CN115179262A - Exoskeleton hip joint structure - Google Patents
Exoskeleton hip joint structure Download PDFInfo
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- CN115179262A CN115179262A CN202210866084.1A CN202210866084A CN115179262A CN 115179262 A CN115179262 A CN 115179262A CN 202210866084 A CN202210866084 A CN 202210866084A CN 115179262 A CN115179262 A CN 115179262A
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- China
- Prior art keywords
- connecting rod
- hip joint
- exoskeleton
- rotatably connected
- thigh
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- 210000004394 hip joint Anatomy 0.000 title claims abstract description 51
- 210000000689 upper leg Anatomy 0.000 claims abstract description 41
- 210000002414 leg Anatomy 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an exoskeleton hip joint structure, which relates to the technical field of exoskeleton structures and comprises a hip joint connecting seat, a thigh connecting seat and a connecting rod system; the upper end of the hip joint connecting seat is used for being connected with a hip joint of the exoskeleton, and the thigh connecting seat is used for being connected with a leg component of the exoskeleton; the lower end of the hip joint connecting seat is connected with the thigh connecting seat through the connecting rod system. The exoskeleton hip joint structure disclosed by the invention is used for fitting a curve of a human body in a motion process in a mode of a connecting rod system and calculating the length of the connecting rod, so that the exoskeleton hip joint is well matched with the human body. The connecting rod system has three rotational degrees of freedom which respectively correspond to the three degrees of freedom of the hip joint of a human body, namely the front and back flexion and extension of the thigh, the internal and external swing of the thigh and the internal and external rotational degrees of freedom of the thigh.
Description
Technical Field
The invention relates to the technical field of exoskeleton structures, in particular to an exoskeleton hip joint structure.
Background
The exoskeleton robot is a wearable mechanical integrated system for assisting in movement or enhancing the movement capacity, and is mainly applied to the fields of military affairs, medical treatment, logistics, factory operation and the like. From the power source, the exoskeleton robot can be divided into an active exoskeleton robot and a passive exoskeleton robot. The active exoskeleton robot mainly provides assistance energy by a storage battery or wired power, and the passive exoskeleton robot mainly stores kinetic energy or gravitational potential energy generated by the motion of a human body by a mechanical structure and outputs energy in the subsequent human body motion process to achieve the assistance effect.
The hip joint of the existing exoskeleton robot is generally provided with three degrees of freedom, wherein the three degrees of freedom are all arranged through a single-rotating-shaft structure, but the internal skeleton structure of the hip joint of a human body is not in a simple single-rotating-shaft form, so that the high cooperation effect is difficult to achieve in man-machine cooperation and man-machine matching.
The existing exoskeleton robot cannot be matched with a motion curve of a human thigh when swinging sideways, firstly, due to the fact that the single-rotating-shaft design of the exoskeleton robot is not attached to the curvilinear motion of a hip joint of the human body, and secondly, due to the flexible multi-rotating-shaft design, a good force transmission effect cannot be achieved. When the degree of freedom of the side pendulum is placed on the left side and the right side of the hip joint of a human body, the length of the exoskeleton is longer than that of the legs of the human body when the side pendulum is carried out due to the fact that the horizontal distance exists between the exoskeleton rotating shaft and the inner skeleton rotating shaft, and the human-computer separation state is caused. When the side-swinging freedom degree rotating shaft is placed on the front side and the rear side of a human body, the phenomenon that the human body is interfered or the weight of the back cannot be conducted to the ground when the user squats down can occur.
Therefore, it is necessary to design an exoskeleton hip joint structure to match the motion curve of the outside of the human body, so as to achieve a good man-machine matching effect.
Disclosure of Invention
In order to solve the technical problems, the invention provides the exoskeleton hip joint structure which is matched with the motion curve of the outer side of a human body in a connecting rod fitting mode, so that a good man-machine matching effect is achieved when an exoskeleton is worn.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an exoskeleton hip joint structure, which comprises a hip joint connecting seat, a thigh connecting seat and a connecting rod system; the upper end of the hip joint connecting seat is used for being connected with a hip joint of the exoskeleton, and the thigh connecting seat is used for being connected with a leg component of the exoskeleton; the lower end of the hip joint connecting seat is connected with the thigh connecting seat through the connecting rod system.
Optionally, the link system includes a first link, a second link, a third link, a fourth link, and a fifth link; the bottom of the fifth connecting rod is connected with the lower end of the hip joint connecting seat through a revolute pair; one end of the first connecting rod is rotatably connected with the upper part of the fifth connecting rod; one end of the third connecting rod is rotatably connected with the side surface of the top of the thigh connecting seat, and the other end of the third connecting rod is rotatably connected with the middle part of the first connecting rod; one end of the second connecting rod is rotatably connected with the middle part of the fifth connecting rod, and the other end of the second connecting rod is rotatably connected with the middle part of the third connecting rod; one end of the fourth connecting rod is rotatably connected with the side face of the bottom of the thigh connecting seat, and the other end of the fourth connecting rod is rotatably connected with the other end of the first connecting rod.
Optionally, a rotating connection portion is arranged at the bottom of the fifth connecting rod, a plurality of connection holes are formed in the rotating connection portion, and the connection holes are used for being connected with the hip joint connection seat through the revolute pair.
Optionally, the upper portion of the rotating connection portion includes two vertical rods, one end of the first connection rod is disposed between the two vertical rods, and one end of the first connection rod is rotatably connected to the two vertical rods through a rotation shaft; the outer sides of the bottoms of the two vertical rods are respectively and rotatably connected with one end of the second connecting rod through a rotating shaft; two sides of the middle part of the first connecting rod are respectively and rotatably connected with one end of a third connecting rod through a rotating shaft, and the other end of each second connecting rod is respectively and rotatably connected with the middle part of the corresponding third connecting rod; one end of each third connecting rod is rotatably connected with two sides of the thigh connecting seat respectively; the two sides of the other end of the first connecting rod are respectively and rotatably connected with the other end of a fourth connecting rod, and one end of each fourth connecting rod is respectively and rotatably connected with the two sides of the thigh connecting seat.
Optionally, a vertical mounting seat is arranged in the middle of the thigh connecting seat, and the mounting seat is used for being connected with the leg assembly of the exoskeleton.
Compared with the prior art, the invention achieves the following technical effects:
the exoskeleton hip joint structure disclosed by the invention is used for fitting a curve of a human body in a motion process in a mode of a connecting rod system and calculating the length of the connecting rod, so that the exoskeleton hip joint is well matched with the human body.
The connecting rod system has three rotational degrees of freedom which respectively correspond to the three degrees of freedom of the hip joint of a human body, namely the front and back flexion and extension of the thigh, the internal and external swing of the thigh and the internal and external rotational degrees of freedom of the thigh.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural view of the exoskeleton hip joint structure of the present invention;
FIG. 2 is a schematic view of the outer (distal) side of the exoskeleton hip joint structure of the present invention;
fig. 3 is a schematic diagram of the inner side (close to the human body side) structure of the exoskeleton hip joint structure.
Description of reference numerals: 1. a first link; 2. a second link; 3. a third link; 4. a fourth link; 5. a thigh adjusting plate; 6. a thigh link base; 7. a hip joint connection seat; 8. a fifth link; 9. and a revolute pair.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, the present embodiment provides an exoskeleton hip joint structure, which includes a hip joint connecting base 7, a thigh connecting base 6 and a connecting rod system; the upper end of the hip joint connecting seat 7 is used for being connected with a hip joint of the exoskeleton, and the thigh connecting seat 6 is used for being connected with a leg component of the exoskeleton; the lower end of the hip joint connecting seat 7 is connected with the thigh connecting seat 6 through a connecting rod system.
In the present embodiment, the link system includes a first link 1, a second link 2, a third link 3, a fourth link 4, and a fifth link 8; the bottom of the fifth connecting rod 8 is connected with the lower end of the hip joint connecting seat 7 through a revolute pair 9, and the revolute pair 9 can simulate the front and back flexion and extension actions of thighs of a human body; one end of the first connecting rod 1 is rotatably connected with the upper part of the fifth connecting rod 8; one end of the third connecting rod 3 is rotatably connected with the side surface of the top of the thigh connecting seat 6, and the other end of the third connecting rod 3 is rotatably connected with the middle part of the first connecting rod 1; one end of the second connecting rod 2 is rotatably connected with the middle part of the fifth connecting rod 8, and the other end of the second connecting rod 2 is rotatably connected with the middle part of the third connecting rod 3; one end of the fourth connecting rod 4 is rotatably connected with the side surface of the bottom of the thigh connecting seat 6, and the other end of the fourth connecting rod 4 is rotatably connected with the other end of the first connecting rod 1.
The bottom of the fifth connecting rod 8 is provided with a rotating connecting part, and the rotating connecting part is provided with three connecting holes which are used for being connected with the hip joint connecting seat 7 through a revolute pair 9.
The upper part of the rotating connecting part comprises two vertical rods, one end of a first connecting rod 1 is arranged between the two vertical rods, and one end of the first connecting rod 1 is rotatably connected with the two vertical rods through a rotating shaft; the outer sides of the bottoms of the two vertical rods are respectively and rotatably connected with one end of a second connecting rod 2 through a rotating shaft; two sides of the middle part of the first connecting rod 1 are respectively and rotatably connected with one end of a third connecting rod 3 through a rotating shaft, and the other end of each second connecting rod 2 is respectively and rotatably connected with the middle part of the corresponding third connecting rod 3; one end of each third connecting rod 3 is respectively and rotatably connected with two sides of the thigh connecting seat 6; two sides of the other end of the first connecting rod 1 are respectively and rotatably connected with the other end of a fourth connecting rod 4, and one end of each fourth connecting rod 4 is respectively and rotatably connected with two sides of the thigh connecting seat 6.
The connecting rod system can simulate the internal and external swinging actions of human thighs.
The middle part of the thigh connecting seat 6 is provided with a vertical mounting seat which is used for being connected with a leg component of the exoskeleton. The mounting seat comprises a vertical connecting hole, a thigh adjusting plate 5 in the exoskeleton is connected with the connecting hole through a bolt, and the thigh adjusting plate 5 can rotate relative to the mounting seat so as to simulate the internal and external rotation action of the thigh of a human body.
The exoskeleton hip joint structure in the embodiment effectively matches the movement trend of bones in the hip joint of a human body in the walking process of the human body, and has man-machine matching performance incomparable to the existing structure particularly on the forward and side walking movement.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. An exoskeleton hip joint structure is characterized by comprising a hip joint connecting seat, a thigh connecting seat and a connecting rod system; the upper end of the hip joint connecting seat is used for being connected with a hip joint of the exoskeleton, and the thigh connecting seat is used for being connected with a leg component of the exoskeleton; the lower end of the hip joint connecting seat is connected with the thigh connecting seat through the connecting rod system.
2. The exoskeleton hip joint structure of claim 1, wherein said linkage system comprises a first link, a second link, a third link, a fourth link, and a fifth link; the bottom of the fifth connecting rod is connected with the lower end of the hip joint connecting seat through a revolute pair; one end of the first connecting rod is rotatably connected with the upper part of the fifth connecting rod; one end of the third connecting rod is rotatably connected with the side surface of the top of the thigh connecting seat, and the other end of the third connecting rod is rotatably connected with the middle part of the first connecting rod; one end of the second connecting rod is rotatably connected with the middle part of the fifth connecting rod, and the other end of the second connecting rod is rotatably connected with the middle part of the third connecting rod; one end of the fourth connecting rod is rotatably connected with the side face of the bottom of the thigh connecting seat, and the other end of the fourth connecting rod is rotatably connected with the other end of the first connecting rod.
3. The exoskeleton hip joint structure as claimed in claim 2, wherein the bottom of the fifth link is provided with a rotation connection part, and the rotation connection part is provided with a plurality of connection holes for connecting with the hip joint seat through the revolute pair.
4. The exoskeleton hip joint structure as recited in claim 3, wherein the upper portion of the rotation connection portion comprises two vertical rods, one end of the first link is disposed between the two vertical rods, and one end of the first link is rotatably connected with the two vertical rods through a rotating shaft; the outer sides of the bottoms of the two vertical rods are respectively and rotatably connected with one end of the second connecting rod through a rotating shaft; two sides of the middle part of the first connecting rod are respectively and rotatably connected with one end of one third connecting rod through a rotating shaft, and the other end of each second connecting rod is respectively and rotatably connected with the middle part of the corresponding third connecting rod; one end of each third connecting rod is rotatably connected with two sides of the thigh connecting seat respectively; the two sides of the other end of the first connecting rod are respectively and rotatably connected with the other end of a fourth connecting rod, and one end of each fourth connecting rod is respectively and rotatably connected with the two sides of the thigh connecting seat.
5. The exoskeleton hip joint structure of claim 1, wherein a vertical mounting seat is arranged in the middle of the thigh connecting seat and is used for connecting with a leg component of the exoskeleton.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210866084.1A CN115179262A (en) | 2022-07-22 | 2022-07-22 | Exoskeleton hip joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210866084.1A CN115179262A (en) | 2022-07-22 | 2022-07-22 | Exoskeleton hip joint structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115179262A true CN115179262A (en) | 2022-10-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210866084.1A Pending CN115179262A (en) | 2022-07-22 | 2022-07-22 | Exoskeleton hip joint structure |
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| Country | Link |
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| CN (1) | CN115179262A (en) |
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| CN107260496A (en) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | A kind of wearable exoskeleton lower limb rehabilitation robot |
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| CN110053027A (en) * | 2019-05-27 | 2019-07-26 | 河北工业大学 | A kind of Auxiliary support lower limb exoskeleton robot |
| CN112914958A (en) * | 2021-01-21 | 2021-06-08 | 武汉理工大学 | Walking is equipped in coordination |
| CN214285475U (en) * | 2020-12-05 | 2021-09-28 | 安徽理工大学 | Multifunctional rehabilitation wheelchair |
| CN215021755U (en) * | 2021-01-07 | 2021-12-07 | 中北大学 | Wearable exoskeleton hip joint rehabilitation robot |
| CN215821601U (en) * | 2021-09-29 | 2022-02-15 | 山东中科先进技术研究院有限公司 | Lower limb exoskeleton robot with bionic knee joint |
-
2022
- 2022-07-22 CN CN202210866084.1A patent/CN115179262A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| MX2010013025A (en) * | 2010-11-29 | 2012-05-28 | Carreno Jesus Mares | Polycentric knee prosthesis based on a planar mechanism of 6 links. |
| CN106585761A (en) * | 2016-12-23 | 2017-04-26 | 哈尔滨工程大学 | Horse-imitating gait planar connection rod type quadruped walking robot |
| CN106965156A (en) * | 2017-03-30 | 2017-07-21 | 北京精密机电控制设备研究所 | A kind of integrated multiple degrees of freedom lower limb exoskeleton of auxiliary lightness |
| CN107458495A (en) * | 2017-07-04 | 2017-12-12 | 山东大学 | Leg travel mechanism and quadruped robot |
| CN107260496A (en) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | A kind of wearable exoskeleton lower limb rehabilitation robot |
| CN110053027A (en) * | 2019-05-27 | 2019-07-26 | 河北工业大学 | A kind of Auxiliary support lower limb exoskeleton robot |
| CN214285475U (en) * | 2020-12-05 | 2021-09-28 | 安徽理工大学 | Multifunctional rehabilitation wheelchair |
| CN215021755U (en) * | 2021-01-07 | 2021-12-07 | 中北大学 | Wearable exoskeleton hip joint rehabilitation robot |
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| CN215821601U (en) * | 2021-09-29 | 2022-02-15 | 山东中科先进技术研究院有限公司 | Lower limb exoskeleton robot with bionic knee joint |
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