Active hip assist exoskeleton

Abstract

The utility model discloses an active hip joint power assisting exoskeleton relates to exoskeleton technical field. The active hip joint power assisting exoskeleton includes waist skeleton, two lower limbs skeleton and two power supply devices, and the lower side both ends of waist skeleton are equipped with two drive sources respectively, and two lower limbs skeleton sets up respectively corresponding two drive sources, is used for wearing in the two legs of user, and the lower limbs skeleton includes two leg support, and two leg support sets up respectively corresponding two drive sources, and leg support includes base, fixed part and adjusting part, and one end of base transmission connection drive source, and the other end of base extends to the one side of leg of user, and fixed part sets up at the one end of base away from drive source, and adjusting part swing sets up in fixed part, and can lift activity to fixed part, and two power supply devices set up in waist skeleton, and set up respectively close to two drive sources. The utility model aims at solving the complex structure of existing exoskeleton, and the user is inconvenient to wear.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton technology, and in particular to an active hip joint assistive exoskeleton. Background Technology

[0002] An exoskeleton robot is an intelligent wearable mechanical device that mimics the physiological structure and lower limb movement characteristics of the human body to assist the wearer in movement, improving various aspects of the user's physical function. Exoskeleton robots include actuation robots and assistive robots. Assistive robots sense the wearer's movement intentions to follow the wearer and assist in movement. Hip-joint assistive exoskeletons are a type of assistive robot, primarily used to improve the wearer's walking endurance and weight-bearing capacity, while also providing rehabilitation training for patients with lower limb movement disorders.

[0003] In the existing technology, most hip joint exoskeleton robots are either actively assisted exoskeletons that require an external power source or passively assisted exoskeletons that do not. Passively assisted exoskeletons do not require an external power source; they achieve their assistive effect by absorbing and releasing excess energy during human walking, thereby improving the utilization rate of bioenergy.

[0004] While existing exoskeletons can provide both walking and carrying assistance, their complex structure makes them inconvenient for users to wear. Utility Model Content

[0005] The main purpose of this invention is to propose an active hip joint assistive exoskeleton, which aims to solve the problems of complex structure and inconvenience for users to wear existing exoskeletons.

[0006] To achieve the above objectives, the active hip joint assistive exoskeleton proposed in this utility model includes: The host computer includes two drive sources; The lumbar skeleton includes a lumbar base and two lumbar rods. The two lumbar rods are located on the lumbar base and respectively surround the left and right sides of the user's waist. The drive source is located at the end of the lumbar rod away from the other lumbar rod. A lower limb skeleton, comprising two leg supports, each corresponding to one of the two drive sources. Each leg support includes a base, a fixing portion, and an adjusting portion. One end of the base is connected to one of the drive sources, and the other end extends to one side of the user's leg. The fixing portion is located at the end of the base away from the drive sources. The adjusting portion is movably disposed on the fixing portion and can move up and down relative to the fixing portion. Two power supply devices are respectively installed on the two waist bars, and are used to provide electrical energy to the two drive sources respectively; The drive source is used to drive the fixed part to swing relative to the waist bar.

[0007] Optionally, the two waist bars are slidably disposed on the rear side of the waist base.

[0008] Optionally, the lumbar skeleton further includes two locking mechanisms, which are disposed on the lumbar base and respectively correspond to the two lumbar supports; the locking mechanisms include: Backpack seat, the backpack seat being disposed on the waist base; and A movable component is hinged to the backpack seat, and the movable component and the backpack seat together form an installation channel; the waist bar is movably disposed in the installation channel; The locking mechanism has an open / closed state and a locked state. In the open / closed state, the movable member rotates relative to the backpack seat, the lateral opening of the mounting channel increases, and the waist bar can slide within the mounting channel. In the locked state, the movable member clamps the waist bar located in the mounting channel with the backpack seat.

[0009] Optionally, the movable element includes: A handle base having a first end and a second end disposed opposite to each other, the first end of the handle base being hinged to the backpack base via a first pin; A handle bracket is provided on one side of the backpack seat, and the lower end of the handle bracket is hinged to the lower end of the backpack seat by a second pin. A handle is provided on the side of the handle bracket away from the backpack seat. The upper end of the handle is hinged to the second end of the handle bracket and the handle seat via a third pin and a fourth pin, respectively. The third pin and the fourth pin are respectively positioned close to and away from the handle seat. The first, second, third, and fourth pins are parallel in direction; the backpack base, handle base, and handle bracket together form the mounting channel; in the open / closed state, the handle rotates upward around the third and fourth pins, causing the handle base to open upward relative to the backpack base, thereby increasing the lateral opening of the mounting channel; in the locked state, the handle rotates downward around the third and fourth pins, causing the handle base to retract inward relative to the backpack base, thereby decreasing the lateral opening of the mounting channel.

[0010] Optionally, a cable outlet is provided at one end of the waist bar near the other waist bar; The active hip joint assist exoskeleton also includes a wiring harness, a circuit board, and a wire take-up mechanism. The circuit board is located in the middle of the waist base. The wire take-up mechanism is located adjacent to the circuit board. One end of the wiring harness is led out from the outlet, and the other end of the wiring harness is received in the wire take-up mechanism and connected to the circuit board.

[0011] Optionally, the take-up mechanism includes: A winding reel, rotatably mounted on the waist base, wherein the other end of the wire bundle is fixed and wound around the winding reel; and An elastic reset member is provided between the winding reel and the waist base, which is used to release the wound wire bundle when the waist rod moves outward, and to drive the winding reel to rotate when the waist rod moves inward, so as to retrieve the wire bundle.

[0012] Optionally, the active hip joint assistive exoskeleton also includes a waist wearable component, which is detachably disposed on the waist base for wearing on the user's waist.

[0013] Optionally, the waist-wearing device is provided with two battery packs, which are respectively located close to the two power supply devices; the batteries in the battery packs are electrically connected to the corresponding power supply devices through power output terminals.

[0014] Optionally, the lower limb skeleton further includes a cam mechanism; the cam mechanism includes: A cam, which is rotatably disposed on the fixed part; A follower, wherein the follower is disposed in the adjusting part and maintains a fit with the circumferential surface of the cam; and A locking element, the locking element being used to circumferentially lock the cam after the cam has been rotated to a target angle; The cam can drive the follower to move the adjusting part up and down relative to the fixed part.

[0015] Optionally, the drive source includes a brushless DC motor and a speed reducer, wherein the speed reducer is located at the output end of the brushless DC motor; the output end of the speed reducer is connected to the base.

[0016] The active hip joint assistive exoskeleton provided by this utility model solves the problems of complex structure, large size, and inconvenience for users to wear existing exoskeletons by adopting a specific structural design of the main unit, lumbar skeleton, lower limb skeleton, and power supply device. Specifically, the lumbar skeleton consists of a lumbar base and two lumbar poles, which wrap around the left and right sides of the user's waist respectively. The drive source is located at the end of the lumbar pole away from the other lumbar pole, resulting in a compact layout that conforms to the physiological structure of the human waist and avoids structural redundancy. The two leg supports of the lower limb skeleton are set corresponding to the drive source. Each leg support is divided into a base, a fixed part, and an adjustable part. The base is connected to the drive source to realize swing drive, and the adjustable part can move up and down relative to the fixed part, which can adapt to the lower limb length of different users without the need for a complex adaptation structure. The power supply device is set on the two lumbar poles and supplies power to the drive source accordingly, eliminating the need for additional large external power supply equipment. When worn, the device is fixed to the waist via the lumbar base and lumbar support. The user adjusts the position of the leg support according to their lower limb length. Powered by the power supply, the drive source drives the fixed part to swing relative to the lumbar support, thus assisting the user's lower limb movement. This combination of a lumbar support with a wraparound design, a well-planned drive source, and a power supply integrated into the lumbar support significantly reduces the device's size, avoiding the inconvenience of excessive bulk. The adjustable lower limb support allows the device to flexibly adapt to users of different body types, further enhancing ease of wear. Simultaneously, the direct and efficient transmission method of the drive source to swing the fixed part ensures effective assistance without requiring a complex transmission structure, further simplifying the overall design and solving the core problems of existing exoskeletons. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the first embodiment of the active hip joint assistive exoskeleton of this utility model; Figure 2 This is a schematic diagram of the structure of the second embodiment of the active hip joint assistive exoskeleton of this utility model; Figure 3 This is a schematic diagram of the structure of an embodiment of the active hip joint waist circumference adjustment device of this utility model; Figure 4 This is a schematic diagram of the structure of an embodiment of the locking mechanism of this utility model; Figure 5 This is an exploded view of an embodiment of the locking mechanism of this utility model; Figure 6 This is a schematic diagram of the third embodiment of the active hip joint assistive exoskeleton of this utility model.

[0019] Explanation of icon numbers: 1000. Hip-assisted exoskeleton; 1. Drive source; 2. Lumbar skeleton; 21. Lumbar base; 22. Lumbar support; 23. Locking mechanism; 231. Backpack base; 232. Movable component; 2321. Handle base; 2322. Handle bracket; 2322a. First support part; 2322b. First connecting part; 2322c. Second connecting part; 2322d. Mounting through hole; 2323. Handle handle; 2323a. Second support part; 2323b. First connecting part; Three connecting parts; 233, first pin; 234, second pin; 235, third pin; 236, fourth pin; 237, first elastic pad; 2371, pad body; 2372, protrusion; 238, second elastic pad; 239, first positioning shaft; 240, second positioning shaft; 241, third positioning shaft; 3, lower limb bone; 31, leg support; 311, fixing part; 312, adjusting part; 313, base; 4, waist wearing part; 41, battery pack.

[0020] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0022] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0023] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0024] This invention proposes an active hip joint assistive exoskeleton 1000.

[0025] Please see Figures 1 to 6 In one embodiment, the active hip joint assist exoskeleton 1000 includes: To achieve the above objectives, the active hip joint assistive exoskeleton 1000 proposed in this utility model includes: The host, which includes two driver sources 1; The lumbar skeleton 2 includes a lumbar base 21 and two lumbar rods 22. The two lumbar rods 22 are located on the lumbar base 21 and respectively surround the left and right sides of the user's waist. A drive source 1 is provided at the end of the lumbar rod 22 away from the other lumbar rod 22. The lower limb skeleton 3 includes two leg supports 31, each corresponding to a drive source 1. Each leg support 31 includes a base 313, a fixing part 311, and an adjusting part 312. One end of the base 313 is connected to the drive source 1, and the other end extends to one side of the user's leg. The fixing part 311 is located at the end of the base 313 furthest from the drive source 1. The adjusting part 312 is movably mounted on the fixing part 311 and can move up and down relative to the fixing part 311. Two power supply devices are respectively installed on two waist bars 22, which are used to provide power to the two drive sources 1 respectively; Among them, the drive source 1 is used to drive the fixed part 311 to swing relative to the waist bar 22.

[0026] The active hip joint assistive exoskeleton 1000 provided by this utility model solves the problems of complex structure, large size, and inconvenience for users to wear existing exoskeletons by adopting a specific structural design of the main unit, lumbar skeleton 2, lower limb skeleton 3, and power supply device. Specifically, the lumbar skeleton 2 consists of a lumbar base 21 and two lumbar rods 22, which surround the left and right sides of the user's waist respectively, and the drive source 1 is located at the end of the lumbar rod 22 away from the other lumbar rod 22. The layout is compact and fits the physiological structure of the human waist, avoiding structural redundancy. The two leg support members 31 of the lower limb skeleton 3 are set corresponding to the drive source 1. Each leg support member 31 is divided into a base 313, a fixing part 311, and an adjustment part 312. The base 313 is connected to the drive source 1 to realize swing drive. The adjustment part 312 can move up and down relative to the fixing part 311, which can adapt to the lower limb length of different users without the need for a complex adaptation structure. The power supply device is set on the two lumbar rods 22 and supplies power to the drive source 1 respectively, eliminating the need for additional large external power supply equipment. When worn, the device is fixed to the waist via the waist base 21 and waist bar 22. The user adjusts the position of the adjustment part 312 of the leg support 31 according to their lower limb length. With the power supply support of the power supply device, the drive source 1 can drive the fixed part 311 to swing relative to the waist bar 22, thereby assisting the user's lower limb movement. In this way, the wraparound design of the waist bar 22 of the waist skeleton 2, the reasonable layout of the drive source 1, and the integration of the power supply device into the waist bar 22 significantly reduce the size of the device and avoid the inconvenience of wearing it due to its large size. The lifting and lowering design of the adjustment part 312 of the lower limb skeleton 3 allows the device to flexibly adapt to users of different body types, further improving the ease of wearing. At the same time, the transmission method of the drive source 1 driving the fixed part 311 to swing is direct and efficient, ensuring the assistive effect without the need for a complex transmission structure, further simplifying the overall structure and solving the core problems of existing exoskeletons.

[0027] The lumbar skeleton 2 is the core load-bearing component connecting the entire exoskeleton device to the human waist. The lumbar base 21 typically adopts an arc-shaped or semi-encircling structure adapted to the physiological curve of the human waist, providing a mounting base for the waist belt structure that conforms to the contours of the sides and back of the waist. In terms of material selection, the main body of the lumbar base 21 is mostly made of lightweight and high-strength composite materials, such as carbon fiber reinforced resin or high-strength nylon. These materials can ensure sufficient support to bear the weight of components such as the drive source 1 and power supply device, while minimizing the additional burden of their own weight on the wearer. At the same time, the waist belt structure is usually a layer of soft and breathable cushioning fabric, such as a composite layer of breathable knitted fabric and slow rebound sponge. Some areas are also equipped with anti-slip silicone particles, which not only improves the comfort of wearing for a long time and reduces the stuffiness caused by sweat accumulation, but also effectively prevents the device from shifting during walking, twisting and other movements, ensuring the overall stability of the wearer.

[0028] In addition, the waist base 21 can integrate the device's control module mounting position or wire harness storage channel, and the two sides extend naturally towards the front of the waist. The ends of the extensions are reserved with connection structures to cooperate with the waist rod 22, forming a semi-enclosed structure for the waist. The area of ​​the waist rod 22 surrounding the two sides of the waist adopts a gradual curvature design, that is, from the end closer to the waist base 21 to the end farther away, the curvature of the arc gradually adapts to the contour change from the side of the waist to the outer side of the hip, avoiding local pressure caused by a single curvature; the outer side of the waist rod 22 is also provided with a slot for fixing the wire harness, which can store the power supply line and signal line of the drive source 1, preventing the lines from being exposed and tangled. The end of the lumbar support 22 away from the other lumbar support 22 is provided with a dedicated mounting base for the drive source 1. The end face of the mounting base is at a specific angle to the output shaft axis of the drive source 1. This angle matches the flexion and extension axis of the human hip joint, ensuring that the torque output by the drive source 1 can be transmitted to the lower limb bones 3 along the optimal path. The inner side of the mounting base is provided with a positioning pin that engages with the positioning hole of the drive source 1 housing. At the same time, it is rigidly fixed by circumferentially distributed bolts, which not only ensures the coaxiality of the drive source 1 installation, but also resists the radial torque generated during operation. In addition, a shock-absorbing pad is provided at the mounting point of the drive source 1 and the lumbar support 22. The pad is made of elastic rubber material, which can absorb the vibration generated by the drive source 1 during operation and reduce the discomfort caused by the vibration transmitted to the waist.

[0029] The drive source 1 is usually encased in a metal protective shell, mostly made of aluminum alloy. This shell serves to protect the internal precision components such as the motor and reducer, while also minimizing interference with human movement through its compact design. The two lower limb bones 3, which connect the exoskeleton to the leg straps, are respectively positioned one-to-one with the two drive sources 1 on the lumbar bone 2. Their core function is to precisely transmit the assistance generated by the drive source 1 to the legs and adapt to the leg shapes of different users. Each lower limb bone 3 consists of a base 313, a fixing part 311, and an adjusting part 312. One end of the base 313 is rigidly connected to the drive source 1 through a dedicated transmission interface, and this connection part is rotatable, allowing it to rotate flexibly with the flexion and extension movements of the human hip joint, ensuring that the direction of assistance is consistent with the trajectory of human movement. The fixing part 311 is located at the base 313, and its other end extends downward in a long strip. The overall structure adapts to the contour of the front or outer side of the human thigh. The material is similar to the main frame of the lumbar bone 2, using a lightweight, high-strength composite material to ensure effective force transmission while avoiding additional pressure on the thigh. The leg straps can also have a soft, breathable cushioning layer to further improve wearing comfort. The adjustment part 312 is located at the end of the fixed part 311 away from the drive source 1. It adopts a sliding connection structure with the fixed part 311. For example, it can move flexibly in the vertical direction relative to the fixed part 311 through the cooperation of the built-in slide rail and locking component. When the user wears it, he / she can adjust the position of the adjustment part 312 according to his / her own thigh length until the adjustment part 312 fits tightly with the lower part of the thigh, and then fixes it by the locking component. This achieves the adaptation to users of different heights and leg lengths, and ensures that the assist can be applied evenly to the entire thigh movement process.

[0030] Two power supply devices are the core of the exoskeleton device's power supply. Both power supply devices are integrated and installed on the lumbar skeleton 2, with their installation positions corresponding one-to-one with the two drive sources 1 at the lower ends of the lumbar skeleton 2. That is, each power supply device is positioned close to its corresponding drive source 1, with the distance between them strictly controlled within a short range. The power supply device can be a power source or a power adapter. In terms of connection, each power supply device is directly connected to its corresponding drive source 1 via a short-distance dedicated wire. The wire is wrapped with a flexible protective sleeve to prevent wire wear and to accommodate the movement and deformation of the waist and hips. This distributed arrangement close to the drive source 1 changes the problem of the battery being far from the drive source 1 in traditional centralized battery layouts. Furthermore, the two power supply devices are distributed on both sides of the lumbar skeleton 2, rather than concentrated in the middle of the back, changing the load on the waist from a single-point concentration to a two-point distribution, which better conforms to the force balance characteristics of the human waist.

[0031] Optionally, two waist bars 22 are slidably disposed on the rear side of the waist base 21.

[0032] In this embodiment, the sliding characteristic of the waist bar 22 simplifies the wearing operation. Users can complete the waist fixation and size adjustment without complicated adjustments. Moreover, the adjusted waist bar 22 can indirectly fit the spatial layout around the waist through the synergistic effect with the waist base 21, ensuring that the assistance transmitted by the drive source 1 is accurately applied to the lower limbs and guaranteeing the assistance effect.

[0033] Please see Figure 2 and Figure 3 Optionally, the lumbar skeletal frame 2 also includes two locking mechanisms 23, which are disposed on the lumbar base 21 and respectively correspond to the two lumbar supports 22; the locking mechanisms 23 include: Backpack seat 231, backpack seat 231 is located on waist base 21; and Movable component 232 is hinged to backpack base 231, and movable component 232 and backpack base 231 together enclose an installation channel; waist bar 22 is movably disposed in the installation channel; The locking mechanism 23 has an open / closed state and a locked state. In the open / closed state, the movable part 232 rotates relative to the backpack seat 231, the lateral opening of the mounting channel increases, and the waist bar 22 can slide within the mounting channel. In the locked state, the movable part 232 clamps the waist bar 22 located in the mounting channel with the backpack seat 231.

[0034] The backpack seat 231 in the locking mechanism 23 is the basic load-bearing component that connects the waist base 21 and the waist bar 22. Backpack seat 231 has a U-shaped or semi-enclosed block structure and is fixedly connected to waist base 21 by bolts or integral injection molding to ensure that it will not shift when the locking mechanism 23 switches states. In terms of material, backpack seat 231 is made of high-strength engineering plastic or lightweight alloy, which has sufficient rigidity to withstand the force when clamping waist bar 22, and can avoid wear on waist bar 22 due to excessively hard material. The inner side wall of backpack seat 231 (i.e. the side that contacts waist bar 22) is provided with anti-slip texture or arc-shaped groove that conforms to the contour of waist bar 22. Flexible rubber pads can be embedded in the grooves, which can increase the friction with waist bar 22, prevent waist bar 22 from sliding after locking, and also play a buffering role during clamping to avoid damage to the surface of waist bar 22 from hard contact. At the same time, one end of backpack seat 231 is provided with a hinge lug with a through pin hole, which provides a stable connection point for the hinge installation of movable part 232.

[0035] The movable component 232, as the core component of the locking mechanism 23 to realize the opening, closing, and locking functions, complements the backpack base 231 in structure. The movable component 232 is generally elongated or curved, with one end connected to the hinged lug of the backpack base 231 via a pin, allowing it to rotate flexibly around the pin. The material is matched to the backpack base 231, balancing rigidity and a certain degree of toughness to prevent breakage during frequent rotation or clamping. The side of the movable component 232 closest to the backpack base 231 (i.e., the sidewall forming the mounting channel) also has an anti-slip structure, corresponding to the anti-slip texture or groove on the inner side of the backpack base 231. When the movable component 232 and the backpack base 231 are closed, their anti-slip structures can jointly conform to the waist bar 22 from both sides, allowing for... To further enhance clamping stability, the other end of the movable part 232 is provided with a pressing part or a wrench part for easy operation. The surface of the pressing part can be provided with anti-slip texture, making it convenient for users to drive the movable part 232 to rotate by hand or with the help of simple tools, reducing the difficulty of operation. In addition, an elastic reset part (such as a torsion spring) can be added between the movable part 232 and the backpack seat 231. The torsion spring is sleeved on the hinge pin, with one end connected to the backpack seat 231 and the other end connected to the movable part 232. When there is no external force, the movable part 232 can maintain the closed tendency with the backpack seat 231, improving the safety of the locking mechanism 23.

[0036] The opening and locking states of the locking mechanism 23 are precisely switched by the rotation of the moving part 232, and the structural logic and functional compatibility of the two states are clear. In the open / closed state, the user pulls the pressing part of the movable part 232 outward, causing the movable part 232 to rotate outward around the hinge pin axis. At this time, the lateral opening of the mounting channel formed by the movable part 232 and the backpack seat 231 (i.e., the side where the two are separated) is significantly enlarged, and the opening width is greater than the cross-sectional dimension of the waist bar 22. The waist bar 22 can slide freely along the length direction in the mounting channel, making it convenient for the user to quickly adjust the position of the waist bar 22 according to their own waist circumference. In the locked state, the user releases the pressing part (or presses it inward), and the movable part 232 rotates towards the backpack seat 231 under the action of its own structural reset or elastic reset component until the movable part 232 and the side wall of the backpack seat 231 are tightly attached to the waist bar 22. At this time, the lateral opening of the mounting channel is closed. The two work together through the anti-slip structure and clamping force to firmly fix the waist bar 22 in the mounting channel, preventing the waist bar 22 from shifting during movement. It is worth noting that some locking mechanisms 23 may also have an auxiliary locking structure (such as a buckle and a slot) added at the closing point of the movable part 232 and the backpack seat 231. When the movable part 232 is rotated to the fully closed position, the buckle automatically engages with the slot to form a double fixation, further improving the locking reliability and preventing accidental loosening.

[0037] Please see Figure 3 , Figure 4 as well as Figure 5 Optionally, active component 232 includes: Handle base 2321, the handle base 2321 has a first end and a second end that are disposed opposite to each other, the first end of the handle base 2321 is hinged to the backpack base 231 by a first pin 233; Handle bracket 2322 is located on one side of backpack seat 231, and the lower end of handle bracket 2322 is hinged to the lower end of backpack seat 231 by a second pin 234. The handle 2323 is located on the side of the handle bracket 2322 away from the backpack base 231. The upper end of the handle 2323 is hinged to the second end of the handle bracket 2322 and the handle base 2321 respectively through the third pin 235 and the fourth pin 236. The third pin 235 and the fourth pin 236 are respectively located close to and away from the handle base 2321. The axes of the first pin 233, the second pin 234, the third pin 235, and the fourth pin 236 are parallel. The backpack base 231, the handle base 2321, and the handle bracket 2322 together form an installation channel. In the open / closed state, the handle 2323 rotates upward around the third pin 235 and the fourth pin 236, causing the handle base 2321 to open upward relative to the backpack base 231, thereby increasing the lateral opening of the installation channel. In the locked state, the handle 2323 rotates downward around the third pin 235 and the fourth pin 236, causing the handle base 2321 to retract inward relative to the backpack base 231, thereby decreasing the lateral opening of the installation channel.

[0038] It should be noted that the movable component 232 comprises three parts: a handle base 2321, a handle bracket 2322, and a handle handle 2323. These three parts are hinged together by multiple sets of pins to form a linkage structure, working together to realize the opening, closing, and locking actions of the locking mechanism 23. The handle base 2321 is generally arc-shaped or elongated, and its shape is adapted to the outer contour of the backpack base 231. The material is selected from the same engineering plastic or lightweight metal as the backpack base 231 to ensure structural strength and compatibility. The handle base 2321 has a first end and a second end that are arranged opposite to each other. The first end is hinged to the backpack base 231 by a first pin 233. The axis of the first pin 233 is arranged in a direction perpendicular to the length of the waist bar 22, allowing the handle base 2321 to rotate relative to the backpack base 231 around the first pin 233, providing a rotational basis for the opening and closing of the mounting channel.

[0039] The handle bracket 2322 is located on one side of the backpack base 231, and is in the form of a sheet or frame. It is also primarily made of high-strength, lightweight materials. Its lower end is hinged to the lower end of the backpack base 231 via a second pin 234. The axis of the second pin 234 is parallel to the first pin 233, ensuring that the rotation direction of the handle bracket 2322 is consistent with that of the handle base 2321. The handle bracket 2322 is positioned corresponding to the handle base 2321, and both form an enclosure around the mounting channel from different sides of the backpack base 231, while simultaneously providing mounting support points for the handle 2323.

[0040] The handle 2323 is cylindrical or curved, designed to fit the contours of the hand. It can be made of rubber or soft plastic with a non-slip texture to improve grip comfort and friction during operation, facilitating manual control. The handle 2323 is located on the side of the handle bracket 2322 opposite to the backpack base 231. Its upper end is connected to the handle bracket 2322 and the handle base 2321 respectively via two sets of pins. The third pin 235 is located close to the handle base 2321 and is used to hinge the handle 2323 and the handle bracket 2322. The fourth pin 236 is located away from the handle base 2321 and is used to hinge the second end of the handle 2323 and the handle base 2321. The axes of the third pin 235 and the fourth pin 236 are parallel to the first pin 233, ensuring that the linkage structure formed by the four sets of pins can rotate synchronously and preventing jamming.

[0041] In the structure of the movable component 232, the backpack seat 231, handle seat 2321, and handle bracket 2322 together form an installation channel for the waist bar 22 to pass through. The inner wall of the installation channel can be provided with anti-slip texture or flexible pads, which can enhance the friction on the waist bar 22 when locking and prevent the surface of the waist bar 22 from being scratched. When the locking mechanism 23 is in the open / closed state, the user pulls the handle 2323 upward, and the handle 2323 rotates upward around the third pin 235 and the fourth pin 236. At the same time, the fourth pin 236 drives the second end of the handle seat 2321 to lift upward, so that the handle seat 2321 opens upward relative to the backpack seat 231 around the first pin 233. At this time, the distance between the handle seat 2321 and the backpack seat 231 increases, and the lateral opening of the installation channel increases accordingly. The waist bar 22 and the inner wall of the channel... The contact pressure on the wall decreases, allowing for free sliding adjustment of the position. When switched to the locked state, the user presses down on the handle 2323, causing the handle 2323 to rotate downwards around two sets of pins. This pulls the second end of the handle seat 2321 toward the backpack seat 231 via the fourth pin 236. The handle seat 2321 retracts inwards around the first pin 233, and the handle seat 2321 and the backpack seat 231 together compress the waist bar 22, reducing the lateral opening of the mounting channel until the waist bar 22 is clamped and fixed.

[0042] In this embodiment, the operation of the handle 2323 is transformed into the opening and closing action of the handle seat 2321 through the multi-pin linkage movable component 232 structure. This not only simplifies the operation steps, but also allows the user to complete the adjustment simply by pulling or pressing the handle 2323, without the need for complicated disassembly or twisting actions, making it especially suitable for rehabilitation patients with poor hand dexterity. At the same time, the design of multiple sets of parallel pins ensures that the rotation direction of each component of the movable component 232 is consistent, avoiding structural jamming and improving the operational stability of the locking mechanism 23. In addition, the anti-slip design and ergonomic shape of the handle 2323 further enhance the operating comfort, while the anti-slip or flexible treatment of the inner wall of the installation channel ensures the fixing effect when locking and protects the waist bar 22, extending the service life of the device.

[0043] Please continue reading. Figure 5 Optionally, the handle bracket 2322 includes a first support portion 2322a, a first connecting portion 2322b, and a second connecting portion 2322c. The first connecting portion 2322b and the second connecting portion 2322c protrude from the upper and lower ends of the first support portion 2322a, respectively. The second support portion 2323a is hinged to the lower end of the backpack seat 231 via a second pin 234. The handle 2323 includes a second support portion 2323a and a third connecting portion 2323b. The third connecting portion 2323b protrudes from the upper end of the second support portion 2323a. The third connecting portion 2323b is hinged to the second end of the first connecting portion 2322b and the handle seat 2321 through a third pin 235 and a fourth pin 236, respectively.

[0044] It should be noted that the handle bracket 2322 includes a first support portion 2322a, a first connecting portion 2322b, and a second connecting portion 2322c. The first support portion 2322a is the main structure, extending vertically in a plate or arc shape, its shape adapting to the side profile of the backpack base 231, maintaining a reasonable distance from the backpack base 231 to reserve installation space. The first connecting portion 2322b and the second connecting portion 2322c protrude from the upper and lower ends of the first support portion 2322a towards the backpack base 231 and the handle 2323, respectively. Both are plate-shaped or block-shaped, and their surfaces are provided with through holes for inserting pins. The diameter of the through holes matches the diameter of the corresponding pins, ensuring that the pins can rotate stably without significant wobbling after insertion. The second connecting portion 2322c is hinged to the lower end of the backpack base 231 via a second pin 234, allowing the handle bracket 2322 to rotate flexibly around the second pin 234, providing a basis for subsequent linkage actions.

[0045] The handle 2323 is also a one-piece structure. The second support part 2323a of the main body is a horizontally extending column or arc shape, designed to fit the curvature of the hand. The outside can be covered with a soft anti-slip material, such as rubber or silicone, to improve the comfort and friction when holding and prevent the hand from slipping during operation. The third connecting part 2323b protrudes from the upper end of the second support part 2323a toward the handle bracket 2322. It is sheet-shaped and its thickness is adapted to the first connecting part 2322b. Its surface corresponds to the through hole positions of the first connecting part 2322b and the second end of the handle seat 2321. Two through holes with the same coaxiality are opened respectively. The two through holes are hinged to the first connecting part 2322b and the second end of the handle seat 2321 through the third pin 235 and the fourth pin 236 respectively. The third pin 235 passes through the through hole of the third connecting part 2323b and the first connecting part 2322b, so that the handle 2323 can rotate around the third pin 235 relative to the handle bracket 2322. The fourth pin 236 passes through the through hole of the third connecting part 2323b and the second end of the handle seat 2321, so that the handle 2323 and the handle seat 2321 are linked, ensuring that the handle seat 2321 can be driven to move synchronously when the handle 2323 is operated.

[0046] In this embodiment, by dividing the handle bracket 2322 and handle 2323 into multi-segment protruding structures, the connection positions of each component are more precise, avoiding the vulnerability caused by concentrated force in a one-piece structure and extending the service life of the moving part 232. At the same time, the protruding first connecting part 2322b, second connecting part 2322c, and third connecting part 2323b can shorten the threading length of the pin, improve the stability of the connection between the pin and the component, and reduce the risk of loosening after long-term use. In addition, this segmented structure makes it easy to adjust the shape and position of the handle 2323 according to different hand sizes and operating habits, further optimizing the ergonomic design, making it easier for users to press or pull the handle 2323, especially suitable for rehabilitation patients with weak hand strength to operate independently, taking into account both structural stability and ease of operation.

[0047] Please see Figure 5 Optionally, the first pin 233 has a first groove; the second pin 234 has a second groove; and the third pin 235 has a third groove. The locking mechanism 23 also includes a first positioning shaft 239, a second positioning shaft 240, and a third positioning shaft 241. The first positioning shaft 239 passes through the backpack seat 231 to lock into the first groove; the second positioning shaft 240 passes through the second connecting part 2322c to lock into the second groove; and the third positioning shaft 241 passes through the first connecting part 2322b to lock into the third groove.

[0048] It should be noted that the first pin 233 and the second pin 234, as core components connecting the movable part 232 to the backpack base 231 and the handle bracket 2322, are both made of high-strength metal materials, such as stainless steel, to withstand friction and pressure during rotation and ensure wear resistance for long-term use. Specifically, the first pin 233 has a ring-shaped groove on its outer circumference, surrounding the axis of the first pin 233, with its depth and width adapted to the locking requirements of the subsequent positioning shaft. The second pin 234 has a corresponding ring-shaped groove on its outer circumference, with the same structure as the first groove, also ring-shaped, ensuring that the positioning shaft can be stably embedded and locked.

[0049] The first positioning shaft 239, which mates with the first pin 233, is cylindrical and made of the same material as the pin or a metal with slightly lower hardness to avoid scratching the pin during assembly. One end of the shaft has a head for easy gripping or tool operation, while the other end is a smooth cylindrical structure. The first positioning shaft 239 passes through a pre-set mounting hole on the backpack base 231. The diameter of the mounting hole closely matches the diameter of the first positioning shaft 239. When the first positioning shaft 239 is inserted, its end can be precisely embedded in the first groove of the first pin 233. The axial movement of the first pin 233 is restricted by the fit between the shaft and the groove, preventing the first pin 233 from falling off the hinge between the backpack base 231 and the handle base 2321 during long-term rotation, thus ensuring the stability of the rotation of the handle base 2321.

[0050] The second positioning shaft 240, which cooperates with the second pin 234, has the same structure as the first positioning shaft 239. It is also a columnar metal part, which passes through the preset mounting hole of the second connecting part 2322c on the handle bracket 2322. The mounting hole is adapted to the diameter of the second positioning shaft 240. After the second positioning shaft 240 is inserted, its end is embedded in the second groove of the second pin 234. The axial displacement of the second pin 234 is restricted by the engagement between the groove and the shaft, so as to prevent the second pin 234 from coming loose from the hinge between the handle bracket 2322 and the backpack seat 231, and to ensure the structural reliability of the handle bracket 2322 when it rotates.

[0051] The first support portion 2322a of the handle bracket 2322 has a through hole on the side facing the backpack base 231. The through hole is circular or square, and its diameter / side length is designed according to the size of the subsequent protrusion 2372. The through hole extends through the thickness direction of the first support portion 2322a, providing a positioning base for the installation of the elastic pad. The first elastic pad 237 that mates with the through hole is made of an elastic material, such as silicone or nitrile rubber. This type of material has both good elasticity and wear resistance, and can deform under force and return to its original shape after the force is removed. The first elastic pad 237 includes a pad body 2371 and a protrusion 2372. The pad body 2371 is sheet-shaped and its size is adapted to a local area of ​​the first support portion 2322a facing the backpack seat 231, so that it can completely fit the surface of the area and avoid gaps. The protrusion 2372 is integrally formed and protrudes from the side of the pad body 2371 away from the backpack seat 231. Its shape matches the through hole. The height of the protrusion 2372 is slightly greater than the thickness of the first support portion 2322a. When the pad body 2371 is attached to the surface of the first support portion 2322a, the protrusion 2372 can pass through the through hole and protrude outward. The protruding part can abut against the second support portion 2323a of the handle 2323.

[0052] The third pin 235, as the core hinge component connecting the handle bracket 2322 and the handle 2323, is made of the same high-strength metal material as the first pin 233 and the second pin 234, such as stainless steel. This material possesses both wear resistance to withstand rotational friction and pressure, and meets the strength requirements of the overall structure. A ring-shaped third groove is formed on its outer circumference, surrounding the axis of the third pin 235. The depth and width of the groove precisely match the end dimensions of the third positioning shaft 241, ensuring a stable engagement after the third positioning shaft 241 is inserted, without affecting the rotational flexibility of the third pin 235 itself.

[0053] The third positioning shaft 241, which mates with the third pin 235, is also a cylindrical metal part. The material is selected from metals with similar or slightly lower hardness to the third pin 235 to avoid scratching the surface of the third pin 235 during assembly due to hardness differences. One end of the third positioning shaft 241 has a head that is easy to insert or remove manually or with the aid of tools. The head can be designed to be round or hexagonal to improve ease of operation; the other end has a smooth cylindrical structure to ensure that it can pass smoothly through the mounting hole when inserted. The third positioning shaft 241 passes through the pre-set mounting holes on the handle bracket 2322 and the first connecting part 2322b. The diameter of the mounting hole is closely fitted with the diameter of the third positioning shaft 241 without any obvious gap. When the third positioning shaft 241 is inserted, its end can be precisely embedded in the third groove of the third pin 235. Through the locking action between the shaft and the groove, the movement of the third pin 235 along its own axis is restricted, preventing the third pin 235 from loosening or shifting from the hinge between the handle bracket 2322 and the handle 2323 during long-term rotation.

[0054] In this embodiment, the locking mechanism 23 is designed with a first groove, a second groove, and a third groove respectively on the first pin 233, the second pin 234, and the third pin 235. The first positioning shaft 239, the second positioning shaft 240, and the third positioning shaft 241 are respectively inserted through the backpack seat 231, the second connecting part 2322c, and the first connecting part 2322b to lock with the corresponding grooves. On the one hand, the precise engagement of the three positioning shafts with the grooves can axially limit all core hinge nodes of the locking mechanism 23 (handle seat 2321 and backpack seat 231, handle bracket 2322 and backpack seat 231, handle bracket 2322 and handle handle 2323), effectively preventing long-term... During use, the pin may shift or loosen due to rotational friction and vibration. This design avoids the locking mechanism 23 from jamming and failing to open and close properly due to the failure of a single hinge point, greatly improving the overall structural stability and durability. On the other hand, the cooperation between each positioning shaft and the groove ensures that the pin always rotates coaxially, reducing misalignment friction between parts and making the lever and pressing action of the handle 2323 smoother, reducing the difficulty of operation, especially suitable for users with weak hand strength. At the same time, this modular positioning design allows for the replacement of worn positioning shafts or pins without disassembling the entire locking mechanism 23, simplifying the maintenance process, reducing costs, and providing a certain degree of compensation for machining errors, improving the production assembly fault tolerance rate and facilitating mass production.

[0055] Please see Figure 4 and Figure 5 Optionally, the first support 2322a has a mounting through hole 2322d on the side facing the backpack seat 231; The locking mechanism 23 also includes a first elastic pad 237, which includes a pad body 2371 and a protrusion 2372. The pad body 2371 is attached to the side of the first support portion 2322a facing the backpack seat 231, and the protrusion 2372 is located on the side of the pad body 2371 away from the backpack seat 231. The protrusion 2372 is embedded in the mounting through hole 2322d for abutting against the second support portion 2323a.

[0056] It should be noted that the first support part 2322a of the handle bracket 2322 has a mounting through hole 2322d on the side facing the backpack base 231. The mounting through hole 2322d extends through the thickness direction of the first support part 2322a. Its shape can be designed as round or square according to the adaptation requirements of the subsequent protrusion 2372. The edge of the hole wall is smoothed to avoid being scratched by sharp edges when installing components later.

[0057] The first elastic pad 237 that mates with the mounting through hole 2322d is made of a material with good elasticity and wear resistance, such as silicone or nitrile rubber. Such materials can produce moderate deformation under stress to play a buffering role, and can maintain structural stability after long-term use, and are not prone to aging and damage. The first elastic pad 237 is composed of a pad body 2371 and a protrusion 2372. The pad body 2371 is a sheet-like shape that fits a partial surface of the first support 2322a and can completely fit the side of the first support 2322a facing the backpack seat 231. The fitting surface can be fixed by slight adhesive treatment or structural limiting to prevent displacement during use. The protrusion 2372 is integrally formed and protrudes from the side of the pad body 2371 away from the backpack seat 231. Its shape is completely matched with the mounting through hole 2322d and its size is slightly larger than the mounting through hole 2322d. After being elastically deformed and embedded into the mounting through hole 2322d, it can be tightly locked. The height of the protrusion 2372 exceeds the surface of the side of the first support 2322a away from the backpack seat 231, ensuring that it can effectively abut against the second support 2323a of the handle 2323.

[0058] In actual assembly and use, when the locking mechanism 23 is switched to the locked state, the second support part 2323a of the handle 2323 moves closer to the first support part 2322a and abuts against the protruding part of the protrusion 2372. The protrusion 2372 absorbs part of the pressure through its own elastic deformation, avoiding a hard collision between the second support part 2323a and the first support part 2322a. In the open / closed state, the second support part 2323a separates from the protrusion 2372, and the protrusion 2372 returns to its original shape. This design, through the buffering effect of the first elastic pad 237, can reduce friction and collision noise between parts, extend the service life of the locking mechanism 23, and compensate for assembly errors through the elastic abutment of the protrusion 2372, ensuring that the parts fit more tightly in the locked state and preventing loosening that could cause the waist bar 22 to shift. At the same time, the detachable design of the first elastic pad 237 facilitates subsequent maintenance and replacement, further improving the reliability and flexibility of the device.

[0059] Please see Figure 5 Of course, in other embodiments, the locking mechanism 23 also includes a second elastic pad 238, which is attached to the side of the backpack seat 231 facing the first support portion 2322a.

[0060] It should be noted that the second elastic pad 238 is made of a flexible elastic material similar to that of the first elastic pad 237, such as silicone or high-elasticity rubber. This type of material not only has good deformation recovery capabilities but also provides a gentle cushioning effect upon contact. Simultaneously, its surface has a certain degree of anti-slip properties, enhancing the stability of the fit with the contacting parts. The second elastic pad 238 is sheet-like, and its shape perfectly matches a portion of the backpack seat 231 facing the first support portion 2322a. Its dimensions are designed based on the relative contact area between the backpack seat 231 and the first support portion 2322a, ensuring complete coverage of the main contact areas of both and avoiding uneven force distribution caused by localized gaps.

[0061] During assembly, the second elastic pad 238 is fixedly installed on the side of the backpack base 231 facing the first support 2322a by a bonding method. The bonding surface can be fixed by a slight adhesive coating or structural positioning groove to prevent displacement or detachment due to component movement during use. When the locking mechanism 23 is in the locked state, the first support 2322a will move closer to the backpack base 231. At this time, the second elastic pad 238 is sandwiched between the backpack base 231 and the first support 2322a, filling the small gap between them through its own elastic deformation, while absorbing the impact force generated during the locking process. In the open / closed state, the first support 2322a is separated from the backpack base 231, and the second elastic pad 238 returns to its initial shape without affecting the normal movement of the component.

[0062] This embodiment provides a second elastic pad 238 between the backpack seat 231 and the first support part 2322a. On the one hand, the elastic cushioning reduces the hard collision between the two during locking and opening, reduces component wear, and extends the overall service life of the locking mechanism 23. It also avoids collision noise caused by direct contact between metal or hard plastic parts, improving the user experience. On the other hand, the flexible filling of the second elastic pad 238 can compensate for the assembly error between the backpack seat 231 and the first support part 2322a, ensuring a tighter fit when locked, enhancing the clamping stability of the locking mechanism 23 on the waist bar 22, preventing the waist bar 22 from loosening or shifting during use, and further ensuring the reliability of the device.

[0063] Optionally, an arc-shaped track that surrounds the user's waist is provided on one side of the waist base 21; The waist bar 22 is at least partially housed in an arc-shaped track and is movable relative to the waist base 21 along the arc-shaped track.

[0064] It should be noted that one side of the lumbar base 21 is equipped with an arc-shaped track. This track extends around the contour of the user's waist, forming an arc shape. Its curvature is designed according to the common human waist curve, which can better fit the waist shape and avoid unnecessary friction or gaps with the body. The cross-section of the arc-shaped track is groove-shaped, with the groove opening facing the direction of the waist bar 22. The width of the groove is adapted to the thickness or width of the waist bar 22, ensuring that the waist bar 22 can be stably accommodated without excessive wobbling. The inner wall of the track can be smoothed, such as by grinding after injection molding or by spraying a lubricating coating, to reduce the friction when the waist bar 22 slides. At the same time, the same high-strength lightweight material as the lumbar base 21, such as engineering plastics or aluminum alloy, is used to ensure the durability of the track structure and prevent deformation after long-term use.

[0065] The structure of the waist bar 22 partially matches the groove structure of the arc-shaped track. This part can be designed to fit the cross-section of the track, such as a long strip or an arc-shaped protrusion, ensuring smooth reception within the arc-shaped track. The length of the portion of the waist bar 22 received within the track is set according to adjustment requirements, ensuring that the waist bar 22 has sufficient sliding travel to adapt to different waist sizes, while also providing support through the track to prevent the waist bar 22 from shifting or bending during movement. In use, the waist bar 22 can slide relative to the waist base 21 along the extension direction of the arc-shaped track. During the sliding process, the track always guides and limits the waist bar 22, ensuring that the movement direction of the waist bar 22 always conforms to the waist curve, avoiding jamming or misalignment.

[0066] In this embodiment, an arc-shaped track is provided on the waist base 21, and the waist bar 22 is partially housed within it. The guiding effect of the track ensures that the waist bar 22 always conforms to the waist curve during movement, avoiding the deviation problem caused by the lack of guidance, and making the waist adjustment process smoother. At the same time, the track's limiting and supporting effect on the waist bar 22 enhances its stability, preventing it from bending or loosening during wearing or dynamic use, further improving the overall structural reliability of the device. In addition, the smooth inner wall of the track reduces the frictional resistance when the waist bar 22 slides, making it easier for users to adjust the waist, especially suitable for people with weak hand strength. The matching design of the track and the waist bar 22 also reduces the gap between them, reducing abnormal noise during use, and balancing the convenience of adjustment and the comfort of use.

[0067] Optionally, a cable outlet is provided at one end of the waist bar 22 near the other waist bar 22; The active hip joint assist exoskeleton 1000 also includes a wiring harness, a circuit board, and a wire take-up mechanism. The circuit board is located in the middle of the waist base 21. The wire take-up mechanism is located adjacent to the circuit board. One end of the wiring harness is led out from the wire outlet, and the other end of the wiring harness is housed in the wire take-up mechanism and connected to the circuit board.

[0068] In this embodiment, when the waist bar 22 is extended, the cable retraction mechanism releases the cable bundle to prevent excessive pulling; when the waist bar 22 is retracted, the cable retraction mechanism retracts the excess cable bundle, preventing it from becoming loose, sagging, or tangled. This effectively reduces interference between the cable bundle and the human body or other parts of the equipment, while also preventing wear caused by frequent stretching and friction, thus extending its service life. The circuit board is centrally located in the middle of the waist base 21 and arranged adjacent to the cable retraction mechanism, shortening the connection distance between the cable bundle and the core circuit module, reducing attenuation and interference during signal transmission, and improving the stability of equipment control signals and power transmission. Furthermore, the cable bundle is stored inside the waist bar 22 and the cable retraction mechanism, making the overall wiring neater, reducing safety hazards caused by exposed wiring, and further enhancing the reliability and safety of equipment operation.

[0069] Optionally, the receiver includes: A winding reel, rotatably mounted on the waist base 21, with the other end of the wire bundle fixed and wound onto the reel; and An elastic reset member is provided between the winding reel and the waist base 21. It is used to release the wound wire bundle when the waist rod 22 moves outward and to drive the winding reel to rotate when the waist rod 22 moves inward, so as to retrieve the wire bundle.

[0070] In this embodiment, the winding reel is rotatably configured to wind the wire harness. Combined with the function of the elastic reset member, it can automatically release and retract the wire harness according to the movement of the waist rod 22: when the waist rod 22 slides outward, the wire harness is pulled, and the winding reel rotates accordingly. The elastic reset member stores energy to release a sufficient length of wire harness, preventing the wire harness from being excessively stretched and damaged. When the waist rod 22 slides inward, the elastic reset member releases energy to drive the winding reel to rotate, rewinding the excess wire harness onto the reel, preventing the wire harness from becoming loose and tangled or interfering with other components. This structure keeps the wire harness at a suitable tension, protecting it from damage caused by frequent stretching and friction, extending its service life, and ensuring neat and orderly wiring, reducing interference with human movement.

[0071] Please see Figure 6 Optionally, the active hip joint assist exoskeleton 1000 also includes a waist wearer 4, which is detachably mounted on the waist base 21 for wearing on the user's waist.

[0072] In this embodiment, to meet the user's needs for lumbar support and personalized wearing, the lumbar wearable device 4 adopts an arc-shaped structure design that conforms to the physiological curvature of the human lumbar spine. The overall shape is a sheet or pad that fits the contour of the back of the waist. The material is a composite material that combines support and comfort. For example, the inner layer uses memory foam or high-elasticity sponge with slow rebound properties, which can adaptively fit the shape of the user's lumbar spine and distribute local pressure. The outer layer is wrapped with a breathable and skin-friendly fabric, such as cotton blend or mesh fabric, which can improve breathability and avoid stuffiness caused by wearing for a long time. At the same time, the surface of the fabric is treated with anti-slip treatment to reduce the slippage between the wearable device and clothing.

[0073] The lumbar support piece 4 and the lumbar base 21 are detachably connected. Specifically, they can be fixed using multiple sets of buckle components, Velcro, or quick-release bolts. If it is a buckle connection, the lumbar support piece 4 has a raised elastic buckle on the back, and the lumbar base 21 has a matching slot at the corresponding position. The buckle can be quickly fixed after being inserted into the slot, and can be separated by pressing the elastic end of the buckle. If it is a Velcro connection, the hook side and the loop side of Velcro are sewn on the back of the support piece and the corresponding area of ​​the base, respectively, and fixed by pasting. The front and back positions of the support piece can also be finely adjusted to adapt to different lumbar support needs. If it is a quick-release bolt connection, the bolt is tightened by hand through the reserved holes of both, which provides stronger connection stability and is suitable for scenarios with high requirements for support position accuracy.

[0074] When in use, the lumbar support piece 4 rests directly against the user's lumbar spine area. Due to the detachable design of the lumbar base 21, the user can choose whether to install the support piece according to their own lumbar spine health condition (such as whether there is lumbar muscle strain, lumbar disc herniation, etc.), or replace the support piece with a different thickness and hardness to adjust the support strength. At the same time, the detachable structure also makes it easy to remove and clean the support piece separately, keep the device clean and hygienic, and avoid the growth of bacteria after long-term use.

[0075] In this embodiment, the lumbar support device 4 provides targeted flexible support for the user's lumbar spine, helps maintain the natural physiological curvature of the lumbar spine, and reduces the pressure burden on the lumbar spine from wearing the lumbar support device for a long time. It is especially suitable for rehabilitation patients or people who need to use assistive devices for a long time. Furthermore, the detachable and replaceable design improves the adaptability and ease of use of the device, takes into account the reliability of support and wearing comfort, and further optimizes the humanized user experience.

[0076] Please continue reading. Figure 6 Optionally, the waist-wearing device 4 is provided with two battery packs 41, which are respectively located near two power supply devices; the batteries in the battery packs 41 are electrically connected to the corresponding power supply devices through the power output terminals.

[0077] It should be noted that the two battery packs 41 on the waist-worn device 4 are arranged adjacent to the two power supply devices. Their outer shells are made of ABS engineering plastic or fire-retardant fabric, which provides structural strength to protect the internal batteries while reducing overall weight and minimizing safety hazards. The battery packs 41 can accommodate multiple lithium batteries or rechargeable batteries, with the battery type adapted to the voltage and current requirements of the power supply devices to ensure stable power output.

[0078] Each battery pack 41 has an independent power output terminal, such as a DC interface or a spring-loaded connector. The output terminal is electrically connected to the corresponding power supply device via a wire or flexible cable. The connection points are designed to prevent detachment, such as using a snap-fit ​​or threaded locking structure at the interface, to prevent the wires from coming loose due to vibration during use. The connection between the battery pack 41 and the waist-wearing device 4 can be detachable, such as by using Velcro or snaps, making it easy to remove the battery pack for charging or replacement, thus improving ease of use.

[0079] In this embodiment, by setting two independent battery packs 41 on the waist wear piece 4 and placing them close to the power supply device, the power transmission path is shortened, line loss is reduced, and the power supply device can obtain stable power support. At the same time, the independent battery pack 41 design allows for individual charging or replacement, avoiding the device becoming unusable due to the depletion of a single battery, thus extending the device's continuous working time. In addition, the battery pack 41 is integrated into the waist wear piece 4, utilizing the fit of the waist wear piece 4 to achieve concealed installation without adding any obtrusiveness to the device. Furthermore, the use of lightweight materials does not significantly increase the burden on the waist, thus balancing practicality and wearing comfort.

[0080] Optionally, the lower limb skeleton 3 also includes a cam mechanism; the cam mechanism includes: A cam is rotatably mounted on the fixed part 311; A follower, which is disposed in the adjusting part 312 and maintains a fit with the circumferential surface of the cam; and Locking element, used to lock the cam circumferentially after the cam has rotated to the target angle; The cam can drive the follower to move the adjusting part 312 up and down relative to the fixed part 311.

[0081] In this embodiment, a cam mechanism is added to the lower limb bone 3. The cam is rotatably mounted on the fixed part 311. The follower is disposed in the adjusting part 312 and always maintains a close fit with the circumferential surface of the cam. The locking part is used to circumferentially fix the cam after it rotates to the target angle. The rotation of the cam can drive the follower to move the adjusting part 312 relative to the fixed part 311 to achieve lifting and lowering. The cam can adopt a shape that adapts to the transmission requirements, such as a disc or eccentric wheel. The follower can be designed as a rod or block to ensure stable contact with the circumferential surface of the cam. The locking part can be a pin-type or snap-on structure to achieve reliable locking. The cam mechanism allows for more precise and controllable adjustment of the height of the adjustment unit 312. The adjustment unit 312 can be smoothly driven to move by rotating the cam, and the adjusted position can be quickly fixed with the locking component. No complicated operation is required, which further improves the convenience and stability of the lower limb skeleton 3 in adapting to the lower limb length of different users. At the same time, the mechanical cooperation structure between the cam and the follower is simple and reliable, reducing the risk of failure of the adjustment component. It forms an optimized complement to the original height function of the adjustment unit 312, which is more conducive to solving the problem of inconvenience in wearing existing exoskeletons.

[0082] Optionally, the drive source 1 includes a brushless DC motor and a reducer, with the reducer located at the output end of the brushless DC motor; the output end of the reducer is connected to the fixed part 311.

[0083] In this embodiment, the high efficiency and wide speed range of the brushed DC motor allow for flexible adjustment of output power according to different movement scenarios (such as walking slowly, walking quickly, and climbing stairs). Combined with the torque amplification function of the reducer, it can provide sufficient assistance intensity and ensure timely assistance response, making the exoskeleton's assistance movements highly synchronized with the rhythm of human movement. The precision transmission design of the planetary gear reducer reduces energy loss and noise during power transmission, improving the stability and quietness of the equipment operation. The sealed protection structure at the output end enhances the durability of the drive source 1 in complex environments, extends the service life of the equipment, and further ensures the reliability of the exoskeleton's assistance function.

[0084] The above are merely preferred embodiments of this utility model and do not limit the patent scope of this utility model. Any equivalent structural transformations made based on the inventive concept of this utility model and the contents of this utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this utility model.

Claims

1. An active hip joint assistive exoskeleton (1000), characterized in that, include: The host includes two drive sources (1); The lumbar skeleton (2) includes a lumbar base (21) and two waist rods (22). The two waist rods (22) are located on the lumbar base (21) and respectively surround the left and right sides of the user's waist. The drive source (1) is provided at the end of the waist rod (22) away from the other waist rod (22). The lower limb skeleton (3) includes two leg supports (31), which are respectively provided for the two drive sources (1). Each leg support (31) includes a base (313), a fixing part (311), and an adjusting part (312). One end of the base (313) is connected to the drive source (1), and the other end of the base (313) extends to one side of the user's leg. The fixing part (311) is located at the end of the base (313) away from the drive source (1). The adjusting part (312) is movably provided on the fixing part (311) and can move up and down relative to the fixing part (311). as well as Two power supply devices are respectively installed on the two waist bars (22) to provide electrical energy to the two drive sources (1); The drive source (1) is used to drive the fixed part (311) to swing relative to the waist bar (22).

2. The active hip joint assistive exoskeleton (1000) as described in claim 1, characterized in that, The two waist bars (22) are slidably disposed on the rear side of the waist base (21).

3. The active hip joint assistive exoskeleton (1000) as described in claim 2, characterized in that, The lumbar skeleton (2) further includes two locking mechanisms (23), which are located on the lumbar base (21) and respectively correspond to the two lumbar supports (22); the locking mechanisms (23) include: Backpack seat (231), said backpack seat (231) is disposed on the waist base (21); and Movable component (232), which is hinged to the backpack seat (231), and the movable component (232) and the backpack seat (231) together form an installation channel; the waist bar (22) is movably disposed in the installation channel; The locking mechanism (23) has an open / closed state and a locked state. In the open / closed state, the movable part (232) rotates relative to the backpack seat (231), the lateral opening of the mounting channel increases, and the waist bar (22) can slide within the mounting channel. In the locked state, the movable part (232) clamps the waist bar (22) located in the mounting channel with the backpack seat (231).

4. The active hip joint assistive exoskeleton (1000) as described in claim 3, characterized in that, The movable component (232) includes: Handle base (2321), the handle base (2321) has a first end and a second end disposed opposite to each other, the first end of the handle base (2321) is hinged to the backpack base (231) by a first pin (233); A handle bracket (2322) is provided on one side of the backpack seat (231), and the lower end of the handle bracket (2322) is hinged to the lower end of the backpack seat (231) by a second pin (234). A handle (2323) is provided on the side of the handle bracket (2322) away from the backpack seat (231). The upper end of the handle (2323) is hinged to the second end of the handle bracket (2322) and the handle seat (2321) respectively by a third pin (235) and a fourth pin (236). The third pin (235) and the fourth pin (236) are respectively positioned close to and away from the handle seat (2321). The first pin (233), the second pin (234), the third pin (235), and the fourth pin (236) are parallel in direction; the backpack seat (231), the handle seat (2321), and the handle bracket (2322) together form the mounting channel; in the open / closed state, the handle (2323) rotates upward around the third pin (235) and the fourth pin (236), causing the handle seat (2321) to open upward relative to the backpack seat (231), thereby increasing the lateral opening of the mounting channel; in the locked state, the handle (2323) rotates downward around the third pin (235) and the fourth pin (236), causing the handle seat (2321) to retract inward relative to the backpack seat (231), thereby decreasing the lateral opening of the mounting channel.

5. The active hip joint assistive exoskeleton (1000) as described in claim 2, characterized in that, The waist bar (22) has a cable outlet at one end near the other waist bar (22); The active hip joint assist exoskeleton (1000) also includes a wiring harness, a circuit board, and a wire take-up mechanism. The circuit board is located in the middle of the waist base (21). The wire take-up mechanism is located adjacent to the circuit board. One end of the wiring harness is led out from the outlet, and the other end of the wiring harness is received in the wire take-up mechanism and connected to the circuit board.

6. The active hip joint assistive exoskeleton (1000) as described in claim 5, characterized in that, The wire receiving mechanism includes: A winding reel, rotatably mounted on the waist base (21), with the other end of the wire bundle fixed and wound around the reel; and An elastic reset member is provided between the winding reel and the waist base (21) for releasing the wound wire bundle when the waist rod (22) moves outward, and driving the winding reel to rotate when the waist rod (22) moves inward, so as to retract the wire bundle.

7. The active hip joint assistive exoskeleton (1000) as described in any one of claims 1 to 6, characterized in that, The active hip joint assist exoskeleton (1000) also includes a waist wear piece (4), which is detachably disposed on the waist base (21) for wearing on the user's waist.

8. The active hip joint assistive exoskeleton (1000) as described in claim 7, characterized in that, The waist wearable device (4) is provided with two battery packs (41), and the two battery packs (41) are respectively located close to the two power supply devices; the batteries in the battery packs (41) are electrically connected to the corresponding power supply devices through the power output terminals.

9. The active hip joint assistive exoskeleton (1000) as described in any one of claims 1 to 6, characterized in that, The lower limb skeleton (3) also includes a cam mechanism; the cam mechanism includes: A cam, which is rotatably disposed on the fixed part (311); A follower, wherein the follower is disposed in the adjusting part (312) and maintains a fit with the circumferential surface of the cam; and A locking element, the locking element being used to circumferentially lock the cam after the cam has been rotated to a target angle; The cam can drive the follower to move the adjusting part (312) up and down relative to the fixed part (311).

10. The active hip joint assistive exoskeleton (1000) as described in any one of claims 1 to 6, characterized in that, The drive source (1) includes a brushless DC motor and a reducer, the reducer being located at the output end of the brushless DC motor; the output end of the reducer is connected to the base (313).

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