CN113119161B - Damping device of exoskeleton robot - Google Patents

Abstract

The invention discloses a damping device of an exoskeleton robot, which comprises a connecting seat, an external mechanism and an angle frame, wherein the connecting seat comprises a top frame and a lower frame, the lower frame is symmetrically arranged on the lower end face of the top frame, the lower frame is vertically and fixedly connected with the top frame, the external mechanism is symmetrically arranged on two sides of the top frame, the external mechanism is longitudinally and slidably connected with the top frame, the angle frame is arranged on the connecting seat, the angle frame is rotatably connected with the connecting seat, a user firstly enables the connecting seat and the external mechanism to be mutually matched and connected, firstly enables a guide rod to penetrate through guide sliding sleeves on two sides of a middle frame, enables the middle frame to be mutually slidable with the guide sliding sleeves, then enables buffer springs to be arranged on two sides of the guide sliding sleeves, and ensures that a positioning ring is stably clamped in a limiting groove, and accordingly the guide sliding sleeves can achieve the purpose of buffering through the buffer springs.

Description

Damping device of exoskeleton robot

Technical Field

The invention relates to the technical field of robot damping mechanisms, in particular to a damping device of an exoskeleton robot.

Background

The exoskeleton robot technology is a comprehensive technology integrating sensing, control, information, integration and mobile calculation, provides a wearable mechanical mechanism for a person as an operator, and along with the development of the exoskeleton world robot technology in the military field, the exoskeleton robots are used more and more, and corresponding damping mechanisms are required to be installed at different positions in the using process of the exoskeleton robots so as to achieve the aim of buffering and damping.

The inventor of this application discovers, the shock attenuation equipment that current ectoskeleton robot lock used simple structure, only can simply cooperate the installation to two parts of unidirectional when the installation is used and reach the absorbing purpose, can only simply handle the mechanism shock attenuation alone of equidirectional when all need the shock attenuation effect in equidirectional like this, especially when there are sharp direction shock attenuation and circumferencial direction shock attenuation simultaneously, if only handle respectively, not only can great reduction shock attenuation effect, still can cause the whole coordination inadequately of machine.

Disclosure of Invention

The invention aims to provide a damping device of an exoskeleton robot, aiming at improving the problems that the damping device used by the existing exoskeleton robot lock has simple structure, only two parts in a single direction can be simply installed in a matching way to achieve the damping purpose when the existing exoskeleton robot lock is installed and used, so that mechanisms in different directions can be only subjected to independent damping treatment when the damping effect is required in different directions, and particularly when the damping in a linear direction and the damping in a circumferential direction exist simultaneously, the damping effect can be greatly reduced and the whole machine is not coordinated enough if the damping treatment is carried out respectively.

The invention is realized in the following way:

a shock absorption device of an exoskeleton robot comprises a connecting seat, an external mechanism and an angle frame, wherein the connecting seat comprises a top frame and a lower frame, the lower frame is symmetrically arranged on the lower end face of the top frame and is vertically and fixedly connected with the top frame, the external mechanism is symmetrically arranged on two sides of the top frame, the external mechanism is longitudinally and slidably connected with the top frame, the angle frame is arranged on the connecting seat, the angle frame is rotatably connected with the connecting seat, when a user needs large buffering force, the position of the external frame on a guide rod can be stably pressed down, the user can stably insert the position of the external frame into a positioning hole through a bolt after determining the position of the external frame on the guide rod, the stable connection between the guide rod and the external frame is ensured, and therefore, the connecting plate can be stably connected with an external component of the robot, the connecting seat can achieve the purpose of buffering with an external mechanism through the buffer spring in the using process, when a user needs to match the mounting structure at the upper end of the connecting seat for use, the supporting cover plate can be stably mounted on the top frame, the purpose that the angle frame can be better matched with the connecting seat for use is ensured, the user can stably rotate to the internal thread of the top frame through the matching of the external thread on the bottom ring sleeve in the actual mounting process, when the lower end face of the dome cover is completely attached to the rubber pad, the user can mutually match and connect the bending frame and the stabilizing table through the middle shaft rod, the bending frame and the stabilizing table can be stably and mutually rotatably matched, the buffer hydraulic cylinders are symmetrically mounted between the bending frame and the supporting cover plate, and the purpose that the buffer can be realized through the buffer hydraulic cylinders in the rotating process of the bending frame and the stabilizing table is ensured, the user can stably cooperate and fix with other mechanisms of the robot through the external connection plate, bidirectional processing of longitudinal buffering and rotary buffering is realized through buffering cooperation between the external connection mechanism and the connection seat, the robot is ensured to be installed and used at positions needing multiple buffering, when the user needs to cooperate with the installation structure at the lower end of the connection seat for use, the supporting cover plate can be stably detached from the top frame, then the user can stably install the spindle in the spindle groove of the placing disc, the spindle can be stably and rotatably connected with the placing disc, the positioning sleeve is sleeved on the positioning column, the purpose of rotary buffering between the spindle and the placing disc can be realized through the scroll spring, meanwhile, the purpose of rotary buffering between the spindle and the placing disc is ensured through the arrangement of the annular baffle plate, the arc plate can be attached to the outer side surface of the external ring frame for better synchronous rotation with the spindle, the scroll plate can be attached to the outer side surface of the external ring frame, the purpose of stable rotary cooperation between the angle frame and the connection seat when the vertical plate is connected with the external mechanism is ensured, the purpose of simple shock absorption mechanism which can only achieve the purpose of simple connection of simple shock absorption mechanism when the shock absorption mechanism which can be used when the vertical plate is connected with the vertical plate and the external connection mechanism, and the shock absorption mechanism, and the simple shock absorption mechanism can be used only when the simple shock absorption mechanism can be used for achieving the purpose of simple shock absorption mechanism for achieving the purpose of simple shock absorption mechanism, especially when there is sharp direction shock attenuation and circumferencial direction shock attenuation simultaneously, if only handle respectively, not only can great reduction shock attenuation effect, still cause the whole not harmonious problem of machine inadequately, guarantee that the user can be stable through the structure setting to the connecting seat and use including the top frame cooperation installation external mechanism, simultaneously through the setting to the lower frame conveniently cooperate the purpose of installation angle frame, come that the person of facilitating the use can be stable through the setting to external mechanism and cooperate its installation with external mechanism and use, realize the purpose of vertical buffering, come convenience through the setting to the angle frame to cooperate the installation and use with external mechanism simultaneously, realize turning to the purpose of buffering.

Further, the top frame includes well frame and direction sliding sleeve, direction sliding sleeve symmetry sets up the both sides at well frame, and direction sliding sleeve and well frame fixed connection, the spacing groove has all been seted up at the upper and lower both ends of direction sliding sleeve, the inside of well frame is provided with the internal thread, and the even a plurality of rubber pads that are provided with of up end of well frame, rubber pad and well frame fixed connection guarantee through the structure setting to the top frame that the user can be stable guarantee through well frame that the cooperation installation holds in the palm the apron and use, guarantee the stable installation of cooperation guide bar through the setting to the direction sliding sleeve simultaneously, guarantee that the guide bar can be stable carry out gliding purpose in the direction sliding sleeve, guarantee simultaneously through the setting to the spacing groove that the block that the holding ring can be stable in inside, guarantee equipment use in-process buffer spring's stability, guarantee through the setting to the internal thread with the bottom ring cover between the purpose of mutual fixed connection, guarantee through the setting to the rubber pad simultaneously and cover better purpose of installing in well frame upper end.

Furthermore, the lower frame comprises an outer ring frame and a plate dividing frame, the plate dividing frame is installed in the middle of the outer ring frame and fixedly connected with the outer ring frame, a placing disc is fixedly arranged in the middle of the plate dividing frame, a rotating shaft groove is formed in the middle of the placing disc, a positioning column is vertically fixed on the inner side face of the placing disc, a side cover is further installed on the outer side face of the placing disc and fixedly connected with the placing disc through bolts, the lower frame is structurally arranged to ensure that a user can stably install the plate dividing frame through the outer ring frame to use, meanwhile, the plate dividing frame is arranged to stably fix the placing disc, the scroll spring is stably installed through the placing disc to use, the main shaft is stably installed in the inner portion through the rotating shaft groove, the main shaft can be stably matched with the placing disc in a rotating mode, meanwhile, the head of the scroll spring is stably installed through the positioning column, and the safety of the spring in the placing disc is ensured.

Furthermore, the external mechanism comprises a guide rod and an external frame, the external frame is sleeved on the guide rod and is in sliding connection with the guide rod, a lateral groove is formed in the guide rod, the external frame comprises a buckling sleeve and a connecting plate, a guide strip matched with the lateral groove is further arranged on the inner side surface of the buckling sleeve, the guide strip and the buckling sleeve are integrally formed, the connecting plate is mounted at the head of the buckling sleeve and is vertically and fixedly connected with the buckling sleeve, the external frame is stably mounted on the guide rod through the guide rod and is used by guaranteeing that a user can stably fix the external frame through the structural setting of the external mechanism, the external frame is guaranteed to only slide on the guide rod through the lateral groove and the guide strip and cannot rotate mutually, the stable sheathing of the user on the guide rod through the buckling sleeve is guaranteed through the structural setting of the external frame, meanwhile, the head of the buffering spring can be buckled on the buffering sleeve through the buckling sleeve, the stability of the equipment in the using process is guaranteed, and the matching connection between the buckling sleeve and the external mechanism is better through the setting of the connecting plate.

Further, the symmetry sets up buffer spring on the guide bar, buffer spring and guide bar sliding fit, and buffer spring's head install with spacing groove matched with holding ring, holding ring and buffer spring fixed connection, it has lower limiting plate still to fix on the guide bar, and the lower terminal surface fixed mounting of guide bar has a connection bearing, the head of guide bar still is provided with a plurality of locating holes, guarantees the buffer effect of outer gimbal mount at the guide bar in-process of sliding through setting up to buffer spring, guarantees more stable in the buffer spring use through setting up to the holding ring, guarantees the stability of buffer spring on the guide bar through setting up to lower limiting plate, guarantees simultaneously that the user can be stable external other mechanisms use through setting up to connection bearing, guarantees the better control of user through setting up to the locating hole and puts up the purpose of position on the guide bar.

Furthermore, the angle frame comprises a main shaft, a tripod and a vertical plate, the main shaft is installed in the rotating shaft groove, the main shaft is rotatably connected with the placing plate, the tripod is installed in the middle of the main shaft and is vertically and fixedly connected with the main shaft, the vertical plate is arranged at the head of the tripod, the vertical plate and the tripod are integrally formed, the angle frame is structurally arranged to ensure that a user can stably rotate in the rotating shaft groove through the main shaft, meanwhile, the purpose of synchronously rotating with the main shaft is ensured through the arrangement of the tripod, and the arrangement of the vertical plate is used for ensuring that two ends of the tripod are stable and are matched with an external mechanism for use.

Further, the middle part symmetry of main shaft is provided with the ring baffle, the ring baffle is connected with the perpendicular fixed connection of main shaft, the both ends of main shaft still symmetry is provided with volute spiral spring, volute spiral spring and main shaft fixed connection, and volute spiral spring's head be provided with reference column matched with position sleeve, the arc is still installed at the middle part of tripod, arc and tripod fixed connection guarantee through setting up to the ring baffle that the main shaft rotates more stably in the pivot groove, guarantee the buffering of main shaft at the rotation in-process through the setting to volute spiral spring simultaneously and use, and then realize the purpose of buffering to the steering in-process of angle frame, guarantee to carry out the fixed purpose to volute spiral spring's head through the setting to the position sleeve, guarantee through the setting to the arc that the main shaft rotates the in-process more stable.

Further, still fixed mounting has the support apron in the upper end of well frame, it includes dome cover and end ring cover to hold in the palm the apron, end ring cover sets up the lower terminal surface at the dome cover with the axle center, and end ring cover and dome cover fixed connection, be provided with the external screw thread with internal thread matched with on the lateral surface of end ring cover, the center department of dome cover up end is provided with perpendicularly and stabilizes the platform, and stabilizes platform and the perpendicular fixed connection of dome cover, guarantees through the structure setting to holding in the palm the apron that the dome cover can be stable installs the purpose at well frame middle part through end ring cover, can nimble dismantlement get off when simultaneously setting up the external screw thread and come the person of facilitating the use on end ring cover, guarantees the cooperation installation of bending frame and use through the setting to stabilizing the platform.

Furthermore, the angle frame comprises a bending frame and an external connecting plate, the external connecting plate is installed at the head of the bending frame, the external connecting plate is fixedly connected with the bending frame, a middle shaft rod in running fit with the stabilizing table is arranged in the middle of the bending frame, the bending frame is fixedly connected with the middle shaft rod, the angle frame is structurally arranged to ensure that a user can stably rotate on the stabilizing table stably through the bending frame, the bending frame can be matched and connected with an external mechanism through the external connecting plate, and meanwhile the bending frame can stably rotate on the stabilizing table through the arrangement of the middle shaft rod.

Further, the symmetry sets up on the medial surface of bending frame and installs the auxiliary shaft, the auxiliary shaft with the perpendicular fixed connection of bending frame, the buffering pneumatic cylinder is installed to the auxiliary shaft lower extreme, the lower extreme and the dome lid of buffering pneumatic cylinder rotate to be connected, and the head and the auxiliary shaft of buffering pneumatic cylinder rotate to be connected, guarantee through the setting to the auxiliary shaft that the output of buffering pneumatic cylinder is better to be connected with the cooperation of bending frame, guarantee to realize the purpose that supports bending frame through the buffering pneumatic cylinder of both sides, guarantee that bending frame rotates the in-process and can realize the purpose of buffering through the buffering pneumatic cylinder.

Compared with the prior art, the invention has the beneficial effects that: the invention designs a damping device of an exoskeleton robot by researching the structure and the using process of a damping mechanism of a traditional robot, ensures that a user firstly mutually matches and connects a connecting seat and an external mechanism, firstly leads a guide rod to penetrate through guide sliding sleeves at two sides of a middle frame, ensures that the middle frame and the guide sliding sleeves can mutually slide, then installs buffer springs at two sides of the guide sliding sleeves, ensures that a positioning ring is stably clamped in a limiting groove, thus the guide sliding sleeves can achieve the purpose of buffering through the buffer springs, and can adjust the compression condition of the guide rod according to actual requirements when being installed in different robots, thereby achieving the purpose of changing the buffering force.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

FIG. 1 is a perspective view of a first embodiment of the present invention;

FIG. 2 is a left side view of the device of FIG. 1;

FIG. 3 is a front view of the device of FIG. 1;

FIG. 4 is a perspective view of a second embodiment of the present invention;

FIG. 5 is a left side view of the device of FIG. 4;

FIG. 6 is a front view of the device of FIG. 4;

fig. 7 is a schematic structural view of the connecting socket shown in fig. 4;

FIG. 8 is a front view of the device shown in FIG. 8;

FIG. 9 is a top view of the device shown in FIG. 8;

FIG. 10 is a right side view of the device of FIG. 8;

FIG. 11 is a schematic view of the guide bar of FIG. 1;

FIG. 12 is a front view of the device of FIG. 12;

FIG. 13 is a schematic structural view of the outrigger shown in FIG. 1;

FIG. 14 is a top view of the device shown in FIG. 13;

FIG. 15 is a cross-sectional view of the device of FIG. 14 taken along the line B-B;

FIG. 16 is a schematic view of the engagement of the retainer plate of FIG. 1 with the angle bracket;

FIG. 17 is a front view of the device of FIG. 16;

FIG. 18 is a left side elevational view of the apparatus illustrated in FIG. 16;

FIG. 19 is a top view of the device shown in FIG. 16;

FIG. 20 is a schematic view of the angle frame of FIG. 4;

FIG. 21 is a front view of the device of FIG. 20;

fig. 22 is a top view of the device of fig. 20.

In the figure: 1. a connecting seat; 11. a top frame; 111. a middle frame; 112. a guide sliding sleeve; 113. a limiting groove; 114. an internal thread; 115. a rubber pad; 12. a lower frame; 121. an outer ring frame; 122. a plate separating frame; 123. placing a tray; 124. a rotating shaft groove; 125. a positioning column; 126. a side cover; 13. supporting a cover plate; 131. a dome cover; 132. a bottom ring sleeve; 133. an external thread; 134. a stabilization stage; 2. an external connection mechanism; 20. a guide strip; 21. a guide bar; 210. a lateral slot; 211. a buffer spring; 212. a positioning ring; 213. a lower limiting plate; 214. connecting a bearing; 215. positioning holes; 22. an external frame; 221. buckling sleeves; 222. a connecting plate; 3. an angle frame; 31. a main shaft; 311. an annular baffle; 312. a volute spiral spring; 313. a positioning sleeve; 32. a tripod; 321. an arc-shaped plate; 33. a vertical plate; 301. a bending frame; 302. an outer connecting plate; 303. a middle shaft lever; 304. an auxiliary shaft; 305. cushion the pneumatic cylinder.

Detailed description of the preferred embodiments

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, are within the scope of protection of the present invention.

Embodiment 1, referring to fig. 1, 2, and 3, a shock-absorbing device for an exoskeleton robot includes a connecting seat 1, an external mechanism 2, and an angle frame 3, the connecting seat 1 includes a top frame 11 and a bottom frame 12, the bottom frame 12 is symmetrically disposed on a lower end surface of the top frame 11, and the bottom frame 12 is vertically and fixedly connected to the top frame 11, the structure of the connecting seat 1 is configured to ensure that a user can stably mount the external mechanism 2 by including the top frame 11 for use, and the bottom frame 12 is configured to facilitate the mounting of the angle frame 3, the invention designs a shock-absorbing device for an exoskeleton robot by studying the structure and the using process of the shock-absorbing mechanism of a conventional robot, so as to ensure that the user first connects the connecting seat 1 and the external mechanism 2 in a mutually matching manner, first pass a guide rod 21 through guide sliding sleeves 112 on both sides of a middle frame 111, ensure that the middle frame 111 and the guide sliding sleeve 112 can slide with each other, then mount buffer springs 211 on both sides of the guide sliding sleeve 112, ensure that the positioning ring 212 is stably engaged in a groove 113, thus the positioning groove 21 can be adjusted when the position of the guide rod 21 is adjusted, and the position of the guide rod 21 can be adjusted to a greater than the position required by inserting the buffer rod 21, when the user in the guide rod 21, the position of the buffer bar 21, and the buffer bar 21 can be adjusted stably mounted in the case where the user can be adjusted, the stable connection between the guide rod 21 and the external frame 22 is ensured, so that the connecting plate 222 can be stably connected with the external member of the robot, the connecting seat 1 can achieve the purpose of buffering with the external mechanism 2 through the buffer spring 211 in the using process, when a user needs to use the matching installation structure at the upper end of the connecting seat 1, the supporting cover plate 13 can be stably installed on the top frame 11, the purpose of better matching use between the angle frame 3 and the connecting seat 1 is ensured, the user can stably rotate to the internal thread 114 of the top frame 11 through the external thread 133 on the bottom ring sleeve 132 in the actual installation process, when the lower end surface of the dome cover 131 is completely attached to the rubber pad 115, the user can mutually match and connect the bending frame 301 and the stabilizing table 134 through the middle shaft rod, so that the bending frame 301 and the stabilizing table 134 can be stably mutually rotatably matched, the damping hydraulic cylinders 305 are symmetrically arranged between the bending frame 301 and the cover supporting plate 13, so that the purpose of damping can be realized through the damping hydraulic cylinders 305 in the rotating process of the bending frame 301 and the stabilizing table 134, a user can stably match and fix with other mechanisms of the robot through the external connecting plate 302, the bidirectional processing of longitudinal damping and rotary damping can be realized through the damping matching between the external connecting mechanism 2 and the connecting seat 1, the robot can be installed and used at positions needing multiple damping, the damping device effectively solves the problem that the existing exoskeleton robot lock is simple in structure, the damping device can only simply match and install two parts in a single direction to achieve the purpose of damping when being installed and used, and only the mechanisms in different directions can be singly damped when the damping effect is needed in different directions, particularly, when the linear direction shock absorption and the circumferential direction shock absorption exist simultaneously, if the shock absorption is only processed respectively, the shock absorption effect is greatly reduced, and the problem that the whole machine is not coordinated enough is caused;

referring to fig. 7, 8, 9 and 10, the top frame 11 includes a middle frame 111 and a guide sliding sleeve 112, the guide sliding sleeve 112 is symmetrically disposed on two sides of the middle frame 111, and the guide sliding sleeve 112 is fixedly connected to the middle frame 111, the upper and lower ends of the guide sliding sleeve 112 are respectively provided with a limiting groove 113, the interior of the middle frame 111 is provided with an internal thread 114, and the upper end surface of the middle frame 111 is uniformly provided with a plurality of rubber pads 115, the rubber pads 115 are fixedly connected to the middle frame 111, the structural arrangement of the top frame 11 ensures that a user can stably use the middle frame 111 by ensuring that the middle frame 111 is cooperatively mounted with the supporting cover plate 13, the guide sliding sleeve 112 is stably mounted by the guide sliding sleeve 112, the guide rod 21 is ensured to slide in the guide sliding sleeve 112 stably, the positioning ring 212 is stably engaged in the interior by the limiting groove, the stability of the buffer spring 211 during the use of the device is ensured, the purpose of mutually fixedly connecting the bottom ring 132 is ensured by the arrangement of the internal thread 114, the middle frame 113 is preferably fixedly engaged in the middle frame 111, the middle frame 122 is preferably mounted with the middle frame 111, the middle frame 123, the middle frame 122 is further provided with the outer frame 121, the middle frame 122, the middle frame 123, and the middle frame 122, the middle frame 122 is fixedly mounted with the middle frame 121,

the structure of the lower frame 12 is configured to ensure that a user can stably install the branch plate frame 122 through the outer ring frame 121 for use, and meanwhile, the branch plate frame 122 is configured to stably fix the placing disc 123 for use, and the placing disc 123 is configured to stably install the scroll spring 312 for use, and the rotation shaft groove 124 is configured to ensure that the main shaft 31 is stably installed inside, so that the main shaft 31 can be stably and rotatably matched with the placing disc 123, and meanwhile, the positioning column 125 is configured to ensure that the head of the scroll spring 312 is fixed, and the side cover 126 is configured to stably install outside the placing disc 123, so that the safety of the scroll spring 312 in the placing disc 123 is ensured, and the upper end of the middle frame 111 is also fixedly provided with the supporting cover plate 13, the supporting cover plate 13 comprises a dome cover 131 and a bottom ring sleeve 132, the bottom ring sleeve 132 is coaxially arranged on the lower end surface of the dome cover 131, the bottom ring sleeve 132 is fixedly connected with the dome cover 131, an external thread 133 matched with the internal thread 114 is arranged on the outer side surface of the bottom ring sleeve 132, a stabilizing table 134 is vertically arranged at the center of the upper end surface of the dome cover 131, the stabilizing table 134 is vertically and fixedly connected with the dome cover 131, the dome cover 131 can be stably installed in the middle of the middle frame 111 through the bottom ring sleeve 132 by arranging the structure of the supporting cover plate 13, meanwhile, the bottom ring sleeve 132 is provided with the external thread 133 to facilitate the flexible disassembly when the user is not used, and the matched installation and use of the bending frame 301 are ensured by arranging the stabilizing table 134;

referring to fig. 11, 12, 13, 14 and 15, the external connection mechanism 2 is symmetrically disposed on two sides of the top frame 11, and the external connection mechanism 2 is connected with the top frame 11 in a longitudinal sliding manner, the external connection mechanism 2 is configured to facilitate a user to stably mount the external connection mechanism on the external connection mechanism for use, so as to achieve a purpose of longitudinal buffering, the external connection mechanism 2 includes a guide rod 21 and an external connection frame 22, the external connection frame 22 is sleeved on the guide rod 21, and the external connection frame 22 is slidably connected with the guide rod 21, a lateral slot 210 is formed on the guide rod 21, the external connection frame 22 includes a buckling sleeve 221 and a connecting plate 222, a guide strip 20 matched with the lateral slot 210 is further disposed on an inner side of the buckling sleeve 221, the guide strip 20 and the buckling sleeve 221 are integrally formed, the connecting plate 222 is mounted on a head of the buckling sleeve 221, and the connecting plate 222 is vertically and fixedly connected with the buckling sleeve 221, the external connection frame 22 is configured to ensure that the user can stably mount the external connection frame 22 on the guiding rod 21 for use, the external connection frame 22 is configured to ensure that the external connection frame 22 is mounted on the guiding rod 21 by the lateral slot 210 and the guiding strip 211 and the guiding strip 20, and the guiding strip 21, and the connecting plate 222 and the positioning sleeve 221 are configured to ensure that the external connection sleeve 21 and the external connection sleeve 21 can not be connected to the spring 21, and the positioning ring 21, and the spring buffer sleeve 21, and the buffer sleeve 21, the buffer sleeve 211 and the buffer sleeve 21, the buffer sleeve 21 can be connected to prevent the buffer spring 21, the guide rod 21 is further fixedly provided with a lower limit plate 213, the lower end face of the guide rod 21 is fixedly provided with a connecting bearing 214, the head of the guide rod 21 is further provided with a plurality of positioning holes 215, the buffering effect of the external frame 22 in the sliding process on the guide rod 21 is ensured through the arrangement of the buffer spring 211, the stability of the buffer spring 211 on the guide rod 21 is ensured through the arrangement of the positioning ring 212, meanwhile, the external mechanism which can be stably used by a user is ensured through the arrangement of the lower limit plate 213, and the purpose of better controlling the position of the external frame 22 on the guide rod 21 by the user is ensured through the arrangement of the positioning holes 215;

referring to fig. 16, 17, 18 and 19, the angle frame 3 includes a bending frame 301 and an external board 302, the external board 302 is installed at the head of the bending frame 301, the external board 302 is fixedly connected with the bending frame 301, a middle shaft rod 303 rotationally matched with the stabilizing platform 134 is installed in the middle of the bending frame 301, the bending frame 301 is fixedly connected with the middle shaft rod 303, it is ensured that a user can stably rotate on the stabilizing platform 134 through the bending frame 301 by setting the structure of the angle frame 3, it is ensured that the bending frame 301 can be cooperatively connected with an external mechanism through the external board 302, meanwhile, it is ensured that the bending frame 301 can stably rotate on the stabilizing platform 134 by setting the middle shaft rod 303, auxiliary shafts 304 are symmetrically installed on the inner side surface of the bending frame 301, the auxiliary shafts 304 are vertically and fixedly connected with the bending frame 301, a buffer hydraulic cylinder 305 is installed at the lower end of the auxiliary shafts 304, the lower end of the buffer hydraulic cylinder 305 is rotationally connected with the dome cover 131, the head of the buffer hydraulic cylinder 305 is rotationally connected with the auxiliary shaft 304, it is ensured that the buffer hydraulic cylinder 305 is better connected with the output end of the buffer hydraulic cylinder 305 by setting the auxiliary shaft 304, and the buffer hydraulic cylinder 305, it is ensured that the buffer hydraulic cylinder 301 is connected in the bending frame 301, and the buffer hydraulic cylinder 305 is connected in the bending frame 301, and the buffer hydraulic cylinder 301 is capable of ensuring that the buffer hydraulic cylinder 301 is connected in the bending frame.

Embodiment 2 referring to fig. 4, 5, and 6, when a user needs to use the lower end of the connecting base 1 in cooperation with the mounting structure, the supporting cover plate 13 can be stably detached from the top frame 11, and then the user can stably mount the main shaft 31 in the rotating shaft slot 124 of the placing disc 123, so that the main shaft 31 can be stably connected to the placing disc 123 in a rotating manner, and the positioning sleeve 313 is sleeved on the positioning post 125, so that the purpose of buffering the rotation of the main shaft 31 and the placing disc 123 through the spiral spring 312 can be achieved, and the annular baffle 311 is provided to ensure that the main shaft 31 and the placing disc 123 are more stable in the rotating process, and for better synchronous rotation of the triangular frame 32 and the main shaft 31, the triangular frame can be attached to the outer side surface of the outer ring frame 121 through the arc plate 321, so that the angle frame 3 and the connecting base 1 can be stably matched in a rotating manner when the vertical plate 33 is connected to an external mechanism, so that the purpose of rotating and buffering the mechanism 222 connected to the vertical plate 33 can be connected to a multiple buffering mechanism;

referring to fig. 20, 21 and 22, the angle frame 3 is installed on the connecting base 1, and the angle frame 3 is rotatably connected with the connecting base 1, and is conveniently installed and used in cooperation with an external mechanism by setting the angle frame 3, so as to achieve the purpose of steering buffering, the angle frame 3 includes a main shaft 31, a tripod 32 and a vertical plate 33, the main shaft 31 is installed in a rotary shaft groove 124, and the main shaft 31 is rotatably connected with a placing plate 123, the tripod 32 is installed in the middle of the main shaft 31, and the tripod 32 is vertically and fixedly connected with the main shaft 31, the vertical plate 33 is installed at the head of the tripod 32, and the vertical plate 33 and the tripod 32 are integrally formed, so that the user can be ensured to stably rotate in the rotary shaft groove 124 through the main shaft 31 by setting the structure of the angle frame 3, and simultaneously, the purpose of rotating synchronously with the main shaft 31 is ensured by setting the tripod 32, the arrangement of the opposite plate 33 ensures that the two ends of the tripod 32 are stably matched and connected with an external mechanism for use, the middle part of the main shaft 31 is symmetrically provided with an annular baffle plate 311, the annular baffle plate 311 is vertically and fixedly connected with the main shaft 31, the two ends of the main shaft 31 are also symmetrically provided with scroll springs 312, the scroll springs 312 are fixedly connected with the main shaft 31, the head parts of the scroll springs 312 are provided with positioning sleeves 313 matched with the positioning columns 125, the middle part of the tripod 32 is also provided with an arc plate 321, the arc plate 321 is fixedly connected with the tripod 32, the main shaft 31 is ensured to rotate more stably in the rotating shaft groove 124 by arranging the annular baffle plate 311, meanwhile, the arrangement of the scroll springs 312 ensures the buffer use of the main shaft 31 in the rotating process, the buffer purpose is further realized in the steering process of the angle frame 3, and the purpose of fixing the head parts of the scroll springs 312 is ensured by arranging the positioning sleeves 313, the arc-shaped plate 321 is arranged to ensure that the main shaft 31 is more stable during rotation.

The device provided by the embodiment of the present invention has the same implementation principle and technical effect as those of the embodiment 1, and for the sake of brief description, reference may be made to the corresponding contents in the embodiment 1 without reference to the embodiment.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. The utility model provides a damping device of ectoskeleton robot, includes connecting seat (1), external mechanism (2) and angle frame (3), its characterized in that: the connecting seat (1) comprises a top frame (11) and a lower frame (12), the lower frame (12) is symmetrically arranged on the lower end face of the top frame (11), the lower frame (12) is vertically and fixedly connected with the top frame (11), the external mechanism (2) is symmetrically arranged on two sides of the top frame (11), the external mechanism (2) is longitudinally and slidably connected with the top frame (11), the angle frame (3) is arranged on the connecting seat (1), the angle frame (3) is rotatably connected with the connecting seat (1), the top frame (11) comprises a middle frame (111) and a guide sliding sleeve (112), the guide sliding sleeve (112) is symmetrically arranged on two sides of the middle frame (111), the guide sliding sleeve (112) is fixedly connected with the middle frame (111), the upper end face and the lower end face of the guide sliding sleeve (112) are respectively provided with a limiting groove (113), the inner thread (114) is arranged inside the middle frame (111), the upper end face of the middle frame (111) is uniformly provided with a plurality of rubber pads (115), the rubber pads (115) are fixedly connected with the middle frame (111), the cover plate (131) is fixedly connected with the bottom ring cover plate (13), and the dome cover plate (13) is arranged on the bottom ring (13), and end ring cover (132) and dome lid (131) fixed connection, be provided with on the lateral surface of end ring cover (132) with internal thread (114) matched with external screw thread (133), the center department of dome lid (131) up end is provided with perpendicularly and stabilizes platform (134), and stabilizes platform (134) and dome lid (131) perpendicular fixed connection, angle frame (3) are including bending frame (301) and external board (302), install the head at bending frame (301) outer board (302), and external board (302) and bending frame (301) fixed connection, the middle part of bending frame (301) is provided with well axostylus axostyle (303) with stabilizing platform (134) normal running fit, and bending frame (301) and well axostylus axostyle (303) fixed connection, symmetry setting is installed on the medial surface of bending frame (301) has auxiliary shaft (304), auxiliary shaft (304) and bending frame (301) perpendicular fixed connection, buffering pneumatic cylinder (305) are installed to auxiliary shaft (304) lower extreme, the lower extreme and the pneumatic cylinder (305) of buffering pneumatic cylinder (305) rotate the buffering liquid and the dome lid is connected with supplementary shaft (304).

2. The shock absorption device for the exoskeleton robot as claimed in claim 1, wherein the lower frame (12) comprises an outer ring frame (121) and a plate dividing frame (122), the plate dividing frame (122) is installed in the middle of the outer ring frame (121), the plate dividing frame (122) is fixedly connected with the outer ring frame (121), a placing plate (123) is fixedly arranged in the middle of the plate dividing frame (122), a rotating shaft groove (124) is formed in the middle of the placing plate (123), a positioning column (125) is vertically fixed on the inner side surface of the placing plate (123), a side cover (126) is further installed on the outer side surface of the placing plate (123), and the side cover (126) is fixedly connected with the placing plate (123) through a bolt.

3. The shock absorbing device for the exoskeleton robot as claimed in claim 2, wherein the external connection mechanism (2) comprises a guide rod (21) and an external connection frame (22), the external connection frame (22) is sleeved on the guide rod (21), the external connection frame (22) is slidably connected with the guide rod (21), a lateral groove (210) is formed in the guide rod (21), the external connection frame (22) comprises a buckling sleeve (221) and a connection plate (222), a guide bar (20) matched with the lateral groove (210) is further arranged on an inner side surface of the buckling sleeve (221), the guide bar (20) and the buckling sleeve (221) are integrally formed, the connection plate (222) is mounted at a head of the buckling sleeve (221), and the connection plate (222) is vertically and fixedly connected with the buckling sleeve (221).

4. The shock absorption device for the exoskeleton robot as claimed in claim 3, wherein the guide rod (21) is symmetrically provided with the buffer springs (211), the buffer springs (211) are in sliding fit with the guide rod (21), the head parts of the buffer springs (211) are provided with positioning rings (212) matched with the limiting grooves (113), the positioning rings (212) are fixedly connected with the buffer springs (211), the guide rod (21) is further fixedly provided with a lower limiting plate (213), the lower end surface of the guide rod (21) is fixedly provided with a connecting bearing (214), and the head part of the guide rod (21) is further provided with a plurality of positioning holes (215).

5. The shock-absorbing device of an exoskeleton robot as claimed in claim 4, wherein said angle frame (3) comprises a main shaft (31), a tripod (32) and a vertical plate (33), said main shaft (31) is installed in the rotating shaft slot (124), and the main shaft (31) is rotatably connected with the placing plate (123), said tripod (32) is installed in the middle of the main shaft (31), and the tripod (32) is vertically and fixedly connected with the main shaft (31), said vertical plate (33) is arranged at the head of the tripod (32), and the vertical plate (33) and the tripod (32) are integrally formed.

6. The shock absorption device for the exoskeleton robot as claimed in claim 5, wherein the central part of the main shaft (31) is symmetrically provided with an annular baffle (311), the annular baffle (311) is vertically and fixedly connected with the main shaft (31), both ends of the main shaft (31) are further symmetrically provided with scroll springs (312), the scroll springs (312) are fixedly connected with the main shaft (31), the head parts of the scroll springs (312) are provided with positioning sleeves (313) matched with the positioning columns (125), the central part of the tripod (32) is further provided with an arc-shaped plate (321), and the arc-shaped plate (321) is fixedly connected with the tripod (32).

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