Hip adjusting device and exoskeleton robot

Abstract

The utility model relates to the technical field of rehabilitation instruments, and provides a hip adjusting device and an exoskeleton robot. The hip adjusting device comprises a hip support, a left hip component, a right hip component and an adjusting assembly. The hip support comprises a mounting plate and an adapter, the adapter is arranged on the rear side face of the mounting plate, and the adapter is used for being connected with a supporting rack of the exoskeleton robot; the left hip component and the right hip component are arranged side by side and movably arranged on the front side face of the mounting plate in the horizontal direction. The left hip component and the right hip component are used for being connected with the left lower limb and the right lower limb of the exoskeleton robot in a one-to-one correspondence mode. The adjusting assembly is arranged on the rear side face of the mounting plate and connected with the left hip component and the right hip component so as to adjust the distance between the left hip component and the right hip component. The hip adjusting device is compact in structure and small in occupied space, the distance between the left hip component and the right hip component can be conveniently adjusted, and miniaturization and ingenious design of the exoskeleton robot can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation equipment, in particular to a hip adjustment device and an exoskeleton robot. Background Art

[0002] Exoskeleton robotics is a comprehensive technology that integrates sensing, control, information, and mobile computing to provide a wearable mechanical mechanism for the operator. Lower-limb exoskeleton rehabilitation robots, as an important type of exoskeleton, are widely used for stroke and hemiplegia patients to assist with walking and rehabilitation training, enabling many paralyzed patients to stand up again and increasing their confidence in life. Lower-limb exoskeletons combine the mechanical structure of the exoskeleton with the human leg. Through simple manipulation, patients can undergo walking training. Different gaits and walking speeds can be designed to suit patients with different conditions, thereby improving treatment effectiveness. To increase the versatility of the device, the exoskeleton robot needs to be equipped with a hip adjustment mechanism to accommodate patients of different body shapes.

[0003] However, in actual applications, it was found that the existing hip adjustment mechanism mainly uses a screw drive mechanism to achieve width adjustment of the left hip component and the right hip component. However, due to the unreasonable structural design of the hip adjustment mechanism, the overall space occupied by the hip adjustment mechanism is large, which directly leads to the design structure of the hip adjustment mechanism being relatively bulky, heavy, and costly, which is not conducive to the miniaturization and dexterity of the exoskeleton robot. Utility Model Content

[0004] The utility model provides a hip adjustment device and an exoskeleton robot, which are used to solve the problems of unreasonable structural design and large space occupation of the existing hip adjustment mechanism.

[0005] The utility model provides a hip adjustment device, comprising: a hip support, a left hip component, a right hip component and an adjustment assembly;

[0006] The hip support includes a mounting plate and an adapter, wherein the adapter is provided on the rear side of the mounting plate and is used to connect to the support frame of the exoskeleton robot;

[0007] The left hip member and the right hip member are arranged side by side and are movably arranged in the horizontal direction on the front side of the mounting plate; the left hip member and the right hip member are used to be connected to the left lower limb and the right lower limb of the exoskeleton robot in a one-to-one correspondence;

[0008] The adjustment assembly is disposed on the rear side of the mounting plate and is connected to the left hip component and the right hip component respectively to adjust the distance between the left hip component and the right hip component.

[0009] According to a hip adjustment device provided by the present utility model, the adjustment assembly includes: a lead screw, a first lead screw nut, a second lead screw nut and a rotary drive member;

[0010] The lead screw is rotatably mounted on the mounting plate, and the rotary drive member is connected to the lead screw to drive the lead screw to rotate relative to the mounting plate; one end of the lead screw is formed as a forward threaded rod, and the other end is formed as a reverse threaded rod;

[0011] The first lead screw nut is rotatably mounted on the forward threaded rod and connected to the left hip member; the second lead screw nut is rotatably mounted on the reverse threaded rod and connected to the right hip member.

[0012] According to a hip adjustment device provided by the present invention, a through opening is provided on the mounting plate, and the through opening is extended along the axial direction of the lead screw;

[0013] The first screw nut is connected to the left hip component via a first connecting piece passing through the opening; the second screw nut is connected to the right hip component via a second connecting piece passing through the opening.

[0014] According to a hip adjustment device provided by the present invention, the opening includes a first opening and a second opening;

[0015] The first opening and the second opening are respectively provided on both sides of the adapter seat along the axial direction of the lead screw, and the lead screw passes through the adapter seat;

[0016] The first opening and the second opening are respectively arranged opposite to the left hip component and the right hip component; the first connecting member is passed through the first opening, and the second connecting member is passed through the second opening.

[0017] According to the present invention, a hip adjustment device further includes: a first buffer member; the first buffer member is provided on the first connecting member and is located on at least one side surface of the first connecting member along the axial direction of the lead screw;

[0018] And / or, it also includes: a second buffer member; the second buffer member is provided on the second connecting member and is located on at least one side surface of the second connecting member along the axial direction of the screw.

[0019] According to the utility model, a hip adjustment device is provided, further comprising: a guiding mechanism;

[0020] The guide mechanism includes a slide rail, a first slider and a second slider; the slide rail is arranged on the front side of the mounting plate in a horizontal direction; the first slider and the second slider are respectively movably arranged on the slide rail along the extension direction of the slide rail;

[0021] Wherein, the first sliding block is connected to the left hip component, and the second sliding block is connected to the right hip component.

[0022] According to the utility model, a hip adjustment device is provided, further comprising: a locking assembly;

[0023] The adapter is rotatably provided on the rear side of the mounting plate along a horizontal axis; along the normal direction of the mounting plate, the projection of the adapter is located between the projection of the left hip component and the projection of the right hip component;

[0024] The locking assembly is arranged between the adapter and the mounting plate to limit the angle of the mounting plate relative to the horizontal plane.

[0025] According to a hip adjustment device provided by the present invention, the locking assembly includes: a first pull rod, a second pull rod and a forward and reverse threaded rod;

[0026] The first end of the first pull rod is rotatably mounted on the mounting plate, and the second end of the first pull rod is threadedly connected to the forward screw end of the forward and reverse threaded rod;

[0027] The first end of the second pull rod is rotatably arranged on the adapter seat, and the second end of the second pull rod is threadedly connected to the reverse screw end of the forward and reverse threaded rod.

[0028] According to a hip adjustment device provided by the present utility model, the mounting plate is provided with a plurality of arc-shaped through holes, and the adapter is provided with a plurality of threaded holes;

[0029] The plurality of arc-shaped through holes are arranged circumferentially relative to the horizontal axis, and each of the arc-shaped through holes is extended circumferentially relative to the horizontal axis;

[0030] The plurality of arc-shaped through holes and the plurality of threaded holes are arranged opposite to each other one by one; the mounting plate and the adapter seat are rotatably arranged by threaded locking members passing through the arc-shaped through holes and the threaded holes.

[0031] The utility model also provides an exoskeleton robot, comprising: a support frame, a left lower limb, a right lower limb, and a hip adjustment device as described in any one of the above items;

[0032] The adapter is connected to the support frame, and the left hip component and the right hip component are respectively connected to the left lower limb and the right lower limb in a one-to-one correspondence.

[0033] The hip adjustment device and exoskeleton robot provided by the present invention arrange the left hip component and the right hip component side by side on the front side of the mounting plate, and arrange an adjustment component for adjusting the distance between the left hip component and the right hip component on the rear side of the mounting plate. This design not only ensures the compactness of the overall structure of the hip adjustment device and occupies a small space, thereby reducing equipment costs while achieving lightweight, but also ensures that the movement of the left hip component and the right hip component and the adjustment operation of the adjustment component do not interfere with each other, and the distance between the left hip component and the right hip component can be easily adjusted, which is conducive to the miniaturization and dexterity of the exoskeleton robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 This is one of the structural diagrams of the hip adjustment device provided by the present utility model;

[0036] Figure 2 This is the second structural diagram of the hip adjustment device provided by the present invention;

[0037] Figure 3 It is a structural diagram of the adjustment component provided by the utility model;

[0038] Figure 4 This is a schematic structural diagram of the connection between the second lead screw nut and the right hip member provided by the present invention;

[0039] Figure 5 It is a structural diagram of the guiding mechanism provided by the utility model;

[0040] Figure 6 This is a schematic structural diagram of the exoskeleton robot provided by the present invention;

[0041] Reference numerals:

[0042] 1. Hip adjustment device; 2. Support frame; 3. Left lower limb; 4. Right lower limb;

[0043] 11. Hip support; 111. Mounting plate; 1111. Port; 11111. First port; 11112. Second port; 112. Adapter;

[0044] 12. Left hip member; 13. Right hip member;

[0045] 14. Adjustment assembly; 141. Lead screw; 142. First lead screw nut; 143. Second lead screw nut; 144. Rotary drive member; 1401. First connecting member; 1402. Second connecting member;

[0046] 15. First buffer member; 16. Second buffer member;

[0047] 17. Guide mechanism; 171. Slide rail; 172. First slide block; 173. Second slide block;

[0048] 18. Locking assembly; 181. First pull rod; 182. Second pull rod; 183. Forward and reverse threaded rod; 19. Back panel bracket. DETAILED DESCRIPTION

[0049] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0050] The following combination Figures 1-6 , the hip adjustment device and exoskeleton robot provided by the embodiment of the present invention are described in detail through specific embodiments and their application scenarios.

[0051] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a hip adjustment device 1 , comprising: a hip support 11 , a left hip component 12 , a right hip component 13 and an adjustment assembly 14 .

[0052] The hip support 11 includes a mounting plate 111 and an adapter 112 . The adapter 112 is disposed on the rear side of the mounting plate 111 . The adapter 112 is used to connect to the support frame 2 of the exoskeleton robot.

[0053] The left hip component 12 and the right hip component 13 are arranged side by side and are movably arranged horizontally on the front side of the mounting plate 111; the left hip component 12 and the right hip component 13 are used to be connected to the left lower limb 3 and the right lower limb 4 of the exoskeleton robot in a one-to-one correspondence.

[0054] The adjustment assembly 14 is disposed on the rear side of the mounting plate 111 . The adjustment assembly 14 is connected to the left hip component 12 and the right hip component 13 , respectively, to adjust the distance between the left hip component 12 and the right hip component 13 .

[0055] It is understandable that the hip adjustment device 1 is applied to the exoskeleton robot, and the hip adjustment device 1 is used to simulate the structural characteristics of the human hip, and by adjusting the distance between the left hip component 12 and the right hip component 13, the distance between the left lower limb 3 and the right lower limb 4 is adjusted.

[0056] like Figure 1 As shown, in this embodiment, arrows are used to indicate the front, back, left and right positions of the hip adjustment device 1 , and the position of the hip adjustment device 1 corresponds to the position of the exoskeleton robot.

[0057] according to Figure 1 As can be seen, mounting plate 111 is horizontally arranged in a vertical plane, with left and right hip components 12, 13 spaced apart and positioned opposite each other on the front side of mounting plate 111. Both left and right hip components 12, 13 can be configured as adapter plates, arranged parallel to mounting plate 111 to reduce the horizontal width occupied by left and right hip components 12, 13 on the front side of mounting plate 111.

[0058] At the same time, since the adjustment component 14 is located on the rear side of the mounting plate 111, while satisfying the requirement that the adjustment component 14 is connected to the left hip component 12 and the right hip component 13 respectively, the design height of the left hip component 12 and the right hip component 13 can be made as small as possible to reduce the height space occupied by the left hip component 12 and the right hip component 13 on the front side of the mounting plate 111.

[0059] Adjustment assembly 14 is used to control the horizontal movement of left hip member 12 and right hip member 13 toward or away from each other. To ensure stable and reliable movement of left hip member 12 and right hip member 13 relative to mounting plate 111, sliding guide structures can be provided between left hip member 12 and right hip member 13 and the front side of mounting plate 111, respectively. The sliding guide structures extend horizontally.

[0060] Among them, the left hip component 12 and the right hip component 13 can be respectively configured with a set of adjustment components 14, and the left hip component 12 and the right hip component 13 can also share a set of adjustment components 14. The adjustment components 14 can be either manual adjustment components 14 that can achieve linear adjustment of the components, or electric adjustment components 14 that can achieve linear adjustment of the components as is known in the art, and there is no specific limitation on this.

[0061] As can be seen from the above, for the hip adjustment device 1 shown in this embodiment, the left hip component 12 and the right hip component 13 are arranged side by side on the front side of the mounting plate 111, and an adjustment component 14 for adjusting the distance between the left hip component 12 and the right hip component 13 is arranged on the rear side of the mounting plate 111. This design not only ensures the compactness of the overall structure of the hip adjustment device 1 and occupies a small space, thereby reducing the equipment cost while achieving lightweight, but also ensures that the movement of the left hip component 12 and the right hip component 13 does not interfere with the adjustment operation of the adjustment component 14, and can conveniently realize the adjustment of the distance between the left hip component 12 and the right hip component 13, which is conducive to the miniaturization and dexterity of the exoskeleton robot.

[0062] In some embodiments, as Figure 1 and Figure 3 As shown, the adjustment assembly 14 includes: a lead screw 141 , a first lead screw nut 142 , a second lead screw nut 143 and a rotary drive member 144 .

[0063] The lead screw 141 is rotatably mounted on the mounting plate 111 , and the rotary drive member 144 is connected to the lead screw 141 to drive the lead screw 141 to rotate relative to the mounting plate 111 ; one end of the lead screw 141 is formed as a forward threaded rod, and the other end is formed as a reverse threaded rod.

[0064] The first lead screw nut 142 is rotatably mounted on the forward threaded rod and connected to the left hip member 12 ; the second lead screw nut 143 is rotatably mounted on the reverse threaded rod and connected to the right hip member 13 .

[0065] It is understood that the lead screw 141 includes a forward-threaded rod, a connecting rod, and a reverse-threaded rod, which are connected in sequence. The peripheral wall of the forward-threaded rod is provided with a first thread, and the peripheral wall of the reverse-threaded rod is provided with a second thread, and the first and second threads have opposite rotation directions. The first lead screw nut 142 is provided with a first threaded hole adapted for the forward-threaded rod and may be a positive-threaded trapezoidal nut. The second lead screw nut 143 is provided with a second threaded hole adapted for the reverse-threaded rod and may be a reverse-threaded trapezoidal nut.

[0066] like Figure 1 As shown, the rear side of the mounting plate 111 is provided with a first bearing seat and a second bearing seat, the first bearing seat and the second bearing seat are spaced apart from each other and arranged opposite to each other on the left and right; the lead screw 141 is rotatably passed through the first bearing seat and the second bearing seat.

[0067] Meanwhile, the rotary drive member 144 can be a manual drive member or a drive motor as is known in the art. Alternatively, the rotary drive member 144 can be a handwheel coaxially connected to the lead screw 141. Because the adjustment assembly 14 is located on the rear side of the mounting plate 111, the operator can easily adjust the spacing between the left hip member 12 and the right hip member 13 by turning the handwheel.

[0068] When the rotating drive member 144 drives the screw 141 to rotate along the first rotation direction, since the left hip component 12 and the right hip component 13 are movably arranged on the mounting plate 111 in the horizontal direction, and the left hip component 12 and the right hip component 13 are respectively connected to the first screw nut 142 and the second screw nut 143 in a one-to-one correspondence, the screw 141 will drive the first screw nut 142 and the second screw nut 143 to approach each other in the axial direction, and then the first screw nut 142 and the second screw nut 143 will drive the left hip component 12 and the right hip component 13 to approach each other in the horizontal direction.

[0069] Accordingly, when the rotary drive member 144 drives the lead screw 141 to rotate in the second rotational direction, the lead screw 141 drives the first lead screw nut 142 and the second lead screw nut 143 axially away from each other, thereby driving the left hip component 12 and the right hip component 13 horizontally away from each other. The first rotational direction and the second rotational direction are opposite.

[0070] In this way, when a patient uses the exoskeleton robot for walking or rehabilitation training, based on the adjustment component 14, the hip of the exoskeleton robot can be adjusted to a width that is suitable for the patient according to the body shape of the patient.

[0071] In some embodiments, as Figure 1 As shown, a through opening 1111 is provided on the mounting plate 111 , and the through opening 1111 is extended along the axial direction of the lead screw 141 .

[0072] The first screw nut 142 is connected to the left hip component 12 via a first connecting piece 1401 passing through the opening 1111 ; the second screw nut 143 is connected to the right hip component 13 via a second connecting piece 1402 passing through the opening 1111 .

[0073] It can be understood that this embodiment provides a through-hole 1111 on the mounting plate 111, so as to facilitate the establishment of a connection between the first screw nut 142 and the left hip component 12, and the establishment of a connection between the second screw nut 143 and the right hip component 13 through the through-hole 1111 passing through the front and back.

[0074] This design ensures that the distance between the left hip component 12 and the right hip component 13 can be reliably adjusted by the adjustment assembly 14 , and also ensures that the left hip component 12 , the right hip component 13 and the adjustment assembly 14 are arranged compactly relative to the mounting plate 111 .

[0075] The first connecting member 1401 and the second connecting member 1402 may both be connecting rods known in the art, and the connecting rods are extended along the front-to-back direction.

[0076] Furthermore, if Figure 1 As shown, the port 1111 includes a first port 11111 and a second port 11112 .

[0077] The first opening 11111 and the second opening 11112 are respectively provided on both sides of the adapter 112 along the axial direction of the screw 141, and the screw 141 is passed through the adapter 112. The adapter 112 is provided with a through passage extending along the axial direction of the screw 141, and the inner diameter of the through passage is larger than the diameter of the screw 141.

[0078] The first through-hole 11111 and the second through-hole 11112 are respectively arranged opposite to the left hip component 12 and the right hip component 13 ; the first connecting member 1401 is passed through the first through-hole 11111 , and the second connecting member 1402 is passed through the second through-hole 11112 .

[0079] In some embodiments, as Figure 1 and Figure 3 As shown, the hip adjustment device 1 is further configured with a first buffer 15 ; the first buffer 15 is provided on the first connecting member 1401 and is located on at least one side surface of the first connecting member 1401 along the axial direction of the screw 141 .

[0080] It is understandable that during the axial movement of the first screw nut 142 along the screw 141, the first screw nut 142 will drive the left hip member 12 to move left and right through the first connecting member 1401. In this embodiment, by setting the first buffer member 15 on at least one side of the first connecting member 1401 along the axial direction of the screw 141, when the first connecting member 1401 is about to reach the first left limit position and / or the first right limit position, the first buffer member 15 can first contact the inner wall of the opening 1111 to prevent the first connecting member 1401 from directly touching the mounting plate 111, thereby reducing the noise generated during the operation of the equipment.

[0081] Two first buffer members 15 may be provided, and the two first buffer members 15 are arranged on opposite sides of the first connecting member 1401 along the axial direction of the lead screw 141 . The first buffer members 15 may be rubber buffer pads.

[0082] In some embodiments, as Figure 1 、 Figure 3 and Figure 4 As shown, the hip adjustment device 1 is further configured with a second buffer 16 ; the second buffer 16 is provided on the second connecting member 1402 and is located on at least one side surface of the second connecting member 1402 along the axial direction of the screw 141 .

[0083] It is understandable that during the axial movement of the second lead screw nut 143 along the lead screw 141, the second lead screw nut 143 will drive the right hip member 13 to move left and right through the second connecting member 1402. In this embodiment, a second buffer member 16 is provided on at least one side of the second connecting member 1402 along the axial direction of the lead screw 141. When the second connecting member 1402 is about to reach the second left limit position and / or the second right limit position, the second buffer member 16 can first contact the inner wall of the opening 1111 to prevent the second connecting member 1402 from directly touching the mounting plate 111, thereby reducing the noise generated during the operation of the equipment.

[0084] Two second buffer members 16 may be provided, and the two second buffer members 16 are arranged on opposite sides of the second connecting member 1402 along the axial direction of the lead screw 141 . The second buffer members 16 may be rubber buffer pads.

[0085] In some embodiments, as Figure 1 and Figure 5 As shown, in order to ensure that the left hip component 12 and the right hip component 13 can stably and reliably move leftward and rightward relative to the mounting plate 111 , the hip adjustment device 1 is further configured with a guide mechanism 17 .

[0086] The guide mechanism 17 includes a slide rail 171 , a first slider 172 and a second slider 173 ; the slide rail 171 is horizontally arranged on the front side of the mounting plate 111 ; the first slider 172 and the second slider 173 are movably arranged on the slide rail 171 along the extension direction of the slide rail 171 .

[0087] The first slider 172 is connected to the left hip component 12 , and the second slider 173 is connected to the right hip component 13 .

[0088] Compared with the existing solution of arranging the left hip component 12, the right hip component 13 and the driving mechanisms corresponding to the left hip component 12 and the right hip component 13 on the same side of the mounting plate 111, since the present application arranges the left hip component 12 and the right hip component 13 on the front side of the mounting plate 111 and arranges the adjustment component 14 on the rear side of the mounting plate 111, when configuring the guide mechanism 17 for the left hip component 12 and the right hip component 13, the thickness of the first slider 172 and the second slider 173 along the normal direction of the mounting plate 111 can be reduced as much as possible, thereby realizing the compactness and miniaturization of the overall structure of the hip adjustment device 1.

[0089] In some embodiments, as Figure 1 and Figure 2As shown, the hip adjustment device 1 is further equipped with a locking assembly 18 .

[0090] The adapter 112 is rotatably disposed on the rear side of the mounting plate 111 along a horizontal axis; along the normal direction of the mounting plate 111 , the projection of the adapter 112 is located between the projection of the left hip component 12 and the projection of the right hip component 13 .

[0091] The locking assembly 18 is disposed between the adapter 112 and the mounting plate 111 to limit an angle of the mounting plate 111 relative to a horizontal plane.

[0092] It can be understood that since the left hip component 12 and the right hip component 13 are movably arranged on the front side of the mounting plate 111 in the horizontal direction, this embodiment can adjust the height of the left lower limb 3 and the right lower limb 4 of the exoskeleton robot through the installation angle of the mounting plate 111 relative to the adapter 112.

[0093] At the same time, after the installation posture of the mounting plate 111 and the adapter seat 112 is adjusted, the locking assembly 18 can be used to limit the installation posture of the mounting plate 111 and the adapter seat 112 to prevent the mounting plate 111 and the adapter seat 112 from rotating relative to each other again, thereby achieving the purpose of limiting the angle of the mounting plate 111 relative to the horizontal plane.

[0094] Among them, the locking component 18 can adopt a locking screw, adapter rod, etc. known in the art, as long as it can be used to limit the installation posture of the mounting plate 111 and the adapter seat 112, and the specific structural type of the locking component 18 is not limited.

[0095] like Figure 2 As shown, the locking assembly 18 includes: a first pull rod 181 , a second pull rod 182 and a forward and reverse threaded rod 183 .

[0096] The first end of the first pull rod 181 is rotatably disposed on the mounting plate 111 , and the second end of the first pull rod 181 is threadedly connected to the forward screw end of the forward and reverse threaded rod 183 .

[0097] The first end of the second pull rod 182 is rotatably disposed on the adapter seat 112 , and the second end of the second pull rod 182 is threadedly connected to the reverse screw end of the forward and reverse threaded rod 183 .

[0098] It is understandable that after the installation posture of the mounting plate 111 and the adapter seat 112 changes, the present embodiment can rotate the forward and reverse threaded rods 183 to again define the relative position of the mounting plate 111 and the adapter seat 112. This operation is simple and convenient, and the setting of the locking assembly 18 based on the first pull rod 181, the second pull rod 182 and the forward and reverse threaded rods 183 will not affect the relative rotation design of the mounting plate 111 and the adapter seat 112.

[0099] A first mounting seat is provided on the rear side surface of the mounting plate 111, and a first protrusion is provided on the first mounting seat. The first end of the first pull rod 181 can be rotatably mounted on the first protrusion; a second mounting seat is provided on the upper surface of the adapter seat 112, and a second protrusion is provided on the second mounting seat. The first end of the second pull rod 182 can be rotatably mounted on the second protrusion.

[0100] The rotation axis of the first end of the first pull rod 181 is perpendicular to the rotation axis of the first end of the second pull rod 182 , and the first protrusion and the second protrusion can both be ball heads or connecting shafts known in the art.

[0101] In actual application, the first and second tie rods 181, 182 can both be fisheye bearing tie rods known in the art. Meanwhile, a locking nut is fixed to the middle of the forward and reverse threaded rods 183, so that an operator can use a tool to apply the locking nut to rotate the forward and reverse threaded rods 183, thereby adjusting the tension of the first and second tie rods 181, 182.

[0102] In some embodiments, as Figure 2 As shown, in order to facilitate adjustment of the installation angle of the mounting plate 111 relative to the adapter 112 , in this embodiment, a plurality of arc-shaped through holes are provided on the mounting plate 111 , and a plurality of threaded holes are provided on the adapter 112 .

[0103] The plurality of arc-shaped through holes are arranged circumferentially relative to the horizontal axis, and each arc-shaped through hole is extended circumferentially relative to the horizontal axis. The plurality of arc-shaped through holes can be configured to be uniformly arranged circumferentially relative to the horizontal axis.

[0104] The plurality of arc-shaped through holes and the plurality of threaded holes are arranged opposite to each other. The mounting plate 111 and the adapter seat 112 are rotatably arranged by threaded locking members passing through the arc-shaped through holes and the threaded holes.

[0105] In practical applications, the central angle of each arc-shaped through hole relative to the horizontal axis can be set according to the height adjustment requirements of the left lower limb 3 and the right lower limb 4.

[0106] In some embodiments, as Figure 6 As shown, an embodiment of the present invention further provides an exoskeleton robot, comprising: a support frame 2, a left lower limb 3, a right lower limb 4, and a hip adjustment device 1 as described in any one of the above items.

[0107] The adapter 112 is connected to the support frame 2, and the left hip component 12 and the right hip component 13 are connected to the left lower limb 3 and the right lower limb 4 respectively in a one-to-one correspondence.

[0108] It is understandable that since the exoskeleton robot includes a hip adjustment device 1, the specific structure of the hip adjustment device 1 refers to the above embodiment, and the exoskeleton robot of this embodiment includes all the technical solutions of the above embodiment. Therefore, it has at least all the beneficial effects achieved by all the technical solutions of the above embodiment, which will not be repeated here one by one.

[0109] Since the front side of the support platform 2 of the exoskeleton robot is equipped with a human-adaptive backboard, in order to facilitate the installation of the backboard, a backboard bracket 19 is provided on the front side of the mounting plate 111. The backboard bracket 19 is connected to the rear side of the backboard. The backboard bracket 19 is provided between the left hip component 12 and the right hip component 13 to reduce the space occupied on the front side of the mounting plate 111.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A hip adjustment device, characterized in that: include: A hip brace, a left hip member, a right hip member, and an adjustment assembly; The hip support includes a mounting plate and an adapter, wherein the adapter is disposed on the rear side of the mounting plate and is used to connect to a support frame of the exoskeleton robot; The left hip component and the right hip component are arranged side by side and are movably arranged on the front side of the mounting plate in the horizontal direction; the left hip component and the right hip component are used to be connected to the left lower limb and the right lower limb of the exoskeleton robot in a one-to-one correspondence; The adjustment component is arranged on the rear side of the mounting plate, and the adjustment component is respectively connected to the left hip component and the right hip component to adjust the distance between the left hip component and the right hip component.

2. The hip adjustment device according to claim 1, characterized in that: The adjusting assembly comprises: a lead screw, a first lead screw nut, a second lead screw nut and a rotating driving member; The lead screw is rotatably arranged on the mounting plate, and the rotary drive member is connected to the lead screw to drive the lead screw to rotate relative to the mounting plate; one end of the lead screw is formed as a forward threaded rod, and the other end is formed as a reverse threaded rod; The first lead screw nut is rotatably mounted on the forward threaded rod and connected to the left hip component; the second lead screw nut is rotatably mounted on the reverse threaded rod and connected to the right hip component.

3. The hip adjustment device according to claim 2, characterized in that: The mounting plate is provided with a through opening, and the through opening is extended along the axial direction of the lead screw; The first lead screw nut is connected to the left hip component via a first connecting piece passing through the opening; the second lead screw nut is connected to the right hip component via a second connecting piece passing through the opening.

4. The hip adjustment device according to claim 3, characterized in that: The port includes a first port and a second port; The first opening and the second opening are respectively arranged on two sides of the adapter seat along the axial direction of the lead screw, and the lead screw passes through the adapter seat; The first opening and the second opening are respectively arranged opposite to the left hip component and the right hip component; the first connecting member is passed through the first opening, and the second connecting member is passed through the second opening.

5. The hip adjustment device according to claim 3, characterized in that: Also includes: a first buffer member; The first buffer is provided on the first connecting member and is located on at least one side surface of the first connecting member along the axial direction of the lead screw; And / or, it also includes: a second buffer member; the second buffer member is arranged on the second connecting member and is located on at least one side surface of the second connecting member along the axial direction of the screw.

6. The hip adjustment device according to any one of claims 1 to 5, characterized in that: Also includes: Guidance agencies; The guide mechanism comprises a slide rail, a first slider and a second slider; the slide rail is arranged on the front side of the mounting plate in a horizontal direction; the first slider and the second slider are movably arranged on the slide rail along the extension direction of the slide rail respectively; Wherein, the first sliding block is connected to the left hip component, and the second sliding block is connected to the right hip component.

7. The hip adjustment device according to any one of claims 1 to 5, characterized in that: Also includes: Locking assembly; The adapter is rotatably arranged on the rear side of the mounting plate along a horizontal axis; Along the normal direction of the mounting plate, the projection of the adapter is located between the projection of the left hip component and the projection of the right hip component; The locking assembly is arranged between the adapter and the mounting plate to limit the angle of the mounting plate relative to the horizontal plane.

8. The hip adjustment device according to claim 7, characterized in that: The locking assembly comprises: a first pull rod, a second pull rod and a positive and negative threaded rod; The first end of the first pull rod is rotatably disposed on the mounting plate, and the second end of the first pull rod is threadedly connected to the forward screw end of the forward and reverse threaded rod; The first end of the second pull rod is rotatably arranged on the adapter seat, and the second end of the second pull rod is threadedly connected to the reverse screw end of the forward and reverse threaded rod.

9. The hip adjustment device according to claim 7, characterized in that: The mounting plate is provided with a plurality of arc-shaped through holes, and the adapter is provided with a plurality of threaded holes; The plurality of arc-shaped through holes are arranged along the circumferential direction relative to the horizontal axis, and each of the arc-shaped through holes is extended along the circumferential direction relative to the horizontal axis; The plurality of arc-shaped through holes and the plurality of threaded holes are arranged opposite to each other one by one; the mounting plate and the adapter seat are rotatably arranged by threaded locking members penetrating the arc-shaped through holes and the threaded holes.

10. An exoskeleton robot, characterized in that: include: A support frame, a left lower limb, a right lower limb, and a hip adjustment device as claimed in any one of claims 1 to 9; The adapter is connected to the support frame, and the left hip component and the right hip component are respectively connected to the left lower limb and the right lower limb in a one-to-one correspondence.

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