Hip joint exoskeleton

Abstract

A hip joint exoskeleton, which relates to the technical field of robots. The hip joint exoskeleton comprises a waist framework (1), an actuator (2), a leg power-assisted frame, an adjustment mechanism (3), leg fixing portions (4) and sliding members (5), wherein the waist framework (1) is movably connected to the leg power-assisted frame; the adjustment mechanism (3) and the actuator (2) are both connected to the leg power-assisted frame; a free end of the leg power-assisted frame is rotatably connected to the sliding members (5), and the leg fixing portions (4) are slidably connected to the sliding members (5); the waist framework (1) is configured to wrap around the waist of a human body and can adjust the tightness thereof around the waist of the human body; each leg fixing portion (4) is configured to wrap around one leg of the human body and can adjust the tightness thereof around the leg of the human body; the actuator (2) can drive the leg power-assisted frame to swing; and the adjustment mechanism (3) can adjust the horizontal displacement of the leg power-assisted frame. The technical problem in the prior art of an exoskeleton walking aid having a small expansion range such that products of the same size cannot comfortably fit people of different body types is solved.

Description

Hip exoskeleton

[0001] This application claims priority to Chinese patent application No. 202310825836.4, filed with the State Intellectual Property Office of China on July 7, 2023, entitled “A Leg Support Sliding Displacement Mechanism and Hip Joint Exoskeleton,” the entire contents of which are hereby incorporated by reference into this application. This application claims priority to Chinese patent application No. 202310785875.6, filed with the State Intellectual Property Office of China on June 30, 2023, entitled “A Telescopic Locking Mechanism and Exoskeleton Walker,” the entire contents of which are hereby incorporated by reference into this application. Technical Field

[0002] The present invention relates to the technical field of robots, and in particular to a hip joint exoskeleton. Background Art

[0003] As the aging population intensifies, the number of elderly people suffering from stroke and experiencing varying degrees of sequelae is increasing year by year. Furthermore, with the advancement of rotary motor and control technology, devices designed to assist mobility for specific groups of people, commonly known as exoskeleton walkers, have gradually emerged. The medical community generally believes that exoskeleton walkers can effectively aid in the post-operative rehabilitation of these individuals. Exoskeleton walkers specifically refer to wearable mobility devices that assist the human body in various movements, enhancing limb strength and endurance, and are therefore effective in assisting the post-operative rehabilitation of specific groups of people.

[0004] The applicant has discovered that the prior art has at least the following technical problems:

[0005] In the existing technology, existing exoskeleton walkers have a small telescopic range, and the same size product cannot comfortably fit people of different body shapes; there are limitations in use; they are generally large and heavy, cumbersome to operate, and inconvenient to wear; and when walking, the straps that fix the legs will repeatedly slide and rub against the user's legs, which is not only uncomfortable to use but also easily causes the straps to loosen.

[0006] Summary of the Invention

[0007] The present invention aims to provide a hip joint exoskeleton to address the technical issues of existing exoskeleton walkers, which suffer from limited range of extension and retraction, making it difficult for the same-sized product to comfortably fit individuals of varying body shapes. The various technical advantages achieved by the preferred technical solutions provided by the present invention are detailed below.

[0008] To achieve the above objectives, the present invention provides the following technical solutions:

[0009] The present invention provides a hip joint exoskeleton, comprising a waist frame, an actuator, a leg assist frame, an adjustment mechanism, a leg fixing portion, and a sliding member, wherein the waist frame is movably connected to the leg assist frame, the adjustment mechanism and the actuator are both connected to the leg assist frame, the free end of the leg assist frame is rotatably connected to the sliding member, and the leg fixing portion is slidably connected to the sliding member;

[0010] The waist frame is used to wrap around the human waist and can adjust the tightness with the human waist. The leg fixing part is used to wrap around the human legs and can adjust the tightness with the human legs. The actuator can drive the leg power support frame to swing, and the adjustment mechanism can adjust the horizontal displacement of the leg power support frame.

[0011] Optionally, the leg assist frame includes a first leg assist portion and a second leg assist portion, the number of the actuator and the number of the adjustment mechanism are both one, the fixed end of the actuator is connected to the first leg assist portion, the driving end of the actuator is connected to the movable end of the adjustment mechanism, and the fixed end of the adjustment mechanism is connected to the second leg assist portion;

[0012] Alternatively, there are two actuators and two adjusting mechanisms, and the two actuators and the two adjusting mechanisms are connected to the first leg power-assisting portion and the second leg power-assisting portion respectively.

[0013] Optionally, the first leg assist portion and the second leg assist portion both include a horizontal section, a curved section, a hinged section, an adjustment section and a connecting rod, the horizontal section is fixedly connected to the curved section, the curved section and the adjustment section are hingedly connected via the hinged section, the adjustment section is connected to the connecting rod, the connecting rod is rotatably connected to the sliding member, and the horizontal section is connected to the actuator or the adjustment mechanism.

[0014] Optionally, the adjustment mechanism includes a telescopic sleeve, a telescopic shaft and a locking portion, the telescopic sleeve is sleeved on the telescopic shaft and can slide in the axial direction relative to the telescopic shaft, the telescopic shaft is connected to the actuator, the telescopic sleeve is connected to the leg power support frame or the waist frame, and the locking portion is used to limit the relative sliding of the telescopic sleeve and the telescopic shaft.

[0015] Optionally, the leg fixing portion includes a guide member, and the sliding member includes a slider, and the slider is slidably connected to the guide member.

[0016] Optionally, the leg fixing part includes a leg sealing part, a leg support plate and a receiving frame, the leg sealing part is detachably connected to the leg support plate, the end face of the leg support plate is fixedly connected to the receiving frame, and the guide member and the slider are located in the receiving frame.

[0017] Optionally, the leg fixing portion further includes an upper buffer member and a lower buffer member, both of which are sleeved on the guide member, and the sliding block is located between the upper buffer member and the lower buffer member.

[0018] Optionally, the leg fixing part also includes an upper limit plate and a lower limit plate, a limit block is provided at the inner middle part of the accommodating frame, the upper limit plate and the lower limit plate are both slidably connected to the guide member, one end of the upper buffer member is connected to the upper end of the accommodating frame, the other end of the upper buffer member is connected to the upper limit plate, one end of the lower buffer member is connected to the lower end of the accommodating frame, the other end of the upper buffer member is connected to the lower limit plate, the limit block and the slider are present between the upper limit plate and the lower limit plate, and the limit block is used to limit the moving direction of the upper limit plate and the lower limit plate.

[0019] Optionally, the sliding member also includes a fixed plate and a rotating part, the rotating part and the sliding block are respectively located on both sides of the fixed plate and are fixedly connected, the rotating part is provided with a connecting hole, the connecting hole is rotatably connected to the leg power support frame, and the sliding block is provided with a sliding hole, the sliding hole is slidably connected to the guide member.

[0020] Optionally, the waist frame includes a waist seal portion, a connecting portion and an adjusting portion, the connecting portion is fixedly connected to the side wall of the waist seal portion, the two ends of the waist seal portion are detachably connected through the adjusting portion, and the connecting portion is movably connected to the leg support frame.

[0021] The hip joint exoskeleton provided by the present invention has a waist frame that can wrap around the human waist and can adjust the tightness with the human waist, so that the size of the waist frame can be adjusted according to the thickness of the human waist. The leg fixing part can wrap around the human leg and can adjust the tightness with the human leg, so that the size of the leg fixing part can be adjusted according to the thickness of the human leg. The adjustment mechanism can adjust the horizontal displacement of the leg assist frame according to the size of the human hip to adapt to users of different body shapes. The present invention has a simple structure, reasonable design, simple adjustment method, and a large adjustment range. The waist circumference, hip circumference and leg circumference can be adjusted individually according to the user's body shape, greatly improving the user's comfort and matching degree. The actuator can drive the leg assist frame to swing back and forth, and coordinate to provide stable and reliable assistance for the human leg to walk, with good coordination and synchronization. Moreover, the hip joint exoskeleton structure is simplified, the overall weight of the hip joint exoskeleton is reduced, the processing and maintenance costs are reduced, and the practicality is strong. At the same time, the leg fixing part and the sliding part are slidably connected, which reduces the sliding friction between the leg fixing part and the human leg during walking, increases the comfort of the human leg and is securely worn, and solves the technical problems in the prior art that the exoskeleton walker has a small telescopic range and cannot make the same size product comfortable to people of different body shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] FIG1 is a schematic structural diagram of a hip joint exoskeleton provided by an embodiment of the present invention;

[0024] FIG2 is a schematic structural diagram of a hip joint exoskeleton provided by an embodiment of the present invention from another angle;

[0025] FIG3 is a schematic structural diagram of a leg support frame of a hip joint exoskeleton provided by an embodiment of the present invention;

[0026] FIG4 is an exploded view of a leg support frame of a hip joint exoskeleton provided by an embodiment of the present invention;

[0027] FIG5 is a schematic structural diagram of the waist skeleton of the hip joint exoskeleton provided in an embodiment of the present invention;

[0028] FIG6 is an exploded view of an adjustment mechanism of a hip joint exoskeleton provided in an embodiment of the present invention;

[0029] 7 is a schematic structural diagram of the connection between the leg fixing portion and the sliding member of the hip joint exoskeleton provided in an embodiment of the present invention;

[0030] FIG8 is an exploded view of the connection between the leg fixing portion and the sliding member of the hip joint exoskeleton provided by an embodiment of the present invention;

[0031] FIG9 is a schematic structural diagram of the leg fixing portion of the hip joint exoskeleton provided in an embodiment of the present invention;

[0032] FIG10 is a schematic diagram of a partial structure of a leg fixing portion of a hip joint exoskeleton provided in an embodiment of the present invention;

[0033] FIG11 is a schematic diagram of another partial structure of the leg fixing portion of the hip joint exoskeleton provided in an embodiment of the present invention;

[0034] FIG12 is a schematic structural diagram of a sliding member of a hip joint exoskeleton provided in an embodiment of the present invention.

[0035] In the figure, 1, waist frame; 11, waist seal; 12, connecting part;

[0036] 2. Actuator; 21. Motor; 22. Power supply;

[0037] 3. Adjustment mechanism; 31. Telescopic sleeve; 311. Rectangular notch; 312. Power assist fixing end; 313. Positioning hole; 32. Telescopic shaft; 321. Rectangular slide; 322. Motor fixing end; 323. Adjustment hole; 33. Locking part;

[0038] 4. Leg fixing portion; 41. Guide member; 42. Leg sealing portion; 43. Leg support plate; 431. Connecting port; 44. Accommodating frame; 441. Limit block; 45. Upper buffer member; 46. Lower buffer member; 47. Upper limit plate; 48. Lower limit plate;

[0039] 5. Sliding member; 51. Sliding block; 511. Sliding hole; 52. Fixed plate; 53. Rotating portion; 531. Connecting hole;

[0040] 6. First leg power-assisting portion; 61. Horizontal section; 62. Bending section; 63. Articulated portion; 64. Adjusting section; 65. Connecting rod;

[0041] 7. Second leg assist unit;

[0042] 8. Switch button. DETAILED DESCRIPTION

[0043] 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.

[0044] 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.

[0045] 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.

[0046] Example 1:

[0047] The present invention provides a hip joint exoskeleton, comprising a waist frame 1, an actuator 2, a leg assist frame, an adjustment mechanism 3, a leg fixing portion 4, and a sliding member 5. The waist frame 1 is movably connected to the leg assist frame, the adjustment mechanism 3 and the actuator 2 are both connected to the leg assist frame, the free end of the leg assist frame is rotatably connected to the sliding member 5, and the leg fixing portion 4 is slidably connected to the sliding member 5.

[0048] The waist skeleton 1 is used to wrap around the human waist and can adjust the tightness with the human waist. The leg fixing part 4 is used to wrap around the human legs and can adjust the tightness with the human legs. The actuator 2 can drive the leg power-assisting frame to swing. The adjustment mechanism 3 can adjust the horizontal displacement of the leg power-assisting frame. The present invention provides a hip joint exoskeleton, the waist skeleton 1 can wrap around the human waist and can adjust the tightness with the human waist, so that the size of the waist skeleton 1 can be adjusted according to the thickness of the human waist. The leg fixing part 4 can wrap around the human legs and can adjust the tightness with the human legs, so that the size of the leg fixing part 4 can be adjusted according to the thickness of the human legs. The adjustment mechanism 3 can adjust the horizontal displacement of the leg power-assisting frame according to the size of the human hip to adapt to users of different body shapes. The present invention has a simple structure, reasonable design, simple adjustment method, and a large adjustment range. The waist circumference, hip circumference and leg circumference can be adjusted individually according to the user's body shape, greatly The degree of comfort and matching for users is improved. The actuator 2 can drive the leg power frame to swing back and forth, and coordinate with each other to provide stable and reliable power for human legs to walk, with good coordination and synchronization. Moreover, the hip joint exoskeleton structure is simplified, the overall weight of the hip joint exoskeleton is reduced, the processing and maintenance costs are reduced, and the practicality is strong. At the same time, the leg fixing part 4 and the sliding part 5 are slidably connected, which reduces the sliding friction between the leg fixing part 4 and the human leg during walking, increases the comfort of the human leg and is secure to wear, and solves the technical problem that the exoskeleton walker in the prior art has a small telescopic range and cannot make the same size product fit comfortably for people of different body shapes.

[0049] As an optional embodiment, the leg assist frame includes a first leg assist portion 6 and a second leg assist portion 7, and the first leg assist portion 6 and the second leg assist portion 7 are symmetrically arranged. The number of actuators 2 and adjustment mechanisms 3 is one. The fixed end of the actuator 2 is connected to the first leg assist portion 6, the driving end of the actuator 2 is connected to the movable end of the adjustment mechanism 3, and the fixed end of the adjustment mechanism 3 is connected to the second leg assist portion 7; the actuator 2 and the adjustment mechanism 3 can be located on the front or back side of the waist skeleton 1, and the actuator 2 is used to drive the first leg assist portion 6 and the second leg assist portion 7 to swing back and forth alternately to assist the human leg in walking. The adjustment mechanism 3 can adjust the horizontal displacement of the first leg assist portion 6 and the second leg assist portion 7, that is, the first leg assist portion 6 and the second leg assist portion 7 move toward or away from each other.

[0050] As an optional embodiment, the first leg assist portion 6 and the second leg assist portion 7 each include a horizontal section 61, a curved section 62, a hinge portion 63, an adjustment section 64 and a connecting rod 65. The horizontal section 61 is fixedly connected to the curved section 62, and the curved section 62 is hingedly connected to the adjustment section 64 through the hinge portion 63. The adjustment section 64 can swing, and the two adjustment sections 64 can swing toward or away from each other, thereby adjusting the thigh distance. The adjustment section 64 is connected to the connecting rod 65, and the connecting rod 65 is rotatably connected to the sliding member 5. The connecting rod 65 can be located in the adjustment section 6 4, or it can be located on the outside of the adjusting section 64, that is, the leg fixing portion 4 can be located on the inside of the leg power-assisting frame, or it can be located on the outside of the leg power-assisting frame, the leg fixing portion 4 can be located on the front side of the connecting rod 65, or it can be located on the rear side of the connecting rod 65, the horizontal section 61 is connected to the actuator 2 or the adjusting mechanism 3, the actuator 2 is installed in the horizontal section 61 on the first leg power-assisting portion 6, the horizontal section 61 on the second leg power-assisting portion 7 is connected to the adjusting mechanism 3, and the horizontal section 61 on the first leg power-assisting portion 6 and the horizontal section 61 on the second leg power-assisting portion 7 are not connected.

[0051] Example 2:

[0052] The difference between this embodiment 2 and embodiment 1 is that the adjustment mechanism 3 includes a telescopic sleeve 31, a telescopic shaft 32 and a locking portion 33. The telescopic sleeve 31 is sleeved on the telescopic shaft 32 and the telescopic sleeve 31 can slide relative to the axial direction of the telescopic shaft 32. The telescopic shaft 32 is connected to the actuator 2. The telescopic sleeve 31 is connected to the leg support frame or the waist frame 1. The locking portion 33 is used to limit the relative sliding of the telescopic sleeve 31 and the telescopic shaft 32. The sliding portion of the telescopic shaft 32 forms a rectangular slide 321 for the telescopic sleeve 31 to slide back and forth. The inner peripheral wall of the sliding portion of the telescopic sleeve 31 is a rectangular notch 311 that matches the rectangular slide 321. The actuator 2 includes a motor 21 and a power supply 22. The motor 21 and the power supply 22 are both installed in the horizontal section 61 on the first leg assist portion 6. The first leg assist portion 6 and the second leg assist portion 7 are driven by a single motor 21 to swing back and forth alternately, thereby assisting the human leg in walking, reducing the overall weight of the exoskeleton and having low cost. Moreover, the motor 21 is centrally arranged on the leg assist frame, which has high synchronization, stability and reliability. The rectangular slide 321 extends radially outward near one end of the motor 21 to form a motor fixed end 322 of a disc-shaped structure. The motor fixed end 322 is fixedly connected to the output shaft of the motor 21. The outer end of the telescopic sleeve 31 is the assist fixed end 312, which is fixedly connected to the horizontal section 61 on the second leg assist portion 7. The assist fixed end 312 forms a smooth chamfer. The outer wall of the telescopic sleeve 31 is higher than or flush with the outer wall of the horizontal section 61. By adjusting the relative position between the telescopic sleeve 31 and the telescopic shaft 32, the horizontal relative distance between the first leg assisting part 6 and the second leg assisting part 7 can be adjusted, and then the horizontal relative distance between the two leg fixing parts 4 can be adjusted.

[0053] As an optional embodiment, the waist skeleton 1 includes a waist seal portion 11, a connecting portion 12 and an adjusting portion. The connecting portion 12 is fixedly connected to the side wall of the waist seal portion 11, and the two ends of the waist seal portion 11 are detachably connected through the adjusting portion. The adjusting portion can be a Velcro, that is, the outer wall of one end of the waist seal portion 11 is provided with a Velcro fleece surface, and the inner wall of the other end is provided with a Velcro hook surface. By adjusting the relative position of the Velcro hook surface and the Velcro fleece surface, the waist circumference can be adjusted. The operation is convenient and the waist circumference can be quickly adjusted. The connecting portion 12 is movably connected to the leg power-assisting frame. There is only one connecting portion 12, and the interior of the connecting portion 12 is a hollow structure. The horizontal section 61 can slide and rotate in the hollow structure, so that after the adjustment mechanism 3 adjusts the horizontal distance between the first leg power-assisting portion 6 and the second leg power-assisting portion 7, the symmetrical position of the two can be adjusted through the connecting portion 12.

[0054] As an optional embodiment, a control mechanism and an encoder are also included. Since walking is a regular, cyclical motion, the control mechanism can control the output of motor 21 to apply forces of varying magnitudes and directions to the legs at different phases according to the corresponding cycle, thereby assisting the user in walking. The encoder includes a magnet and a magnetic sensor. The magnet is mounted on the output shaft of motor 21. The magnetic sensor detects the rotation angle of the magnet, and thus the rotation angle of motor 21, and provides feedback to the control mechanism. The control mechanism then controls the current level of motor 21 to achieve different output angles and torques.

[0055] As an optional embodiment, a switch button 8 is further included, which is electrically connected to the control mechanism and is used to control the control mechanism to be turned on and off. The switch button 8 is installed on the horizontal section 61 for easy operation.

[0056] Example 3:

[0057] The difference between this embodiment 3 and embodiment 1 is that: as an optional implementation method, the leg fixing part 4 includes a guide part 41, and the sliding part 5 includes a slider 51. The slider 51 is slidably connected to the guide part 41. During assisted walking, the slider 51 slides along the guide part 41 under force, which can achieve relative displacement between the leg fixing part 4 and the leg assisting frame, thereby effectively reducing the sliding friction between the leg fixing part 4 and the human leg, making it more secure to wear and not easy to loosen.

[0058] As an optional embodiment, the leg fixing portion 4 includes a leg sealing portion 42, a leg support plate 43 and a receiving frame 44. The leg sealing portion 42 is detachably connected to the leg support plate 43, and the end face of the leg support plate 43 is fixedly connected to the receiving frame 44. The guide member 41 and the slider 51 are located in the receiving frame 44. The leg sealing portion 42 is a strap that is worn in a tightening manner. It has a simple structure and is easy to assemble and disassemble. It is supported by the leg support plate 43, and the guide member 41 is firmly fixed to ensure the reciprocating sliding effect of the slider 5. Connecting ports 431 are provided at both ends of the leg support plate 43. The inner sides of both ends of the leg sealing portion 42 are provided with Velcro fur surfaces, and the outer sides of both ends of the leg sealing portion 42 are provided with Velcro. After the two ends of the leg sealing portion 42 pass through the connecting ports 431, they are folded outward so that the Velcro hook surface is hooked to the Velcro fur surface. By adjusting the relative position of the Velcro hook surface and the Velcro fur surface, the leg circumference can be adjusted. The leg support plate 43 is a curved plate that matches the shape of the front of the human leg, further improving the fit with the user's legs.

[0059] As an optional embodiment, the leg fixing portion 4 further includes an upper buffer 45 and a lower buffer 46, both of which are sleeved on the guide member 41, with a slider 51 positioned between the upper and lower buffers 45, 46. When the slider 51 slides upward, the upper buffer 45 is compressed, while the lower buffer 46 is stretched; when the slider 51 slides downward, the upper buffer 45 is stretched, while the lower buffer 46 is compressed. The upper and lower buffers 45, 46 cooperate with each other to form a bidirectional reset structure, capable of providing downward and upward elastic restoring forces, respectively. This enhances the return and cushioning effects, making the wearer more comfortable. In actual use, only the upper buffer 45 can be provided, with the stretching return providing the return force, or only the lower buffer 46 can be provided, with the compression return providing the return force.

[0060] As an optional embodiment, the leg fixing part 4 also includes an upper limit plate 47 and a lower limit plate 48. A limit block 441 is provided in the inner middle part of the accommodating frame 44. The upper limit plate 47 and the lower limit plate 48 are both slidably connected to the guide member 41. One end of the upper buffer member 45 is connected to the upper end of the accommodating frame 44, and the other end of the upper buffer member 45 is connected to the upper limit plate 47. One end of the lower buffer member 46 is connected to the lower end of the accommodating frame 44, and the other end of the upper buffer member 45 is connected to the lower limit plate 48. There is a limit block 441 and a slider 51 between the upper limit plate 47 and the lower limit plate 48. The limit block 441 is used to limit the moving direction of the upper limit plate 47 and the lower limit plate 48. When not subject to external force, the slider 51 is located in the middle position of the accommodating frame 44, the upper limit plate 47 can abut against the upper end of the limit block 441, and the lower limit plate 48 can abut against the lower end of the limit block 441. The limit block 441 has a limiting function and can effectively limit the lower limit position of the upper limit plate 47 and the upper limit position of the lower limit plate 48.

[0061] As an optional embodiment, the sliding member 5 also includes a fixed plate 52 and a rotating portion 53. The rotating portion 53 and the sliding member 51 are respectively located on either side of the fixed plate 52 and are fixedly connected. The fixed plate 52 is used to cover the notch of the accommodating frame 44. The rotating portion 53 is provided with a connecting hole 531, which is rotatably connected to the leg support frame and rotatably connected to the connecting rod 65. The sliding member 51 is provided with a sliding hole 511, which is slidably connected to the guide member 41. The guide member 41 can be a guide rod, and the top and bottom ends of the guide rod are respectively fixedly mounted to the upper and lower ends of the accommodating frame 44. The number of holes on the upper buffer member 45, the lower buffer member 46, the guide member 41, the sliding hole 511, the upper limit plate 47, and the lower limit plate 48 is the same, and can be multiple.

[0062] Example 4:

[0063] The difference between Example 4 and Example 1 is that there are two actuators 2, two adjustment mechanisms 3, and two connecting parts 12. The first leg assisting part 6, one actuator 2, one adjustment mechanism 3, and one connecting part 12 are connected, and the second leg assisting part 7, another actuator 2, another adjustment mechanism 3, and another connecting part 12 are connected. The two actuators 2 can be positioned arbitrarily: one actuator 2 can be positioned above, below, front, back, left, right, inside, or outside the other actuator 2, or both actuators 2 can be positioned on the front and back sides of the waist frame 1. The actuators 2 include, but are not limited to, servo motors, reduction servo motors, connecting rods, screws, linear drives, pneumatic drives, hydraulic drives, and other drive structures.

[0064] Example 5:

[0065] The difference between this embodiment 5 and embodiment 2 is that: a positioning hole 313 is provided on the telescopic sleeve 31, and a plurality of adjustment holes 323 are provided on the telescopic shaft 32. The locking portion 33 passes through the positioning hole 313 and the designated adjustment hole 323 in sequence, thereby realizing the positioning connection between the telescopic sleeve 31 and the telescopic shaft 32.

[0066] The connecting portion 12 also includes a positioning tube, a positioning sleeve, and a positioning pin. The positioning tube contains a hollow structure that allows the horizontal section 61 to reciprocate along its axial direction. The inner wall of the positioning sleeve aligns with at least a portion of the curved contour of the outer wall of the positioning tube before extending outward to securely connect with the waist seal 11, enhancing connection stability. The first and second leg assisting portions 6 and 7 reciprocate along the positioning tube to adapt to the user's various exercise postures, providing assistance in real time as they move.

[0067] The sliding part of the positioning tube is provided with several through holes that pass through vertically, and the sliding part of the positioning sleeve is provided with a matching hole that is concentric with the through hole. When the positioning sleeve slides to an adapted position, the positioning pin passes through the matching hole and the through hole at the current position in sequence to lock the positioning tube and the positioning sleeve, thereby adjusting the horizontal relative distance between the first leg assist portion 6 and the second leg assist portion 7.

[0068] 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 hip joint exoskeleton, characterized in that: It comprises a waist frame (1), an actuator (2), a leg assist frame, an adjustment mechanism (3), a leg fixing part (4) and a sliding part (5), wherein: The waist frame (1) is movably connected to the leg assist frame, the adjustment mechanism (3) and the actuator (2) are both connected to the leg assist frame, the free end of the leg assist frame is rotatably connected to the sliding member (5), and the leg fixing portion (4) is slidably connected to the sliding member (5); The waist frame (1) is used to wrap around the waist of a human body and can adjust the tightness with the waist of the human body, the leg fixing part (4) is used to wrap around the legs of a human body and can adjust the tightness with the legs of the human body, the actuator (2) can drive the leg power-assisting frame to swing, and the adjustment mechanism (3) can adjust the horizontal displacement of the leg power-assisting frame.

2. The hip joint exoskeleton according to claim 1, characterized in that: The leg assist frame comprises a first leg assist portion (6) and a second leg assist portion (7), the number of the actuator (2) and the number of the adjustment mechanism (3) are both one, the fixed end of the actuator (2) is connected to the first leg assist portion (6), the driving end of the actuator (2) is connected to the moving end of the adjustment mechanism (3), and the fixed end of the adjustment mechanism (3) is connected to the second leg assist portion (7); Alternatively, the number of the actuators (2) and the number of the adjustment mechanisms (3) are both two, and the two actuators (2) and the two adjustment mechanisms (3) are respectively connected to the first leg assisting part (6) and the second leg assisting part (7).

3. The hip joint exoskeleton according to claim 2, characterized in that: The first leg assist portion (6) and the second leg assist portion (7) both include a horizontal section (61), a curved section (62), a hinged portion (63), an adjustment section (64) and a connecting rod (65); the horizontal section (61) is fixedly connected to the curved section (62); the curved section (62) and the adjustment section (64) are hingedly connected via the hinged portion (63); the adjustment section (64) and the connecting rod (65) are connected; the connecting rod (65) is rotationally connected to the sliding member (5); and the horizontal section (61) is connected to the actuator (2) or the adjustment mechanism (3).

4. The hip joint exoskeleton according to claim 1, characterized in that: The adjustment mechanism (3) comprises a telescopic sleeve (31), a telescopic shaft (32) and a locking portion (33); the telescopic sleeve (31) is sleeved on the telescopic shaft (32) and the telescopic sleeve (31) can slide in the axial direction relative to the telescopic shaft (32); the telescopic shaft (32) is connected to the actuator (2); the telescopic sleeve (31) is connected to the leg support frame or the waist frame (1); and the locking portion (33) is used to limit the relative sliding of the telescopic sleeve (31) and the telescopic shaft (32).

5. The hip joint exoskeleton according to claim 1, characterized in that: The leg fixing part (4) comprises a guide member (41), and the sliding member (5) comprises a sliding block (51), and the sliding block (51) is slidably connected to the guide member (41).

6. The hip joint exoskeleton according to claim 5, characterized in that: The leg fixing part (4) comprises a leg sealing part (42), a leg support plate (43) and a receiving frame (44); the leg sealing part (42) is detachably connected to the leg support plate (43); the end surface of the leg support plate (43) is fixedly connected to the receiving frame (44); and the guide member (41) and the slider (51) are located in the receiving frame (44).

7. The hip joint exoskeleton according to claim 6, characterized in that: The leg fixing part (4) further comprises an upper buffer member (45) and a lower buffer member (46), wherein the upper buffer member (45) and the lower buffer member (46) are both sleeved on the guide member (41), and the sliding block (51) is located between the upper buffer member (45) and the lower buffer member (46).

8. The hip joint exoskeleton according to claim 7, characterized in that: The leg fixing part (4) further comprises an upper limit plate (47) and a lower limit plate (48); a limit block (441) is arranged at the inner middle part of the containing frame (44); the upper limit plate (47) and the lower limit plate (48) are both slidably connected to the guide member (41); one end of the upper buffer member (45) is connected to the upper end of the containing frame (44); the other end of the upper buffer member (45) is connected to the upper limit plate (47); one end of the lower buffer member (46) is connected to the lower end of the containing frame (44); the other end of the upper buffer member (45) is connected to the lower limit plate (48); the limit block (441) and the slider (51) are present between the upper limit plate (47) and the lower limit plate (48); the limit block (441) is used to limit the moving direction of the upper limit plate (47) and the lower limit plate (48).

9. The hip joint exoskeleton according to claim 5, characterized in that: The sliding member (5) also includes a fixed plate (52) and a rotating portion (53), wherein the rotating portion (53) and the sliding block (51) are respectively located on two sides of the fixed plate (52) and are fixedly connected, wherein a connecting hole (531) is provided on the rotating portion (53), wherein the connecting hole (531) is rotatably connected to the leg assist frame, and wherein a sliding hole (511) is provided on the sliding block (51), wherein the sliding hole (511) is slidably connected to the guide member (41).

10. The hip joint exoskeleton according to claim 1, characterized in that: The waist frame (1) comprises a waist seal portion (11), a connecting portion (12) and an adjusting portion, wherein the connecting portion (12) is fixedly connected to the side wall of the waist seal portion (11), the two ends of the waist seal portion (11) are detachably connected via the adjusting portion, and the connecting portion (12) is movably connected to the leg assist frame.

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