EXOSKELETON COXOFEMORAL HINGE MODULE Russian patent published in 2024 - IPC A61H3/00 B25J9/00 

FIELD: medical equipment.

SUBSTANCE: invention relates to exoskeletons. Coxofemoral hinge module of the exoskeleton includes a C-shaped dorsal frame with a waist belt for its attachment to the operator in the pelvic region, two hinged assemblies and two femoral links with mechanisms for adjusting the length of the femoral links and with cuffs for fixing the femoral links on the operator’s hips, two elastic energy accumulators, one end of each of which is pivotally connected to the dorsal frame, and the second movable ends are connected to the pivot providing rotation of the femoral link in the sigittal plane. In addition to gas spring, each elastic energy accumulator includes a helical compression spring, installed concentrically and movably around a cylinder of a gas spring with a heater installed on it with an electroresistive element and a temperature sensor, on top of which there is a cylindrical protective casing with a heat-insulating layer on the inner surface adjacent to the heater, as well as two tubular cylindrical bushings concentrically installed around the gas spring cylinder and movable along the gas spring cylinder with adjustable screw stops on the tubular cylindrical bushings outer surfaces, between which the compression spring is arranged, wherein the first bushing is fixed on the movable end of the gas spring rod, and the second one is located on the side of the cylinder hinged support, which axis is fixed on the dorsal frame and is directed perpendicular to the sigittal plane. Module includes two electromechanical rotary compression drives of energy accumulator springs with cam mechanisms fixed on the back frame, made with pressure elements in contact with support rollers, onboard storage battery and exoskeleton control system hardware unit with human-machine interface between operator and electric drive control system. Inclined post made in the form of a fork on the femoral link is pivotally connected by an axis installed in a movable piston with O-rings at the ends, which is installed inside the first cylindrical bushing with a screw plug at the end of the first bushing, in which there are two longitudinal diametrical slots for movement in two longitudinal diametrical slots of both ends of the hinged axis of the piston. Axial stroke of the piston inside the bushing corresponds to movement of the post in the sigittal plane when the femoral link turns when the operator walks in the exoskeleton. At both ends of the inner cylinder of the first bushing containing the piston, at the bottom of the closed cavities of the inner cylinder elastic thrust elements are installed, and in the area of the bottom of both cavities in the side surface of the first bushing there are two needle valves with a threaded flow section adjustment, annular chamfers are made on the ends of the piston, and on the side surface of the first bushing there is a cylindrical rotary bayonet lock fixing the position of the piston by means of a threaded connection.

EFFECT: removing the load from the locomotor apparatus of the operator in the exoskeleton during the performance of rigging, especially when lifting heavy and/or bulky objects from the floor, ensuring independence from the anthropomorphic features of the operator, in particular from its weight and dimensions, providing the convenience of the operator in the exoskeleton when walking, exclusion of dependence of working parameters of exoskeleton from negative operating temperatures up to maximum negative working temperature, higher efficiency of exoskeleton.

11 cl, 14 dwg