High-safety hip joint exoskeleton

Abstract

The application discloses a high-safety hip joint exoskeleton, which comprises a waist exoskeleton and a leg exoskeleton, a power supply for supplying power to the hip joint exoskeleton is arranged on the waist exoskeleton, the end of the waist exoskeleton is connected with the leg exoskeleton through a motor for rotating the leg exoskeleton, and a binding structure is arranged on the leg exoskeleton; the waist exoskeleton comprises a fixed part, the leg exoskeleton comprises a rotating part, the rotating part is connected with the output end of the motor, contact conduction between the fixed part and the rotating part is realized through a conductive assembly, a current loop is formed between the conductive assembly, a wire, the binding structure, another wire and the conductive assembly, a controller is connected with the current loop, and the controller is used for controlling the start and stop of the motor according to the on-off of the current loop; and the application can avoid the situation that the user is hurt during use.

Description

Technical Field

[0001] This invention relates to the field of hip exoskeleton technology, and particularly to a highly safe hip exoskeleton. Background Technology

[0002] A hip exoskeleton is a wearable robotic system designed to provide assistive torque to the wearer's hip joint for enhanced movement, rehabilitation training, or motor compensation. A typical hip exoskeleton device, as described in patent CN120962620A, typically includes a lumbar fixation unit, two lower limb swing arm units (corresponding to the left and right thighs respectively), and a power drive unit. The lower limb swing arm units are reliably secured to the wearer's thighs via binding components (such as straps, buckles, or fitted curved plates), effectively transmitting the torque generated by the power unit to the lower limbs to assist in movements such as leg lifting and stepping.

[0003] The main consideration in using this type of exoskeleton is that it should not cause harm to the human body. Therefore, this invention relates to a highly safe hip exoskeleton. Summary of the Invention

[0004] The purpose of this invention is to provide a highly safe hip exoskeleton that solves the safety problem of hidden hip exoskeletons.

[0005] The present invention is implemented as follows: The present invention provides a highly safe hip joint exoskeleton, including a waist exoskeleton and a leg exoskeleton. The waist exoskeleton is provided with a power supply for supplying power to the hip joint exoskeleton. The end of the waist exoskeleton is connected to the leg exoskeleton via a motor for the rotation of the leg exoskeleton. The leg exoskeleton is provided with a binding structure.

[0006] The lumbar exoskeleton includes a fixing part, and the leg exoskeleton includes a rotating part. The rotating part is connected to the output end of the motor. The fixing part and the rotating part are electrically conductive through a conductive component. A current loop is formed between the conductive component, the wire, the binding structure, another wire, and the conductive component. The controller is connected to the current loop and is used to control the start and stop of the motor according to the opening and closing of the current loop.

[0007] The inventors of this invention discovered a significant safety hazard in existing hip exoskeletons during practical application and testing. Specifically, in dynamic scenarios such as walking or exercise, the lower limb restraint buckles may unexpectedly detach due to accidental impact, accidental contact, or structural fatigue. Once the lower limb restraint buckles detach, the lower limb swing arm unit of the exoskeleton will lose its downward restraint because the power drive unit may still be running. At this time, under the action of the drive motor, the lower limb swing arm unit will rapidly move upward around the hip joint axis, i.e., towards the wearer's torso and head. This rapid upward mechanical movement has a large impact energy and is very likely to strike or compress the wearer's abdomen, chest, or even face, causing serious secondary injuries. Existing technical solutions mostly focus on the drive efficiency and wearing comfort of the exoskeleton, while neglecting this specific and insidious failure mode of "lower limb unit moving upward and injuring people after restraint buckle detachment" and the safety risks it brings. This invention can effectively avoid the situation of lower limbs moving upward and injuring people due to accidental detachment of the lower limb restraint buckles during use, improving the safety of the device under abnormal operating conditions.

[0008] Specifically, this invention connects the binding structure in series with a current circuit. When the binding structure accidentally detaches, the circuit breaks, and the controller immediately stops the motor, preventing the leg exoskeleton from rotating upwards and impacting the abdomen, chest, or face, thus effectively improving the safety of the device. However, in the hip exoskeleton, the leg exoskeleton needs relative movement to the waist exoskeleton. When the circuit is normally connected, the relative movement between the leg and waist exoskeletons can cause entanglement if ordinary wires are used for connection, which also affects the aesthetics of the product and increases its space occupation. To address this further issue, the rotating part and the fixed part of this invention form a current circuit through contact conductivity. The current circuit is connected to the controller. When the current circuit breaks, the controller stops the motor in time. After stopping, the leg exoskeleton, without assistance, can stop promptly, avoiding injury to the user.

[0009] A further technical solution of the present invention is: the conductive component includes a first conductive element and a second conductive element, and a movable contact element is provided between the first conductive element and the second conductive element, the contact element being used for contact-type conduction between the first conductive element and the second conductive element.

[0010] By utilizing movable contacts, dynamic contact conductivity is achieved between the first and second conductive components. This ensures unobstructed circuitry when the rotating part rotates relative to the fixed part, and also improves conductivity stability by compensating for assembly tolerances and rotational runout through the movement of the contacts.

[0011] A further technical solution of the present invention is: the first conductive element is placed on the rotating part, the second conductive element is placed on the fixed part, and the contact element is a spring pin.

[0012] The spring pin has elastic extension and retraction capabilities, which can maintain reliable contact with the first conductive element at all times during the rotation of the rotating part. At the same time, the tip contact form of the spring pin can reduce frictional resistance and extend service life.

[0013] A further technical solution of the present invention is: the second conductive element is a circular circuit board, the spring pin is fixed on the circular circuit board, and the first conductive element is a copper ring.

[0014] The circular circuit board facilitates the integration of spring pins and wire connections. The copper ring, as a circular conductive track, works in conjunction with the spring pin to achieve continuous, low-resistance current transmission within the rotation range, resulting in a compact and reliable structure.

[0015] A further technical solution of the present invention is: the first conductive element is placed on the rotating part, the second conductive element is placed on the fixed part, and the contact element is a ball bearing.

[0016] Ball bearings, as contact components, enable rolling friction, significantly reducing wear and heat generation during rotational contact. At the same time, the multi-point contact method of ball bearings can improve conductivity redundancy and avoid single-point failure.

[0017] A further technical solution of the present invention is that both the first conductive element and the second conductive element are copper rings.

[0018] The structure of double copper rings combined with ball bearings allows the ball bearings to roll between the upper and lower copper rings to conduct current. This results in a large conductive area, low contact resistance, and the copper ring surface can be treated for wear resistance, making it suitable for work scenarios involving frequent reciprocating rotation.

[0019] A further technical solution of the present invention is: the conductive component includes a first bearing and a second bearing that are electrically connected, both the first bearing and the second bearing are disposed between the fixed part and the rotating part, and a current loop is formed between the first bearing, the wire, the binding structure, the other wire, and the second bearing.

[0020] Conductivity is achieved by utilizing the rolling contact between the inner and outer rings of the bearing, eliminating the need for additional conductive components. This results in a simple structure with high integration. Furthermore, the bearing itself bears radial and axial loads without increasing the number of components in the entire machine.

[0021] A further technical solution of the present invention is: the conductive component includes a first coil and a second coil, the second coil being used to generate alternating current to induce an alternating magnetic field and generate direct current in the first coil.

[0022] It adopts electromagnetic induction non-contact conductivity, which completely eliminates mechanical friction and electrical contact wear between rotating parts, improves the reliability and life of conductive components, and is especially suitable for harsh environments such as high speed or high humidity dust.

[0023] A further technical solution of the present invention is: the first coil is fixed on the rotating part, and the second coil is fixed on the fixed part.

[0024] The first coil and the second coil are fixed on the rotating part and the fixed part respectively, with a small air gap between them. When they rotate relative to each other, the magnetic field coupling is stable, the power transmission is not affected by the rotation angle, and there is no contact noise.

[0025] A further technical solution of the present invention is: one end of the binding structure is connected to the leg exoskeleton via a magnetic buckle, and a contact conductive sheet is provided between the magnetic buckle and the leg exoskeleton.

[0026] The magnetic clasp enables quick donning and disassembly of the binding structure; the contact conductive sheet automatically connects the circuit when the magnetic clasp is engaged and automatically disconnects when it is disengaged, eliminating the need for additional insertion and removal operations, which is both convenient to use and ensures the reliability of the safety circuit.

[0027] The beneficial effects of this invention are as follows: By connecting the binding structure in series with a current circuit, the circuit breaks when the binding structure accidentally detaches, and the controller immediately stops the motor, preventing the leg exoskeleton from rotating upwards and impacting the abdomen, chest, or face under motor drive, thus effectively improving the safety of the device. However, specifically in hip exoskeletons, the leg exoskeleton needs relative movement to the waist exoskeleton. When the circuit is normally connected, the relative movement between the leg and waist exoskeletons can lead to entanglement if ordinary wires are used for connection, which also affects the aesthetics of the product and increases its space occupation. To address this further issue, the rotating part and the fixed part of this invention form a current circuit through contact conductivity. The current circuit is connected to the controller. When the current circuit breaks, the controller stops the motor in time. After stopping, the leg exoskeleton, without assistance, can stop promptly, avoiding injury to the user during operation. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a highly safe hip exoskeleton provided by the present invention;

[0029] Figure 2 This is a schematic diagram of the conductive component in Embodiment 1;

[0030] Figure 3 yes Figure 2 Enlarged view of point V;

[0031] Figure 4This is a schematic diagram of the conductive component in Embodiment 2;

[0032] Figure 5 This is a schematic diagram of the conductive component in Embodiment 3;

[0033] Figure 6 This is a schematic diagram of the conductive component in Embodiment 4.

[0034] Reference numerals: 100. Leg exoskeleton, 200. Waist exoskeleton, 300. Binding structure, 1. Rotating part, 2. Fixing part, 31. First conductive element, 32. Second conductive element, 33. Contact element, 34. First bearing, 35. Second bearing, 36. First coil, 37. Second coil. Detailed Implementation

[0035] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0036] Example 1:

[0037] like Figure 1-3 The diagram shows a highly safe hip exoskeleton, including a lumbar exoskeleton 200 and a leg exoskeleton 100. The lumbar exoskeleton 200 is equipped with a power supply for powering the hip exoskeleton. The end of the lumbar exoskeleton 200 is connected to the leg exoskeleton 100 via a motor for the leg exoskeleton 100 to rotate. The leg exoskeleton 100 is equipped with a binding structure 300.

[0038] The lumbar exoskeleton 200 includes a fixing part 2, and the leg exoskeleton 100 includes a rotating part 1. The rotating part 1 is connected to the output end of the motor. The fixing part 2 and the rotating part 1 are electrically conductive through a conductive component. The conductive component, the wire, the binding structure 300, another wire, and the conductive component form a current loop. The controller is connected to the current loop and is used to control the start and stop of the motor according to the opening and closing of the current loop.

[0039] The inventors of this invention discovered a significant safety hazard in existing hip exoskeletons during practical application and testing. Specifically, in dynamic scenarios such as walking or exercise, the lower limb restraint buckles may unexpectedly detach due to accidental impact, accidental contact, or structural fatigue. Once the lower limb restraint buckles detach, the lower limb swing arm unit of the exoskeleton will lose its downward restraint because the power drive unit may still be running. At this time, under the action of the drive motor, the lower limb swing arm unit will rapidly move upward around the hip joint axis, i.e., towards the wearer's torso and head. This rapid upward mechanical movement has a large impact energy and is very likely to strike or compress the wearer's abdomen, chest, or even face, causing serious secondary injuries. Existing technical solutions mostly focus on the drive efficiency and wearing comfort of the exoskeleton, while neglecting this specific and insidious failure mode of "lower limb unit moving upward and injuring people after restraint buckle detachment" and the safety risks it brings. This invention can effectively avoid the situation of lower limbs moving upward and injuring people due to accidental detachment of the lower limb restraint buckles during use, improving the safety of the device under abnormal operating conditions.

[0040] Specifically, this invention connects the binding structure in series with a current circuit. When the binding structure accidentally detaches, the circuit breaks, and the controller immediately stops the motor, preventing the leg exoskeleton from rotating upwards and impacting the abdomen, chest, or face, thus effectively improving the safety of the device. However, in the hip exoskeleton, the leg exoskeleton needs relative movement to the waist exoskeleton. When the circuit is normally connected, the relative movement between the leg and waist exoskeletons can cause entanglement if ordinary wires are used for connection, which also affects the aesthetics of the product and increases its space occupation. To address this further issue, the rotating part and the fixed part of this invention form a current circuit through contact conductivity. The current circuit is connected to the controller. When the current circuit breaks, the controller stops the motor in time. After stopping, the leg exoskeleton, without assistance, can stop promptly, avoiding injury to the user.

[0041] In this embodiment, the conductive component includes a first conductive element 31 and a second conductive element 32. A movable contact element 33 is provided between the first conductive element 31 and the second conductive element 32. The contact element 33 is used for contact-type conductivity between the first conductive element 31 and the second conductive element 32.

[0042] By utilizing movable contacts, dynamic contact conductivity is achieved between the first and second conductive components. This ensures unobstructed circuitry when the rotating part rotates relative to the fixed part, and also improves conductivity stability by compensating for assembly tolerances and rotational runout through the movement of the contacts.

[0043] In this embodiment, the first conductive element 31 is placed on the rotating part 1, the second conductive element 32 is placed on the fixed part 2, and the contact element 33 is a spring pin.

[0044] The spring pin has elastic extension and retraction capabilities, which can maintain reliable contact with the first conductive element at all times during the rotation of the rotating part. At the same time, the tip contact form of the spring pin can reduce frictional resistance and extend service life.

[0045] In this embodiment, the second conductive element 32 is a circular circuit board, the spring pin is fixed on the circular circuit board, and the first conductive element 31 is a copper ring.

[0046] The circular circuit board facilitates the integration of spring pins and wire connections. The copper ring, as a circular conductive track, works in conjunction with the spring pin to achieve continuous, low-resistance current transmission within the rotation range, resulting in a compact and reliable structure.

[0047] In this embodiment, one end of the binding structure 300 is connected to the leg exoskeleton 100 via a magnetic snap fastener, and a contact conductive sheet is provided between the magnetic snap fastener and the leg exoskeleton 100.

[0048] The magnetic clasp enables quick donning and disassembly of the binding structure; the contact conductive sheet automatically connects the circuit when the magnetic clasp is engaged and automatically disconnects when it is disengaged, eliminating the need for additional insertion and removal operations, which is both convenient to use and ensures the reliability of the safety circuit.

[0049] Principle: The copper ring is fixed on the upper rotating mechanism, and the circuit board with spring pins is installed on the fixed mechanism 2. The upper rotating mechanism is connected to the output shaft of the motor. Current flows through the circuit board and the spring pins on the circuit board to the copper ring that contacts the spring pins. The motor drives the upper rotating mechanism 1 to rotate, and the copper ring can also rotate. The spring pins and the copper ring contact each other and rub against each other to conduct current. A current loop is formed through another set of rings and spring pins. When there is a break in the wires of the upper rotating mechanism 1, such as the break of the binding mechanism, the current in the entire loop disappears. The main board controls the motor to stop running, so that the entire device stops and protects the user.

[0050] Current flow: Mainboard - wire - circuit board - spring pin - copper ring - wire - binding mechanism - wire - copper ring - another spring pin - circuit board - wire - mainboard. The mainboard controls the motor's start and stop. The mainboard is positioned on the waist exoskeleton and close to the power supply; the power supply is connected to the mainboard.

[0051] Example 2:

[0052] like Figure 1 , 4The diagram shows a highly safe hip exoskeleton, including a lumbar exoskeleton 200 and a leg exoskeleton 100. The lumbar exoskeleton 200 is equipped with a power supply for powering the hip exoskeleton. The end of the lumbar exoskeleton 200 is connected to the leg exoskeleton 100 via a motor for the leg exoskeleton 100 to rotate. The leg exoskeleton 100 is equipped with a binding structure 300.

[0053] The lumbar exoskeleton 200 includes a fixing part 2, and the leg exoskeleton 100 includes a rotating part 1. The rotating part 1 is connected to the output end of the motor. The fixing part 2 and the rotating part 1 are electrically conductive through a conductive component. The conductive component, the wire, the binding structure 300, another wire, and the conductive component form a current loop. The controller is connected to the current loop and is used to control the start and stop of the motor according to the opening and closing of the current loop.

[0054] The inventors of this invention discovered a significant safety hazard in existing hip exoskeletons during practical application and testing. Specifically, in dynamic scenarios such as walking or exercise, the lower limb restraint buckles may unexpectedly detach due to accidental impact, accidental contact, or structural fatigue. Once the lower limb restraint buckles detach, the lower limb swing arm unit of the exoskeleton will lose its downward restraint because the power drive unit may still be running. At this time, under the action of the drive motor, the lower limb swing arm unit will rapidly move upward around the hip joint axis, i.e., towards the wearer's torso and head. This rapid upward mechanical movement has a large impact energy and is very likely to strike or compress the wearer's abdomen, chest, or even face, causing serious secondary injuries. Existing technical solutions mostly focus on the drive efficiency and wearing comfort of the exoskeleton, while neglecting this specific and insidious failure mode of "lower limb unit moving upward and injuring people after restraint buckle detachment" and the safety risks it brings. This invention can effectively avoid the situation of lower limbs moving upward and injuring people due to accidental detachment of the lower limb restraint buckles during use, improving the safety of the device under abnormal operating conditions.

[0055] Specifically, this invention connects the binding structure in series with a current circuit. When the binding structure accidentally detaches, the circuit breaks, and the controller immediately stops the motor, preventing the leg exoskeleton from rotating upwards and impacting the abdomen, chest, or face, thus effectively improving the safety of the device. However, in the hip exoskeleton, the leg exoskeleton needs relative movement to the waist exoskeleton. When the circuit is normally connected, the relative movement between the leg and waist exoskeletons can cause entanglement if ordinary wires are used for connection, which also affects the aesthetics of the product and increases its space occupation. To address this further issue, the rotating part and the fixed part of this invention form a current circuit through contact conductivity. The current circuit is connected to the controller. When the current circuit breaks, the controller stops the motor in time. After stopping, the leg exoskeleton, without assistance, can stop promptly, avoiding injury to the user.

[0056] In this embodiment, the conductive component includes a first conductive element 31 and a second conductive element 32. A movable contact element 33 is provided between the first conductive element 31 and the second conductive element 32. The contact element 33 is used for contact-type conductivity between the first conductive element 31 and the second conductive element 32.

[0057] By utilizing movable contacts, dynamic contact conductivity is achieved between the first and second conductive components. This ensures unobstructed circuitry when the rotating part rotates relative to the fixed part, and also improves conductivity stability by compensating for assembly tolerances and rotational runout through the movement of the contacts.

[0058] In this embodiment, the first conductive element 31 is placed on the rotating part 1, the second conductive element 32 is placed on the fixed part 2, and the contact element 33 is a ball bearing.

[0059] Ball bearings, as contact components, enable rolling friction, significantly reducing wear and heat generation during rotational contact. At the same time, the multi-point contact method of ball bearings can improve conductivity redundancy and avoid single-point failure.

[0060] In this embodiment, both the first conductive element 31 and the second conductive element 32 are copper rings.

[0061] The structure of double copper rings combined with ball bearings allows the ball bearings to roll between the upper and lower copper rings to conduct current. This results in a large conductive area, low contact resistance, and the copper ring surface can be treated for wear resistance, making it suitable for work scenarios involving frequent reciprocating rotation.

[0062] In this embodiment, one end of the binding structure 300 is connected to the leg exoskeleton 100 via a magnetic snap fastener, and a contact conductive sheet is provided between the magnetic snap fastener and the leg exoskeleton 100.

[0063] The magnetic clasp enables quick donning and disassembly of the binding structure; the contact conductive sheet automatically connects the circuit when the magnetic clasp is engaged and automatically disconnects when it is disengaged, eliminating the need for additional insertion and removal operations, which is both convenient to use and ensures the reliability of the safety circuit.

[0064] Ball bearing principle: The first copper ring is installed on the upper rotating mechanism 1, and the second copper ring is installed on the fixed mechanism 2. A ball bearing is placed between the first and second copper rings. The upper rotating mechanism is connected to the output shaft of the motor. The current is conducted through the second copper ring on the fixed mechanism 2 to the ball bearing placed above. The ball bearing then contacts the first copper ring of the upper rotating mechanism 1, rolls with each other, and conducts current. A current loop is formed through another set of first and second copper rings and the ball bearing. When there is a break in the wire flowing through the upper rotating mechanism 1, such as the break of the binding mechanism, the current in the entire loop disappears. At this time, the main board controls the motor to stop rotating, so that the entire device stops and protects the user.

[0065] Example 3:

[0066] like Figure 1 , 5 The diagram shows a highly safe hip exoskeleton, including a lumbar exoskeleton 200 and a leg exoskeleton 100. The lumbar exoskeleton 200 is equipped with a power supply for powering the hip exoskeleton. The end of the lumbar exoskeleton 200 is connected to the leg exoskeleton 100 via a motor for the leg exoskeleton 100 to rotate. The leg exoskeleton 100 is equipped with a binding structure 300.

[0067] The lumbar exoskeleton 200 includes a fixing part 2, and the leg exoskeleton 100 includes a rotating part 1. The rotating part 1 is connected to the output end of the motor. The fixing part 2 and the rotating part 1 are electrically conductive through a conductive component. The conductive component, the wire, the binding structure 300, another wire, and the conductive component form a current loop. The controller is connected to the current loop and is used to control the start and stop of the motor according to the opening and closing of the current loop.

[0068] The inventors of this invention discovered a significant safety hazard in existing hip exoskeletons during practical application and testing. Specifically, in dynamic scenarios such as walking or exercise, the lower limb restraint buckles may unexpectedly detach due to accidental impact, accidental contact, or structural fatigue. Once the lower limb restraint buckles detach, the lower limb swing arm unit of the exoskeleton will lose its downward restraint because the power drive unit may still be running. At this time, under the action of the drive motor, the lower limb swing arm unit will rapidly move upward around the hip joint axis, i.e., towards the wearer's torso and head. This rapid upward mechanical movement has a large impact energy and is very likely to strike or compress the wearer's abdomen, chest, or even face, causing serious secondary injuries. Existing technical solutions mostly focus on the drive efficiency and wearing comfort of the exoskeleton, while neglecting this specific and insidious failure mode of "lower limb unit moving upward and injuring people after restraint buckle detachment" and the safety risks it brings. This invention can effectively avoid the situation of lower limbs moving upward and injuring people due to accidental detachment of the lower limb restraint buckles during use, improving the safety of the device under abnormal operating conditions.

[0069] Specifically, this invention connects the binding structure in series with a current circuit. When the binding structure accidentally detaches, the circuit breaks, and the controller immediately stops the motor, preventing the leg exoskeleton from rotating upwards and impacting the abdomen, chest, or face, thus effectively improving the safety of the device. However, in the hip exoskeleton, the leg exoskeleton needs relative movement to the waist exoskeleton. When the circuit is normally connected, the relative movement between the leg and waist exoskeletons can cause entanglement if ordinary wires are used for connection, which also affects the aesthetics of the product and increases its space occupation. To address this further issue, the rotating part and the fixed part of this invention form a current circuit through contact conductivity. The current circuit is connected to the controller. When the current circuit breaks, the controller stops the motor in time. After stopping, the leg exoskeleton, without assistance, can stop promptly, avoiding injury to the user.

[0070] In this embodiment, the conductive component includes a first bearing 34 and a second bearing 35 that are electrically connected. The first bearing 34 and the second bearing 35 are both disposed between the fixed part 2 and the rotating part 1. A current loop is formed between the first bearing 34, the wire, the binding structure, the other wire, and the second bearing 35.

[0071] Conductivity is achieved by utilizing the rolling contact between the inner and outer rings of the bearing, eliminating the need for additional conductive components. This results in a simple structure with high integration. Furthermore, the bearing itself bears radial and axial loads without increasing the number of components in the entire machine.

[0072] In this embodiment, one end of the binding structure 300 is connected to the leg exoskeleton 100 via a magnetic snap fastener, and a contact conductive sheet is provided between the magnetic snap fastener and the leg exoskeleton 100.

[0073] The magnetic clasp enables quick donning and disassembly of the binding structure; the contact conductive sheet automatically connects the circuit when the magnetic clasp is engaged and automatically disconnects when it is disengaged, eliminating the need for additional insertion and removal operations, which is both convenient to use and ensures the reliability of the safety circuit.

[0074] Principle: A first bearing 3 and a second bearing 4 are provided between the fixed mechanism 2 and the upper rotating mechanism 1. The first bearing 3 and the second bearing 4 are connected by a wire inside the upper rotating mechanism 1. The upper rotating mechanism is connected to the output shaft of the motor. The current forms a current loop through the first bearing 3 on the fixed mechanism 2, the wire inside the upper rotating mechanism 1, and the second bearing 4. When the binding mechanism comes loose, the current flowing through the wire of the upper rotating mechanism 1 is disconnected, and the current in the entire loop disappears. At this time, the main board controls the motor to stop rotating, so that the entire device stops and protects the user.

[0075] Example 4:

[0076] like Figure 1 , 6 The diagram shows a highly safe hip exoskeleton, including a lumbar exoskeleton 200 and a leg exoskeleton 100. The lumbar exoskeleton 200 is equipped with a power supply for powering the hip exoskeleton. The end of the lumbar exoskeleton 200 is connected to the leg exoskeleton 100 via a motor for the leg exoskeleton 100 to rotate. The leg exoskeleton 100 is equipped with a binding structure 300.

[0077] The lumbar exoskeleton 200 includes a fixing part 2, and the leg exoskeleton 100 includes a rotating part 1. The rotating part 1 is connected to the output end of the motor. The fixing part 2 and the rotating part 1 are electrically conductive through a conductive component. The conductive component, the wire, the binding structure 300, another wire, and the conductive component form a current loop. The controller is connected to the current loop and is used to control the start and stop of the motor according to the opening and closing of the current loop.

[0078] The inventors of this invention discovered a significant safety hazard in existing hip exoskeletons during practical application and testing. Specifically, in dynamic scenarios such as walking or exercise, the lower limb restraint buckles may unexpectedly detach due to accidental impact, accidental contact, or structural fatigue. Once the lower limb restraint buckles detach, the lower limb swing arm unit of the exoskeleton will lose its downward restraint because the power drive unit may still be running. At this time, under the action of the drive motor, the lower limb swing arm unit will rapidly move upward around the hip joint axis, i.e., towards the wearer's torso and head. This rapid upward mechanical movement has a large impact energy and is very likely to strike or compress the wearer's abdomen, chest, or even face, causing serious secondary injuries. Existing technical solutions mostly focus on the drive efficiency and wearing comfort of the exoskeleton, while neglecting this specific and insidious failure mode of "lower limb unit moving upward and injuring people after restraint buckle detachment" and the safety risks it brings. This invention can effectively avoid the situation of lower limbs moving upward and injuring people due to accidental detachment of the lower limb restraint buckles during use, improving the safety of the device under abnormal operating conditions.

[0079] Specifically, this invention connects the binding structure in series with a current circuit. When the binding structure accidentally detaches, the circuit breaks, and the controller immediately stops the motor, preventing the leg exoskeleton from rotating upwards and impacting the abdomen, chest, or face, thus effectively improving the safety of the device. However, in the hip exoskeleton, the leg exoskeleton needs relative movement to the waist exoskeleton. When the circuit is normally connected, the relative movement between the leg and waist exoskeletons can cause entanglement if ordinary wires are used for connection, which also affects the aesthetics of the product and increases its space occupation. To address this further issue, the rotating part and the fixed part of this invention form a current circuit through contact conductivity. The current circuit is connected to the controller. When the current circuit breaks, the controller stops the motor in time. After stopping, the leg exoskeleton, without assistance, can stop promptly, avoiding injury to the user.

[0080] In this embodiment, the conductive component includes a first coil 36 and a second coil 37. The second coil 37 is used to generate an alternating current to induce an alternating magnetic field and generate direct current in the first coil 36.

[0081] It adopts electromagnetic induction non-contact conductivity, which completely eliminates mechanical friction and electrical contact wear between rotating parts, improves the reliability and life of conductive components, and is especially suitable for harsh environments such as high speed or high humidity dust.

[0082] In this embodiment, the first coil 36 is fixed on the rotating part 1, and the second coil 37 is fixed on the fixing part 2.

[0083] The first coil and the second coil are fixed on the rotating part and the fixed part respectively, with a small air gap between them. When they rotate relative to each other, the magnetic field coupling is stable, the power transmission is not affected by the rotation angle, and there is no contact noise.

[0084] In this embodiment, one end of the binding structure 300 is connected to the leg exoskeleton 100 via a magnetic snap fastener, and a contact conductive sheet is provided between the magnetic snap fastener and the leg exoskeleton 100.

[0085] The magnetic clasp enables quick donning and disassembly of the binding structure; the contact conductive sheet automatically connects the circuit when the magnetic clasp is engaged and automatically disconnects when it is disengaged, eliminating the need for additional insertion and removal operations, which is both convenient to use and ensures the reliability of the safety circuit.

[0086] Principle: The first coil 3 is fixed on the upper rotating mechanism 1, and the second coil 4 is fixed on the fixed mechanism 2. The second coil 4 generates an alternating current, which induces an alternating magnetic field and generates a direct current in the first coil 3. When the first coil 3 is disconnected, the load of the entire circuit disappears, and the current in the second coil 4 decreases. The device recognizes this change, and at this time the main board controls the motor to stop rotating, so that the entire device stops and protects the user.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A highly safe hip exoskeleton, comprising a lumbar exoskeleton (200) and a leg exoskeleton (100), wherein the lumbar exoskeleton (200) is provided with a power supply for supplying power to the hip exoskeleton, and the end of the lumbar exoskeleton (200) is connected to the leg exoskeleton (100) via a motor for rotation of the leg exoskeleton (100), and the leg exoskeleton (100) is provided with a binding structure (300). Its features are: The waist exoskeleton (200) includes a fixing part (2), and the leg exoskeleton (100) includes a rotating part (1). The rotating part (1) is connected to the output end of the motor. The fixing part (2) and the rotating part (1) are electrically conductive through a conductive component. A current loop is formed between the conductive component, the wire, the binding structure (300), another wire, and the conductive component. The controller is connected to the current loop and is used to control the start and stop of the motor according to the opening and closing of the current loop.

2. The highly safe hip exoskeleton according to claim 1, characterized in that: The conductive component includes a first conductive element (31) and a second conductive element (32), and a movable contact (33) is provided between the first conductive element (31) and the second conductive element (32). The contact (33) is used for contact-type conduction between the first conductive element (31) and the second conductive element (32).

3. The highly safe hip exoskeleton according to claim 2, characterized in that: The first conductive element (31) is placed on the rotating part (1), the second conductive element (32) is placed on the fixed part (2), and the contact element (33) is a spring pin.

4. The highly safe hip exoskeleton according to claim 3, characterized in that: The second conductive element (32) is a circular circuit board, and the spring pin is fixed on the circular circuit board. The first conductive element (31) is a copper ring.

5. A highly safe hip exoskeleton according to claim 2, characterized in that: The first conductive element (31) is placed on the rotating part (1), the second conductive element (32) is placed on the fixed part (2), and the contact element (33) is a ball.

6. A highly safe hip exoskeleton according to claim 5, characterized in that: Both the first conductive element (31) and the second conductive element (32) are copper rings.

7. The highly safe hip exoskeleton according to claim 1, characterized in that: The conductive component includes a first bearing (34) and a second bearing (35) that are electrically connected. The first bearing (34) and the second bearing (35) are both disposed between the fixed part (2) and the rotating part (1). A current loop is formed between the first bearing (34), the wire, the binding structure, the other wire, and the second bearing (35).

8. The highly safe hip exoskeleton according to claim 1, characterized in that: The conductive component includes a first coil (36) and a second coil (37), the second coil (37) being used to generate an alternating current to induce an alternating magnetic field and generate direct current in the first coil (36).

9. A highly safe hip exoskeleton according to claim 8, characterized in that: The first coil (36) is fixed on the rotating part (1), and the second coil (37) is fixed on the fixing part (2).

10. A highly safe hip exoskeleton according to claim 1, characterized in that: One end of the binding structure (300) is connected to the leg exoskeleton (100) via a magnetic snap fastener, and a contact conductive sheet is provided between the magnetic snap fastener and the leg exoskeleton (100).

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