Leg structure of hip joint passive power-assisted exoskeleton

Abstract

The invention discloses a leg structure of a hip joint passive power-assisted exoskeleton, which comprises a leg rod, a pitching adjusting assembly, a height adjusting assembly and a quick release assembly, and is characterized in that the pitching adjusting assembly comprises a leg plate and a floating block hinged with the leg plate; the height adjusting assembly comprises a gear key, a plurality of positioning grooves formed in the height direction of the floating block at intervals and blocking pieces capable of being separated from the positioning grooves under the pressing effect, and the quick detaching assembly comprises a leg binding belt with one end connected with the leg plate and a binding belt buckle which is arranged at the other end of the leg binding belt and can be inserted into the leg plate. The leg plate can be pushed to achieve height adjustment by pressing the gear key to compress the spring to push the separation blade to be separated from the positioning groove in the floating block, and the bandage buckle is limited to be pulled out under the action of the torsional spring through the quick release part, so that the leg plate is convenient to wear, and the wearing comfort and the assisting effect can be ensured. And the wearable comfort can be effectively considered. The invention belongs to the field of robot design.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robot design, and more particularly relates to a leg structure of a passive hip joint assisted exoskeleton. BACKGROUND

[0002] The hip joint is one of the joints particularly important in human activities, and is responsible for starting the lower limbs of the human body while connecting the upper body of the human body. The assisted exoskeleton is an auxiliary walking device for enhancing the walking endurance of the human body or reducing the metabolic cost of the human body, recycling the mechanical energy of the human body walking, and converting the mechanical energy into elastic potential energy through the mechanical structure to provide assistance to the human body walking.

[0003] The existing passive hip joint assisted exoskeleton leg generally adopts a simple rigid skeleton and leg plate structure, and the leg plate and the leg rod cannot be adjusted in pitch and height, and the compatibility for lower limbs of different thickness and length is insufficient, resulting in poor wearing comfort. SUMMARY

[0004] The main purpose of the present application is to provide a leg structure of a passive hip joint assisted exoskeleton, which can be adjusted in pitch and height, thereby effectively improving the compatibility and wearing comfort.

[0005] To achieve the above purpose, the technical scheme of the present application is as follows: A leg structure of a passive hip joint assisted exoskeleton, comprising a leg rod, a pitch adjusting assembly, a height adjusting assembly and a quick release assembly, the pitch adjusting assembly comprising a leg plate connected with the leg rod and a floating block hinged with the leg plate, the floating block being capable of driving the leg rod to rotate so that the leg plate swings in pitch, the height adjusting assembly comprising a gear key, a plurality of positioning grooves arranged along the height direction of the floating block and a stop sheet capable of being separated from the positioning grooves under the pressing action, a spring being arranged between the stop sheet and the gear key and capable of driving the stop sheet to be embedded in the corresponding positioning groove, the quick release assembly comprising a leg band connected with one end of the leg plate and a leg band buckle arranged at the other end of the leg band and capable of being inserted into the leg plate, the leg plate being provided with a quick release piece capable of limiting the leg band buckle from being pulled out under the action of a torsional spring, and one side of the leg band buckle being provided with a bayonet capable of being buckled with the quick release piece under the action of an external force.

[0006] According to the first aspect of the present application, the pitch adjusting assembly further comprises a sliding groove arranged on the leg plate and capable of inserting one end of the leg rod, and the floating block is located between the leg rod and the bottom surface of the sliding groove.

[0007] According to a first aspect of the present invention, the floating block is provided with bosses at both ends that can be rotatably connected to the inner walls of both sides of the sliding groove, and the side of the floating block away from the leg rod is provided with an inclined surface that allows the leg plate to pitch and swing.

[0008] According to a first aspect of the present invention, the inclined surface includes an upper inclined surface and a lower inclined surface, the upper inclined surface and the lower inclined surface being symmetrically arranged with respect to the boss.

[0009] According to a first aspect of the present invention, the height adjustment assembly further includes a slot provided on the leg bar and a boss provided at the bottom of the slot, the boss having a through hole, and the gear button being located within the slot.

[0010] According to a first aspect of the present invention, one end of the gear shift button abuts against the spring, and the other end of the spring passes through the through hole and is connected to the baffle. The spring can be compressed by pressing the gear shift button to push the baffle away from the positioning groove.

[0011] According to a first aspect of the present invention, the quick-release assembly further includes a button hole provided on the leg plate and a guide platform provided on the leg plate, wherein the guide platform has a quick-release hole on its side for inserting the strap buckle.

[0012] According to a first aspect of the present invention, the quick-release member passes through the button hole and is hinged to the leg plate, and one side of the quick-release member can limit the pull-out of the strap buckle under the action of the torsion spring.

[0013] According to a first aspect of the present invention, the upper and lower ends of one side of the strap buckle are respectively provided with guide grooves that can fit with the guide platform, and a quick-release boss that can be inserted into the quick-release hole is provided between the two guide grooves.

[0014] According to a first aspect of the present invention, the latch is located on the quick-release protrusion, and pushing the strap buckle can cause the quick-release protrusion to engage the latch with the quick-release component.

[0015] One of the above-described technical solutions of the present invention has at least one of the following advantages or beneficial effects: This invention can drive the leg bar to rotate through a floating block, so that the leg plate can swing up and down. Therefore, it can better accommodate the wearer with different leg sizes, ensure the fit of the leg plate to the leg, and ensure wearing comfort and assistive effect. Pressing the gear shift button compresses the spring, pushing the baffle plate away from the positioning groove on the floating block, thereby pushing the leg plate to adjust the height. After releasing the gear shift button, the gear shift button, under the elastic force of the spring, drives the baffle plate to embed into the corresponding positioning groove, thus locking it in place. After the strap buckle is fastened to the leg plate, the quick-release mechanism, under the action of the torsion spring, prevents the strap buckle from being pulled out, which not only makes it easy to put on, but also effectively ensures wearing comfort. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments; Appendix Figure 1 This is an overall structural diagram of one embodiment of the present invention; Appendix Figure 2 This is a rear view of an embodiment of the present invention; Appendix Figure 3 This is a structural diagram of the leg strap after it has been opened according to an embodiment of the present invention; Appendix Figure 4 Leg plate pitching structure according to an embodiment of the present invention Figure 1 ; Appendix Figure 5 A sectional view of the leg plate according to an embodiment of the present invention. Figure 1 ; Appendix Figure 6 Leg plate pitching structure according to an embodiment of the present invention Figure 2 ; Appendix Figure 7 A sectional view of the leg plate according to an embodiment of the present invention. Figure 2 ; Appendix Figure 8 This is a diagram of a leg plate structure according to an embodiment of the present invention; Appendix Figure 9 This is a rear view of a floating block according to an embodiment of the present invention; Appendix Figure 10 This is a side view of an embodiment of the present invention; Appendix Figure 11 This is a cross-sectional view along the AA direction according to an embodiment of the present invention; Appendix Figure 12 This is a front view of an embodiment of the present invention; Appendix Figure 13 This is a sectional view along the BB direction of an embodiment of the present invention. Detailed Implementation

[0017] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0018] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0019] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" and "second" may explicitly or implicitly include one or more features.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection or a connection that allows communication between the two components; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components, an indirect connection, or an interaction between two components.

[0022] The following disclosure provides many different implementations or examples for different ways of implementing the present invention.

[0023] See attached document Figure 1 To be continued Figure 13 As shown, a leg structure of a passive hip joint assistive exoskeleton includes a leg bar 1, a pitch adjustment component 2, a height adjustment component 3, and a quick-release component 4.

[0024] In one embodiment of the present invention, the pitch adjustment assembly 2 includes a leg plate 21 connected to the leg bar 1, a floating block 22 hinged to the leg plate 21, and a sliding groove 23 provided on the leg plate 21 into which one end of the leg bar 1 can be inserted. The floating block 22 is located between the bottom surface of the leg bar 1 and the sliding groove 23. The floating block 22 can drive the leg bar 1 to rotate so that the leg plate 21 can pitch and swing.

[0025] In one embodiment of the present invention, the floating block 22 is provided with protrusions 221 at both ends that can be rotatably connected to the inner walls of both sides of the sliding groove 23. The side of the floating block 22 away from the leg bar 1 is provided with an inclined surface that allows the leg plate 21 to tilt and swing. The floating block 22 can drive the leg bar 1 to rotate so that the leg plate 21 can tilt and swing. Therefore, it can better accommodate the wearing of legs of different thicknesses, ensure the fit of the leg plate to the leg, and ensure wearing comfort and assistive effect.

[0026] In one embodiment of the present invention, the inclined surface includes an upper inclined surface 222 and a lower inclined surface 223. The upper inclined surface 222 and the lower inclined surface 223 are symmetrically arranged with a boss 221, so that the leg bar 1 can be rotated by the floating block 22, so that the leg plate 21 can swing in a pitching motion with an amplitude of about 10°.

[0027] In one embodiment of the present invention, the height adjustment component 3 includes a gear button 31, a plurality of positioning grooves 32 spaced apart along the height direction of the floating block 22, a baffle 33 that can disengage from the positioning grooves 221 under pressure, a slot on the leg 1, and a boss at the bottom of the slot, the boss having a through hole, and the gear button 31 located in the slot.

[0028] In one embodiment of the present invention, a spring 34 is provided between the baffle 33 and the gear button 31, which can drive the baffle 33 to be embedded in the corresponding positioning groove 32. One end of the gear button 31 abuts against the spring 34, and the other end of the spring 34 passes through the through hole and is connected to the baffle 33. The baffle 33 can be pushed out of the positioning groove 32 by pressing the gear button 31 to compress the spring 34.

[0029] In one embodiment of the present invention, the height adjustment principle of the leg plate 21 is as follows: by pressing the gear position button 31, the spring 34 is compressed, which in turn pushes the baffle 33 to disengage from the positioning groove 221 on the floating block 22. At this time, the leg plate 21 can be pushed so that the baffle 33 is aligned with the next positioning groove 221. After releasing the gear position button 31, the gear position button 31 can drive the baffle 33 to be embedded into the next positioning groove 221 under the elastic force of the spring 34, thereby completing one height position adjustment operation of the leg plate 21.

[0030] In one embodiment of the present invention, the quick-release assembly 4 includes a leg strap 41 connected at one end to the leg plate 21, a strap buckle 42 that can be inserted into the leg plate 21 at the other end of the leg strap 41, a button hole 46 on the leg plate 21, and a guide platform 47 on the leg plate 21. The leg plate 21 is provided with a quick-release member 44 that can limit the strap buckle 42 from being pulled out under the action of a torsion spring 43. One side of the strap buckle 42 is provided with a latch 45 that can be engaged with the quick-release member 44 under the action of external force.

[0031] In one embodiment of the present invention, the guide plate 47 is provided with a quick-release hole 48 for inserting a strap buckle 42. The quick-release member 44 passes through the button hole 46 and is hinged to the leg plate 21. One side of the quick-release member 44 can limit the pull-out of the strap buckle 42 under the action of the torsion spring 43.

[0032] In one embodiment of the present invention, the upper and lower ends of one side of the strap buckle 42 are respectively provided with guide grooves 421 that can fit with the guide platform 47, and a quick-release boss 422 that can be inserted into the quick-release hole 48 is provided between the two guide grooves 421. The latch 45 is located on the quick-release boss 422. Pushing the strap buckle 42 can cause the quick-release boss 422 to drive the latch 45 to engage with the quick-release component 44.

[0033] In one embodiment of the present invention, the quick-release connection principle of the strap buckle 42 is as follows: the strap buckle 42 is inserted into the quick-release hole 48 through the quick-release boss 422. At this time, the quick-release boss 422 can push open the quick-release piece 44 until the guide groove 421 and the guide table 47 are engaged. Furthermore, under the action of the torsion spring 43, the quick-release piece 44 is engaged into the latch 45 on the quick-release boss 422 to achieve engagement.

[0034] In one embodiment of the present invention, the action of unfastening the strap buckle 42 is to press the quick release piece 44 to compress the torsion spring 43, thereby unfastening the quick release piece 44 and the buckle 45. At this time, the strap buckle 42 can be pulled out to the left to realize the quick release operation of the strap buckle 42.

[0035] The leg structure of this passive hip-assisted exoskeleton can rotate the leg bar 1 via the floating block 22, allowing the leg plate 21 to pitch and swing. This allows for better compatibility with legs of different thicknesses, ensuring a good fit between the leg plate and the leg, and guaranteeing both comfort and assistive effect. By pressing the gear button 31 to compress the spring 34, the stop plate 33 is pushed out of the positioning groove 221 on the floating block 22, thereby allowing the leg plate 21 to be adjusted in height. After releasing the gear button 31, the stop button 31, under the elastic force of the spring 34, causes the stop plate 33 to be inserted into the corresponding positioning groove 221, achieving a locking effect. Furthermore, after the strap buckle 42 is fastened to the leg plate 21, the quick-release piece 44, under the action of the torsion spring 43, can limit the removal of the strap buckle 42, which not only facilitates wearing but also effectively ensures wearing comfort and simplifies the donning and doffing of the exoskeleton.

[0036] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A leg structure of a passive hip-joint assisted exoskeleton, characterized in that, include: Leg bar (1); The pitch adjustment assembly (2) includes a leg plate (21) connected to the leg bar (1) and a floating block (22) hinged to the leg plate (21). The floating block (22) can drive the leg bar (1) to rotate so that the leg plate (21) can pitch and swing. The height adjustment component (3) includes a gear button (31), a plurality of positioning slots (32) spaced apart along the height direction of the floating block (22), and a baffle (33) that can disengage from the positioning slots (221) under pressure. A spring (34) is provided between the baffle (33) and the gear button (31) to drive the baffle (33) to be embedded in the corresponding positioning slot (32). The quick-release assembly (4) includes a leg strap (41) connected at one end to the leg plate (21) and a strap buckle (42) that can be inserted into the leg plate (21) at the other end of the leg strap (41). The leg plate (21) is provided with a quick-release member (44) that can limit the strap buckle (42) from being pulled out under the action of a torsion spring (43). One side of the strap buckle (42) is provided with a latch (45) that can be engaged with the quick-release member (44) under the action of an external force.

2. The leg structure of the passive hip joint assistive exoskeleton according to claim 1, characterized in that, The pitch adjustment assembly (2) also includes a sliding groove (23) provided on the leg plate (21) into which one end of the leg rod (1) can be inserted, and the floating block (22) is located between the bottom surface of the leg rod (1) and the sliding groove (23).

3. The leg structure of the passive hip joint assistive exoskeleton according to claim 2, characterized in that, The floating block (22) has protrusions (221) at both ends that can be rotatably connected to the inner walls of both sides of the sliding groove (23). The floating block (22) has an inclined surface on the side away from the leg rod (1) that allows the leg plate (21) to pitch and swing.

4. The leg structure of the passive hip joint assistive exoskeleton according to claim 3, characterized in that, The inclined surface includes an upper inclined surface (222) and a lower inclined surface (223), and the upper inclined surface (222) and the lower inclined surface (223) are symmetrically arranged with respect to the boss (221).

5. The leg structure of the passive hip joint assistive exoskeleton according to claim 1, characterized in that, The height adjustment component (3) also includes a slot provided on the leg bar (1) and a boss provided at the bottom of the slot. The boss has a through hole and the gear button (31) is located in the slot.

6. The leg structure of the passive hip joint assistive exoskeleton according to claim 5, characterized in that, One end of the gear shift button (31) abuts against the spring (34), and the other end of the spring (34) passes through the through hole and is connected to the baffle (33). The spring (34) can be compressed by pressing the gear shift button (31) to push the baffle (33) away from the positioning groove (32).

7. The leg structure of the passive hip joint assistive exoskeleton according to claim 1, characterized in that, The quick-release assembly (4) also includes a button hole (46) provided on the leg plate (21) and a guide platform (47) provided on the leg plate (21). The guide platform (47) has a quick-release hole (48) on its side for the strap buckle (42) to be inserted.

8. The leg structure of the passive hip joint assistive exoskeleton according to claim 7, characterized in that, The quick-release piece (44) passes through the button hole (46) and is hinged to the leg plate (21). One side of the quick-release piece (44) can be used to limit the pull-out of the strap buckle (42) under the action of the torsion spring (43).

9. The leg structure of the passive hip joint assistive exoskeleton according to claim 7, characterized in that, The upper and lower ends of one side of the strap buckle (42) are respectively provided with guide grooves (421) that can fit with the guide platform (47), and a quick-release boss (422) that can be inserted into the quick-release hole (48) is provided between the two guide grooves (421).

10. The leg structure of the passive hip joint assistive exoskeleton according to claim 9, characterized in that, The latch (45) is located on the quick-release boss (422). Pushing the strap buckle (42) can cause the quick-release boss (422) to drive the latch (45) to engage with the quick-release part (44).

Images