Hip joint assisting exoskeleton robot

Abstract

The hip joint assisting exoskeleton robot is characterized in that the hip joint assisting exoskeleton robot comprises a waist plate, the outer surface of the waist plate is fixedly connected with a plastic waistband through bolts, the end face of the upper end of the waist plate is fixedly connected with a back plate, and the two sides of the end face of the lower end of the waist plate are fixedly connected with first connecting plates; the lower side of the first connecting plate is fixedly connected with a second mounting frame. The leg support can be lifted through the telescopic mechanism, the use requirements of different people can be met, the fixing piece can be firmly installed on the leg through the clamping mechanism, the leg support can be better attached to the leg of the people, meanwhile, the wearing process is simplified, the wearing is more convenient, and the wearing efficiency is improved. The motion and posture of a wearer can be sensed through the accelerometer, the spiral instrument and the angle sensor, data are transmitted to the control box, and the control box processes and analyzes the information after receiving the information so as to judge the motion intention of the wearer and the magnitude and direction of the assisting force needing to be provided.

Description

Technical Field

[0001] The utility model relates to the field of exoskeleton robots, in particular to a hip joint assisted exoskeleton robot. Background Technique

[0002] An exoskeleton robot is an advanced wearable device that conforms to the human body contour and operates according to the human body's motion posture or the human brain's intention. It uses external or portable energy sources to provide mechanical assistance to the wearer, thereby enhancing their motor ability. This unique mechanical system not only has great application potential in the military field, which can improve the combat ability of soldiers and enable them to carry more weapons and equipment, but also plays an important role in the civilian and medical fields.

[0003] However, there are still many deficiencies in the existing hip joint assisted exoskeleton robots. For example, although the exoskeleton can help the human body reduce the load-bearing burden, it is prone to the problem that the mechanical structure cannot move in a flexible, stable and body-fitting manner in the same structure as the human body, and many hip joint assisted exoskeletons can only provide a constant amount of assistance in different working scenarios, resulting in poor assistance effects. Summary of the Utility Model

[0004] To solve the above technical problems, a hip joint assisted exoskeleton robot is provided. This technical solution solves the problems of many deficiencies in the existing hip joint assisted exoskeleton robots mentioned in the above background technique. For example, although the exoskeleton can help the human body reduce the load-bearing burden, it is prone to the problem that the mechanical structure cannot move in a flexible, stable and body-fitting manner in the same structure as the human body, and many hip joint assisted exoskeletons can only provide a constant amount of assistance in different working scenarios, resulting in poor assistance effects.

[0005] To achieve the above purposes, the technical solution adopted by the utility model is as follows:

[0006] A hip joint assisted exoskeleton robot includes a lumbar plate. The outer surface of the lumbar plate is fixedly connected with a plastic belt through bolts. The upper end face of the lumbar plate is fixedly connected with a back plate. Both sides of the lower end face of the lumbar plate are fixedly connected with first connecting plates. A second mounting frame is fixedly connected to the lower side of the first connecting plates. A leg bracket is arranged below the second mounting frame.

[0007] Preferably, an emergency stop button, a start / stop button and a control box are respectively arranged on the upper end face of the lumbar plate. A battery is installed at the back of the lumbar plate. There is a USB socket at the lower end of the battery for external charging. Ventilation holes are opened inside the plastic belt. Tightening straps are also arranged at both ends of the plastic belt. A shoulder strap is arranged outside the back plate.

[0008] Preferably, the number of the first connecting plates is two, and both are fixedly connected to the lower end face of the waist plate. A first servo motor is installed on one side of the first connecting plate. The output end of the first servo motor extends to the other side of the first connecting plate and is fixedly connected to a shaft rod. A circular frame is rotatably connected to the outer surface of the shaft rod. One end of the shaft rod away from the first connecting plate is fixedly connected to a fixing plate.

[0009] Preferably, a first connecting rod is fixedly connected to the inner side of the fixing plate. Through grooves are formed in the outer surfaces of the first connecting rod and the circular frame. The first connecting rod passes through the outside of the through groove of the first connecting plate and is slidably connected to the through groove formed in the circular frame. A second connecting rod is fixedly connected to the lower side of the circular frame. A first mounting frame is installed on the side of the first connecting plate away from the circular frame. An accelerometer, a gyroscope and an angle sensor are respectively arranged inside the first mounting frame.

[0010] Preferably, a second servo motor is installed on the upper side of the second mounting frame. The output end of the second servo motor penetrates through the upper end face of the second mounting frame and is fixedly connected to a worm. The worm is meshed with a worm gear. The number of the worm gears is two, and both are rotatably connected to the inner wall of the second mounting frame through pin shafts. The outer side of the worm gear is rotatably connected to a first rotating rod through a pin shaft. The outer surface of the first rotating rod is further connected to a second rotating rod. A through hole adapted to the second rotating rod is formed in the lower end face of the second mounting frame.

[0011] Preferably, the leg bracket includes a second connecting plate. The second connecting plate is fixedly connected to the outer surface of the leg bracket, and the number of the second connecting plates is two. A first rotating plate is rotatably connected inside the two second connecting plates, and the number of the first rotating plates is two. A second rotating plate is further rotatably connected inside the two second connecting plates. Internal thread blocks are fixedly connected inside the two first rotating plates and the second rotating plate. The two internal thread blocks are both threadedly connected to the outer surface of a bidirectional threaded rod.

[0012] Preferably, a support frame is further rotatably connected to the outer surface of the bidirectional thread. One end of the support frame away from the bidirectional threaded rod is fixedly connected to the outer surface of the leg bracket. One end of the bidirectional threaded rod is fixedly connected to the output end of a third servo motor. The third servo motor is fixedly connected to a mounting plate on the support frame. A fixing piece is fixedly connected to one side of the bidirectional threaded rod. A camera is further installed on the outer surface of the leg bracket.

[0013] Compared with the prior art, the present utility model provides a hip joint assistive exoskeleton robot, which has the following beneficial effects:

[0014] 1. Through the telescopic mechanism of the present utility model, the leg bracket can be lifted and lowered, which can meet the usage requirements of different people.

[0015] 2. Through the clamping mechanism of the present utility model, the fixing member can be firmly installed on the leg, making the leg bracket fit the wearer's leg more closely. At the same time, the wearing process is optimized to make wearing more convenient.

[0016] 3. Through the accelerometer, gyroscope and angle sensor, the present utility model can sense the actions and postures of the wearer and transmit the data to the control box. After receiving the information, the control box will process and analyze it to judge the wearer's movement intention and the magnitude and direction of the assistance required. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of the present utility model;

[0018] Figure 2 is a schematic side view structure diagram of the present utility model;

[0019] Figure 3 is the Figure 1 enlarged schematic diagram at A in the present utility model;

[0020] Figure 4 is the Figure 1 enlarged schematic diagram at B in the present utility model;

[0021] Figure 5 is the Figure 2 enlarged schematic diagram at C in the present utility model;

[0022] Figure 6 is the Figure 1 enlarged schematic diagram at D in the present utility model.

[0023] The reference numerals in the figures are:

[0024] 1. Waist plate; 101. Emergency stop button; 102. Start / stop button; 103. Control box; 104. Battery;

[0025] 2. Plastic belt; 201. Ventilation hole; 202. Tightening belt;

[0026] 3. Back plate; 301. Shoulder strap;

[0027] 4. First connecting plate; 401. First servo motor; 402. Shaft rod; 403. Circular frame; 404. Fixed plate; 405. First connecting rod; 406. Through groove; 407. Second connecting rod; 408. First mounting frame; 409. Accelerometer; 410. Gyroscope; 411. Angle sensor;

[0028] 5. Second mounting frame; 501. Second servo motor; 502. Worm; 503. Worm gear; 504. First rotating rod; 505. Second rotating rod;

[0029] 6. Leg bracket; 601. Second connecting plate; 602. First rotating plate; 603. Second rotating plate; 604. Internal thread block; 605. Bidirectional threaded rod; 606. Fixing piece; 607. Third servo motor; 608. Camera; 609. Support frame. Detailed implementation manners

[0030] The following description is used to disclose the present utility model so that those skilled in the art can implement the present utility model. The preferred embodiments in the following description are only examples, and other obvious variations can be conceived by those skilled in the art.

[0031] Implementation case 1

[0032] Please refer to Figure 1-6 As shown, a hip joint assisting exoskeleton robot includes a waist plate 1. A plastic belt 2 is fixedly connected to the outer surface of the waist plate 1 by bolts. A back plate 3 is fixedly connected to the upper end face of the waist plate 1. Both sides of the lower end face of the waist plate 1 are fixedly connected with first connecting plates 4. A second mounting frame 5 is fixedly connected to the lower side of the first connecting plate 4. A leg bracket 6 is arranged on the lower side of the second mounting frame 5. An emergency stop button 101, a start / stop button 102 and a control box 103 are respectively arranged on the upper end face of the waist plate 1. A battery 104 is installed at the rear side of the waist plate 1. There is a USB socket at the lower end of the battery 104 for external charging. Ventilation holes 201 are formed inside the plastic belt 2. Tightening belts 202 are further arranged at both ends of the plastic belt 2. A back strap 301 is arranged on the outer side of the back plate 3.

[0033] When a user uses this assisting exoskeleton robot, first wear it on the back through the back strap 301. Since the plastic belt 2 is made of plastic with good extensibility, the plastic belt 2 can be fixed on the waist by using the tightening belt 202, and the ventilation holes 201 can ventilate the waist. A rotating mechanism is installed on the outer side of the first connecting plate 4, which can provide kinetic energy for the rotation of the leg bracket 6. A telescopic mechanism is installed inside the second mounting frame 5, which can lift the leg bracket 6, meeting the usage requirements of different people. A clamping mechanism is installed at the bottom of the leg bracket 6, which can firmly install the fixing piece 606 on the leg, saving time and effort. The emergency stop button 101 stops the exoskeleton robot suddenly to avoid secondary injuries, and the start / stop button 102 can turn on and off the exoskeleton robot. The battery 104 installed at the rear side of the waist plate 1 supplies power to the exoskeleton robot continuously to ensure the normal operation of the machine.

[0034] Implementation case 2

[0035] Please refer to Figure 1-4As shown in the figure, the number of the first connecting plates 4 is two, and they are both fixedly connected to the lower end face of the waist plate 1. A first servo motor 401 is installed on one side of the first connecting plate 4. The output end of the first servo motor 401 extends to the other side of the first connecting plate 4 and is fixedly connected to a shaft rod 402. A circular frame 403 is rotatably connected to the outer surface of the shaft rod 402. One end of the shaft rod 402 away from the first connecting plate 4 is fixedly connected to a fixing plate 404. A first connecting rod 405 is fixedly connected to the inner side of the fixing plate 404. Through grooves 406 are formed on the outer surfaces of the first connecting rod 405 and the circular frame 403. The first connecting rod 405 passes through the outside of the through groove 406 of the first connecting plate 4 and is slidably connected to the through groove 406 formed in the circular frame 403. A second connecting rod 407 is fixedly connected to the lower side of the circular frame 403. A first mounting frame 408 is installed on the side of the first connecting plate 4 away from the circular frame 403. An accelerometer 409, a gyroscope 410 and an angle sensor 411 are respectively arranged inside the first mounting frame 408.

[0036] The control box 103 can control the opening and closing of the first servo motor 401. When the first servo motor 401 rotates forward and backward, the first servo motor 401 drives the circular frame 403 to rotate through the shaft rod 402. When the circular frame 403 rotates, it drives the leg support 6 to rotate through the second connecting rod 407, so as to provide forward and backward kinetic energy for the leg support 6. It should be noted that the first connecting rod 405 fixedly connected to the shaft rod 402 through the fixing plate 404 extends into the through groove 406 formed in the circular frame 403, which can limit the rotation direction of the leg support 6 and ensure the safety of the legs. The accelerometer 409, the gyroscope 410 and the angle sensor 411 inside the first mounting frame 408 can sense the actions and postures of the wearer and transmit the data to the control box 103. After receiving the information, the control box 103 will process and analyze it to judge the movement intention of the wearer and the magnitude and direction of the assistance required, so as to control the first servo motor 401.

[0037] Embodiment 3

[0038] Please refer to Figure 5 As shown in the figure, a second servo motor 501 is installed on the upper side of the second mounting frame 5. The output end of the second servo motor 501 penetrates through the upper end face of the second mounting frame 5 and is fixedly connected to a worm 502. The worm 502 is meshed with a worm gear 503. The number of the worm gears 503 is two, and they are both rotatably connected to the inner wall of the second mounting frame 5 through a pin shaft. The outer side of the worm gear 503 is rotatably connected to a first rotating rod 504 through a pin shaft. The outer surface of the first rotating rod 504 is further connected to a second rotating rod 505. A through hole adapted to the second rotating rod 505 is formed in the lower end face of the second mounting frame 5.

[0039] When the second servo motor 501 is started, the second servo motor 501 drives the worm wheel 503 to rotate through the worm 502. The worm wheel 503 drives the first rotating rod 504 connected in a rotating manner to move. The first rotating rod 504 drives the second rotating rod 505 connected in a rotating manner to rotate. The second rotating rod 505 will expand and contract through the through hole opened on the lower end face of the second mounting frame 5, thereby driving the leg support 6 to rise and fall to meet the needs of people of different heights.

[0040] Implementation Case 4

[0041] Please refer to Figure 6 As shown, the leg support 6 includes a second connecting plate 601. The second connecting plate 601 is fixedly connected to the outer surface of the leg support 6, and the number of the second connecting plates 601 is two. Two first rotating plates 602 are rotatably connected inside the two second connecting plates 601, and the number of the first rotating plates 602 is two. A second rotating plate 603 is also rotatably connected inside the two second connecting plates 601. Inner threaded blocks 604 are fixedly connected inside the two first rotating plates 602 and the second rotating plate 603. The two inner threaded blocks 604 are both threadedly connected to the outer surface of the bidirectional threaded rod 605. A support frame 609 is also rotatably connected to the outer surface of the bidirectional threaded rod 605. One end of the support frame 609 away from the bidirectional threaded rod 605 is fixedly connected to the outer surface of the leg support 6. One end of the bidirectional threaded rod 605 is fixedly connected to the output end of the third servo motor 607. The third servo motor 607 is fixedly connected to the mounting plate on the support frame 609. A fixing member 606 is fixedly connected to one side of the bidirectional threaded rod 605. A camera 608 is also installed on the outer surface of the leg support 6.

[0042] When the third servo motor 607 is started, the third servo motor 607 drives the two inner threaded blocks 604 to rotate through the bidirectional threaded rod 605. Since the thread directions on both sides of the bidirectional threaded rod 605 are opposite, the forward rotation and reverse rotation of the third servo motor 607 will drive the two threaded blocks 604 to approach and separate from each other, thereby driving the fixing member 606 to be fixed on the leg. It should be noted that the first rotating plate 602 and the second rotating plate 603 that rotate in the middle of the second connecting plate 601 limit the threaded block 604, and the support frame 609 plays a supporting role for the bidirectional threaded rod 605.

[0043] Working principle and usage process of this device: When a user uses this powered exoskeleton robot, first, wear it on the back through the back strap 301, and use the tightening strap 202 to fix the plastic waistband 2 around the waist. Secondly, start the second servo motor 501. The second servo motor 501 drives the second rotating rod 505 to lift through the worm 502, worm gear 503 and the first rotating rod 504, so as to lift the leg bracket 6 to an appropriate position. Finally, start the third servo motor 607. The third servo motor 607 drives the fixing member 606 to be fixed on the leg through the bidirectional threaded rod 605 and the internally threaded block 604, so as to fix the leg bracket 6. After wearing, when the accelerometer 409, gyroscope 410 and angle sensor 411 sense the actions and postures of the wearer, they will transmit the data to the control box 103. The control box 103 controls the first servo motor 401 to rotate. The first servo motor 401 rotates through the shaft rod 402 and the circular frame 403. When the circular frame 403 rotates, it drives the leg bracket 6 to rotate through the second connecting rod 407, so as to provide the leg bracket 6 with kinetic energy for forward and backward movement. The emergency stop button 101 performs an emergency stop on the exoskeleton robot to avoid secondary injuries, and the start / stop button 102 can turn on and off the exoskeleton robot. The battery 104 installed on the rear side of the lumbar plate 1 supplies power to the exoskeleton robot continuously to ensure the normal operation of the machine.

[0044] The above shows and describes the basic principle, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection required by the present invention is defined by the appended claims and their equivalents.

Claims

1. A hip joint-assisted exoskeleton robot, characterized in that: The invention comprises a waist plate (1), the outer surface of which is fixedly connected to a plastic waist belt (2) by means of bolts, the upper end surface of the waist plate (1) is fixedly connected to a back plate (3), the lower end surface of the waist plate (1) is fixedly connected to a first connecting plate (4) on both sides, the lower side of the first connecting plate (4) is fixedly connected to a second mounting frame (5), and the lower side of the second mounting frame (5) is provided with a leg bracket (6).

2. A hip joint assisting exoskeleton robot according to claim 1, characterized in that: An emergency stop button (101), a start / stop button (102) and a control box (103) are respectively arranged on the upper end surface of the waist plate (1); a battery (104) is installed on the rear side of the waist plate (1); a USB socket is provided at the lower end of the battery (104) for external charging; a vent hole (201) is provided inside the plastic waist belt (2); tightening belts (202) are also provided at both ends of the plastic waist belt (2); and a shoulder strap (301) is provided on the outer side of the back plate (3).

3. The hip joint assist exoskeleton robot according to claim 1, characterized in that: There are two first connecting plates (4), and both are fixedly connected to the lower end surface of the waist plate (1); a first servo motor (401) is installed on one side of the first connecting plate (4); an output end of the first servo motor (401) extends to the other side of the first connecting plate (4) and is fixedly connected to a shaft (402); a circular frame (403) is rotatably connected to the outer surface of the shaft (402); and a fixing plate (404) is fixedly connected to one end of the shaft (402) away from the first connecting plate (4).

4. A hip joint assisting exoskeleton robot according to claim 3, characterized in that: A first connecting rod (405) is fixedly connected to the inner side of the fixing plate (404); a through groove (406) is provided on the outer surface of the first connecting rod (405) and the circular frame (403); the first connecting rod (405) passes through the outside of the through groove (406) of the first connecting plate (4) and is slidably connected in the through groove (406) provided in the circular frame (403); a second connecting rod (407) is fixedly connected to the lower side of the circular frame (403); a first installation frame (408) is installed on a side of the first connecting plate (4) away from the circular frame (403); an accelerometer (409), a gyroscope (410) and an angle sensor (411) are respectively provided inside the first installation frame (408).

5. The hip joint assisting exoskeleton robot according to claim 1, characterized in that: A second servo motor (501) is mounted on the upper side of the second mounting frame (5); an output end of the second servo motor (501) passes through the upper end surface of the second mounting frame (5) and is fixedly connected to the worm (502); the worm (502) is meshingly connected to a worm wheel (503); there are two worm wheels (503) and both are rotatably connected to the inner wall of the second mounting frame (5) via a pin; the outer side of the worm wheel (503) is rotatably connected to a first rotating rod (504) via a pin; the rotating outer surface of the first rotating rod (504) is further connected to a second rotating rod (505); and a through hole matching the second rotating rod (505) is provided on the lower end surface of the second mounting frame (5).

6. The hip joint assisting exoskeleton robot according to claim 1, characterized in that: The leg bracket (6) comprises a second connecting plate (601), the second connecting plate (601) being fixedly connected to the outer surface of the leg bracket (6), and the number of the second connecting plates (601) is two, the two second connecting plates (601) are rotatably connected to the first rotating plates (602), and the number of the first rotating plates (602) is two, the two second connecting plates (601) are also rotatably connected to the second rotating plates (603), the two first rotating plates (602) and the second rotating plates (603) are both fixedly connected to the inner parts of the internal thread blocks (604), and the inner parts of the two internal thread blocks (604) are both threadedly connected to the outer surface of the bidirectional threaded rod (605).

7. The hip joint assisting exoskeleton robot according to claim 6, characterized in that: The outer surface of the bidirectional threaded rod (605) is also rotatably connected to a support frame (609), and one end of the support frame (609) away from the bidirectional threaded rod (605) is fixedly connected to the outer surface of the leg bracket (6), one end of the bidirectional threaded rod (605) is fixedly connected to the output end of the third servo motor (607), and the third servo motor (607) is fixedly connected to a mounting plate on the support frame (609), one side of the bidirectional threaded rod (605) is fixedly connected to a fixing member (606), and a camera (608) is also installed on the outer surface of the leg bracket (6).

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