CN113304010B - Conveniently-assembled external anti-deformation structure for exoskeleton robot and exoskeleton robot - Google Patents

Conveniently-assembled external anti-deformation structure for exoskeleton robot and exoskeleton robot Download PDF

Info

Publication number
CN113304010B
CN113304010B CN202110508511.4A CN202110508511A CN113304010B CN 113304010 B CN113304010 B CN 113304010B CN 202110508511 A CN202110508511 A CN 202110508511A CN 113304010 B CN113304010 B CN 113304010B
Authority
CN
China
Prior art keywords
sliding
seat
protection
sides
fixedly connected
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110508511.4A
Other languages
Chinese (zh)
Other versions
CN113304010A (en
Inventor
李亚伟
张璇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Shanhang Intelligent Technology Co ltd
Original Assignee
Nanjing Shanhang Intelligent Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing Shanhang Intelligent Technology Co ltd filed Critical Nanjing Shanhang Intelligent Technology Co ltd
Priority to CN202110508511.4A priority Critical patent/CN113304010B/en
Publication of CN113304010A publication Critical patent/CN113304010A/en
Application granted granted Critical
Publication of CN113304010B publication Critical patent/CN113304010B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a conveniently-installed external anti-deformation structure for an exoskeleton robot and the exoskeleton robot, belonging to the technical field of exoskeleton robots, comprising a sleeve joint seat, wherein the top of the sleeve joint seat is movably connected with a protection mechanism, the bottom of the sleeve joint seat is fixedly connected with a limiting seat, two sides of the limiting seat are movably connected with upper arm skeleton protection rods, two sides of the sleeve joint seat are respectively in transmission connection with the limiting mechanism, a bottom assembly air bag can be fully sealed and limited with an external sleeve joint seat after being inflated by the designed protection mechanism, the protection mechanism is assembled and fixed with the bottom sleeve joint seat, a sliding ring is driven by pulling a connecting block to deflect to drive a ventilation net at one side to be communicated with ventilation through grooves, then a plurality of ventilation through grooves at one side of the protection seat can be opened for ventilation inside and outside, further, heat caused by air non-circulation can be avoided, and accumulation can further reduce the assembly and maintenance difficulty, and can effectively improve and dress the comfort level, satisfy and use the protection needs.

Description

Conveniently-assembled external anti-deformation structure for exoskeleton robot and exoskeleton robot
Technical Field
The invention belongs to the technical field of exoskeleton robots, and particularly relates to a conveniently-installed external anti-deformation structure for an exoskeleton robot and the exoskeleton robot.
Background
The exoskeleton robot is a mechanical component for assisting human body mechanical energy movement through a mechanical transmission device, and a main user meets the requirements of a wearer on walking aid movement and meets the requirements of a wearing machine for enhancing human body functions.
Chinese patent document CN106691778B discloses a wearable exoskeleton upper limb rehabilitation robot, which includes an arm adjustment assembly, a shoulder joint flexion and extension assembly, a shoulder joint extension and retraction assembly, an upper arm rotation motion assembly, an elbow joint flexion and extension assembly, a forearm rotation motion assembly, a wrist joint flexion and extension assembly, and a frame motor assembly; the arm adjusting assembly is fixed on the frame motor assembly; the arm adjusting assembly, the shoulder joint flexion and extension assembly, the shoulder joint extension and retraction assembly, the upper arm rotating motion assembly, the elbow joint flexion and extension assembly, the forearm rotating motion assembly and the wrist joint flexion and extension assembly are sequentially connected. The robot can realize six degrees of freedom of flexion, extension, adduction and external swing of shoulder joints, internal rotation and external rotation of upper arms, flexion and extension of elbow joints, internal rotation and external rotation of forearms, flexion and extension of wrist joints and arm adjustment with one degree of freedom. All joints of upper limbs rehabilitation robot adopt indirect drive, alleviate arm weight, nevertheless when in-service use, still there is certain defect, be not enough like the spacing ability in arm department, it is limited to lead to both sides blood supply because of excessively tying up tightly easily, the wearing demand in the different seasons of unable adaptation simultaneously, produce stifled eczema easily, bring certain uncomfortable sense for the wearer, exoskeleton robot is mostly accurate transmission member simultaneously, external impact leads to flexible ectoskeleton surface deformation damage easily, lack the spacing ability of high strength support, cause walking gait deformity after damaging easily, can not be fine satisfy the user demand.
Disclosure of Invention
The invention aims to: in order to solve the problem that blood supply on two sides is limited due to excessive tight binding, simultaneously the wearing requirements in different seasons cannot be adapted, stuffy eczema is easy to generate, certain discomfort is brought to a wearer, meanwhile, most of exoskeleton robots are precision transmission members, external impact easily causes deformation and damage of the outer surface of a flexible exoskeleton, high-strength supporting and limiting capacity is lacked, walking gait deformation is easy to cause after damage, and the provided exoskeleton robot is of a conveniently-mounted external anti-deformation structure.
In order to achieve the purpose, the invention adopts the following technical scheme:
exoskeleton robot is with outer shape structure of preapring for an unfavorable turn of events of dress formula, including cup jointing the seat, cup joint a top swing joint and have protection mechanism, cup joint a spacing seat of bottom fixedly connected with, the equal swing joint in spacing seat both sides has big arm skeleton fender rod, and cup joints the equal transmission in a both sides and be connected with stop gear, and stop gear laminates mutually with the spacing seat in bottom, and the big arm skeleton fender rod bottom of both sides all articulates through articulated seat has forearm skeleton fender rod, and the forearm skeleton fender rod bottom of both sides all articulates through articulated seat has terminal protection shield, and articulates through third round pin axle between the terminal protection shield of both sides has cup jointing mechanism.
As a further description of the above technical solution:
protection machanism includes the protection seat, sliding connection has the slip ring in the protection seat, slip ring inner chamber sliding connection has the buffering gasbag, buffering gasbag one side intercommunication has the gas tube, and the gas tube bottom still intercommunication has the assembly gasbag, cup jointed the closing cap in the assembly gasbag, and the closing cap top is connected with the buffering gasbag, the closing cap is hard plastic material, and closes the matching of cover inner chamber shape and the ectoskeleton robot external shape.
As a further description of the above technical solution:
the top of the sliding ring is fixedly connected with a connecting block, one side of the connecting block is hinged with a limiting rod through a first pin shaft, one side of the limiting rod is clamped in a plurality of ventilating through grooves which are formed in one side of the protective seat in a surrounding mode, the cross section of each ventilating through groove is rectangular, and a plurality of ventilating nets are embedded in the sliding ring in a surrounding mode.
As a further description of the above technical solution:
stop gear includes first slider, first slider fixed connection is at big arm skeleton guard bar top in bottom, first spout has been seted up to spacing seat bottom, and first slider sliding connection in first spout, cup joint one side and articulate through the second round pin axle has the stopper, and stopper bottom and first slider and first spout laminate mutually, and the stopper with cup joint the seat and be closely articulated.
As a further description of the above technical solution:
the inner cavity of the upper arm skeleton protection rod is connected with a heat dissipation mechanism in a sliding mode, the heat dissipation mechanism comprises a heat absorption seat, a heat conduction plate is fixedly connected to one side of the heat absorption seat, a plurality of heat dissipation fins are fixedly connected to the other side of the heat absorption seat, and second sliding blocks are fixedly connected to the two sides of the heat absorption seat
Figure BDA0003059327680000031
The first slider is connected with the first sliding groove in the first sliding groove, the second slider is connected with the second sliding groove in the first sliding groove in the second sliding groove, the first sliding groove is connected with the second sliding groove in the second sliding groove, the second sliding groove is connected with the first sliding groove in the second sliding groove, and the second sliding groove is connected with the second sliding groove in the second sliding groove.
As a further description of the above technical solution:
forearm skeleton fender rod one side fixed mounting has buffer gear, buffer gear includes two slides, slide fixed connection is in forearm skeleton fender rod one side, and equal sliding connection has the third slider in the slide of both sides, and fixedly connected with elasticity net between the third slider of both sides.
As a further description of the above technical solution:
the cross sections of the third sliding block and the inner cavity of the sliding seat are both T-shaped.
As a further description of the above technical solution:
the cup joint mechanism is including placing the seat, it all articulates mutually with terminal protection board through third round pin axle to place a both sides, it all inlays and is equipped with first sliding sleeve to place an inner chamber both sides, and sliding connection has first slide bar in the first sliding sleeve, first slide bar one end fixedly connected with handle, first slide bar other end fixedly connected with arc pad, the arc pad is located places an inner chamber opening, and the both sides arc pad fills up the equal fixedly connected with in adjacent one side and seals up, and the sealed pad laminating mutually of both sides, first slide bar lateral wall cover is equipped with the second spring, the second spring both ends correspond position fixed connection with handle and first sliding sleeve one side respectively.
As a further description of the above technical solution:
the inner cavity of the arc-shaped pad is fixedly connected with a plurality of plastic blocks.
As a further description of the above technical solution:
the cross sections of the first sliding block and the first sliding groove are both T-shaped.
An exoskeleton robot provided with the easily-assembled external deformation prevention structure as claimed in any one of claims 1 to 8.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. in the invention, through the designed protection mechanism, after an arm passes through the buffer airbag at the top of the protection seat at one side, the buffer airbag can perform limit protection with the periphery of the arm, and can drive the buffer airbag and the bottom assembly airbag to inflate and expand through inflating the inflation tube, the gap between the arm and the protection seat can be filled after the buffer airbag expands, so that the flexible fixing limit requirements of wearing different large arm diameters can be met, meanwhile, the bottom assembly airbag can fully perform closed limit with an external socket seat after inflating, the protection mechanism is assembled and fixed with the bottom socket seat, the sliding ring is driven by pulling the connecting block to deflect to drive the ventilation net at one side to be communicated with the ventilation through grooves, then a plurality of ventilation through grooves at one side of the protection seat can be opened for inside and outside air circulation, further, the heat caused by air non-circulation can be avoided, and the accumulation can further reduce the assembly and maintenance difficulty, and can effectively improve and dress the comfort level, satisfy and use the protection needs.
2. According to the invention, through the designed heat dissipation mechanism, the heat absorption seat is pulled to slide in the second sliding groove through the second sliding blocks on two sides to be attached to the outer wall of the exoskeleton robot for heat absorption through the heat conduction plate on one side, so that heat generated by the exoskeleton robot can be quickly dissipated through the plurality of heat dissipation fins on one side of the heat absorption seat, meanwhile, the heat absorption seat can slide through the second sliding blocks on two sides, the lug can extrude an internal telescopic rod and a first spring to enter the second sliding block to push the lug to be clamped into the limiting groove, therefore, the relative position of the heat absorption seat is limited and fixed, the adjustable heat absorption seat is adapted to heat absorption point positions of different exoskeleton robots, the deformation prevention protection of the exoskeleton robot is met, the heat dissipation efficiency of the exoskeleton robot is improved, and the use protection requirements are met.
3. According to the invention, through the designed sleeving mechanism, after assembly, the bottom placing seat can be sleeved outside the bottom end of the exoskeleton robot arm, after the arc-shaped pads at two sides are inserted, the arc-shaped pads can be stressed to slide in the first sliding sleeve through the first sliding rods to pull the second springs, the second springs can extrude and support external protective bones by utilizing self-pulling force, meanwhile, the plastic blocks in the inner cavities of the arc-shaped pads can ensure the laminating extrusion stability with the outer wall of the wrist of the exoskeleton robot, the spacing support stability is effectively improved through the outer wall placing seat, the deformation of the corresponding position of the exoskeleton robot caused by external impact is avoided, and the use and assembly stability is ensured.
4. According to the invention, when the breathable net is adjusted to be communicated with the breathable through groove by the sliding ring in the protective seat, the air permeability can be adjusted through the relative communication width of the breathable through groove and the breathable net, so that the temperature adjustment requirements in different seasons can be effectively met, meanwhile, the L-shaped limiting rod and the breathable through groove can be limited and fixed, the sliding ring can be prevented from continuously deflecting during movement, and the communication adjustment accuracy of the breathable net groove is ensured.
5. According to the invention, after the protective mechanism penetrates through the protective mechanism, the sealing cover in the protective mechanism is sleeved outside the exoskeleton robot, at the moment, the exoskeleton robot does not need to be bound, and after the first sliding grooves on two sides slide into the first sliding blocks, the first sliding blocks can fixedly sleeve the bottom upper arm skeleton protective rod and the first sliding groove on one side of the limiting seat, and the first sliding blocks are rotated by screwing the limiting block on one side and are in contact blocking connection with the first sliding block on the bottom through the second pin shaft, so that the upper arm skeleton protective rod and the exoskeleton robot can be quickly assembled and protected, the T-shaped first sliding blocks can be prevented from being separated due to pulling after sliding into the first sliding grooves, and the assembly stability can be effectively ensured.
Drawings
FIG. 1 is a schematic perspective view of a portable external anti-deformation structure for an exoskeleton robot according to the present invention;
FIG. 2 is a schematic perspective view of a protection mechanism of a portable external anti-deformation structure for an exoskeleton robot according to the present invention;
FIG. 3 is a schematic perspective view of a slide ring with a portable external anti-deformation structure for an exoskeleton robot according to the present invention;
FIG. 4 is a schematic view of a three-dimensional structure of an elastic net of a portable external anti-deformation structure for an exoskeleton robot in accordance with the present invention;
FIG. 5 is a schematic perspective view of a socket joint mechanism of a portable external anti-deformation structure for an exoskeleton robot according to the present invention;
FIG. 6 is a schematic illustration of a three-dimensional split structure of a heat dissipation machine with a conveniently-installed external anti-deformation structure for an exoskeleton robot in accordance with the present invention;
fig. 7 is a partial three-dimensional structure schematic diagram of a portable external deformation prevention structure for the exoskeleton robot.
Illustration of the drawings:
1. a socket joint seat; 2. a protection mechanism; 201. a protective seat; 202. a slip ring; 203. a buffer air bag; 204. an inflation tube; 205. connecting blocks; 206. a limiting rod; 207. a ventilation through groove; 208. a breathable net; 209. assembling an air bag; 210. a closure cap; 3. a limiting mechanism; 301. a first slider; 302. a first chute; 303. a limiting block; 304. a second pin shaft; 4. a heat dissipation mechanism; 401. a heat conducting plate; 402. a heat absorbing seat; 403. heat dissipation fins; 404. a second slider; 405. a bump; 406. a first spring; 407. a telescopic rod; 5. a buffer mechanism; 501. a slide base; 502. an elastic net; 503. a third slider; 6. a forearm skeleton guard bar; 7. a terminal protection plate; 8. a socket joint mechanism; 801. a placing seat; 802. a first slide bar; 803. a second spring; 804. an arc-shaped pad; 805. a plastic block; 806. a gasket; 9. a forearm bone guard bar; 10. a limiting seat.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, the present invention provides a technical solution: the exoskeleton robot is with convenient dress formula outside anti-deformation structure, including cup jointing seat 1, cup jointing seat 1 top swing joint has protection mechanism 2, cup jointing seat 1 bottom fixedly connected with spacing seat 10, spacing seat 10 both sides swing joint has big arm skeleton guard bar 6, and cup jointing seat 1 both sides all transmission connection has stop gear 3, and stop gear 3 and bottom spacing seat 10 are laminated mutually, and big arm skeleton guard bar 6 bottom articulates through articulated seat has forearm skeleton guard bar 9, and forearm skeleton guard bar 9 bottom articulates through articulated seat has terminal protection shield 7, and terminal protection shield 7 articulates through third round pin axle has cup jointing mechanism 8, big arm skeleton guard bar 6 inner chamber sliding connection has heat dissipation mechanism 4, forearm skeleton guard bar 9 one side fixed mounting has buffer gear 5, protection mechanism 2 includes protection seat 201, sliding connection has slip ring 202 in protection seat 201, the inner cavity of the sliding ring 202 is connected with a buffering air bag 203 in a sliding manner, one side of the buffering air bag 203 is communicated with an inflation tube 204, the bottom of the inflation tube 204 is also communicated with an assembly air bag 209, a sealing cover 210 is sleeved in the assembly air bag 209, the top of the sealing cover 210 is connected with the buffering air bag 203, the sealing cover 210 is made of hard plastic material, the shape of the inner cavity of the sealing cover 210 is matched with the external shape of the exoskeleton robot, the top of the sliding ring 202 is fixedly connected with a connecting block 205, one side of the connecting block 205 is hinged with a limiting rod 206 through a first pin shaft, one side of the limiting rod 206 is clamped in a plurality of ventilation through grooves 207 formed in one side of the protective seat 201 in a surrounding manner, the cross section of the ventilation through groove 207 is rectangular, a plurality of ventilation nets 208 are embedded in the inner circumferential direction of the sliding ring 202, the limiting mechanism 3 comprises a first sliding block 301, and the first sliding block 301 is fixedly connected to the top of a bottom big arm skeleton protective rod 6, first spout 302 has been seted up to spacing seat 10 bottom, and first slider 301 sliding connection in first spout 302, it has stopper 303 to cup joint 1 one side through second round pin axle 304 is articulated, and stopper 303 bottom with first slider 301 and first spout 302 laminating mutually, and stopper 303 and cup joint 1 and be closely articulated, the cross sectional shape of first slider 301 and first spout 302 is the T shape.
The implementation mode is specifically as follows: when the exoskeleton robot is worn, after the exoskeleton robot passes through the protection mechanism 2, the internal sealing cover 210 of the protection mechanism 2 is sleeved outside the exoskeleton robot, at this time, the exoskeleton robot does not need to be bound, and after the internal sealing cover slides into the first slide block 301 through the first slide grooves 302 on two sides, the first slide block 301 can fixedly sleeve the bottom exoskeleton protection rod 6 with the first slide groove 302 on one side of the limiting seat 10, and rotates through the second pin shaft 304 to be in contact with and block with the first slide block 301 on the bottom by screwing the limit block 303 on one side, so that the exoskeleton protection rod 6 and the exoskeleton robot can be rapidly assembled and protected, after an arm passes through the buffer air bag 203 on the top of the protection seat 201 on one side, the buffer air bag 203 can perform limiting protection on the periphery of the arm, and the buffer air bag 203 and the bottom assembly air bag 209 can be driven to inflate by inflating the inflating tube 204, the buffer air bag 203 can fill the gap between the arm and the protection seat 201 after being expanded, so that the flexible fixing limit requirements of wearing with different large arm diameters can be met, meanwhile, the bottom assembly air bag 209 can be fully sealed and limited with the external socket seat 1 after being inflated, so that the protection mechanism 2 can be rapidly assembled and fixed with the bottom socket seat 1, when the air exchange is affected by the sealing of the protection seat 201, the protection seat can be separated from the bottom ventilation through groove 207 by pulling the side limiting rod 206 to rotate through the first pin shaft, at the moment, the sliding ring 202 is driven to deflect by pulling the connecting block 205, the sliding ring 202 can be moved to drive the side ventilation net 208 to be communicated with the ventilation through groove 207, then the plurality of ventilation through grooves 207 on one side of the protection seat 201 can be opened to realize the ventilation of the inside and the outside, further, the heat caused by the non-ventilation can be avoided, the accumulation can further reduce the difficulty of assembly and maintenance, and can effectively improve and dress the comfort level, satisfy and use the protection needs.
The heat dissipation mechanism 4 comprises a heat absorption seat 402, a heat conduction plate 401 is fixedly connected to one side of the heat absorption seat 402, a plurality of heat dissipation fins 403 are fixedly connected to the other side of the heat absorption seat 402, second sliding blocks 404 are fixedly connected to two sides of the heat absorption seat 402, the second sliding blocks 404 are slidably connected to second sliding grooves formed in one side of the upper arm skeleton protection rod 6, telescopic rods 407 are fixedly connected to inner cavities of the second sliding blocks 404, protruding blocks 405 are connected to the inner cavities of the telescopic rods 407 through first springs 406, two ends of each first spring 406 are fixedly connected to the corresponding protruding block 405 and the corresponding telescopic rod 407 respectively, and the protruding blocks 405 are clamped in a plurality of limiting grooves formed in one side of the inner cavity of each second sliding groove.
As shown in fig. 1 and 6, the embodiment specifically includes: when the upper arm skeleton protection rod 6, the lower arm skeleton protection rod 9 and the tail end protection plate 7 slide in and are clamped through the first sliding block 301 at the top, external impact can be protected through the hardness of the upper arm skeleton protection rod, meanwhile, the hinged seat can be sleeved outside a worn skeleton robot, so that the transmission deflection requirement of the skeleton robot can be adapted, after the upper arm skeleton protection rod 6 is assembled, the heat absorption seat 402 can slide in the second sliding groove through the second sliding blocks 404 at two sides by pulling the heat absorption seat 402, the heat absorption seat 402 can be attached to the outer wall of the exoskeleton robot through the heat conduction plate 401 at one side after moving, heat generated by the exoskeleton robot can be rapidly dissipated through the heat dissipation fins 403 at one side of the heat absorption seat 402 through the heat absorption seat 402 and the heat conduction plate 401, meanwhile, the heat absorption seat 402 can slide through the second sliding blocks 404 at two sides, when the second sliding block 404 moves, the bump 405 can extrude and limit with the limit groove in the inner cavity of the second sliding groove, and in the time of the pulling, the lug 405 can extrude the inner telescopic rod 407 and the first spring 406 to enter the second slider 404, and after the second spring is moved to a proper position, the first spring 406 can push the lug 405 to be clamped into the limit groove by utilizing the elasticity of the first spring 406, so that the relative position of the heat absorption seat 402 is adjusted and then limited and fixed, the heat accumulation can be effectively avoided from influencing the normal work of the exoskeleton robot, the adjustable heat absorption seat 402 can be adapted to the heat absorption point positions of different exoskeleton robots, the deformation prevention protection of the exoskeleton robot is met, the heat dissipation efficiency of the exoskeleton robot is improved, and the use protection requirements are met.
The buffer mechanism 5 comprises two sliding seats 501, the sliding seats 501 are fixedly connected to one side of the forearm skeleton protection rod 9, third sliding blocks 503 are connected in the sliding seats 501 on two sides in a sliding mode, an elastic net 502 is fixedly connected between the third sliding blocks 503 on two sides, the cross sections of the third sliding blocks 503 and the inner cavity of the sliding seats 501 are both in a T shape, the sleeving mechanism 8 comprises a placing seat 801, two sides of the placing seat 801 are hinged with the terminal protection plate 7 through third hinge pins, first sliding sleeves are embedded in two sides of the inner cavity of the placing seat 801, first sliding rods 802 are connected in the first sliding sleeves in a sliding mode, one ends of the first sliding rods 802 are fixedly connected with handles, arc-shaped pads 804 are fixedly connected to the other ends of the first sliding rods 802, the arc-shaped pads 804 are located in openings of the inner cavity of the placing seat 801, sealing pads 806 are fixedly connected to one sides of the arc-shaped pads 804 on two sides adjacent to each other side, and the sealing pads 806 on two sides are attached to each other, the outer side wall of the first sliding rod 802 is sleeved with a second spring 803, two ends of the second spring 803 are respectively connected with the handle and one side of the first sliding sleeve in a corresponding position, and the inner cavity of the arc-shaped pad 804 is fixedly connected with a plurality of plastic blocks 805.
As shown in fig. 5 to 7, the embodiment specifically is: after assembly, the elastic net 502 can be in sliding connection with the sliding base 501 through the third sliding blocks 503 on two sides, so that the internal protection and support effect can be effectively ensured, and meanwhile, the external impact is prevented from causing impact deformation of the external exoskeleton robot inside, the bottom placing base 801 can be sleeved outside the bottom end of the exoskeleton robot, after the arc-shaped pads 804 on two sides are inserted, the arc-shaped pads 804 can be forced to slide in the first sliding sleeve through the first sliding rods 802, the first sliding rods 802 can move to drive the handles to pull the second springs 803, the second springs 803 can drive the handles and the first sliding rods 802 to drive the arc-shaped pads 804 to extrude and support with the arms and the external protection skeleton through self-pulling force, meanwhile, the plastic blocks 805 in the inner cavities of the arc-shaped pads 804 can be ensured to be attached to and extrude with the outer wall of the wrist of the exoskeleton robot, and the limit support stability can be effectively improved through the outer wall placing base 801, the corresponding position of the exoskeleton robot is prevented from being deformed due to external impact, and the use and assembly stability is ensured.
The working principle is as follows: when the exoskeleton robot is used, after the exoskeleton robot is worn, the internal sealing cover 210 of the protection mechanism 2 is sleeved outside the exoskeleton robot after penetrating through the protection mechanism 2, at the moment, the exoskeleton robot does not need to be bound, and after sliding into the first slide block 301 through the first slide grooves 302 on two sides, the first slide block 301 can fixedly sleeve the bottom upper arm skeleton protection rod 6 with the first slide groove 302 on one side of the limiting seat 10, and can be in contact blocking connection with the first slide block 301 on the bottom by screwing the limiting block 303 on one side through the second pin shaft 304, so that the upper arm skeleton protection rod 6 and the exoskeleton robot can be rapidly assembled and protected, after an arm penetrates through the buffering air bag 203 on the top of the protecting seat 201 on one side, the buffering air bag 203 can be in limiting protection with the periphery of the arm, and the buffering air bag 203 and the bottom assembling air bag 209 can be driven to inflate through the inflation tube 204 to inflate the buffering air bag 203 and the bottom assembling air bag 209, cushion gasbag 203 can fill the clearance of arm and protection seat 201 after the inflation, then can the different big arm diameters of adaptation dress the flexible fixed spacing needs, bottom assembly gasbag 209 can fully cup joint seat 1 with the outside after aerifing and seal spacingly, then can cup joint seat 1 with the bottom with protection machanism 2 fast and assemble fixedly, when protection seat 201 seals and influences the air exchange, can rotate through first round pin axle and the ventilative logical groove 207 separation in bottom through pulling one side gag lever post 206, drive slip ring 202 through pulling connecting block 205 and deflect this moment, slip ring 202 removes and can drive one side ventilative net 208 and ventilative logical groove 207 and communicate, then can open a plurality of ventilative logical grooves 207 in protection seat 201 one side and carry out inside and outside circulation of air.
When the upper arm skeleton protection rod 6, the lower arm skeleton protection rod 9 and the tail end protection plate 7 slide in and are clamped through the top first sliding block 301, external impact can be protected through the hardness of the upper arm skeleton protection rod, meanwhile, the hinged seat can be sleeved outside the worn skeleton robot, after the upper arm skeleton protection rod 6 is assembled, the heat absorption seat 402 can be pulled to slide in the second sliding groove through the second sliding blocks 404 on two sides, the heat absorption seat 402 can be attached to the outer wall of the exoskeleton robot through the heat conduction plate 401 on one side after moving to absorb heat, further, heat generated by the exoskeleton robot can be rapidly dissipated through the heat absorption seat 402 and the heat conduction plate 401 through the plurality of heat dissipation fins on one side of the heat absorption seat 402, meanwhile, the heat absorption seat 402 can slide through the second sliding blocks 404 on two sides, and the bump 405 can extrude and limit the limiting groove in the inner cavity of the second sliding groove when the second sliding block 404 moves, when the exoskeleton robot is pulled, the lug 405 can extrude the inner telescopic rod 407 and the first spring 406 to enter the second sliding block 404, the first spring 406 can push the lug 405 to be clamped into the limiting groove by utilizing the elasticity of the first spring 406, and the adjustable heat absorbing seat 402 is adapted to the heat absorbing point positions of different exoskeleton robots.
When the assembly back, the seat 801 is placed to the bottom can cup joint in ectoskeleton robotic arm bottom outside, inserts both sides arc pad 804 after, and arc pad 804 can slide in first sliding sleeve through first slide bar 802 by the atress, and first slide bar 802 removes and can drive handle pulling second spring 803, and second spring 803 can utilize self pulling force pulling handle and first slide bar 802 to drive arc pad 804 and arm and outside protection skeleton to extrude the support.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (4)

1. The conveniently-mounted external anti-deformation structure for the exoskeleton robot comprises a sleeving seat (1) and is characterized in that the top of the sleeving seat (1) is movably connected with a protection mechanism (2), the bottom of the sleeving seat (1) is fixedly connected with a limiting seat (10), two sides of the limiting seat (10) are movably connected with a large-arm skeleton protection rod (6), two sides of the sleeving seat (1) are in transmission connection with limiting mechanisms (3), the limiting mechanisms (3) are attached to the limiting seat (10) at the bottom, the bottoms of the large-arm skeleton protection rods (6) at two sides are hinged with small-arm skeleton protection rods (9), the bottoms of the small-arm skeleton protection rods (9) at two sides are hinged with tail end protection plates (7), and the tail end protection plates (7) at two sides are hinged with the sleeving mechanism (8) through third hinge pins;
the protection mechanism (2) comprises a protection seat (201), a sliding ring (202) is connected to the protection seat (201) in a sliding mode, a buffering air bag (203) is connected to an inner cavity of the sliding ring (202) in a sliding mode, an inflation tube (204) is communicated to one side of the buffering air bag (203), an assembling air bag (209) is further communicated to the bottom of the inflation tube (204), a sealing cover (210) is sleeved in the assembling air bag (209), the top of the sealing cover (210) is connected with the buffering air bag (203), the sealing cover (210) is made of hard plastic materials, the shape of the inner cavity of the sealing cover (210) is matched with the external shape of the exoskeleton robot, a connecting block (205) is fixedly connected to the top of the sliding ring (202), a limiting rod (206) is hinged to one side of the connecting block (205) through a first pin shaft, the limiting rod (206) is clamped in a plurality of ventilating through grooves (207) which are formed in a surrounding mode on one side of the protection seat (201), the cross section of the ventilation through groove (207) is rectangular, a plurality of ventilation nets (208) are embedded in the sliding ring (202) in a surrounding mode, the limiting mechanism (3) comprises a first sliding block (301), the first sliding block (301) is fixedly connected to the top of the bottom upper arm skeleton protecting rod (6), a first sliding groove (302) is formed in the bottom of the limiting seat (10), the first sliding block (301) is connected in the first sliding groove (302) in a sliding mode, a limiting block (303) is hinged to one side of the sleeving seat (1) through a second pin shaft (304), and the bottom of the limiting block (303) is attached to the first sliding block (301) and the first sliding groove (302);
the inner cavity of the upper arm skeleton protection rod (6) is connected with a heat dissipation mechanism (4) in a sliding manner, the heat dissipation mechanism (4) comprises a heat absorption seat (402), one side of the heat absorption seat (402) is fixedly connected with a heat conduction plate (401), the other side of the heat absorption seat (402) is fixedly connected with a plurality of heat dissipation fins (403), both sides of the heat absorption seat (402) are fixedly connected with second sliding blocks (404), the second sliding blocks (404) are connected in second sliding grooves formed in one side of the upper arm skeleton protection rod (6) in a sliding manner, an inner cavity of each second sliding block (404) is fixedly connected with a telescopic rod (407), a convex block (405) is connected in each telescopic rod (407) through a first spring (406), both ends of each first spring (406) are fixedly connected with the convex block (405) and the telescopic rod (407) respectively, and the convex blocks (405) are clamped with a plurality of limiting grooves formed in one side of the inner cavity of each second sliding groove, forearm skeleton fender rod (9) one side fixed mounting has buffer gear (5), buffer gear (5) include two slides (501), slide (501) fixed connection is in forearm skeleton fender rod (9) one side, and equal sliding connection has third slider (503) in both sides slide (501), and fixed connection has elastic net (502) between both sides third slider (503), the cross section of third slider (503) and slide (501) inner chamber is the T shape.
2. The portable external anti-deformation structure for exoskeleton robots as claimed in claim 1, the sleeving mechanism (8) comprises a placing seat (801), two sides of the placing seat (801) are hinged with the tail end protection plate (7) through third pin shafts, two sides of an inner cavity of the placing seat (801) are embedded with first sliding sleeves, and a first sliding sleeve is connected with a first sliding rod (802) in a sliding way, one end of the first sliding rod (802) is fixedly connected with a handle, the other end of the first sliding rod (802) is fixedly connected with an arc-shaped pad (804), the arc-shaped pad (804) is positioned at an opening of an inner cavity of the placing seat (801), and the adjacent sides of the arc-shaped pads (804) at the two sides are fixedly connected with sealing pads (806), and the sealing pads (806) at the two sides are jointed, the outer side wall of the first sliding rod (802) is sleeved with a second spring (803), and two ends of the second spring (803) are respectively fixedly connected with the handle and one side of the first sliding sleeve at corresponding positions.
3. The external deformation prevention structure convenient to mount for the exoskeleton robot as claimed in claim 2, wherein a plurality of plastic blocks (805) are fixedly connected to the inner cavity of the arc-shaped pad (804).
4. An exoskeleton robot, wherein the exoskeleton robot is provided with a portable external deformation prevention structure as claimed in any one of claims 1 to 3.
CN202110508511.4A 2021-05-11 2021-05-11 Conveniently-assembled external anti-deformation structure for exoskeleton robot and exoskeleton robot Active CN113304010B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110508511.4A CN113304010B (en) 2021-05-11 2021-05-11 Conveniently-assembled external anti-deformation structure for exoskeleton robot and exoskeleton robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110508511.4A CN113304010B (en) 2021-05-11 2021-05-11 Conveniently-assembled external anti-deformation structure for exoskeleton robot and exoskeleton robot

Publications (2)

Publication Number Publication Date
CN113304010A CN113304010A (en) 2021-08-27
CN113304010B true CN113304010B (en) 2022-06-24

Family

ID=77372943

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110508511.4A Active CN113304010B (en) 2021-05-11 2021-05-11 Conveniently-assembled external anti-deformation structure for exoskeleton robot and exoskeleton robot

Country Status (1)

Country Link
CN (1) CN113304010B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014138876A1 (en) * 2013-03-15 2014-09-18 Bionik Laboratories, Inc. Strap assembly for use in an exoskeleton apparatus
CN108095980A (en) * 2017-12-05 2018-06-01 华中科技大学 A kind of passive exoskeleton device of hip joint based on energy timesharing regulation and control
CN109009885A (en) * 2018-05-28 2018-12-18 芜湖纵横智能制造产业技术研究有限公司 A kind of ectoskeleton type lower limb rehabilitation robot easy to use
CN212438994U (en) * 2019-12-04 2021-02-02 姜剑魁 Ventilative multi-functional orthopedics splint

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2512220A1 (en) * 2005-07-15 2007-01-15 Paul Ogrodnick Manually driven bathtub lift

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014138876A1 (en) * 2013-03-15 2014-09-18 Bionik Laboratories, Inc. Strap assembly for use in an exoskeleton apparatus
CN108095980A (en) * 2017-12-05 2018-06-01 华中科技大学 A kind of passive exoskeleton device of hip joint based on energy timesharing regulation and control
CN109009885A (en) * 2018-05-28 2018-12-18 芜湖纵横智能制造产业技术研究有限公司 A kind of ectoskeleton type lower limb rehabilitation robot easy to use
CN212438994U (en) * 2019-12-04 2021-02-02 姜剑魁 Ventilative multi-functional orthopedics splint

Also Published As

Publication number Publication date
CN113304010A (en) 2021-08-27

Similar Documents

Publication Publication Date Title
CN110998104B (en) Textile actuator
JP6721515B2 (en) Portable prosthetic hand with soft pneumatic fingers
US9795178B2 (en) Helmet with multiple protective zones
JPH0785749B2 (en) Cushioning pad structure for exercise equipment and method of making the same
ES2959275T3 (en) Modular decoupling system
US10315062B2 (en) Wearable soft exoskeleton apparatus
CN109623779B (en) Full-flexible driving power-assisted buffering exoskeleton system based on air bag bending principle
CN110167375A (en) Protect the helmet
CN113304010B (en) Conveniently-assembled external anti-deformation structure for exoskeleton robot and exoskeleton robot
US3534406A (en) Equipotential space suit
WO2021242742A1 (en) Direct drive pneumatic transmission for a mobile robot
CN104490562B (en) Wearable U-shaped limbs power-assisted air bag and preparation method thereof
CN112353642B (en) Wearable soft recovery glove with enhanced asymmetric cavity contact
ES2695502B2 (en) ARTICULATED ARM
CN207450197U (en) Swimming is given financial aid to students and lifesaving wearing equipment
CN215010674U (en) A auxiliary training device for english listening comprehension teaching
CN107404961A (en) The helmet with multiple protection zones
CN212445219U (en) Passive knee joint assistance exoskeleton device
CN214903966U (en) Knee pad with buffering protective effect
CN110152180B (en) Bone joint medicine applying fixing device
CN114832303A (en) Chest-expanding type medical rehabilitation training equipment
CN209107975U (en) A kind of wearable exoskeleton robot flexible joint
CN207640908U (en) A kind of study auxiliary utensil for swimming
CN114750135B (en) Robot joint structure
US20210386574A1 (en) Soft actuator ankle support assembly

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20220607

Address after: 211500 No. 59 Wang Qiao Road, Xiongzhou Street, Liuhe District, Nanjing City, Jiangsu Province

Applicant after: Nanjing Shanhang Intelligent Technology Co.,Ltd.

Address before: 518000 2306, tower a, Century Holiday Plaza, north of Shennan Avenue, Nanshan District, Shenzhen, Guangdong

Applicant before: Li Yawei

GR01 Patent grant
GR01 Patent grant