CN107595556B - Exoskeleton robot and lower leg baffle component thereof - Google Patents

Abstract

The invention provides an exoskeleton robot and its lower leg baffle parts. In the present invention, when the baffle assembly of the shank baffle part is fastened relative to the fixed seat, the first rod body and the second rod body of the linkage mechanism are arranged in a straight line relative to the pivot centers of the two to lock the baffle assembly, When the baffle assembly is fastened with the lower leg of the human body, the situation that the baffle assembly and the lower leg of the human body fall off is reduced or even avoided, and the convenience and safety of use are improved.

Description

An exoskeleton robot and its lower leg baffle parts

technical field

The invention relates to the field of medical devices, in particular to an exoskeleton robot and its lower leg shield parts.

Background technique

As a wearable device, when the calf baffle part of the exoskeleton robot interacts with the calf, it is usually bound to the calf by a bandage. However, during the walking process of the human body, the flexible bandage will fall off. At this time, the calf baffle Components will also come off with the lower leg.

Contents of the invention

The present invention mainly provides an exoskeleton robot and its lower leg baffle parts, aiming at solving the problem that the lower leg baffle parts are easy to fall off from the lower legs of the human body.

In order to solve the above-mentioned technical problems, a technical solution adopted by the present invention is: provide the lower leg baffle part of the exoskeleton robot, the shank baffle part includes a fixing seat; the baffle assembly, the baffle assembly is pivotally connected to the The seat is in an open and fastened state relative to the fixed seat; the linkage mechanism includes a first rod body and a second rod body that are pivotally connected in the first position, and the first rod body and the second rod body are respectively pivotally connected to the The fixing seat and the baffle assembly are used to follow the baffle assembly; wherein, when the baffle assembly is in an open state relative to the fixing seat, the first rod and the second rod Relative to the pivot center of the first rod and the second rod, it is set at an included angle; when the baffle assembly is in a buckled state relative to the fixing seat, the first rod and the second The rod body is arranged in a straight line relative to the pivot centers of the first rod body and the second rod body, so as to lock the baffle assembly.

Wherein, the linkage mechanism further includes a third rod body connected to the first rod body or the second rod body for pushing the first rod body or the second rod body under the action of an external force, Furthermore, the first rod body and the second rod body are changed from the straight line arrangement to the included angle arrangement.

Wherein, it is characterized in that the third rod body is arranged at an included angle with the first rod body or the second rod body.

Wherein, the baffle assembly includes a calf bandage arm and a calf baffle, and the calf baffle is connected with the calf bandage arm for fitting the calf of a human body.

Wherein, the calf baffle is rotatably connected with the calf bandage arm, so as to follow the movement of the human calf and rotate relative to the calf bandage arm when it fits the human calf.

Wherein, the calf shield is detachably connected to the calf bandage arm.

Wherein, a calf bandage is provided on the calf shield to bind the human calf when the calf shield is attached to the human calf.

Wherein, the calf bandage arm is arranged in an arc shape, and its size gradually becomes larger in the direction of extending away from the calf baffle.

Wherein, the fixing seat is provided with a positioning slot for connecting other components of the exoskeleton robot, and the connection position is adjusted in the length direction of the positioning slot.

In order to solve the above technical problems, another technical solution adopted by the present invention is to provide an exoskeleton robot, the exoskeleton robot includes the above-mentioned calf shield component.

The beneficial effects of the present invention are: different from the situation of the prior art, when the baffle assembly of the shank baffle part of the present invention is fastened relative to the fixed seat, the first rod body and the second rod body of the linkage mechanism are relatively The pivoting center is arranged in a straight line to lock the baffle assembly, so that when the baffle assembly is fastened with the lower leg of the human body, the situation that the baffle assembly and the lower leg of the human body fall off is reduced or even avoided, and the convenience and safety of use are improved.

Description of drawings

Fig. 1 is the structural representation of the embodiment of the shank baffle parts of the exoskeleton robot provided by the present invention;

Fig. 2 is the structural representation of the second connector in Fig. 1;

Fig. 3 is a schematic top view of the baffle assembly in Fig. 1 in a buckled state;

Fig. 4 is a schematic structural view of an embodiment of an exoskeleton robot provided by the present invention;

Fig. 5 is an exploded schematic view of the hip joint components in Fig. 4;

Fig. 6 is an exploded schematic diagram of the hip joint motor mechanism in Fig. 5;

Fig. 7 is an exploded schematic diagram of the hip joint reducer mechanism, the hip joint bearing mechanism and the hip joint friction wheel in Fig. 5;

Fig. 8 is a schematic cross-sectional view of the assembly of each mechanism in Fig. 5;

Fig. 9 is an enlarged schematic diagram of part A in Fig. 8;

Fig. 10 is an exploded schematic diagram of the hip joint transmission assembly and the hip joint friction wheel in Fig. 5;

Fig. 11 is a schematic structural view of the thigh support mechanism in Fig. 4;

Fig. 12 is an exploded schematic view of the knee joint components in Fig. 4;

Fig. 13 is an exploded schematic diagram of the knee joint motor mechanism in Fig. 12;

Fig. 14 is an exploded schematic view of the knee joint reducer mechanism, the knee joint bearing mechanism and the knee joint friction wheel in Fig. 12;

Fig. 15 is a schematic sectional view of the assembly of each mechanism in Fig. 12;

Fig. 16 is an enlarged schematic view of part B in Fig. 15;

Fig. 17 is an exploded schematic diagram of the knee joint transmission assembly and the knee joint friction wheel in Fig. 12;

Fig. 18 is a structural schematic diagram of the calf support part in Fig. 4;

Fig. 19 is an exploded schematic view of the foot support part in Fig. 4;

Fig. 20 is an exploded schematic diagram of the lumbar support component in Fig. 4;

Fig. 21 is a schematic block diagram of the electrical connection between the control box and other structures in Fig. 20;

Fig. 22 is a schematic diagram of standing between the exoskeleton robot and the human body in Fig. 4;

Fig. 23 is a schematic diagram of the sitting posture of the exoskeleton robot and the human body in Fig. 4 .

Detailed ways

In order for those skilled in the art to better understand the technical solution of the present invention, the exoskeleton robot and its lower leg shield components provided by the present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

Referring to FIG. 1 , an embodiment of a calf shield component 10 provided by the present invention includes a fixing seat 11 , a shield assembly 12 and a link mechanism 13 .

The fixing seat 11 is used to connect other parts of the exoskeleton robot in this embodiment.

Wherein, the fixing base 11 is provided with a positioning groove 111, and the fixing base 11 and other components of the exoskeleton robot can be fixedly connected through the positioning groove 111 by bolts, and the connection position can be adjusted in the length direction of the positioning groove 111.

The baffle assembly 12 is pivotally connected to the fixing base 11 so as to be in an open and buckled state relative to the fixing base 11 .

Specifically, the baffle assembly 12 includes a calf bandage arm 121 and a calf baffle 122. The calf bandage arm 121 is pivotally connected to the fixing base 11, so that the calf bandage arm 121 can rotate relative to the fixing base 11. Optionally, the calf bandage arm 121 can rotate relative to the fixing base 11. The pin is connected in series with the calf bandage arm 121 and the fixing seat, and then an open retaining ring is installed at the two ends of the cylindrical pin; the calf baffle plate 122 is connected with the calf bandage arm 121 for fitting with the human calf, and during the fitting process, the calf retaining The plate 122 follows the rotation of the calf bandage arm 121 and is close to the calf of the human body, so that it is in a buckled state when it is attached to the calf of the human body, and is in an open state when it is separated from the calf of the human body.

Wherein, the calf baffle 122 is rotatably connected with the calf bandage arm 121 , so as to follow the movement of the human calf and rotate relative to the calf bandage arm 121 when it fits the human calf.

Specifically, the baffle assembly 12 further includes a first connecting piece 123 and a second connecting piece 124, the first connecting piece 123 is fixedly connected to the calf baffle 122, and the middle is arranged in an arc shape, referring to FIG. 2, the second connecting piece 124 Including the optical axis part 1241, the second connecting part 124 is connected to the calf bandage arm 121 through the first connecting part 123, and makes the arc-shaped part fit with the optical axis part 1241, so that the first connecting part 123 can be opposite Rotate on the optical axis part 1241, so that the calf shield 122 can rotate relative to the calf bandage arm 121,

Further, the calf shield 122 is detachably connected to the calf bandage arm 121 .

Specifically, the second connecting piece 124 also includes a threaded portion 1242. When the above-mentioned second connecting piece 124 is connected to the calf bandage arm 121 through the first connecting piece 123, it is threadedly connected to the calf bandage arm 121 through the threaded portion 1242, so as to The second connecting piece 124 is detachably connected to the calf bandage arm 121 , so that the calf shield 122 is detachably connected to the calf bandage arm 121 .

Optionally, the calf shield 122 is arranged in an arc shape, and the size of the upper end is larger than the size of the lower end, so that the shape of the calf shield 122 can match the shape of the human body's calf, so as to be suitable for wearing. Further, the material of the calf shield 122 It is a flexible material with elasticity, so that when the calf of the human body is fitted, it is flexibly fitted with the calf of the human body to increase comfort and avoid damage to the calf of the human body when it is rigidly fitted; the calf bandage arm 121 is arranged in an arc shape, which can The shape conforms to the shape of the lower leg of the human body, and the size gradually increases in the direction away from the lower leg baffle 122 , which can save materials, reduce costs, and reduce the overall weight.

Further, a calf bandage 1221 is provided on the calf shield 122 to bind the calf of the human body when it fits the calf of the human body.

The rod mechanism 13 includes a first rod 131 and a second rod 132 pivotally connected to each other. The first rod 131 and the second rod 132 are respectively pivotally connected to the fixing base 11 and the baffle assembly 12 to follow the baffle assembly 12 .

Wherein, when the baffle assembly 12 is in a fastened state relative to the fixed base 11, the first rod 131 and the second rod 132 are arranged in a straight line relative to the pivot center 1311 of the first rod 131 and the second rod 132, so as to lock the baffle. board assembly 12.

Referring to FIG. 3 , when the baffle assembly 12 is engaged with the fixed base 11 , since the first rod body 131 and the second rod body 132 are arranged in a straight line relative to the pivot centers 1311 of the first rod body 131 and the second rod body 132 , Then, if it is necessary to disengage the baffle assembly 12 from the buckled state, it is necessary to rotate the baffle assembly 12 in the direction of the arrow in the figure. Push the calf bandage arm 121 and the fixing seat 11, so that the baffle assembly 12 cannot rotate in this direction, and then lock the baffle assembly 12. When the baffle assembly 12 is attached to the human calf, the probability of detaching from the human calf is reduced. , improve the reliability of use.

Further, when the baffle assembly 12 is in an open state relative to the fixing seat 11 , the first rod body 131 and the second rod body 132 are arranged at an included angle relative to the pivot centers 1311 of the first rod body 131 and the second rod body 132 .

Optionally, the connecting rod assembly 13 further includes a third rod body 133, and the third rod body 133 is connected with the first rod body 131 or the second rod body 132, so as to push the first rod body 131 or the second rod body 132 under the action of an external force, so that the first rod body 131 or the second rod body 132 is pushed. The rod body 131 or the second rod body 132 changes from a straight line configuration to an angle configuration.

In this embodiment, the third rod body 133 is connected to the first rod body 131. When the first rod body 131 and the second rod body 132 are in the above-mentioned linear arrangement, it is only necessary to manually apply an external force to the third rod body 133 so that the first rod body 131 Rotating relative to the fixed seat 11 can make the first rod body 131 and the second rod body 132 change from a straight line setting to an angle setting. state.

Optionally, the third rod body 133 is set at an included angle with the first rod body 131 or the second rod body 132 .

Referring to FIG. 4 , the exoskeleton robot embodiment provided by the present invention includes the above-mentioned calf shield part 10 , and further includes a hip joint part 20 , a thigh support part 30 , a knee joint part 40 , a calf support part 50 and a foot support part 60 .

Referring to FIG. 5 , the hip joint component 20 includes a hip joint drive assembly 21 and a hip joint transmission assembly 22 .

Wherein, the hip joint driving assembly 21 includes a hip joint motor mechanism 211 , a hip joint reducer mechanism 212 , a hip joint bearing mechanism 213 and a hip joint friction wheel 214 .

Referring to FIG. 6 , the hip joint motor mechanism 211 includes a hip joint driving motor 211a, a first hip joint connecting plate 211b, a hip joint support base 211c, a hip joint isolation plate 211d and a hip joint connector 211e.

Wherein, the hip joint support seat 211c is provided with a through hole 2111, further, the hip joint support seat 211c is also provided with a first hip joint limiting part 2112, and optionally, the hip joint first limiting part 2112 is a limiting groove , and the number of is two.

Further, the first connecting plate 211b of the hip joint is connected to the support base 211c of the hip joint. Optionally, the first connecting plate 211b of the hip joint is fixedly connected to the support base 211c of the hip joint through bolts; The side of the joint support seat 211c close to the first connecting plate 211b of the hip joint passes through the through hole 2111 of the hip joint support seat 211c, and is fixedly connected with the hip joint support seat 211c. The seat 211c is fixedly connected to the hip joint driving motor 211a and the hip joint support seat 211c on the side away from the first hip joint connecting plate 211b; Set on the drive shaft 2113 of the hip joint drive motor 211a, in this embodiment, the hip joint isolation plate 211d is also covered on the flat head bolts for fixedly connecting the hip joint drive motor 211a and the hip joint support seat 211c, so as to prevent flat head The loosening of the bolts causes the hip joint drive motor 211a to be separated from the hip joint support seat 211c; the hip joint connector 211e is sleeved on the drive shaft 2113 of the hip joint drive motor 211a and pressed on the hip joint isolation plate 211d, further, the hip joint is connected The device 211e is fixedly connected to the drive shaft 2113 of the hip drive motor 211a, so that the hip joint connector 211e rotates under the drive of the drive shaft 2113 of the hip joint drive motor 211a. Optionally, the hip joint connector 211e is a cross coupling The device is fixedly connected to the drive shaft 2113 of the hip joint drive motor 211a at the cross shaft of the cross coupling by bolts.

6 and 7 together, the hip joint reducer mechanism 212 includes an outer wheel 212a and an inner wheel 212b, and the inner wheel 212b can rotate relative to the outer wheel 212a.

Specifically, the outer wheel 212a can be fixedly connected to the hip joint support seat 211c through bolts, the inner wheel 212b is provided with a card slot (not shown in the figure) matching with the hip joint connector 211e, and the inner wheel 212b is sleeved on the hip joint drive motor 211a, and the slot of the inner wheel 212b is engaged with the hip joint connector 211e, so that the inner wheel 212b and the drive shaft 2113 of the hip joint drive motor 211a are relatively fixed, and then the inner wheel 212b is connected to the hip joint drive motor The driving shaft 2113 of 211a rotates relative to the outer wheel 212a.

Further, the side of the inner wheel 212b of the hip joint reducer mechanism 212 away from the hip joint connector 211e is provided with a positioning column 2121 .

The hip joint bearing mechanism 213 includes an outer ring 213a and an inner ring 213b, and the inner ring 213b can rotate relative to the outer ring 213a.

Specifically, the outer ring 213a is fixedly connected to the hip joint support seat 211c on the side where the inner wheel 212b of the hip joint reducer mechanism 212 is provided with the positioning column 2121. In this embodiment, the side of the outer ring 213a is connected to the hip joint through bolts The support seat 211c is fixedly connected; the inner ring 213b is sleeved on the drive shaft 2113 of the hip joint drive motor 211a and is positioned and matched with the positioning column 2121 on the inner wheel 212b of the hip joint reducer mechanism 212, so that the inner ring 213b drives the hip joint The drive shaft 2113 of the motor 211a is axially fixed relatively to the inner wheel 212b of the hip joint reducer mechanism 212 , and then rotates following the rotation of the inner wheel 212b of the hip joint reducer mechanism 212 .

The hip joint friction wheel 214 is fixedly connected to the inner ring 213b of the hip joint bearing mechanism 213 on the side of the hip joint bearing mechanism 213 away from the hip joint reducer mechanism 212 .

Specifically, the hip joint friction wheel 214 is positioned and matched with the positioning column 2121 on the inner wheel 212b of the hip joint reducer mechanism 212, so that the hip joint friction wheel 214 and the inner ring 213b of the hip joint bearing mechanism 213 are aligned with the hip joint drive motor 211a. The drive shaft 2113 is relatively fixed in the axial direction, and the inner ring 213b of the hip joint bearing mechanism 213 can be fixedly connected to the hip joint friction wheel 214 by bolts, so that the hip joint friction wheel 214 follows the inner ring 213b of the hip joint bearing mechanism 213 Turn and turn.

Further, the hip joint friction wheel 214 is also provided with a first hip joint buffer part 2141 , and optionally, the hip joint first buffer part 2141 is a convex tooth provided on the outer side of the hip joint friction wheel 214 .

Further referring to FIG. 5 , the hip joint driving assembly 21 further includes a hip joint motor shield 215 , and the hip joint motor shield 215 is disposed on the hip joint driving motor 211 a to protect the hip joint driving motor 211 a.

The hip joint drive assembly 22 is linked with the hip joint drive assembly 21 to rotate under the drive of the ankle joint drive assembly 21 .

Specifically, the hip joint transmission assembly 22 is frictionally connected with the hip joint friction wheel 214 to rotate under the friction drive of the hip joint friction wheel 214 .

Referring to Fig. 8 and Fig. 9 together, the hip joint transmission assembly 22 includes the first hip joint transmission part 221 and the hip joint second transmission part 222, the hip joint first transmission part 221 and the hip joint friction wheel 214 face the hip joint motor mechanism 211 A hip joint elastic member 223 is arranged between one side, and the hip joint elastic member 223 generates an elastic force in the axial direction of the hip joint motor mechanism 211, and the second hip joint transmission member 222 is connected to the hip joint friction wheel 214 on the other side. The first transmission part 221 of the joint is fixedly connected by bolts, so that the second transmission part 222 of the hip joint is close to the friction wheel 214 of the hip joint under the action of the elastic force, and then frictionally connected with the friction wheel 214 of the hip joint, so that the friction wheel of the hip joint When 214 rotates, friction drives the second transmission member 222 of the hip joint.

Further, between the hip joint elastic member 223 and the hip joint friction wheel 214 facing the side of the hip joint motor mechanism 211, a hip joint friction plate 224 and a hip joint steel plate 225 are sequentially attached, and the hip joint elastic member 223 One end abuts against the first transmission member 221 of the hip joint, and the other end abuts against the steel plate 225 of the hip joint, so that the friction plate 224 of the hip joint is in close contact with the friction wheel 114 of the hip joint, so that the first transmission member 221 of the hip joint passes through the hip joint. The joint friction plate 224 is connected with the film layer of the hip joint friction wheel, so that when the hip joint friction wheel 214 rotates, the hip joint friction plate 224 is frictionally driven to drive the first transmission member 221 of the hip joint through the hip joint friction plate 224 .

Optionally, the hip joint elastic member 223 is a cylindrical spring.

Referring to FIG. 10 , the first hip joint transmission member 221 is provided with a second hip joint limiting portion 2211 , and when the above-mentioned hip joint friction wheel 214 frictionally drives the hip joint transmission assembly 22 to rotate, the hip joint second limiting portion 2211 and the hip joint second limiting portion 2211 The first limiting portion 2112 of the hip joint cooperates to limit the degree of freedom of rotation of the hip joint transmission assembly 22 .

Optionally, the second limiting part 2211 of the hip joint is a limiting column that cooperates with the limiting groove of the first limiting part 2112 of the hip joint. The degree of freedom of rotation can be set according to actual needs, and there is no limitation here .

Further, the second hip joint transmission part 222 is provided with a hip joint second buffer part 2221. When the hip joint friction wheel 214 is in close contact with the hip joint second transmission part 222, the hip joint second buffer part 2221 will rub against the hip joint. The first hip joint buffering part 2141 of the wheel 214 is provided with a gap to play a buffering role when the hip joint transmission assembly 22 is frictionally driven to rotate by the aforementioned hip joint friction wheel 214 and encounters a sudden change in speed.

Further referring to FIG. 5 , the hip joint component 20 also includes a second hip joint connecting plate 23, which is fixedly connected to the first hip joint connecting plate 211b by bolts, wherein the second hip joint connecting plate 23 is A hanging board 231 is provided.

One end of the thigh supporting part 30 is connected with the hip joint transmission assembly 22 to swing following the rotation of the hip joint transmission assembly 22 .

Referring to Fig. 11, the thigh support member 30 includes a thigh support plate 31 and a thigh bandage device 32, and one end of the thigh support plate 31 is fixedly connected with the second transmission part 222 of the hip joint by bolts, so as to follow the rotation of the second transmission part 222 of the hip joint. Swing, the thigh bandage device 32 is fixedly arranged on the thigh support plate 31 by bolts, and is used to connect the thigh bandage to fix the thigh.

Referring to FIG. 4 and FIG. 12 together, the knee joint component 40 is connected to the other end of the thigh support mechanism 20 and includes a knee joint driving assembly 41 and a knee joint transmission assembly 42 .

Wherein, the knee joint driving assembly 41 includes a knee joint motor mechanism 411 , a knee joint reducer mechanism 412 , a knee joint bearing mechanism 413 and a knee joint friction wheel 414 .

Referring to FIG. 13 , the knee joint motor mechanism 411 includes a knee joint driving motor 411a, a knee joint first connecting plate 411b, a knee joint supporting base 411c, a knee joint isolation plate 411d and a knee joint connector 411e.

Wherein, the knee joint supporting seat 411c is provided with a through hole 4111, further, the knee joint supporting seat 411c is also provided with a knee joint first limiting part 4112, and optionally, the knee joint first limiting part 4112 is a limiting groove , and the number of is two.

Further, the first knee joint connecting plate 411b is fixedly connected to the knee joint supporting base 411c, optionally, the knee joint first connecting plate 411b is fixedly connected to the knee joint supporting base 411c through bolts; the driving shaft 4113 of the knee joint driving motor 411a Pass through the through hole 4111 of the knee joint support base 411c from the side of the knee joint support base 411c close to the first connecting plate 411b of the knee joint, and be fixedly connected with the knee joint support base 411c. The side of the joint support seat 411c away from the first knee joint plate 411b is fixedly connected to the knee joint drive motor 411a and the knee joint support seat 411c; The side is sleeved on the drive shaft 4113 of the knee joint drive motor 411a. In this embodiment, the knee joint isolation plate 411d is also covered on the flat-head bolts for fixedly connecting the knee joint drive motor 411a and the knee joint support seat 411c, so as to Prevent the flat-head bolt from loosening and cause the knee joint drive motor 411a to separate from the knee joint support seat 411c; the knee joint connector 411e is sleeved on the drive shaft 4113 of the knee joint drive motor 411a and pressed on the knee joint isolation plate 411d, further, the knee joint The joint connector 411e is fixedly connected to the driving shaft 4113 of the knee joint driving motor 411a, so that the knee joint connector 411e rotates under the drive of the driving shaft 4113 of the knee joint driving motor 411a. Optionally, the knee joint connector 411e is a cross The shaft coupling is fixedly connected with the drive shaft 4113 of the knee joint drive motor 411a at the cross shaft of the cross coupling by bolts.

13 and 14 together, the knee joint reducer mechanism 412 includes an outer wheel 412a and an inner wheel 412b, and the inner wheel 412b can rotate relative to the outer wheel 412a.

Specifically, the outer wheel 412a can be fixedly connected to the knee joint support seat 411c through bolts, the inner wheel 412b is provided with a card slot (not shown) that cooperates with the knee joint connector 411e, and the inner wheel 412b is sleeved on the knee joint drive motor The drive shaft 4113 of 411a, and the card slot of the inner wheel 412b is engaged with the knee joint connector 411e, so that the inner wheel 412b and the drive shaft 4113 of the knee joint drive motor 411a are relatively fixed, and then the inner wheel 412b is driven by the knee joint drive motor. The drive shaft 4113 of 411a rotates relative to the outer wheel 412a.

Further, the side of the inner wheel 412b of the knee joint reducer mechanism 412 away from the knee joint connector 411e is provided with a positioning column 4121 .

The knee joint bearing mechanism 413 includes an outer ring 413a and an inner ring 413b, and the inner ring 413b can rotate relative to the outer ring 413a.

Specifically, the outer ring 413a is fixedly connected to the knee joint support seat 411c on the side where the inner wheel 412b of the knee joint reducer mechanism 412 is provided with the positioning column 4121. In this embodiment, the side of the outer ring 413a is connected to the knee joint through bolts. The support seat 411c is fixedly connected; the inner ring 413b is sheathed on the drive shaft 4113 of the knee joint drive motor 411a and is positioned and matched with the positioning column 4121 on the inner wheel 412b of the knee joint reducer mechanism 412, so that the inner ring 413b drives the knee joint The drive shaft 4113 of the motor 411a is axially fixed relatively to the inner wheel 412b of the knee joint reducer mechanism 412 , and then rotates following the rotation of the inner wheel 412b of the knee joint reducer mechanism 412 .

The knee joint friction wheel 414 is fixedly connected to the inner ring 113b of the knee joint bearing mechanism 413 on the side of the knee joint bearing mechanism 413 away from the knee joint reducer mechanism 412 .

Specifically, the knee joint friction wheel 414 is positioned and matched with the positioning column 4121 on the inner wheel 412b of the knee joint reducer mechanism 412, so that the knee joint friction wheel 414 and the inner ring 413b of the knee joint bearing mechanism 413 are driven by the knee joint drive motor 411a. The drive shaft 4113 is relatively fixed in the axial direction, and the inner ring 413b of the knee joint bearing mechanism 413 can be fixedly connected to the knee joint friction wheel 414 by bolts, so that the knee joint friction wheel 414 follows the inner ring 413b of the knee joint bearing mechanism 413 Turn and turn.

Further, the knee joint friction wheel 414 is also provided with a knee joint first buffer portion 4141 , and optionally, the knee joint first buffer portion 4141 is a convex tooth provided on the outer side of the knee joint friction wheel 414 .

Further referring to FIG. 12 , the knee joint drive assembly 41 further includes a knee joint motor shield 415 , and the knee joint motor shield 415 is disposed on the knee joint drive motor 411 a to protect the knee joint drive motor 411 a.

The knee joint drive assembly 42 is linked with the knee joint drive assembly 41 to rotate under the drive of the ankle joint drive assembly 41 .

Specifically, the knee joint transmission assembly 42 is frictionally connected with the knee joint friction wheel 414 to rotate under the friction drive of the knee joint friction wheel 414 .

Referring to Fig. 15 and Fig. 16 together, the knee joint transmission assembly 42 includes the first knee joint transmission part 421 and the knee joint second transmission part 422, the knee joint first transmission part 421 and the knee joint friction wheel 414 face the knee joint motor mechanism 411 A knee joint elastic member 423 is arranged between one side, and the knee joint elastic member 423 generates an elastic force in the axial direction of the knee joint motor mechanism 411, and the second knee joint transmission member 422 is on the other side of the knee joint friction wheel 414 and knee joint. The first transmission part 421 of the joint is fixedly connected by bolts, so that the second transmission part 422 of the knee joint is close to the friction wheel 414 of the knee joint under the action of the elastic force, and then frictionally connected with the friction wheel 414 of the knee joint, so that the friction wheel of the knee joint When 414 rotates, it frictionally drives the second transmission member 422 of the knee joint.

Further, between the knee joint elastic member 423 and the side of the knee joint friction wheel 414 facing the knee joint motor mechanism 411, a knee joint friction plate 424 and a knee joint steel plate 425 are sequentially attached, and the knee joint elastic member 423 One end abuts against the first transmission member 421 of the knee joint, and the other end abuts against the steel plate 425 of the knee joint, so that the friction plate 424 of the knee joint is in close contact with the friction wheel 414 of the knee joint, so that the first transmission member 421 of the knee joint passes through the knee joint. The joint friction plate 424 is connected with the film layer of the knee joint friction wheel, so that when the knee joint friction wheel 414 rotates, the knee joint friction plate 424 is frictionally driven to drive the first knee joint transmission member 421 through the knee joint friction plate 424 .

Optionally, the knee joint elastic member 423 is a cylindrical spring.

Referring to FIG. 17 , the first knee joint transmission member 421 is provided with a knee joint second limiting portion 4211 , and when the knee joint transmission assembly 42 is frictionally driven to rotate by the above-mentioned knee joint friction wheel 414 , the knee joint second limiting portion 4211 and the knee joint second limiting portion 4211 The first limiting part 4112 of the knee joint cooperates to limit the degree of freedom of rotation of the knee joint transmission assembly 42 .

Optionally, the second limiting part 4211 of the knee joint is a limiting column that cooperates with the limiting groove of the first limiting part 4112 of the knee joint. The degree of freedom of rotation can be set according to actual needs, and there is no limitation here .

Further, the second knee joint transmission part 422 is provided with a knee joint second buffer part 4221. When the knee joint friction wheel 414 is in close contact with the knee joint second transmission part 422, the knee joint second buffer part 4221 will rub against the knee joint. The first buffer part 4141 of the knee joint of the wheel 414 is provided with a gap to play a buffering role when the knee joint transmission assembly 42 is frictionally driven to rotate by the above-mentioned knee joint friction wheel 414 and encounters a sudden change in speed.

In other embodiments, only one of the hip joint component 20 and the knee joint component 40 in this embodiment may use the above-mentioned friction wheel friction drive transmission assembly, and the other may use other driving methods, such as hydraulic drive or joint drive. rod drive etc.

The calf supporting part 50 is connected with the knee joint transmission assembly 42 to swing following the rotation of the knee joint transmission assembly 42 and connected with the foot support part 10 to drive the foot support part 10 to move.

Referring to Fig. 18, the calf support member 50 includes a first calf support plate 51 and a second calf support plate 52 connected end to end, and one end of the first calf support plate 51 passes through the second knee joint transmission member 422 of the knee joint transmission assembly 42. The bolts are fixedly connected to swing following the rotation of the second transmission member 422 of the knee joint, and the other end is fixedly connected to the second calf support plate 52 by bolts.

Referring to FIG. 4 and FIG. 19 together, the foot support member 60 is connected with the calf support member 50 to move following the swing of the calf support mechanism 50 , and includes an elastic buffer 61 and a foot bearing assembly 62 .

Optionally, the elastic buffer 61 is wound from a strip.

Wherein, the elastic buffer 61 includes an ankle joint matching portion 611 and a supporting portion 612 , the ankle joint matching portion 611 and the supporting portion 612 are obliquely bent and connected to generate a first elastic force opposite to the bending direction of the ankle joint matching portion 611 .

In this embodiment, the ankle joint matching part 611 is in the form of a torsion spring.

Further, the number of supporting parts 612 is two, and the elastic buffer 61 also includes an Achilles tendon matching part 613, and the two ends of the Achilles tendon matching part 613 are respectively obliquely bent and connected to the two supporting parts 612, so as to wrap the human body Achilles tendon of the foot, and generate a second elastic force opposite to the bending direction of the Achilles tendon matching portion 613 .

Optionally, the two supporting parts 612 are parallel to each other or in a figure-eight shape.

Further, the elastic buffer 61 also includes a first connection part 614 connected to the ankle joint matching part 611, and the first connection part 614 is used to connect other parts of the exoskeleton robot. In this embodiment, the first connection part 614 It is connected with the second support plate 42 of the lower leg of the exoskeleton robot through the connecting sleeve 53 .

Wherein, the first connecting portion 614 is hook-shaped, and the hook-shaped first connecting portion 614 is fixedly connected to the connecting sleeve 63 by bolts, which can prevent the first connecting portion 614 from rotating or sliding in the connecting sleeve 63 and enhance structural stability.

Further, the elastic buffer 61 further includes a second connecting portion 615 , and the second connecting portion 615 is vertically connected to the support portion 612 .

Further, a first bandage 616 is disposed on the elastic buffer 61 , and both ends of the first bandage 616 are connected to the elastic buffer 61 so as to pass through the elastic buffer 61 to wrap the rear foot of the human foot.

In this embodiment, the first bandage 616 is connected to the elastic buffer 61 through a bandage plate 617, one end of the bandage plate 617 is fixedly connected to the elastic buffer 61, and the other end is connected to one end of the first bandage 616. The other end is connected with the elastic buffer 61 .

The foot bearing assembly 62 is connected with the elastic buffer member 61 for jointly wrapping the human foot.

Specifically, the foot bearing assembly 62 includes a base plate 621, on which a second bandage 622 is arranged, and the two ends of the second bandage 622 are connected to the base plate 621 so as to wrap the front foot of the human foot together with the base plate 621. The elastic buffer member 61 and the first bandage 616 jointly wrap the rear foot of the human foot, and then wrap the human foot.

Wherein, the bottom plate 621 is relatively fixed to the second connecting portion 616 of the elastic buffer member 61 for supporting human feet. In this embodiment, the bottom plate 621 is fixedly connected to the second connecting portion 616 through the bottom plate connecting plate 623 .

Specifically, there are two bottom plate connecting plates 623, and the two bottom plate connecting plates 623 clamp the first connecting portion 616 and the support portion 612 together, and are fixedly connected by bolts, so that the bottom plate connecting plate 623 is opposite to the second connecting portion 616 fixed, and then the bottom plate 621 and the bottom plate connecting plate 623 are fixedly connected by bolts.

Wherein, the bottom plate 621 can be in a shape consistent with the shape of the sole of the human body, so as to better fit the human foot. At the same time, the front end of the bottom plate 621 can also be inclined, so that when the human foot is walking, there is a slight impact on the human foot. Play a better supporting role.

Further, a pad 624 is provided on the side of the bottom plate 621 away from the second bandage 622 , and the pad 624 is used to increase the frictional force with the ground when in contact with the ground.

Optionally, the material of the gasket 624 is rubber material.

Furthermore, when the elastic buffer 61 and the foot bearing assembly 62 wrap the human foot together, the elastic buffer 61 is matched with the human foot, so as to elastically buffer the human foot when the human foot performs landing action.

Specifically, when wrapping the human foot, the ankle joint matching part 611 matches the ankle joint of the human foot, and under the action of the above-mentioned first elastic force, the ankle joint is elastically buffered by the first elastic force; the Achilles tendon matching The part 613 is matched with the Achilles tendon of the human foot, and under the action of the above-mentioned second elastic force, the Achilles tendon is elastically cushioned by the second elastic force, so that when the human foot performs a landing action, it can cushion and shock role.

In addition, because in this embodiment, the ankle joint matching part 611 is in the shape of a torsion spring, therefore, when matched with the ankle joint, it can elastically cushion the ankle joint in the direction perpendicular to the ankle joint, so as to avoid the ankle joint Direction is subject to severe impact, which is conducive to protecting the ankle joint.

Referring to Fig. 4 and Fig. 20 together, this embodiment also includes a lumbar support part 70, which is connected to the hip joint part 20, so as to be fitted with the waist of the human body, and then support the waist of the human body, including the first connecting part 71 of the waist , the first waist supporting plate 72 , the second waist connecting piece 73 and the second waist supporting plate 74 .

One end of the first waist connecting member 71 is connected to the second connecting plate 23 of the hip joint, and there are two in number, and they are hollowed out, which can save materials, reduce costs, and realize lightweight structure.

Wherein, the first connecting member 71 at the waist is bent.

The first support plate 72 at the waist is connected to the other end of the first connecting member 71 at the waist, and is hollowed out, which can save materials, reduce costs, and realize lightweight structure.

Wherein, the shape of the first support plate 72 of the waist coincides with the shape of the waist of the human body so as to fit the waist of the human body.

One end of the second waist connecting member 73 is connected with the first waist support plate 72 .

The second support plate 74 at the waist is connected to the other end of the second connecting member 73 at the waist, and is hollowed out, which can save materials, reduce costs, and realize lightweight structure.

Further, the lumbar support member 70 in this embodiment further includes a control box 75 connected to the second lumbar support plate 74 .

Referring to Fig. 21, the control box 75 includes an electrically connected power supply 751 and a controller 752, and the controller 752 is electrically connected to the hip joint driving motor 211a and the knee joint driving motor 411a to control the hip joint driving motor 211a and the knee joint driving motor 411a. working status.

Referring to Fig. 22 and Fig. 23 together, in the actual application scenario, the exoskeleton robot embodiment in this embodiment is supported on the human body 80 so that the human body can maintain the standing state as shown in Fig. 22. When other states are required, the hip joint The driving assembly in the component 20 and/or the knee joint component 40 frictionally drives the transmission assembly through the friction wheel to drive the hip joint and knee joint movement of the human body 80, and can present the sitting posture state as shown in Figure 23. Of course, in this embodiment, only the above-mentioned In other embodiments, the exoskeleton robot can also make the human body 80 present other states, such as a walking state.

Different from the situation in the prior art, when the baffle assembly of the shank baffle part is fastened relative to the fixed seat in the present invention, the first rod body and the second rod body of the linkage mechanism are arranged in a straight line relative to the pivot centers of the two, With the method of locking the baffle assembly, when the baffle assembly is fastened with the lower leg of the human body, the situation that the baffle assembly and the lower leg of the human body fall off is reduced or even avoided, and the convenience and safety of use are improved.

The above is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technologies fields, are all included in the scope of patent protection of the present invention in the same way.

Claims (9)

1. A kind of exoskeleton robot, is characterized in that, described exoskeleton robot comprises calf baffle part and hip joint part; The calf guard components include: fixed seat; A baffle assembly, the baffle assembly is pivotally connected to the fixing seat, so as to be in an open and buckled state relative to the fixing seat; The link mechanism includes a first rod body and a second rod body that are pivotally connected first, and the first rod body and the second rod body are respectively pivotally connected to the fixing seat and the baffle assembly to follow the movement of the baffle assembly. board assembly; Wherein, when the baffle assembly is in an open state relative to the fixing seat, the first rod body and the second rod body form an included angle with respect to the pivot centers of the first rod body and the second rod body set up; When the baffle assembly is in a buckled state relative to the fixing seat, the first rod body and the second rod body are arranged in a straight line relative to the pivot centers of the first rod body and the second rod body, to lock the baffle assembly; The hip joint component includes a hip joint driving assembly and a hip joint transmission assembly, the hip joint driving assembly includes a hip joint friction wheel, and the hip joint transmission assembly is in frictional connection with the hip joint friction wheel, so that the hip joint The friction wheel rotates under the friction drive; The hip joint driving assembly further includes a hip joint motor mechanism, and the hip joint friction wheel is relatively fixed to the hip joint motor mechanism in the axial direction of the hip joint motor mechanism, so as to drive the hip joint motor mechanism turn down; The hip joint transmission assembly includes a first transmission part of the hip joint and a second transmission part of the hip joint, and a The elastic part of the hip joint, the elastic part of the hip joint generates elastic force in the axial direction, and the second transmission part of the hip joint is fixed to the first transmission part of the hip joint on the other side of the friction wheel of the hip joint connected so as to be in close contact with the hip joint friction wheel under the action of the elastic force, and then frictionally connected with the hip joint friction wheel; A hip joint friction plate and a hip joint steel plate are arranged sequentially between the hip joint elastic member and the hip joint friction wheel on the side facing the hip joint motor mechanism. One end of the hip joint elastic member It abuts against the first transmission member of the hip joint, and the other end abuts against the steel plate of the hip joint, so that the friction plate of the hip joint is in close contact with the friction wheel of the hip joint, so that the first joint of the hip joint The transmission member is frictionally connected with the hip joint friction wheel through the hip joint friction plate. 2. The exoskeleton robot according to claim 1, wherein the link mechanism further comprises a third rod, and the third rod is connected with the first rod or the second rod for The first rod body or the second rod body is pushed under the action of an external force, so that the first rod body and the second rod body change from the straight line arrangement to the included angle arrangement. 3. The exoskeleton robot according to claim 2, wherein the third rod body and the first rod body or the second rod body are arranged at an angle. 4. The exoskeleton robot according to claim 1, wherein the baffle assembly includes a calf bandage arm and a calf baffle, and the calf baffle is connected to the calf bandage arm for fitting the calf of a human body . 5. The exoskeleton robot according to claim 4, wherein the calf baffle is rotatably connected to the calf bandage arm, so as to follow the movement of the human calf when it fits the human calf. Rotate relative to the calf bandage arm. 6 . The exoskeleton robot according to claim 5 , wherein the calf baffle is detachably connected to the calf bandage arm. 7 . The exoskeleton robot according to claim 6 , wherein a calf bandage is provided on the calf shield to bind the human calf when the calf shield is attached to the human calf. 8 . 8 . The exoskeleton robot according to claim 4 , wherein the calf bandage arm is arranged in an arc shape, and its size gradually increases in a direction away from the calf baffle. 8 . 9. The exoskeleton robot according to claim 1, wherein a positioning groove is provided on the fixing seat.

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