Ultralight quasi-passive hip-knee joint power-assist robot having multiple degrees of freedom

Abstract

An ultralight quasi-passive hip-knee joint power-assist robot having multiple degrees of freedom, said robot comprising a waist belt and a power-assist mechanism. The power-assist mechanism comprises: a sliding rail module (1), comprising sliding rails (11) and a sliding piece (12), the sliding rails (11) being connected to the waist belt, and the sliding piece (12) being slidably arranged on the sliding rails (11); a hip joint module (2), comprising a first housing (21), a second housing (22), and an elastic member (23), the first housing (21) being rotatably connected to the sliding piece (12), the first housing (21) being rotatably connected to the second housing (22), and two ends of the elastic member (23) being connected to the first housing (21) and the second housing (22), respectively; a connecting module (3), one end of which is fixed to the second housing (22); and a knee joint module (4), the end of the connecting module (3) facing away from the hip joint module (2) being rotatably connected to a part of the knee joint module (4) at the knee of a human body.

Description

An ultra-light, quasi-passive multi-degree-of-freedom hip-knee joint assist robot Technical Field

[0001] The present application relates to the technical field of wearable robots, and in particular to an ultra-light, quasi-passive, multi-degree-of-freedom hip-knee joint power-assisting robot. Background Art

[0002] my country is moving from a mild aging stage to a moderate aging stage. According to data from the National Health Commission and the National Bureau of Statistics, by the end of 2021, the number of people aged 60 and over in China reached 267 million, accounting for 18.9% of the total population. It is estimated that by around 2035, the number of people aged 60 and over will exceed 400 million, exceeding 30% of the total population, entering a severe aging stage. With the gradual increase in life expectancy, my country is rapidly entering an era of longevity, but many elderly people face the problem of unhealthy longevity. Currently, approximately 190 million elderly people in my country suffer from chronic diseases, and 40 million are disabled. With the increasing demand for lower limb assistive devices among the elderly, the development of support and assistance robots in this field has gradually gained attention. These robots can provide auxiliary support and assistance to elderly people with lower limb muscle weakness, effectively alleviating problems such as motor weakness and unsteady walking.

[0003] Furthermore, in the modern military, improving individual combat capabilities is crucial to enhancing the overall combat effectiveness of the military. This is particularly true in situations such as counter-terrorism and earthquake relief, where large-scale military deployment and equipment cannot be deployed in a timely manner. Enhanced exoskeletons are easy to wear and provide appropriate support to the human body, helping to reduce individual soldier loads, increase march speeds, and reduce injury rates. They have become a key area of ​​research and development for modern individual military equipment in various countries.

[0004] Wearable lower-limb exoskeletons can be categorized as active or passive, depending on their mode of operation. They hold broad application prospects in areas such as elderly and disabled care, lifestyle services, and national defense and military affairs. Improving the mechanical design of limb exoskeletons, optimizing their compliant control strategies, and enhancing sensor performance are crucial for improving medical rehabilitation services and enhancing the operational capabilities of personnel in specific industries. Numerous relevant studies have been conducted both domestically and internationally.

[0005] In the related art, a rotation mechanism is provided at the hip joint and the knee joint to adapt to the rotation of the hip joint and the knee joint, and a power assist mechanism is used to assist the rotation of the hip joint and the knee joint to provide power to the legs.

[0006] However, using a power assist device to assist with knee and hip joint rotation requires the use of motors, connecting rods, and other structures to output power. This requires the integration of numerous components, such as housings and power supplies, resulting in a high weight and a burden on the wearable structure. Furthermore, because the power assist device only supports forward and backward thigh rotation, lateral thigh movement is restricted during movements such as squats, high leg raises, and wide hip abductions. This constrains leg movement and severely impacts normal leg movement.

[0007] Summary of the Invention

[0008] The embodiment of the present application provides an ultra-light, quasi-passive, multi-degree-of-freedom hip-knee joint assist robot to solve the technical problems in the related art that the assist device has many components to wear, causes a heavy burden on the human body, has poor flexibility, and affects the normal movement of the human leg.

[0009] In a first aspect, an ultra-lightweight, quasi-passive, multi-degree-of-freedom hip-knee joint power-assisting robot is provided, which includes a waist belt and a power-assisting mechanism, wherein the waist belt is suitable for being fastened around the waist of a human body, and the power-assisting mechanism includes:

[0010] A slide rail module, comprising a slide rail and a slider, wherein the slide rail is connected to the waist belt and is suitable for being arranged along the circumference of the human waist, and the slider is slidably arranged on the slide rail;

[0011] A hip joint module comprising a first shell, a second shell, and an elastic member, wherein the first shell is fixed to the slider, the first shell and the second shell are rotatably connected, and both ends of the elastic member are respectively connected to the first shell and the second shell, and the elastic member deforms with the relative rotation of the first shell and the second shell;

[0012] a connecting module, one end of which is fixed to the second housing;

[0013] A knee joint module is suitable for being fixed to the human calf, a portion of the knee joint module is located at the human knee, and an end of the connection module facing away from the hip joint module is rotatably connected to the portion of the knee joint module located at the human knee.

[0014] In some embodiments, the extension path of the slide rail is arranged in an arc to fit the circumferential shape of the human waist.

[0015] In some embodiments, the slide rail includes:

[0016] Two limiting seats, both of which are fixed to the waist belt;

[0017] An arc-shaped rod, both ends of which are respectively fixed to the two limit seats, and the slider is slidably arranged on the arc-shaped rod.

[0018] In some embodiments, the slider includes:

[0019] a sliding seat connected to the first shell;

[0020] A plurality of sliding wheels are rotatably arranged on the sliding seat, and the plurality of sliding wheels clamp the arc-shaped rod using the circumferential side surfaces thereof so as to slide on the arc-shaped rod.

[0021] In some embodiments, the power assist mechanism further includes a connecting member, one end of which is rotatably connected to the slider, and the other end of which is fixed to the first shell.

[0022] In some embodiments, the elastic member includes a torsion spring, the center line of the torsion spring is consistent with the rotation axis of the first shell and the second shell, and the two ends of the torsion spring are respectively clamped to the first shell and the second shell; wherein,

[0023] The power-assisting robot is worn on a human body, and when the human body is in an upright state, the elastic member is in a deformed state.

[0024] In some embodiments, the hip joint module further includes a bearing, wherein a fixed portion and a rotating portion of the bearing are respectively connected to the first shell and the second shell.

[0025] In some embodiments, the minimum working torque of the torsion spring is 500 N·mm, the maximum working torque is 4500 N·mm, and the working torsion angle is 110 degrees.

[0026] In some embodiments, the knee joint module includes:

[0027] a mounting base, the connecting module being rotatably connected to the mounting base;

[0028] A calf strap is connected to the mounting seat and is suitable for being fastened to the human calf.

[0029] In some embodiments, the connection module includes a plurality of connection rods.

[0030] The beneficial effects of the technical solution provided by this application include:

[0031] The embodiment of the present application provides an ultra-light, quasi-passive, multi-degree-of-freedom hip-knee joint power-assist robot, which is wearable. The waist belt is tied tightly around the human waist to fix the slide rail of the slide rail module to the human waist. When the human body performs movements such as squatting, raising the legs high, and large-scale hip abduction, the hip joint module pushes the slider to slide on the slide rail, thereby compensating for the lack of rotational freedom of the power-assist robot in the horizontal plane at the hip joint. The first shell and the second shell can rotate relative to each other following the forward and backward rotation of the thigh, and the knee joint module and the connection module can also rotate relative to each other following the forward and backward rotation of the human knee to meet the movement needs of the human leg. Therefore, after wearing the power-assist robot, the human leg movement is more flexible and unconstrained. In addition, when the thigh rotates forward, the elastic member releases energy to assist the thigh rotation, which has the effect of assisting movement. There is no need for integrated power components, which greatly reduces the number of integrated components, reduces the weight of the power-assist robot, and reduces the burden on the human body when wearing the power-assist robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0033] FIG1 is a schematic diagram of a power assist mechanism provided in an embodiment of the present application;

[0034] FIG2 is an exploded view of the power assist mechanism provided in an embodiment of the present application;

[0035] FIG3 is a schematic diagram of a slide rail module provided in an embodiment of the present application;

[0036] FIG4 is an exploded view of a hip joint module provided in an embodiment of the present application;

[0037] FIG5 is an exploded view of a knee joint module provided in an embodiment of the present application;

[0038] FIG6 is a table of relevant parameters of the torsion spring provided in an embodiment of the present application.

[0039] In the figure: 1. Slide rail module; 11. Slide rail; 111. Limit seat; 112. Arc rod; 12. Slider; 121. Sliding seat; 122. Sliding wheel; 2. Hip joint module; 21. First shell; 22. Second shell; 23. Elastic member; 24. Bearing; 25. Washer; 26. Fixing sleeve; 3. Connecting module; 4. Knee joint module; 41. Mounting seat; 42. Calf strap; 43. Connecting seat; 5. Connecting member. DETAILED DESCRIPTION

[0040] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] The embodiments of the present application provide an ultra-lightweight, quasi-passive, multi-degree-of-freedom hip-knee joint assist robot. This robot supports leg movement by providing a slide rail module, a hip joint module, and a knee joint module. When worn by a person, leg movement becomes more flexible and unconstrained. Energy release from the elastic elements in the hip joint module assists thigh movement, eliminating the need for an additional integrated power mechanism. This significantly reduces the number of integrated components, lightens the weight of the assist robot, and reduces the burden on the person when wearing it. This application addresses the technical issues in related art whereby wearable assist devices have multiple components, impose a heavy burden on the human body, have poor flexibility, and affect the normal movement of the human leg.

[0042] An ultra-lightweight, quasi-passive, multi-DOF hip-knee joint power-assist robot includes a waist belt (not shown) and a power-assist mechanism. The waist belt is adapted to be tightened around the human waist. The power-assist mechanism is designed to adapt to and assist the movement of the human legs. The power-assist mechanism comprises two groups, one for each leg.

[0043] Referring to Figures 1 and 2, the power-assist mechanism specifically includes a slide rail module 1, a hip joint module 2, a connection module 3, and a knee joint module 4. The slide rail module 1 is connected to the waist of the human body via a waist belt, the knee joint module 4 is connected to the calf, and the connection module 3 is arranged along the length of the human thigh. One end of the connection module 3 is connected to the hip joint module 2, and the other end of the connection module 3 is rotatably connected to the knee joint module 4 near the knee, thereby connecting the knee joint module 4 and the hip joint module 2 to the human leg.

[0044] Referring to Figures 2 and 3, the slide rail module 1 includes a slide rail 11 and a slider 12. The slide rail 11 is connected to the waist belt. Specifically, the slide rail 11 is fixed to the waist belt via bolts or rivets. When worn, the slide rail 11 is arranged circumferentially around the waist. The slider 12 is slidably mounted on the slide rail 11.

[0045] With this arrangement, when a person wears the power-assisting robot and the thigh itself twists and rotates, the slider 12 can rotate on the slide rail 11 to support the movement requirements of the thigh without restricting the movement of the thigh.

[0046] 2 and 3 , the extension path of the slide rail 11 is arranged in an arc to fit the circumferential shape of the human waist.

[0047] Referring to Figures 2 and 3, specifically, the slide rail 11 includes a curved rod 112 and two limit seats 111. The two limit seats 111 are fixed to the waist belt by bolts. The two ends of the curved rod 112 are respectively fixed to the two limit seats 111 by bolts, and the slider 12 is slidably arranged on the curved rod 112. Preferably, the curvature radius of the curved rod 112 is 150mm and the arc length is 165mm. This conforms to the shape of the human waist. In addition, the provision of the limit seats 111 prevents the slider 12 from detaching from the end of the curved rod 112.

[0048] 2 and 3 , in this embodiment, two arc-shaped rods 112 are provided in the slide rail 11 , and the two arc-shaped rods 112 are spaced apart. The slider 12 is slidably disposed on the two arc-shaped rods 112 , thereby improving the structural strength and the sliding stability of the slider 12 .

[0049] 2 and 3 , the slider 12 includes a sliding seat 121 and a plurality of sliding wheels 122. The sliding seat 121 is connected to the first housing 21. The plurality of sliding wheels 122 are rotatably mounted on the sliding seat 121. The plurality of sliding wheels 122 use their circumferential side surfaces to clamp the curved rod 112, thereby sliding on the curved rod 112. Preferably, the circumferential side surfaces of the sliding wheels 122 are provided with inner grooves, and the groove walls of the inner grooves clamp the curved rod 112, thereby preventing the sliding wheels 122 from detaching from the curved rod 112.

[0050] 3 , in this embodiment, seven sliding wheels 122 are provided, wherein one arc-shaped rod 112 is clamped by three sliding wheels 122 , and another arc-shaped rod 112 is clamped by four sliding wheels 122 .

[0051] In this embodiment, the arc rod 112 and the sliding seat 121 are both made of titanium alloy material to meet the strength requirements while reducing the weight of the power-assisting robot.

[0052] 2 and 4 , the hip joint module 2 includes a first shell 21, a second shell 22 and an elastic member 23. After being worn, the hip joint module 2 is arranged close to the hip joint of the human body. The first shell 21 is rotatably connected to the slider 12, and the first shell 21 and the second shell 22 are rotatably connected. When the thigh rotates back and forth, the first shell 21 and the second shell 22 rotate relative to each other to support the demand for the thigh to rotate back and forth. When the thigh rotates back and forth to a large extent, such as when squatting and raising the legs high, the human thigh will gradually approach the waist. At this time, the movement of the slider 12 on the slide rail 11 supports the large-scale back and forth rotation of the thigh, which will not restrict the normal movement of the human thigh.

[0053] Referring to Figures 2 and 4 , specifically, the first housing 21 is coaxially secured to the central shaft, and the first housing 21 and the central shaft can be integrally cast or 3D-printed. The second housing 22 is sleeved over the central shaft, with a clearance fit therewith, to achieve a rotational connection between the first and second housings 21, 22. Axial movement of the first and second housings 21, 22 is restricted by a fixing sleeve 26, which is secured to the central shaft via bolts.

[0054] 2 and 4 , the hip joint module 2 further includes a bearing 24, the fixed portion and the rotating portion of which are connected to the first housing 21 and the second housing 22, respectively, to reduce friction during relative rotation between the first housing 21 and the second housing 22. The bearing 24 comprises a planar thrust needle roller bearing.

[0055] 2 and 4 , the hip joint module 2 further includes two washers 25 , which are respectively attached to opposite sides of the bearing 24 to reduce wear of the bearing 24 .

[0056] 2 and 4 , the power-assist mechanism further includes a connector 5, one end of which is rotatably connected to the slider 12, and the other end of the connector 5 is fixed to the first housing 21. Therefore, the first housing 21 is rotatably connected to the slider 12 via the connector 5. Since there is a positional difference between the human hip joint and the waist, the rotatable connection between the first housing 21 and the slider 12 via the connector 5 can reduce the volume of the first housing 21, simplify the structure of the hip joint module 2, and facilitate alignment of the rotation axis of the first housing 21 and the second housing 22 with the front-to-back rotation axis of the human hip joint.

[0057] After wearing the power-assisting robot, when the human body's thigh rotates inward and outward, the relative rotation of the connecting member 5 and the slider 12 supports the inward and outward rotation of the human body's thigh, and does not restrict the inward and outward rotation of the thigh.

[0058] 2 and 4 , specifically, a connecting shaft is fixed to the slider 12, and one end of the connecting member 5 is sleeved on the connecting shaft to be rotatably connected to the slider 12. The other end of the connecting member 5 is fixed to the first housing 21 by multiple bolts. The connecting member 5 includes a connecting plate.

[0059] When a person wearing the power-assisting robot performs large thigh movements, such as squatting, raising the legs, etc., the connector 5 pushes the slider 12 to move on the slide rail 11 to support the thigh's range of motion without being constrained by movement.

[0060] Referring to Figures 2 and 4 , the ends of the elastic member 23 are connected to the first and second shells 21, 22, respectively. The elastic member 23 deforms as the first and second shells 21, 22 rotate relative to each other. Specifically, the elastic member 23 comprises a torsion spring, the centerline of which aligns with the rotational axis of the first and second shells 21, 22. The ends of the torsion spring are respectively clamped to the first and second shells 21, 22. As the thigh rotates forward and backward, the first and second shells 21, 22 rotate relative to each other, causing the torsion spring to deform.

[0061] When a person wears the power-assist robot and stands upright, the elastic member 23 is deformed. Due to the person's own weight, the elastic member 23 cannot rotate the person's leg. When the person's thigh rotates forward, the torsion spring releases energy as it recovers, assisting the thigh's rotation and providing a power-assisting effect. Therefore, the elastic member 23 can assist the person's movements when walking, squatting, and climbing stairs.

[0062] Specifically, after the first shell 21 and the second shell 22 are rotatably connected, an installation cavity is formed inside the first shell 21 and the second shell 22 , and the torsion spring is located in the installation cavity.

[0063] The torsion spring has a minimum operating torque of 500 N·mm, a maximum operating torque of 4500 N·mm, and an operating torsion angle of 110 degrees. This configuration allows the spring's elastic force to better assist thigh rotation, achieving power assistance while meeting the required angle of thigh rotation and meeting the assistance needs of various human motion states, such as walking, squatting, and climbing stairs.

[0064] Specifically, a straight-arm torsion spring is selected. Based on the magnitude of the torque component in the sagittal plane of the hip joint during human motion, the minimum working torque of the torsion spring is set to 500 N·mm, the maximum working torque is set to 4500 N·mm, and the working torsion angle is set to 110 degrees. The specific calculation is as follows:

[0065] (1) Select materials and allowable bending stress σ Bp :

[0066] According to the initial design conditions, select Class III spring and use carbon steel spring wire grade C. Initially assume that d = 3 ~ 4mm, and look up the table to get σ b =1520~1570Mpa.

[0067] Take σ b =1550Mpa, and the allowable bending stress is obtained from the table: σ Bp =0.8σ b =0.8×1550=1240Mpa.

[0068] (2) Preliminary convolution ratio C: tentatively set C = 10

[0069] (3) Curvature coefficient K1: K1 = (4C-1) / (4C-4) = 1.08

[0070] (4) Steel wire diameter d:

[0071] Take the standard value d = 3.5. Look up the table to get σ b =1570Mpa, which is greater than the original provisional value, so it is safe.

[0072] (5) Spring diameter D and winding ratio C:

[0073] D=C×d=35, take the standard value D=35, then C=D / d=10

[0074] (6) Number of spring coils n:

[0075] Take the integer n = 6

[0076] (7) Spring stiffness T': T' = Ed 4 / 3667D=40.14°

[0077] (8) Torsion angle at maximum working torque

[0078] (9) Torsion angle at minimum working torque Actual minimum working torque T1 and working limit bending stress σ j : σ j =0.8σ b =1256

[0079] (10) Working limit torque T j : T j =πd 3 σ j / 32K1=4895.19

[0080] (11) Working limit torsion angle

[0081] (12) Spring pitch t:

[0082] t=d+δ, δ=0.5mm. Obtain t=d+δ=3.5+0.5=4mm

[0083] (13) Free length H0: H0 = nt + d = 6 × 4 + 3.5 = 27.5

[0084] (14) Helix angle α: α = arctan (t / πD) = 2.08°

[0085] (15) Expanded length L: L = πDn / cosα + L0 = 660.17 + L0

[0086] (16) Minimum stability index n min :

[0087] Finally, the relevant parameters of the torsion spring are determined, as shown in Figure 6. In this way, all the design features of the torsion spring can be obtained, thereby obtaining a torsion spring that meets the requirements.

[0088] 2 and 5 , the knee joint module 4 is adapted to be fixed to the human lower leg, with a portion of the knee joint module 4 located at the human knee, and the end of the connection module 3 facing away from the hip joint module 2 is rotatably connected to the portion of the knee joint module 4 located at the human knee. Specifically:

[0089] 2 and 5 , the knee joint module 4 includes a mounting seat 41 and a calf strap 42. The connection module 3 is rotatably connected to the mounting seat 41, and the calf strap 42 is connected to the mounting seat 41 and is suitable for being fastened to the human calf.

[0090] Referring to Figures 2 and 5 , when the power-assist robot is worn, the knee joint module 4 is secured to the user's calf via a calf bandage, and the fixed position is close to the user's knee. Because one end of the connecting module 3 is pivotally connected to the mounting base 41, and the other end of the connecting module 3 is connected to the hip joint module 2, the connecting module 3 fits against the user's thigh along the length of the thigh. Because the connecting module 3 is pivotally connected to the mounting base 41, when the user's knee rotates back and forth, the connecting module 3 can also rotate simultaneously to support the rotation of the knee, without constraining the movement of the knee.

[0091] Referring to Figure 2 , one end of the connecting module 3 is secured to the second housing 22 via bolts, allowing it to rotate with the second housing 22 relative to the first housing 21, without restricting the forward and backward rotation of the human hip joint. The other end of the connecting module 3 is rotatably connected to the mounting base 41 of the knee joint module 4 via a connecting base 43, thereby preventing any restriction on the movement of the human knee.

[0092] Referring to Figure 2, the connection module 3 specifically includes two connecting rods. In this embodiment, the connecting rods are carbon fiber rods to ensure strength while reducing the weight of the power assist robot.

[0093] The following is an overall introduction to the power-assisting robot described in this embodiment:

[0094] After the human body wears the power-assist robot, the waist belt is tightened around the human body's waist, and the calf strap 42 is tightened around the calf near the knee. At this time, the elastic member 23 is in a deformed state. When the thigh twists and rotates, the slider 12 slides on the slide rail 11 at the same time to support the twisting movement of the thigh. When the thigh rotates forward and backward, the first shell 21 and the second shell 22 rotate relative to each other at the same time to support the forward and backward rotation of the thigh; and when the forward and backward rotation of the thigh is large, such as when raising the leg high and squatting, the slider 12 also slides synchronously on the slide rail 11 to meet the movement needs of the leg. When the thigh rotates inward and outward, the connecting member 5 rotates relative to the slider 12 at the same time to support the inward and outward rotation of the thigh. When the calf rotates forward and backward relative to the thigh, the connecting module 3 rotates relative to the mounting seat 41 at the same time to support the forward and backward rotation of the calf. In summary, it can be seen that the power-assist robot realizes four degrees of freedom movement of a single leg and eight degrees of freedom movement of both legs. It is highly flexible and does not restrict the movement of the human leg.

[0095] In addition, when the human body does movements such as moving forward and squatting, the elastic member 23 simultaneously restores the deformed state and releases energy to assist the human legs, thereby achieving the effect of assisting movement. There is no need to integrate power components, which greatly reduces the number of integrated components, reduces the weight of the power-assisting robot, and reduces the burden on the human body when wearing the power-assisting robot.

[0096] The embodiment of the present application provides an ultra-light, quasi-passive, multi-degree-of-freedom hip-knee joint assist robot, which is wearable. The waist belt is tied tightly around the human waist to fix the slide rail 11 of the slide rail module 1 to the human waist. When the human body performs movements such as squatting, raising the legs high, and large-scale hip abduction, the hip joint module 2 pushes the slider 12 to slide on the slide rail 11, thereby compensating for the lack of rotational freedom of the assist robot in the horizontal plane at the hip joint. The first shell 21 and the second shell 22 can rotate relative to each other following the forward and backward rotation of the thigh, and the knee joint module 4 and the connection module 3 can also rotate relative to each other following the forward and backward rotation of the human knee to meet the movement needs of the human leg. Therefore, after wearing the assist robot, the human leg movement is more flexible and unconstrained. In addition, when the thigh rotates forward, the elastic member 23 releases energy to assist the thigh rotation, achieving the effect of assisting movement. There is no need for integrated power components, which greatly reduces the number of integrated components, reduces the weight of the assist robot, and reduces the burden on the human body when wearing the assist robot.

[0097] In the description of this application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0098] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0099] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. An ultra-lightweight quasi-passive multi-degree-of-freedom hip-knee joint assist robot, characterized in that: It includes a waist belt and a power-assisting mechanism, wherein the waist belt is suitable for being fastened around the waist of a human body, and the power-assisting mechanism includes: A slide rail module, the slide rail module comprising a slide rail and a slider, the slide rail is connected to the waist belt and is suitable for being arranged along the circumference of the human waist, and the slider is slidably arranged on the slide rail; A hip joint module, the hip joint module comprising a first shell, a second shell and an elastic member, the first shell is rotatably connected to the slider, the first shell and the second shell are rotatably connected, two ends of the elastic member are respectively connected to the first shell and the second shell, and the elastic member is deformed with the relative rotation of the first shell and the second shell; A connecting module, one end of which is fixed to the second shell; A knee joint module, wherein the knee joint module is suitable for being fixed to the human calf, a portion of the knee joint module is located at the human knee, and an end of the connection module away from the hip joint module is rotatably connected to the portion of the knee joint module located at the human knee.

2. The ultra-lightweight quasi-passive multi-degree-of-freedom hip-knee joint assist robot according to claim 1, characterized in that: The extension path of the slide rail is arranged in an arc shape to fit the circumferential shape of the human waist.

3. The ultra-lightweight quasi-passive multi-degree-of-freedom hip-knee joint assist robot according to claim 1 or 2, characterized in that: The slide rail comprises: Two limiting seats, both of which are fixed to the waist belt; An arc-shaped rod, both ends of which are respectively fixed to the two limit seats, and the sliding block is slidably arranged on the arc-shaped rod.

4. The ultra-lightweight quasi-passive multi-degree-of-freedom hip-knee joint assist robot according to claim 3, characterized in that: The slider comprises: A sliding seat connected to the first shell; A plurality of sliding wheels are rotatably arranged on the sliding seat, and the plurality of sliding wheels clamp the arc-shaped rod by using the circumferential side surfaces thereof so as to slide on the arc-shaped rod.

5. The ultra-lightweight quasi-passive multi-DOF hip-knee joint assist robot according to claim 1, characterized in that: The power assist mechanism further includes a connecting member, one end of which is rotatably connected to the slider, and the other end of which is fixed to the first shell.

6. The ultra-lightweight quasi-passive multi-DOF hip-knee joint assist robot according to claim 1, characterized in that: The elastic member includes a torsion spring, the center line of the torsion spring is consistent with the rotation axis of the first shell and the second shell, and the two ends of the torsion spring are clamped on the first shell and the second shell respectively; wherein, The power-assisting robot is worn on a human body, and when the human body is in an upright state, the elastic member is in a deformed state.

7. The ultra-lightweight quasi-passive multi-degree-of-freedom hip-knee joint assist robot according to claim 1 or 6, characterized in that: The hip joint module also includes a bearing, a fixed portion and a rotating portion of the bearing are respectively connected to the first shell and the second shell.

8. The ultra-lightweight quasi-passive multi-DOF hip-knee joint assist robot according to claim 6, characterized in that: The minimum working torque of the torsion spring is 500 N·mm, the maximum working torque is 4500 N·mm, and the working torsion angle is 110 degrees.

9. The ultra-lightweight quasi-passive multi-DOF hip-knee joint assist robot according to claim 1, characterized in that: The knee joint module comprises: A mounting seat, the connection module being rotatably connected to the mounting seat; A calf strap is connected to the mounting seat and is suitable for being fastened to the human calf.

10. The ultra-lightweight quasi-passive multi-degree-of-freedom hip-knee joint assist robot according to claim 1, characterized in that: The connection module includes a plurality of connection rods.

Images