Exoskeleton hip connecting structure

Abstract

The utility model provides an exoskeleton hip connecting structure which comprises a waistband and hip connecting pieces arranged on the two sides of the waistband, each hip connecting piece comprises a connecting block, a cross-shaped connector, a telescopic toothed belt and a leg connecting base which are sequentially arranged from top to bottom, the connecting blocks are connected with the waistband, the cross-shaped connectors are arranged between the connecting blocks and the telescopic toothed belts, and the leg connecting bases are connected with the cross-shaped connectors. The leg connecting seat is connected with the leg lining plate, a tooth-shaped part meshed with the telescopic tooth belt is arranged on the leg connecting seat, and the distance between the waist belt and the leg lining plate is adjusted by adjusting the meshing position of the telescopic tooth belt and the tooth-shaped part. The distance between the waist and the legs can be adjusted, the flexibility is good, and the operation is convenient and fast without blockage; the multi-degree of freedom of the hip joint is adapted through the cross connector, use is flexible, the structural size is small, and the wearing experience feeling is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of exoskeleton robots, in particular to an exoskeleton hip connection structure. Background Art

[0002] At present, special industries need to have a certain load on the waist and other parts. When working outdoors, the load will increase the weight of the person, which will reduce work efficiency. In order to improve work efficiency, it is considered to use an exoskeleton to transfer the load to the ground to reduce people's fatigue. Therefore, it is necessary to develop a waist and leg connection device that transfers the load of the waist and other parts to the ground through the lower limb exoskeleton.

[0003] At present, the waist support and leg support of exoskeleton robots are generally integrated, which is troublesome to wear and the distance between them cannot be adjusted, making them unsuitable for people of different heights. In addition, the human hip joint has many degrees of freedom, and most existing hip joints rotate in one direction, which affects the wearing experience, or use a multi-degree-of-freedom series combination, which has a complex structure, large size, and a sense of restraint when used. Utility Model Content

[0004] The utility model aims to provide an exoskeleton hip connection structure to overcome the deficiencies in the prior art.

[0005] In order to solve the above technical problems, the technical solution of the utility model is: an exoskeleton hip connection structure, including a waist belt and hip connectors arranged on both sides of the waist belt, the hip connectors include a connecting block, a cross connector, a telescopic toothed belt, and a leg connecting seat arranged in sequence from top to bottom, the connecting block is connected to the waist belt, a cross connector is provided between the connecting block and the telescopic toothed belt, the leg connecting seat is connected to the leg lining, and the leg connecting seat is provided with a toothed portion meshing with the telescopic toothed belt, and the distance between the waist belt and the leg lining is adjusted by adjusting the meshing position of the telescopic toothed belt and the toothed portion.

[0006] Furthermore, in the above-mentioned exoskeleton hip connection structure, the telescopic toothed belt is rotatably connected to the cross connector through a pin shaft 1, a bearing is provided in the top hole of the telescopic toothed belt, one end of the pin shaft 1 is inserted in the bearing, and the other end is connected to the cross connector; the bottom of the connecting block is provided with a pin shaft 2 integrally formed therewith, and is fixedly connected to the cross connector through the pin shaft 2.

[0007] Furthermore, in the above-mentioned exoskeleton hip connection structure, the telescopic toothed belt is fixedly connected to the leg connection seat by hand screws.

[0008] Furthermore, in the above-mentioned exoskeleton hip connection structure, a slide groove is provided on the outer side of the leg connection seat, the toothed portion is provided on the bottom surface of the slide groove, and the telescopic toothed belt is embedded in the slide groove and slidably connected to the slide groove.

[0009] Furthermore, in the above-mentioned exoskeleton hip connection structure, the telescopic toothed belt is provided with an elongated through groove arranged along the length direction of the telescopic toothed belt, and the hand screw is inserted into the through groove and slidably connected to the through groove.

[0010] Furthermore, in the above-mentioned exoskeleton hip connection structure, a magnet 1 is provided on the outer side of the telescopic toothed belt, and a magnet 2 is provided inside the leg connection seat and is located on the inner side of the toothed portion, and the magnet 1 and the magnet 2 are like-polar magnets that repel each other.

[0011] Furthermore, in the above-mentioned exoskeleton hip connection structure, a plurality of magnets 1 are provided and are closely arranged along both sides of the through slot, and two magnets 2 are provided and are located on both sides of the hand screw and are arranged along the width direction of the toothed portion.

[0012] Compared with the prior art, the utility model has the following beneficial effects: the distance between the waist and the legs can be adjusted by the telescopic toothed belt, thereby increasing the scope of use and having good flexibility; the telescopic toothed belt and the leg connecting seat can be automatically separated by the principle of like-sex magnets repelling each other, thereby avoiding jamming and accelerating the adjustment speed; the cross connector can also be used to adapt to the multiple degrees of freedom of the hip joint, thereby being flexible to use, having a small structural volume, and improving the wearing experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 It is a structural schematic diagram of the hip connection structure of the exoskeleton of the utility model;

[0015] Figure 2 for Figure 1 A local enlarged schematic diagram;

[0016] Figure 3 This is a schematic diagram of the leg connection seat structure of the exoskeleton hip connection structure of the utility model;

[0017] In the figure: 1. waist belt; 2. connecting block; 3. cross connector; 4. telescopic toothed belt; 41. through slot; 5. leg connecting seat; 51. toothed portion; 52. slide slot; 6. leg lining plate; 7. pin shaft 1; 8. pin shaft 2; 9. hand screw; 10. magnet 1; 11. magnet 2. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0019] Example 1

[0020] like Figure 1-3 As shown, an exoskeleton hip connection structure includes a waist belt 1 and hip connectors arranged on both sides of the waist belt, the hip connector includes a connection block 2, a cross connector 3, a telescopic toothed belt 4, and a leg connection seat 5 which are arranged in sequence from top to bottom, the connection block 2 is fixedly connected to the waist belt 1 by screws, a cross connector 3 is provided between the connection block 2 and the telescopic toothed belt 4, the leg connection seat 5 is fixedly connected to the leg lining 6 by countersunk screws, and the leg connection seat 5 is provided with a toothed portion 51 meshing with the telescopic toothed belt 4, the telescopic toothed belt 4 is fixedly connected to the leg connection seat 5 by a hand screw 9, the hand screw 9 is easy to operate, and the distance between the waist belt 1 and the leg lining 6 is adjusted by adjusting the meshing position of the telescopic toothed belt 4 and the toothed portion 51.

[0021] In addition, if Figure 1 As shown, a magnet 10 is disposed on the outer side of the telescopic toothed belt 4, and a magnet 2 11 located on the inner side of the toothed portion 51 is disposed inside the leg connecting seat 5, and the magnet 10 and the magnet 2 11 are like magnets that repel each other.

[0022] When adjusting the meshing position of the telescopic toothed belt 4, loosen the hand screw 9, and the magnet 1 10 and the magnet 2 11 provide a repulsive force to automatically separate the telescopic toothed belt 4 from the leg connecting seat 5. After separation, telescopic adjustment can be performed to adjust the distance between the waist and the legs; after adjustment, tighten the hand screw 9 to fix the telescopic toothed belt 4 and the leg connecting seat 5. The utility model can adjust the distance between the waist and the legs through the telescopic toothed belt 4, which increases the scope of use and has good flexibility. The telescopic toothed belt and the leg connecting seat are automatically separated by the principle of magnet repulsion, avoiding jamming and speeding up the adjustment speed. The cross connector 3 also adapts to the multiple degrees of freedom of the hip joint, is flexible to use, has a small structure, and improves the wearing experience.

[0023] Example 2

[0024] Based on the structure of Example 1, Figure 1 , 2As shown, the telescopic toothed belt 4 is rotatably connected to the cross connector 3 through a pin shaft 1 7, a bearing is provided in the top hole of the telescopic toothed belt 4, one end of the pin shaft 1 7 is inserted in the bearing, and the other end is connected to the cross connector 3; the bottom of the connecting block 2 is provided with a pin shaft 2 8 integrally formed therewith, and is fixedly connected to the cross connector 3 through the pin shaft 2 8. Specifically, the pin shaft 1 7 and the pin shaft 2 8 are both connected to the connecting middle pin of the cross connector 3. The cross connector 3 cooperates with the pin shaft to realize the multi-degree of freedom of the hip joint, with a simple structure and a small volume, which improves the operator's experience.

[0025] Among them, Figure 1-3 As shown, a slide groove 52 is provided on the outer side of the leg connecting seat 5, the toothed portion 51 is provided on the bottom surface of the slide groove 52, and the telescopic toothed belt 4 is set in the slide groove 52 and slidably connected with the slide groove 52. The movement of the telescopic toothed belt 4 is guided by the slide groove 52, and the adjustment is convenient and fast.

[0026] In addition, if Figure 1 As shown, the telescopic toothed belt 4 is provided with a long strip through slot 41 arranged along the length direction of the telescopic toothed belt 4, and the hand screw 9 is inserted into the through slot 41 and slidably connected with the through slot 41. The through slot 41 limits the telescopic travel of the telescopic toothed belt 4, and the hand screw 9 cooperates with the slide slot 41 to guide the movement of the telescopic toothed belt 4.

[0027] In addition, if Figure 1 As shown, the magnet 10 is provided in plurality and closely arranged along the two sides of the through slot 41, and the magnet 2 11 is provided in two, which are located on both sides of the hand screw 9 and arranged along the width direction of the toothed portion 51. Through this arrangement, it is ensured that the telescopic toothed belt 4 has a uniform and stable repulsive force within the adjustment stroke.

[0028] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0029] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An exoskeleton hip connection structure, characterized in that: It includes a waist belt and hip connectors arranged on both sides of the waist belt, the hip connectors include a connecting block, a cross connector, a telescopic toothed belt, and a leg connecting seat which are arranged in sequence from top to bottom, the connecting block is connected to the waist belt, a cross connector is arranged between the connecting block and the telescopic toothed belt, the leg connecting seat is connected to the leg lining, and the leg connecting seat is provided with a toothed portion meshing with the telescopic toothed belt, and the distance between the waist belt and the leg lining is adjusted by adjusting the meshing position of the telescopic toothed belt and the toothed portion.

2. The exoskeleton hip connection structure according to claim 1, characterized in that: The telescopic toothed belt is rotatably connected to the cross connector via a pin shaft 1, a bearing is provided in the top hole of the telescopic toothed belt, one end of the pin shaft 1 is inserted in the bearing, and the other end is connected to the cross connector; a pin shaft 2 is integrally formed with the connecting block at the bottom, and is fixedly connected to the cross connector via the pin shaft 2.

3. The exoskeleton hip connection structure according to claim 1, characterized in that: The telescopic toothed belt is fixedly connected to the leg connecting seat by means of hand screws.

4. The exoskeleton hip connection structure according to claim 1, characterized in that: A slide groove is arranged on the outer side of the leg connecting seat, the toothed portion is arranged on the bottom surface of the slide groove, and the telescopic toothed belt is embedded in the slide groove and is slidably connected with the slide groove.

5. The exoskeleton hip connection structure according to claim 3, characterized in that: The telescopic toothed belt is provided with a long strip through slot arranged along the length direction of the telescopic toothed belt, and the hand screw is inserted into the through slot and is slidably connected with the through slot.

6. The exoskeleton hip connection structure according to any one of claims 1 to 5, characterized in that: A first magnet is arranged on the outer side of the telescopic toothed belt, and a second magnet is arranged on the inner side of the toothed portion inside the leg connecting seat. The first magnet and the second magnet are magnets of the same polarity and repel each other.

7. The exoskeleton hip connection structure according to claim 6, characterized in that: There are a plurality of magnets 1, which are closely arranged along the two sides of the through slot, and there are two magnets 2, which are located on both sides of the hand screw and are arranged along the width direction of the toothed portion.

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