Active exoskeleton power module structure and hip joint active exoskeleton

Abstract

The utility model discloses a kind of active exoskeleton power module structure and hip joint active exoskeleton, belong to exoskeleton field, including elbow pipe assembly, elbow pipe assembly is made of lightweight material, elbow pipe assembly includes elbow pipe and motor support, motor support is fixedly installed on elbow pipe;Motor assembly, motor assembly includes drive plate, motor and output block, motor is fixedly arranged in one side of motor support, output block is connected with the output end of motor, and output block rotationally arranged in the other side of motor support, drive plate is fixedly installed in the end of motor away from output block, hip joint active exoskeleton also includes host module, waistband and leg pole module, the utility model adopts the elbow pipe assembly of lightweight material, realizes lightweight design, also meet the demand of high-precision installation of motor assembly, the hip joint active exoskeleton avoids the situation that leg pole module hurts, increase the safety performance of product, also subsequent installation and maintenance are convenient.

Description

Technical Field

[0001] This utility model belongs to the field of exoskeletons, and more specifically, relates to an active exoskeleton power module structure and an active exoskeleton for the hip joint. Background Technology

[0002] Currently available hip-joint active exoskeletons typically consist of modules such as a main unit module, a power module, leg modules, and a waist belt. The power module usually comprises components such as curved tubes, motors, motor covers, and output shafts. Active exoskeleton motors generally use frameless motors, and their encoders are usually mounted on the drive board, thus requiring precise installation and positioning of the motor and drive board. The motor modules of hip-joint exoskeletons are typically assembled within curved tubes on both sides; therefore, the curved tubes need to be lightweight while also possessing high internal structural precision to ensure the secure installation and fixation of the motor components.

[0003] In existing technologies, as irregularly shaped tubular parts, bent tubes can only be integrally formed using metal 3D printing or carbon fiber molding processes. While metal 3D printing can meet structural strength requirements, its mass production cost is high, and the high material density increases the overall weight, making it unsuitable for weight-sensitive walking aids. While molded carbon fiber bent tubes offer advantages in lightweight and high strength, the resulting parts have poor internal wall precision, the carbon fiber walls cannot be tapped for precise positioning, and post-processing costs are high, similarly impacting mass production efficiency and performance. Utility Model Content

[0004] The main purpose of this invention is to provide an active exoskeleton power module structure and an active exoskeleton for the hip joint, which achieves a lightweight design for the curved tube while meeting the requirements for high-precision installation of the motor components.

[0005] According to a first aspect of the present invention, an active exoskeleton power module structure is provided, comprising:

[0006] A pipe bending assembly, the pipe bending assembly being made of lightweight materials, the pipe bending assembly comprising a pipe bending and a motor bracket, the motor bracket being fixedly mounted on the pipe bending;

[0007] The motor assembly includes a drive board, a motor, and an output block. The motor is fixedly mounted on one side of the motor bracket. The output block is connected to the output end of the motor and is rotatably mounted on the other side of the motor bracket. The drive board is fixedly mounted on the end of the motor away from the output block.

[0008] According to the first aspect of the present invention, two limiting blocks are spaced apart on the motor bracket, and a limiting strip is provided on the output block. The limiting strip is movably disposed between the two limiting blocks to limit the rotation angle of the output block.

[0009] According to the first aspect of the present invention, an induction plate is provided on the output block, a photoelectric hole is provided on the bent tube, and a photoelectric switch is fixedly installed on the side of the motor bracket near the output block. The photoelectric switch passes through the photoelectric hole and is connected to the induction plate.

[0010] According to the first aspect of the present invention, the bent pipe is provided with a support hole, the inner side of the bent pipe is provided with a bent pipe flange surface, the motor bracket is provided with a protrusion and a first flange surface, the protrusion passes through the support hole, and the first flange surface is in close contact with the bent pipe flange surface.

[0011] According to the first aspect of the present invention, the inner side of the protrusion is provided with a second flange surface, the middle part of the output block is provided with a motor connecting block, the motor bracket is provided with a motor hole, the output end of the motor passes through the motor hole and is fixedly connected to the motor connecting block, and the motor is in contact with the second flange surface.

[0012] According to the first aspect of the present invention, the motor bracket is provided with a plurality of evenly distributed extensions, each extension having a screw hole, each extension being disposed outside the motor, and a drive bracket being fixedly connected to the end of the extension away from the output block, and the drive plate being fixedly disposed on the side of the drive bracket away from the output block.

[0013] According to the first aspect of the present invention, a motor cover is fixedly installed on the side of the bent tube away from the output block.

[0014] According to the first aspect of the present invention, a sealing groove is provided on the outer side of the motor cover, and a sealing ring is provided in the sealing groove.

[0015] According to the first aspect of the present invention, a process groove is provided on the side of the motor cover away from the bend, and a plurality of screw countersunk holes for fixing the motor cover are provided in the process groove, and a decorative piece for covering the screw countersunk holes is provided on the process groove.

[0016] The active exoskeleton for hip joints according to a second aspect embodiment of the present invention includes the aforementioned active exoskeleton power module structure, and further includes a main unit module, a waist belt, and a leg bar module. The main unit module is disposed on the waist belt, and both sides of the main unit module are connected to the leg bar module through the active exoskeleton power module structure.

[0017] One of the above-described technical solutions of this utility model has at least one of the following advantages or beneficial effects:

[0018] This utility model uses a bent tube assembly made of lightweight materials, achieving a lightweight design while also meeting the requirements for high-precision installation of the motor assembly. This active hip joint exoskeleton avoids injuries caused by the leg module, increases the product's safety performance, and facilitates subsequent installation and maintenance. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0020] Figure 1 This is a schematic diagram of the active exoskeleton power module structure in the first embodiment of this utility model;

[0021] Figure 2 This is a schematic diagram of the active exoskeleton power module structure from another perspective in the first embodiment of this utility model;

[0022] Figure 3 This is a schematic diagram of the structure of the motor bracket in the first embodiment of this utility model;

[0023] Figure 4 This is a schematic diagram of the output block in the first embodiment of this utility model;

[0024] Figure 5 This is a schematic diagram of the structure of the motor cover in the first embodiment of this utility model;

[0025] Figure 6 This is a cross-sectional view of the active exoskeleton power module structure in the first embodiment of this utility model;

[0026] Figure 7 This is a schematic diagram of the bent pipe in the first embodiment of this utility model. Detailed Implementation

[0027] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0028] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0029] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" and "second" may explicitly or implicitly include one or more features.

[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection or a connection that can communicate with each other; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two elements, an indirect connection, or an interaction between two elements.

[0032] The following disclosure provides many different implementation methods or examples for different solutions to implement this utility model.

[0033] Reference Figures 1 to 7 As shown, an active exoskeleton power module structure is provided, including:

[0034] The pipe bending assembly is made of lightweight materials and includes a pipe bending 1 and a motor bracket 6, with the motor bracket 6 fixedly installed on the pipe bending 1.

[0035] The motor assembly includes a drive plate 3, a motor 5, and an output block 7. The motor 5 is fixedly mounted on one side of the motor bracket 6. The output block 7 is connected to the output end of the motor 5 and is rotatably mounted on the other side of the motor bracket 6. The drive plate 3 is fixedly mounted on the end of the motor 5 away from the output block 7.

[0036] In some embodiments of this utility model, two limiting blocks 603 are spaced apart on the motor bracket 6, and a limiting strip 703 is provided on the output block 7. The limiting strip 703 is movably disposed between the two limiting blocks 603 to limit the rotation angle of the output block 7.

[0037] In some embodiments of this utility model, an induction plate 701 is provided on the output block 7, a photoelectric hole 102 is provided on the bent tube 1, and a photoelectric switch 9 is fixedly installed on the side of the motor bracket 6 near the output block 7. The photoelectric switch 9 passes through the photoelectric hole 102 and is connected to the induction plate 701.

[0038] In some embodiments of this utility model, a bracket hole 103 is provided on the bend 1, a bend flange surface 101 is provided on the inner side of the bend 1, and a protrusion 606 and a first flange surface 601 are provided on the motor bracket 6. The protrusion 606 passes through the bracket hole 103, and the first flange surface 601 is fitted and connected to the bend flange surface 101.

[0039] Furthermore, the inner side of the protrusion 606 is provided with a second flange surface 602, the middle part of the output block 7 is provided with a motor connecting block 702, the motor bracket 6 is provided with a motor hole 604, the output end of the motor 5 passes through the motor hole 604 and is fixedly connected to the motor connecting block 702, and the motor 5 is in close contact with the second flange surface 602.

[0040] In some embodiments of this utility model, the motor bracket 6 is provided with a plurality of evenly distributed extensions 605, and screw holes are provided on the extensions 605. Each extension 605 is disposed outside the motor 5. The end of the extension 605 away from the output block 7 is fixedly connected to the drive bracket 4, and the drive plate 3 is fixedly disposed on the side of the drive bracket 4 away from the output block 7.

[0041] In some embodiments of this utility model, a motor cover 2 is fixedly installed on the side of the bent pipe 1 away from the output block 7.

[0042] Furthermore, a sealing groove 203 is provided on the outer side of the motor cover 2, and a sealing ring 8 is provided in the sealing groove 203. A process groove 201 is provided on the side of the motor cover 2 away from the bend 1. A plurality of screw countersunk holes 202 for fixing the motor cover 2 are provided in the process groove 201, and a decorative piece 10 for covering the screw countersunk holes 202 is provided on the process groove 201.

[0043] In this embodiment, the bend 1 is made of carbon fiber material, which achieves a lightweight design while meeting the high-precision installation requirements of the motor assembly. The motor bracket 6 adopts a high-precision die-casting / injection molding structure and serves as a fixing part for the motor assembly. The protrusion 606 of the motor bracket 6 passes through the bracket hole 103 on the bend 1 and is fixed by the first flange surface 601 against the bend flange surface 101 of the bend 1. The side of the motor 5 near the output end is fixed against the second flange surface 602. The output end of the motor 5 passes through the motor hole 604 and is fixedly connected to the motor connecting block 702 on the output block 7. The output block 7 can rotate around the motor output end. During the rotation, the limiting strip 703 respectively connects with the two limiting blocks 602. When in contact, a limit is formed, constituting the rotation limit of the leg module 40 connected to the output block 7; multiple extensions 605 are arranged outside the motor 5, enclosing and fixing the motor 5, and the length of the extension 605 is greater than the thickness of the motor 5. The extension 605 passes through the motor 5 and is fixedly connected to the drive bracket 5 by screws. The extension 605 is provided with screw holes for fixing the drive bracket 4. The drive bracket 4 is arranged on the side of the motor 5 away from its output end. The drive plate 3 is fixedly installed on the side of the drive bracket 4 away from the motor 5, realizing the relative fixation of the drive plate 3 and the motor 5.

[0044] This invention uses a photoelectric switch as the position recognition switch for the output end of the motor 5. Its structure is as follows: the photoelectric switch 9 passes through the photoelectric hole 102 on the bent tube 1 and is fixed to the motor bracket 6; the photoelectric switch 9 has a notch, into which the sensing plate 701 on the output block 7 can be inserted. When the user stands wearing the hip joint active exoskeleton, the sensing plate 701 passes through and triggers the photoelectric switch 9. At this time, the control system recognizes that the hip joint active exoskeleton device is at its standing origin. When the user walks, it drives the output block 7 to rotate, causing the sensing plate 701 to alternately trigger the photoelectric switch 9, thus enabling the control system to recognize the movement of the left and right legs.

[0045] The motor cover 2 has a sealing groove 203 on its outer side, and a sealing ring 8 is provided inside the sealing groove 203. The motor cover 2 is embedded in the side of the bent tube 1 away from the output block 7. The sealing groove 203 and the sealing ring 8 are used to form a seal by pressing against the inner wall of the bent tube 1, thereby achieving a dustproof and waterproof seal inside the motor assembly. The end face of the motor cover 2 has a process groove 201, and a screw countersunk hole 202 is provided inside the process groove 201. The motor cover 2 is fixedly connected to the drive bracket 4 through the screw countersunk hole 202. The drive bracket 4 has an assembly hole for the screw countersunk hole 202. A decorative piece 10 is placed inside the process groove 201 and can be used to cover the screw countersunk hole 202. This structure simplifies the disassembly and assembly of the motor cover 2 and facilitates the maintenance of the motor 5 and the drive plate 3.

[0046] An active exoskeleton for the hip joint is provided, including the aforementioned active exoskeleton power module structure, and also including a main unit module 20, a waist belt 30, and a leg bar module 40. The main unit module 20 is mounted on the waist belt 30, and both sides of the main unit module 20 are connected to the leg bar module 40 through the active exoskeleton power module structure.

[0047] In this embodiment, a lightweight design for the bent tube is achieved, while also meeting the high-precision assembly requirements of components such as the motor. A limit block is set on the motor bracket to meet the motor rotation limit requirements, preventing the exoskeleton from losing control due to assistance and causing injury to people from the leg module, thus increasing the safety of the product.

[0048] The output block is equipped with a sensor plate, which works in conjunction with a photoelectric switch to recognize the origin position and motion state of the exoskeleton.

[0049] A sealing ring is provided on the outside of the motor cover, which is pressed against the inner wall of the bend to achieve a seal. A countersunk screw hole is provided on the end face of the motor cover, and the motor cover is fixed to the drive bracket through the countersunk screw hole, which simplifies the disassembly and assembly of the motor cover and facilitates the installation and maintenance of the drive board.

[0050] The above is a further detailed description of this utility model and should not be considered as a limitation on the specific implementation of this utility model. For those skilled in the art, simple deductions or substitutions without departing from the concept of this utility model are all within the protection scope of this utility model.

Claims

1. An active exoskeleton power module structure, characterized in that, include: A pipe bending assembly, the pipe bending assembly being made of lightweight material, the pipe bending assembly including a pipe bending (1) and a motor bracket (6), the motor bracket (6) being fixedly installed on the pipe bending (1); The motor assembly includes a drive plate (3), a motor (5) and an output block (7). The motor (5) is fixedly mounted on one side of the motor bracket (6). The output block (7) is connected to the output end of the motor (5) and is rotatably mounted on the other side of the motor bracket (6). The drive plate (3) is fixedly mounted on the end of the motor (5) away from the output block (7).

2. The active exoskeleton power module structure according to claim 1, characterized in that, Two limiting blocks (603) are spaced apart on the motor bracket (6), and a limiting strip (703) is provided on the output block (7). The limiting strip (703) is movably disposed between the two limiting blocks (603) to limit the rotation angle of the output block (7).

3. The active exoskeleton power module structure according to claim 1, characterized in that, The output block (7) is provided with a sensing plate (701), and the bent tube (1) is provided with a photoelectric hole (102). The motor bracket (6) is fixedly installed with a photoelectric switch (9) on the side near the output block (7). The photoelectric switch (9) passes through the photoelectric hole (102) and is connected to the sensing plate (701).

4. The active exoskeleton power module structure according to claim 1, characterized in that, The bend (1) has a bracket hole (103) and a bend flange face (101) on the inner side of the bend (1). The motor bracket (6) has a protrusion (606) and a first flange face (601). The protrusion (606) passes through the bracket hole (103) and the first flange face (601) is in contact with the bend flange face (101).

5. The active exoskeleton power module structure according to claim 4, characterized in that, The inner side of the protrusion (606) is provided with a second flange surface (602), the middle part of the output block (7) is provided with a motor connecting block (702), the motor bracket (6) is provided with a motor hole (604), the output end of the motor (5) passes through the motor hole (604) and is fixedly connected to the motor connecting block (702), and the motor (5) is in close contact with the second flange surface (602).

6. The active exoskeleton power module structure according to claim 1, characterized in that, The motor bracket (6) is provided with a plurality of evenly distributed extensions (605), and screw holes are provided on the extensions (605). Each extension (605) is located outside the motor (5). A drive bracket (4) is fixedly connected to one end of the extension (605) away from the output block (7). The drive plate (3) is fixedly located on the side of the drive bracket (4) away from the output block (7).

7. The active exoskeleton power module structure according to claim 1, characterized in that, A motor cover (2) is fixedly installed on the side of the bent pipe (1) away from the output block (7).

8. The active exoskeleton power module structure according to claim 7, characterized in that, The outer side of the motor cover (2) is provided with a sealing groove (203), and a sealing ring (8) is provided in the sealing groove (203).

9. The active exoskeleton power module structure according to claim 7, characterized in that, The motor cover (2) has a process groove (201) on the side away from the bend (1). The process groove (201) has a plurality of screw countersunk holes (202) for fixing the motor cover (2). The process groove (201) is provided with a decorative piece (10) for covering the screw countersunk holes (202).

10. A hip joint-activated exoskeleton, characterized in that, The active exoskeleton power module structure according to any one of claims 1 to 9 further includes a main unit module (20), a waist belt (30) and a leg bar module (40), wherein the main unit module (20) is disposed on the waist belt (30), and both sides of the main unit module (20) are connected to the leg bar module (40) through the active exoskeleton power module structure.

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