CN115887171A - A rehabilitation exoskeleton system - Google Patents

Abstract

Translated fromChinese

本发明公开一种康复外骨骼系统，涉及康复设备的技术领域，其包括腰部组件；与腰部组件固定连接的髋关节组件，髋关节组件包括基座、髋外展臂、第一髋关节活动构件以及第二髋关节活动构件；大腿杆组件与第二髋关节活动构件转动连接，为髋部提供屈曲、伸展的活动自由度；小腿杆组件与大腿杆组件转动连接，为膝关节提供屈曲、伸展的活动自由度；足部组件与小腿杆组件转动连接，为踝关节提供跖屈、背屈的活动自由度。通过上述部件之间的合理连接布局，为穿戴者髋关节及下肢关节提供多方向的运动自由度，提高运动兼容性，减少对穿戴者髋关节运动的限制，提升穿戴运动舒适性，提高穿戴者在穿戴外骨骼系统时的复健康复效果。

The invention discloses a rehabilitation exoskeleton system, which relates to the technical field of rehabilitation equipment, and includes a waist assembly; a hip joint assembly fixedly connected with the waist assembly, and the hip joint assembly includes a base, a hip abduction arm, and a first hip joint movable member And the second hip joint movable member; the thigh rod assembly is rotationally connected with the second hip joint movable member to provide the hip with the freedom of flexion and extension; the calf rod assembly is rotationally connected with the thigh rod assembly to provide flexion and extension for the knee joint freedom of movement; the foot assembly is rotationally connected with the calf rod assembly to provide the ankle joint with freedom of movement in plantar flexion and dorsiflexion. Through the reasonable connection and layout of the above components, it provides multi-directional freedom of movement for the wearer's hip joints and lower limb joints, improves sports compatibility, reduces restrictions on the movement of the wearer's hip joints, improves the comfort of wearing sports, and improves the comfort of the wearer. Rehabilitation effect while wearing the exoskeleton system.

Description

Translated fromChinese

一种康复外骨骼系统A rehabilitation exoskeleton system

技术领域technical field

本发明涉及康复设备的技术领域，尤其涉及一种康复外骨骼系统。The invention relates to the technical field of rehabilitation equipment, in particular to a rehabilitation exoskeleton system.

背景技术Background technique

在康复临床中为了降低康复科室中，康复师的负担，现开始通过各种复健机械、器械来辅助导向患者康复，而康复外骨骼为康复训练中较为常见的一种，在穿戴训练过程中，其在患者肢体运动过程中，为其提供一定的动力协助或阻力，以提高康复效果。In order to reduce the burden of rehabilitation teachers in the rehabilitation department in clinical rehabilitation, various rehabilitation machinery and equipment are now used to assist and guide the rehabilitation of patients. The rehabilitation exoskeleton is a relatively common type of rehabilitation training. During the wearing training process , which provides a certain amount of power assistance or resistance during the movement of the patient's limbs to improve the rehabilitation effect.

现有康复外骨骼整体结构相对简单，关节结构件活动自由度相对较少，现有的康复外骨骼多数用于协助人体局部部位的复健运动，针对人体局部部位作针对性的治疗，特别是人体髋关节部分，其具有3个自由度(屈曲/伸展，外展/内收，内旋/外旋)，简单的康复外骨骼不能完全兼容髋关节3个自由度以及下肢关节的协同运动，无法胜任更加艰巨的复健任务，降低了穿戴者在使用康复外骨骼过程中作复健运动康复的效果。The overall structure of existing rehabilitation exoskeletons is relatively simple, and the degree of freedom of movement of joint structural parts is relatively small. The human hip joint has 3 degrees of freedom (flexion/extension, abduction/adduction, internal rotation/external rotation). Simple rehabilitation exoskeletons are not fully compatible with the 3 degrees of freedom of the hip joint and the coordinated movement of the lower limb joints. It is unable to perform more difficult rehabilitation tasks, which reduces the effect of the wearer's rehabilitation exercise rehabilitation during the use of the rehabilitation exoskeleton.

发明内容Contents of the invention

本发明实施例的目的在于：提供一种康复外骨骼系统，通过合理的关节自由度布局，满足人体下肢髋关节三个自由度方向的运动的同时，能够协同下肢关节作更多自由度方向上的运动，从而解决现有技术中存在的上述问题。The purpose of the embodiment of the present invention is to provide a rehabilitation exoskeleton system, through a reasonable layout of the joint degrees of freedom, while satisfying the movement in the three degrees of freedom directions of the hip joints of the lower limbs of the human body, it can cooperate with the joints of the lower limbs to perform more degrees of freedom directions. movement, thereby solving the above-mentioned problems existing in the prior art.

为达上述目的，本发明采用以下技术方案：For reaching above-mentioned purpose, the present invention adopts following technical scheme:

一方面，提供一种康复外骨骼系统，包括腰部组件；髋关节组件，与所述腰部组件固定连接，包括基座、髋外展臂、第一髋关节活动构件以及第二髋关节活动构件；所述基座限定出导轨，所述髋外展臂可滑动地设置于所述导轨，并可锁止在所述导轨的当前位置；所述髋外展臂与所述第一髋关节活动构件转动连接，以限定出第一转动轴线，为髋部提供外展、内收的活动自由度；所述第一髋关节活动构件与所述第二髋关节活动构件转动连接，以限定出第二转动轴线，为髋部提供旋外、旋内的活动自由度；所述髋外展臂为两个，两所述髋外展臂均滑动设置于所述导轨，并可在相互靠近或远离的方向上往复移动；大腿杆组件，与所述第二髋关节活动构件转动连接，以限定出第三转动轴线，为髋部提供屈曲、伸展的活动自由度；小腿杆组件，与所述大腿杆组件转动连接，为膝关节提供屈曲、伸展的活动自由度；足部组件，与所述小腿杆组件转动连接，为踝关节提供跖屈、背屈的活动自由度。On the one hand, there is provided a rehabilitation exoskeleton system, including a lumbar component; a hip component, fixedly connected with the lumbar component, including a base, a hip abduction arm, a first hip joint movable member, and a second hip joint movable member; The base defines a guide rail, the hip abduction arm is slidably arranged on the guide rail, and can be locked at the current position of the guide rail; the hip abduction arm and the first hip joint movable member The rotation connection is to define a first rotation axis to provide the hip with the freedom of abduction and adduction; the first hip joint movable member is rotationally connected to the second hip joint movable member to define a second The rotation axis provides the hip with the degree of freedom of external rotation and internal rotation; there are two hip abduction arms, and the two hip abduction arms are slidably arranged on the guide rail, and can be moved closer or farther away from each other. Reciprocating movement in the direction; the thigh rod assembly is rotationally connected with the second hip joint movable member to define a third axis of rotation to provide the hip with flexion and extension freedom of movement; the calf rod assembly is connected with the thigh rod The component is rotationally connected to provide the knee joint with flexion and extension freedom of movement; the foot component is rotationally connected to the calf rod component to provide the ankle joint with plantarflexion and dorsiflexion freedom of movement.

本发明的有益效果为：该康复外骨骼系统通过腰部组件对穿戴者的腰部进行固定，限制髋关节组件与穿戴者髋部转动中心的移动，避免髋关节组件的关节转动轴线与穿戴者关节转动轴线偏心；The beneficial effects of the present invention are: the rehabilitation exoskeleton system fixes the wearer's waist through the waist component, limits the movement of the hip joint component and the wearer's hip rotation center, and prevents the joint rotation axis of the hip joint component from rotating with the wearer's joint axis eccentricity;

髋关节组件能够实现对穿戴者腰宽尺寸的调节，适配不同身材的穿戴者，通过髋外展臂、第一髋关节活动构件、第二髋关节活动构件以及腿部构件之间的合理关节自由度连接布局，为穿戴者下肢髋关节提供三个方向的运动自由度，提高运动兼容性，减少对穿戴者髋关节运动的限制，提升穿戴运动舒适性；The hip joint assembly can realize the adjustment of the waist width of the wearer, adapting to wearers of different sizes, through the reasonable joint between the hip abduction arm, the first hip joint movable member, the second hip joint movable member and the leg members The connection layout of the degree of freedom provides three directions of freedom of movement for the wearer's lower limb hip joint, improves movement compatibility, reduces restrictions on the movement of the wearer's hip joint, and improves wearing comfort;

大腿杆组件与小腿杆组件，之间限定出供膝关节活动的旋转轴线；小腿杆组件与足部组件之间限定出供踝关节活动的转动轴线，保证穿戴者在运动过程中康复外骨骼的各关节均能与穿戴者的人体关节处于对心状态，康复外骨骼的各部分构件均能够跟随穿戴者相应的肢体部位，提高康复外骨骼与穿戴者肢体的匹配程度，让穿戴者活动能够更为自如，实现更多不同的复健运动，最终提高穿戴者的复健康复效果。The thigh bar assembly and the calf bar assembly define a rotation axis for the knee joint movement; the calf bar assembly and the foot assembly define a rotation axis for the ankle joint movement, ensuring that the wearer can recover the exoskeleton during exercise. Each joint can be in a state of alignment with the wearer's human body joints, and all parts of the rehabilitation exoskeleton can follow the corresponding body parts of the wearer, improving the matching degree of the rehabilitation exoskeleton and the wearer's limbs, so that the wearer can move more For freedom, realize more different rehabilitation exercises, and ultimately improve the rehabilitation effect of the wearer.

附图说明Description of drawings

下面根据附图和实施例对本发明作进一步详细说明。The present invention will be described in further detail below according to the drawings and embodiments.

图1为本发明实施例所述康复外骨骼系统穿戴状态示意图之一；Fig. 1 is one of the schematic diagrams of the wearing state of the rehabilitation exoskeleton system described in the embodiment of the present invention;

图2为本发明实施例所述康复外骨骼系统穿戴状态示意图之二；Fig. 2 is the second schematic diagram of the wearing state of the rehabilitation exoskeleton system according to the embodiment of the present invention;

图3为本发明实施例所述康复外骨骼系统整体结构示意图之一；Fig. 3 is one of the overall structural schematic diagrams of the rehabilitation exoskeleton system described in the embodiment of the present invention;

图4为本发明实施例所述康复外骨骼系统整体结构示意图之二；Fig. 4 is the second schematic diagram of the overall structure of the rehabilitation exoskeleton system according to the embodiment of the present invention;

图5为本发明实施例所述腰部组件结构示意图；Fig. 5 is a schematic structural diagram of the waist assembly according to the embodiment of the present invention;

图6为本发明实施例所述髋关节组件结构示意图之一；Fig. 6 is one of the structural schematic diagrams of the hip joint assembly according to the embodiment of the present invention;

图7为本发明实施例所述髋关节组件结构示意图之二；Fig. 7 is the second structural schematic diagram of the hip joint assembly according to the embodiment of the present invention;

图8为本发明实施例所述传动组件安装方式一爆炸图之一；Fig. 8 is one of the explosion diagrams of the installation method of the transmission assembly described in the embodiment of the present invention;

图9为本发明实施例所述传动组件安装方式一爆炸图之二；Fig. 9 is the second exploded view of the first installation method of the transmission assembly according to the embodiment of the present invention;

图10为本发明实施例所述锁止驱动件安装方式一装配结构示意图；Fig. 10 is a schematic diagram of an assembly structure of an installation method of the lock driver according to the embodiment of the present invention;

图11为本发明实施例所述传动组件安装方式一装配结构示意图；Fig. 11 is a schematic diagram of an assembly structure of the transmission assembly installation method described in the embodiment of the present invention;

图12为本发明实施例所述安装方式一锁定位置及解锁位置状态下锁止构件与锁止驱动件位置关系示意图；Fig. 12 is a schematic diagram of the positional relationship between the locking member and the locking driver in the installation mode-locked position and unlocked position according to the embodiment of the present invention;

图13为本发明实施例所述传动组件安装方式二爆炸图之一；Fig. 13 is one of the explosion diagrams of the second installation mode of the transmission assembly according to the embodiment of the present invention;

图14为本发明实施例所述传动组件安装方式二爆炸图之二；Fig. 14 is the second exploded view of the second installation method of the transmission assembly according to the embodiment of the present invention;

图15为本发明实施例所述传动组件安装方式二装配结构示意图；Fig. 15 is a schematic diagram of the second assembly structure of the transmission assembly installation method according to the embodiment of the present invention;

图16为本发明实施例所述安装方式二锁定位置状态下锁止构件与锁止驱动件位置关系示意图；Fig. 16 is a schematic diagram of the positional relationship between the locking member and the locking driver in the second locking position of the installation method according to the embodiment of the present invention;

图17为本发明实施例所述安装方式二解锁位置状态下锁止构件与锁止驱动件位置关系示意图；Fig. 17 is a schematic diagram of the positional relationship between the locking member and the locking driver in the second unlocked position of the installation method according to the embodiment of the present invention;

图18为本发明实施例所述髋外展臂与第一髋关节活动构件爆炸视图之一；Fig. 18 is one of the exploded views of the hip abduction arm and the first hip joint movable member according to the embodiment of the present invention;

图19为本发明实施例所述髋外展臂与第一髋关节活动构件爆炸视图之二；Fig. 19 is the second exploded view of the hip abduction arm and the first hip joint movable member according to the embodiment of the present invention;

图20为本发明实施例所述髋外展臂与第一髋关节活动构件装配示意图；Fig. 20 is a schematic diagram of the assembly of the hip abduction arm and the first hip joint movable member according to the embodiment of the present invention;

图21为本发明实施例所述第一髋关节活动构件与第二髋关节活动构件爆炸视图；Fig. 21 is an exploded view of the first hip joint movable member and the second hip joint movable member according to the embodiment of the present invention;

图22为本发明实施例所述第一髋关节活动构件与第二髋关节活动构件装配示意图；Fig. 22 is a schematic diagram of the assembly of the first hip joint movable member and the second hip joint movable member according to the embodiment of the present invention;

图23为本发明实施例所述第二髋关节活动构件与腿部组件爆炸视图之一；Fig. 23 is one of the exploded views of the second hip joint movable member and leg assembly according to the embodiment of the present invention;

图24为本发明实施例所述第二髋关节活动构件与腿部组件爆炸视图之二；Fig. 24 is the second exploded view of the second hip joint movable member and leg assembly according to the embodiment of the present invention;

图25为本发明实施例所述大腿杆组件及小腿杆组件装配结构示意图；Fig. 25 is a schematic diagram of the assembly structure of the thigh rod assembly and the calf rod assembly according to the embodiment of the present invention;

图26为本发明实施例所述足部组件结构示意图；Fig. 26 is a schematic diagram of the structure of the foot assembly according to the embodiment of the present invention;

图27为本发明实施例所述足部组件爆炸图。Fig. 27 is an exploded view of the foot assembly according to the embodiment of the present invention.

图中：10、腰部组件；11、腰部背包；12、第一护腰构件；13、第二护腰构件；14、腰部穿戴空间；15、腰部绑带；16、腰型孔；20、髋关节组件；21、基座；211、导轨；212、限位挡块；213、通孔；214、安装盘；2141、安装腔；2142、安装台；22、髋外展臂；221、第一转动轴线；222、轴孔；2221、限位件；2222、弹性防撞块；223、导向板；224、导向滑块；225、第一卡槽；23、第一髋关节活动构件；231、第二转动轴线；232、传动轴；2321、限位孔；233、第一弹性复位件；234、第一支撑孔；235、活动槽；2351、限位槽；236、第一连接段；237、第二连接段；238、端盖；239、固定盖；2391、第二卡槽；24、第二髋关节活动构件；241、第三转动轴线；242、第一平面；243、活动轴；244、第二支撑孔；245、第二弹性复位件；246、活动块；2461、第二避位槽；2462、限位块；247、固定座；248、缓冲垫；25、传动组件；251、齿轮；252、齿条；253、调节旋钮；2531、传动结构；254、驱动盘；2541、安装孔；2542、抵顶台；26、锁止构件；261、第一锁止部；262、固定台；27、锁止驱动件；271、第二锁止部；272、第一扭簧；273、定位销；274、第一避位槽；275、拨动销；276、塔型弹簧；277、凸轮；278、拨杆；28、髋部绑带；29、髋部穿戴空间；30、大腿杆组件；31、第一腿部支撑构件；311、第一关节模组；32、第一腿部调节构件；33、第一锁紧组件；34、弧形槽；40、小腿杆组件；41、第二腿部支撑构件；411、第二关节模组；42、第二腿部调节构件；43、第二锁紧组件；50、足部组件；51、基板；511、踩踏面；52、足部绑带；53、足部穿戴空间；54、棘轮收线装置；55、张紧带；56、脚跟稳定件；57、踝关节输出杆；571、第三弹性复位件；572、扭簧压块；58、足底连接板；59、踝关节旋转轴；60、腿部绑定组件；61、腿部穿戴空间。In the figure: 10, waist assembly; 11, waist backpack; 12, first waist support component; 13, second waist support component; 14, waist wearing space; 15, waist strap; 16, waist-shaped hole; 20, hip Joint assembly; 21, base; 211, guide rail; 212, limit stopper; 213, through hole; 214, installation plate; 2141, installation cavity; 2142, installation platform; 22, hip abduction arm; 221, first Rotation axis; 222, shaft hole; 2221, limiter; 2222, elastic anti-collision block; 223, guide plate; 224, guide slider; 225, first card slot; 23, first hip joint movable member; Second rotation axis; 232, drive shaft; 2321, limit hole; 233, first elastic reset member; 234, first support hole; 235, movable groove; 2351, limit groove; 236, first connecting section; 237 , the second connecting section; 238, the end cover; 239, the fixed cover; 2391, the second slot; 24, the second hip joint movable component; 241, the third rotation axis; 242, the first plane; 243, the movable axis; 244, the second support hole; 245, the second elastic reset member; 246, the movable block; 2461, the second avoidance groove; 2462, the limit block; 247, the fixed seat; 248, the buffer pad; 25, the transmission assembly; 251 , gear; 252, rack; 253, adjusting knob; 2531, transmission structure; 254, drive plate; 2541, mounting hole; 2542, abutting platform; 26, locking member; Fixed platform; 27, locking driver; 271, second locking part; 272, first torsion spring; 273, positioning pin; 274, first avoidance groove; 275, toggle pin; 276, tower spring; 277, cam; 278, lever; 28, hip strap; 29, hip wearing space; 30, thigh rod assembly; 31, first leg support member; 311, first joint module; 32, first Leg adjustment member; 33. First locking assembly; 34. Arc groove; 40. Calf rod assembly; 41. Second leg support member; 411. Second joint module; 42. Second leg adjustment member ;43, the second locking assembly; 50, the foot assembly; 51, the base plate; 511, the stepping surface; 52, the foot strap; 53, the foot wearing space; 54, the ratchet take-up device; 55, the tension belt ;56, heel stabilizer; 57, ankle joint output rod; 571, the third elastic reset member; 572, torsion spring pressure block; 58, plantar connection plate; 59, ankle joint rotation shaft; 60, leg binding assembly ; 61. Leg wear space.

具体实施方式Detailed ways

为使本发明解决的技术问题、采用的技术方案和达到的技术效果更加清楚，下面对本发明实施例的技术方案作进一步的详细描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention. rather than all examples. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

在本发明的描述中，除非另有明确的规定和限定，术语“相连”“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, unless otherwise clearly stipulated and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two components or an interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。In the present invention, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

如图1-图4所示，为了让康复外骨骼与穿戴者髋关节及下肢关节适配性更高，满足髋关节以及下肢关节部分不同自由度的活动需求，本实施例提供一种康复外骨骼系统，旨意在满足不同穿戴者髋关节宽度的穿戴要求，提高关节组件，乃至于外骨骼系统与穿戴者肢体、关节之间的匹配程度，最终达到提高穿戴者复健过程中的康复效果的目的。As shown in Figures 1-4, in order to make the rehabilitation exoskeleton more adaptable to the wearer's hip joints and lower limb joints, and to meet the activity requirements of different degrees of freedom in the hip joints and lower limb joints, this embodiment provides a rehabilitation exoskeleton The skeletal system is designed to meet the wearing requirements of different wearers' hip joint width, improve the matching degree between the joint components, and even the exoskeleton system and the wearer's limbs and joints, and finally achieve the purpose of improving the recovery effect of the wearer during the rehabilitation process Purpose.

包括腰部组件10，在康复外骨骼系统穿戴状态下，腰部组件10位于穿戴者的腰部，用于固定在穿戴者的腰部，避免康复外骨骼整体相对于穿戴者的转动轴心转动，减少康复外骨骼与穿戴者发生偏移的情况。具体的，腰部组件10限定出腰部穿戴空间14，用于环绕绑定于穿戴者的腰部，由于人体腰部截面为近似于椭圆的结构，人体腰部置于腰部穿戴空间14内时，腰部组件10与穿戴者实现有效固定，从而减少人体在运动过程中康复外骨骼与人体的转动中心的相对移动，并且，对人体运动过程中活动角度范围相对较小的腰部进行固定，相对于现有的康复外骨骼仅在穿戴者髋部进行固定的方案，能够进一步提高康复外骨骼与人体之间的穿戴稳定性，从而减少机械关节与人体关节的相对运动，降低关节偏心偏移的可能性。Including thewaist component 10, when the rehabilitation exoskeleton system is worn, thewaist component 10 is located at the waist of the wearer, and is used to fix the waist of the wearer, so as to prevent the whole rehabilitation exoskeleton from rotating relative to the rotation axis of the wearer, and reduce the recovery time. A case where the bone is offset from the wearer. Specifically, thewaist assembly 10 defines awaist wearing space 14, which is used to surround and bind the wearer's waist. Since the human body waist section is an approximately elliptical structure, when the human waist is placed in thewaist wearing space 14, thewaist assembly 10 and The wearer achieves effective fixation, thereby reducing the relative movement between the rehabilitation exoskeleton and the rotation center of the human body during the movement of the human body, and fixing the waist with a relatively small range of motion angles during the movement of the human body, compared with the existing rehabilitation exoskeleton The solution that the bones are only fixed at the wearer's hip can further improve the wearing stability between the rehabilitation exoskeleton and the human body, thereby reducing the relative movement between the mechanical joint and the human body joint, and reducing the possibility of joint eccentricity deviation.

髋关节组件20用于穿戴在髋部，在穿戴状态下，髋关节组件20固定于穿戴者的髋部，其与腰部组件10固定连接，为髋部提供相应的活动自由度，并通过腰部组件10与髋关节组件20协同，分担髋部运动过程中对髋关节组件20产生的力矩。The hipjoint assembly 20 is used to be worn on the hip. In the wearing state, the hipjoint assembly 20 is fixed on the wearer's hip, and it is fixedly connected with thewaist assembly 10 to provide the hip with a corresponding degree of freedom of movement, and through thewaist assembly 10 cooperates with the hipjoint assembly 20 to share the moment generated on the hipjoint assembly 20 during the movement of the hip.

髋关节组件20具体包括基座21、髋外展臂22、第一髋关节活动构件23以及第二髋关节活动构件24；基座21限定出导轨211，髋外展臂22可滑动地设置于导轨211，并可锁止在导轨211的当前位置；The hipjoint assembly 20 specifically includes abase 21, ahip abduction arm 22, a first hip jointmovable member 23 and a second hip jointmovable member 24; thebase 21 defines arail 211, and thehip abduction arm 22 is slidably arranged onguide rail 211, and can be locked at the current position ofguide rail 211;

髋外展臂22与第一髋关节活动构件23转动连接，以限定出第一转动轴线221，在穿戴者的穿戴状态下，髋外展臂22与第一髋关节活动构件23之间的活动结构对准穿戴者髋关节的后方，进一步说明，第一转动轴线221与穿戴者髋关节的外展/内收转动轴线重合，为髋部提供外展、内收的活动自由度。本实施例中，第一髋关节活动构件23包括第一连接段236以及第二连接段237，第一连接段236与第二连接段237固定连接，第一连接段236与第二连接段237之间可以通过一次加工完成，从而形成一体成型的连接结构，也可以是单独加工完成的两个构件再通过焊接、粘接等工艺实现连接，第一髋关节活动构件23的第一端位于第一连接段236远离第二连接段237的一端，第一髋关节活动构件23的第二端位于第二连接段237远离第二连接段237的一端，进一步，两第一髋关节活动构件23的第一连接段236分别与髋外展臂22连接后，均朝相互远离的方向延伸，再朝平行的方向水平延伸呈“L”形的结构，第一转动轴线221与第一连接段236相互垂直，以使两第一髋关节活动构件23之间限定出髋部穿戴空间29，在外骨骼系统穿戴状态下，穿戴者髋部置于髋部穿戴空间29当中，这样，第一转动轴线221就能与穿戴者髋关节的外展/内收关节轴线重合，为其提供相应的活动自由度。Thehip abduction arm 22 is rotationally connected with the first hip jointmovable member 23 to define afirst rotation axis 221. In the wearing state of the wearer, the movement between thehip abductor arm 22 and the first hip jointmovable member 23 The structure is aligned to the rear of the wearer's hip joint. Further, the first axis ofrotation 221 coincides with the abduction/adduction rotation axis of the wearer's hip joint, providing the freedom of movement of the hip joint in abduction and adduction. In this embodiment, the first hip jointmovable member 23 includes a first connectingsection 236 and a second connectingsection 237, the first connectingsection 236 is fixedly connected to the second connectingsection 237, the first connectingsection 236 is connected to the second connectingsection 237 It can be completed through one-time processing, so as to form an integrally formed connection structure, or two components that are processed separately can be connected through welding, bonding and other processes. The first end of the first hip jointmovable component 23 is located at the secondA connecting section 236 is away from one end of the second connectingsection 237, the second end of the first hip jointmovable member 23 is located at the end of the second connectingsection 237 away from the second connectingsection 237, further, the two first hip jointmovable members 23 After the first connectingsections 236 are respectively connected with thehip abductor arms 22, they all extend in directions away from each other, and then extend horizontally in a parallel direction to form an "L"-shaped structure. Thefirst rotation axis 221 and the first connectingsection 236 are mutually Vertical, so that thehip wearing space 29 is defined between the two first hip jointmovable members 23. In the wearing state of the exoskeleton system, the wearer's hip is placed in thehip wearing space 29, so that thefirst rotation axis 221 is It can coincide with the abduction/adduction joint axis of the wearer's hip joint, providing it with a corresponding degree of freedom of movement.

第一髋关节活动构件23与第二髋关节活动构件24转动连接，以限定出第二转动轴线231，为髋部提供旋外、旋内的活动自由度，在穿戴者的穿戴状态下，第一髋关节活动构件23与第二髋关节活动构件24之间的活动结构对准穿戴者髋部的外侧，进一步说明，第二转动轴线231尽可能靠近人体髋关节的旋外/旋内转动轴线设置，为髋关节提供旋外、旋内的活动自由度，这里需要说明的是，对于康复外骨骼系统来讲，把第二转动轴线231设置在人体内部，与人体的旋外/旋内转动轴线重合，显然是不合适的，所以，本方案将第二转动轴线231设置在尽可能靠近旋外/旋内关节轴线，为一种近似的处理状态，在穿戴者旋外/旋内转动角度不大时，转动中心与第二旋转轴线偏移距离会较小，实际体验也不会太大，并且，通过转动连接的方式相交于目前通过弧形导轨211实现人体旋外/旋内的活动自由度而言，结构更加简单，康复外骨骼系统体积更小，使穿戴状态下不会过于臃肿，便于穿戴者活动。The first hip jointmovable member 23 is rotationally connected with the second hip jointmovable member 24 to define a secondrotational axis 231, which provides the hip with the degree of freedom of external rotation and internal rotation. In the wearing state of the wearer, the first The movable structure between the first hip jointmovable member 23 and the second hip jointmovable member 24 is aligned with the outer side of the wearer's hip, further illustrating that thesecond rotation axis 231 is as close as possible to the external rotation/internal rotation axis of the human hip joint setting, to provide the hip joint with the degree of freedom of external rotation and internal rotation. What needs to be explained here is that for the rehabilitation exoskeleton system, thesecond rotation axis 231 is set inside the human body, which is compatible with the external rotation/internal rotation of the human body. It is obviously inappropriate for the axes to coincide. Therefore, in this solution, thesecond rotation axis 231 is set as close as possible to the external rotation/internal rotation joint axis, which is an approximate processing state. When it is not large, the offset distance between the center of rotation and the second axis of rotation will be small, and the actual experience will not be too large. Moreover, the way of rotating connection intersects with the current activities of external rotation/inward rotation of the human body through the arc-shapedguide rail 211 In terms of degrees of freedom, the structure is simpler, and the rehabilitation exoskeleton system is smaller, so that it will not be too bloated when worn, and it is convenient for the wearer to move.

本实施例中，第二髋关节活动构件24包括用于与腿部构件实现转动连接的固定座247以及从固定座247一侧凸出设置的活动块246，活动块246与第一髋关节活动构件23转动连接，固定座247与大腿杆组件30转动连接。In this embodiment, the second hip jointmovable component 24 includes a fixedseat 247 for realizing rotational connection with the leg member and amovable block 246 protruding from one side of the fixedseat 247, and themovable block 246 is movable with the first hip joint. Themember 23 is rotatably connected, and the fixingseat 247 is rotatably connected with thethigh bar assembly 30 .

需要说明的是，本实施例中的髋外展臂22为两个，两髋外展臂22均滑动设置于导轨211，并可在相互靠近或远离的方向上往复移动，用于分别与穿戴者的双腿匹配连接，支撑后续下肢构件，适于穿戴者双腿进行复健运动。It should be noted that there are twohip abduction arms 22 in this embodiment, and the twohip abduction arms 22 are all slidably arranged on theguide rail 211, and can reciprocate in the direction of approaching or moving away from each other, and are used for wearing and wearing respectively. The wearer's legs are matched and connected to support the subsequent lower limb components, which is suitable for the wearer's legs to perform rehabilitation exercises.

如图6-图7所示，基座21作为髋关节组件20中的支承结构，导轨211可通过铣削、铸造等方式一体成型于基座21的内部，也可将外部导轨211安装于基座21的内部，导轨211分别用于导向两个髋外展臂22，髋外展臂22的一端与导轨211配合，用于实现在基座21上往复移动，并能够选择性地锁止在导轨211上的当前位置上，从而调节两髋外展臂22之间的间距，匹配不同穿戴者的腰宽尺寸以及双腿间距，基座21与两髋外展臂22均属于外骨骼系统中髋关节组件20的一部分，髋外展臂22的另一端朝相互远离的方向延伸，用于与第一髋关节活动构件23连接。As shown in Figures 6-7, thebase 21 is used as the supporting structure in the hipjoint assembly 20, and theguide rail 211 can be integrally formed inside thebase 21 by means of milling, casting, etc., or theexternal guide rail 211 can be installed on thebase 21, theguide rails 211 are respectively used to guide the twohip abduction arms 22, and one end of thehip abduction arms 22 cooperates with theguide rails 211 for reciprocating movement on thebase 21 and can be selectively locked on theguide rails 211 to adjust the distance between the twohip abductor arms 22 to match the waist width and the distance between the legs of different wearers. Both thebase 21 and the twohip abductor arms 22 belong to the exoskeleton system. As part of thejoint assembly 20 , the other end of thehip abduction arm 22 extends away from each other and is used for connecting with the first hip jointmovable member 23 .

进一步，导轨211的结构可以为一条沿基座21长度方向设置的导向结构，两髋外展臂22均设置在该导轨211上，也可以为两段分体式的导向结构，两段导轨211沿同一直线间隔设置在基座21的相对两端，两髋外展臂22分别设置在两段导轨211上，以使髋外展臂22可在基座21上沿导轨211方向往复移动，适配不同穿戴者的腰宽尺寸。Further, the structure of theguide rail 211 can be a guide structure arranged along the length direction of thebase 21, and the twohip abduction arms 22 are all arranged on theguide rail 211, or it can be a two-section guide structure. The same straight line is arranged at opposite ends of the base 21 at intervals, and the twohip abduction arms 22 are respectively arranged on two sections ofguide rails 211, so that thehip abduction arms 22 can reciprocate on thebase 21 along the direction of theguide rails 211, and fit Waist width measurements for different wearers.

具体的，基座21横截面近似于“冂”字型，导轨211开设于基座21沿长度方向上的相对内两侧壁上，而基座21的底部及两端均为敞开结构，以使两导轨211的下部以及两端部均通过该敞开结构与外部连通，从而让髋外展臂22能够从基座21的两端嵌入导轨211，与导轨211导向配合。Specifically, the cross section of thebase 21 is similar to the shape of "冂", theguide rails 211 are set on the opposite inner side walls of thebase 21 along the length direction, and the bottom and both ends of the base 21 are open structures, so as to The lower parts and both ends of the twoguide rails 211 are communicated with the outside through the open structure, so that thehip abduction arm 22 can be inserted into theguide rails 211 from both ends of the base 21 to guide and cooperate with the guide rails 211 .

由于本实施例中基座21长度方向的两端为敞开结构，为了避免髋外展臂22在装配完成后，调节过程中从导轨211所限定的方向运动脱离基座21，在基座21的两端开口设置有限位挡块212，以封堵导轨211两端，使髋外展臂22仅能够在两限位挡块212之间的导轨211范围内往复滑移。Since the two ends of the base 21 in the length direction are open structures in this embodiment, in order to prevent thehip abduction arm 22 from moving away from the base 21 in the direction defined by theguide rail 211 during the adjustment process after the assembly is completed, thebase 21 The openings at both ends are provided with limit stops 212 to block both ends of theguide rail 211 so that thehip abduction arm 22 can only slide back and forth within the range of theguide rail 211 between the two limit stops 212 .

而为了提高髋外展臂22沿导轨211方向滑移过程中的稳定性，髋外展臂22用于与导轨211配合的一端设置有形状与导轨211相匹配的导向板223，导向板223与髋外展臂22可采用一体成型的方式，也可为可拆连接的方式，本实施例中的导向板223为矩形的板状结构，导向板223在宽度方向及厚度方向上均与导轨211间隙配合，以使导向板223与导轨211之间具有一定的导向间隙，进一步的，导向板223的四个角部上均设置有导向滑块224，以使导向板223能够通过导向滑块224与导轨211之间实现稳定地导向配合。In order to improve the stability of thehip abduction arm 22 in the sliding process along the direction of theguide rail 211, the end of thehip abduction arm 22 for cooperating with theguide rail 211 is provided with aguide plate 223 whose shape matches theguide rail 211. Thehip abduction arm 22 can be integrally formed, or can be detachably connected. Theguide plate 223 in this embodiment is a rectangular plate-shaped structure, and theguide plate 223 is aligned with theguide rail 211 in the width direction and the thickness direction. Clearance fit, so that there is a certain guide gap between theguide plate 223 and theguide rail 211, further, guidesliders 224 are provided on the four corners of theguide plate 223, so that theguide plate 223 can pass the guide slider 224 A stable guiding fit is realized with theguide rail 211 .

上述的限位挡块212与导向滑块224优选采用可拆连接的方式设置于基座21以及导向板223上，以便于零件损耗的更换，本实施例中采用螺栓连接的方式，当然也可以采用其他紧固件替代，也不限于通过焊接、粘接等连接方式进行连接。The above-mentionedlimit stopper 212 and theguide slider 224 are preferably arranged on thebase 21 and theguide plate 223 in a detachable manner, so as to facilitate the replacement of parts loss. In this embodiment, a bolted connection is adopted, but of course it is also possible Replacement by other fasteners is not limited to connection by welding, bonding and other connection methods.

腿部组件包括大腿杆组件30以及小腿杆组件40，大腿杆组件30与小腿杆组件40分别用于与穿戴者的大腿以及小腿固定，并且，大腿杆组件30与小腿杆组件40之间转动连接形成膝关节组件，为穿戴者膝关节提供屈曲、伸展的活动自由度，大腿杆组件30转动安装于固定座247，以限定出第三转动轴线241，为穿戴者髋部提供屈曲、伸展的活动自由度，在康复外骨骼系统穿戴状态下，第二髋关节活动构件24与大腿杆组件30之间的活动结构对准穿戴者髋关节的外侧方，进一步说明，第三转动轴线241与穿戴者髋关节屈曲/伸展转动轴线重合，以使第三转动轴线241能够尽量与人体的相应的活动自由度相匹配，为髋关节提供屈曲、伸展的活动自由度。The leg assembly includes athigh rod assembly 30 and acalf rod assembly 40, thethigh rod assembly 30 and thecalf rod assembly 40 are respectively used to fix the wearer's thigh and calf, and thethigh rod assembly 30 and thecalf rod assembly 40 are rotationally connected The knee joint assembly is formed to provide the wearer's knee joints with flexion and extension activities. Thethigh bar assembly 30 is rotatably mounted on the fixedseat 247 to define thethird rotation axis 241 to provide the wearer's hips with flexion and extension activities. Degree of freedom, in the wearing state of the rehabilitation exoskeleton system, the movable structure between the second hip jointmovable member 24 and thethigh rod assembly 30 is aligned with the outer side of the wearer's hip joint. The flexion/extension rotation axes of the hip joint coincide, so that thethird rotation axis 241 can match the corresponding degree of freedom of movement of the human body as much as possible, and provide the degree of freedom of movement of the hip joint in flexion and extension.

小腿杆组件40与足部组件50转动连接，小腿杆组件40与足部组件50的连接形成踝关节组件，为踝关节提供跖屈、背屈的活动自由度，在穿戴者行走过程中能够适于踝关节的转动，保证康复外骨骼全程跟随穿戴者下肢关节，康复外骨骼在穿戴状态下，足部组件50能够保持在跟随穿戴者足部的状态，让踝关节组件与穿戴者踝关节保持对心状态。Thecalf rod assembly 40 is rotationally connected with thefoot assembly 50, and the connection between thecalf rod assembly 40 and thefoot assembly 50 forms an ankle joint assembly, which provides the ankle joint with plantar flexion and dorsiflexion, and can adapt to the wearer's walking process. The rotation of the ankle joint ensures that the rehabilitation exoskeleton follows the wearer's lower limb joints throughout the whole process. When the rehabilitation exoskeleton is worn, thefoot component 50 can keep in the state of following the wearer's foot, so that the ankle joint component and the wearer's ankle joint maintain state of mind.

该康复外骨骼系统通过腰部组件10对穿戴者的腰部进行固定，限制髋关节组件20与穿戴者髋部转动中心的移动，避免髋关节组件20的关节转动轴线与穿戴者关节转动轴线偏心；髋关节组件20能够实现对穿戴者腰宽尺寸的调节，适配不同身材的穿戴者，通过髋外展臂22、第一髋关节活动构件23、第二髋关节活动构件24以及腿部构件之间的合理关节自由度连接布局，为穿戴者下肢髋关节提供三个方向的运动自由度，提高运动兼容性，减少对穿戴者髋关节运动的限制，提升穿戴运动舒适性；大腿杆组件30与小腿杆组件40，之间限定出供膝关节活动的旋转轴线；小腿杆组件40与足部组件50之间限定出供踝关节活动的转动轴线，保证穿戴者在运动过程中康复外骨骼的各关节均能与穿戴者的人体关节处于对心状态，康复外骨骼的各部分构件均能够跟随穿戴者相应的肢体部位，提高康复外骨骼与穿戴者肢体的匹配程度，让穿戴者活动能够更为自如，实现更多不同的复健运动，最终提高穿戴者的复健康复效果。The rehabilitation exoskeleton system fixes the wearer's waist through thewaist assembly 10, restricts the movement of the hipjoint assembly 20 and the wearer's hip rotation center, and avoids the eccentricity of the joint rotation axis of the hipjoint assembly 20 and the wearer's joint rotation axis; Thejoint assembly 20 can realize the adjustment of the waist width of the wearer, adapting to wearers of different sizes, through thehip abduction arm 22, the first hip jointmovable member 23, the second hip jointmovable member 24 and the leg members. The reasonable joint freedom connection layout provides three directions of freedom of movement for the wearer's lower limb hip joint, improves movement compatibility, reduces restrictions on the movement of the wearer's hip joint, and improves wearing comfort; thethigh rod assembly 30 and the calf Therod assembly 40 defines the rotation axis for the knee joint movement; thecalf rod assembly 40 and thefoot assembly 50 define the rotation axis for the ankle joint movement, so as to ensure that the wearer can recover the joints of the exoskeleton during the exercise. All can be in a state of alignment with the wearer's human body joints, and all parts of the rehabilitation exoskeleton can follow the corresponding limbs of the wearer, improving the matching degree of the rehabilitation exoskeleton and the wearer's limbs, allowing the wearer to move more freely , to achieve more different rehabilitation exercises, and ultimately improve the rehabilitation effect of the wearer.

上述的康复外骨骼系统件优选采用金属材质，例如：铝质材料，铝合金材料、铜质材料、铜合金材料、铁质材料、不锈钢材料，结构优选为机械强度较高，具备一定抵抗切向扭矩能力的型材结构，以保证两构件间的支撑稳定性，从而提升其实用性、可靠性及耐久性，当然，为了让外骨骼轻量化，部分构件也可以为其他硬质材料和/或碳纤维材料，也更加有利于提升机构稳定性。以及，该外骨骼系统中还包括有软质材料，软质材料一般用于外骨骼系统中的绑带结构当中，以使穿戴者肢体能够通过绑带结构穿戴于外骨骼系统当中，软质材料具体可以采用橡胶件(橡胶的可以选择天然橡胶或合成橡胶)橡胶属于完全无定型聚合物，在室温下富有弹性，在很小的外力作用下能产生较大形变，除去外力后能恢复原状，可以提高与肢体(待固定件)的接触面积，从而提高固定的稳定性和舒适性。也可采用硅胶件(可选择有机硅胶或无机硅胶)，硅胶具有较好的化学稳定性并且具备较好的柔韧性，同样可以提高与肢体(待固定件)的接触面积，从而提高固定的稳定性和舒适性。或者还可采用皮革件，皮革是经脱毛和鞣制等物理、化学加工所得到的已经变性不易腐烂的动物皮。革是由天然蛋白质纤维在三维空间紧密编织构成的，其表面有一种特殊的粒面层，具有自然的粒纹和光泽，手感舒适，并且具备较好的弹性形变功能，也可以提高与肢体(待固定件)的接触面积，从而提高固定的稳定性和舒适性。The above rehabilitation exoskeleton system parts are preferably made of metal materials, such as: aluminum materials, aluminum alloy materials, copper materials, copper alloy materials, iron materials, stainless steel materials, and the structure is preferably high in mechanical strength and has a certain resistance to tangential The torque-capable profile structure ensures the support stability between the two components, thereby improving its practicality, reliability and durability. Of course, in order to make the exoskeleton lightweight, some components can also be made of other hard materials and/or carbon fiber The material is also more conducive to improving the stability of the mechanism. And, the exoskeleton system also includes soft materials, which are generally used in the strap structure of the exoskeleton system, so that the wearer's limbs can be worn in the exoskeleton system through the strap structure, and the soft material Specifically, rubber parts can be used (rubber can choose natural rubber or synthetic rubber). Rubber is a completely amorphous polymer, which is elastic at room temperature and can produce large deformation under a small external force. After removing the external force, it can return to its original shape. The contact area with the limb (the part to be fixed) can be increased, thereby improving the stability and comfort of fixing. Silicone parts (organic silica gel or inorganic silica gel can be selected) can also be used. Silica gel has good chemical stability and good flexibility. It can also increase the contact area with the limbs (to be fixed), thereby improving the stability of the fixation sex and comfort. Or leather parts can also be used, and leather is the denatured non-perishable animal skin obtained through physical and chemical processes such as depilation and tanning. Leather is composed of natural protein fibers tightly woven in three-dimensional space. There is a special grain layer on the surface, which has natural grain and luster, feels comfortable, and has good elastic deformation function, and can also improve the body ( To be fixed) contact area, thereby improving the stability and comfort of fixing.

如图5所示，作为上述方案的具体实施方式，腰部组件10包括：As shown in Figure 5, as a specific embodiment of the above solution, thewaist assembly 10 includes:

腰部背包11，腰部背包11与基座21固定连接，其内包含电源和硬件电路，为关节模组提供电能的同时，对相应的关节模组进行数据采集以及控制，用于驱动康复外骨骼的关节模组运动或获取关节构件的运动角度以及输出力矩，从而为穿戴者提供更加契合己身的运动姿势。Thewaist backpack 11, thewaist backpack 11 is fixedly connected to thebase 21, which contains a power supply and hardware circuit, which provides electric energy for the joint module and at the same time performs data collection and control on the corresponding joint module, which is used to drive the rehabilitation exoskeleton The joint module moves or obtains the movement angle and output torque of the joint components, so as to provide the wearer with a more suitable movement posture.

第一护腰构件12与第二护腰构件13均连接于腰部背包11，第一护腰构件12与第二护腰构件13均为近似于弧形的板状结构，材料优选采用硬质的材料，第一护腰构件12与第二护腰构件13的一端均连接于腰部组件10，两构件的另一端朝相反的方向延伸，在穿戴状态下用于承托穿戴者的腰部，使腰部组件10能够与穿戴者腰部相对固定，为穿戴者腰部提供支撑力。Both the firstwaist support member 12 and the secondwaist support member 13 are connected to thewaist backpack 11, and the firstwaist support member 12 and the secondwaist support member 13 are both approximately arc-shaped plate structures, and the materials are preferably hard Material, one end of the firstwaist support member 12 and the secondwaist support member 13 are all connected to thewaist assembly 10, and the other ends of the two members extend in opposite directions, and are used to support the wearer's waist in the wearing state, so that the waist Thecomponent 10 can be fixed relatively to the waist of the wearer, and provide support for the waist of the wearer.

第一护腰构件12与第二护腰构件13之间限定出腰部穿戴空间14，腰部背包11与第一护腰构件12及第二护腰构件13之间设置有调节结构，用于调节第一护腰构件12与第二护腰构件13的间距，扩大或缩小腰部穿戴空间14，具体的，调节结构包括设置于第一护腰构件12以及第二护腰构件13的腰型孔16以及开设在腰部背包11上与腰型孔16对应的螺纹孔，螺栓通过腰型孔16与螺纹孔螺接固定，螺栓的螺头直径大于腰型孔16的宽度，以使螺头能够将第一护腰构件12或第二护腰构件13抵紧在腰部背包11上，最终第一护腰构件12与第二护腰构件13紧固于腰部背包11，当第一护腰构件12与第二护腰构件13需要调节相对间距时，通过松开螺栓对腰型孔16的抵压，使第一护腰构件12以及第二护腰构件13能够沿腰型孔16的方向移动，调节完成后再对螺栓进行锁紧，腰型孔16的延伸方向决定第一护腰构件12与第二护腰构件13在调节过程中的移动方向，因此，腰型孔16优选平行于第一护腰构件12与第二护腰构件13的延伸方向设置，本实施例中，第一护腰构件12与第二护腰构件13上的腰型孔16为两个，两个腰型孔16相互平行且位于同一竖直方向上，腰部背包11上的螺纹孔为对应腰型孔16的四个，两个腰型孔16能够避免第一护腰构件12与第二狐妖构件在调解过程中发生相对于螺栓的转动，保证第一护腰板与第二护腰板保持在相互平行的状态，支撑穿戴者的腰部。Awaist wearing space 14 is defined between the firstwaist support component 12 and the secondwaist support component 13, and an adjustment structure is arranged between thewaist backpack 11, the firstwaist support component 12 and the secondwaist support component 13 for adjusting the secondwaist support component 13. The distance between awaist support component 12 and the secondwaist support component 13 expands or reduces thewaist wearing space 14. Specifically, the adjustment structure includes waist-shapedholes 16 arranged on the firstwaist support component 12 and the secondwaist support component 13 and Offer the threaded hole corresponding to the waist-shapedhole 16 on thewaist backpack 11, and the bolt is screwed and fixed through the waist-shapedhole 16 and the threaded hole. Thewaist support component 12 or the secondwaist support component 13 is pressed against thewaist backpack 11, and finally the firstwaist support component 12 and the secondwaist support component 13 are fastened to thewaist backpack 11, when the firstwaist support component 12 and the second waist support component When the relative spacing of thewaist support members 13 needs to be adjusted, the firstwaist support member 12 and the secondwaist support member 13 can move along the direction of thewaist support member 16 by loosening the pressure of the bolts against the waist-shapedholes 16. After the adjustment is completed, Then the bolts are locked, and the extension direction of the waist-shapedhole 16 determines the moving direction of the first waist-supportingmember 12 and the second waist-supportingmember 13 in the adjustment process. Therefore, the waist-shapedhole 16 is preferably parallel to the first waist-supporting member. 12 and the extension direction of the secondwaist support member 13 are set. In this embodiment, there are two waist-shapedholes 16 on the firstwaist support member 12 and the secondwaist support member 13, and the two waist-shapedholes 16 are parallel to each other and Located in the same vertical direction, the threaded holes on thewaist backpack 11 are four corresponding to the waist-shapedholes 16, and the two waist-shapedholes 16 can prevent the firstwaist support member 12 from opposing to the second fox demon member during the adjustment process. Due to the rotation of the bolts, it is ensured that the first waist protector and the second waist protector remain in a parallel state to support the waist of the wearer.

第一护腰构件12与第二护腰构件13之间设置有腰部绑带15，腰部绑带15优选采用具有一定弹性复位性能的柔性材质，腰部绑带15的两端分别可拆连接于第一护腰构件12及第二护腰构件13，并与第一护腰构件12及第二护腰构件13围合限定出环形的腰部穿戴空间14，这样，第一护腰构件12与第二护腰构件13在承托于穿戴者的腰部后侧以及两侧后，穿戴者腰部的前侧通过腰部绑带15将两构件进行连接，实现腰部的有效固定。Awaist strap 15 is arranged between the firstwaist support member 12 and the secondwaist support member 13. Thewaist strap 15 is preferably made of a flexible material with a certain elastic reset performance. The two ends of thewaist strap 15 are respectively detachably connected to the second Awaist support component 12 and a secondwaist support component 13, and surround and define an annularwaist wearing space 14 with the firstwaist support component 12 and the secondwaist support component 13, like this, the firstwaist support component 12 and the second waist support component After thewaist support member 13 is supported on the rear side and both sides of the wearer's waist, the front side of the wearer's waist is connected by thewaist strap 15 to effectively fix the waist.

如图6-图17所示，为了便于髋外展臂22的调节，髋关节组件20还包括传动组件25，传动组件25活动设置于基座21并与髋外展臂22传动连接，基座21作为传动组件25的支撑部件，避免传动组件25相对运动过程中脱离基座21，传动组件25作为传动端，通过基座21作为固定端与髋外展臂22传动连接，用于带动两髋外展臂22在导轨211所限定的行程范围内在相互靠近或远离的方向上往复移动。本实施例中，传动组件25分别与两髋外展臂22传动连接，以达到左右两侧的腰宽尺寸同步调节的效果，使基座21能够在穿戴者穿戴状态下始终保持在身体的中心位置，能够让穿戴者重心处于身体中心，使其身体保持稳定的同时，免去两侧髋外展臂22需要进行单独调节的情况，提高康复外骨骼系统的穿戴、调节效率。As shown in Figures 6-17, in order to facilitate the adjustment of thehip abduction arm 22, the hipjoint assembly 20 also includes atransmission assembly 25, which is movably arranged on thebase 21 and is in transmission connection with thehip abduction arm 22, thebase 21 is used as the supporting part of thetransmission assembly 25 to prevent thetransmission assembly 25 from detaching from the base 21 during the relative movement. Thetransmission assembly 25 is used as the transmission end and is connected to thehip abduction arm 22 through the base 21 as the fixed end to drive the two hips. Theoutreach arms 22 reciprocate in the direction of approaching or moving away from each other within the stroke range defined by theguide rail 211 . In this embodiment, thetransmission assembly 25 is respectively connected to the twohip extension arms 22 to achieve the effect of synchronous adjustment of the waist width on the left and right sides, so that the base 21 can always be kept at the center of the body when the wearer is wearing it. The location can make the wearer's center of gravity at the center of the body, keep the body stable, and avoid the need for separate adjustment of thehip abduction arms 22 on both sides, improving the wearing and adjustment efficiency of the rehabilitation exoskeleton system.

而为了实现髋外展臂22在调节腰宽尺寸后的锁紧，还包括锁止构件26以及锁止驱动件27，锁止构件26与锁止驱动件27可相互配合或脱离配合，以使髋外展臂22锁止于导轨211的当前位置，或解锁传动组件25，以使传动组件25驱动髋外展臂22相对于导轨211运动。In order to realize the locking of thehip abduction arm 22 after adjusting the waist width size, it also includes a lockingmember 26 and a lockingdriver 27, and the lockingmember 26 and the lockingdriver 27 can cooperate or disengage each other, so that Thehip abduction arm 22 is locked at the current position of theguide rail 211 , or thetransmission assembly 25 is unlocked, so that thetransmission assembly 25 drives thehip abduction arm 22 to move relative to theguide rail 211 .

这里，锁止构件26与锁止驱动件27分别具有两种安装方式；Here, the lockingmember 26 and the lockingdriver 27 have two installation methods respectively;

如图8-图12所示为安装方式一，锁止构件26，与基座21固定连接锁止驱动件27，设于传动组件25；As shown in Figures 8-12, installation method 1, the lockingmember 26 is fixedly connected to thebase 21 and the lockingdriver 27 is arranged on thetransmission assembly 25;

如图13-图17所示为安装方式二，锁止构件26设置于传动组件25并可与传动组件25同步运动，锁止驱动件27活动设置于基座21；As shown in Fig. 13-Fig. 17, it is the second installation method, the lockingmember 26 is arranged on thetransmission assembly 25 and can move synchronously with thetransmission assembly 25, and the lockingdriver 27 is movably arranged on thebase 21;

锁止构件26限定出第一锁止部261，锁止驱动件27限定出可与第一锁止部261配合的第二锁止部271，锁止驱动件27可相对于传动组件25活动并具有锁定位置以及解锁位置；The lockingmember 26 defines afirst locking portion 261, and thelocking driving member 27 defines asecond locking portion 271 that can cooperate with thefirst locking portion 261. Thelocking driving member 27 can move relative to thetransmission assembly 25 and Has a locked position and an unlocked position;

锁定位置状态下，第二锁止部271与第一锁止部261锁止配合；In the locked position state, thesecond locking part 271 is locked and matched with thefirst locking part 261;

解锁位置状态下，第二锁止部271与第一锁止部261脱离配合；In the state of the unlocked position, thesecond locking part 271 is disengaged from thefirst locking part 261;

锁止驱动件27可保持在锁定位置状态或解锁位置状态，以使传动组件25被保持在锁止固定或具有相对于基座21活动的自由度的状态。The lockingdrive member 27 can be maintained in a locked position state or an unlocked position state, so that thetransmission assembly 25 is maintained in a state of being locked and fixed or having a degree of freedom of movement relative to thebase 21 .

通过上述结构，在髋外展臂22的调节过程中，穿戴者或协助穿戴的康复师可通过操作锁止驱动件27实现完成关节的解锁以及锁定，锁止驱动件27能够保持在锁定位置或解锁位置状态下，以便于在解锁状态下通过操作驱动组件即可完成调节，以及让髋外展臂22稳定保持在锁止固定的状态，提高外骨骼调节过程或使用过程中的稳定性，髋外展臂22解锁后，再通过操作传动组件25对两髋外展臂22的相对间距进行调整，从而减少了调节外骨骼尺寸过程中的操作步骤，简化操作过程，达到了髋关节组件20便捷、快速调节的目的，最终提高穿戴康复外骨骼系统时的效率，减少穿戴以及调整过程中的耗时。Through the above-mentioned structure, during the adjustment process of thehip abduction arm 22, the wearer or the rehabilitation practitioner who assists the wearer can realize the unlocking and locking of the joint by operating the lockingdriver 27, and the lockingdriver 27 can be kept at the locked position or In the unlocked position, the adjustment can be completed by operating the drive assembly in the unlocked state, and thehip abduction arm 22 can be kept in a locked and fixed state stably, so as to improve the stability of the exoskeleton during adjustment or use. After theabduction arm 22 is unlocked, the relative distance between the twohip abduction arms 22 is adjusted by operating thetransmission assembly 25, thereby reducing the operation steps in the process of adjusting the size of the exoskeleton, simplifying the operation process, and achieving the convenience of the hipjoint assembly 20. , Quick adjustment, and ultimately improve the efficiency of wearing the rehabilitation exoskeleton system, and reduce the time-consuming process of wearing and adjusting.

两第二髋关节活动构件24之间设置有髋部绑带28，用于保持穿戴者髋部与髋关节组件20之间的相对稳定，基座21与腰部背包11固定连接，使髋关节稳定于腰部组件10，在穿戴者运动过程中，髋关节为运动频率最高、活动范围最大以及自由度最多的关节部分，因此，髋关节对康复外骨骼产生的力矩方向也是最多、最大的，而人体髋关节对髋关节组件20产生的部分力矩会通过髋关节组件20传递至腰部组件10，第一护腰构件12、第二护腰构件13配合腰部绑带15稳固于穿戴者的腰部，穿戴者的腰部能够分担一定来自于髋关节组件20的作用力，减少髋关节组件20与穿戴者肢体之间的相对运动，髋关节组件20与髋部绑带28之间限定出髋部穿戴空间29，用于环绕绑定髋部，来自于髋关节组件20的另一部分作用力，会通过髋部绑带28将穿戴者髋部稳固于髋部穿戴空间29当中，这样，通过腰部组件10以及髋关节组件20的配合，从而大幅度减少穿戴者运动过程中髋关节组件20的相对晃动，让髋关节组件20的上述三个自由度的机械关节转动轴线与穿戴者髋关节转动轴线能够保持匹配，达到对穿戴者下肢关节进行支撑以及协助其运动的目的。Hip straps 28 are arranged between the two second hip jointmovable members 24 to keep the relative stability between the wearer's hip and the hipjoint assembly 20, and thebase 21 is fixedly connected with thewaist backpack 11 to stabilize the hip joint For thewaist component 10, during the movement of the wearer, the hip joint is the joint part with the highest frequency of motion, the largest range of motion and the most degrees of freedom. Therefore, the direction of the moment of the hip joint to the rehabilitation exoskeleton is also the largest and largest. Part of the moment generated by the hip joint on the hipjoint assembly 20 will be transmitted to thewaist assembly 10 through the hipjoint assembly 20. The firstwaist support component 12 and the secondwaist support component 13 cooperate with thewaist strap 15 to stabilize the wearer's waist. The waist can share a certain force from the hipjoint assembly 20, reducing the relative movement between the hipjoint assembly 20 and the wearer's limbs, and thehip wearing space 29 is defined between the hipjoint assembly 20 and thehip strap 28, Used to surround and bind the hip, another part of the force from the hipjoint assembly 20 will stabilize the wearer's hip in thehip wearing space 29 through thehip strap 28, so that through thewaist assembly 10 and the hip joint The cooperation of theassembly 20 can greatly reduce the relative shaking of the hipjoint assembly 20 during the movement of the wearer, so that the mechanical joint rotation axis of the above three degrees of freedom of the hipjoint assembly 20 can be kept matched with the rotation axis of the wearer's hip joint, achieving The purpose of supporting the joints of the wearer's lower limbs and assisting their movement.

接上述，传动组件25包括齿轮251以及齿条252，齿轮251具体采用外齿齿轮251，齿轮251可转动地设置于基座21，基座21仅对齿轮251的轴向自由度进行限制，因此，齿轮251具有相对于基座21转动的自由度，基座21的中部开设有用于支撑该齿轮251其中一端转轴的通孔213，齿轮251的相对两端均设置有转轴，齿轮251的一端转轴通过可转动连接的方式固定于通孔213，实现齿轮251一端的支撑，位于齿轮251两侧朝基座21端部延伸的导轨211长度一致，使两髋外展臂22的调节行程范围相同。与上述方案相匹配，为了实现对两髋外展臂22的同步调节，齿条252数量与髋外展臂22数量相同，当然，如果外骨骼系统为仅设置有一侧的髋外展臂22，齿条252也可以为一条，齿条252与导轨211延伸方向相互平行，分别设置在齿轮251的相对两侧并齿轮251相啮合，两齿条252分别固定设置于两髋外展臂22上，锁止驱动件27通过与齿轮251相对固定，实现对齿轮251转动的锁止或解锁，并且能够通过锁止驱动件27驱动齿轮251正转或反转，从而与齿条252之间产生传动关系，带动髋外展臂22沿导轨211方向在相互靠近或相互远离的方向上往复移动。Following the above, thetransmission assembly 25 includes agear 251 and arack 252. Thegear 251 is specifically an externallytoothed gear 251. Thegear 251 is rotatably arranged on thebase 21. The base 21 only restricts the axial freedom of thegear 251, so , thegear 251 has a degree of freedom of rotation relative to thebase 21, and the middle part of thebase 21 is provided with a throughhole 213 for supporting the rotating shaft at one end of thegear 251. The opposite ends of thegear 251 are provided with rotating shafts, and the rotating shaft at one end of thegear 251 It is fixed in the throughhole 213 through a rotatable connection to realize the support of one end of thegear 251. The guide rails 211 extending toward the end of the base 21 on both sides of thegear 251 have the same length, so that the adjustment stroke ranges of the twohip abduction arms 22 are the same. Matching the above scheme, in order to realize the synchronous adjustment of the twohip abduction arms 22, the number ofracks 252 is the same as the number ofhip abduction arms 22. Of course, if the exoskeleton system is provided with only onehip abduction arm 22, Therack 252 can also be one, and therack 252 and theguide rail 211 extend parallel to each other, and are respectively arranged on the opposite sides of thegear 251 and thegears 251 are meshed. The lockingdriver 27 is relatively fixed with thegear 251 to lock or unlock the rotation of thegear 251, and can drive thegear 251 to rotate forward or reverse through the lockingdriver 27, thereby generating a transmission relationship with therack 252 , to drive thehip abduction arm 22 to reciprocate along the direction of theguide rail 211 in the direction of approaching or moving away from each other.

具体的，锁止构件26为棘轮，第一锁止部261为环绕于棘轮设置的棘齿，棘轮的中心轴线与齿轮251的转动轴线相互重合；锁止驱动件27为可与棘齿啮合的棘爪，棘爪的一端为第二锁止部271，棘爪可在与棘轮啮合的锁定位置以及与棘轮脱离啮合的解锁位置之间往复运动。Specifically, the lockingmember 26 is a ratchet, thefirst locking portion 261 is a ratchet disposed around the ratchet, and the central axis of the ratchet coincides with the rotation axis of thegear 251; the lockingdriver 27 is capable of engaging with the ratchet One end of the ratchet is asecond locking portion 271 , and the ratchet can reciprocate between a locked position engaged with the ratchet and an unlocked position disengaged from the ratchet.

如图8-图12所示，作为上述安装方式一的进一步方案，锁止构件26具体为内齿棘轮，第一锁止部261为环绕于内齿棘轮内周面设置的的棘齿，在内齿棘轮的轴向投影方向上，内齿棘轮为圆形，内齿棘轮的外周设置有固定台262，本实施例中，固定台262通过螺栓固定连接于基座21的下部，而棘齿则至少部分伸入基座21内部，使配合结构更加紧凑，内齿棘轮的中心轴线与齿轮251的转动轴线相互重合，使齿轮251不管转动到任何位置下锁止驱动件27均能够与棘齿啮合，达到锁止齿轮251的目的。As shown in Figures 8-12, as a further solution to the first installation method above, the lockingmember 26 is specifically an internal tooth ratchet, and thefirst locking part 261 is a ratchet disposed around the inner peripheral surface of the internal tooth ratchet. In the axial projection direction of the internal-toothed ratchet, the internal-toothed ratchet is circular, and the outer periphery of the internal-toothed ratchet is provided with a fixedplatform 262. In this embodiment, the fixedplatform 262 is fixedly connected to the lower part of the base 21 by bolts, and the ratchet Then at least partially extend into the inside of the base 21 to make the matching structure more compact. The central axis of the internal tooth ratchet coincides with the rotation axis of thegear 251, so that the lockingdriver 27 can be locked with the ratchet no matter where thegear 251 rotates to any position. meshing, to achieve the purpose of locking thegear 251.

而与之匹配的，锁止驱动件27具体为可与棘齿啮合的棘爪，棘爪的第一端可转动地与齿轮251相对固定，并且，棘爪的转动轴线与齿轮251的转动轴线相互错开，即，棘爪的转动轴线与齿轮251的转动轴线偏心设置，这样，在驱动棘爪时，棘爪就能够对齿轮251施加一个切向的力矩，从而让齿轮251绕自身转动轴线实现正转或反转，棘爪的第二端为上述的第二锁止部271，棘爪的第二端可以其第一端作为转动轴线，使棘爪选择性地与到达锁定位置与棘齿啮合或到达解锁位置与棘齿脱离啮合。And matched with it, the lockingdrive member 27 is specifically a ratchet that can engage with the ratchet, the first end of the ratchet is rotatably fixed relative to thegear 251 , and the rotation axis of the ratchet is in contact with the rotation axis of thegear 251 Stagger each other, that is, the rotation axis of the ratchet and the rotation axis of thegear 251 are arranged eccentrically, so that when the ratchet is driven, the ratchet can apply a tangential moment to thegear 251, so that thegear 251 can rotate around its own axis. Forward rotation or reverse rotation, the second end of the ratchet is the above-mentionedsecond locking portion 271, the second end of the ratchet can be used as the rotation axis at its first end, so that the ratchet can selectively reach the locking position and the ratchet Engage or reach the unlocked position to disengage the ratchet.

如图13-图17所示，作为上述安装方式二的进一步方案，锁止构件26为外齿棘轮，第一锁止部261为环绕于外齿棘轮外周面设置的的棘齿，外齿棘轮与齿轮251同轴设置，具体的，外齿棘轮沿轴线开设有孔，外齿棘轮通过固定套设的方式固定于齿轮251远离基座21一端的转轴上，与齿轮251达到同步转动的效果，当外齿棘轮被锁止驱动件27锁止固定时，齿轮251也同样无法转动，从而无法与齿条252之间发生传动关系，锁止髋外展臂22在导轨211的当前位置上，当外齿棘轮与锁止驱动件27之间脱离配合，外齿棘轮失去外力的固定，齿轮251即可在正转或反转的方向上相对于基座21运动，从而与齿条252之间发生传动关系，驱动髋外展臂22作调节运动。As shown in Figures 13-17, as a further solution to the second installation method above, the lockingmember 26 is an external-toothed ratchet, thefirst locking part 261 is a ratchet disposed around the outer peripheral surface of the external-toothed ratchet, and the external-toothed ratchet It is arranged coaxially with thegear 251. Specifically, the external-toothed ratchet is provided with a hole along the axis, and the external-toothed ratchet is fixed on the rotating shaft at the end of thegear 251 away from the base 21 by a fixed sheathing method, and achieves the effect of synchronous rotation with thegear 251. When the external tooth ratchet is locked and fixed by the lockingdrive member 27, thegear 251 cannot rotate, so that the transmission relationship with therack 252 cannot occur, and thehip abduction arm 22 is locked at the current position of theguide rail 211. When the external tooth ratchet and the lockingdrive member 27 are disengaged, the external tooth ratchet loses the fixation of the external force, and thegear 251 can move relative to the base 21 in the direction of forward rotation or reverse rotation, thereby forming a gap between thegear 252 and therack 252. The transmission relationship drives thehip abduction arm 22 to perform adjustment movements.

而与之匹配的，锁止驱动件27具体为可与棘齿啮合的棘爪，棘爪设置在外齿棘轮的侧部，棘爪的第一端可转动的设置于基座21，棘爪的第二端为第二锁止部271，棘爪的第二端可以其第一端作为转动轴线，这样，在棘爪第二端摆转过程中，其就能在与棘齿啮合的锁定位置以及与棘齿脱离啮合的解锁位置之间往复摆转。And matched with it, the lockingdrive member 27 is specifically a ratchet that can engage with the ratchet, the ratchet is arranged on the side of the external tooth ratchet, the first end of the ratchet is rotatably arranged on thebase 21, the ratchet The second end is thesecond locking portion 271, and the second end of the ratchet can be used as the axis of rotation at its first end, so that during the swinging process of the second end of the ratchet, it can be in the locking position engaged with the ratchet. And swing back and forth between the unlocked position disengaged from the ratchet.

为了让传动组件25达到便于操作的效果，传动组件25还包括调节旋钮253；In order to make thetransmission assembly 25 easy to operate, thetransmission assembly 25 also includes anadjustment knob 253;

如图8-图12所示，在安装方式一的结构状态下，调节旋钮253与锁止驱动件27传动连接，本实施例中的调节旋钮253可活动设置于传动组件25并与锁止驱动件27传动连接，调节旋钮253可通过销轴螺栓与齿轮251轴向定位，且由于销轴螺栓具有光杆段，因此调节旋钮253的周向转动并不会被销轴螺栓所固定，让该机构中部件的结构设置更加紧凑，减少关节组件所要占用的空间，避免穿戴者穿戴后显得臃肿，使穿戴者运动过程中更加自如，通过对调节旋钮253的操作，使调节旋钮253驱动锁止驱动件27在锁定位置以及解锁位置之间往复运动，调节旋钮253靠近锁止驱动件27的一侧设置有用于驱动锁止驱动件27运动的传动结构2531，在锁止驱动件27处于解锁位置状态下，通过调节旋钮253对锁止驱动件27继续施加朝解锁位置方向运动的作用力，以使调节旋钮253上的传动结构2531继续对锁止驱动件27施加力矩，从而通过锁止驱动件27带动传动组件25作相对运动，最终驱动髋外展臂22沿导轨211移动；As shown in Figures 8-12, in the structural state of installation mode 1, theadjustment knob 253 is in transmission connection with the lockingdrive member 27. 27 transmission connection, theadjustment knob 253 can be axially positioned by the pin bolt and thegear 251, and because the pin bolt has a polished rod section, the circumferential rotation of theadjustment knob 253 will not be fixed by the pin bolt, so that the mechanism The structural setting of the middle part is more compact, which reduces the space occupied by the joint components, avoids the wearer from appearing bloated after wearing, and makes the wearer more comfortable in the movement process. By operating theadjustment knob 253, theadjustment knob 253 drives the lockingdriver 27 reciprocates between the locked position and the unlocked position. The side of theadjustment knob 253 close to thelock driver 27 is provided with atransmission structure 2531 for driving thelock driver 27 to move. When thelock driver 27 is in the unlocked position , through theadjustment knob 253, thelock driver 27 continues to apply a force towards the unlocked position, so that thetransmission structure 2531 on theadjustment knob 253 continues to apply torque to thelock driver 27, so that thelock driver 27 drives Thetransmission assembly 25 makes a relative movement, and finally drives thehip abduction arm 22 to move along theguide rail 211;

如图13-图17所示，在安装方式二的结构状态下，调节旋钮253与传动组件25固定连接，为用户提供一个更加便于对传动组件25进行操作的操作部件，以通过驱动调节旋钮253从而让传动组带动髋外展臂22沿导轨211移动。As shown in Figures 13-17, in the structural state of the second installation mode, theadjustment knob 253 is fixedly connected with thetransmission assembly 25, providing the user with an operation part that is more convenient to operate thetransmission assembly 25, so as to drive theadjustment knob 253 Thus, the transmission group drives thehip abduction arm 22 to move along theguide rail 211 .

具体的，由于传统的棘轮机构中，棘爪仅能够限制棘轮的单向锁止定位，棘轮在与一个棘爪啮合锁止后，仍然能够具有单向转动的自由度，因此，为了达到在锁定位置下，对齿轮251的正转及反转方向进行同时锁定，棘爪优选采用两个，两棘爪呈镜像相对设置于外齿棘轮的侧部，在锁定位置状态下，两棘爪均与棘轮啮合，分别用于限制齿轮251的正转与反转的转动自由度，让髋外展臂22保持在导轨211的当前位置上。Specifically, in the traditional ratchet mechanism, the ratchet can only limit the one-way locking position of the ratchet, and the ratchet can still have the freedom of one-way rotation after engaging and locking with a ratchet. position, the forward and reverse directions of thegear 251 are locked at the same time, preferably two pawls are used, and the two pawls are mirror images and are relatively arranged on the side of the external tooth ratchet. The ratchet engagement is respectively used to limit the rotational freedom of thegear 251 in forward rotation and reverse rotation, so that thehip abduction arm 22 remains on the current position of theguide rail 211 .

如图8-图12所示，作为安装方式一的进一步方案，锁止驱动件27与齿轮251之间设置有第一扭簧272，第一扭簧272用于对锁止驱动件27持续施加趋于锁定位置的弹性作用力，以使锁止驱动件27在没有外力施加的常规状态下，被第一扭簧272抵在锁定位置状态，并持续保持在锁定位置状态下，保证髋外展臂22与基座21之间的锁止稳定性。As shown in FIGS. 8-12 , as a further solution of the first installation method, afirst torsion spring 272 is provided between the lockingdriver 27 and thegear 251, and thefirst torsion spring 272 is used to continuously apply force to the lockingdriver 27. Tend to the elastic force of the locked position, so that the lockingdriver 27 is pressed against the locked position by thefirst torsion spring 272 in the normal state without external force, and is kept in the locked position continuously to ensure hip abduction The locking stability between thearm 22 and thebase 21 .

第一扭簧272的中心孔套设于棘爪与传动组件25之间的定位销273，第一扭簧272的两端扭臂分别抵于棘爪以及传动组件25，在不受外力情况下，第一扭簧272的扭力使棘爪与内齿棘轮相接触，在需要对髋外展臂22进行调整时，通过操作调节旋钮253，使施加于调节旋钮253的作用力大于第一扭簧272对棘爪所施加的弹性作用力，棘爪会朝远离棘齿的方向绕自身转动轴线旋转运动，使第一扭簧272压缩，最终棘齿与棘齿脱离啮合，并通过继续对调节旋钮253施加进一步的作用力，使棘爪对齿轮251施加一个切向作用力，最终驱动齿轮251旋转，配合齿条252带动髋外展臂22沿导轨211滑动，完成调节后，松开调节旋钮253，使施加于调节旋钮253的作用力消失，第一扭簧272的弹性作用力大于调节旋钮253施加于棘爪的作用力，从而使得第一扭簧272复位，最终带动棘爪重新啮合于棘齿，锁定齿轮251以及髋外展臂22，完成锁紧，达到上述仅通过一次操作即可完成对髋外展臂22的解锁、调节以及锁定。The central hole of thefirst torsion spring 272 is sleeved on thepositioning pin 273 between the pawl and thetransmission assembly 25, and the torsion arms at both ends of thefirst torsion spring 272 are respectively against the pawl and thetransmission assembly 25. , the torsion force of thefirst torsion spring 272 makes the ratchet contact with the internal tooth ratchet, and when thehip abduction arm 22 needs to be adjusted, by operating theadjustment knob 253, the active force applied to theadjustment knob 253 is greater than that of thefirst torsion spring 272 exerts an elastic force on the ratchet, the ratchet will rotate around its own rotation axis in the direction away from the ratchet, so that thefirst torsion spring 272 is compressed, and finally the ratchet and the ratchet are disengaged, and the adjustment knob is adjusted continuously. 253 exerts further active force, so that the ratchet exerts a tangential active force on thegear 251, finally drives thegear 251 to rotate, cooperates with therack 252 to drive thehip abduction arm 22 to slide along theguide rail 211, and after the adjustment is completed, loosen theadjustment knob 253 , so that the active force applied to theadjustment knob 253 disappears, the elastic active force of thefirst torsion spring 272 is greater than the active force applied to the pawl by theadjustment knob 253, so that thefirst torsion spring 272 is reset, and finally drives the pawl to re-engage with the ratchet. The teeth, thelocking gear 251 and thehip abduction arm 22 are locked to achieve the unlocking, adjustment and locking of thehip abduction arm 22 by only one operation.

接上述，为了让齿轮251在传动过程中更加稳定，传动组件25还包括驱动盘254，驱动盘254的外周形状与内齿棘轮的内周面形状相匹配，驱动盘254的中心开设有安装孔2541，安装孔2541固定套设于齿轮251的一端，以使驱动盘254与齿轮251同轴设置，而驱动盘254上分别设置有两个抵顶台2542，抵顶台2542设置于棘爪的一侧，在第一扭簧272安装于定位销273后，第一扭簧272的其中一端扭臂抵于抵顶台2542，达到上述第一扭簧272的其中一端扭臂抵于传动组件25的效果。Continuing from the above, in order to make thegear 251 more stable during the transmission process, thetransmission assembly 25 also includes adriving disc 254, the outer peripheral shape of thedriving disc 254 matches the inner peripheral surface shape of the internal tooth ratchet, and the center of thedriving disc 254 is provided with a mountinghole 2541, the mountinghole 2541 is fixedly sleeved at one end of thegear 251, so that thedrive plate 254 is coaxially arranged with thegear 251, and thedrive plate 254 is respectively provided with twoabutment platforms 2542, and theabutment platform 2542 is arranged on the pawl On one side, after thefirst torsion spring 272 is installed on thepositioning pin 273, one end of the torsion arm of thefirst torsion spring 272 abuts against theabutment platform 2542, so that one end of the torsion arm of thefirst torsion spring 272 abuts against thetransmission assembly 25 Effect.

而驱动盘254则通过与内齿棘轮的内周面转动配合，以使齿轮251的相对两端分别通过基座21以及驱动盘254进行支撑，实现转动稳定的效果。Thedrive plate 254 rotates and cooperates with the inner peripheral surface of the internal tooth ratchet, so that the opposite ends of thegear 251 are respectively supported by thebase 21 and thedrive plate 254 to achieve the effect of stable rotation.

上述的定位销273设置在驱动盘254上并与驱动盘254偏心设置，棘爪的第一端可转动地套设于定位销273，为了让上述的第一扭簧272能够套设于定位销273并对棘爪施加弹性作用力，棘爪第一端的中部开设有第一避位槽274，定位销273部分通过第一避位槽274外露于棘爪的外部，安装时，第一扭簧272通过设置于第一避位槽274，并且第一扭簧272的中心孔两端正对棘爪位于第一避位槽274两侧的通孔213，这样，第一扭簧272就能在棘爪第一端套设在定位销273上时一同套设在定位销273的外部。The above-mentionedpositioning pin 273 is arranged on the drivingplate 254 and is eccentrically arranged with the drivingplate 254. The first end of the ratchet is rotatably sleeved on thepositioning pin 273. In order to allow the above-mentionedfirst torsion spring 272 to be sleeved on thepositioning pin 273 and apply an elastic force to the ratchet. The middle part of the first end of the ratchet is provided with afirst avoidance groove 274, and part of thepositioning pin 273 is exposed to the outside of the ratchet through thefirst avoidance groove 274. When installing, thefirst twist Spring 272 is by being arranged on the first place-avoidinggroove 274, and the two ends of the center hole of thefirst torsion spring 272 face the throughhole 213 that ratchet is positioned at the first place-avoidinggroove 274 both sides, like this, thefirst torsion spring 272 just can be in When the first end of the ratchet is sleeved on thepositioning pin 273 , it is also sleeved on the outside of thepositioning pin 273 .

定位销273匹配棘爪数量为两个，两定位销273与内齿棘轮的间距一致，以使两棘爪均能够在锁定位置和解锁位置之间摆转。Thepositioning pin 273 is matched with two pawls, and the distance between the twopositioning pins 273 and the internal tooth ratchet is consistent, so that both pawls can swing between the locking position and the unlocking position.

进一步，为了能让调节旋钮253顺利地对棘爪施加朝解锁位置方向的作用力，并在调节旋钮253上的作用力消失时棘爪复位能够同时驱动调节旋钮253复位，棘爪上固定有拨动销275，调节旋钮253通过传动结构2531与棘爪传动连接，拨动销275靠近棘爪的第二端设置，与定位销273偏心设置，从而能够在对拨动销275施加力矩时棘爪能够绕定位销273转动，最终让驱动第二锁止部271在锁定位置及解锁位置之间往复摆转。Further, in order to allow the adjustingknob 253 to smoothly apply an active force towards the unlocked position to the pawl, and when the active force on the adjustingknob 253 disappears, the pawl can be reset and the adjustingknob 253 can be driven to reset at the same time. Themovable pin 275 and the adjustingknob 253 are connected to the ratchet through thetransmission structure 2531. Thetoggle pin 275 is arranged close to the second end of the ratchet, and is eccentrically arranged with thepositioning pin 273, so that the ratchet can be used when torque is applied to thetoggle pin 275. It can rotate around thepositioning pin 273 , and finally drive thesecond locking portion 271 to swing back and forth between the locking position and the unlocking position.

操作调节旋钮253时，调节旋钮253上的传动结构2531能够对拨动销275施加一定的作用力，使拨动销275带动棘爪由锁定位置朝解锁位置方向运动，并在拨动杆与传动结构2531之间达到极限位置后实现解锁，在该状态下，通过对调节旋钮253进一步施加作用力，使传动结构2531继续抵推拨动销275，使拨动销275通过棘爪对定位销273施加带动驱动盘254转动的作用力，最终实现齿轮251的正转或反转。松开调节旋钮253后，第一扭簧272会抵推棘爪恢复锁定位置，在此过程中，拨动销275通过调节旋钮253上的传动结构2531将调节旋钮253抵推复位。When theadjustment knob 253 is operated, thetransmission structure 2531 on theadjustment knob 253 can exert a certain force on thetoggle pin 275, so that thetoggle pin 275 drives the pawl to move from the locked position to the unlocked position, and between the toggle lever and the transmission The unlocking is realized after thestructure 2531 reaches the limit position. In this state, by further applying force to theadjustment knob 253, thetransmission structure 2531 continues to push thetoggle pin 275, so that thetoggle pin 275 passes through the pawl to thepositioning pin 273. Applying an active force to drive the rotation of thedrive plate 254 , finally realizing the forward or reverse rotation of thegear 251 . After theadjustment knob 253 is released, thefirst torsion spring 272 will push the pawl back to the locked position. During this process, thetoggle pin 275 will push theadjustment knob 253 back to its original position through thetransmission structure 2531 on theadjustment knob 253 .

如图13-图17所示，作为安装方式二的进一步方案，基座21与作为锁止驱动件27的棘爪之间设置有塔型弹簧276，塔型弹簧276用于施加弹性作用力的两端分别抵于锁止驱动件27以及基座21，用于对锁止驱动件27持续施加趋于锁定位置的弹性作用力，以使锁止驱动件27在常规状态下保持位于锁定位置的状态，并持续保持在锁定位置状态下，保证髋外展臂22与基座21之间的锁止稳定性。As shown in Figures 13-17, as a further solution of the second installation method, atower spring 276 is provided between the base 21 and the pawl as the lockingdriver 27, and thetower spring 276 is used to apply the elastic force. The two ends are respectively against the lockingdriver 27 and thebase 21, and are used to continuously apply an elastic force towards the locking position to the lockingdriver 27, so that the lockingdriver 27 remains in the locking position under normal conditions. State, and keep in the state of the locked position continuously, to ensure the locking stability between thehip abduction arm 22 and thebase 21 .

在需要对髋外展臂22进行调整时，通过操作锁止驱动件27，使施加于调节旋钮253的作用力大于塔型弹簧276施加于棘爪的弹性作用力，棘爪会朝远离棘齿的方向绕自身转动轴线旋转运动，使塔型弹簧276压缩，最终棘齿与棘齿脱离啮合，此状态下，可通过对调节旋钮253施加一定的作用力，使调节旋钮253带动齿轮251转动，配合齿条252带动髋外展臂22沿导轨211滑动，完成调节后，释放锁止驱动件27，使施加于锁止驱动件27的作用力消失，塔型弹簧276的弹性作用力大于调节旋钮253施加于棘爪的作用力，从而使得塔型弹簧276复位，最终推动棘爪重新啮合于棘齿，锁定齿轮251以及髋外展臂22，完成锁紧，能够保证棘爪与棘齿稳定啮合的同时，节省了用户操作棘爪从解锁位置恢复至锁定位置的步骤。When it is necessary to adjust thehip abduction arm 22, by operating thelock driver 27, the active force applied to theadjustment knob 253 is greater than the elastic active force applied to the ratchet by thetower spring 276, and the ratchet will move away from the ratchet. The direction of rotation around its own rotation axis makes thetower spring 276 compressed, and finally the ratchet is disengaged from the ratchet. In this state, theadjustment knob 253 can drive thegear 251 to rotate by applying a certain force to theadjustment knob 253. Cooperate with therack 252 to drive thehip abduction arm 22 to slide along theguide rail 211. After the adjustment is completed, release the lockingdriver 27, so that the force applied to the lockingdriver 27 disappears. The elastic force of thetower spring 276 is greater than that of theadjustment knob 253 exerts an active force on the ratchet, so that thetower spring 276 resets, finally pushes the ratchet to re-engage with the ratchet, locks thegear 251 and thehip abduction arm 22, completes the locking, and can ensure the stable meshing of the ratchet and the ratchet At the same time, it saves the steps for the user to operate the pawl to restore from the unlocked position to the locked position.

为了让棘齿在摆转过程中更加稳定，同时进一步提高机构整体的紧凑性，基座21与锁止驱动件27之间设置有安装盘214，安装盘214具体固定安装于基座21的下部，本实施例中，安装盘214的外缘朝远离基座21的方向弯折，以使安装盘214的内部形成有朝远离基座21一端敞开的安装腔2141,锁止构件26与锁止驱动件27均至少部分置于安装腔2141内，驱动盘254的中心开设有安装孔2541，齿轮251远离基座21的一端转轴活动穿过安装盘214上的安装孔2541后与锁止构件26连接。In order to make the ratchet more stable during the swinging process, and further improve the overall compactness of the mechanism, a mountingplate 214 is arranged between the base 21 and the lockingdriver 27, and the mountingplate 214 is fixedly installed on the lower part of thebase 21. , in this embodiment, the outer edge of the mountingplate 214 is bent toward the direction away from thebase 21, so that the inside of the mountingplate 214 is formed with aninstallation cavity 2141 that is open toward the end away from thebase 21, and the lockingmember 26 and the locking The drivingparts 27 are at least partly placed in the mountingcavity 2141, and the center of thedriving disc 254 is provided with a mountinghole 2541. The rotating shaft of the end of thegear 251 away from the base 21 moves through the mountinghole 2541 on the mountingdisc 214 and then engages with the lockingmember 26. connect.

安装腔2141的腔壁与锁止驱动件27之间形成有安装台2142，为了匹配于棘爪为两个的方案，安装台2142为两个并且相对设置，安装台2142表面设置有圆形的凹槽，塔型弹簧276直径较大的一端嵌置于上述的凹槽，塔型弹簧276直径较大的一端抵于棘爪表面，而棘爪用于被塔型弹簧276抵顶的一侧，同样开设有圆形的凹槽，以供塔型弹簧276嵌入固定。A mounting table 2142 is formed between the cavity wall of the mountingcavity 2141 and the lockingdriver 27. In order to match the scheme with two pawls, the mounting table 2142 is two and arranged oppositely. The surface of the mounting table 2142 is provided with a circular Groove, the end of the larger diameter of thetower spring 276 is embedded in the above-mentioned groove, the end of the larger diameter of thetower spring 276 is against the surface of the pawl, and the pawl is used for the side that is abutted by thetower spring 276 , a circular groove is also provided for thetower spring 276 to be embedded and fixed.

两棘爪均设置在两安装台2142之间，并且，两塔型弹簧276分别设置在两棘爪相互背离的一侧，而棘轮则设置在两棘爪之间，这样，塔型弹簧276会分别对两棘爪朝相互靠近的方向抵靠，使之抵紧在棘轮的棘齿上处于锁定位置。而当棘爪需要与棘轮脱离啮合时，将两棘爪的第二端朝相互远离的方向摆转，压缩塔型弹簧276，最终使第二锁止部271脱离第一锁止部261，而此时，可以通过在两棘爪之间设置相应的驱动件，从而让两棘爪同步在相互远离或靠近的方向上摆转，并在相互远离的解锁位置上设置定位结构，使得棘爪能够保持稳定在解锁位置上，便于对髋外展臂22的调节。Both ratchets are arranged between the twoinstallation platforms 2142, and the two tower springs 276 are respectively arranged on the side where the two ratchets are away from each other, and the ratchet is arranged between the two ratchets, so that the tower springs 276 will Respectively, the two ratchet pawls abut against each other in a direction close to each other, so that they are abutted against the ratchet teeth of the ratchet wheel and are in a locking position. And when the ratchet needs to be disengaged from the ratchet wheel, the second ends of the two ratchets are swung towards the direction away from each other, thetower spring 276 is compressed, and finally thesecond locking part 271 is separated from thefirst locking part 261, and At this time, a corresponding driving member can be provided between the two pawls, so that the two pawls can be rotated synchronously in the direction of moving away from or approaching each other, and a positioning structure can be set at the unlocking position far away from each other, so that the pawls can Staying stable in the unlocked position facilitates adjustment of thehip abductor arm 22 .

在两棘爪之间设置有凸轮277，凸轮277可转动地设置于基座21，具体设置在安装盘214所形成的安装腔2141内并与安装盘214转动连接。Acam 277 is disposed between the two pawls, and thecam 277 is rotatably disposed on thebase 21 , specifically disposed in theinstallation cavity 2141 formed by theinstallation disk 214 and is rotatably connected with theinstallation disk 214 .

凸轮277与弹性复位件分置于棘爪的相对两侧，可在通过在转动过程中将棘爪朝远离棘轮的方向抵顶，以使第二锁止部271朝解锁位置方向运动，最终与第一锁止部261脱离配合。Thecam 277 and the elastic reset member are located on opposite sides of the ratchet. During the rotation, the ratchet can be pushed against the direction away from the ratchet, so that thesecond locking part 271 can move toward the unlocked position, and finally with the ratchet. Thefirst locking portion 261 is disengaged.

而为了便于凸轮277的操作，在凸轮277上还设置有拨杆278，拨杆278一端与凸轮277连接，用于驱动凸轮277绕自身转动轴线旋转，拨杆278的另一端朝凸轮277外部延伸，本实施例中，拨杆278的另一端伸出安装盘214的外边面，为穿戴者或康复师提供操作凸轮277的部位。In order to facilitate the operation of thecam 277, a drivinglever 278 is also provided on thecam 277. One end of the drivinglever 278 is connected with thecam 277 for driving the rotation of thecam 277 around its own axis of rotation. The other end of the drivinglever 278 extends toward the outside of thecam 277. , in this embodiment, the other end of thelever 278 protrudes from the outer surface of the mountingplate 214 to provide a place for the wearer or rehabilitation practitioner to operate thecam 277 .

凸轮277的外周面凸出设置有用于将棘爪抵向解锁位置的凸部，为了对应棘爪为两个的方案，凸轮277设置在两棘爪之间，凸轮277的外周面相对设置有两个凸部，以使凸轮277在轴向投影方向形成一个镜像对称的形状，在凸轮277转动至棘爪解锁位置状态下，两凸部分别抵于两相对的棘爪表面，使两棘爪分别被两凸部抵顶并朝相互远离的方向摆转，与棘轮脱离啮合，在锁定位置状态下，凸轮277的凸部不与棘爪表面抵接，以使棘爪朝相互靠近的方向摆转，与棘轮啮合。The outer peripheral surface of thecam 277 protrudes and is provided with a convex portion for pushing the ratchet to the unlocking position. In order to correspond to the scheme of two ratchets, thecam 277 is arranged between the two ratchets, and the outer peripheral surface of thecam 277 is oppositely provided with two protrusions. two protrusions, so that thecam 277 forms a mirror-symmetrical shape in the axial projection direction. When thecam 277 rotates to the pawl unlocking position, the two protrusions are respectively against the surfaces of the two opposite pawls, so that the two pawls are respectively Abutted by the two convex parts and swinging away from each other, it is disengaged from the ratchet. In the locked position, the convex part of thecam 277 does not abut against the surface of the pawl, so that the pawls swing toward the direction of mutual approach. , engages with the ratchet.

为了让凸部与棘爪抵顶配合时，凸轮277不会绕自身旋转轴线转动而导致凸部与棘爪脱离抵顶，最终导致棘爪从解锁位置恢复至锁定位置的情况，凸部表面形成有形状与棘爪相匹配的配合面，当棘爪与配合面完全接触时，棘爪保持在解锁位置状态，棘爪能够稳定地与配合面形成抵贴配合，棘爪会抵紧配合面，从而让凸轮277无法在没有其他外力施加的情况下继续转动，从而让棘爪稳定地保持在解锁位置状态下，本实施例中，配合面与棘轮用于与凸部抵顶配合的表面均呈平面结构。In order to allow the protrusion and the pawl to abut against each other, thecam 277 will not rotate around its own axis of rotation to cause the protrusion and the pawl to disengage from the abutment, and eventually cause the pawl to return from the unlocked position to the locked position. The surface of the protrusion is formed There is a mating surface that matches the shape of the pawl. When the pawl is in full contact with the mating surface, the pawl remains in the unlocked position. The pawl can stably form a snug fit with the mating surface, and the pawl will press against the mating surface. In this way, thecam 277 cannot continue to rotate without the application of other external forces, so that the pawl can be stably kept in the unlocked position. planar structure.

如图18-图24所示，以下为髋关节组件20的其他构件连接关系的进一步描述；第一转动轴线221与第三转动轴线241均位于第一平面242，且在没有外力施加的状态下，第一转动轴线221与第三转动轴线241保持相互垂直；第二转动轴线231垂直于第一平面242。进一步，第一转动轴线221与第三转动轴线241可定义为X轴Y轴，且均位于第一平面242，第二转动轴线231可定义为Z轴，垂直于第一平面242，髋外展臂22、第一髋关节活动构件23、第二髋关节活动构件24时间均设置有复位件，使在没有外力施加的状态下，第一转动轴线221与第三转动轴线241保持相互垂直，保证穿戴者在非运动状态下相应的活动结构对准人体髋关节相应自由度的关节转轴。As shown in Figures 18-24, the following is a further description of the connection relationship of other components of the hipjoint assembly 20; thefirst rotation axis 221 and thethird rotation axis 241 are located on thefirst plane 242, and in the state where no external force is applied , thefirst rotation axis 221 and thethird rotation axis 241 are kept perpendicular to each other; thesecond rotation axis 231 is perpendicular to thefirst plane 242 . Further, the first axis ofrotation 221 and the third axis ofrotation 241 can be defined as the X-axis and the Y-axis, both of which are located on thefirst plane 242. The second axis ofrotation 231 can be defined as the Z-axis, which is perpendicular to thefirst plane 242, and hip abduction Thearm 22, the first hip jointmovable member 23, and the second hip jointmovable member 24 are all provided with reset parts at the same time, so that thefirst rotation axis 221 and thethird rotation axis 241 are kept perpendicular to each other when no external force is applied, ensuring When the wearer is in a non-moving state, the corresponding active structure is aligned with the joint rotation axis of the corresponding degree of freedom of the human hip joint.

髋外展臂22与第一髋关节活动构件23之间设置有传动轴232以及与传动轴232相匹配的轴孔222；Atransmission shaft 232 and ashaft hole 222 matching thetransmission shaft 232 are arranged between thehip abduction arm 22 and the first hip jointmovable member 23;

如图18-图20所示，本实施例中，髋外展臂22与第一髋关节活动构件23之间的轴孔222配合具有两种设置方式，分别为髋外展臂22远离基座21的一端开设有轴孔222，第一髋关节活动构件23设置传动轴232；以及髋外展臂22远离基座21的一端设置传动轴232，第一髋关节活动构件23的第一端开设有轴孔222。As shown in Figures 18-20, in this embodiment, theshaft hole 222 between thehip abduction arm 22 and the first hip jointmovable member 23 has two configurations, respectively, thehip abduction arm 22 is far away from the base One end of the 21 is provided with ashaft hole 222, the first hip jointmovable member 23 is provided with atransmission shaft 232; There is ashaft hole 222 .

本方案采用髋外展臂22设置有轴孔222，第一髋关节活动构件23设置有传动轴232的方案，为了让第一髋关节活动构件23在没有外力施加的状态下恢复至零位，髋外展臂22与第一髋关节活动构件23之间设置有第一弹性复位件233，让第一平面242与基座21平行，穿戴者大腿处于直立或坐立的状态，对其提供一定的支撑力，第一弹性复位件233的一端固定于髋外展臂22，第一弹性复位件233的另一端固定于第一髋关节活动构件23，用于在没有外力施加于第一髋关节活动构件23的情况下，保持第一平面242与基座21相互平行，第一弹性复位件233对髋外展臂22以及第一髋关节活动构件23施加复位的弹性作用力，在穿戴者穿戴状态下，髋关节沿外展/内收方向运动时，第一弹性复位件233能够对其运动方向施加反向的弹性作用力，给穿戴者肢体施加一定的阻力，能够提高其复健运动过程中的康复效果，也能对穿戴者提供一定的支撑力，在穿戴者下肢力量不足的情况下，协助穿戴者身体保持平衡，使穿戴者有足够的能力自行行走以及站立。This scheme adopts the scheme that thehip abduction arm 22 is provided with ashaft hole 222, and the first hip jointmovable member 23 is provided with atransmission shaft 232. In order to allow the first hip jointmovable member 23 to return to the zero position without the application of external force, A firstelastic reset member 233 is arranged between thehip abduction arm 22 and the first hip jointmovable member 23, so that thefirst plane 242 is parallel to thebase 21, and the wearer's thigh is in an upright or sitting state, which provides certain One end of the first elastic resettingpart 233 is fixed on thehip abduction arm 22, and the other end of the first elastic resettingpart 233 is fixed on the first hip jointmovable member 23, for when no external force is applied to the first hip joint In the case of themovable member 23, keep thefirst plane 242 and the base 21 parallel to each other, and the first elastic resettingpart 233 applies an elastic force for reset to thehip abduction arm 22 and the first hip jointmovable member 23, and when the wearer wears In this state, when the hip joint moves along the direction of abduction/adduction, the firstelastic reset member 233 can apply a reverse elastic force to the direction of its movement, and apply a certain resistance to the wearer's limbs, which can improve the rehabilitation process of the wearer. It can also provide a certain amount of support for the wearer, and assist the wearer to maintain balance when the wearer's lower body strength is insufficient, so that the wearer has enough ability to walk and stand on his own.

具体的，传动轴232的端部通过螺栓连接设置有端盖238，端盖238直径稍大于髋外展臂22端部的轴孔222，防止第一髋关节活动构件23从髋外展臂22上脱出。端盖238上形成有与传动轴232结构近似的套轴，从而让端盖238与第一髋关节活动构件23沿外展/内收方向同步转动，第一弹性复位件233为第二扭簧，第二扭簧套设在端盖238的轴套的外部，在髋外展臂22上设置有用于固定第一弹性复位件233一端扭臂的第一卡槽225，第一弹性复位件233一端固定在髋外展臂22的卡槽内，轴套远离第一髋关节活动构件23的一端固定设置有固定盖239，固定盖239可与端盖238以及第一髋关节活动构件23同步转动，固定盖239的直径大于第一弹性复位件233的直径，以将第一弹性复位件233轴向限定在端盖238与固定盖239之间，在固定盖239上设置有用于固定第一弹性复位件233另一端扭臂的第二卡槽2391，第一弹性复位件233的另一端固定在上述的第二卡槽2391内，从而形成第一弹性复位件233作为第一髋关节活动构件23和髋外展臂22的弹性体。Specifically, the end of thetransmission shaft 232 is connected with anend cap 238 by bolts, and the diameter of theend cap 238 is slightly larger than theshaft hole 222 at the end of thehip abduction arm 22, so as to prevent the first hip jointmovable member 23 from moving from thehip abduction arm 22. come out. Theend cover 238 is formed with a sleeve shaft similar in structure to thetransmission shaft 232, so that theend cover 238 and the first hip jointmovable member 23 rotate synchronously along the direction of abduction/adduction, and the firstelastic reset member 233 is the second torsion spring , the second torsion spring is sleeved on the outside of the bushing of theend cover 238, and thehip abduction arm 22 is provided with afirst slot 225 for fixing one end of the torsion arm of the firstelastic reset member 233, and the firstelastic reset member 233 One end is fixed in the draw-in slot of thehip abduction arm 22, and the end of the bushing away from the first hip jointmovable member 23 is fixedly provided with a fixedcover 239, and the fixedcover 239 can rotate synchronously with theend cover 238 and the first hip jointmovable member 23 , the diameter of the fixedcover 239 is larger than the diameter of the firstelastic return member 233, so that the firstelastic return member 233 is axially limited between theend cover 238 and the fixedcover 239, and the fixedcover 239 is provided with a device for fixing the firstelastic return member 233. Thesecond clamping slot 2391 of the torsion arm at the other end of thereset member 233, the other end of the firstelastic reset member 233 is fixed in thesecond clamping slot 2391, thereby forming the firstelastic reset member 233 as the first hip jointmovable member 23 And the elastic body ofhip abductor arm 22.

由上述描述形成的结构是，第一髋关节活动构件23可通过传动轴232绕髋外展臂22的轴孔222在一定角度范围内旋转，第一弹性复位件233为第一髋关节活动构件23提供正向或反向的扭力，驱动其在活动后恢复至零位，对于康复外骨骼系统的穿戴者，这种恢复力可以提供部分支撑与稳定的作用，也能对其下肢在运动过程中施加一定的阻力，让其下肢肌肉能够更加充分的得到运动。The structure formed by the above description is that the first hip jointmovable member 23 can rotate within a certain angle range around theshaft hole 222 of thehip abduction arm 22 through thetransmission shaft 232, and the firstelastic reset member 233 is the first hip jointmovable member 23 provides forward or reverse torque to drive it back to zero after activities. For the wearer of the rehabilitation exoskeleton system, this recovery force can provide partial support and stability, and can also help the lower limbs during exercise. A certain amount of resistance is applied in the middle, so that the muscles of the lower limbs can be exercised more fully.

而为了让穿戴者下肢的运动限定在一定的范围内，避免其髋关节超范围运动导致关节进一步损伤，让关节在复健运动所允许的范围内运动，轴孔222的内壁面凸出设置有限位件2221，传动轴232的外周面设置有限位孔2321，本实施例中，传动轴232为空心的转轴，限位孔2321与传动轴232内部连通，能让外骨骼系统整体轻量化，节省材料，当然，传动轴232也可以为实心的结构，在传动轴232的外周面开设于限位孔2321功能相同的槽。In order to limit the movement of the wearer's lower limbs within a certain range, avoid further damage to the joint caused by excessive movement of the hip joint, and allow the joint to move within the range allowed by the rehabilitation exercise, the inner wall of theshaft hole 222 has a limited protrusion setting. Thepositioning part 2221, the outer peripheral surface of thetransmission shaft 232 is provided with alimit hole 2321, in this embodiment, thetransmission shaft 232 is a hollow shaft, and thelimit hole 2321 communicates with thedrive shaft 232, so that the overall weight of the exoskeleton system can be reduced, saving Material, of course, thetransmission shaft 232 can also be a solid structure, and a groove with the same function as the limitinghole 2321 is opened on the outer peripheral surface of thetransmission shaft 232 .

限位件2221至少部分置于限位孔2321中，在传动轴232的转动方向上，限位孔2321的尺寸大于限位件2221的尺寸，以使限位件2221能够在限位孔2321所限定的行程范围内往复运动，当第一髋关节活动构件23处于零位时，限位件2221位于限位孔2321的中部，从而让第一髋关节活动构件23的外展/内收活动角度一致。当第一髋关节活动构件23沿外展/内收方向运动时，限位件2221处于相对静止的状态，而限位孔2321会随第一髋关节活动构件23运动而与限位件2221之间产生相对运动，当第一髋关节活动构件23运动至一定角度后，限位孔2321的端部会抵顶在限位件2221上，此时，第一髋关节活动构件23将无法继续沿当前方向运动，实现限位。The limitingmember 2221 is at least partially placed in the limitinghole 2321. In the direction of rotation of thetransmission shaft 232, the size of the limitinghole 2321 is larger than the size of the limitingmember 2221, so that the limitingmember 2221 can be placed in the limitinghole 2321. Reciprocating movement within a limited stroke range, when the first hip jointmovable member 23 is at zero position, thelimiter 2221 is located in the middle of thelimit hole 2321, so that the abduction/adduction movement angle of the first hip jointmovable member 23 unanimous. When the first hip jointmovable member 23 moves along the abduction/adduction direction, the limitingmember 2221 is in a relatively static state, and the limitinghole 2321 will be in contact with the limitingmember 2221 as the first hip jointmovable member 23 moves. When the first hip jointmovable member 23 moves to a certain angle, the end of thelimit hole 2321 will abut against thelimit member 2221. At this time, the first hip jointmovable member 23 will not be able to continue to move along the current Direction movement to achieve limit.

具体的，限位件2221可采用销轴螺栓，销轴螺栓的螺纹段与髋外展臂22的轴孔222螺纹连接，销轴螺栓的光杆段凸出于轴孔222并至于限位孔2321中，在销轴螺栓的光杆段部分套设有弹性防撞块2222，在第一髋关节活动构件23运动时，销轴螺栓的光杆段负责对限位孔2321进行抵顶限位，套设弹性防撞块2222，能够在光杆段与限位孔2321的孔壁发生抵碰时，降低限位孔2321与销轴螺栓之间碰撞所产生的应力，从而形成对外骨骼系统关节构件的保护，也能够降低关节构件之间的碰撞对穿戴者肢体产生的震动，保护穿戴者肢体。Specifically, thelimiter 2221 can adopt pin shaft bolts, the threaded section of the pin shaft bolts is threadedly connected with theshaft hole 222 of thehip abduction arm 22, and the polished rod section of the pin shaft bolt protrudes from theshaft hole 222 and reaches thelimit hole 2321 Among them, anelastic anti-collision block 2222 is set on the polished rod section of the pin shaft bolt. When the first hip jointmovable member 23 moves, the polished rod section of the pin shaft bolt is responsible for abutting and limiting thelimit hole 2321. Theelastic anti-collision block 2222 can reduce the stress generated by the collision between thelimit hole 2321 and the pin bolt when the polished rod segment collides with the hole wall of thelimit hole 2321, thereby forming the protection of the joint components of the exoskeleton system, It can also reduce the vibration of the wearer's limbs caused by the collision between the joint components, and protect the wearer's limbs.

如图21-图22所示，第一髋关节活动构件23与第二髋关节活动构件24之间设置有活动轴243，第一髋关节活动构件23与第二髋关节活动构件24可分别绕活动轴243摆转，以使第一髋关节活动构件23与第二髋关节活动构件24的相对角度发生改变，这样，活动轴243的转动轴线即定义为第二转动轴线231。由于第一髋关节活动构件23的第二端与第二髋关节活动构件24为了实现外骨骼系统的轻量化，需要加工成尺寸相对较小的构件结构，在第一髋关节活动构件23与第二髋关节活动构件24之间直接加工轴孔222结构会提供一定的加工难度，也会降低两者间的连接稳定性，因此，采用活动轴243对两者进行活动连接为较为合适的方式。而为了让第一髋关节活动构件23与第二髋关节活动构件24之间能够通过活动轴243实现转动，第一髋关节活动构件23设有贯通的第一支撑孔234，第二髋关节活动构件24设有贯通的第二支撑孔244，第一支撑孔234与第二支撑孔244直径优选一致，活动轴243与第一支撑孔234及第二支撑孔244配合，活动穿接于第一支撑孔234及第二支撑孔244，以使第二髋关节活动构件24能够绕第二转动轴线231相对于第一髋关节活动构件23作摆转运动。As shown in Figures 21-22, amovable shaft 243 is arranged between the first hip jointmovable member 23 and the second hip jointmovable member 24, and the first hip jointmovable member 23 and the second hip jointmovable member 24 can respectively rotate around Themovable shaft 243 swings to change the relative angle between the first hip jointmovable member 23 and the second hip jointmovable member 24 , so that the rotational axis of themovable shaft 243 is defined as the secondrotational axis 231 . Since the second end of the first hip jointmovable member 23 and the second hip jointmovable member 24 need to be processed into a relatively small component structure in order to realize the lightweight of the exoskeleton system, the first hip jointmovable member 23 and the second hip joint movable member Direct processing of theshaft hole 222 structure between the two hip jointmovable members 24 will provide a certain degree of processing difficulty, and will also reduce the connection stability between the two. Therefore, it is more appropriate to use themovable shaft 243 to connect the two. In order to allow the first hip jointmovable member 23 and the second hip jointmovable member 24 to be able to rotate through themovable shaft 243, the first hip jointmovable member 23 is provided with a throughfirst support hole 234, and the second hip joint movable Thecomponent 24 is provided with a throughsecond support hole 244, the diameter of thefirst support hole 234 and thesecond support hole 244 are preferably consistent, themovable shaft 243 cooperates with thefirst support hole 234 and thesecond support hole 244, and is movably connected to thefirst support hole 244. Thesupport hole 234 and thesecond support hole 244 enable the second hip jointmovable member 24 to perform a swinging movement around thesecond rotation axis 231 relative to the first hip jointmovable member 23 .

接上述，为了让第一髋关节活动构件23与第二髋关节活动构件24在没有外力施加的状态下恢复至零位，第一髋关节活动构件23与第二髋关节活动构件24之间设置有第二弹性复位件245，这样，两侧的第二髋关节活动构件24就能够保持在相互平行的状态，分别对准穿戴者髋部两侧，在此状态下，穿戴者两大腿前侧朝向一致，保证穿戴者保持在康复外骨骼系统要求所处于的肢体状态之下，并对其提供一定的支撑力，避免穿戴者下肢过度旋内或旋外形成“内八”或“外八”的姿态，第二弹性复位件245的一端固定于第一髋关节活动构件23，第二弹性复位件245的另一端固定于第二髋关节活动构件24，用于在没有外力施加于第二髋关节活动构件24的情况下，保持第三转动轴线241垂直于第一转动轴线221，而在此状态下，康复外骨骼系统两侧的第三转动轴线241相互重合，第二弹性复位件245对第一髋关节活动构件23以及第二髋关节活动构件24施加复位的弹性作用力，在穿戴者穿戴状态下，髋关节沿旋外/旋内方向运动时，第二弹性复位件245能够对其运动方向施加反向的弹性作用力，给穿戴者肢体施加一定的阻力，能够提高其复健运动过程中的康复效果，也能对穿戴者提供一定的支撑力，在穿戴者下肢力量不足的情况下，协助穿戴者身体保持平衡，使穿戴者有足够的能力自行行走以及站立。Continuing from the above, in order to allow the first hip jointmovable member 23 and the second hip jointmovable member 24 to return to the zero position without the application of external force, a There is a second elastic resettingpart 245, so that the second hip jointmovable members 24 on both sides can be kept in a state parallel to each other, and are respectively aligned with both sides of the wearer's hip. In this state, the front sides of the wearer's two thighs The orientation is consistent to ensure that the wearer maintains the limb state required by the rehabilitation exoskeleton system, and provides a certain support force to prevent the wearer from excessively rotating the lower limbs inwardly or externally to form "inner eight" or "outer eight". posture, one end of the second elastic resettingpart 245 is fixed to the first hip jointmovable member 23, and the other end of the second elastic resettingpart 245 is fixed to the second hip jointmovable member 24, for when no external force is applied to the second hip joint In the case of the jointmovable member 24, thethird rotation axis 241 is kept perpendicular to thefirst rotation axis 221, and in this state, the third rotation axes 241 on both sides of the rehabilitation exoskeleton system coincide with each other, and the secondelastic reset member 245 is The first hip jointmovable member 23 and the second hip jointmovable member 24 exert an elastic force for reset, and when the hip joint moves in the direction of external rotation/inward rotation when the wearer wears it, the secondelastic reset member 245 can The opposite elastic force is applied in the direction of movement, and a certain resistance is applied to the wearer's limbs, which can improve the rehabilitation effect during the rehabilitation exercise and provide a certain support force for the wearer. In the case of insufficient strength of the wearer's lower limbs Down, assist the wearer to maintain balance, so that the wearer has enough ability to walk and stand on his own.

具体的，第一髋关节活动构件23与第二髋关节活动构件24之间的连接结构具有两种设置方式，分别为第一髋关节活动构件23靠近第二髋关节活动构件24的一端设置有敞开的活动槽235，活动槽235的两端分别连通第一支撑孔234；第二髋关节活动构件24设置有与活动槽235相匹配的活动块246，第二支撑孔244贯通于活动块246；以及，第一髋关节活动构件23靠近第二髋关节活动构件24的一端设置有活动块246，第一支撑孔234贯通活动块246；第二髋关节活动构件24设置有敞开的活动槽235，活动槽235的两端分别连通第二支撑孔244。Specifically, the connection structure between the first hip jointmovable member 23 and the second hip jointmovable member 24 has two configuration modes, respectively, one end of the first hip jointmovable member 23 close to the second hip jointmovable member 24 is provided with An openmovable groove 235, the two ends of themovable groove 235 respectively communicate with thefirst support hole 234; the second hip jointmovable member 24 is provided with amovable block 246 matching themovable groove 235, and thesecond support hole 244 runs through themovable block 246 and, the first hip jointmovable member 23 is provided with amovable block 246 near one end of the second hip jointmovable member 24, and thefirst support hole 234 runs through themovable block 246; the second hip jointmovable member 24 is provided with an openmovable groove 235 , both ends of themovable groove 235 communicate with the second supportinghole 244 respectively.

本实施例中采用第一髋关节活动构件23的第二端设置有敞开的活动槽235，活动槽235的敞开方向为远离第一髋关节活动构件23的方向，活动槽235的上下两端分别连通第一支撑孔234，第二髋关节活动构件24设置有与活动槽235相匹配的活动块246，第二支撑孔244贯通于活动块246的设置方式作为示例性说明。In this embodiment, the second end of the first hip jointmovable member 23 is provided with an openmovable groove 235, and the opening direction of themovable groove 235 is a direction away from the first hip jointmovable member 23, and the upper and lower ends of themovable groove 235 are respectively In communication with thefirst support hole 234 , the second hip jointmovable member 24 is provided with amovable block 246 matching themovable groove 235 , and the way in which thesecond support hole 244 penetrates themovable block 246 is provided as an example.

活动块246可活动地设置于活动槽235，以使第一支撑孔234与第二支撑孔244相连通，活动轴243依次穿过活动槽235一端的第一支撑孔234、第二支撑孔244以及活动槽235的另一端第一支撑孔234，以实现第一髋关节活动构件23与第二髋关节活动构件24的转动连接。Themovable block 246 is movably arranged in themovable groove 235, so that the first supportinghole 234 communicates with the second supportinghole 244, and themovable shaft 243 passes through the first supportinghole 234 and the second supportinghole 244 at one end of themovable groove 235 in turn. And thefirst support hole 234 at the other end of themovable groove 235, so as to realize the rotational connection between the first hip jointmovable member 23 and the second hip jointmovable member 24.

第二弹性复位件245为第三扭簧，第三扭簧套设在活动轴243的外部，在第一髋关节活动构件23以及第二髋关节活动构件24上分别开设有用于固定第二弹性复位件245相对两端扭臂的卡孔，从而形成第二弹性复位件245作为第一髋关节活动构件23和第二髋关节活动构件24的弹性体，本实施例中，活动块246的中部开设有敞开结构的第二避位槽2461，第二避位槽2461的上下两端分别连通第二支撑孔244，以使活动轴243中部从第二避位槽2461中露出，第二弹性复位件245套设在活动轴243外露的部分，也就是说，第二弹性复位件245置于第二避位槽2461当中，活动轴243穿接第一髋关节活动构件23与第二髋关节活动构件24的顺序为依次穿过一侧第一支撑孔234、一侧第二支撑孔244、第二避位槽2461、另一侧第二支撑孔244以及另一侧第一支撑孔234。The second elastic resettingpart 245 is a third torsion spring, and the third torsion spring is sleeved on the outside of themovable shaft 243. There are respectively provided on the first hip jointmovable member 23 and the second hip jointmovable member 24 for fixing the second elastic spring. Resettingpart 245 is opposite to the clamping holes of the twisted arms at both ends, thereby forming second elastic resettingpart 245 as the elastic body of the first hip jointmovable member 23 and the second hip jointmovable member 24. In this embodiment, the middle part of themovable block 246 Open the second place-avoidinggroove 2461 of open structure, the upper and lower ends of the second place-avoidinggroove 2461 communicate with thesecond support hole 244 respectively, so that the middle part of themovable shaft 243 is exposed from the second place-avoidinggroove 2461, and the second elastic resets Thepart 245 is sleeved on the exposed part of themovable shaft 243, that is to say, the secondelastic return part 245 is placed in thesecond avoidance groove 2461, and themovable shaft 243 passes through the first hip jointmovable member 23 and the second hip joint movable The sequence of thecomponent 24 is to pass through thefirst support hole 234 on one side, thesecond support hole 244 on one side, thesecond escape groove 2461 , thesecond support hole 244 on the other side and thefirst support hole 234 on the other side.

如图21所示，本实施例中，第一支撑孔234与第二支撑孔244之间还设置有两个滑动轴承、两个垫块、以及内套筒，两个滑动轴承通过过盈配合与两侧的第二支撑孔244固定连接，活动轴243活动穿接于两端的滑动轴承，并与第一髋关节活动构件23固定连接，以使第二髋关节活动构件24与第一髋关节活动构件23通过活动轴243旋转支撑，可相对转动。活动轴243两端从两端的第一支撑孔234穿出并分别设置有垫块，两垫块分别通过螺栓锁紧固定在活动轴243的两端，使垫块抵紧第一髋关节活动构件23以及活动轴243的端部。内套筒设置在第二避位槽2461中并套设于活动轴243，使活动轴243与第二弹性复位件245之间相互间隔，实现对活动轴243的保护。As shown in Figure 21, in this embodiment, two sliding bearings, two spacers, and an inner sleeve are also arranged between the first supportinghole 234 and the second supportinghole 244, and the two sliding bearings are fitted through an interference fit. It is fixedly connected with the second support holes 244 on both sides, and themovable shaft 243 is movably connected to the sliding bearings at both ends, and is fixedly connected with the first hip jointmovable member 23, so that the second hip jointmovable member 24 is connected with the first hip joint Themovable member 23 is rotatably supported by themovable shaft 243 and can rotate relatively. The two ends of themovable shaft 243 pass through the first support holes 234 at both ends and are respectively provided with pads, and the two pads are respectively locked and fixed on the two ends of themovable shaft 243 by bolts, so that the pads are pressed against the first hip jointmovable member 23 and the end of themovable shaft 243. The inner sleeve is disposed in thesecond avoidance groove 2461 and sheathed on themovable shaft 243 , so that themovable shaft 243 and the secondelastic reset member 245 are spaced apart from each other to protect themovable shaft 243 .

而为了让穿戴者下肢的活动限定在一定的范围内，避免其髋关节超范围运动导致关节进一步损伤，让关节在复健运动所允许的范围内运动，活动槽235远离活动块246的内壁凹设有限位槽2351，活动块246靠近活动槽235的一端凸设有嵌于限位槽2351内的限位块2462，在活动轴243的转动方向上，限位槽2351的尺寸大于限位块2462的尺寸，以使限位块2462能够在限位槽2351所限定的形成范围内往复移动。In order to limit the activities of the wearer's lower limbs within a certain range, avoid further damage to the joints caused by excessive movement of the hip joints, and allow the joints to move within the allowed range of rehabilitation exercises, themovable groove 235 is away from the inner wall of themovable block 246. A limitinggroove 2351 is provided, and the end of themovable block 246 close to themovable groove 235 is protruded with a limitingblock 2462 embedded in the limitinggroove 2351. In the rotating direction of themovable shaft 243, the size of the limitinggroove 2351 is larger than that of the limitingblock 2462 so that the limitingblock 2462 can move back and forth within the range defined by the limitinggroove 2351.

当第二髋关节活动构件24处于零位时，限位块2462位于限位槽2351的中部，从而让第二髋关节活动构件24的旋外/旋内活动角度一致。当第二髋关节活动构件24沿旋外/旋内方向运动时，限位槽2351处于相对静止的状态，而限位块2462会随第二髋关节活动构件24运动而与限位槽2351之间产生相对运动，当第二髋关节活动构件24运动至一定角度后，限位块2462的端部会抵顶在限位槽2351的槽壁上，此时，第二髋关节活动构件24将无法继续沿当前方向运动，实现限位。When the second hip jointmovable member 24 is at the zero position, the limitingblock 2462 is located in the middle of the limitinggroove 2351, so that the external rotation/internal rotation angles of the second hip jointmovable member 24 are consistent. When the second hip jointmovable member 24 moves in the direction of external rotation/inward rotation, the limitinggroove 2351 is in a relatively static state, and the limitingblock 2462 will move with the movement of the second hip jointmovable member 24 and between the limitinggroove 2351 When the second hip jointmovable member 24 moves to a certain angle, the end of thelimit block 2462 will abut against the groove wall of thelimit groove 2351. At this time, the second hip jointmovable member 24 will not be able to Continue to move in the current direction to realize the limit.

由上述描述所形成的结构是，第二髋关节活动构件24可相对第一髋关节活动构件23在一定的角度内旋转，并且第二弹性复位件245会提供正向或反向的扭力，驱动第二髋关节活动构件24恢复至零位。对于外骨骼的穿戴者，这种恢复力可以提供部分支撑与稳定的作用。The structure formed by the above description is that the second hip jointmovable member 24 can rotate within a certain angle relative to the first hip jointmovable member 23, and the secondelastic reset member 245 can provide forward or reverse torsional force to drive The second hip jointmovable member 24 returns to the zero position. For the wearer of the exoskeleton, this restoring force can provide partial support and stability.

如图23-图24所示，第二髋关节活动构件24与大腿杆组件30之间设置有柔性的缓冲垫248以及弧形槽34，缓冲垫248与弧形槽34的配合能够对腿部构件的屈曲/伸展活动自由度实现限位，缓冲垫248可活动地置于弧形槽34内，弧形槽34为圆弧形槽34，第三转动轴线241过弧形槽34的圆心，以使腿部构件运动时缓冲垫248能够沿弧形槽34所限定的形成范围内往复运动。As shown in Figures 23-24, aflexible buffer pad 248 and an arc-shapedgroove 34 are arranged between the second hip jointmovable member 24 and thethigh rod assembly 30, and the cooperation of thebuffer pad 248 and the arc-shapedgroove 34 can support the legs. The degree of freedom of flexion/extension of the component is limited, and thebuffer pad 248 is movably placed in the arc-shapedgroove 34. The arc-shapedgroove 34 is the arc-shapedgroove 34, and thethird rotation axis 241 passes through the center of the arc-shapedgroove 34. Thebuffer pad 248 can reciprocate along the range defined by the arc-shapedgroove 34 when the leg members move.

如图25所示，大腿杆组件30及小腿杆组件40均设置有腿部绑定组件60，腿部绑定组件60限定出腿部穿戴空间61，用于环绕绑定大腿以及小腿。As shown in FIG. 25 , both thethigh bar assembly 30 and thecalf bar assembly 40 are provided with aleg binding assembly 60 , and theleg binding assembly 60 defines aleg wearing space 61 for binding around the thigh and the calf.

大腿杆组件30包括转动连接于第二髋关节活动构件24的第一腿部支撑构件31，以及活动设置在第一腿部支撑构件31上的第一腿部调节构件32，第一腿部调节构件32能够在伸出和缩回第一腿部支撑构件31之间往复运动。Thethigh bar assembly 30 includes a firstleg support member 31 that is rotatably connected to the second hip jointmovable member 24, and a firstleg adjustment member 32 that is movably arranged on the firstleg support member 31. The first leg adjustment Themember 32 is capable of reciprocating movement between extending and retracting the firstleg support member 31 .

第一腿部支撑构件31与第一腿部调节构件32之间设置有第一锁紧组件33，用于选择性地将第一腿部调节构件32锁止在第一腿部支撑构件31的当前位置上。Afirst locking assembly 33 is provided between the firstleg supporting member 31 and the firstleg adjusting member 32 for selectively locking the firstleg adjusting member 32 on the firstleg supporting member 31. on the current position.

小腿杆组件40包括转动连接于第一腿部调节构件32的第二腿部支撑构件41以及第二腿部调节构件42，第二腿部调节构件42的一端活动设置在第二腿部支撑构件41上，并能够在伸出和缩回第二腿部支撑构件41之间往复运动，第二腿部调节构件42的另一端与足部组件50转动连接。Thecalf rod assembly 40 includes a secondleg support member 41 and a secondleg adjustment member 42 that are rotatably connected to the firstleg adjustment member 32, and one end of the secondleg adjustment member 42 is movably arranged on the second leg support member. 41 , and can reciprocate between extending and retracting the secondleg support member 41 , the other end of the secondleg adjustment member 42 is rotatably connected with thefoot assembly 50 .

第二腿部支撑构件41与第二腿部调节构件42之间设置有第二锁紧组件43，用于选择性地将第二腿部调节构件42锁止在第二腿部支撑构件41的当前位置上。Asecond locking assembly 43 is provided between the secondleg supporting member 41 and the secondleg adjusting member 42 for selectively locking the secondleg adjusting member 42 on the secondleg supporting member 41. on the current position.

第一腿部调节构件32与第二腿部支撑构件41之间的转动连接形成匹配与穿戴者膝关节的膝关节组件，并且，通过腿部绑定组件60，能够使得大腿杆组件30与小腿杆组件40跟随穿戴者的大腿以及小腿运动，而大腿杆组件30与小腿杆组件40能够分别通过第一锁紧组件33以及第二锁紧组件43实现长度的调节，使大腿杆组件30及小腿杆组件40能够分别对穿戴者的大腿以及小腿长度进行调节，进而让大腿杆组件30、小腿杆组件40以及康复外骨骼系统中各机械关节转动能够与穿戴者的人体关节转动中心对齐，从而提高外骨骼动力输出的有效性以及安全性，有效延长穿戴者保持外骨骼穿戴的时间，最终提高外骨骼系统协助穿戴者的复健效果。The rotational connection between the firstleg adjustment member 32 and the secondleg support member 41 forms a knee joint assembly that matches the wearer's knee joint, and, through theleg binding assembly 60, enables thethigh bar assembly 30 to align with the lower leg Therod assembly 40 follows the movement of the wearer's thigh and calf, and thethigh rod assembly 30 and thecalf rod assembly 40 can be adjusted in length through thefirst locking assembly 33 and thesecond locking assembly 43 respectively, so that thethigh rod assembly 30 and the calf Therod assembly 40 can adjust the length of the wearer's thigh and calf respectively, so that the rotation of the mechanical joints in thethigh rod assembly 30, thecalf rod assembly 40 and the rehabilitation exoskeleton system can be aligned with the wearer's human body joint rotation center, thereby improving The effectiveness and safety of the power output of the exoskeleton can effectively prolong the time that the wearer keeps the exoskeleton on, and ultimately improve the rehabilitation effect of the exoskeleton system assisting the wearer.

本实施例中，第一锁紧组件33以及第二锁紧组件43的具体结构可通过手动旋钮以及压块配合实现锁定，通过操作手动旋钮，驱动压块在靠近和远离第一腿部调节构件32或第二腿部调节构件42的方向运动，从而将第一腿部调节构件32压紧在第一腿部支撑构件31上，或将第二腿部调节构件42压紧在第二腿部支撑构件41上，也能够让第一腿部调节构件32与第一腿部支撑构件31或第二腿部调节构件42与第二腿部支撑构件41失去压块的作用力，从而对大腿杆组件30或小腿杆组件40长度进行调节。In this embodiment, the specific structure of thefirst locking assembly 33 and thesecond locking assembly 43 can be locked through the cooperation of the manual knob and the pressure block. By operating the manual knob, the pressure block is driven close to and away from the first leg adjustment member. 32 or the direction movement of the secondleg adjusting member 42, thereby compressing the firstleg adjusting member 32 on the firstleg supporting member 31, or pressing the secondleg adjusting member 42 on the second leg On the supportingmember 41, it is also possible to make the firstleg adjusting member 32 and the firstleg supporting member 31 or the secondleg adjusting member 42 and the secondleg supporting member 41 lose the active force of the pressing block, so that the thigh bar The length ofassembly 30 orcalf bar assembly 40 is adjusted.

进一步，第一腿部支撑构件31与第二髋关节活动构件24之间设有第一关节模组311，第一关节模组311的固定端设置于第二髋关节活动构件24，第一关节模组311的输出端与第一腿部支撑构件31连接。Further, a firstjoint module 311 is provided between the firstleg support member 31 and the second hip jointmovable member 24, the fixed end of the firstjoint module 311 is arranged on the second hip jointmovable member 24, the first joint The output end of themodule 311 is connected with the firstleg support member 31 .

第一腿部调节构件32与第二腿部支撑构件41之间设置有第二关节模组411，第二关节模组411的固定端与第一腿部调节构件32固定连接，第二关节模组411的输出端与第二腿部支撑构件41连接。A secondjoint module 411 is arranged between the firstleg adjustment member 32 and the secondleg support member 41, the fixed end of the secondjoint module 411 is fixedly connected with the firstleg adjustment member 32, and the second joint module The output of thegroup 411 is connected to the secondleg support member 41 .

穿戴者穿戴康复外骨骼系统后，可通过第一关节模组311及第二关节模组411助力穿戴者髋关节以及膝关节屈曲/伸展的运动，第一关节模组311及第二关节模组411具体由电机、减速机、力矩传感器和驱动板构成。电机、减速机、力矩传感器以及驱动板作为一个整体。After the wearer wears the rehabilitation exoskeleton system, the firstjoint module 311 and the secondjoint module 411 can assist the wearer's hip joint and knee joint flexion/extension movement, the firstjoint module 311 and the secondjoint module 411 is specifically composed of a motor, a reducer, a torque sensor and a drive board. The motor, reducer, torque sensor and drive board are taken as a whole.

工作过程中，电机输出的转动动力经过减速机减速后再传递给第一腿部支撑构件31或第二腿部支撑构件41，并且，力矩传感器能够对穿戴者的屈曲/伸展角度以及对管结构件施加的作用力进行检测，判断穿戴者的当前运动状态，并将相关数据发送给位于腰部背包11中由硬件电路组成的控制系统，从而给出最适于该穿戴者的外骨骼运动角度，最后再通过第一关节模组311以及第二关节模组411中的电机重新输出动力协助穿戴者复健。During the working process, the rotational power output by the motor is decelerated by the reducer and then transmitted to the firstleg support member 31 or the secondleg support member 41, and the torque sensor can measure the wearer's flexion/extension angle and the tube structure Detect the force exerted by the parts, judge the current motion state of the wearer, and send the relevant data to the control system composed of hardware circuits in thewaist backpack 11, so as to give the most suitable exoskeleton motion angle for the wearer, Finally, the motors in the firstjoint module 311 and the secondjoint module 411 re-output power to assist the wearer in rehabilitation.

最后，如图26-图27所示，足部组件50包括基板51，基板51与小腿杆组件40转动连接，并限定出踩踏面511；足部绑带52，足部绑带52相对的两端分别枢接于基板51两侧，并与踩踏面511围合限定出足部穿戴空间53。Finally, as shown in Figures 26-27, thefoot assembly 50 includes abase plate 51, which is rotatably connected to thecalf rod assembly 40, and defines a steppingsurface 511; afoot strap 52, and two opposite sides of thefoot strap 52 The ends are respectively pivotally connected to two sides of thebase plate 51 , and are surrounded by the steppingsurface 511 to define afoot wearing space 53 .

本实施例中基本为板状结构，其在平行于水平面的方向上形成上述的踩踏面511，其形状与人体脚掌形状相似，穿戴者在穿戴康复外骨骼系统过程中可穿着个人鞋具，踩踏于踩踏面511，相比传统的外骨骼，在足部组件50上设置通用康复鞋而言，能够避免因康复鞋尺码以及结构与穿戴者足部不相匹配而导致穿戴者足部磨损的问题，提高穿戴者舒适度，提高穿戴组件的适应性，适于不同穿戴者足部尺寸。In this embodiment, it is basically a plate-shaped structure, which forms the above-mentionedstepping surface 511 in a direction parallel to the horizontal plane, and its shape is similar to the shape of the sole of a human foot. The wearer can wear personal footwear during the process of wearing the rehabilitation exoskeleton system, and step on it. On the steppingsurface 511, compared with the traditional exoskeleton, setting a universal rehabilitation shoe on thefoot assembly 50 can avoid the problem of wear on the wearer's foot due to the mismatch between the size and structure of the rehabilitation shoe and the wearer's foot , improve the comfort of the wearer, improve the adaptability of the wearing components, and are suitable for different wearer's foot sizes.

而在穿戴者穿戴康复外骨骼系统用于康复训练的过程中，足部踩踏于基板51，使得足部始终与踩踏面511接触，这样在复健过程中，由于受到自身重力和康复外骨骼系统辅助力的作用，穿戴者足底会有受力的感觉，达到类似走路时足底着地的效果，从而增加穿戴者足部受力的本体意识，提高其自主参与感，进而提高穿戴者的下肢康复效果。When the wearer wears the rehabilitation exoskeleton system for rehabilitation training, the foot steps on thebase plate 51 so that the foot is always in contact with thetread surface 511. With the help of the auxiliary force, the wearer will feel the force on the sole of the foot, which is similar to the effect of the sole of the foot when walking, thereby increasing the proprioceptive awareness of the force on the wearer's foot, improving its sense of autonomous participation, and improving the wearer's lower limbs. Rehabilitation effect.

为了让穿戴者肢体与康复外骨骼系统之间达到快速穿戴、拆卸的效果，足部组件50还包括棘轮收线装置54，设于足部绑带52的一端；张紧带55，其第一端穿入棘轮收线装置54，其第二端朝远离棘轮收线装置54的方向延伸并固定于足部绑带52；棘轮收线装置54用于调节张紧带55的延伸长度，从而拉伸足部绑带52，调节足部穿戴空间53的大小，适于不同穿戴者足部结构及尺寸，张紧带55伸出棘轮收线装置54的长度越长，足部绑带52与踩踏面511所围合的足部穿戴空间53围度越大，能够穿入的足部围度越大，张紧带55伸出棘轮收线装置54的长度越短，足部绑带52与踩踏面511所围合的足部穿戴空间53围度越小，能够穿入的足部围度越小。In order to achieve quick wearing and dismounting effects between the wearer's limbs and the rehabilitation exoskeleton system, thefoot assembly 50 also includes a ratchet wire take-updevice 54, which is located at one end of thefoot strap 52; thetension belt 55, the first end of the ratchet wire take-updevice 54, and its second end extends away from the ratchet wire take-updevice 54 and is fixed on thefoot strap 52; the ratchet wire take-updevice 54 is used to adjust the extension length of thetension belt 55, thereby pulling Stretch thefoot strap 52 to adjust the size of thefoot wearing space 53, which is suitable for different wearer's foot structures and sizes. The longer thetension belt 55 stretches out the ratchet take-updevice 54, the more thefoot strap 52 is connected to the foot when stepping on it. The larger the circumference of thefoot wearing space 53 enclosed by thesurface 511, the larger the circumference of the foot that can be penetrated. The smaller the circumference of thefoot wearing space 53 enclosed by thesurface 511, the smaller the circumference of the foot that can be penetrated.

上述的围度，指的是由足部绑带52与踩踏面511相连形成的环形穿戴部件的内周长尺寸。The above-mentioned circumference refers to the inner circumference dimension of the ring-shaped wearing part formed by thefoot strap 52 connected with the steppingsurface 511 .

需要说明的是，棘轮收线装置54为现有的机械部件，其具体结构在此不作详细赘述，棘轮收线装置54具有固定状态、收卷状态以及放卷状态；It should be noted that the ratchet wire take-updevice 54 is an existing mechanical component, and its specific structure will not be described in detail here. The ratchet wire take-updevice 54 has a fixed state, a winding state and an unwinding state;

固定状态下，棘轮收线装置54与张紧带55相对固定，以固定足部绑带52所限定的足部穿戴空间53的大小，稳定穿戴者足部；In the fixed state, the ratchet wire take-updevice 54 is relatively fixed with thetension belt 55, so as to fix the size of thefoot wearing space 53 defined by thefoot strap 52 and stabilize the wearer's foot;

收卷状态下，棘轮收线装置54对张紧带55进行收卷，使张紧带55收入棘轮收线装置54中，以收窄足部绑带52，缩小足部穿戴空间53，最终压紧穿戴者足部；Under the rewinding state, the ratchet take-updevice 54 rewinds thetension belt 55, so that thetension belt 55 is received in the ratchet take-updevice 54, so as to narrow thefoot strap 52, reduce thefoot wearing space 53, and finally compress the tight to the wearer's foot;

放卷状态下，棘轮收线装置54与张紧带55可相对移动，以使张紧带55能够沿远离棘轮收线装置54的方向运动，让足部穿戴空间53扩大，让穿戴者足部能够脱离基板51，也能够适应于不同穿戴者的足部尺寸结构。In the unwinding state, the ratchet take-updevice 54 and thetension belt 55 can move relative to each other, so that thetension belt 55 can move in a direction away from the ratchet take-updevice 54, so that thefoot wearing space 53 is enlarged, and the wearer's feet can be stretched. It can be detached from thebase plate 51 and can also be adapted to the size and structure of the feet of different wearers.

足部组件50与小腿杆组件40之间的旋转轴线平行于大腿杆组件30与小腿杆组件40之间的旋转轴线，满足踝关节行走过程中跖屈、背屈的活动需求。The rotation axis between thefoot assembly 50 and thecalf rod assembly 40 is parallel to the rotation axis between thethigh rod assembly 30 and thecalf rod assembly 40 to meet the activity requirements of plantar flexion and dorsiflexion during walking of the ankle joint.

本实施例中，张紧带55为柔性带体，包括但不限于具有弹性、不具弹性的，通过编织形成的带状物或通过拧束形成的绳状物，其截面形状可以为圆形、扁平状等不规则形状，只要能够被顺利收卷以及放卷即可。In this embodiment, thetension belt 55 is a flexible belt body, including but not limited to elastic or non-elastic, a belt formed by weaving or a rope formed by twisting, and its cross-sectional shape can be circular, Irregular shapes such as flat shapes, as long as they can be smoothly rolled and unrolled.

具体的，棘轮收线装置54及张紧带55靠近所述基板51的第一端设置，用于与踩踏面511配合固定穿戴者的脚背；基板51的第二端设置有脚跟稳定件56，用于与所述踩踏面511配合稳固穿戴者的脚跟。Specifically, the ratchet wire take-updevice 54 and thetension belt 55 are arranged near the first end of thebase plate 51, and are used to cooperate with the steppingsurface 511 to fix the instep of the wearer; the second end of thebase plate 51 is provided with aheel stabilizer 56, It is used to cooperate with the steppingsurface 511 to stabilize the wearer's heel.

更进一步，基板51与小腿杆组件40之间设置有踝关节输出杆57，踝关节输出杆57的一端固定于基板51，与基板51之间不可转动，踝关节输出杆57的另一端枢接于小腿杆组件40，通过枢接关系形成踝关节组件，实现基板51与小腿杆组件40的活动自由度。Furthermore, an anklejoint output rod 57 is arranged between thebase plate 51 and thecalf rod assembly 40. One end of the anklejoint output rod 57 is fixed on thebase plate 51 and cannot rotate with thebase plate 51. The other end of the anklejoint output rod 57 is pivotally connected to thebase plate 51. In thecalf bar assembly 40 , the ankle joint assembly is formed through a pivotal relationship, so as to realize the freedom of movement of thebase plate 51 and thecalf bar assembly 40 .

本实施例中，由于小腿杆组件40靠近穿戴者小腿设置，能够使穿戴者复健运动过程中小腿运动过程中能够更好地带动小腿杆组件40，而踝关节输出杆57设置在小腿杆组件40远离穿戴者腿部的一侧，因此，踝关节输出杆57与穿戴者足部以及基板51之间具有一定的间距，为了弥补该间距，使踝关节输出杆57与基板51之间能够顺利连接，基板51与踝关节输出杆57之间设置有用于固定连接两者的足底连接板58，足底连接板58为板状结构，足底连接板58的一端固定插入基板51侧部，并通过胶粘的方式提高足底连接板58与基板51之间的连接强度，足底连接板58的另一侧与踝关节输出杆57之间通过螺栓固定连接，从而让穿戴者足部的运动能够通过基板51带动踝关节输出杆57相对于小腿杆组件40运动。In this embodiment, since thecalf rod assembly 40 is arranged close to the wearer's calf, thecalf rod assembly 40 can be better driven during the calf movement of the wearer during the rehabilitation exercise, and the anklejoint output rod 57 is arranged on thecalf rod assembly 40 away from the side of the wearer's legs, therefore, there is a certain distance between the anklejoint output rod 57 and the wearer's foot and thebase plate 51, in order to make up for this distance, the anklejoint output rod 57 and thebase plate 51 can be smoothly Connection, between thebase plate 51 and the anklejoint output rod 57 is provided with a plantar connectingplate 58 for fixedly connecting the two, the plantar connectingplate 58 is a plate-shaped structure, one end of the plantar connectingplate 58 is fixedly inserted into the side of thebase plate 51, And improve the connection strength between the sole connectingplate 58 and thebase plate 51 by gluing, the other side of the sole connectingplate 58 and the anklejoint output rod 57 are fixedly connected by bolts, so that the wearer's foot The movement can drive the anklejoint output rod 57 to move relative to thecalf rod assembly 40 through thebase plate 51 .

为了进一步提高复健效果，踝关节输出杆57与小腿杆组件40之间设置有第三弹性复位件571，第三弹性复位件571为第四扭簧，踝关节输出杆57与小腿杆组件40之间通过踝关节旋转轴59以及小腿杆组件40上的孔配合实现枢转连接，第三弹性复位件571则套设在踝关节旋转轴59的外部，两扭臂分别通过设置在小腿杆组件40以及踝关节输出杆57上的扭簧压块572实现固定，实现第三弹性复位件571的两端分别与小腿杆组件40以及踝关节输出杆57相对固定，用于在穿戴者足部活动过程中对其踝关节提供与运动方向相反的作用力，提高复健效果，进一步说明，踝关节输出杆57相对小腿杆组件40旋转时，会受到弹性复位件的扭转力矩，弹性复位件提供的扭转力矩可以维持穿戴者在穿戴外骨骼系统进行康复训练时维持踝关节的平衡，保持直立的状态。In order to further improve the rehabilitation effect, a third elastic resettingmember 571 is arranged between the anklejoint output rod 57 and thecalf rod assembly 40, and the third elastic resettingmember 571 is a fourth torsion spring. The anklejoint output rod 57 and thecalf rod assembly 40 The pivotal connection is realized through the cooperation between the anklejoint rotation shaft 59 and the hole on thecalf rod assembly 40, and the thirdelastic reset member 571 is sleeved on the outside of the anklejoint rotation shaft 59, and the two torsion arms respectively pass through the calf rod assembly. 40 and the torsionspring pressure block 572 on the anklejoint output rod 57 are fixed, so that the two ends of the thirdelastic return member 571 are relatively fixed with thecalf rod assembly 40 and the anklejoint output rod 57 respectively, and are used for moving the wearer's foot. During the process, the ankle joint is provided with a force opposite to the direction of motion to improve the rehabilitation effect. It is further explained that when the anklejoint output rod 57 rotates relative to thecalf rod assembly 40, it will be subjected to the torsional moment of the elastic reset member. The torsional moment can maintain the balance of the ankle joint and keep the wearer in an upright position when wearing the exoskeleton system for rehabilitation training.

通过实施以上方案，除了能够让康复外骨骼与穿戴者保持相对稳定的状态，使穿戴者在复健运动过程中康复外骨骼不易与穿戴者之间发生转动偏移的情况以外，还能够为穿戴者的各人体关节提供适于复健运动的活动自由度，能够为穿戴者提供更多元化的复健运动项目的同时，能让穿戴者活动更为自由，满足不同穿戴者的复健需求。Through the implementation of the above scheme, in addition to keeping the rehabilitation exoskeleton and the wearer in a relatively stable state, making it difficult for the wearer to rotate and deviate between the rehabilitation exoskeleton and the wearer during the rehabilitation exercise, it is also possible for the wearer to Each human body joint of the wearer provides freedom of movement suitable for rehabilitation sports, which can provide more diversified rehabilitation sports for the wearer, and at the same time allow the wearer to move more freely and meet the rehabilitation needs of different wearers .

于本文的描述中，需要理解的是，术语“上”、“下”、“左”、“右”、等方位或位置关系,仅是为了便于描述和简化操作，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”，仅仅用于在描述上加以区分，并没有特殊的含义。In the description herein, it should be understood that the terms "upper", "lower", "left", "right", etc. orientation or positional relationship are only for convenience of description and simplification of operation, not to indicate or imply Any device or element must have a specific orientation, be constructed and operate in a specific orientation and therefore should not be construed as limiting the invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

在本说明书的描述中，参考术语“一实施例”、“示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。In the description of this specification, a description referring to the terms "an embodiment", "an example" and the like means that a specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention middle. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example.

此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以适当组合，形成本领域技术人员可以理解的其他实施方式。In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

以上结合具体实施例描述了本发明的技术原理。这些描述只是为了解释本发明的原理，而不能以任何方式解释为对本发明保护范围的限制。基于此处的解释，本领域的技术人员不需要付出创造性的劳动即可联想到本发明的其它具体实施方式，这些方式都将落入本发明的保护范围之内。The above describes the technical principles of the present invention in conjunction with specific embodiments. These descriptions are only for explaining the principles of the present invention, and cannot be construed as limiting the protection scope of the present invention in any way. Based on the explanations herein, those skilled in the art can think of other specific implementation modes of the present invention without creative efforts, and these modes will all fall within the protection scope of the present invention.

Claims (19)

Translated fromChinese

1.一种康复外骨骼系统，其特征在于，包括：1. A rehabilitation exoskeleton system, characterized in that, comprising:腰部组件(10)；waist assembly (10);髋关节组件(20)，与所述腰部组件(10)固定连接，包括基座(21)、髋外展臂(22)、第一髋关节活动构件(23)以及第二髋关节活动构件(24)；所述基座(21)限定出导轨(211)，所述髋外展臂(22)可滑动地设置于所述导轨(211)，并可锁止在所述导轨(211)的当前位置；所述髋外展臂(22)与所述第一髋关节活动构件(23)转动连接，以限定出第一转动轴线(221)，为髋部提供外展、内收的活动自由度；所述第一髋关节活动构件(23)与所述第二髋关节活动构件(24)转动连接，以限定出第二转动轴线(231)，为髋部提供旋外、旋内的活动自由度；The hip joint assembly (20), which is fixedly connected with the waist assembly (10), includes a base (21), a hip abduction arm (22), a first hip joint movable member (23) and a second hip joint movable member ( 24); the base (21) defines a guide rail (211), the hip abduction arm (22) is slidably arranged on the guide rail (211), and can be locked on the guide rail (211) Current position: the hip abduction arm (22) is rotationally connected with the first hip joint movable member (23) to define a first rotation axis (221), providing the hip with the freedom of abduction and adduction degree; the first hip joint movable member (23) is rotationally connected with the second hip joint movable member (24) to define a second rotational axis (231), which provides external rotation and internal rotation for the hip degrees of freedom;所述髋外展臂(22)为两个，两所述髋外展臂(22)均滑动设置于所述导轨(211)，并可在相互靠近或远离的方向上往复移动；There are two hip abduction arms (22), and the two hip abduction arms (22) are both slidably arranged on the guide rail (211), and can reciprocate in the direction of approaching or moving away from each other;大腿杆组件(30)，与所述第二髋关节活动构件(24)转动连接，以限定出第三转动轴线(241)，为髋部提供屈曲、伸展的活动自由度；The thigh rod assembly (30) is rotatably connected with the second hip joint movable member (24) to define a third rotational axis (241), which provides the hip with the degree of freedom of flexion and extension;小腿杆组件(40)，与所述大腿杆组件(30)转动连接，为膝关节提供屈曲、伸展的活动自由度；The calf rod assembly (40) is rotatably connected with the thigh rod assembly (30) to provide the knee joint with a degree of freedom of flexion and extension;足部组件(50)，与所述小腿杆组件(40)转动连接，为踝关节提供跖屈、背屈的活动自由度。The foot assembly (50) is rotatably connected with the calf rod assembly (40), providing the freedom of movement of the ankle joint in plantar flexion and dorsiflexion.2.根据权利要求1所述的康复外骨骼系统，其特征在于，所述腰部组件(10)包括：2. rehabilitation exoskeleton system according to claim 1, is characterized in that, described lumbar component (10) comprises:腰部背包(11)，与所述基座(21)固定连接；The waist backpack (11) is fixedly connected with the base (21);第一护腰构件(12)与第二护腰构件(13)，均连接于所述腰部背包(11)，所述第一护腰构件(12)与所述第二护腰构件(13)之间限定出腰部穿戴空间(14)；The first waist support member (12) and the second waist support member (13) are all connected to the waist backpack (11), and the first waist support member (12) and the second waist support member (13) The waist wear space (14) is defined between them;所述腰部背包(11)与所述第一护腰构件(12)及所述第二护腰构件(13)之间设置有调节结构，用于调节所述第一护腰构件(12)与所述第二护腰构件(13)的间距，扩大或缩小所述腰部穿戴空间(14)。An adjustment structure is provided between the waist backpack (11) and the first waist support member (12) and the second waist support member (13), for adjusting the first waist support member (12) and the second waist support member (13). The distance between the second waist support members (13) expands or reduces the waist wearing space (14).3.根据权利要求2所述的康复外骨骼系统，其特征在于，所述第一护腰构件(12)与所述第二护腰构件(13)之间设置有腰部绑带(15)，所述腰部绑带(15)的两端分别可拆连接于所述第一护腰构件(12)及所述第二护腰构件(13)，并与所述第一护腰构件(12)及所述第二护腰构件(13)围合限定出环形的所述腰部穿戴空间(14)。3. The rehabilitation exoskeleton system according to claim 2, characterized in that a waist strap (15) is arranged between the first waist support member (12) and the second waist support member (13), Both ends of the waist strap (15) are detachably connected to the first waist support member (12) and the second waist support member (13), and are connected to the first waist support member (12) And the second waist support member (13) encloses and defines an annular wearing space (14) for the waist.4.根据权利要求1所述的康复外骨骼系统，其特征在于，所述髋关节组件(20)还包括：4. rehabilitation exoskeleton system according to claim 1, is characterized in that, described hip joint assembly (20) also comprises:传动组件(25)，活动设置于所述基座(21)并与所述髋外展臂(22)传动连接，用于带动所述髋外展臂(22)在所述导轨(211)所限定的行程范围内往复运动；The transmission assembly (25), which is movably arranged on the base (21) and is in transmission connection with the hip abduction arm (22), is used to drive the hip abduction arm (22) on the guide rail (211). Reciprocating movement within a limited stroke range;锁止构件(26)，与所述基座(21)固定连接；The locking member (26) is fixedly connected with the base (21);锁止驱动件(27)，设于所述传动组件(25)；The locking drive (27) is arranged on the transmission assembly (25);或，所述锁止构件(26)设置于所述传动组件(25)并可与所述传动组件(25)同步运动；Or, the locking member (26) is arranged on the transmission assembly (25) and can move synchronously with the transmission assembly (25);所述锁止驱动件(27)活动设置于所述基座(21)；The locking driver (27) is movably arranged on the base (21);所述锁止构件(26)限定出第一锁止部(261)，所述锁止驱动件(27)限定出可与所述第一锁止部(261)配合的第二锁止部(271)，所述锁止驱动件(27)可相对于所述传动组件(25)活动并具有锁定位置以及解锁位置；The locking member (26) defines a first locking portion (261), and the locking driver (27) defines a second locking portion ( 271), the locking drive (27) is movable relative to the transmission assembly (25) and has a locked position and an unlocked position;锁定位置状态下，所述第二锁止部(271)与所述第一锁止部(261)锁止配合；In the state of the locked position, the second locking part (271) locks and cooperates with the first locking part (261);解锁位置状态下，所述第二锁止部(271)与所述第一锁止部(261)脱离配合；In the state of the unlocked position, the second locking part (271) is disengaged from the first locking part (261);所述锁止驱动件(27)可保持在锁定位置状态或解锁位置状态，以使所述传动组件(25)被保持在锁止固定或具有相对于所述基座(21)活动的自由度的状态。The locking drive (27) can be maintained in a locked position or an unlocked position, so that the transmission assembly (25) is kept locked or fixed or has a degree of freedom of movement relative to the base (21) status.5.根据权利要求1所述的康复外骨骼系统，其特征在于，两所述第二髋关节活动构件(24)之间设置有髋部绑带(28)，所述髋关节组件(20)与所述髋部绑带(28)之间限定出髋部穿戴空间(29)，用于环绕绑定髋部。5. The rehabilitation exoskeleton system according to claim 1, characterized in that a hip strap (28) is arranged between the two second hip joint movable members (24), and the hip joint assembly (20) A hip wearing space (29) is defined between the hip strap (28) and used for surrounding and binding the hip.6.根据权利要求1所述的康复外骨骼系统，其特征在于，所述第一转动轴线(221)与所述第三转动轴线(241)均位于第一平面(242)，且在没有外力施加的状态下，所述第一转动轴线(221)与所述第三转动轴线(241)保持相互垂直；6. The rehabilitation exoskeleton system according to claim 1, characterized in that, both the first rotation axis (221) and the third rotation axis (241) are located in the first plane (242), and there is no external force In an applied state, the first rotation axis (221) and the third rotation axis (241) are kept perpendicular to each other;所述第二转动轴线(231)垂直于所述第一平面(242)。The second axis of rotation (231) is perpendicular to the first plane (242).7.根据权利要求6所述的康复外骨骼系统，其特征在于，所述髋外展臂(22)与所述第一髋关节活动构件(23)之间设置有传动轴(232)以及与所述传动轴(232)相匹配的轴孔(222)；7. The rehabilitation exoskeleton system according to claim 6, characterized in that, a transmission shaft (232) and a transmission shaft (232) are arranged between the hip abduction arm (22) and the first hip joint movable member (23) and The shaft hole (222) matched with the transmission shaft (232);所述髋外展臂(22)远离所述基座(21)的一端开设有所述轴孔(222)，所述第一髋关节活动构件(23)设置所述传动轴(232)；The shaft hole (222) is opened on the end of the hip abduction arm (22) away from the base (21), and the transmission shaft (232) is set on the first hip joint movable member (23);或，所述髋外展臂(22)远离所述基座(21)的一端设置所述传动轴(232)，所述第一髋关节活动构件(23)的第一端开设有所述轴孔(222)。Or, the transmission shaft (232) is provided on the end of the hip abduction arm (22) away from the base (21), and the first end of the first hip joint movable member (23) is provided with the shaft hole (222).8.根据权利要求6所述的康复外骨骼系统，其特征在于，所述髋外展臂(22)与所述第一髋关节活动构件(23)之间设置有第一弹性复位件(233)；8. The rehabilitation exoskeleton system according to claim 6, characterized in that, a first elastic reduction member (233) is arranged between the hip abduction arm (22) and the first hip joint movable member (23) );所述第一弹性复位件(233)的一端固定于所述髋外展臂(22)，所述第一弹性复位件(233)的另一端固定于所述第一髋关节活动构件(23)，用于在没有外力施加于所述第一髋关节活动构件(23)的情况下，保持所述第一平面(242)与所述基座(21)相互平行。One end of the first elastic reset member (233) is fixed to the hip abduction arm (22), and the other end of the first elastic reset member (233) is fixed to the first hip joint movable member (23) , for keeping the first plane (242) parallel to the base (21) when no external force is applied to the first hip joint movable member (23).9.根据权利要求7所述的康复外骨骼系统，其特征在于，所述轴孔(222)的内壁面凸出设置有限位件(2221)，所述传动轴(232)的外周面设置有限位孔(2321)；9. The rehabilitation exoskeleton system according to claim 7, characterized in that, the inner wall surface of the shaft hole (222) is protrudingly provided with a limiter (2221), and the outer peripheral surface of the transmission shaft (232) is provided with a limiter. bit hole (2321);所述限位件(2221)至少部分置于所述限位孔(2321)中，在所述传动轴(232)的转动方向上，所述限位孔(2321)的尺寸大于所述限位件(2221)的尺寸，以使所述限位件(2221)能够在所述限位孔(2321)所限定的行程范围内往复运动。The limiting member (2221) is at least partially placed in the limiting hole (2321), and in the direction of rotation of the transmission shaft (232), the size of the limiting hole (2321) is larger than the limiting hole (2321). The dimension of the member (2221) is such that the limiting member (2221) can reciprocate within the stroke range defined by the limiting hole (2321).10.根据权利要求6所述的康复外骨骼系统，其特征在于，所述第一髋关节活动构件(23)与所述第二髋关节活动构件(24)之间设置有活动轴(243)，所述活动轴(243)的转动轴线定义为所述第二转动轴线(231)；10. The rehabilitation exoskeleton system according to claim 6, characterized in that, a movable shaft (243) is arranged between the first hip joint movable member (23) and the second hip joint movable member (24) , the rotation axis of the movable shaft (243) is defined as the second rotation axis (231);所述第一髋关节活动构件(23)设有贯通的第一支撑孔(234)，所述第二髋关节活动构件(24)设有贯通的第二支撑孔(244)，所述活动轴(243)穿接于所述第一支撑孔(234)及所述第二支撑孔(244)，以使所述第二髋关节活动构件(24)能够绕所述第二转动轴线(231)相对于所述第一髋关节活动构件(23)作摆转运动。The first hip joint movable member (23) is provided with a through first support hole (234), the second hip joint movable member (24) is provided with a through second support hole (244), and the movable shaft (243) pierced through the first support hole (234) and the second support hole (244), so that the second hip joint movable member (24) can rotate around the second rotation axis (231) Perform swinging motion relative to the first hip joint movable member (23).11.根据权利要求10所述的康复外骨骼系统，其特征在于，所述第一髋关节活动构件(23)与所述第二髋关节活动构件(24)之间设置有第二弹性复位件(245)；11. The rehabilitation exoskeleton system according to claim 10, characterized in that, a second elastic reset member is arranged between the first hip joint movable member (23) and the second hip joint movable member (24) (245);所述第二弹性复位件(245)的一端固定于所述第一髋关节活动构件(23)，所述第二弹性复位件(245)的另一端固定于所述第二髋关节活动构件(24)，用于在没有外力施加于所述第二髋关节活动构件(24)的情况下，保持所述第三转动轴线(241)垂直于所述第一转动轴线(221)。One end of the second elastic reset member (245) is fixed to the first hip joint movable member (23), and the other end of the second elastic reset member (245) is fixed to the second hip joint movable member ( 24), used for keeping the third rotation axis (241) perpendicular to the first rotation axis (221) when no external force is applied to the second hip joint movable member (24).12.根据权利要求10所述的康复外骨骼系统，其特征在于，所述第一髋关节活动构件(23)靠近所述第二髋关节活动构件(24)的一端设置有敞开的活动槽(235)，所述活动槽(235)的两端分别连通所述第一支撑孔(234)；所述第二髋关节活动构件(24)设置有与所述活动槽(235)相匹配的活动块(246)，所述第二支撑孔(244)贯通于所述活动块(246)；12. rehabilitation exoskeleton system according to claim 10, is characterized in that, described first hip joint movable component (23) is provided with open movable groove ( 235), the two ends of the movable groove (235) communicate with the first supporting hole (234); the second hip joint movable member (24) is provided with a movable block (246), the second support hole (244) penetrates through the movable block (246);或，所述第一髋关节活动构件(23)靠近所述第二髋关节活动构件(24)的一端设置有活动块(246)，所述第一支撑孔(234)贯通所述活动块(246)；所述第二髋关节活动构件(24)设置有敞开的活动槽(235)，所述活动槽(235)的两端分别连通所述第二支撑孔(244)；Or, the first hip joint movable member (23) is provided with a movable block (246) near one end of the second hip joint movable member (24), and the first support hole (234) runs through the movable block ( 246); the second hip joint movable member (24) is provided with an open movable groove (235), and the two ends of the movable groove (235) communicate with the second support hole (244);所述活动块(246)可活动地设置于所述活动槽(235)，以使所述第一支撑孔(234)与所述第二支撑孔(244)相连通；The movable block (246) is movably arranged in the movable groove (235), so that the first support hole (234) communicates with the second support hole (244);所述活动槽(235)远离所述活动块(246)的内壁凹设有限位槽(2351)，所述活动块(246)靠近所述活动槽(235)的一端凸设有嵌于所述限位槽(2351)内的限位块(2462)，在所述活动轴(243)的转动方向上，所述限位槽(2351)的尺寸大于所述限位块(2462)的尺寸，以使所述限位块(2462)能够在所述限位槽(2351)所限定的形成范围内往复移动。The inner wall of the movable groove (235) away from the movable block (246) is concavely provided with a limiting groove (2351), and the end of the movable block (246) close to the movable groove (235) protrudes and is embedded in the The limit block (2462) in the limit slot (2351), in the rotation direction of the movable shaft (243), the size of the limit slot (2351) is larger than the size of the limit block (2462), The limiting block (2462) can move back and forth within the range defined by the limiting groove (2351).13.根据权利要求1所述的康复外骨骼系统，其特征在于，所述大腿杆组件(30)及所述小腿杆组件(40)均设置有腿部绑定组件(60)，所述腿部绑定组件(60)限定出腿部穿戴空间(61)，用于环绕绑定大腿以及小腿。13. The rehabilitation exoskeleton system according to claim 1, characterized in that, the thigh rod assembly (30) and the calf rod assembly (40) are all provided with leg binding assemblies (60), and the legs The upper binding assembly (60) defines a leg wearing space (61) for binding around the thigh and the lower leg.14.根据权利要求1所述的康复外骨骼系统，其特征在于，所述大腿杆组件(30)包括：14. rehabilitation exoskeleton system according to claim 1, is characterized in that, described thigh bar assembly (30) comprises:第一腿部支撑构件(31)，转动连接于所述第二髋关节活动构件(24)；The first leg support member (31) is rotatably connected to the second hip joint movable member (24);第一腿部调节构件(32)，活动设置在所述第一腿部支撑构件(31)上，并能够在伸出和缩回所述第一腿部支撑构件(31)之间往复运动；The first leg adjustment member (32) is movably arranged on the first leg support member (31), and can reciprocate between extending and retracting the first leg support member (31);第一锁紧组件(33)，用于选择性地将所述第一腿部调节构件(32)锁止在所述第一腿部支撑构件(31)的当前位置上；a first locking assembly (33), configured to selectively lock the first leg adjusting member (32) at the current position of the first leg supporting member (31);所述小腿杆组件(40)包括：The calf rod assembly (40) includes:第二腿部支撑构件(41)，转动连接于所述第一腿部调节构件(32)；The second leg support member (41) is rotatably connected to the first leg adjustment member (32);第二腿部调节构件(42)，一端活动设置在所述第二腿部支撑构件(41)上，并能够在伸出和缩回所述第二腿部支撑构件(41)之间往复运动，另一端与所述足部组件(50)转动连接；The second leg adjustment member (42), one end is movably arranged on the second leg support member (41), and can reciprocate between extending and retracting the second leg support member (41) , the other end is rotationally connected with the foot assembly (50);第二锁紧组件(43)，用于选择性地将所述第二腿部调节构件(42)锁止在所述第二腿部支撑构件(41)的当前位置上。The second locking assembly (43) is used for selectively locking the second leg adjusting member (42) at the current position of the second leg supporting member (41).15.根据权利要求14所述的康复外骨骼系统，其特征在于，所述第一腿部支撑构件(31)与所述第二髋关节活动构件(24)之间设有第一关节模组(311)，所述第一关节模组(311)的固定端设置于所述第二髋关节活动构件(24)，所述第一关节模组(311)的输出端与所述第一腿部支撑构件(31)连接；15. The rehabilitation exoskeleton system according to claim 14, characterized in that, a first joint module is arranged between the first leg support member (31) and the second hip joint movable member (24) (311), the fixed end of the first joint module (311) is arranged on the second hip joint movable member (24), the output end of the first joint module (311) is connected to the first leg Department support member (31) is connected;所述第一腿部调节构件(32)与所述第二腿部支撑构件(41)之间设置有第二关节模组(411)，所述第二关节模组(411)的固定端与所述第一腿部调节构件(32)固定连接，所述第二关节模组(411)的输出端与所述第二腿部支撑构件(41)连接。A second joint module (411) is arranged between the first leg adjustment member (32) and the second leg support member (41), and the fixed end of the second joint module (411) is connected to the The first leg regulating member (32) is fixedly connected, and the output end of the second joint module (411) is connected to the second leg supporting member (41).16.根据权利要求1所述的康复外骨骼系统，其特征在于，所述足部组件(50)包括：16. The rehabilitation exoskeleton system according to claim 1, wherein the foot assembly (50) comprises:基板(51)，与所述小腿杆组件(40)转动连接，并限定出踩踏面(511)；a base plate (51), which is rotatably connected with the calf rod assembly (40), and defines a stepping surface (511);足部绑带(52)，相对的两端分别枢接于所述基板(51)两侧，并与所述踩踏面(511)围合限定出足部穿戴空间(53)。The opposite ends of the foot strap (52) are respectively pivotally connected to the two sides of the base plate (51), and surround the stepping surface (511) to define a foot wearing space (53).17.根据权利要求16所述的康复外骨骼系统，其特征在于，还包括：17. The rehabilitation exoskeleton system according to claim 16, further comprising:棘轮收线装置(54)，设于所述足部绑带(52)的一端；Ratchet take-up device (54), located at one end of the foot strap (52);张紧带(55)，其第一端穿入所述棘轮收线装置(54)，其第二端朝远离所述棘轮收线装置(54)的方向延伸并固定于所述足部绑带(52)；A tensioning belt (55), the first end of which penetrates the ratchet wire take-up device (54), and its second end extends away from the ratchet wire take-up device (54) and is fixed to the foot strap (52);所述棘轮收线装置(54)用于调节所述张紧带(55)的延伸长度，从而拉伸所述足部绑带(52)，调节所述足部穿戴空间(53)的大小。The ratchet wire take-up device (54) is used to adjust the extension length of the tension belt (55), thereby stretching the foot strap (52) and adjusting the size of the foot wearing space (53).18.根据权利要求17所述的康复外骨骼系统，其特征在于，所述棘轮收线装置(54)及所述张紧带(55)靠近所述基板(51)的第一端设置，用于与所述踩踏面(511)配合固定穿戴者的脚背；18. The rehabilitation exoskeleton system according to claim 17, characterized in that, the ratchet wire take-up device (54) and the tension belt (55) are arranged close to the first end of the base plate (51), Cooperate with the stepping surface (511) to fix the instep of the wearer;所述基板(51)的第二端设置有脚跟稳定件(56)，用于与所述踩踏面(511)配合稳固穿戴者的脚跟。The second end of the base plate (51) is provided with a heel stabilizer (56) for cooperating with the stepping surface (511) to stabilize the wearer's heel.19.根据权利要求1所述的康复外骨骼系统，其特征在于，所述足部组件(50)与所述小腿杆组件(40)之间的旋转轴线平行于所述大腿杆组件(30)与所述小腿杆组件(40)之间的旋转轴线。19. The rehabilitation exoskeleton system according to claim 1, characterized in that, the axis of rotation between the foot assembly (50) and the calf rod assembly (40) is parallel to the thigh rod assembly (30) The axis of rotation between the calf rod assembly (40).

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