Hip joint movement mechanism and lower limb exoskeleton robot

Abstract

The utility model discloses a hip joint movement mechanism and a lower limb exoskeleton robot, comprising a hip internal and external rotation driving unit comprising a first motor and a connecting rod mechanism which are arranged on a basic support; the hip folding and unfolding driving unit comprises a second motor, and the second motor can drive the hip joint connecting rod to rotate around the sagittal axis; the hip bending and stretching driving unit comprises a third motor, and the third motor is arranged on a hip joint connecting rod and can drive a thigh rod piece rotationally connected to the hip joint connecting rod to rotate around a coronal shaft; the hip joint seat is connected with the connecting rod mechanism, and when the first motor drives the connecting rod mechanism to act, the connecting rod mechanism can drive the hip joint seat to rotate around the vertical shaft to simulate internal and external rotation actions of the hip joint; and when the hip joint seat rotates around the vertical shaft, the position of the rotating shaft is kept unchanged all the time, and the rotating shaft coincides with the internal and external rotation axis of the hip joint of the human body. The three-degree-of-freedom hip joint movement mechanism can achieve three-degree-of-freedom movement of the hip joint, and the adopted structure for achieving the movement is simple.

Description

TECHNICAL FIELD

[0001] The utility model belongs to robot technical field, concretely relates to a hip joint activity mechanism and lower limb exoskeleton robot. BACKGROUND

[0002] The power-assisted exoskeleton can be divided into two cases according to the purpose of power transmission: the exoskeleton drives the human body to move and the human body drives the exoskeleton to move. Due to the complexity of human motion, the power-assisted exoskeleton needs to realize multi-degree-of-freedom motion at each joint part when simulating human motion, which leads to a relatively complex structure of the exoskeleton power-assisted device, easy interference between each motion component, affects the normal operation of the device, and is difficult to truly simulate the human motion. Taking the hip joint as an example, the hip joint needs to realize three degrees of freedom of motion, which are the internal and external rotation of the hip, the left and right abduction and adduction of the hip, and the forward and backward flexion of the hip. Due to the large number of degrees of freedom, it is difficult to realize and the structure is complex, and the existing exoskeleton robot is difficult to truly simulate the motion of the hip joint, resulting in unnatural and uncoordinated hip joint motion and poor motion stability. SUMMARY

[0003] The utility model aims at providing a hip joint activity mechanism and lower limb exoskeleton robot to solve the problems of large simulation difficulty and complex structure of the hip joint motion.

[0004] The utility model realizes the following technical scheme:

[0005] The hip joint activity mechanism comprises:

[0006] The hip internal and external rotation driving unit comprises a first motor and a connecting rod mechanism, and the first motor and the connecting rod mechanism are arranged on a base support;

[0007] The hip abduction and adduction driving unit comprises a second motor, the second motor is arranged on a hip joint seat, the hip joint seat is rotationally connected with a hip joint connecting rod, and the second motor can drive the hip joint connecting rod to rotate around a sagittal axis;

[0008] The hip flexion and extension driving unit comprises a third motor, the third motor is arranged on the hip joint connecting rod, and can drive a thigh link rotationally connected to the hip joint connecting rod to rotate around a coronal axis;

[0009] The hip joint seat is connected with the connecting rod mechanism, when the first motor drives the connecting rod mechanism to act, the connecting rod mechanism can drive the hip joint seat to rotate around a vertical axis to simulate the internal and external rotation of the hip joint, and can keep the rotation axis position of the hip joint seat unchanged when rotating around the vertical axis and make the rotation axis coincide with the axis of the internal and external rotation of the human hip joint.

[0010] In some embodiments, the connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, the first connecting rod is fixedly connected with the base support, the third connecting rod and the fourth connecting rod are hingedly connected at the middle part to form a scissor support, the first connecting rod and the second connecting rod are hingedly connected at one end and hingedly connected with two scissor ends of the scissor support at the other end respectively, the fifth connecting rod and the sixth connecting rod are hingedly connected at one end and hingedly connected with the other two scissor ends of the scissor support at the other end respectively, and the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod are connected to form two parallelograms.

[0011] The hip joint seat is connected with the fifth connecting rod at one end, and the first motor drives the second connecting rod to rotate.

[0012] In some embodiments, the hinged shaft between the first connecting rod and the second connecting rod is arranged at the outer side of the base support, and the first motor is arranged at the position of the hinged shaft to drive the hinged shaft to rotate, so that the first motor is located at the outer side of the base support.

[0013] In some embodiments, the first connecting rod is an H-shaped support structure.

[0014] In another aspect, the utility model also provides a lower limb exoskeleton robot, which comprises the hip joint moving mechanism.

[0015] In some embodiments, one end of the thigh rod is connected with a knee joint seat, a fourth motor is arranged on the knee joint seat, and the fourth motor is used for driving a shank rod connected with the knee joint seat to rotate around a coronal axis.

[0016] In some embodiments, one end of the shank rod is connected with an ankle joint seat, a fifth motor is arranged on the ankle joint seat, and the fifth motor is used for driving an ankle joint connecting rod connected with the ankle joint seat to rotate around a coronal axis.

[0017] A sixth motor is arranged on the ankle joint connecting rod, and the sixth motor is used for driving a foot support connected with the ankle joint connecting rod to rotate around a sagittal axis.

[0018] In some embodiments, an adjustable structure is adopted to connect between the knee joint seat and the thigh rod and between the ankle joint seat and the shank rod, so that the knee joint seat and the ankle joint seat can be adjusted along the length direction of the leg.

[0019] In some embodiments, a leg wearing part is arranged on the thigh rod, the shank rod and the foot support.

[0020] Compared with the prior art, the utility model has the following advantages and beneficial effects:

[0021] The hip joint moving mechanism can realize movement on three degrees of freedom of a hip joint, can well realize simulation of internal and external rotation, left and right abduction and adduction and forward and backward flexion of the hip joint, and the structure for realizing the movement is simple.

[0022] In the structure for simulating the internal and external rotation movement of the hip joint, the actual internal and external rotation movement of the hip joint is matched at the hip joint position through the connecting mechanism, so that the adjustment of the lower limb posture of the exoskeleton robot is more natural, and the movement of the human body when turning is ensured to have better stability.

[0023] The connecting rod mechanism is realized by an RCM remote center of motion mechanism, the structure is simple, and interference between the movement of the mechanism and the human body can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical scheme of the embodiments of the present utility model, the drawings in the embodiments will be briefly introduced below, and it should be understood that the following drawings only show some embodiments of the present utility model, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained from these drawings without creative labor.

[0025] Figure 1 It is a human body orientation reference schematic diagram.

[0026] Figure 2 It is a hip joint external rotation state structure schematic diagram of the lower limb exoskeleton robot in the embodiments of the present utility model.

[0027] Figure 3 It is a hip joint internal rotation state structure schematic diagram of the lower limb exoskeleton robot in the embodiments of the present utility model.

[0028] Figure 4 It is a connecting rod mechanism principle schematic diagram in the hip joint moving mechanism in the embodiments of the present utility model.

[0029] Figure 5 It is a lower limb unit structure schematic diagram in the lower limb exoskeleton robot in the embodiments of the present utility model.

[0030] Among them:

[0031] 10, base support;

[0032] 20, connecting rod mechanism, 21, first connecting rod, 22, second connecting rod, 23, third connecting rod, 24, fourth connecting rod, 25, fifth connecting rod, 26, sixth connecting rod, 27, rotation center;

[0033] 31, first motor, 32, second motor, 33, third motor, 34, fourth motor, 35, fifth motor, 36, sixth motor;

[0034] 40, lower limb unit, 401, hip joint seat, 402, hip joint connecting rod, 403, thigh link, 404, knee joint seat, 405, shank link, 406, ankle joint seat, 407, ankle joint connecting rod, 408, foot support, 409, leg wearing part. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments.

[0036] The orientation terms used in the description of the structure in the embodiments of the utility model are defined according to the Human Body Measurement Terms, referring to Figure 1 The "coronal plane" is the plane passing through the vertical axis and the horizontal axis and all the planes parallel to the plane, which divides the human body into two parts of front and back; the "sagittal plane" is the cutting plane dividing the human body into two parts of left and right and the planes parallel to the plane. The "coronal axis" is the axis located in the coronal plane and parallel to the horizontal plane; the "sagittal axis" is the axis located in the sagittal plane and parallel to the horizontal plane, and the "vertical axis" is the axis perpendicular to the horizontal plane.

[0037] Referring to Figure 2 and Figure 3 The hip joint movement mechanism comprises:

[0038] The hip internal-external rotation driving unit comprises a first motor 30 and a connecting rod mechanism 20, and the first motor 30 and the connecting rod mechanism 20 are arranged on a base support 10.

[0039] The hip adduction-abduction driving unit comprises a second motor 32, the second motor 32 is arranged on a hip joint seat 401, the hip joint seat 401 is rotationally connected with a hip joint connecting rod 402, and the second motor 32 can drive the hip joint connecting rod 402 to rotate around the sagittal axis.

[0040] The hip flexion-extension driving unit comprises a third motor 33, the third motor 33 is arranged on the hip joint connecting rod 402 and can drive a thigh link 403 rotationally connected on the hip joint connecting rod to rotate around the coronal axis.

[0041] The hip joint seat 401 is connected with the connecting rod mechanism 20, when the first motor drives the connecting rod mechanism to act, the connecting rod mechanism can drive the hip joint seat to rotate around the vertical axis to simulate the internal-external rotation action of the hip joint, and can keep the rotation axis position of the hip joint seat unchanged when rotating around the vertical axis and make the rotation axis coincide with the axis of the internal-external rotation of the human hip joint.

[0042] The hip joint of a human body is generally capable of realizing three degrees of freedom of movement, which are respectively hip internal and external rotation, hip left and right abduction and adduction, and hip forward and backward flexion and extension.

[0043] In the prior art, when realizing the internal and external rotation of the hip joint, the lower limb unit is directly driven to rotate about its own axis, and the rotation axis of the lower limb unit obviously does not coincide with the rotation axis of the human hip joint, which makes it difficult to accurately control the internal and external rotation of the human hip joint when controlling the walking and turning of the lower limb, and the walking and turning of the human body is unnatural, the stability of the turning action is not good, and the difficulty of turning control is increased.

[0044] In the embodiment, when the hip joint seat is driven to rotate by the linkage mechanism, the lower limb unit composed of the hip joint seat and the thigh link is driven to rotate about a fixed axis, and the fixed axis coincides with the axis of the internal and external rotation of the human hip joint. Since the lower limb unit can rotate about the internal and external rotation axis of the hip joint when being driven to rotate, the internal and external rotation of the hip joint can be more realistically simulated, the control of the walking and turning of the human body is more accurate, and the stability of the turning is better.

[0045] The second motor and the third motor can realize the left and right abduction and adduction and the forward and backward flexion and extension of the hip, and in combination with the internal and external rotation realized by the internal and external rotation driving unit, the three degrees of freedom of the hip joint can be simulated.

[0046] In some embodiments, the linkage mechanism 20 includes a first link 21, a second link 22, a third link 23, a fourth link 24, a fifth link 25, and a sixth link 26, the first link 21 is fixedly connected with the base support 10, the third link 23 and the fourth link 24 are hingedly connected at the middle part to form a scissor support, the first link 21 and the second link 22 are hingedly connected at one end, the other ends of the first link 21 and the second link 22 are respectively hingedly connected with two scissor ends of the scissor support, the fifth link 25 and the sixth link 26 are hingedly connected at one end, the other ends of the fifth link 25 and the sixth link 26 are respectively hingedly connected with the other two scissor ends of the scissor support, and the first link, the second link, the third link, the fourth link, the fifth link, and the sixth link are connected to form two parallelograms.

[0047] The hip joint seat 401 is connected with the fifth link 25 at one end, and the first motor 31 drives the second link 22 to rotate.

[0048] Referring to Figure 2 , Figure 3 and Figure 4, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod form a remote center motion (RCM) mechanism, and the motion characteristic of the mechanism is that the fifth connecting rod rotates around a fixed rotation center 27 during the motion, so that when the lower limb unit is fixedly connected to the fifth connecting rod, the lower limb unit can be driven to rotate around a fixed rotation center through the connecting rod mechanism, and the rotation center can be made to coincide with the rotation center of the internal and external rotation of the hip joint of the human body through the design of the connecting rod mechanism.

[0049] In some embodiments, the hinge shaft between the first connecting rod 21 and the second connecting rod 22 is arranged on the outside of the base support 10, and the first motor 31 is arranged at the hinge shaft position to drive the hinge shaft to rotate, so that the first motor 31 is located on the outside of the base support. This arrangement can reduce the interference between the connecting rod mechanism and the human body during the motion, and the arrangement of the first motor on the outside of the base support can avoid interference between the arrangement of the first motor and the human body.

[0050] In some embodiments, the first connecting rod 21 adopts an H-shaped support structure to increase the structural strength of the first connecting rod.

[0051] On the other hand, the embodiment also relates to a lower limb exoskeleton robot, which adopts the hip joint motion mechanism described above, so that the lower limb exoskeleton robot can well simulate the three degrees of freedom of the hip joint at the hip.

[0052] Reference Figure 2 The lower limb exoskeleton robot can include a base support 10 and two lower limb units 40 connected to the base support, and the lower limb units are connected to the base support through the hip internal and external rotation driving units, respectively, as shown in Figure 5 The lower limb unit 40 includes a hip joint seat 401, a hip joint connecting rod 402, a thigh rod 403, a knee joint seat 404, a shank rod 405, an ankle joint seat 406, an ankle joint connecting rod 407 and a foot support 408.

[0053] In some embodiments, the thigh rod 403 is connected at one end with the knee joint seat 404, and the fourth motor 34 is arranged on the knee joint seat 404, and the fourth motor 34 is used to drive the shank rod rotatably connected to the knee joint seat to rotate around a coronal axis, so as to realize the forward and backward flexion and extension motion of the knee joint.

[0054] In some embodiments, the shank rod 405 is connected at one end with the ankle joint seat 406, and the fifth motor 35 is arranged on the ankle joint seat 406, and the fifth motor 35 is used to drive the ankle joint connecting rod 407 rotatably connected to the ankle joint seat to rotate around a coronal axis;

[0055] The sixth motor 36 is arranged on the ankle joint connecting rod 407, and is used for driving the foot support 408 rotatingly connected to the ankle joint connecting rod to rotate around a sagittal axis, so as to realize left-right extension and front-back flexion of the ankle joint.

[0056] The lower limb exoskeleton robot with the above structure can realize six degrees of freedom of a single leg. The hip joint, the knee joint and the ankle joint of the lower limb exoskeleton robot form a series six degrees of freedom structure. The series structure can realize alignment with the axis of the human body, and ensure stability and coordination of assisting movement of the human body in the case of ensuring real simulation of six degrees of freedom of the human body.

[0057] The adjustable structure is arranged between the knee joint seat 404 and the thigh rod 403, and between the ankle joint seat 406 and the lower leg rod 405, that is, the length of the corresponding position of the thigh and the lower leg on the lower limb unit can be adjusted, so that the knee joint seat and the ankle joint seat are adjusted to the corresponding position of the joint of the human body, so as to adapt to different users.

[0058] The adjustable structure between the knee joint seat and the thigh rod and the adjustable structure between the ankle joint seat and the lower leg rod can adopt an existing pearl button type structure.

[0059] In some embodiments, the thigh rod 403, the lower leg rod 405 and the foot support 408 are provided with a leg wearing part 409. The leg wearing part 409 is used for connecting the lower limb unit and the leg, and the leg wearing part adopts a rigid-flexible mixed structure, an arc-shaped steel plate is arranged on the inner side, and a flexible band is arranged on the outer side, so as to bundle and connect the leg.

[0060] In the description of the utility model, it should be explained that the adopted terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the position or location relationship based on the position or location relationship shown in the drawings, or the position or location relationship commonly placed when the utility model product is used, and only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as the limitation of the utility model.

[0061] In addition, in the description of the utility model, the terms "horizontal", "vertical" and the like do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0062] In the description of the utility model, still need to explain, unless another explicit provision and limitation, if appear term " set ", " install ", " link ", " connect " should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through the intermediate medium, can be two elements inside the communication.

[0063] The above is only the preferred embodiment of the utility model, and does not limit the utility model in any form, and any simple modification, equivalent change of the above embodiment according to the technical essence of the utility model all fall within the protection scope of the utility model.

Claims

1. A hip joint articulation mechanism characterised in that, The application relates to a hip joint driving mechanism. The hip joint driving mechanism comprises a hip joint internal-external rotation driving unit, a hip joint flexion-extension driving unit and a hip joint flexion-driving unit. The hip joint internal-external rotation driving unit comprises a first motor and a connecting rod mechanism, and the first motor and the connecting rod mechanism are arranged on a base support. The hip joint flexion-extension driving unit comprises a second motor, and the second motor is arranged on a hip joint seat. The hip joint flexion-driving unit comprises a third motor, and the third motor is arranged on the hip joint connecting rod.

2. The hip joint movement mechanism according to claim 1, characterized by The hip joint seat is connected with the connecting rod mechanism. When the first motor drives the connecting rod mechanism to act, the connecting rod mechanism can drive the hip joint seat to rotate around a vertical axis to simulate the internal-external rotation of the hip joint.

3. The hip joint movement mechanism according to claim 2, characterized by The connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod.

4. The hip joint movement mechanism according to claim 2, characterized by The first connecting rod is fixedly connected with the base support.

5. A lower extremity exoskeleton robot characterized by, The third connecting rod and the fourth connecting rod are hingedly connected in the middle to form a scissors support.

6. The lower leg exoskeleton robot according to claim 5, wherein, The first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod are connected to form two parallelograms.

7. The lower leg exoskeleton robot according to claim 6, characterized in that, The hip joint seat is connected with the fifth connecting rod at one end. The hinge shaft between the first connecting rod and the second connecting rod is arranged on the outside of the base support.

8. The lower leg exoskeleton robot according to claim 7, characterized by, The first motor is arranged at the hinge shaft position to drive the hinge shaft to rotate.

9. The lower leg exoskeleton robot according to claim 7, wherein, The first connecting rod is an H-shaped support structure. The hip joint driving mechanism comprises the hip joint driving mechanism. The thigh rod is connected with a knee joint seat at one end. The knee joint seat is provided with a fourth motor. The fourth motor is used for driving a lower leg rod connected with the knee joint seat to rotate around a coronal axis. The lower leg rod is connected with an ankle joint seat at one end. The ankle joint seat is provided with a fifth motor. The fifth motor is used for driving an ankle joint connecting rod connected with the ankle joint seat to rotate around a coronal axis. The ankle joint connecting rod is provided with a sixth motor. The sixth motor is used for driving a foot support connected with the ankle joint connecting rod to rotate around a sagittal axis. Adjustable structures are arranged between the knee joint seat and the thigh rod and between the ankle joint seat and the lower leg rod. The thigh rod, the lower leg rod and the foot support are provided with leg wearing members.

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