Ratchet type waist wide symmetrical adjusting mechanism of walking aid exoskeleton

Abstract

The invention provides a kind of ratchet type waist wide symmetrical adjusting mechanism of walking aid exoskeleton, belongs to the field of walking aid robot, including waist wearing component, left hip walking aid exoskeleton, right hip walking aid exoskeleton, outer base is equipped with ratchet clutch assembly, by manually rotating the adjusting block in ratchet clutch assembly, so that the inside of ratchet clutch assembly is unlocked, left hip support frame and right hip support frame can be manually pulled, width adjustment is carried out, and it is suitable for different hip width of rehabilitation personnel to wear, cooperate first band and second band to wear on the waist of rehabilitation personnel, and left hip walking aid exoskeleton and right hip walking aid exoskeleton are equipped with intelligence ability square meter sensor and power supply, cooperate control motor drive, to drive the thigh of binding to walk, and realize waist width adjustable to adapt to different body type wearer, with good application scene and social value;Meanwhile, the mechanism realizes the quick symmetrical adjustment and reliable self-locking of waist width, simplifies structure and reduces manufacturing cost.

Description

Technical Field

[0001] This invention relates to the field of assistive robots, specifically to a ratchet-type waist width symmetrical adjustment mechanism for an assistive exoskeleton. Background Technology

[0002] When working, assistive exoskeletons need to adjust the waist width to effectively adapt to the pelvic size of wearers of different body types, ensuring ergonomic compatibility and wearing comfort. Existing symmetrical waist adjustment mechanisms mostly rely on gear transmission or telescopic nesting structures, which are cumbersome to operate and usually require additional locking components to prevent relative slippage. This not only increases the weight and manufacturing cost of the entire device but also reduces the convenience and reliability of adjustment.

[0003] Ratchet mechanisms, due to their compact structure, graded adjustment, and unidirectional self-locking advantages, have been successfully applied in various wearable size adjustment devices. However, there is currently no technical solution for incorporating ratchet mechanisms into the symmetrical waist width adjustment of exoskeletons. Therefore, there is an urgent need for a ratchet-type symmetrical waist width adjustment mechanism that is simple in structure, easy to adjust, and reliable in locking, in order to ensure adaptability to different pelvic sizes while reducing the weight of the mechanism, lowering the operational complexity, and improving locking stability. Summary of the Invention

[0004] The purpose of this invention is to provide a ratchet-type waist width symmetrical adjustment mechanism for a walking exoskeleton, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a ratchet-type waist width symmetrical adjustment mechanism for a walking exoskeleton, comprising a waist wearing assembly, a left hip walking exoskeleton, and a right hip walking exoskeleton. The waist wearing assembly includes an inner base and an outer base, which are fixedly connected. A ratchet clutch assembly is provided inside the outer base. A left hip support frame and a right hip support frame are slidably connected inside the inner base. An adjusting slide rod is rotatably connected to the left hip support frame and the right hip support frame. The adjusting slide rod is slidably connected to the ratchet clutch assembly. The left hip support frame is fixedly connected to the left hip walking exoskeleton, and the right hip support frame is fixedly connected to the right hip walking exoskeleton. A first strap and a second strap are fixedly connected to the inner base. The device uses straps, allowing manual rotation of the adjusting block within the ratchet clutch assembly to unlock it. This unlocks the ratchet clutch assembly, enabling manual pulling of the left and right hip support frames for width adjustment, accommodating rehabilitation personnel with different hip widths. The exoskeleton, along with the first and second straps, is worn around the waist. Both the left and right hip assistive exoskeletons incorporate intelligent torque sensors and power supplies, which, in conjunction with a control motor, drive the bound thighs for assisted walking. The adjustable waist width accommodates different body types, demonstrating significant application scenarios and social value. Furthermore, the device achieves rapid symmetrical waist width adjustment and reliable self-locking, simplifying the structure and reducing manufacturing costs.

[0006] Preferably, the ratchet clutch assembly includes a shaft rotatably connected to the outer base and the inner base, a ratchet rotatably connected to the shaft, an adjusting block fixedly connected to the shaft between the ratchet and the outer base, two locking blocks slidably connected inside the outer base, a spring fixedly connected to each locking block and the outer base, and a connecting rod rotatably connected to each locking block and the adjusting block. The locking block abuts against the ratchet under the action of the spring for limiting, thereby driving the connecting rod to push the locking block away from the ratchet by rotating the protruding part of the adjusting block, thus unlocking from the "engaged" state to the "disengaged" state, making unlocking convenient.

[0007] Preferably, a first washer and a second washer are fitted onto the shaft. The first washer is located between the ratchet and the adjusting block, and the second washer is located between the connecting rod and the locking block, thus solving the height difference problem.

[0008] Preferably, the outer base is fixedly connected to two cover plates, which limit the locking block and prevent it from falling off during sliding.

[0009] Preferably, the ratchet has two curved grooves, the adjusting slide rod extends into the curved grooves, and the adjusting slide rod is slidably connected to the ratchet. The two ends of the curved grooves are the minimum width and the maximum width between the left hip support frame and the right hip support frame.

[0010] Preferably, the left hip assistive walking exoskeleton and the right hip assistive walking exoskeleton are symmetrical, and both the left hip assistive walking exoskeleton and the right hip assistive walking exoskeleton include a hip base. The hip base is fixedly connected to the left hip support frame and the right hip support frame. A drive module is fixedly connected inside the hip base. The drive module has a built-in motor, power supply, torque sensor and controller to realize the force compensation function during driving. Thus, it can be driven by the motor after receiving torque to assist walking and achieve the effect of assisting walking.

[0011] Preferably, the drive module is powered to connect to the hip and leg connector, the hip and leg connector is rotatably connected to a connecting shaft, the connecting shaft is fixedly connected to a thigh support frame, the thigh support frame is fixedly connected to the leg support frame via a connecting block, and the leg support frame can be used with straps to bind the thigh for binding connection.

[0012] Compared with the prior art, the beneficial effects of the present invention are: This invention incorporates a ratchet and a locking block. By manually rotating the protruding part of the adjusting block, a connecting rod rotates, moving the locking block away from the ratchet and releasing the lock. This allows manual adjustment of the width by pulling the left and right hip support frames. After releasing the adjusting block, a spring causes the locking block to lock the ratchet again, achieving self-locking. This allows for switching between "engaged" and "disengaged" states. In the "engaged" state, the symmetrical adjustment mechanism is locked to maintain a constant waist width. In the "disengaged" state, the ratchet-type clutch device allows the symmetrical adjustment mechanism to be free, enabling adjustable waist width to accommodate wearers of different body types. This has good application scenarios and social value. Furthermore, this mechanism achieves rapid symmetrical adjustment and reliable self-locking of waist width, simplifying the structure and reducing manufacturing costs.

[0013] This invention features a thigh support frame, which is used to bind the thigh with a leg support frame and straps. A drive module rotates the thigh support frame, thereby assisting in hip joint movement. The force compensation function of the drive module system provides hip assistance. Attached Figure Description

[0014] Figure 1 This is a three-dimensional schematic diagram of the present invention; Figure 2 This is a three-dimensional schematic diagram of the present invention. Figure 3 This is a schematic diagram of the ratchet clutch assembly; Figure 4 This is a 3D schematic diagram of the ratchet mechanism; Figure 5 This is a schematic diagram of the adjusting slide bar; Figure 6 This is a three-dimensional exploded view of some parts of the present invention; Figure 7 This is a three-dimensional schematic diagram of the mobility exoskeleton of the present invention.

[0015] In the diagram: 1. Waist wearing assembly; 2. Left hip assistive exoskeleton; 3. Right hip assistive exoskeleton; 4. Ratchet clutch assembly; 11. Inner base; 12. Ratchet; 13. First washer; 14. Adjusting block; 15. Locking block; 16. Connecting rod; 17. Cover plate; 18. Spring; 19. Second washer; 21. Hip base; 22. Drive module; 23. Thigh support frame; 24. Connecting shaft; 25. Connecting block; 26. Leg support wearing frame; 27. Hip and leg connector; 110. Outer base; 111. Shaft; 112. Adjusting slide; 113. Left hip support frame; 114. First strap; 115. Second strap; 116. Right hip support frame; 117. Curved groove. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Example 1:

[0018] Please see Figure 1-7This invention provides a technical solution: a ratchet-type waist width symmetrical adjustment mechanism for a walking exoskeleton, comprising a waist wearing component 1, a left hip walking exoskeleton 2, and a right hip walking exoskeleton 3. The waist wearing component 1 includes an inner base 11 and an outer base 110, which are fixedly connected. A ratchet clutch assembly 4 is provided inside the outer base 110. A left hip support frame 113 and a right hip support frame 116 are slidably connected inside the inner base 11. An adjusting slide rod 112 is rotatably connected to the left hip support frame 113 and the right hip support frame 116. The adjusting slide rod 112 is limited and slidably connected to the ratchet clutch assembly 4. The left hip support frame 113 is fixedly connected to the left hip walking exoskeleton 2, and the right hip support frame 116 is fixedly connected to the right hip walking exoskeleton 3. The inner base 11 is fixedly connected to the left hip support frame 2. The device is connected by a first strap 114 and a second strap 115. By manually rotating the adjusting block inside the ratchet clutch assembly 4, the ratchet clutch assembly 4 is unlocked, allowing manual pulling of the left hip support frame 113 and the right hip support frame 116 to adjust their width, adapting to rehabilitation personnel with different hip widths. It is worn around the waist of the rehabilitation personnel in conjunction with the first strap 114 and the second strap 115. The left hip walking exoskeleton 2 and the right hip walking exoskeleton 3 have built-in intelligent torque sensors and power supplies, which, in conjunction with the control motor drive, move the bound thighs to assist walking. The adjustable waist width accommodates wearers of different body types, demonstrating good application scenarios and social value. Furthermore, this mechanism achieves rapid symmetrical adjustment of waist width and reliable self-locking, simplifying the structure and reducing manufacturing costs.

[0019] The ratchet clutch assembly 4 includes a shaft 111 rotatably connected to the outer base 110 and the inner base 11. A ratchet 12 is rotatably connected to the shaft 111. An adjusting block 14 located between the ratchet 12 and the outer base 110 is fixedly connected to the shaft 111. Two locking blocks 15 are slidably connected inside the outer base 110. A spring 18 is fixedly connected between each locking block 15 and the outer base 110. A connecting rod 16 is rotatably connected between each locking block 15 and the adjusting block 14. The locking block 15 abuts against the ratchet 12 under the action of the spring 18 for limiting. By rotating the protruding part of the adjusting block 14, the connecting rod 16 is driven to push the locking block 15 away from the ratchet 12, thereby unlocking the clutch from the "engaged" state to the "disengaged" state, which is convenient for unlocking.

[0020] A first washer 13 and a second washer 19 are fitted onto the shaft 111. The first washer 13 is located between the ratchet 12 and the adjusting block 14, and the second washer 19 is located between the connecting rod 16 and the locking block 15, thus solving the problem of height difference.

[0021] The outer base 110 is fixedly connected to two cover plates 17, which limit the locking block 15 and prevent the locking block 15 from falling off during sliding.

[0022] The ratchet 12 is provided with two curved grooves 117. The adjusting slide rod 112 extends into the curved groove 117 and is slidably connected to the ratchet 12. The two ends of the curved groove 117 are the minimum width and maximum width between the left hip support frame 113 and the right hip support frame 116.

[0023] The left hip assistive walking exoskeleton 2 and the right hip assistive walking exoskeleton 3 are symmetrical, and both the left hip assistive walking exoskeleton 2 and the right hip assistive walking exoskeleton 3 include a hip base 21. The hip base 21 is fixedly connected to the left hip support frame 113 and the right hip support frame 116. A drive module 22 is fixedly connected inside the hip base 21. The drive module 22 has a built-in motor, power supply, torque sensor and controller to realize the force compensation function during driving. Thus, it can be driven by the motor after receiving torque to assist walking and achieve the effect of assisting walking.

[0024] The drive module 22 is powered to connect to the hip and leg connector 27. The hip and leg connector 27 is rotatably connected to the connecting shaft 24. The connecting shaft 24 is fixedly connected to the thigh support frame 23. The thigh support frame 23 is fixedly connected to the leg support frame 26 through the connecting block 25. The leg support frame 26 can be used with straps to bind the thigh for binding connection.

[0025] Working principle: Before wearing, the device is pre-adjusted according to the wearer's hip width. During adjustment, the protruding part of the adjustment block 14 is manually rotated. When the adjustment block 14 rotates, it drives the connecting rod 16 to move rigidly and drives the locking block 15 connected to its other end to move laterally along the groove in the outer base 110. The two locking blocks 15 move away from the ratchet 12, changing the locking block 15 and the ratchet 12 from the "closed" state to the "disengaged" state. At this time, the ratchet 12 is in a free state, pulling the left hip support frame 113 and the right hip support frame 116 outward or inward. The ratchet 12 rotates as the adjustment slide rod 112 slides in the curved groove 117, thereby realizing the inward and outward expansion and contraction adjustment width between the left hip support frame 113 and the right hip support frame 116 to adapt to wearers of different body types.

[0026] After the width adjustment is completed, the adjusting block 14 is released, and the outer base 110 returns to its initial state under the action of the spring 18. The force generated by the spring 18 pushes the locking block 15 to press against the teeth of the ratchet 12 again, locking it again and realizing the locking state from "disengagement" to "engagement" to ensure that the width between the left hip support frame 113 and the right hip support frame 116 remains unchanged. This provides a simple, convenient, and reliable ratchet-type waist width symmetrical adjustment mechanism for the walking exoskeleton, which solves the problems of existing waist adjustment mechanisms having many parts, complicated operation, and the need for additional locking components, and realizes the wide applicability of this walking exoskeleton to individual differences and application scenarios.

[0027] Then, by using the straps and leg support frame 26 to bind the thighs, during rehabilitation training, the rotation of the legs when walking will drive the thigh support frame 23 to rotate. After the torque sensor inside the drive module 22 receives the torque, the built-in motor adjusts the output power of the motor according to the magnitude of the torque. The motor drives the hip and leg connector 27 to rotate, and the hip and leg connector 27 drives the thigh support frame 23 to rotate. The rotation of the thigh support frame 23 can assist the thigh in walking, thereby driving the hip movement through the motor to assist walking.

[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art 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 appended claims and their equivalents.

Claims

1. A ratchet-type waist width symmetrical adjustment mechanism for a walking exoskeleton, comprising a waist wearing component (1), a left hip walking exoskeleton (2), and a right hip walking exoskeleton (3), characterized in that: The waist-wearing assembly (1) includes an inner base (11) and an outer base (110). The inner base (11) and the outer base (110) are fixedly connected. The outer base (110) is provided with a ratchet clutch assembly (4). The inner base (11) is slidably connected with a left hip support frame (113) and a right hip support frame (116). The left hip support frame (113) and the right hip support frame (116) are rotatably connected with an adjusting slide rod (112). The adjusting slide rod (112) is limited and slidably connected with the ratchet clutch assembly (4). The left hip support frame (113) is fixedly connected with a left hip assistive exoskeleton (2). The right hip support frame (116) is fixedly connected with a right hip assistive exoskeleton (3). The inner base (11) is fixedly connected with a first strap (114) and a second strap (115).

2. The ratchet-type waist width symmetrical adjustment mechanism of the assistive exoskeleton according to claim 1, characterized in that: The ratchet clutch assembly (4) includes a shaft (111) rotatably connected to the outer base (110) and the inner base (11). A ratchet (12) is rotatably connected to the shaft (111). An adjusting block (14) is fixedly connected to the shaft (111) between the ratchet (12) and the outer base (110). Two locking blocks (15) are slidably connected inside the outer base (110). A spring (18) is fixedly connected between each locking block (15) and the outer base (110). A connecting rod (16) is rotatably connected between each locking block (15) and the adjusting block (14). The locking block (15) abuts against the ratchet (12) under the action of the spring (18) to limit its position.

3. The ratchet-type waist width symmetrical adjustment mechanism of a walking exoskeleton according to claim 2, characterized in that: A first washer (13) and a second washer (19) are fitted on the shaft (111). The first washer (13) is located between the ratchet (12) and the adjusting block (14), and the second washer (19) is located between the connecting rod (16) and the locking block (15).

4. The ratchet-type waist width symmetrical adjustment mechanism of a walking exoskeleton according to claim 2, characterized in that: The outer base (110) is fixedly connected to two cover plates (17), which limit the locking block (15).

5. The ratchet-type waist width symmetrical adjustment mechanism of a walking exoskeleton according to claim 1, characterized in that: The ratchet (12) is provided with two curved grooves (117). The adjusting slide rod (112) extends into the curved groove (117) and is slidably connected to the ratchet (12). The two ends of the curved groove (117) are the minimum and maximum widths between the left hip support frame (113) and the right hip support frame (116).

6. The ratchet-type waist width symmetrical adjustment mechanism of a walking exoskeleton according to claim 1, characterized in that: The left hip assistive exoskeleton (2) and the right hip assistive exoskeleton (3) are symmetrical, and both the left hip assistive exoskeleton (2) and the right hip assistive exoskeleton (3) include a hip base (21). The hip base (21) is fixedly connected to the left hip support frame (113) and the right hip support frame (116). A drive module (22) is fixedly connected inside the hip base (21). The drive module (22) has a built-in motor, power supply, torque sensor and controller.

7. The ratchet-type waist width symmetrical adjustment mechanism of a walking exoskeleton according to claim 6, characterized in that: The drive module (22) is powered to connect to the hip and leg connector (27). The hip and leg connector (27) is rotatably connected to a connecting shaft (24). The connecting shaft (24) is fixedly connected to a thigh support frame (23). The thigh support frame (23) is fixedly connected to a leg support frame (26) via a connecting block (25). The leg support frame (26) can be used with straps to bind the thigh.

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