Hip assistive exoskeleton

Abstract

The present application discloses a hip assistive exoskeleton, comprising a main housing provided with a cross beam therein; and leg connecting members each provided with a first connecting end and a second connecting end, the first connecting end being slidably connected to the cross beam, and the second connecting end being configured to be connected to a corresponding leg assembly. By configuring the leg connecting members to be slidably connected to the cross beam, when the width of the hip assistive exoskeleton needs to be adjusted, the distance between the two leg connecting members can be reduced by sliding the two leg connecting members inward towards each other, so as to reduce the width of the hip assistive exoskeleton; and the distance between the two leg connecting members can be increased by sliding the two leg connecting members outward in opposite directions, so as to increase the width of the hip assistive exoskeleton, so that the width of the hip assistive exoskeleton fits the figures and action habits of users, thereby preventing the hip assistive exoskeleton from pressing against the hips of users and causing friction that results in pain or discomfort to users.

Description

Hip-assisted walking exoskeleton Technical Field

[0001] This application relates to the field of wearable mechanical devices, and more particularly to a hip-assisted walking exoskeleton. Background Technology

[0002] Mechanical exoskeletons are devices used to enhance human strength, endurance, or athletic ability. They support the human body to aid movement, protect internal organs from injury, enhance strength, endurance, and athletic ability, help people with impaired walking ability regain their mobility, and provide virtual reality experiences.

[0003] In terms of power, exoskeletons can be divided into active exoskeletons and passive exoskeletons. Active exoskeletons use batteries or other external power sources to power motors, thereby powering the joints; passive exoskeletons usually enhance human strength only through mechanical structures.

[0004] Hip width is a crucial factor affecting the comfort and functionality of an exoskeleton. If the hip width is inappropriate, the exoskeleton may rub against or compress the user's hips, causing pain or discomfort. Furthermore, an inappropriate hip width can also affect the exoskeleton's gait, leading to unnatural or uncoordinated walking.

[0005] Application content

[0006] The purpose of this application is to provide a hip-assisted walking exoskeleton that enables free adjustment of hip width.

[0007] To achieve the above objectives, this application adopts the following technical solution:

[0008] A hip-assisted walking exoskeleton is provided, comprising:

[0009] The main unit casing has a crossbeam installed inside;

[0010] A leg connector has a first connecting end and a second connecting end, the first connecting end being slidably connected to the crossbeam, and the second connecting end being used to connect to the leg assembly;

[0011] A connecting assembly, fixedly connected to the side wall of the leg connector, the leg connector being slidably mounted to the crossbeam via the connecting assembly, the connecting assembly being used to withstand the locking force between the leg connector and the crossbeam; and

[0012] A locking assembly, connected to the connecting assembly, is used to control the movement of the connecting assembly, such that the connecting assembly moves toward the crossbeam to a locking limit position, or to release the control of the connecting assembly so that it can move freely relative to the crossbeam.

[0013] Optionally, the leg connector has a hollow structure, and at least a portion of the connecting assembly penetrates the sidewall of the leg connector near the crossbeam. The connecting assembly includes a mounting portion inside the leg connector and a locking portion outside the leg connector. The connecting assembly is fixedly connected to the leg connector through the mounting portion, and the locking portion is used to selectively lock onto the crossbeam.

[0014] Optionally, the locking part has a first surface facing the crossbeam, the first surface being selectively abutting the crossbeam, and in the abutting state, the friction between the first surface and the crossbeam can limit the sliding of the connecting assembly relative to the crossbeam.

[0015] Optionally, both the mounting portion and the locking portion are configured to extend along the sliding mounting direction of the connecting assembly.

[0016] Optionally, the crossbeam is provided with a track that cooperates with the connecting component, and the connecting component and the track are slidably connected relative to each other.

[0017] Optionally, the locking assembly includes a locking pin and a locking drive, the locking pin being connected to the connecting assembly, and the locking drive being configured to drive the locking pin to move, thereby pulling the connecting assembly to lock and limit its position against the crossbeam.

[0018] Optionally, the connecting component is provided with a through groove, the crossbeam is provided with a through hole, and the locking pin passes through the through hole and the through groove, with its two ends located on the two sides of the crossbeam opposite to the connecting component.

[0019] Optionally, the connecting component has a second surface opposite to the first surface, a limiting groove is provided on the second surface of the mounting portion, the locking pin has a limiting boss that cooperates with the limiting groove, and the locking pin can slide relative to the connecting component in the limiting groove.

[0020] Optionally, the locking drive further includes a locking block, which is hinged to the locking pin on the side of the crossbeam away from the connecting assembly, for driving the locking pin to move.

[0021] Optionally, the locking block has a strip-shaped structure with a first end and a second end facing away from each other. The first end is hinged to the crossbeam, and the locking block is hinged to the locking pin between the first end and the second end.

[0022] Optionally, the locking drive further includes a control wrench that can selectively abut against the second end or against the crossbeam to drive the locking block to swing about the hinge axis between it and the crossbeam away from the crossbeam.

[0023] Optionally, the control wrench includes a moving handle and an eccentric shaft. The eccentric shaft has a shaft diameter and a bushing. The moving handle is hinged to the crossbeam through the shaft diameter of the eccentric shaft, and the bushing of the eccentric shaft is used to abut against the second end of the locking block.

[0024] The beneficial effects of this application are as follows: By setting the leg connectors to be slidably connected to the crossbeam, when it is necessary to adjust the width of the hip-assisted walking exoskeleton, the two leg connectors can be slid inwards towards each other to shorten the distance between them, thereby narrowing the width of the hip-assisted walking exoskeleton. Alternatively, the two leg connectors can be slid outwards away from each other to increase the distance between them, thereby widening the width of the hip-assisted walking exoskeleton. This allows the width of the hip-assisted walking exoskeleton to adapt to the user's body shape and movement habits, avoiding pressure or friction on the user's hips caused by the hip-assisted walking exoskeleton, which could lead to pain or discomfort. At the same time, it can avoid affecting the user's gait, which could result in unnatural or uncoordinated walking.

[0025] By incorporating a connecting assembly, the leg connector is connected to the crossbeam via the connecting assembly. This prevents direct friction between the leg connector and the crossbeam during movement, thus avoiding wear and instability that could lead to an unstable connection. Simultaneously, the locking assembly directs the locking force between the leg connector and the crossbeam onto the connecting assembly, preventing deformation of the leg connector due to excessive locking force, which could affect position adjustment and usability. Furthermore, as the force-bearing element for both relative sliding and locking forces, the connecting assembly is less prone to deformation than the leg connector itself. Even if damage occurs after prolonged use, only the connecting assembly needs replacement, eliminating the need to replace the leg assembly, thus extending service life and reducing maintenance costs. Attached Figure Description

[0026] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0027] Figure 1 is a schematic diagram of a hip-assisted walking exoskeleton according to an embodiment of this application;

[0028] Figure 2 is another schematic diagram of the hip-assisted walking exoskeleton in one embodiment of this application;

[0029] Figure 3 is a schematic diagram of the hip-assisted walking exoskeleton in one embodiment of this application from another perspective.

[0030] Figure 4 is a schematic diagram from one perspective of the hip-assisted walking exoskeleton in an embodiment of this application with the outer shell removed and the locking component locked.

[0031] Figure 5 is another perspective view of the locking state of the locking component in one embodiment of this application;

[0032] Figure 6 is a schematic diagram of the battery and hip-assisted walking exoskeleton (without the outer shell and electronic control module) in a separation state according to an embodiment of this application;

[0033] Figure 7 is another perspective structural diagram of the hip-assisted walking exoskeleton (without shell, battery and electronic control module) in one embodiment of this application;

[0034] Figure 8 is a schematic diagram of the locking state of the locking component in one embodiment of this application from another perspective.

[0035] Figure 9 is another perspective view of the locking state of the locking component in one embodiment of this application;

[0036] Figure 10 is a cross-sectional view along direction AA in Figure 9;

[0037] Figure 11 is a three-dimensional structural diagram of the locking block according to an embodiment of this application;

[0038] Figure 12 is a three-dimensional structural diagram of the control wrench described in an embodiment of this application;

[0039] Figure 13 is a magnified view of part I in Figure 10;

[0040] Figure 14 is a schematic diagram from another perspective of the unlocked state of the locking component in one embodiment of this application;

[0041] Figure 15 is another perspective view of the unlocked state of the locking component in one embodiment of this application;

[0042] Figure 16 is a cross-sectional view along the BB direction in Figure 15;

[0043] Figure 17 is a magnified view of section II in Figure 15;

[0044] Figure 18 is a schematic diagram of the disassembled state of the locking component in one embodiment of this application;

[0045] Figure 19 is a schematic diagram of the disassembled state of the crossbeam, connecting components and locking components;

[0046] Figure 20 is a magnified view of section III in Figure 19;

[0047] Figure 21 is a schematic diagram of the disassembled state of the crossbeam, connecting components, and locking pins;

[0048] Figure 22 is a magnified view of section IV in Figure 21;

[0049] Figure 23 is a schematic diagram from a perspective of the assembly state of the hip-assisted walking exoskeleton and leg components described in the embodiment of this application;

[0050] Figure 24 is another perspective view of the assembly state of the hip-assisted walking exoskeleton and leg components described in the embodiment of this application;

[0051] Figure 25 is another perspective view of the assembly state of the hip-assisted walking exoskeleton and leg components described in the embodiment of this application.

[0052] In the diagram: 100, main casing; 110, bottom casing; 120, outer casing; 132, first opening; 133, second opening; 200, crossbeam; 210, Slide groove; 220, Through hole; 300, Connecting assembly; 301, Mounting part; 302, Locking part; 310, First surface; 311, Slide rail; 320, Through groove; 330, Second surface; 331, Limiting groove; 400, Locking assembly; 410, Locking pin; 420, Locking drive; 421, Locking block; 4211, First end; 4212, Second end; 4213, Second hinge shaft; 4214, First shaft hole; 4215, Pin hole; 4216, Arc-shaped groove; 422, First hinge shaft; 423, Control wrench; 4231, Handle; 4232, Eccentric shaft; 4233, Shaft diameter; 4234, Bushing; 500, Leg connector; 600, Leg assembly. Detailed Implementation

[0053] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0055] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0056] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0057] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0058] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0059] Mechanical exoskeletons are devices used to enhance human strength, endurance, or athletic ability. They support the human body to aid movement, protect internal organs from injury, enhance strength, endurance, and athletic ability, help people with impaired walking ability regain their mobility, and provide virtual reality experiences.

[0060] Hip width is a crucial factor affecting the comfort and functionality of an exoskeleton. If the hip width is inappropriate, the exoskeleton may rub against or compress the user's hips, causing pain or discomfort. Furthermore, an inappropriate hip width can affect the exoskeleton's gait, leading to unnatural or uncoordinated walking. When the same exoskeleton is used by different people, its width usually needs to be adjusted to accommodate different body widths.

[0061] In the description of the embodiments of this application, the human body coordinate system is used to represent the orientation. The "front" in the embodiments of this application refers to the direction in which the human face is facing when the hip-assisted walking exoskeleton is worn on the human body, the "back" refers to the direction in which the human back is facing, the "up" refers to the direction in which the human head is facing, and the "down" refers to the direction in which the human feet are facing.

[0062] Based on the above, and referring to Figures 1-25, this application embodiment provides a hip-assisted walking exoskeleton, including:

[0063] The main unit casing 100 has a crossbeam 200 inside;

[0064] The leg connector 500 has a first connecting end and a second connecting end. The first connecting end is slidably connected to the crossbeam 200, and the second connecting end is used to connect to the leg assembly 600.

[0065] It also includes a connecting component 300, which is fixedly connected to the side wall of the leg connector 500. The leg connector 500 is slidably mounted on the crossbeam 200 via the connecting component 300. The connecting component 300 is used to withstand the locking force between the leg connector 500 and the crossbeam 200.

[0066] A locking component 400 is connected to the connecting component 300. The locking component 400 acts on the connecting component 300 to control the movement of the connecting component 300, so that the connecting component 300 moves toward the crossbeam 200 to a locking limit position, or releases the control of the connecting component 300 so that it can move freely relative to the crossbeam 200.

[0067] In this embodiment, the leg connectors 500 are slidably connected to the crossbeam 200. When the width of the hip-assisted walking exoskeleton needs to be adjusted, the two leg connectors 500 can be slid inward toward each other to shorten the distance between them, thereby narrowing the width of the hip-assisted walking exoskeleton. Alternatively, the two leg connectors 500 can be slid outward toward each other to increase the distance between them, thereby widening the width of the hip-assisted walking exoskeleton. This allows the width of the hip-assisted walking exoskeleton to adapt to the user's body shape and movement habits, avoiding pressure or friction on the user's hips that could cause pain or discomfort. It also avoids affecting the user's gait, preventing unnatural or uncoordinated walking.

[0068] By using the connecting component 300, the leg connector 500 is connected to the crossbeam 200 via the connecting component 300. This avoids direct friction between the leg connector 500 and the crossbeam 200 during movement, preventing wear and instability that could result from movement. Simultaneously, the locking component 400 directs the locking force between the leg connector 500 and the crossbeam 200 onto the connecting component 300, preventing deformation caused by applying locking force to the leg connector 500 and affecting position adjustment and use. Furthermore, as the force-bearing element for both relative sliding and locking forces, the connecting component 300 is less prone to deformation than the leg connector 500. Even if damage occurs after prolonged use, only the connecting component 300 needs replacement, eliminating the need to replace the leg component 500, thus extending service life and reducing maintenance costs.

[0069] It is understood that the connecting component 300 and the leg connector 500 are fixedly connected in this application. That is, when the connecting component 300 moves in the locking direction, the leg connector 500 moves synchronously. Therefore, in this embodiment, the locking component 400 acts on the connecting component 300, and controlling the movement of the connecting component 300 simultaneously controls the movement of the leg connector 500. Furthermore, the aforementioned movement of the connecting component 300 toward the crossbeam 200 to the locking limit position can refer to the interaction between the connecting component 300 and the crossbeam 200 to achieve the limit, or it can refer to the interaction between the leg connector 500 and the crossbeam 200 to achieve the limit.

[0070] In this application, the main body shell 100 serves as the exterior part of the hip-assisted walking exoskeleton, and it also serves to install the crossbeam 200 and protect the other internal components. The crossbeam 200 is the main load-bearing component of the hip-assisted walking exoskeleton, and it adopts a rigid sheet metal structure. It is understood that the crossbeam 200 is not necessarily a straight plate structure, and its shape can be adjusted according to the actual needs of the hip-assisted walking exoskeleton and the structural form of the main body shell 100.

[0071] Meanwhile, the crossbeam 200 is not specifically limited to an integral crossbeam structure that runs horizontally through the main body shell 100. The crossbeam 200 can also be split. For example, a first crossbeam and a second crossbeam are respectively provided on the left and right sides of the main body shell 100. The first crossbeam is slidably connected to the first connecting end of the leg connector 500 worn on the left side of the human body, and the second crossbeam is slidably connected to the first connecting end of the leg connector 500 worn on the right side of the human body.

[0072] It is understood that the hip-assisted walking exoskeleton described in this application embodiment has two sets of leg connectors 500. Taking the integrated crossbeam as an example, the two sets of leg connectors 500 are respectively installed at both ends of the crossbeam 200 and are used to install a set of leg components 600.

[0073] Meanwhile, in this embodiment, the connecting component 300 is connected to the side wall of the leg connector 500 and is used to bear the locking force between the leg connector 500 and the crossbeam 200. Since the connecting component 300, which bears the locking force, is located on the side wall of the leg connector 500, and the locking force provided by the locking component 400 can pull the leg connector 500 toward the crossbeam 200 to the locking limit position through the connecting component 300, the direction of the locking force is basically perpendicular to the crossbeam 200, and the locking force is basically perpendicular to the side wall of the leg connector 500. Compared with the prior art structure that uses a clamp structure to lock the leg connector 500, when using this hip-assisted walking exoskeleton for assisted movement or assistance, because the leg connector 500 will continuously receive positive and negative torque from the human leg, the locking force application method of this application is more conducive to resisting external torque and avoiding accidental loosening.

[0074] Meanwhile, the locking component 400 in this application is used to link the connecting component 300 and the crossbeam 200. In the locked state, the locking component 400, in cooperation with the crossbeam 200, applies force to the connecting component 300. Under the force of the locking component 400, the connecting component 300 moves to a locking limit position with the crossbeam 200, thereby locking the leg connector 500. When free adjustment of the leg connector 500 is required, the control over the connecting component 300 is released by manipulating the locking component 400, allowing the connecting component 300 or the leg connector 500 to move freely relative to the crossbeam 200. By setting the locking component 400, the locked and unlocked states of the connecting component 300 or the leg connector 500 with the crossbeam 200 are controllable, facilitating the user to adjust the width of the hip-assisted walking exoskeleton when needed.

[0075] It should be noted that the specific locking method of the locking component 400 is not specifically limited in this embodiment. For example, the locking method can be a pin-type locking, a snap-locking, or abutment-contact locking, etc. The locking component 400 only needs to satisfy the requirement of providing a locking force acting on the connecting component 300, so that the connecting component 300 or the leg connecting member 500 can be locked and limited with the crossbeam 200, and can be released from the locked and limited state. For example, in one embodiment, the locking component 400 is a bolt and a nut. After the bolt passes through the crossbeam 200 and the leg connecting member (500), the connecting component 300 is fixedly connected to the crossbeam 200. Locking and unlocking can be achieved by tightening or loosening the nut.

[0076] For example, when using a top-contact locking method: the locking component 400 applies a locking force to the connecting component 300, causing the connecting component 300 or the leg connector 500 to abut against the crossbeam 200. The connecting component 300 or the leg connector 500 presses against the crossbeam 200, and the friction between the two prevents relative sliding.

[0077] Meanwhile, compared with the existing design, the locking method adopted in this application can apply the locking force between the leg connector 500 and the crossbeam 200 to the connecting component 300 through the locking component 400, so as to avoid applying the locking force to the leg connector 500 and causing it to deform, thus affecting the position adjustment and use.

[0078] For example, in existing designs, when the leg connector 500 is pressed against a screw or clamp in a direction perpendicular to the adjustment direction to fix it in the corresponding position, the pressure from the screw or clamp can easily cause a dent in the corresponding position on the leg connector 500. Over time, this dent increases, and when the adjustment position is near the dent, rotating the screw or clamp or tightening the clamp will cause the leg connector 500 to move to the position corresponding to the dent, making it impossible to adjust the position of the leg connector 500 and the crossbeam 200 to near the dent. Furthermore, because of the dent on the leg connector 500, when locking it at the same position using the screw or clamp, the depth of each rotation or tightening must be increased to generate sufficient locking force. This further increases the deformation of the leg connector 500, affecting its usability.

[0079] The fixed connection method and fixed connection position between the connecting component 300 and the leg connector 500 in this embodiment are described below:

[0080] Specifically, in an optional embodiment of this application, the connecting component 300 is disposed outside the leg connector 500 and located between the leg connector 500 and the crossbeam 200. By disposing the connecting component 300 between the leg connector 500 and the crossbeam 200, the leg connector 500 does not directly contact the crossbeam 200. When relative sliding occurs between the leg connector 500 and the crossbeam 200, it will not cause wear to the leg connector 500, thereby extending the service life of the leg connector 500. When the connecting component 300 is severely worn, only the connecting component 300 needs to be replaced, without replacing the entire leg connector 500, thus reducing product maintenance costs.

[0081] However, the above-described arrangement of the connecting component 300 outside the leg connector 500 is not intended to limit this application. In other embodiments, the connecting component 300 can also be disposed inside the leg connector 500 and fitted against the side wall of the leg connector 500 near the crossbeam 200. By placing the connecting component 300 inside the leg connector 500, the locking force can be more easily applied to the connecting component 300 and then transmitted to the side wall of the leg connector 500. The large contact area between the connecting component 300 and the leg connector 500 prevents deformation of the leg connector 500 caused by concentrated locking force over a small area, thus avoiding affecting the locking effect.

[0082] Alternatively, in another optional embodiment of this application, the connecting component 300 may also be a split structure, with its two parts located on opposite sides of the sidewall of the leg connector 500.

[0083] Specifically, the connecting assembly 300 includes a support block and a guide block. The support block is located inside the leg connector 500, and the guide block is located outside the leg connector 500. The support block and the guide block are clamped to the side wall of the leg connector 500, and the guide block is located between the leg connector 500 and the crossbeam 200. The support block is used to bear the locking force, and the guide block is used to bear the frictional force and guide when relative sliding occurs between the leg connector 500 and the crossbeam 200.

[0084] In all of the above solutions, the connection method between the connecting component 300 and the leg connector 500 can be to provide corresponding mounting holes on the connecting component 300 and the leg connector 500, and to fix the leg connector and the connecting component by means of screws, rivets or other structures passing through the mounting holes.

[0085] It should be noted that the use of screws and rivets for connection is not a limitation of this solution. Other connection methods that can be conceived by those skilled in the art can also be applied to this solution, such as welding and bonding.

[0086] In some embodiments of this application, the leg connector 500 has a hollow structure, and the connecting component 300 is attached to the side wall of the leg connector 500 to bear the locking force between the leg connector 500 and the crossbeam 200.

[0087] By applying the locking force between the leg connector 500 and the crossbeam 200 to the connecting assembly 300, the leg connector 500 is less prone to deformation and wear, thus extending its service life and ensuring the relative position adjustment effect between the leg connector 500 and the crossbeam 200.

[0088] The relative structure and positional relationship between a leg connector 500 and a connecting component 300 are described in detail below with reference to Figures 6-17. Specifically, the leg connector 500 has a hollow structure, and at least a portion of the connecting component 300 passes through the side wall of the leg connector 500 near the crossbeam 200 and is fixedly connected to the leg connector 500, and is used to selectively lock onto the crossbeam 200.

[0089] In this embodiment, the leg connector 500 has a hollow structure, which makes it more prone to deformation when the locking force is applied directly to it. In this application, the solid connecting component 300 serves as the force-bearing element for frictional force and locking force, which is not easily deformed under stress. Even if it is damaged after long-term use, only the connecting component 300 needs to be replaced, instead of replacing the leg component 600, thus extending the service life and reducing maintenance costs.

[0090] The following describes the specific structure of a connecting component 300 and its assembly structure with the crossbeam 200 and the leg connector 500. Referring to FIG22, the connecting component 300 includes an mounting part 301 located inside the leg connector 500 and a locking part 302 located outside the leg connector. The connecting component 300 is fixedly connected to the leg connector 500 through the mounting part 301, and the locking part 302 is used to selectively lock to the crossbeam 200.

[0091] The locking part 302 has a first surface 310 facing the crossbeam 200. The first surface 310 can selectively abut against the crossbeam 200. In the abutting state, the friction between the first surface 310 and the crossbeam 200 can limit the sliding of the connecting assembly 300 relative to the crossbeam 200.

[0092] It is understood that the movement of the connecting component 300 and the leg connector 500 in this embodiment is synchronized. When the first surface 310 of the connecting component 300 abuts against the crossbeam 200, the friction between the two causes the connecting component 300 to be unable to move relative to the crossbeam 200, that is, the leg connector 500 and the crossbeam 200 are locked in a fixed position. At this time, the width of the hip assistive exoskeleton is not adjustable. When the first surface 310 of the connecting component 300 separates or the friction between the two is insufficient to restrict the relative sliding between the two, the leg connector 500 can slide relative to the crossbeam 200 synchronously with the connecting component 300. At this time, the width of the hip assistive exoskeleton is adjustable.

[0093] Optionally, in this embodiment, the mounting part 301 and the locking part 302 are both configured to extend along the sliding installation direction of the connecting component. That is, the mounting part 301 and the locking part 302 are both elongated structures that extend along the sliding installation direction of the connecting component 300. On the one hand, the mounting part 301 and the leg connector and the locking part 302 and the crossbeam can have a larger contact area. The force exerted by the mounting part 301 on the leg connector 500 is more uniform, thus avoiding stress concentration and deformation of the leg connector 500. The large contact area between the locking part 302 and the crossbeam can increase the friction between the two, making their relative position more stable. On the other hand, the locking part 302 can also have a guiding function to ensure stability during width adjustment.

[0094] It should be noted that in the embodiments of this application, the position adjustment of the two leg connectors 500 can be synchronous or independent, and the position adjustment of the two leg connectors 500 can be symmetrical or asymmetrical relative to the center of the crossbeam 200. The specific adjustment position can be flexibly adjusted according to the user's needs.

[0095] In this embodiment, the connecting component 300 is disposed through the side wall of the leg connector 500, and its first surface 310 protrudes from the outer wall of the leg connector 500, so that in the locked state only the first surface 310 abuts against the crossbeam 200. That is, when the leg connector 500 slides relative to the crossbeam 200, the outer wall of the leg connector 500 does not rub against the crossbeam 200, thereby avoiding wear of the leg connector 500 caused by position adjustment.

[0096] Optionally, referring to Figures 18-22, the crossbeam 200 is provided with a track that cooperates with the connecting component 300, and the connecting component 300 and the track are slidably connected relative to each other. By providing a track on the crossbeam 200, the sliding process of the connecting component 300 relative to the crossbeam 200 can always be within the track, making its position adjustment more precise and avoiding swaying of the leg connector 500 relative to the crossbeam 200 in the front-back, up-down, and down directions.

[0097] It is understood that when the above-mentioned connecting component includes the mounting part 301 and the locking part 302, it is preferable that the locking part 302 cooperates with the track.

[0098] It is understood that the track can take many forms. Referring to Figures 20 and 22, in an optional embodiment of this application, the track is a groove 210, and the first surface 310 of the connecting component 300 is provided with a slide rail 311 protruding from it. The fit between the groove 210 and the slide rail 311, as well as dimensional tolerances and other parameters, are common knowledge in the art and will not be described in detail in this application.

[0099] In other embodiments of this application, the track may be a slide rail 311 that protrudes from the crossbeam 200 toward the surface of the connecting component 300, and a groove is provided on the connecting component 300 to cooperate with the slide rail 311.

[0100] Specifically, referring to Figures 10-22, the locking assembly 400 includes a locking pin 410 and a locking drive member 420. The locking drive member 420 is configured to drive the locking pin 410 to move, thereby pulling the connecting assembly 300 to abut against the crossbeam 200 to achieve locking and limiting.

[0101] Optionally, in this embodiment, the connecting component 300 has a stepped structure as a whole. The size of the mounting part 301 located inside the leg connector 500 is larger than the size of the locking part 302 that penetrates and extends to the outside of the side wall of the leg connector 500. This is so that when the connecting component 300 is pulled from the outside and squeezed towards the crossbeam 200, the stepped surface of the connecting component 300 will squeeze the leg connector 500 and drive the leg connector 500 to move.

[0102] Since part of the connecting component 300 is located inside the hollow leg connector 500, when the connecting component 300 is pulled from the outside, the force on the leg connector 500 is a pull from the inside out. Since the crossbeam 200 is provided on the outside, the tensile force will not cause the leg connector 500 to deform. This can avoid damage to the leg connector 500 caused by locking and extend the service life of the leg connector 500.

[0103] Optionally, the leg connector 500 includes a bent tube with a hollow structure.

[0104] It should be noted that the connection method between the connecting component 300 and the leg connector 500 is not limited to the above. In other embodiments, a connector can also be used to fix the leg connector 500 and the connecting component 300 together.

[0105] Referring to Figures 18 and 20, the connecting component 300 is provided with a through groove 320, the crossbeam 200 is provided with a through hole 220, and the locking pin 410 passes through the through hole 220 and the through groove 320, with its two ends located on the opposite sides of the crossbeam 200 and the connecting component 300, respectively.

[0106] This configuration allows the locking pin 410 to be pulled by the side of the crossbeam 200 away from the connecting component 300, causing it to press against the crossbeam 200, thereby generating a locking friction force. When it is necessary to lock the connecting component 300 and the crossbeam 200, only a pulling force needs to be applied to the locking pin 410 on the side of the crossbeam 200 away from the connecting component 300. When it is not necessary to lock the connecting component 300 and the crossbeam 200, the external force applied to the locking pin 410 is released, the friction between the connecting component 300 and the crossbeam 200 decreases or the connecting component 300 and the crossbeam 200 separate and have no friction, allowing the connecting component 300 and the crossbeam 200 to slide relative to each other.

[0107] Optionally, referring to FIG20, the connecting component 300 has a second surface 330 opposite to the first surface 310, the mounting portion 301 is provided with a limiting groove 331 on the second surface 330, the locking pin 410 has a limiting boss that cooperates with the limiting groove 331, and the locking pin 410 can slide relative to the connecting component 300 in the limiting groove 331.

[0108] In the hip-assisted walking exoskeleton described in this application embodiment, the position of the locking pin 410 in the adjustment direction remains unchanged during the width adjustment process. That is, the position of the locking pin 410 relative to the crossbeam 200 in the sliding direction is fixed, and the connecting component 300 slides relative to the locking pin 410. A limiting groove 331 is provided on the second surface 330 to cooperate with the limiting boss of the locking pin 410, which can guide the sliding of the locking pin 410 relative to the connecting component 300.

[0109] This application embodiment also provides a specific scheme for driving the locking pin 410 to pull the connecting component 300 to press against the crossbeam 200 or to release the pull on the connecting component 300. Referring to Figures 10-22, the locking drive component 420 further includes a locking block 421. The locking block 421 is hinged to the locking pin 410 on the side of the crossbeam 200 away from the connecting component 300 through a first hinge shaft 422, and is used to drive the locking pin 410 to move.

[0110] By placing the locking block 421 on the side of the crossbeam 200 away from the connecting assembly 300, the swinging of the locking block 421 can pull the locking pin 410 to move, thereby realizing the movement control of the locking pin 410. In this embodiment, the locking pin 410 and the locking block 421 are connected by a hinge, so that the locking block 421 drives the locking pin 410 during its own movement, making the movement of the locking block 421 more flexible.

[0111] Specifically, referring to Figures 11-22, the locking block 421 has a strip-shaped structure with a first end 4211 and a second end 4212 facing away from each other. The first end 4211 is hinged to the crossbeam 200 via a second hinge shaft 4213. The locking block 421 is hinged to the locking pin 410 between the first end 4211 and the second end 4212. By hinged to the crossbeam 200 at one end, the locking block 421 can rotate around the second hinge shaft 4213. During the rotation of the locking block 421, the locking pin 410 is moved via the first hinge shaft 422, thereby achieving locking and unlocking control.

[0112] Referring to Figures 11-22, the second hinge shaft 4213 is disposed on the side of the first end 4211 of the locking block 421 and is integral with the locking block 421. The locking block 421 has a pin hole 4215 and a first shaft hole 4214 in the middle. The pin hole 4215 and the first shaft hole 4214 are perpendicular to each other and communicate with each other. The pin hole 4215 is used to install the locking pin 410, and the first shaft hole 4214 is used to install the first hinge shaft 422. That is, the locking pin 410 extends into the pin hole 4215, and the first hinge shaft 422 passes through the first shaft hole 4214 and the first hinge hole located on the locking pin 410 to realize the hinge between the locking pin 410 and the locking block 421.

[0113] Furthermore, referring to Figure 10, the size of the pin hole 4215 is larger than the outer diameter of the locking pin 410, and the size of the first hinge hole is larger than the size of the first hinge shaft 422, so that the locking pin 410 can swing relative to the locking block 421 in the pin hole 4215. In this embodiment, during the process of controlling the movement of the locking pin 410 to achieve locking and unlocking actions, the locking pin 410 only moves horizontally in the front-back direction, while the locking block 421 swings around the second hinge shaft 4213. By setting the size of the first hinge hole to be larger than the size of the first hinge shaft 422, and the size of the pin hole 4215 to be larger than the outer diameter of the locking pin 410, both the locking pin 410 and the first hinge shaft 422 have relative swing space, avoiding jamming or inability to swing.

[0114] Referring to Figures 10-22, the locking drive 420 in this embodiment further includes a control wrench 423, which can selectively abut against the second end 4212 to drive the locking block 421 to swing about the hinge axis between it and the crossbeam 200 away from the crossbeam 200.

[0115] In this embodiment, by actuating the control wrench 423 against the second end 4212 of the locking block 421, the locking block 421 is pushed to swing around the second hinge axis 4213 to the side away from the crossbeam 200. The locking pin 410 hinged to the middle of the locking block 421 is pulled simultaneously. The locking pin 410 then transmits the force to the connecting component 300, causing the connecting component 300 to move towards the crossbeam 200, thereby squeezing the crossbeam 200. The friction between the connecting component 300 and the crossbeam 200 will prevent relative sliding between the connecting component 300 and the crossbeam 200, so that the width of the hip assistive exoskeleton is kept in the adjusted position.

[0116] When the width of the hip-assisted walking exoskeleton needs to be adjusted, the control wrench 423 is moved in the opposite direction. The control wrench 423 releases the pressure on the second end 4212 of the locking block 421. The locking block 421, the locking pin 410, and the connecting assembly 300 are all in a relaxed state. The connecting assembly 300 no longer presses against the crossbeam 200, and the friction between the two decreases. This allows the connecting assembly 300 and the crossbeam 200 to slide relative to each other when an external force is applied to the leg connector 500, thereby adjusting the width of the hip-assisted walking exoskeleton.

[0117] Specifically, referring to Figure 12, the control wrench 423 includes a handle 4231 and an eccentric shaft 4232. The eccentric shaft 4232 has a shaft diameter 4233 and a bushing 4234. The handle 4231 is hinged to the crossbeam 200 through the shaft diameter 4233 of the eccentric shaft 4232. The bushing 4234 of the eccentric shaft 4232 is used to abut against the second end 4212 of the locking block 421. During the rotation of the eccentric shaft 4232, the outer periphery of its bushing 4234 abuts against the second end 4212 of the locking block 421. Due to the different distances of its outer periphery relative to the axis of the shaft diameter 4233, when the maximum distance position presses against the second end 4212 of the locking block 421, the locking block 421 is pressed and swings away from the crossbeam 200. When the maximum distance position does not contact the second end 4212 of the locking block 421, the force exerted by the handle 4231 on the locking block 421 decreases or disappears, and at this time the locking block 421 can swing on its own.

[0118] Understandably, in the unlocked state of the control wrench 423 in this application, the eccentric shaft 4232 does not apply force to the locking block 421, allowing the locking block 421 to rotate freely around the first hinge shaft 422. At this time, the locking block 421 does not generate a tension force on the locking pin 410, and the locking pin 410 does not pull the connecting assembly 300 toward the crossbeam 200. There is no friction or only natural contact between the connecting assembly 300 and the crossbeam 200, so that when the leg connector 500 slides relative to the crossbeam 200, the connecting assembly 300 and the crossbeam 200 will not be unable to slide due to mutual friction. Therefore, the position of the leg connector 500 is adjustable. As the control wrench 423 is adjusted to be in the locked state, the eccentric shaft 4232 gradually squeezes the locking block 421, causing the locking block 421 to rotate clockwise around the first hinge shaft 422 in Figure 13. Driven by the locking block 421, the locking pin 410 moves to the right as shown in Figure 13. The locking pin 410 drives the connecting assembly 300 to move to the right as shown in Figure 13, causing the connecting assembly 300 to squeeze the crossbeam 200. When a relative sliding tendency occurs between the two, the friction generated by the squeezing will prevent relative sliding between the leg connector 500 and the crossbeam 200. The position of the leg connector 500 is not adjustable, thus achieving locking.

[0119] In this embodiment, the compression of the locking block 421 by the eccentric shaft 4232 in the locked state causes friction between the eccentric shaft 4232 and the locking block 421. The magnitude of this friction is sufficient to keep the control wrench 423 in the locked state. Without external force, the control wrench 423 will not rotate around the shaft diameter 4233 of the eccentric shaft 4232 on its own, thus locking the control wrench 423 in the locked state. When unlocking is required, an external force needs to be applied to the handle 4231 to make the eccentric shaft 4232 rotate around the shaft diameter 4233, reducing the compression on the locking block 421 and reducing the friction between the two.

[0120] Optionally, the technical solution of this application is not limited to hinged eccentric shaft 4232 to crossbeam 200. In other embodiments, the shaft diameter 4233 of eccentric shaft 4232 can be hinged to locking block 421. During the locking process, the bushing 4234 of eccentric shaft 4232 can selectively abut against crossbeam 200. The reaction force generated by squeezing crossbeam 200 causes locking block 421 to rotate around first hinge shaft 422.

[0121] It should be noted that the above-described structure of using an eccentric shaft 4232 to push the locking block 421 is not intended to limit this application. In other embodiments, a cam may also be used as the corresponding structure.

[0122] Referring to Figure 11, in this embodiment of the application, an arc-shaped groove 4216 is provided at the second end 4212 of the locking block 421. The arc-shaped groove 4216 cooperates with the eccentric shaft 4232. By providing the arc-shaped groove 4216, the eccentric shaft 4232 can be accommodated in the arc-shaped groove 4216. Without reducing the thickness of the other parts of the locking block 421, the space occupied by the eccentric shaft 4232 and the locking block 421 in the thickness direction is reduced, making the product more compact.

[0123] In an optional embodiment of this application, the leg connector 500 has a hollow structure and a motor module is disposed inside. The motor module is used to drive the leg assembly 600 to swing. By providing power to the leg assembly 600 through the motor module, the leg assembly 600 is provided with assistance while fulfilling its support function, making it easier for the user.

[0124] Optionally, the main unit housing 100 includes a bottom housing 110 and an outer housing 120. The bottom housing 110 and the outer housing 120 are fastened together to form an accommodating space. The crossbeam 200 is disposed inside the accommodating space, and the leg connector 500 extends into the accommodating space and is connected to the crossbeam 200.

[0125] Specifically, the accommodating space has a first opening 132 and a second opening 133 arranged opposite to each other, and there are two leg connectors 500, which are respectively installed in the first opening 132 and the second opening 133. The crossbeam 200 has a strip-shaped structure, and its two ends along the length direction extend to the first opening 132 and the second opening 133 respectively to connect with the leg connectors 500.

[0126] The main body housing 100 covers the crossbeam 200 and the leg connector 500 is connected to the crossbeam 200, which makes the appearance more beautiful and can effectively protect the moving parts and reduce damage to the moving parts.

[0127] The technical principles of this application have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this application and should not be construed as limiting the scope of protection of this application in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this application without inventive effort, and these embodiments will all fall within the scope of protection of this application.

Claims

1. A hip-assisted walking exoskeleton, characterized in that, include: The main unit housing (100) has a crossbeam (200) inside; The leg connector (500) has a first connecting end and a second connecting end, the first connecting end being slidably connected to the crossbeam (200), and the second connecting end being used to connect to the leg assembly (600); A connecting component (300) is fixedly connected to the side wall of the leg connector (500). The leg connector (500) is slidably mounted on the crossbeam (200) via the connecting component (300). The connecting component (300) is used to bear the locking force between the leg connector (500) and the crossbeam (200). as well as A locking assembly (400) is connected to the connecting assembly (300) and is used to control the movement of the connecting assembly (300) such that the connecting assembly (300) moves toward the crossbeam (200) to a locking limit position, or to release the control of the connecting assembly (300) so that it can move freely relative to the crossbeam (200).

2. The hip-assisted walking exoskeleton according to claim 1, characterized in that, The leg connector (500) has a hollow structure. At least a portion of the connecting assembly (300) penetrates the sidewall of the leg connector (500) near the crossbeam (200). The connecting assembly (300) includes a mounting portion (301) located inside the leg connector (500) and a locking portion (302) located outside the leg connector (500). The connecting assembly (300) is fixedly connected to the leg connector (500) through the mounting portion (301). The locking portion (302) is used to selectively lock onto the crossbeam (200).

3. The hip-assisted walking exoskeleton according to claim 2, characterized in that, The locking part (302) has a first surface (310) facing the crossbeam (200), the first surface (310) selectively abutting the crossbeam (200), and in the abutting state, the friction between the first surface (310) and the crossbeam (200) can limit the sliding of the connecting assembly (300) relative to the crossbeam (200).

4. The hip-assisted walking exoskeleton according to claim 2, characterized in that, The mounting portion (301) and the locking portion (302) are both configured to extend along the sliding mounting direction of the connecting assembly (300).

5. The hip-assisted walking exoskeleton according to claim 1, characterized in that, The crossbeam (200) is provided with a track that cooperates with the connecting component (300), and the connecting component (300) and the track are slidably connected relative to each other.

6. The hip-assisted walking exoskeleton according to any one of claims 1 to 5, characterized in that, The locking assembly (400) includes a locking pin (410) and a locking drive (420). The locking pin (410) is connected to the connecting assembly (300), and the locking drive (420) is configured to drive the locking pin (410) to move, thereby pulling the connecting assembly (300) to lock and limit its position against the crossbeam (200).

7. The hip-assisted walking exoskeleton according to claim 6, characterized in that, The connecting component (300) is provided with a through groove (320), and the crossbeam (200) is provided with a through hole (220). The locking pin (410) passes through the through hole (220) and the through groove (320), and its two ends are respectively located on the two sides of the crossbeam (200) opposite to the connecting component (300).

8. The hip-assisted walking exoskeleton according to claim 7, characterized in that, The connecting assembly (300) has a second surface (330) opposite to the first surface (310). The mounting part (301) is provided with a limiting groove (331) on the second surface (330). The locking pin (410) has a limiting boss that cooperates with the limiting groove (331). The locking pin (410) can slide relative to the connecting assembly (300) in the limiting groove (331).

9. The hip-assisted walking exoskeleton according to claim 6, characterized in that, The locking drive (420) further includes a locking block (421), which is hinged to the locking pin (410) on the side of the crossbeam (200) away from the connecting assembly (300) for driving the locking pin (410) to move.

10. The hip-assisted walking exoskeleton according to claim 9, characterized in that, The locking block (421) has a strip-shaped structure with a first end (4211) and a second end (4212) facing away from each other. The first end (4211) is hinged to the crossbeam (200), and the locking block (421) is hinged to the locking pin (410) between the first end (4211) and the second end (4212).

11. The hip-assisted walking exoskeleton according to claim 10, characterized in that, The locking drive (420) also includes a control wrench (423) that can selectively abut against the second end (4212) or against the crossbeam (200) to drive the locking block (421) to swing about the hinge axis between it and the crossbeam (200) away from the crossbeam (200).

12. The hip-assisted walking exoskeleton according to claim 11, characterized in that, The control wrench (423) includes a moving handle (4231) and an eccentric shaft (4232). The eccentric shaft (4232) has a shaft diameter (4233) and a bushing (4234). The moving handle (4231) is hinged to the crossbeam (200) through the shaft diameter (4233) of the eccentric shaft (4232). The bushing (4234) of the eccentric shaft (4232) is used to abut against the second end (4212) of the locking block (421).

Images