Chain-type telescopic hip joint exoskeleton

Abstract

The present invention relates to the technical field of exoskeleton boosters. Provided is a chain-type telescopic hip joint exoskeleton, which solves the technical problem in the prior art of hip joint exoskeletons having a larger or smaller telescopic range such that products of the same size are unable to fit people with different waist sizes and are inconvenient to wear. The chain-type telescopic hip joint exoskeleton comprises a waist framework, which is configured to be arranged around the waist of a wearer and comprises a telescopic portion and chain portions, wherein two chain portions are provided, and the ends of the two chain portions are hinged to two ends of the telescopic portion, respectively; and the telescopic portion comprises a telescopic plate, a telescopic sleeve, a side chain and a clamping assembly, the telescopic plate being connected to one of the chain portions in a hinged manner, the telescopic sleeve being connected to one end of the side chain in a hinged manner, the telescopic plate slidably passing through the telescopic sleeve and penetrating the side chain, the other end of the side chain being hinged to the other chain portion, and the clamping assembly being mounted on the telescopic sleeve and limiting the relative positions of the telescopic plate and the telescopic sleeve.

Description

Chain-type retractable hip exoskeleton Technical Field

[0001] The present invention relates to the technical field of exoskeleton boosters, and in particular to a chain-type telescopic hip joint exoskeleton. Background Art

[0002] As the population ages, the number of elderly people suffering from stroke and experiencing varying degrees of sequelae continues to increase year by year. Furthermore, with advances in motor and control technology, devices designed to assist certain groups of people with mobility, commonly known as exoskeleton walkers, have gradually emerged. The medical community generally believes that exoskeleton walkers can effectively aid in the post-stroke rehabilitation of these individuals.

[0003] Different types of exoskeletons are categorized by the location and form of assistance provided, particularly those requiring lumbar support. Existing exoskeleton lumbar support technologies employ a rigid support system coupled with a conventional telescopic structure. The telescopic structure consists of two overlapping rigid structures, with the telescopic length adjusted by adjusting the overlap. Let the overlapping length be L, then the total length, including the telescopic mechanism, ranges from L to 2L. When L is small, the maximum extended size of 2L is unsuitable for overweight individuals; when L is large, it is unsuitable for thinner individuals.

[0004] Therefore, how to solve the problem that the existing hip joint exoskeleton has a large or small extension range, the same size product cannot adapt to people with different waist circumferences, and is inconvenient to wear, is a key technical problem that technicians in this field need to solve.

[0005] Summary of the Invention

[0006] The present invention aims to provide a chain-type telescopic hip exoskeleton to address the technical issues of existing hip exoskeletons, which suffer from varying ranges of expansion and contraction, making it difficult to adapt the same size product to individuals with different waist circumferences, and resulting in inconvenience in wearing. The various technical advantages of the preferred technical solutions provided by the present invention are detailed below.

[0007] To achieve the above objectives, the present invention provides the following technical solutions:

[0008] The present invention provides a chain-type telescopic hip joint exoskeleton, comprising a waist frame for wrapping around the wearer's waist, wherein the waist frame comprises a telescopic portion and a chain portion, wherein the number of the chain portions is two, and the ends of the two chain portions are respectively hingedly connected to the two ends of the telescopic portion;

[0009] The telescopic part includes a telescopic plate, a telescopic sleeve, a side chain and a clamping assembly. The telescopic plate is hingedly connected to one of the chain parts, the telescopic sleeve is hingedly connected to one end of the side chain, the telescopic plate can slide through the telescopic sleeve and can pass through the side chain, the other end of the side chain is hingedly connected to the other chain part, the clamping assembly is installed on the telescopic sleeve and the clamping assembly can limit the relative position of the telescopic plate and the telescopic sleeve.

[0010] Optionally, the clamping assembly includes a locking block, a locking cap, a locking shaft, a wrench and a locking screw. The two side walls of the telescopic sleeve are respectively provided with a through opening and a through hole. The locking block and the locking cap are respectively located on both sides of the telescopic sleeve. The locking block passes through the through opening, and the locking screw passes through the locking block and the through hole in turn and is threadedly connected to the locking cap. The number of the locking block, the locking cap, the through opening and the through hole is two. The two locking caps are connected through the locking shaft. An eccentric hole is provided on the cylindrical end of the wrench, and the locking shaft passes through the eccentric hole.

[0011] Optionally, the clamping assembly further includes a locking washer, both ends of which are respectively connected to the two locking caps, and the locking washer is provided with a gasket groove for the cylindrical end of the wrench to be embedded in.

[0012] Optionally, the telescopic portion further comprises a locking assembly, and the locking assembly is used to lock the telescopic plate and the telescopic sleeve;

[0013] The locking assembly includes an adjusting pin, a fixing plate and a compression spring. The fixing plate is mounted on the telescopic sleeve. The compression spring is located inside the telescopic sleeve. The adjusting pin passes through the fixing plate, the compression spring and one end of the telescopic sleeve and can be plugged into the telescopic plate.

[0014] Optionally, the adjustment pin includes a handle, a connecting section and a pin head, the handle and the pin head are fixedly connected to the two ends of the connecting section respectively, the compression spring is sleeved on the connecting section, the connecting section passes through the fixed plate and the telescopic sleeve, the handle is located on the outside of the telescopic sleeve, and the pin head can be plugged and connected to the telescopic plate.

[0015] Optionally, the telescopic plate is provided with a plurality of engaging grooves, the telescopic sleeve is provided with a placement groove, the bottom of the placement groove is provided with a third connecting hole and a receiving hole, the compression spring is placed in the receiving hole, the fixing plate is placed in the placement groove and the fixing plate is connected to the third connecting hole, the adjusting pin passes through the placement groove and the receiving hole and can be plugged and connected with the engaging groove;

[0016] The telescopic plate is provided with a scale.

[0017] Optionally, the chain portion includes multiple links, and two adjacent links are hingedly connected by a rotating shaft. A limiting groove is provided on the side wall of the rotating shaft, and a limiting threaded hole is provided on the chain link. A limiting screw is installed in the limiting threaded hole and embedded in the limiting groove.

[0018] Optionally, a convex portion is provided at one end of the chain link, and a through groove is provided at the other end of the chain link for the convex portion to be embedded in, and a limiting plane and a rotating arc surface are provided at the bottom of the through groove and the end face of the convex portion, and the rotating arc surface is closer to the wearer relative to the limiting plane; a concave surface is provided on the side of the chain link close to the wearer.

[0019] Optionally, the waist skeleton includes a waist block and a waist belt, there are two waist blocks, the two waist blocks are connected by the waist belt, and the two waist blocks are respectively connected to the two chain parts.

[0020] Optionally, it further comprises a motor and a leg frame for fixing to the wearer's leg, the housing of the motor is connected to the side end of the waist block, and the output shaft of the motor is connected to the leg frame;

[0021] The leg frame is provided with a strap, and the ends of the waist belt and the strap are passed through corresponding holes and then overlapped and fixed with themselves.

[0022] The present invention provides a chain-type telescopic hip joint exoskeleton, wherein the telescopic portion includes a telescopic sleeve, a telescopic plate, and a clamping assembly. The telescopic plate is slidably inserted into the telescopic sleeve, and the clamping assembly is used to limit the relative position of the telescopic sleeve and the telescopic plate. By adjusting the relative position of the telescopic plate and the telescopic sleeve, the overall length of the waist skeleton can be adjusted. Moreover, by lengthening the length of the telescopic plate, the overall length of the waist skeleton can be increased, thereby making it suitable for wearers with different waist circumferences, rather than being able to adjust the length only within a limited range. With this arrangement, the overall length of the waist skeleton can be adjusted by adjusting the relative position of the telescopic plate and the telescopic sleeve, and the telescopic range is large. The telescopic range can be extended by lengthening the telescopic plate, and it is not constrained by the overlapping length of the telescopic extension. This solves the technical problem in the prior art that the telescopic range of hip joint exoskeletons is large or small, making it impossible to adapt the same size product to people with different waist circumferences, and making it inconvenient to wear. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] FIG1 is a schematic structural diagram of a chain-type telescopic hip joint exoskeleton provided by an embodiment of the present invention;

[0025] FIG2 is a schematic structural diagram of the telescopic portion of the chain-type telescopic hip joint exoskeleton provided by an embodiment of the present invention;

[0026] FIG3 is a schematic structural diagram of the telescopic portion of the chain-type telescopic hip joint exoskeleton provided by an embodiment of the present invention from another angle;

[0027] FIG4 is a schematic structural diagram of a telescopic sleeve of a chain-type telescopic hip joint exoskeleton provided by an embodiment of the present invention;

[0028] FIG5 is a schematic structural diagram of the telescopic sleeve of the chain-type telescopic hip joint exoskeleton provided by an embodiment of the present invention from another angle;

[0029] FIG6 is a schematic structural diagram of a telescopic plate of a chain-type telescopic hip joint exoskeleton provided in an embodiment of the present invention;

[0030] FIG7 is a schematic structural diagram of the telescopic plate of the chain-type telescopic hip joint exoskeleton provided by an embodiment of the present invention from another angle;

[0031] FIG8 is a schematic structural diagram of two links of a chain-type telescopic hip joint exoskeleton provided by an embodiment of the present invention;

[0032] FIG9 is a schematic structural diagram of a link of a chain-type telescopic hip joint exoskeleton provided by an embodiment of the present invention;

[0033] FIG10 is a schematic structural diagram of a rotating shaft of a chain-type telescopic hip joint exoskeleton provided in an embodiment of the present invention;

[0034] FIG11 is a schematic structural diagram of a clamping assembly of a chain-type telescopic hip joint exoskeleton provided in an embodiment of the present invention;

[0035] FIG12 is a schematic structural diagram of the clamping assembly of the chain-type telescopic hip joint exoskeleton provided in an embodiment of the present invention, lacking a wrench and a locking cap;

[0036] FIG13 is a schematic structural diagram of a wrench of a chain-type telescopic hip joint exoskeleton provided in an embodiment of the present invention;

[0037] FIG14 is a partial cross-sectional view of a chain-type telescopic hip joint exoskeleton provided by an embodiment of the present invention;

[0038] FIG15 is a schematic structural diagram of a locking assembly of a chain-type telescopic hip joint exoskeleton according to an embodiment of the present invention;

[0039] 16 is a schematic structural diagram of the connection between the adjustment pin and the compression spring of the chain-type telescopic hip joint exoskeleton provided in an embodiment of the present invention;

[0040] FIG17 is a schematic structural diagram of a fixing plate of a chain-type telescopic hip joint exoskeleton provided in an embodiment of the present invention.

[0041] In the figure, 1. telescopic part; 11. telescopic plate; 111. clamping groove; 112. scale; 113. limiting column; 114. connecting plate chain; 12. telescopic sleeve; 121. through-hole; 122. through-hole; 123. placement groove; 124. third connecting hole; 125. receiving hole; 126. limiting groove; 13. side chain; 14. clamping assembly; 141. locking pressure block; 142. locking cap; 143. locking shaft; 144. wrench; 1441. eccentric hole; 145. locking screw; 146. locking washer; 1461. gasket groove; 15. locking assembly; 151. adjusting latch; 1511. handle; 1512. connecting section; 1513. latch head; 152. fixing plate; 1521. first connecting hole; 1522. second connecting hole; 153. compression spring;

[0042] 2. Chain portion; 21. Shaft hole; 22. Limit threaded hole; 23. Limit plane; 24. Rotating arc surface; 25. Rotating shaft; 251. Limit groove;

[0043] 3. Kidney pieces;

[0044] 4. Belt;

[0045] 5. Motor;

[0046] 6. Leg frame; 61. Straps. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other implementations obtained by those of ordinary skill in the art without inventive effort are within the scope of protection of the present invention.

[0048] In the description of the present invention, it should be noted that, unless otherwise specified, the term "plurality" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed, or operate in a specific direction, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention depending on the specific circumstances.

[0050] The present invention provides a chain-type telescopic hip joint exoskeleton, comprising a waist frame for wrapping around the wearer's waist, wherein the waist frame comprises a telescopic portion 1 and a chain portion 2, wherein the number of the chain portions 2 is two, and the ends of the two chain portions 2 are respectively hingedly connected to the two ends of the telescopic portion 1;

[0051] The telescopic part 1 includes a telescopic plate 11, a telescopic sleeve 12, a side chain 13 and a clamping assembly 14. The telescopic plate 11 is hingedly connected to a chain part 2, and the telescopic sleeve 12 is hingedly connected to one end of the side chain 13. The telescopic plate 11 can slide through the telescopic sleeve 12 and can pass through the side chain 13. The other end of the side chain 13 is hinged to another chain part 2. The middle part of the side chain 13 is a hollow structure, which allows the telescopic plate 11 to pass through the inside of the side chain 13. When in use, the side chain 13 bends inward to avoid affecting the telescopic plate 11. The clamping assembly 14 is installed on the telescopic sleeve 12 and the clamping assembly 14 can limit the relative position of the telescopic plate 11 and the telescopic sleeve 12. The present invention provides a chain-type telescopic hip joint exoskeleton, wherein the telescopic portion 1 includes a telescopic sleeve 12, a telescopic plate 11, and a clamping assembly 14. The telescopic plate 11 is slidably inserted into the telescopic sleeve 12, and the clamping assembly 14 is used to limit the relative position of the telescopic sleeve 12 and the telescopic plate 11. By adjusting the relative position of the telescopic plate 11 and the telescopic sleeve 12, the overall length of the waist skeleton can be adjusted. Moreover, by lengthening the length of the telescopic plate 11, the overall length of the waist skeleton can be increased, thereby making it suitable for wearers of different waist circumferences, rather than being limited to adjusting the length within a limited range. With this arrangement, the overall length of the waist skeleton can be adjusted by adjusting the relative position of the telescopic plate 11 and the telescopic sleeve 12, and the telescopic range is large. The telescopic range can be extended by lengthening the telescopic plate 11, and it is not restricted by the length of the telescopic overlap. This solves the technical problem of hip joint exoskeletons in the prior art that the telescopic range is large or small, making it impossible to adapt the same size product to people with different waist circumferences, and making it inconvenient to wear.

[0052] As an optional embodiment, the clamping assembly 14 includes a locking pressure block 141, a locking cap 142, a locking shaft 143, a wrench 144 and a locking screw 145. The two side walls of the telescopic sleeve 12 are respectively provided with a through opening 121 and a through hole 122. The locking pressure block 141 and the locking cap 142 are respectively located on both sides of the telescopic sleeve 12. The locking pressure block 141 passes through the through opening 121. The locking pressure block 141 can move back and forth through the through opening 121. The locking screw 145 passes through the locking block 141 and the through hole 122 in sequence and is threadedly connected to the locking cap 142. The through hole 122 can achieve positioning and tightening functions. The locking block 141, the locking cap 142, the through hole 121, and the through hole 122 are all two in number. The two locking caps 142 are connected by a locking shaft 143. The cylindrical end of the wrench 144 is provided with an eccentric hole 1441, and the locking shaft 143 passes through the eccentric hole 1441. When the wrench 144 is rotated by an external force, due to the nature of the eccentric hole 1441, when the wrench 144 abuts the side wall of the telescopic sleeve 12, the locking shaft 143, the locking cap 142, the locking screw 145, and the locking block 141 are displaced relative to the telescopic sleeve 12. The relative displacement of the locking block 141 and the telescopic sleeve 12 presses the telescopic plate 11 into the telescopic sleeve 12. In this way, the telescopic plate 11 can be locked and released by the wrench 144, and the telescopic length can be quickly adjusted. The clamping assembly 14 can also be replaced by a traditional threaded fastening method.

[0053] As an optional embodiment, the clamping assembly 14 also includes a locking gasket 146, the two ends of which are respectively connected to the two locking caps 142. The locking gasket 146 is provided with a gasket groove 1461 for the cylindrical end of the wrench 144 to be embedded. The locking gasket 146 can increase the force area of ​​the cylindrical part on the telescopic sleeve 12, thereby improving the locking stability.

[0054] As an optional embodiment, the telescopic part 1 further includes a locking assembly 15, which is used to lock the telescopic plate 11 and the telescopic sleeve 12 in order to further restrict the telescopic plate 11 and the telescopic sleeve 12; the number of locking assemblies 15 can be one or more.

[0055] The locking assembly 15 includes an adjusting pin 151, a fixing plate 152 and a compression spring 153. The fixing plate 152 is installed on the telescopic sleeve 12. The compression spring 153 is located inside the telescopic sleeve 12. The adjusting pin 151 passes through the fixing plate 152, the compression spring 153 and one end of the telescopic sleeve 12 and can be plugged into and connected with the telescopic plate 11. The adjusting pin 151 is pulled outward by external force, so that the adjusting pin 151 is separated from the telescopic plate 11. When the clamping assembly 14 is loosened, the telescopic plate 11 can adjust the extension length; when it is adjusted to the required position, the adjusting pin 151 is loosened, and the adjusting pin 151 will automatically reset under the action of the compression spring 153 and be reinserted into the telescopic plate 11, so that the adjusting pin 151 is plug-connected with the telescopic plate 11. At the same time, the clamping assembly 14 is locked to fix the telescopic plate 11. The plug-in connection can ensure that the length of the telescopic plate 11 adjusted at the beginning remains unchanged, and can prevent the screws from loosening due to long-term wearing and causing the clamping of the telescopic plate 11 to fail.

[0056] As an optional implementation, the adjustment pin 151 includes a handle portion 1511, a connecting section 1512 and a pin head 1513. The handle portion 1511 and the pin head 1513 are respectively fixedly connected to the two ends of the connecting section 1512. The compression spring 153 is sleeved on the connecting section 1512. The connecting section 1512 passes through the fixed plate 152 and the telescopic sleeve 12. The handle portion 1511 is located on the outside of the telescopic sleeve 12, which is convenient for people to hold the handle portion 1511 and then lift the adjustment pin 151. The pin head 1513 can be plugged and connected with the telescopic plate 11.

[0057] The diameter of the connecting section 1512 is smaller than the diameter of the handle portion 1511 , and the diameter of the connecting section 1512 is smaller than the diameter of the latch head 1513 , so as to limit the position of the compression spring 153 .

[0058] The free end of the latch head 1513 is provided with a chamfer to facilitate the connection between the latch head 1513 and the engaging groove 111 , and cooperates with the compression spring 153 to facilitate the adjustment of the reset of the latch 151 .

[0059] The number of the pin heads 1513 on an adjusting pin 151 can be one or more, so that the adjusting pin 151 can be plugged and connected to two or more engaging grooves 111 at the same time.

[0060] A first connecting hole 1521 and a second connecting hole 1522 are provided on the fixing plate 152. The connecting section 1512 can pass through the first connecting hole 1521. The diameter of the first connecting hole 1521 is smaller than the diameter of the handle portion 1511. The second connecting hole 1522 is connected to the telescopic sleeve 12. The second connecting hole 1522 is connected to the third connecting hole 124 by bolts. The number of the second connecting hole 1522 and the number of the third connecting hole 124 are both two.

[0061] As an optional embodiment, a plurality of snap-fit ​​grooves 111 are provided on the telescopic plate 11, and all snap-fit ​​grooves 111 are evenly arranged along the length direction of the telescopic plate 11. A placement groove 123 is provided on the telescopic sleeve 12, and a third connecting hole 124 and a receiving hole 125 are provided at the bottom of the placement groove 123. The compression spring 153 is placed in the receiving hole 125, and the fixing plate 152 is placed in the placement groove 123 and the fixing plate 152 is connected to the third connecting hole 124. The adjusting pin 151 passes through the placement groove 123 and the receiving hole 125 and can be engaged with the snap-fit ​​groove 111. The groove 111 is plugged in and connected; when a person pulls the handle 1511 outward by hand, one end of the connecting section 1512 will pass through the first connecting hole 1521, and at the same time the latch head 1513 will move into the accommodating hole 125, so that the latch head 1513 and the fixing plate 152 will squeeze the compression spring 153. When the latch head 1513 enters the accommodating hole 125, it will completely disengage from the engaging groove 111; when the handle 1511 is released, the latch head 1513 will extend into the engaging groove 111 under the action of the compression elastic force of the compression spring 153.

[0062] The telescopic plate 11 is provided with a scale 112, which can be used to display the position status of the telescopic plate 11. A limit post 113 is provided at one end of the telescopic plate 11, and a limit slot 126 is provided at one end of the telescopic sleeve 12. The limit post 113 and the limit slot 126 can be connected by snapping, thereby limiting the movement direction of the telescopic plate 11. Specifically, in the adjustment stroke of the telescopic plate 11, one end is limited by the limit post 113 and the limit slot 126, and the other end is limited by the clamping assembly 14, thereby improving the reliability of the telescopic adjustment. The other end of the telescopic plate 11 is provided with a connecting plate chain 114. The connecting plate chain 114 cannot pass through the telescopic sleeve 12, thereby also limiting the movement direction of the telescopic plate 11. The connecting plate chain 114 is provided with an axial hole 21 and a limit threaded hole 22, which can be connected to the chain link.

[0063] As an optional embodiment, the chain portion 2 includes a plurality of chain links. By changing the number of chain links, the overall length of the waist skeleton can also be changed. Two adjacent chain links are hingedly connected by a rotating shaft 25. Specifically, the rotating shaft 25 is inserted into the shaft hole 21 on the chain link. Specifically, the number of chain links is set to 2-20, and can be 3. A limiting groove 251 is provided on the side wall of the rotating shaft 25, and a limiting threaded hole 22 is provided on the chain link. The limiting threaded hole 22 is inserted into one side of the shaft hole 21. When installing two adjacent chain links, the rotating shaft 25 is inserted into the shaft holes 21 of the two chain links. The limiting screw is installed in the limiting threaded hole 22 and embedded in the limiting groove 251. The limiting screw is then used to limit the rotating shaft 25 to prevent the rotating shaft 25 from falling out of the shaft hole 21.

[0064] Here, at least one limiting groove 251 and one limiting threaded hole 22 are provided, and specifically, two or three limiting threaded holes 22 may be provided.

[0065] Of course, the structure of the limiting groove 251 and the limiting threaded hole 22 can be replaced by a structure fixed by other processes such as interference fit, threading, glue dispensing and welding.

[0066] As an optional implementation, a convex portion is provided at one end of the chain link, and a through groove for the convex portion to be embedded is provided at the other end of the chain link. The convex portion and the through groove match, and an axial hole 21 is provided on the convex portion and the through groove. During installation, the convex portions of two adjacent chain links are embedded in the through groove, and the hinge is achieved by passing the axial hole 21 through the rotating shaft 25.

[0067] The bottom of the through-slot and the end surface of the convex portion are provided with a limiting plane 23 and a rotational arc surface 24. The rotational arc surface 24 is closer to the wearer relative to the limiting plane 23. Specifically, the chain link has a first side and a second side, the first side being closer to the wearer relative to the second side. The rotational arc surface 24 is closer to the first side of the chain link, and the limiting plane 23 is closer to the second side of the chain link. The rotational arc surface 24 and the limiting plane 23 bisect the bottom of the through-slot and the end surface of the convex portion. The rotational arc surface 24 is specifically a chamfered arc of the through-slot and the convex portion.

[0068] In this way, due to the action of the rotating arc surface 24 and the limiting plane 23, the two chain links hinged together by the rotating shaft 25 can rotate freely toward the first side of the chain link, so that the chain part 2 can form a large arc surface, and the large arc surface can move inward to adapt to the waist contours of different people. When the limiting planes 23 of the two chain links coincide, the limiting action is activated, so that the link will not rotate in the opposite direction, which can avoid reverse twisting under the action of the motor 5 and transmission failure.

[0069] Here, the side of the chain link close to the wearer is provided with a concave surface, so that the inner side of the chain portion 2 is a smooth curved surface, which can better fit the wearer's body. Of course, one side of the chain link can also be a plane or other curved surface of any curvature.

[0070] As an optional embodiment, the waist frame includes two waist blocks 3 and a waist belt 4. The waist blocks 3 are connected by the waist belt 4, and the two waist blocks 3 are respectively connected to the two chain parts 2. Hollow holes are provided in the waist blocks 3 to ensure fixed strength while reducing the overall weight of the waist frame, making it light and comfortable.

[0071] As an optional embodiment, it also includes a motor 5 and a leg frame 6 for fixing to the wearer's leg. The housing of the motor 5 is connected to the side end of the waist block 3 to ensure the stability of the motor 5. The output shaft of the motor 5 is connected to the leg frame 6.

[0072] The leg frame 6 is provided with a strap 61. The ends of the waist belt 4 and the strap 61 are passed through the corresponding holes and then overlapped and fixed with themselves, so as to facilitate the tightness adjustment of the waist and legs.

[0073] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A chain-type telescopic hip joint exoskeleton, characterized in that: It includes a waist frame for surrounding the waist of the wearer, wherein: The waist frame comprises a telescopic part (1) and a chain part (2), the number of the chain parts (2) is two, and the ends of the two chain parts (2) are respectively hingedly connected to the two ends of the telescopic part (1); The telescopic part (1) comprises a telescopic plate (11), a telescopic sleeve (12), a side chain (13) and a clamping assembly (14); the telescopic plate (11) is hingedly connected to one of the chain parts (2); the telescopic sleeve (12) is hingedly connected to one end of the side chain (13); the telescopic plate (11) can slide through the telescopic sleeve (12) and can penetrate the side chain (13); the other end of the side chain (13) is hingedly connected to another chain part (2); the clamping assembly (14) is installed on the telescopic sleeve (12) and the clamping assembly (14) can limit the relative position of the telescopic plate (11) and the telescopic sleeve (12).

2. The chain-type telescopic hip joint exoskeleton according to claim 1, characterized in that: The clamping assembly (14) comprises a locking block (141), a locking cap (142), a locking shaft (143), a wrench (144) and a locking screw (145); the two side walls of the telescopic sleeve (12) are respectively provided with a through opening (121) and a through hole (122); the locking block (141) and the locking cap (142) are respectively located on the two sides of the telescopic sleeve (12); the locking block (141) passes through the through opening (121); the locking screw (145) passes through the through opening (121) and the locking screw (145) passes through the through hole (122) in sequence; The locking block (141) and the through hole (122) are threadedly connected to the locking cap (142); the locking block (141), the locking cap (142), the through hole (121) and the through hole (122) are all two in number; the two locking caps (142) are connected via the locking shaft (143); an eccentric hole (1441) is provided on the cylindrical end of the wrench (144); the locking shaft (143) passes through the eccentric hole (1441).

3. The chain-type telescopic hip joint exoskeleton according to claim 1, characterized in that: The clamping assembly (14) further comprises a locking gasket (146), the two ends of which are respectively connected to the two locking caps (142), and the locking gasket (146) is provided with a gasket groove (1461) for the cylindrical end of the wrench (144) to be embedded.

4. The chain-type telescopic hip joint exoskeleton according to claim 1, characterized in that: The telescopic portion (1) further comprises a locking assembly (15), wherein the locking assembly (15) is used to lock the telescopic plate (11) and the telescopic sleeve (12); The locking assembly (15) comprises an adjusting latch (151), a fixing plate (152) and a compression spring (153); the fixing plate (152) is mounted on the telescopic sleeve (12); the compression spring (153) is located inside the telescopic sleeve (12); the adjusting latch (151) passes through the fixing plate (152), the compression spring (153) and one end of the telescopic sleeve (12) and can be plugged into and connected with the telescopic plate (11).

5. The chain-type telescopic hip joint exoskeleton according to claim 4, characterized in that: The adjusting latch (151) comprises a handle portion (1511), a connecting section (1512) and a latch head (1513); the handle portion (1511) and the latch head (1513) are respectively fixedly connected to two ends of the connecting section (1512); the compression spring (153) is sleeved on the connecting section (1512); the connecting section (1512) passes through the fixing plate (152) and the telescopic sleeve (12); the handle portion (1511) is located on the outside of the telescopic sleeve (12); and the latch head (1513) can be plugged and connected to the telescopic plate (11).

6. The chain-type telescopic hip joint exoskeleton according to claim 4, characterized in that: The telescopic plate (11) is provided with a plurality of clamping grooves (111), the telescopic sleeve (12) is provided with a placement groove (123), the bottom of the placement groove (123) is provided with a third connecting hole (124) and a receiving hole (125), the compression spring (153) is placed in the receiving hole (125), the fixing plate (152) is placed in the placement groove (123) and the fixing plate (152) is connected to the third connecting hole (124), the adjusting pin (151) passes through the placement groove (123) and the receiving hole (125) and can be plugged and connected with the clamping groove (111); The telescopic plate (11) is provided with a scale (112).

7. The chain-type telescopic hip joint exoskeleton according to claim 1, characterized in that: The chain part (2) comprises a plurality of chain links, and two adjacent chain links are hingedly connected via a rotating shaft (25). A limiting groove (251) is provided on the side wall of the rotating shaft (25), and a limiting threaded hole (22) is provided on the chain link. A limiting screw is installed in the limiting threaded hole (22) and embedded in the limiting groove (251).

8. The chain-type telescopic hip joint exoskeleton according to claim 7, characterized in that: A convex portion is arranged at one end of the chain link, and a through groove in which the convex portion can be embedded is arranged at the other end of the chain link. A limited position plane (23) and a rotation arc surface (24) are arranged at the bottom of the through groove and the end surface of the convex portion, and the rotation arc surface (24) is closer to the wearer relative to the limited position plane (23); and a concave surface is arranged on the side of the chain link closer to the wearer.

9. The chain-type telescopic hip joint exoskeleton according to claim 1, characterized in that: The waist frame comprises a waist block (3) and a waist belt (4), the number of the waist blocks (3) is two, the two waist blocks (3) are connected via the waist belt (4), and the two waist blocks (3) are respectively connected to the two chain parts (2).

10. The chain-type telescopic hip joint exoskeleton according to claim 9, characterized in that: It also includes a motor (5) and a leg frame (6) for fixing to the leg of the wearer, the housing of the motor (5) is connected to the side end of the waist block (3), and the output shaft of the motor (5) is connected to the leg frame (6); The leg frame (6) is provided with a binding belt (61), and the ends of the waist belt (4) and the binding belt (61) are passed through corresponding holes and then overlapped and fixed with each other.

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