollers and movable pulleys to simultaneously compress the energy storage element, achieving bidirectional energy storage. The energy storage element is forced to swim toward the center of the hip mounting fixture. When one leg is flexed, unilateral energy storage is achieved, and the energy storage element swims unidirectionally. During alternating gaits, bilateral energy release changes as the support direction changes, and the swing phase allows for free movement of the coordinated auxiliary power. This compact and lightweight mechanism uses a single integrated energy storage element to assist the left and right hip joints. It is suitable for material handling exoskeleton hip joint coordinated motion energy storage. It can also serve as an important component of the exoskeleton system, and can be technically expanded for military logistics support and civilian industrial fields, such as the transportation of daily necessities, the transfer of instruments and equipment, and fixed-position support assistance.

[0004] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0005] A material handling exoskeleton hip joint coordinated motion energy storage and amplification mechanism, comprising a hip mounting fixture, an energy storage swimming component, and a hip joint flexion and extension winding roller component;

[0006] The hip mounting fixtures are symmetrically arranged on the left and right sides and are fixedly connected as a whole via four supporting positioning rods and a hip joint integrated bracket;

[0007] The energy storage swimming assembly is guided and fixed by two bidirectionally wound steel cables, and can swim back and forth between the left and right hip mounting fixtures to complete the energy storage and release during the thigh flexion and extension process;

[0008] The hip joint flexion and extension winding roller assembly is fixedly connected to the hip mounting fixture via a bearing and can rotate relatively. The movable pulley is driven by the pulling action of the wire rope to compress the energy storage unit, thereby realizing energy storage and release.

[0009] Preferably, a stepped hole is designed on the inner side of the hip mounting fixture, which is fixedly connected to the axial end of the supporting positioning rod, and is fixedly connected with screws on the outer side.

[0010] Preferably, a screw hole and a pin hole are designed on the upper side of the hip mounting fixture, which is fixedly connected to the hip joint integrated bracket via screws and pins respectively.

[0011] Preferably, an "H"-shaped wire groove is designed on the upper part of the hip mounting fixture. After the lead head at one end of the wire rope is passed through the wire groove, the position of the lead head is fixed with a lead head support frame, thereby fixing one end of the wire rope to the hip mounting fixture; screws are used to fix the lead head support frame and the hip mounting fixture to form the main body of the structural frame.

[0012] Preferably, a roller groove and a pin fixing hole are designed on the side surface of the hip mounting fixture, and the fixed pulley is fixedly connected to the hip mounting fixture via the pin.

[0013] Preferably, the energy storage swimming assembly includes a spring guide base, a rectangular compression spring, a winding roller and a wire rope; the spring guide base is symmetrically designed with a wire groove, and after the lead head at one end of the wire rope passes through the wire groove, the lead head position is fixed with a lead head support frame, and then one end of the wire rope is fixed on the hip mounting fixture; the spring guide base is designed with a pin hole, which is fixedly connected to the winding roller through a cylindrical pin.

[0014] Preferably, the energy storage and swimming assembly is centered on a passive energy storage and release element, and two steel ropes are respectively passed through the movable pulleys in an orthogonal winding manner. One end of the steel rope passes through the lead head support frame and is fixedly connected to the hip mounting fixture. After passing around the movable pulley group, it is wound back to the wire outlet groove of the spring guide base and then passed through the winding roller fixedly connected to the hip mounting fixture, thereby completing the energy storage and release of the thigh flexion and extension process through the combination of the dynamic and static pulleys.

[0015] Preferably, the hip flexion and extension winding roller assembly includes an axially positioned winding roller, a wire retaining ring, a 6712-2RS bearing and a 6708-2RS bearing; the axially positioned winding roller is fixedly mounted on the hip mounting fixture through the 6712-2RS bearing and the 6708-2RS bearing; the axially positioned winding roller is designed with a wire rope winding groove and a lead head hole to fix the wire rope, and the winding groove serves as a winding guide to avoid wire rope pressure or wear; after winding is completed, the wire retaining ring is used in the corresponding hole position of the hip mounting fixture to prevent the wire rope from slipping axially.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. Based on the kinematic characteristics of the human hip joint during squatting, standing, and walking while moving materials, this invention has designed and developed an integrated energy storage unit based on the principle of a movable pulley, which is flexibly arranged within a hip mounting fixture. This flexing assembly, with a passive energy storage and release element at its core, is connected to the left and right hip joint flexion and extension winding roller assemblies via a combination of steel wire and a movable and static pulley, completing the energy storage and release process during thigh flexion and extension.

[0018] 2. During the operation of the present invention, when both legs are flexed at the same time, the steel wires on both sides respectively drive their respective winding rollers and movable pulleys to simultaneously compress the energy storage element to realize bidirectional energy storage, and the energy storage element is forced to swim toward the middle of the hip mounting fixture; when one leg is flexed, unilateral energy storage can be completed and the energy storage element can swim in one direction. During the alternating gait walking process, the bilateral energy storage release and transformation are realized as the support direction changes, and the swing phase can move freely to provide collaborative auxiliary power.

[0019] 3. This invention utilizes the speed-torque ratio of a planetary speed-regulating mechanism to achieve a fusion of human-machine hip joint kinematics across different gait phases. During the swing phase of the gait, the human leg can freely lift; during the stance phase, the mechanism can store and release energy.

[0020] 4. The mechanism of the present invention is compact and lightweight, and provides auxiliary power to the left and right hip joints through a single integrated energy storage element. It is suitable for storing energy in the coordinated movement of the exoskeleton hip joints during material handling. It can also be used as an important component of the exoskeleton system. It can be technically expanded for military logistics support and civilian industrial fields, such as the transportation of daily necessities, the transfer and operation of instruments and equipment, and fixed-position support assistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the mechanism of the present invention.

[0022] Figure 2 Schematic diagram of the energy storage swimming component of the mechanism of the present invention.

[0023] Figure 3 Schematic diagram of the hip fixation connector bracket of the mechanism of the present invention.

[0024] Figure 4 This is a schematic diagram of the installation of the hip fixing connector pulley of the mechanism of the present invention.

[0025] Figure 5 This is a schematic diagram of the unidirectional movement of the energy storage swimming component of the mechanism of the present invention.

[0026] Figure 6 This is a schematic diagram of the bidirectional movement of the energy storage swimming component of the mechanism of the present invention.

[0027] Figure 7 Schematic diagram of the dynamic and static pulley assembly of the mechanism of the present invention.

[0028] Figure 8 This is a schematic diagram of the hip joint flexion and extension winding roller assembly of the mechanism of the present invention.

[0029] Reference numerals:

[0030] 1 Hip mounting fixture, 2 Energy storage swimming assembly, 3 Hip flexion and extension winding roller assembly, 13 Lead head support frame, 14 Fixed pulley, 21 Spring guide base, 22 Rectangular compression spring, 23 Winding roller, 24 Wire rope, 31 Axial positioning winding roller, 32 Wire retaining ring, 33 6712-2RS bearing, 34 6708-2RS bearing, 104 Screw, 105 Pin, 201 Cylindrical pin. DETAILED DESCRIPTION

[0031] The present invention will be further described below with reference to the accompanying drawings and examples.

[0032] This invention provides a hip-joint coordinated motion energy storage and amplification mechanism for a material handling exoskeleton. Based on the kinematic characteristics of the hip joint during squatting and walking, an integrated energy storage unit based on the movable pulley principle was designed and developed, and implemented within a hip-mounted fixture. This unit allows for bilateral energy release and switching with changes in support direction during alternating gaits, while also enabling coordinated assistance during the swing phase. This compact and lightweight mechanism utilizes a single integrated energy storage element to provide assistance to both left and right hip joints, making it suitable for use in material handling exoskeleton hip-joint coordinated motion energy storage scenarios.

[0033] The technical solutions of the present invention are as follows:

[0034] A material handling exoskeleton hip joint coordinated motion energy storage and amplification mechanism, composed of a hip mounting fixture, an energy storage swimming assembly and a hip joint flexion and extension winding roller assembly. The hip mounting fixture is symmetrically arranged on the left and right sides, and is fixedly connected as a whole by four supporting positioning rods and a hip joint integrated bracket. The energy storage swimming assembly is guided and fixed by two bidirectionally wound steel wire ropes, and can swim back and forth between the left and right hip mounting fixtures to complete the energy storage and release of the thigh flexion and extension process. The hip joint flexion and extension winding roller assembly is fixedly connected to the hip mounting fixture through a bearing and can rotate relative to it. The pulling action of the steel wire rope drives the movable pulley to compress the energy storage unit, thereby realizing energy storage and release.

[0035] The hip-mounted fixture is symmetrically arranged on the left and right sides, and is fixedly connected as a whole by four support positioning rods and a hip joint integrated bracket. A step hole is designed on the inner side of the hip-mounted fixture, which is fixedly connected to the axial end of the support positioning rod, and the outer side is fixedly connected by screws. Screw holes and pin holes are designed on the top of the hip-mounted fixture, which are fixedly connected to the hip joint integrated bracket by screws and pins respectively. An "H"-shaped wire groove is also designed on the upper part of the hip-mounted fixture. After the lead head at one end of the wire rope is passed through the wire groove, the lead head position is fixed with a lead head support frame, thereby fixing one end of the wire rope to the hip-mounted fixture; the lead head support frame is fixedly connected to the hip-mounted fixture with screws to form the main body of the structural frame. A roller groove and a pin fixing hole are designed on the side of the hip-mounted fixture, and the fixed pulley is fixedly connected to the hip-mounted fixture by the pin.

[0036] The energy storage swimming assembly consists of a spring guide base, a rectangular compression spring, a winding roller, and a wire rope. The spring guide base is symmetrically designed with wire grooves. After the lead end of the wire rope passes through the grooves, it is secured with a lead support frame and then fixed to the hip mounting fixture. The spring guide base also has a pin hole, which is fixed to the winding roller via a cylindrical pin.

[0037] The energy storage and swimming assembly is centered around a passive energy storage and release element. Two steel ropes pass through movable pulleys in an orthogonal winding manner. One end of the steel rope passes through a lead head support frame and is fixedly connected to a hip mounting fixture. After passing through the movable pulley assembly, it winds back to the wire outlet groove of the spring guide base and then passes through a winding roller fixedly connected to the hip mounting fixture, thereby completing the energy storage and release during the thigh flexion and extension process through the combination of the movable and static pulleys.

[0038] The hip flexion and extension winding roller assembly consists of an axially positioned winding roller, a wire retaining ring, a 6712-2RS bearing, and a 6708-2RS bearing. Among them, the axially positioned winding roller is fixedly mounted on the hip mounting fixture through the 6712-2RS bearing and the 6708-2RS bearing. The axially positioned winding roller is designed with a wire rope winding groove and a lead head hole to fix the wire rope. The winding groove serves as a winding guide to prevent the wire rope from being pressed or worn. After the winding is completed, the wire retaining ring is used in the corresponding hole position of the hip mounting fixture to prevent the wire rope from slipping axially.

[0039] Example:

[0040] A material handling exoskeleton hip joint coordinated motion energy storage and amplification mechanism, consisting of a hip mounting fixture 1, an energy storage swimming assembly 2 and a hip joint flexion and extension winding roller assembly 3. The hip mounting fixture 1 is symmetrically arranged on the left and right sides, and is fixedly connected as a whole by four supporting positioning rods and a hip joint integrated bracket. The energy storage swimming assembly 2 is guided and fixed by two bidirectionally wound steel wire ropes, and can swim back and forth between the left and right hip mounting fixtures 1 to complete the energy storage and release of the thigh flexion and extension process. The hip joint flexion and extension winding roller assembly 3 is fixedly connected to the hip mounting fixture 1 through a bearing and can rotate relative to it. The pulling action of the steel wire rope drives the movable pulley to compress the energy storage unit, thereby realizing energy storage and release.

[0041] The mechanism of the present invention has a compact and lightweight structure, and provides auxiliary power to the left and right hip joints respectively through a single integrated energy storage element.

[0042] The hip-mounted fixture 1 is symmetrically arranged on the left and right sides, and is fixedly connected as a whole by four support positioning rods and a hip joint integrated bracket. Among them, a step hole is designed on the inner side of the hip-mounted fixture 1, which is fixedly connected to the axial end of the support positioning rod, and the outer side is fixedly connected by screws. Screw holes and pin holes are designed on the top of the hip-mounted fixture 1, which are fixedly connected to the hip joint integrated bracket 12 by screws and pins respectively. An "H"-shaped wire groove is also designed on the upper part of the hip-mounted fixture 1. After the lead head at one end of the wire rope is passed through the wire groove, the lead head position is fixed with a lead head support frame, thereby fixing one end of the wire rope to the hip-mounted fixture 1; the lead head support frame 13 is fixedly connected to the hip-mounted fixture 1 by screws 104, forming the main body of the structural frame. A roller groove and a pin fixing hole are designed on the side of the hip-mounted fixture 1, and the fixed pulley 14 is fixedly connected to the hip-mounted fixture 1 by a pin 105.

[0043] The energy storage swimming assembly 2 consists of a spring guide base 21, a rectangular compression spring 22, a winding roller 23, and a wire rope 24. The spring guide base 21 is symmetrically designed with a wire groove. After the lead at one end of the wire rope passes through the groove, it is fixed in place with a lead support frame, and then one end of the wire rope is fixed to the hip mounting fixture 1. The spring guide base 21 is also designed with a pin hole, which is fixedly connected to the winding roller 23 via a cylindrical pin 201.

[0044] The energy storage and swimming assembly 2 is centered around a passive energy storage and release element. Two steel ropes 24 pass through the winding rollers 23 in an orthogonal winding manner. One end of the steel rope passes through the lead head support frame and is fixedly connected to the hip mounting fixture 1. After passing through the movable pulley group, it winds back to the wire outlet groove of the spring guide base 21 and then passes through the fixed pulley 14 fixedly connected to the hip mounting fixture 1, thereby completing the energy storage and release during the thigh flexion and extension process through the combination of the movable and static pulleys.

[0045] The hip joint flexion and extension winding roller assembly 3 is composed of an axially positioned winding roller 31, a wire retaining ring 32, a 6712-2RS bearing 33, and a 6708-2RS bearing 34. Among them, the axially positioned winding roller 31 is fixedly mounted on the hip mounting fixture 1 through the 6712-2RS bearing 33 and the 6708-2RS bearing 34. The axially positioned winding roller 31 is designed with a wire rope winding groove and a lead head hole to fix the wire rope. The winding groove serves as a winding guide to prevent the wire rope from being pressed or worn. After the winding is completed, the wire retaining ring 32 is used in the corresponding hole position of the hip mounting fixture 1 to prevent the wire rope from slipping axially.

[0046] During the operation of the exoskeleton system, when both legs are flexed at the same time, the steel wires on both sides drive their respective winding rollers and movable pulleys to compress the energy storage elements at the same time to achieve bidirectional energy storage, and the energy storage elements are forced to swim toward the middle of the hip mounting fixture; when one leg is flexed, unilateral energy storage can be completed and the energy storage element swims unidirectionally. During the alternating gait walking process, the bilateral energy storage release is transformed with the change of support direction, and the swing phase can move freely for collaborative auxiliary power.

[0047] The present invention mainly has the following technical features:

[0048] Functional integration: With a passive energy storage and release element as the core, it is connected to the left and right hip joint flexion and extension winding roller assemblies through a combination of steel wire and dynamic and static pulleys to complete the energy storage and release during the thigh flexion and extension process.

[0049] Synergistic association: During the operation of the exoskeleton system, when both legs are flexed at the same time, the steel wires on both sides drive their respective winding rollers and movable pulleys to compress the energy storage elements at the same time to achieve bidirectional energy storage, and the energy storage elements are forced to swim toward the middle of the hip mounting fixture; when one leg is flexed, unilateral energy storage can be completed and the energy storage element swims unidirectionally. During the alternating gait walking process, the bilateral energy storage release is transformed with the change of support direction, and the swing phase can move freely for collaborative auxiliary power.

[0050] Effective power-to-weight ratio: The mechanism is compact and lightweight, and uses a single integrated energy storage element to assist the left and right hip joints, making it suitable for material handling and exoskeleton hip joint coordinated motion energy storage.

[0051] It is suitable for storing energy through the coordinated movement of the exoskeleton hip joint during material handling, and can also be used as an important component of the exoskeleton system. It can be technically expanded for operational scenarios such as military logistics support and civilian industrial fields, such as the transportation of daily necessities, the transfer operation of instruments and equipment, and fixed-position support assistance.

Claims

1. A material handling exoskeleton hip joint coordinated motion energy storage and amplification mechanism, characterized in that: It includes a hip mounting fixture, an energy storage swimming component, and a hip joint flexion and extension winding roller component; The hip mounting fixtures are symmetrically arranged on the left and right sides and are fixedly connected as a whole via four supporting positioning rods and a hip joint integrated bracket; The energy storage swimming assembly is guided and fixed by two bidirectionally wound steel cables, and can swim back and forth between the left and right hip mounting fixtures to complete the energy storage and release during the thigh flexion and extension process; The hip joint flexion and extension winding roller assembly is fixedly connected to the hip mounting fixture via a bearing and can rotate relatively. The movable pulley is driven by the pulling action of the wire rope to compress the energy storage unit, thereby realizing energy storage and release.

2. The material handling exoskeleton hip joint coordinated motion energy storage and amplification mechanism according to claim 1 is characterized in that: The inner side of the hip mounting fixture is designed with a stepped hole, which is fixedly connected to the shaft end of the support positioning rod, and the outer side is fixedly connected with screws.

3. The hip joint coordinated motion energy storage and amplification mechanism for material handling exoskeleton according to claim 1 is characterized in that: A screw hole and a pin hole are designed on the upper side of the hip mounting fixture, which are fixedly connected to the hip joint integrated bracket via screws and pins respectively.

4. The material handling exoskeleton hip joint coordinated motion energy storage and amplification mechanism according to claim 1 is characterized in that: An "H"-shaped wire groove is designed on the upper part of the hip mounting fixture. After the lead head at one end of the wire rope is passed through the wire groove, the lead head position is fixed with a lead head support frame, thereby fixing one end of the wire rope to the hip mounting fixture; screws are used to fix the lead head support frame and the hip mounting fixture to form the main body of the structural frame.

5. The material handling exoskeleton hip joint coordinated motion energy storage and amplification mechanism according to claim 1 is characterized in that: A roller groove and a pin fixing hole are designed on the side surface of the hip mounting fixture, and the fixed pulley is fixedly connected to the hip mounting fixture through the pin.

6. The material handling exoskeleton hip joint coordinated motion energy storage and amplification mechanism according to claim 1 is characterized in that: The energy storage swimming assembly includes a spring guide base, a rectangular compression spring, a winding roller and a wire rope; the spring guide base is symmetrically designed with a wire groove, after the lead head at one end of the wire rope passes through the wire groove, the lead head position is fixed by a lead head support frame, and then one end of the wire rope is fixed on the hip mounting fixture; the spring guide base is designed with a pin hole, which is fixedly connected to the winding roller through a cylindrical pin.

7. The material handling exoskeleton hip joint coordinated motion energy storage and amplification mechanism according to claim 1 is characterized in that: The energy storage and swimming assembly is centered around a passive energy storage and release element. Two steel ropes pass through movable pulleys in an orthogonal winding manner. One end of the steel rope passes through a lead head support frame and is fixedly connected to a hip mounting fixture. After passing through the movable pulley assembly, it winds back to the wire outlet groove of the spring guide base and then passes through a winding roller fixedly connected to the hip mounting fixture, thereby completing the energy storage and release during the thigh flexion and extension process through the combination of the movable and static pulleys.

8. The material handling exoskeleton hip joint coordinated motion energy storage and amplification mechanism according to claim 1 is characterized in that: The hip flexion and extension winding roller assembly includes an axially positioned winding roller, a wire retaining ring, a 6712-2RS bearing and a 6708-2RS bearing; the axially positioned winding roller is fixedly mounted on the hip mounting fixture through the 6712-2RS bearing and the 6708-2RS bearing; the axially positioned winding roller is designed with a wire rope winding groove and a lead head hole to fix the wire rope, and the winding groove serves as a winding guide to prevent the wire rope from being pressed or worn; after the winding is completed, the wire retaining ring is used in the corresponding hole position of the hip mounting fixture to prevent the wire rope from slipping axially.

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