Three-degree-of-freedom passive self-weight compensation exoskeleton hip joint

Abstract

The utility model belongs to the technical field of exoskeleton passive joints, and particularly relates to a three-degree-of-freedom passive self-weight compensation exoskeleton hip joint. The three-degree-of-freedom passive self-weight compensation exoskeleton hip joint comprises a rod-shaped elastic component, a hip joint abduction mechanism, a hip joint motor and a hip joint flexion and extension mechanism, the rod-shaped elastic component is installed between the hip joint abduction mechanism and the hip joint flexion and extension mechanism, and the outward rotation degree of freedom is provided through the degree of freedom of a joint. According to the three-degree-of-freedom passive self-weight compensation exoskeleton hip joint, the self-weight of the lower limbs is compensated through arrangement of the rod-shaped elastic components, the effects of compact structure and free movement are achieved, the situation that the human body is subjected to large interaction force to limit the movement of the lower limbs is avoided, and the movement control precision is improved. The exoskeleton hip joint is passively driven through human body movement, and flexion and extension, abduction and adduction, extorsion and internal rotation freedom degrees of the hip joint are provided.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of exoskeleton passive joint, concretely relates to a three freedom degrees passive self -weight compensation exoskeleton hip joint. BACKGROUND

[0002] At present, lower limb exoskeleton robot in military, health care field for human body capacity enhancement, patient lower limb rehabilitation direction development is rapid, application scene expands unceasingly, and exoskeleton gradually begins to play its advantages.

[0003] At present, the hip joint design of mainstream exoskeleton generally only considers matching the three degrees of freedom of the hip joint through the design of the mechanism, so as to improve the comfort of human movement and not hinder the movement of the human body itself. However, the design of the exoskeleton hip joint without considering self-weight compensation will cause the inconvenience of lower limb movement and large interaction force caused by the large inertia of the lower limb self-weight of the exoskeleton, which is not conducive to the interaction control between man and machine. Therefore, it is necessary to develop and design an exoskeleton joint that can compensate for the self-weight of the lower limb without affecting the flexion / extension, abduction / adduction and external rotation / internal rotation degrees of freedom of the hip joint. SUMMARY

[0004] The utility model aims at providing a three freedom degrees passive self -weight compensation exoskeleton hip joint, avoid human body to be restricted lower limb movement under big interaction force, improve control movement precision.

[0005] In order to achieve the above-mentioned purpose, the utility model provides the following technical scheme: the application provides a three freedom degrees passive self -weight compensation exoskeleton hip joint, including rod-shaped elastic component, hip joint abduction mechanism, hip joint motor, hip joint flexion mechanism;The rod-shaped elastic component is connected with the hip joint abduction mechanism and the hip joint flexion mechanism through a spherical hinge;The base of the hip joint abduction mechanism of the exoskeleton hip joint is connected with the rod-shaped elastic component through a spherical hinge;The hip joint motor is installed on the hip joint flexion mechanism through a thread;The hip joint flexion mechanism is connected with the rod-shaped elastic component through a spherical hinge.

[0006] Compared with the prior art, the utility model has the beneficial effects that: the application compensates for the self-weight of the lower limb through the arrangement of a passive elastic element, achieves the effects of compact structure and free movement, avoids the restriction of the lower limb movement of the human body under the action of large interaction force, and is beneficial to improving the control movement precision. At the same time, the abduction / adduction and external rotation / internal rotation degrees of freedom are provided to a certain extent, so as to meet the different movement postures of the human body in walking, squatting and climbing.

[0007] In order to more clearly illustrate the functional characteristics and structural parameters of the utility model, the following further illustrates in combination with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0008] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application, the schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0009] Figure 1 It is a structural explosion schematic diagram of the present application;

[0010] Figure 2 It is a force analysis diagram of the present application in the balanced state of the exoskeleton hip joint;

[0011] Figure 3 It is a schematic diagram of the present application in the abduction degree of freedom of the exoskeleton hip joint;

[0012] Figure 4 It is a schematic diagram of the present application in the adduction degree of freedom of the exoskeleton hip joint;

[0013] Figure 5 It is a schematic diagram of the present application in the abduction and internal rotation degree of freedom of the exoskeleton hip joint;

[0014] Figure 6 It is a schematic diagram of the present application in the adduction and external rotation degree of freedom of the exoskeleton hip joint;

[0015] Figure 7 It is a schematic diagram of the present application in the application of the exoskeleton hip joint in the lower limb exoskeleton.

[0016] In the drawings, the reference signs are: rod-shaped elastic element 101, spherical hinge joint 102, nut 103, back connecting plate 201, hip joint abduction frame 202, hip joint abduction shaft 203, plastic shaft sleeve 204, gasket 205, screw 206, external rotation shaft 207, external rotation shaft locking screw 208, hip joint motor 301, motor support 401, motor output rod 402, exoskeleton thigh rod 403. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application; based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0018] The three-degree-of-freedom passive self-weight compensation exoskeleton hip joint of the application comprises a rod-shaped elastic component, a hip joint abduction mechanism, a hip joint motor and a hip joint flexion mechanism; the rod-shaped elastic component is connected with the hip joint abduction mechanism and the hip joint flexion mechanism through a spherical hinge; the hip joint abduction mechanism is used for connecting the base of the exoskeleton hip joint with the rod-shaped elastic component through a spherical hinge; the hip joint motor is installed on the hip joint flexion mechanism through a thread; and the hip joint flexion mechanism is connected with the rod-shaped elastic component through a spherical hinge.

[0019] In combination Figure 1 The rod-shaped elastic component comprises a rod-shaped elastic element 101, a spherical hinge joint 102 and a nut 103; the rod-shaped elastic element 101 is connected with the spherical hinge joint 102 at both ends, the spherical hinge joint 102 is provided with a spherical hole at one end and a threaded column at the other end, the rod-shaped elastic element 101 is provided with an outer spherical head at one end and is matched with the spherical hole of the spherical hinge joint 102 to form a spherical hinge structure, the threaded column at the other end of the spherical hinge joint 102 is fixed on the positioning hole of the hip joint abduction mechanism and the hip joint flexion mechanism through the nut 103; the nut 103 fixes the spherical hinge joint 102 on the hip joint flexion mechanism; and the connection between the spherical hinge joint 102 and the rod-shaped elastic element 101 provides the degree of freedom of spatial rotation.

[0020] The hip joint abduction mechanism comprises a back connecting plate 201, a hip joint abduction frame 202, a hip joint abduction shaft 203, a plastic shaft sleeve 204, a gasket 205, a screw 206, an external rotation shaft 207 and an external rotation shaft locking screw 208; the back connecting plate 201 is connected with the hip joint abduction shaft 203 through the gasket 205 and the screw 206; the hip joint abduction frame 202 and the hip joint abduction shaft 203 form a rotating pair under the lubrication of the plastic shaft sleeve 204 and can rotate within a certain angle; the hip joint abduction shaft 203 is fixed in the positioning groove of the back connecting plate 201 through the screw 206; the plastic shaft sleeve 204 is assembled on both sides of the shaft hole of the hip joint abduction frame 202, and the flange surface of the plastic shaft sleeve 204 is in close contact with the surface of the hip joint abduction frame 202; the gasket 205 is arranged between the back connecting plate 201 and the screw 206 to form an anti-loosening effect; the screw 206 is tightly fixed on the threaded hole of the hip joint abduction shaft 203; the external rotation shaft 207 is inserted into the concentric shaft holes on both sides of the hip joint abduction frame 202, and the positioning is formed by the face contact between the boss on one side of the external rotation shaft 207 and the counterbore surface of the hip joint abduction frame 202; and the external rotation shaft locking screw 208 is threadedly connected with the internal thread on the other side of the external rotation shaft 207 to tightly fix the external rotation shaft 207 in the shaft hole of the hip joint abduction frame 202 and form a rotating pair.

[0021] The hip joint flexion and extension mechanism includes a motor bracket 401, a motor output rod 402, and an exoskeleton thigh rod 403. The motor bracket 401 mates with the shaft hole of the external rotation shaft 207 and is supported on the hip joint abduction frame 202. The motor output rod 402 is positioned by a pin and connected to the output surface of the hip joint motor by bolts. The motor output rod 402 is positioned with the edge of the exoskeleton thigh rod 403 by a step on one side and is circumferentially fixed by bolts. The exoskeleton thigh rod 403 serves as the end of the device and swings due to the rotation of the motor.

[0022] The hip joint motor is fixed to the motor bracket 401 by means of circumferential bolts that engage with the threaded holes on the flange face.

[0023] Combination Figure 2 Furthermore, the rod-shaped elastic element 101 adopts a gas spring structure, which is in a compressed state in the hip joint structure of the exoskeleton and outputs a rebound force. Since the rod-shaped elastic element 101 is compressed and restricted on the back connecting plate 201 and the motor bracket 401, and the back connecting plate 201 is fixed on the back frame of the exoskeleton, the thigh movable component connected to the hip joint abduction frame 202 is converted into torque under the rebound force of the rod-shaped elastic element 101, which balances the torque of the hip joint thigh itself relative to the rotation center of the back connecting plate 201. Therefore, it cancels out its own weight in the coronal plane and achieves passive self-weight compensation. Example

[0024] like Figure 3 When the exoskeleton hip joint is normally abducted, the rod-shaped elastic element 101 always counteracts the load of the thigh below the hip joint. The joint abduction frame 202 rotates in the limiting groove of the back connecting plate 201 under the support of the hip joint abduction axis 203. When the rod-shaped elastic element 101 pushes the ball joint 102 out to its longest distance, the joint abduction frame 202 touches and aligns with the lower edge of the limiting groove in the back connecting plate 201, and the exoskeleton hip joint abduction reaches the maximum limiting angle.

[0025] like Figure 4 When the exoskeleton hip joint is normally abducted, the ball joint 102 compresses the rod-shaped elastic element 10 to its shortest length, and the joint abduction frame 202 rotates under the support of the hip joint abduction shaft 203, and rotates in the limiting groove of the back connecting plate 201; the joint abduction frame 202 touches and aligns with the upper edge of the limiting groove in the back connecting plate 201, and the exoskeleton hip joint adducts to the maximum limiting angle.

[0026] like Figure 5As shown, when the hip joint is simultaneously abducted and internally rotated, the ball joint 102 releases the rotational degree of freedom, the rod-shaped elastic element 101 is offset to the direction close to the back connecting plate 201, and the motor support 401 is rotated clockwise relative to the external rotation axis 207, so that the abduction and internal rotation are simultaneously satisfied.

[0027] As shown, when the hip joint is simultaneously abducted and internally rotated, the ball joint 102 releases the rotational degree of freedom, the rod-shaped elastic element 101 is offset to the direction close to the back connecting plate 201, and the motor support 401 is rotated clockwise relative to the external rotation axis 207, so that the abduction and internal rotation are simultaneously satisfied. Figure 6

[0028] It should be noted that, in this document, the terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or inherent to such a process, method, article or device.

[0029] Although the embodiments of the present application have been shown and described, it should be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.​

Claims

1. A three degree of freedom passive body weight compensated exoskeleton hip joint, characterized in that, The hip joint abduction mechanism is used for connecting the base of the exoskeleton hip joint and the rod-shaped elastic component through a spherical hinge; the hip joint motor is installed on the hip joint flexion mechanism through a thread; and the hip joint flexion mechanism is connected with the rod-shaped elastic component through a spherical hinge.

2. The three degree-of-freedom passive gravity-compensated exoskeleton hip joint of claim 1, wherein, The rod-shaped elastic component comprises a rod-shaped elastic element (101), a spherical hinge joint (102) and a nut (103); the rod-shaped elastic element (101) is connected with the spherical hinge joint (102) at both ends; the spherical hinge joint (102) is provided with a spherical hole at one end and a threaded column at the other end; the rod-shaped elastic element (101) is provided with an outer spherical head at one end, which cooperates with the spherical hole of the spherical hinge joint (102) to form a spherical hinge structure; the threaded column at the other end of the spherical hinge joint (102) is fixed on the positioning hole of the hip joint abduction mechanism and the hip joint flexion mechanism through the nut (103); the nut (103) fixes the spherical hinge joint (102) on the hip joint flexion mechanism; and the connection between the spherical hinge joint (102) and the rod-shaped elastic element (101) provides the degree of freedom of spatial rotation.

3. The three degree-of-freedom passive gravity compensated exoskeleton hip joint of claim 1, wherein, The hip joint abduction mechanism comprises a back connecting plate (201), a hip joint abduction frame (202), a hip joint abduction shaft (203), a plastic shaft sleeve (204), a gasket (205), a screw (206), an external rotation shaft (207) and an external rotation shaft locking screw (208); the back connecting plate (201) is connected with the hip joint abduction shaft (203) through the gasket (205) and the screw (206); the hip joint abduction frame (202) and the hip joint abduction shaft (203) form a rotating pair under the lubrication of the plastic shaft sleeve (204); the hip joint abduction shaft (203) is fixed in the positioning groove of the back connecting plate (201) through the screw (206) threaded connection; the plastic shaft sleeve (204) is assembled on both sides of the shaft hole of the hip joint abduction frame (202), and the flange surface of the plastic shaft sleeve (204) is attached to the surface of the hip joint abduction frame (202); the gasket (205) is padded between the back connecting plate (201) and the screw (206); the screw (206) is positioned on the threaded hole of the hip joint abduction shaft (203); the external rotation shaft (207) is inserted into the concentric shaft holes on both sides of the hip joint abduction frame (202) and is in surface contact with the counterbore surface of the hip joint abduction frame (202) through the boss on one side of the external rotation shaft (207); and the external rotation shaft locking screw (208) is threadedly connected with the internal thread on the other side of the external rotation shaft (207) to fasten the external rotation shaft (207) in the shaft hole of the hip joint abduction frame (202).

4. The three degree-of-freedom, passive, body weight-compensated exoskeleton hip joint of claim 3, wherein, The hip joint flexion and extension mechanism comprises a motor support (401), a motor output rod (402), and an exoskeleton thigh rod (403); the motor support (401) is matched with the shaft hole of the outer rotation shaft (207) and is supported on the hip joint abduction frame (202); the motor output rod (402) is positioned by being matched with the pin of the output surface of the hip joint motor and is assembled by bolt connection; the motor output rod (402) is positioned by being matched with the edge of the exoskeleton thigh rod (403) through one side step and is fixed by circumferential bolt; the exoskeleton thigh rod (403) is the terminal end of the device and swings by motor rotation.

5. The three degree-of-freedom, passive, deadweight-compensated exoskeleton hip joint of claim 4, wherein, The hip joint motor is fixed on the motor support (401) by being matched with the threaded holes of the flange surface through circumferential bolts.

6. The three degree-of-freedom, passive, deadweight-compensated exoskeleton hip joint of claim 2, wherein, The rod-shaped elastic element (101) adopts an air spring structure and is in a compression state in the exoskeleton hip joint structure and outputs a rebound force.

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