CN114378789B

CN114378789B - Limbs enclasping device and exoskeleton device

Info

Publication number: CN114378789B
Application number: CN202111457830.3A
Authority: CN
Inventors: 王天
Original assignee: Hangzhou Chengtian Technology Development Co Ltd
Current assignee: Hangzhou Chengtian Technology Development Co Ltd
Priority date: 2021-12-01
Filing date: 2021-12-01
Publication date: 2023-06-06
Anticipated expiration: 2041-12-01
Also published as: CN114378789A

Abstract

The invention belongs to the technical field of exoskeleton, and particularly relates to a limb enclasping device and an exoskeleton device, wherein the limb enclasping device comprises a control part and an enclasping part, the enclasping part comprises a right enclasping arm assembly, a left enclasping arm assembly, a mounting seat assembly and the like, the right enclasping arm assembly and the left enclasping arm assembly are symmetrically hinged and connected with the mounting seat assembly, the device is provided with an arc enclasping structure, and an electromagnet controlled by the control part is arranged in the middle of the mounting seat assembly; the arm locking piece is arranged at the joint of the arc-shaped enclasping structure of the right enclasping arm assembly and the left enclasping arm assembly; when the electromagnet is electrified, the electromagnet attracts the right enclasping arm assembly and the left enclasping arm assembly to approach the middle part, so that the arc enclasping structure is closed. In the limb enclasping device, the closing of the right enclasping arm assembly and the left enclasping arm assembly and the locking and unlocking of the enclasping arm locking piece are controlled by the control part, so that the enclasping part of the device can realize automatic wearing and can realize quick wearing.

Description

Limbs enclasping device and exoskeleton device

Technical Field

The invention belongs to the technical field of exoskeleton, and particularly relates to a limb holding device and an exoskeleton device.

Background

Exoskeleton is a mechanical device for assisting human body movement, rehabilitation, load bearing and the like, and the application range of the exoskeleton is wider and wider. The prior exoskeleton device adopts flexible strapping as a limb fixing piece, and the strapping needs to be tied on the limb one by one when in use, although the exoskeleton and the limb can be fixed together, the wearing mode is very troublesome, the wearing and taking off process takes a long time, which is a difficult problem for the prior exoskeleton user, and meanwhile, the development of the exoskeleton technology is severely limited and the application range is limited.

Disclosure of Invention

The invention aims to provide a limb enclasping device which completely abandons a soft strapping structure and adopts an automatic structure to complete enclasping and releasing of limbs so as to solve the problems of related products in use.

In order to achieve the above purpose, the present invention provides the following technical solutions: a limb clasping device comprises a control part and a clasping part. The enclasping part comprises a right enclasping arm assembly, a left enclasping arm assembly, an enclasping arm locking piece and a mounting seat assembly, wherein the right enclasping arm assembly and the left enclasping arm assembly are symmetrically hinged with the mounting seat assembly and are provided with an arc enclasping structure, and an electromagnet controlled by the control part is arranged in the middle of the mounting seat assembly; the arm locking piece is arranged at the joint of the arc-shaped enclasping structure of the right enclasping arm assembly and the left enclasping arm assembly; the right enclasping arm assembly and the left enclasping arm assembly can deflect towards two sides, so that the arc enclasping structure is opened, and after the electromagnet is electrified, the electromagnet adsorbs the right enclasping arm assembly and the left enclasping arm assembly to be close towards the middle part, so that the arc enclasping structure is closed; the control part also controls the locking and unlocking of the arm locking piece, and when the arc-shaped clamping structure is closed, the arm locking piece is locked, so that the locking of the right clamping arm assembly and the left clamping arm assembly is realized.

In the above technical scheme, right enclasping arm assembly and left enclasping arm assembly can be opened, and after limbs are located the scope of its arc enclasping structure, right enclasping arm assembly and left enclasping arm assembly are closed, and the arm locking piece of enclasping is locking the front portion of right enclasping arm assembly and left enclasping arm assembly this moment, because the rear portion of both connects the mount pad subassembly respectively, therefore right enclasping arm assembly and left enclasping arm assembly can firmly set up in the limbs periphery. In the limb enclasping device, the closing of the right enclasping arm assembly and the left enclasping arm assembly and the locking and unlocking of the enclasping arm locking piece are controlled by the control part, so that the enclasping part of the device can realize automatic wearing and can realize quick wearing.

As the preferable scheme of the enclasping part in the scheme of the limb enclasping device, the right enclasping arm component and the left enclasping arm component have the same structure and are in mirror symmetry, wherein the right enclasping arm component comprises a right enclasping arm and a right mounting arm component, and the left enclasping arm component comprises a left enclasping arm and a left mounting arm component; the right enclasping arm comprises an arc-shaped front arm at the front part, an inserting arm at the rear part and a middle arm connected with the front arm and the inserting arm; the inserting arm comprises a plurality of cutting bars, and meshing teeth are arranged on the side surfaces of the cutting bars; the right mounting arm assembly comprises arm inserting holes corresponding to the number of the cutting strips, a gear accommodating groove is formed in the side face of the right mounting arm assembly, and a meshing contact port is formed in the position, corresponding to the arm inserting holes, of the gear accommodating groove in a penetrating mode; the right mounting arm assembly further comprises a driving shaft arranged in the gear accommodating groove, and bearings for positioning the driving shaft are respectively arranged at the upper part and the lower part of the gear accommodating groove; gears corresponding to the number and the positions of the cutting strips are arranged on the driving shaft, and the gears are meshed with the cutting strips at the meshing contact ports; the control part is connected with the driving shaft and controls the gear to rotate, so as to control the extension or retraction of the inserting arm in the inserting arm hole. After the right enclasping arm and the right mounting arm component are closed, the driving shaft is driven by the control part, and the control inserting arm can retract backwards at the moment, so that the space and enclasping force of the arc enclasping structure can be properly reduced, the right enclasping arm and the right mounting arm component can enclasp limbs with proper force, and the enclasping part can be suitable for various body types.

As the preferable scheme of the right enclasping arm assembly and the left enclasping arm assembly, positioning teeth are arranged on the inner wall of the gear accommodating groove; the driving shaft can axially move under the limit of the bearing, the lower part of the driving shaft is sleeved with a floating spring, and the lower end of the floating spring is propped against the bearing at the lower part and provides upward elastic force for the driving shaft; the control portion has a longitudinal moving portion capable of positioning the drive shaft at different positions by moving up and down, and when the drive shaft moves to the lowermost portion, the gear engages with the insertion arm without contacting the positioning teeth, and when the drive shaft is positioned at the uppermost position, the gear engages with both the insertion arm and the positioning teeth. In the process of adjusting the extension length of the right enclasping arm assembly and the left enclasping arm assembly, the longitudinal moving part presses the driving shaft to the bottommost part, and the gear is not contacted with the positioning teeth at the moment; after the enclasping force of the right enclasping arm assembly and the left enclasping arm assembly is adjusted, the driving shaft can move upwards by properly lifting the longitudinal moving part, and the gear is meshed with the inserting arm and the positioning teeth at the same time.

As a further preferable scheme of the enclasping part in the limb enclasping device, the enclasping part is also provided with a limiting component which is connected with the mounting seat component and is positioned between the right enclasping arm component and the left enclasping arm component; the limiting assembly comprises a limiting lining plate, the limiting lining plate is provided with an arc-shaped surface for fitting a limb, and when the arm is inserted into the arm Kong Sujin, the limb is pulled towards the limiting lining plate by the right enclasping arm assembly and the left enclasping arm assembly, and the three components act together and enclasp the limb gradually; in addition, the spacing subassembly still is as the structure of the distance between restriction limbs and the ectoskeleton, when dresses, can carry out quick location to the limbs through laminating spacing subassembly with the limbs, then let the limbs hug tightly the device and carry out follow-up operation through the control portion.

As the preferable scheme of the enclasping part with the limiting component, the limiting component also comprises a floating component, the floating component comprises a floating seat, a guide shaft hole pointing to the installation seat component is arranged on the floating seat, a guide sleeve pointing to the installation seat component and coaxial with the guide shaft hole is arranged on the floating seat, and the aperture of the inner hole of the guide sleeve is smaller than the aperture of the guide shaft hole; the floating assembly further comprises a guide bolt only with a threaded section at the end part, the guide bolt penetrates through the guide shaft hole and the guide sleeve, and the threaded section at the front end of the guide bolt is in threaded connection with the mounting seat assembly; the length of the guide shaft hole is larger than that of a nut of the guide bolt, and the nut of the guide bolt is positioned in the guide shaft hole; the floating assembly further comprises a floating spring which is sleeved at the front part of the guide bolt, and two ends of the floating spring respectively contact the mounting seat assembly and the guide sleeve. When the limbs of a user move, the limbs can generate a certain amount of displacement and contraction, and under the action of the floating assembly, the limiting lining plate directly attached to the limbs can float and change along with the change of the limbs, so that the holding part is well attached to the limbs, and mechanical damage to the limbs is avoided.

As a further preferable scheme of the enclasping part with the limiting component, the limiting lining plate comprises a supporting plate which is attached to the limb, is made of soft materials and takes an arc shape; the limiting lining plate further comprises an installation part, the supporting plate is installed on the front face of the installation part, the back face of the installation part is provided with an inserting shaft, and correspondingly, the floating seat is provided with an inserting hole matched with the inserting shaft. Spacing welt and limbs direct contact, it has the effect of buffering, can adapt to the limbs shape through suitable deformation simultaneously to increase the fixed performance to limbs and guarantee the travelling comfort, adopt the structure of pegging graft to connect floating seat with it in this scheme, be convenient for customize according to different crowds and change the spacing welt that accords with the individual more.

As the preferable scheme of above-mentioned limbs enclasping device, control part still includes driving motor subassembly, power supply unit, controller subassembly, drive assembly, and wherein power supply unit is the driving motor subassembly power supply, and driving motor subassembly passes through drive assembly indirect connection drive shaft, and the control object of controller subassembly includes driving motor subassembly and longitudinal movement part.

As a preferable scheme of the control part, the transmission assembly comprises a universal shaft assembly, wherein the upper end of the universal shaft assembly is connected with the driving motor assembly, and the lower end of the universal shaft assembly is provided with a plug connector and is connected with the driving shaft in a plug manner through the plug connector; the universal shaft assembly comprises a primary universal shaft, a meshing transmission piece and two secondary universal shafts, wherein the upper end of the primary universal shaft is connected with the driving motor assembly, the lower end of the primary universal shaft is connected with the upper ends of the two secondary universal shafts through the meshing transmission piece, and the lower ends of the two secondary universal shafts are respectively connected with the driving shafts; the meshing transmission piece comprises a retainer, and a gear shaft group I and a gear shaft group II which are in meshing contact are arranged on the retainer, wherein the lower ends of the gear shaft group I and the gear shaft group II are respectively connected with the upper ends of two secondary universal shafts, and the upper end of the gear shaft group I is connected with the lower end of a primary universal shaft.

The cardan shaft subassembly can realize long distance transmission power, can set up driving motor subassembly in the position of keeping away from enclasping the part, avoid the part in the whole device too concentrated, in addition, in this scheme, adopt one-level cardan shaft and two second grade cardan shaft combination's mode to divide into two-way with a driving motor subassembly and drive the right enclasping arm subassembly and the left enclasping arm subassembly in the same enclasping part simultaneously, this both can retrench the structure, can guarantee again that two enclasping arm subassemblies synchronous movement, owing to need not independently control two enclasping arm subassemblies, consequently can also simplify the control method of this limbs enclasping device.

As still another preferable aspect of the control section, the longitudinal moving section of the control section includes a lifting assembly including a lifting table and a lifting lever, wherein the lifting lever controls the lifting table to ascend or descend; the transmission assembly is connected to the lifting platform, and the lifting platform can enable the transmission assembly to be separated from the driving shaft through upward movement and enable the transmission assembly to be in contact with the driving shaft through downward movement.

As the preferable scheme of the arm locking piece in the limb enclasping device, the arm locking piece comprises a middle locking piece, an upper locking piece and a lower locking piece, wherein the middle locking piece is fixedly arranged in the middle of the joint of the arc enclasping structure of the right enclasping arm assembly and the left enclasping arm assembly, the upper locking piece and the lower locking piece are respectively arranged at the upper part and the lower part of the joint of the arc enclasping structure of the left enclasping arm assembly and the arc enclasping structure of the right enclasping arm assembly, and after the right enclasping arm assembly and the left enclasping arm assembly are enclasped, the upper locking piece, the middle locking piece and the lower locking piece are kept coaxial from top to bottom; the middle part of the middle locking piece is provided with a central electromagnet controlled by the control part, and the upper end and the lower end of the middle locking piece are provided with end jacks; the upper locking piece and the lower locking piece are respectively provided with an upper inserting shaft and a lower inserting shaft which are movably arranged, after the central electromagnet is electrified, the central electromagnet adsorbs the upper inserting shaft and the lower inserting shaft, and the ends of the upper inserting shaft and the lower inserting shaft are respectively inserted into the end insertion holes at the upper end and the lower end of the middle locking piece, and after the central electromagnet is powered off, the upper inserting shaft and the lower inserting shaft are separated from the middle locking piece. Under the adsorption of the electromagnet, the right enclasping arm assembly and the left enclasping arm assembly are automatically enclasped, and the central electromagnet can be controlled through the control part, so that the locking of the enclasping arm locking piece is realized, and therefore, the enclasping part in the limb enclasping device can realize the purpose of automatic enclasping, and is convenient for a user or auxiliary personnel to operate quickly.

As a further preferable scheme of the arm locking piece, the middle part of the upper locking piece is provided with an upper shaft hole which is arranged in a penetrating way, and the length of the upper inserting shaft is longer than that of the upper shaft hole and is inserted into the upper shaft hole from top to bottom; a return spring is sleeved on the upper part of the upper inserting shaft, and the upper return spring provides upward elastic force for the upper inserting shaft; the middle part of the lower locking piece is provided with a lower shaft hole which is arranged in a penetrating way, and the length of the lower inserting shaft is longer than that of the lower shaft hole and is inserted into the lower shaft hole from bottom to top; the lower part of the lower inserting shaft is sleeved with a lower reset spring, and the lower reset spring provides downward elasticity for the lower inserting shaft. Because the upper part of embracing in the arm locking piece inserts the axle and inserts the axle with the lower part and all has set up reset spring, after central electro-magnet outage, upper portion inserts the axle and inserts the axle with the lower part and can upwards and move down voluntarily respectively to make the arm locking piece realize automatic unblock, be convenient for the patient take off this limbs fast and embrace tightly the device.

As the preferable scheme of the limb enclasping device, the mounting seat assembly comprises a fixed seat and a movable seat, wherein the fixed seat is used for fixedly connecting an exoskeleton, and the movable seat is used for connecting a right enclasping arm assembly, a left enclasping arm assembly and a limiting assembly; the movable seat is connected with the fixed seat through the hinged inserting shaft assembly, and the movable seat can be separated from the fixed seat through the hinged inserting shaft assembly; the hinge pin shaft assembly comprises two middle shaft assemblies which are symmetrically arranged on two sides of the fixed seat, the middle shaft assemblies are longitudinally arranged, and two end shaft assemblies which are respectively arranged on two sides of the movable seat, the end shaft assemblies comprise an upper end shaft assembly and a lower end shaft assembly, after the fixed seat and the movable seat are combined, the upper end shaft assembly and the lower end shaft assembly are positioned at two ends of the middle shaft assembly, and the upper end shaft assembly, the lower end shaft assembly and the middle shaft assembly coaxially penetrate through each other. Based on the mounting seat assembly capable of being assembled in a split mode, a user can hold the right holding arm assembly, the left holding arm assembly and other related assemblies tightly on the limbs, the arm holding locking piece is locked in a manual mode, then the movable seat is clamped with the fixed seat, and the movable seat can be temporarily separated from the fixed seat under the wearing condition, so that the use requirements of different conditions are met, and the application scene of the limb holding device is increased. In addition, the structural design of the split assembly is convenient for disassembling the limb holding device, and the subsequent maintenance, private customization and the like are facilitated.

As the preferable scheme of the limb clasping device with the fixed seat and the movable seat of the mounting seat assembly, the intermediate shaft assembly is provided with a shaft hole which is longitudinally arranged, and an intermediate shaft is arranged in the shaft hole, and the length of the intermediate shaft is equal to that of the shaft hole; a spring accommodating groove is formed in the inner wall of a shaft hole of the intermediate shaft assembly, a reset spring II is arranged in the spring accommodating groove, and the intermediate shaft penetrates through the reset spring II; a baffle ring is fixedly arranged on the intermediate shaft, the baffle ring is positioned in the spring accommodating groove, the upper end of the spring accommodating groove is propped against the baffle ring, and the lower end is propped against the bottom of the spring accommodating groove; when downward pressure is applied to the intermediate shaft, the lower end of the intermediate shaft extends out of the shaft hole, and when the downward pressure is removed, the intermediate shaft can automatically retract into the shaft hole under the action of the reset spring II; the upper end shaft assembly and the lower end shaft assembly are respectively provided with a shaft hole which longitudinally penetrates through the upper end shaft assembly, a movable inserting shaft is arranged in the shaft hole of the upper end shaft assembly, the lower part of the movable inserting shaft is movably inserted into the shaft hole of the upper end shaft assembly, the upper part of the movable inserting shaft extends out, and a reset spring I is sleeved on the upper part of the movable inserting shaft; the movable inserting shaft can be pressed down by the longitudinal moving component, so that the movable inserting shaft moves downwards and pushes the intermediate shaft downwards, at the moment, the lower end of the movable inserting shaft is inserted into the shaft hole of the intermediate shaft assembly, the lower end of the intermediate shaft is inserted into the shaft hole of the lower end shaft assembly, and in the process that the longitudinal moving component is gradually separated from the movable inserting shaft, the movable inserting shaft is pushed to move upwards by the reset spring I, and the lower end of the movable inserting shaft is retracted into the shaft hole of the upper end shaft assembly. Based on the jackshaft subassembly in this scheme, it can combine with the longitudinal movement part in the control part ingenious, when the longitudinal movement part moved to the top, the activity of the top inserted shaft in the jackshaft subassembly was automatic upwards to be removed and is broken away from the jackshaft subassembly, simultaneously, jackshaft in the jackshaft subassembly upwards moves under reset spring II's effect to break away from the lower extreme axle subassembly, at this moment, upper end axle subassembly, jackshaft subassembly and lower extreme axle subassembly separate, realize the automatic dismantlement to the movable seat, and in the same way also can realize the automatic installation to the movable seat.

As a further preferable scheme of the limb enclasping device with the fixing seat and the movable seat of the mounting seat assembly, two sides of the rear part of the right mounting arm assembly are symmetrically provided with a hinge ring and a hinge inserting shaft, wherein the hinge ring is movably sleeved on the upper part of the movable inserting shaft, the cross section of the movable inserting shaft is non-circular, the movable inserting shaft can only axially move in a shaft hole of the upper end shaft assembly, the upper end of the reset spring I is limited by the movable inserting shaft, and the lower end of the reset spring I is limited by the hinge ring; the top end part of the hinge inserting shaft is movably inserted into the shaft hole of the lower end shaft assembly. In the scheme, the middle shaft assembly is used as the hinge shaft structure of the right mounting arm assembly and the left mounting arm assembly at the same time, and the corresponding functions are respectively realized, so that the aim of simplifying the structure can be fulfilled. In addition, under reset spring I's effect, when the electro-magnet outage back, right side hug tightly arm components and left side hug tightly arm components can open automatically to further improve the automation performance of this limbs and hugs tightly device.

As a further preferred embodiment of the limb clasping device with the fixed seat and the movable seat of the mounting seat assembly, the clasping portion further comprises a locking mechanism comprising a contact head provided at the outer ends of the upper and lower insertion shafts, respectively, the contact head having a deflection shaft which can be deflected about the deflection shaft to contact the ends of the upper and lower insertion shafts or to deflect away from the ends of the upper and lower insertion shafts. Along with the upward movement of the longitudinal moving part, after the movable seat is separated from the fixed seat, the control part is separated from the enclasping part, the enclasping arm locking piece can be automatically unlocked due to power failure under the condition that the enclasping arm locking piece does not have a special power supply, and even if the central electromagnet is powered off, the upper inserting shaft and the lower inserting shaft cannot be separated from the end jacks through moving the contact head to the contact upper inserting shaft and the lower inserting shaft, so that the right enclasping arm assembly and the left enclasping arm assembly can be ensured to be in a state of enclasping limbs.

Another object of the present invention is to provide an exoskeleton device, which completely abandons the existing strap-type limb fixation manner, and can achieve automatic wearing and quick wearing, so as to solve the problems of troublesome wearing, long time consumption, etc. of the existing exoskeleton.

In order to achieve the above-mentioned object, the present invention provides an exoskeleton device, which comprises an exoskeleton and a wearing device mounted on the exoskeleton, wherein the wearing device comprises the aforementioned limb clasping device, and compared with the exoskeleton device using strapping as a wearing part, the wearing process of the exoskeleton device is simple and convenient, and has the characteristic of automatic wearing, and can effectively promote the development process of quick wearing of the exoskeleton device.

As a preferred version of the exoskeleton device, the wearing device comprises at least two limb clasping devices, wherein the control parts of at least two limb clasping devices are configured as a total control assembly; the main control assembly comprises a driving motor assembly, a power supply assembly, a controller assembly and longitudinal moving parts which are arranged corresponding to the enclasping parts, wherein the controller assembly can independently control the longitudinal moving parts; the main control assembly also comprises a primary meshing transmission piece and a secondary meshing transmission piece, wherein the primary meshing transmission piece and the secondary meshing transmission piece are provided with the same gear shaft group I, the same gear shaft group II and a retainer, and a gear shaft group III meshed with the gear shaft group I is arranged on the retainer; the gear shaft group I and the gear shaft group II of the primary meshing transmission piece are connected with a driving motor assembly through a total universal shaft, and the thigh clasping part is driven by the gear shaft group I and the gear shaft group II through two sub universal shafts I; the upper end of the gear shaft group III is connected with the lower end of the gear shaft group III in the primary meshing transmission member through a serial universal shaft. The two gear shaft groups III in the primary meshing transmission piece and the secondary meshing transmission piece are connected through the serial universal shafts, and the gear transmission can change the transmission direction, so that the gear shaft group I and the gear shaft group II in the primary meshing transmission piece and the secondary meshing transmission piece can synchronously rotate, and the purpose of controlling the serial connection of the enclasping part is realized. In addition, the lifting platform is controlled by the controller component, so that the corresponding plug connector and the driving shaft can be separated, and the independent control of the thigh enclasping part or the calf enclasping part is realized. Therefore, the preferred scheme not only can meet the control requirements on all the components, but also can simplify the structure of the device, and the centralized design of the control part can facilitate the user to flexibly control the whole device.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 is a schematic diagram of the overall structure of a limb clasping device provided in an embodiment of the present invention;

FIG. 2 is a schematic view of the control portion of the limb clasping device of FIG. 1;

FIG. 3 is a schematic view of a connection structure between a part of the driving assembly and the lifting assembly in the control part shown in FIG. 2;

FIG. 4 is a schematic view of the lifting assembly of the structure of FIG. 3;

FIG. 5 is a schematic view of the limb clasping device of FIG. 1 in an expanded configuration;

FIG. 6 is a schematic top view of the hugging portion of FIG. 5;

FIG. 7 is a schematic view of the hugging portion in a hugged state;

FIG. 8 is a schematic view of a detachable structure of the hugging arm assembly and the mounting base in the hugging section;

FIG. 9 is a schematic view of the structure of the mounting base;

FIG. 10 is a schematic view of the spacing assembly of FIG. 6;

FIG. 11 is a schematic view of the spacing liner and floating assembly of FIG. 10 in a disassembled configuration;

FIG. 12 is a schematic view of the floating mount of FIG. 11 in cross-section;

FIG. 13 is a schematic view of the right hugging arm assembly of FIG. 5;

FIG. 14 is a schematic view of the structure of the right hugging arm;

FIG. 15 is a schematic view of the right mounting arm assembly;

FIG. 16 is a detailed structural schematic view of the right mounting arm assembly of FIG. 15;

FIG. 17 is a schematic view of the mounting structure of the middle locking member on the right hugging arm assembly;

FIG. 18 is a schematic view of the mounting structure of the upper and lower locking members in the left hugging arm assembly;

FIG. 19 is a schematic view of the cross-sectional structure of the middle lock;

FIG. 20 is a schematic cross-sectional view of the upper lock;

FIG. 21 is a schematic view of the lower lock in cross-section;

FIG. 22 is a schematic view of the mounting structure of the locking mechanism of the hugging arm lock;

FIG. 23 is a schematic view of the locking mechanism in locking the arm lock;

FIG. 24 is a schematic cross-sectional view of an intermediate shaft assembly of the articulating plug shaft assembly;

FIG. 25 is a schematic view of the connection between the right mounting arm assembly and the movable mount;

fig. 26 is a schematic view of the disassembled structure of the liner assembly in the right hugging arm.

FIG. 27 is a schematic view of the configuration of the exoskeleton device according to the present invention;

FIG. 28 is a schematic view of the general control assembly of the exoskeleton device of FIG. 27;

fig. 29 is a schematic diagram of a series arrangement of two gear shaft sets III in the overall control assembly.

In the drawing the view of the figure, the clasping portion 1, the driving motor assembly 2, the power supply assembly 3, the controller assembly 4, the transmission assembly 5, the lifting assembly 6, the primary universal shaft 7, the engagement transmission member 8, the secondary universal shaft 9, the lifting table 10, the lifting lever 11, the mounting base 12, the guide rail 13, the plug connector 14, the gear shaft group I15, the gear shaft group II16, the retainer 17, the upper plug assembly 18, the right clasping arm assembly 19, the left clasping arm assembly 20, the clasping arm lock 21, the mount assembly 22, the limit assembly 23, the right clasping arm 24, the left clasping arm 25, the limit liner 26, the right mounting arm assembly 27, the left mounting arm assembly 28, the floating assembly 29, the fixing base 30, the movable base 31, the electromagnet 32, the intermediate shaft assembly 33, the upper end shaft assembly 34, the lower end shaft assembly 35, the movable plug shaft 36, the return spring I37, the pallet 38, the mounting portion 39, the floating base 40, the guide bush 41, the guide bolt 42, the fixing base 30 floating spring 43, insert 44, socket 45, insert shaft 46, guide shaft hole 47, boot 48, forearm 49, liner assembly 50, center arm 51, drive shaft 52, lower plug assembly 53, hinge ring 54, hinge pin 55, snap fit 56, insert arm 57, insert arm hole 58, gear receiving slot 59, bearing 60, gear 61, floating spring 62, mating contact 63, positioning tooth 64, center lock 65, upper lock 66, lower lock 67, center electromagnet 68, end socket 69, upper insert shaft 70, upper return spring 71, lower insert shaft 72, contact ram 73, sleeve 74, connecting shaft 75, upper shaft hole 76, lower shaft hole 77, lower return spring 78, center shaft 79, retainer ring 81, spring receiving slot 80, return spring II82, socket 83, center abutment 84, back plate 85, cladding rim 86, plug 87, lower limb exoskeleton 100, thigh clasping portion 200, upper insert shaft, shank hugging portion 300, overall control assembly 400, overall cardan shaft 401, primary engagement transmission 402, sub-cardan shaft I403, tandem cardan shaft 404, secondary engagement transmission 405, sub-cardan shaft II406, gear shaft group III407.

Detailed Description

The embodiments of the present application will be described in detail below with reference to the accompanying drawings and examples, so that the implementation process of how the technical means are applied to solve the technical problems and achieve the technical effects of the present application can be fully understood and implemented accordingly.

Fig. 1-26 show an embodiment of a limb clasping device according to the present invention, as shown in fig. 1, comprising a control portion and a clasping portion 1. The enclasping part 1 comprises a right enclasping arm assembly 19, a left enclasping arm assembly 20, an enclasping arm locking piece 21 and a mounting seat assembly 22, wherein the right enclasping arm assembly 19 and the left enclasping arm assembly 20 are symmetrically hinged with the mounting seat assembly 22 and have an arc enclasping structure, and an electromagnet 32 controlled by the control part is arranged in the middle of the mounting seat assembly 22; the arm locking piece 21 is arranged at the joint of the arc-shaped enclasping structures of the right enclasping arm assembly 19 and the left enclasping arm assembly 20; the right enclasping arm assembly 19 and the left enclasping arm assembly 20 can deflect towards two sides, so that the arc enclasping structure is opened, and when the electromagnet 32 is electrified, the electromagnet 32 adsorbs the right enclasping arm assembly 19 and the left enclasping arm assembly 20 to draw close towards the middle part, so that the arc enclasping structure is closed; the control part also controls the locking and unlocking of the arm locking piece 21, taking the leg as an example, when the arc-shaped holding structure is closed, the arm locking piece 21 is locked, and the locking of the right holding arm assembly 19 and the left holding arm assembly 20 is realized, so that the whole holding part holds the leg tightly.

Specifically, as shown in fig. 1, the control section includes a longitudinal moving section including a lift assembly 6, the lift assembly 6 including a lift table 10 mounted on a mounting base 12 and a lift lever 11, and a guide rail 13 guiding the lift table 10 is provided on the mounting base 12, wherein the lift lever 11 controls the lift table 10 to ascend or descend. The control part also comprises a driving motor component 2, a power supply component 3, a controller component 4 and a transmission component 5, wherein the power supply component 3 supplies power for the whole device, and a control object of the controller component 4 comprises power utilization structures such as the driving motor component 2, a lifting rod 11 and the like. The transmission assembly 5 comprises a cardan shaft assembly, the cardan shaft assembly comprises a primary cardan shaft 7, a meshing transmission member 8 and two secondary cardan shafts 9, wherein the upper end of the primary cardan shaft 7 is connected with the driving motor assembly 2, the lower end of the primary cardan shaft is connected with the upper ends of the two secondary cardan shafts 9 through the meshing transmission member 8, the lower ends of the two secondary cardan shafts 9 are respectively arranged on a lifting table 10, and an inserting joint 14 is arranged at the lower ends of the secondary cardan shafts 9. The meshing transmission member 8 comprises a retainer 17, and a gear shaft group I15 and a gear shaft group II16 which are in meshing contact are arranged on the retainer 17, wherein the lower ends of the gear shaft group I15 and the gear shaft group II16 are respectively connected with the upper ends of the two secondary universal shafts 9, and the upper end of the gear shaft group I15 is connected with the lower end of the primary universal shaft 7. In addition, as shown in fig. 4, an upper plug assembly 18 is further provided on the back surface of the elevating platform 10, and the upper plug assembly 18 is connected to the power supply assembly 3 through a wire.

The right enclasping arm assembly 19 and the left enclasping arm assembly 20 have the same structure and mirror symmetry, wherein the right enclasping arm assembly 19 comprises a right enclasping arm 24 and a right mounting arm assembly 27, and the left enclasping arm assembly 20 comprises a left enclasping arm 25 and a left mounting arm assembly 28; as shown in fig. 14, the right holding arm 24 includes a front arc-shaped front arm 49 and a rear insertion arm 57, and a middle arm 51 connecting the front arm 49 and the insertion arm 57, and a plurality of clamping slits 56 are provided transversely on the middle arm 51; the insert arm 57 includes four inserts, and engagement teeth are provided on the sides of the inserts; as shown in fig. 15 and 16, the right mounting arm assembly 27 includes four insert arm holes 58 corresponding to the insert strip positions, and a gear receiving groove 59 is provided on the side surface of the right mounting arm assembly 27, and a meshing contact port 63 is provided through the gear receiving groove 59 in correspondence with the insert arm holes 58; the right mounting arm assembly 27 further includes a driving shaft 52 provided in the gear receiving groove 59, and bearings 60 for positioning the driving shaft 52 are provided at upper and lower portions of the gear receiving groove 59, respectively; gears 61 corresponding to the number and positions of the cutting are installed on the driving shaft 52, and the gears 61 are engaged with the cutting at the engagement contact ports 63; as shown in fig. 13, the protective cover 48 is provided outside the gear accommodating groove 59, and the bearing 60, the gear 61, and the like are covered so that only the upper end portion of the drive shaft 52 is exposed. The lower end of the secondary cardan shaft 9 is provided with a plug 14 which can be connected with the driving shaft 52 in a plug manner and control the rotation of the gear 61, thereby controlling the extension or retraction of the plug arm 57 in the plug arm hole 58. After the right clasping arm 24 and the right mounting arm assembly 27 are closed, the driving shaft 52 is driven by the control portion, and at this time, the control insertion arm 57 can retract backward, which can properly reduce the space and clasping force of the arc clasping structure, thereby clasping the limb with proper force by the right clasping arm 24 and the right mounting arm assembly 27, which can adapt the clasping portion to various body types.

To prevent the automatic movement of the insertion arm 57 in the right mounting arm assembly 27, positioning teeth 64 are provided on the inner wall of the gear receiving groove 59, and the driving shaft 52 is axially movable under the restriction of the bearing 60, and a floating spring 62 is installed at the lower portion of the driving shaft 52, and the lower end of the floating spring 62 contacts the bearing 60 at the lower portion and provides an upward elastic force to the driving shaft 52. In the control section provided in the present embodiment, the vertically movable section of the elevating platform 10 is capable of positioning the drive shaft 52 at different positions by moving up and down, and when the drive shaft 52 is moved to the lowermost portion, the gear 61 is engaged with the insertion arm 57 without contacting the positioning teeth 64, and when the drive shaft 52 is positioned at the uppermost position, the gear 61 is simultaneously engaged with the insertion arm 57 and the positioning teeth 64. During adjustment of the extension length of the right and left

clasping arm assemblies

19 and 20, the lifting platform 10 presses the driving shaft 52 down to the bottommost position, at which time the gear 61 does not contact the positioning teeth 64; after the enclasping force of the right enclasping arm assembly 19 and the left enclasping arm assembly 20 is adjusted, the driving shaft 52 can move upwards by properly lifting the lifting platform 10, and at the moment, the gear 61 is simultaneously meshed with the inserting arm 57 and the positioning teeth 64, and the gear 61 is locked due to the fixed arrangement of the positioning teeth 64, so that the adjusted right enclasping arm assembly 19 and the left enclasping arm assembly 20 can be prevented from loosening.

In addition, the enclasping part in the embodiment is further provided with a limiting component 23, and the limiting component 23 is connected with the mounting seat component 22 and is positioned between the right enclasping arm component 19 and the left enclasping arm component 20; when the limb fitting limit assembly 23 is worn, a user can quickly position the limb. Specifically, the limiting component 23 includes a limiting lining board 26, the limiting lining board 26 has an arc-shaped surface fitting the limb, and when the inserting arm 57 is retracted in the inserting arm hole 58, the right enclasping arm component 19 and the left enclasping arm component 20 pull the limb towards the limiting lining board 26, and the three components work together and enclasp the limb gradually. Therefore, the limiting component 23 can increase the clasping degree of the limb, increase the fitting area with the limb, improve the comfort level and limit the distance between the limb and the exoskeleton.

In the state that the enclasping part is enclasping the leg, when the limbs of a user move, the limbs generate a certain amount of displacement and contraction, mainly represented by contraction and expansion of meat and relative deflection of skin and clothes, in order to enable the enclasping part to adapt to the changes of the limbs, as shown in fig. 7, 10, 11 and 12, the limiting assembly 23 is provided with a floating assembly 29, the floating assembly 29 comprises a floating seat 40, a guide shaft hole 47 pointing to the mounting seat assembly 22 is arranged on the floating seat 40, a guide sleeve 41 pointing to the mounting seat assembly 22 and coaxial with the guide shaft hole 47 is arranged on the floating seat 40, and the aperture of the inner hole of the guide sleeve 41 is smaller than the aperture of the guide shaft hole 47; the floating assembly 29 further includes a guide bolt 42 having a threaded section only at an end portion, the guide bolt 42 passing through a guide shaft hole 47 and the guide bush 41, the threaded section at a front end thereof being threadedly coupled with the mount assembly 22; the length of the guide shaft hole 47 is larger than that of the nut of the guide bolt 42, and the nut of the guide bolt 42 is positioned inside the guide shaft hole 47; the floating assembly 29 further includes a floating spring 43, and the floating spring 43 is sleeved on the front portion of the guide bolt 42, and two ends of the floating spring respectively contact the mounting seat assembly 22 and the guide sleeve 41. Under the action of the floating component 29, the limiting lining plate 26 directly attached to the limb can float and change along with the change of the limb, so that the holding part is well attached to the limb, and mechanical damage to the limb is avoided.

In order to make the limb clasping device universal due to different limb sizes of different people, such as leg diameters of obese people and lean people, the limiting assembly 23 provided in the present embodiment has a replaceable function, specifically, as shown in fig. 11, the limiting liner 26 includes a supporting plate 38 attached to the limb, and the supporting plate 38 is made of soft material and has an arc shape; the limit lining plate 26 further comprises a mounting portion 39, the supporting plate 38 is mounted on the front face of the mounting portion 39, a plug shaft 46 is arranged on the back face of the mounting portion 39, and accordingly, an insertion hole 45 matched with the plug shaft 46 is formed in the floating seat 40. Before use, the limit lining plate 26 suitable for a user can be replaced to realize private customization, and in addition, the soft limit lining plate 26 is in direct contact with the limb, has a buffering function, and can adapt to the shape of the limb through proper deformation, so that the fixing performance of the limb is improved, and the comfort is ensured. In addition, the insert 44 is arranged on one side of the middle arm of the supporting plate 38, and in the process of adjusting the holding arm, the insert 44 is always inserted into the clamping slot 56, so that the fixing performance of the supporting plate 38 can be improved, and the dislocation of the supporting plate 38 and the holding arm due to deformation is avoided.

As shown in fig. 17 to 22, the arm locking member 21 in this embodiment includes a middle locking member 65, an upper locking member 66 and a lower locking member 67, wherein the middle locking member 65 is fixedly disposed in the middle of the joint of the arc-shaped enclasping structures of the right enclasping arm assembly 19 and the left enclasping arm assembly 20, the upper locking member 66 and the lower locking member 67 are respectively disposed in the upper and lower parts of the joint of the arc-shaped enclasping structures of the left enclasping arm assembly 20 and the right enclasping arm assembly 19, and when the right enclasping arm assembly 19 and the left enclasping arm assembly 20 are enclasped, the upper locking member 66, the middle locking member 65 and the lower locking member 67 remain coaxial from top to bottom; the central electromagnet 68 is arranged in the middle of the middle locking piece 65, the central electromagnet 68 is connected with the lower plug assembly 53 arranged on the right mounting arm assembly 27 through a wire, the lower plug assembly 53 is matched with the upper plug assembly 18, and in addition, end jacks 69 are arranged at the upper end and the lower end of the middle locking piece 65; the upper locking member 66 and the lower locking member 67 have an upper insertion shaft 70 and a lower insertion shaft 72 which are movably provided, respectively, and after the central electromagnet 68 is energized, the central electromagnet 68 attracts the upper insertion shaft 70 and the lower insertion shaft 72, and the ends of the two are inserted into the end insertion holes 69 of the upper end and the lower end of the middle locking member 65, respectively, and after the central electromagnet 68 is deenergized, the upper insertion shaft 70 and the lower insertion shaft 72 are separated from the middle locking member 65. Under the adsorption of the electromagnet 32, the right enclasping arm assembly 19 and the left enclasping arm assembly 20 are automatically enclasped, and the control part can control the central electromagnet 68, so that the locking of the enclasping arm locking piece 21 is realized, and therefore, the enclasping part in the limb enclasping device can realize the purpose of automatic enclasping, so that a user or auxiliary personnel can operate quickly. Specifically, the middle part of the upper locking member 66 used in the present embodiment has an upper shaft hole 76 penetrating therethrough, and the upper insertion shaft 70 has a length longer than that of the upper shaft hole 76 and is inserted into the upper shaft hole 76 from top to bottom; a return spring 71 is sleeved on the upper part of the upper inserting shaft 70, and the upper return spring 71 provides upward elastic force for the upper inserting shaft 70; the middle part of the lower locking piece 67 is provided with a lower shaft hole 77 which is arranged in a penetrating way, and the length of the lower inserting shaft 72 is longer than that of the lower shaft hole 77 and is inserted into the lower shaft hole 77 from bottom to top; a lower return spring 78 is fitted around the lower portion of the lower socket 72, and the lower return spring 78 provides a downward elastic force to the lower socket 72. Because the upper inserting shaft 70 and the lower inserting shaft 72 in the arm locking piece 21 are both provided with reset springs, after the central electromagnet 68 is powered off, the upper inserting shaft 70 and the lower inserting shaft 72 can automatically move upwards and downwards respectively, so that the arm locking piece 21 can be automatically unlocked, and a patient can conveniently and quickly take off the limb enclasping device.

As shown in fig. 8-13, the mounting seat assembly 22 in this embodiment includes a fixed seat 30 and a movable seat 31, wherein the fixed seat 30 is used for fixedly connecting the exoskeleton, and the movable seat 31 is used for connecting the right enclasping arm assembly 19, the left enclasping arm assembly 20 and the limiting assembly 23; the movable seat 31 is connected with the fixed seat 30 through a hinged plug-in shaft assembly, and the movable seat 31 can be separated from the fixed seat 30 through disassembling the hinged plug-in shaft assembly; the hinge pin assembly comprises two middle shaft assemblies 33 symmetrically arranged on two sides of the fixed seat 30, the middle shaft assemblies 33 are longitudinally arranged, and two end shaft assemblies respectively arranged on two sides of the movable seat 31, each end shaft assembly comprises an upper end shaft assembly 34 and a lower end shaft assembly 35, when the fixed seat 30 and the movable seat 31 are combined, the upper end shaft assembly 34 and the lower end shaft assembly 35 are positioned at two ends of the middle shaft assembly 33, and the upper end shaft assembly 34, the lower end shaft assembly 35 and the middle shaft assembly 33 coaxially penetrate. Based on the above-mentioned mount pad subassembly 22 that can components of a whole that can function independently equipment, the user can hold the limbs with the right arm subassembly 19 and the left arm subassembly 20 of holding and the like to adopt manual mode to lock arm locking piece 21, then with movable seat 31 and fixing base 30 block again, also can make movable seat 31 break away from fixing base 30 temporarily under the condition of wearing, in order to satisfy the user demand of different circumstances, increase the application scenario of this limbs and hold tightly device. In addition, the structural design of the split assembly is convenient for disassembling the limb holding device, and the subsequent maintenance, private customization and the like are facilitated. Specifically, the intermediate shaft assembly 33 has a shaft hole provided longitudinally, and an intermediate shaft 79 is installed in the shaft hole, the intermediate shaft 79 having a length equal to that of the shaft hole; a spring accommodating groove 80 is formed in the inner wall of the shaft hole of the intermediate shaft assembly 33, a return spring II82 is arranged in the spring accommodating groove 80, and the intermediate shaft 79 passes through the return spring II82; a baffle ring 81 is fixedly arranged on the intermediate shaft 79, the baffle ring is positioned in the spring accommodating groove 80, the upper end of the spring accommodating groove 80 is propped against the baffle ring 81, and the lower end is propped against the bottom of the spring accommodating groove 80; when downward pressure is applied to the intermediate shaft 79, the lower end of the intermediate shaft 79 extends out of the shaft hole, and when the downward pressure is removed, the intermediate shaft 79 can automatically retract into the shaft hole under the action of the return spring II82; the upper end shaft assembly 34 and the lower end shaft assembly 35 are respectively provided with a shaft hole which longitudinally penetrates through the upper end shaft assembly 34, a movable inserting shaft 36 is arranged in the shaft hole of the upper end shaft assembly 34, the lower part of the movable inserting shaft 36 is movably inserted into the shaft hole of the upper end shaft assembly 34, the upper part of the movable inserting shaft 36 extends out, and a reset spring I37 is sleeved on the upper part of the movable inserting shaft 36; the longitudinal moving member can press down the movable insertion shaft 36, so that the movable insertion shaft 36 moves downward and pushes the intermediate shaft 79 downward, at this time, the lower end of the movable insertion shaft 36 is inserted into the shaft hole of the intermediate shaft assembly 33, the lower end of the intermediate shaft 79 is inserted into the shaft hole of the lower end shaft assembly 35, and during the process that the longitudinal moving member gradually breaks away from the movable insertion shaft 36, the return spring I37 pushes the movable insertion shaft 36 to move upward and makes the lower end of the movable insertion shaft 36 retract into the shaft hole of the upper end shaft assembly 34. Based on the intermediate shaft assembly 33 in this solution, it can be skillfully combined with the longitudinally moving component in the control part, when the longitudinally moving component moves to the uppermost, the uppermost movable insertion shaft 36 in the intermediate shaft assembly 33 automatically moves upwards and is separated from the intermediate shaft assembly 33, at the same time, the intermediate shaft 79 in the intermediate shaft assembly 33 moves upwards under the action of the return spring II82 and is separated from the lower end shaft assembly 35, at this time, the upper end shaft assembly 34, the intermediate shaft assembly 33 and the lower end shaft assembly 35 are separated, so that the automatic disassembly of the movable seat 31 is realized, and in the same way, the automatic installation of the movable seat 31 is also realized.

In addition, to simplify the structure of the device, the present embodiment uses the hinge plug shaft assembly as the hinge structure of the right mounting arm assembly 27 and the left mounting arm assembly 28 at the same time. Specifically, first, the cross section of the movable insertion shaft 36 is provided to be non-circular, which can move axially only in the shaft hole of the upper end shaft assembly 34; then, the hinge ring 54 and the hinge insertion shaft 55 are symmetrically arranged at two sides of the rear part of the right mounting arm assembly 27, wherein the hinge ring 54 is movably sleeved at the upper part of the movable insertion shaft 36, the upper end of the return spring I37 is limited by the movable insertion shaft 36, and the lower end of the return spring I37 is limited by the hinge ring 54; the top end portion of the hinge insertion shaft 55 is movably inserted into the shaft hole of the lower end shaft assembly 35. Under the action of the reset spring I37, after the electromagnet 32 is powered off, the right enclasping arm assembly 19 and the left enclasping arm assembly 20 can be automatically opened, so that the automatic operation performance of the limb enclasping device is further improved.

As shown in the foregoing configuration, when the lift table 10 is moved upward to the highest position, the upper plug assembly 18 is disengaged from the lower plug assembly 53, and the central electromagnet 68 is de-energized. In order to enable the right-side clasping arm assembly 19 and the left-side clasping arm assembly 20 to still clasp the limb after the movable seat 31 is separated from the fixed seat 30, the clasping portion in this embodiment further includes a locking mechanism including a contact pressure head 73 provided at the outer ends of the upper insertion shaft 70 and the lower insertion shaft 72, respectively. Specifically, the bosses 74 are provided outside the upper and

lower locking pieces

66 and 67, respectively, and the coupling shaft 75 is installed in the bosses 74, and the aforementioned two contact pressure heads 73 are installed at both ends of the coupling shaft 75, respectively. As shown in fig. 20 and 23, the contact pressure head 73 may be deflected to deviate from the ends of the upper and

lower insertion shafts

70 and 72, at this time, without affecting the automatic unlocking of the arm locking members, or the contact pressure head 73 may be deflected to contact the ends of the upper and

lower insertion shafts

70 and 72, at this time, with a mechanical structure, to prevent the arm locking members from being unlocked, and thereby to ensure that the right and

left arm assemblies

19 and 20 are in an enclasped state.

In this embodiment, the right enclasping arm assembly 19 and the left enclasping arm assembly 20 can be opened, when the limb is located in the enclasping space formed by the right enclasping arm assembly 19, the left enclasping arm assembly 20 and the limiting assembly 23, the right enclasping arm assembly 19 and the left enclasping arm assembly 20 are closed, and the front parts of the right enclasping arm assembly 19 and the left enclasping arm assembly 20 are locked through the enclasping arm locking piece 21, at this time, the enclasping part enclasping limb can be enabled by adjusting the right enclasping arm 24 and the left enclasping arm 25 through shrinkage, the whole process is simple and easy to operate, automatic operation can be realized, and quick wearing of similar equipment such as an exoskeleton can be realized.

As shown in fig. 27-29, the present embodiment further provides an exoskeleton device, which includes an exoskeleton and a wearing device mounted on the exoskeleton, wherein the wearing device is the aforementioned limb clasping device, and compared with an exoskeleton device using a strapping as a wearing component, the wearing process of the exoskeleton device is concise and convenient, and has the characteristic of automatic wearing, so that the development process of quick wearing of the exoskeleton device can be effectively promoted. In this embodiment, four limb clasping devices are mounted to the lower limb exoskeleton 100 in an exoskeleton device, including two thigh clasping portions 200 and two calf clasping portions 300. Taking two limb clasping devices for fixing the right leg as an example, the control parts of the two devices are fused to form a total control assembly 400, and the clasping parts on the same side are controlled by the total control assembly 400. Specifically, the overall control assembly 400 includes the driving motor assembly 2, the power supply assembly 3, the controller assembly 4, and two longitudinally moving parts (including the elevating table 10, the elevating rod 11, the mounting base 12, and the guide rail 13), wherein the controller assembly 4 can individually control the two longitudinally moving parts.

As shown in fig. 28, the overall control assembly 400 further includes a primary engagement transmission member 402 and a secondary engagement transmission member 405, the primary engagement transmission member 402 and the secondary engagement transmission member 405 having the same gear shaft group I15, gear shaft group II16 and holder 17 as the engagement transmission member 8, and a gear shaft group III407 engaged with the gear shaft group I15 being mounted on the holder 17. Firstly, a gear shaft group I15 in a primary meshing transmission piece 402 is connected with a driving motor assembly 2 through a total universal shaft 401, and the gear shaft group I15 and a gear shaft group II16 of the primary meshing transmission piece are connected with two sub universal shafts I403 and used for driving a thigh enclasping part 200; next, the gear shaft group I15 and the gear shaft group II16 in the secondary meshing transmission 405 are respectively connected to the two sub-universal shafts II406, and are used to drive the shank hugging portion 300. As shown in fig. 29, two gear shaft groups III407 in the primary engagement transmission member 402 and the secondary engagement transmission member 405 are connected by a serial universal shaft 404, and since the transmission direction can be changed by the gear transmission, the gear shaft groups I15 and II16 in the primary engagement transmission member 402 and the secondary engagement transmission member 405 can be synchronously rotated, thereby achieving the purpose of controlling the hugging portion in series. In addition, by controlling the lift table 10 via the controller assembly 4, the corresponding plug 14 and drive shaft 52 may be separated, thereby enabling individual control of the thigh hugging portion 200 or the calf hugging portion 300.

According to the above structure and conception, all control parts in the whole exoskeleton device can be modified, firstly, one controller component 4 is used for controlling all lifting platforms 10, then according to the principle that the gear engagement changes the rotation direction, the primary engagement transmission piece is connected with all the secondary engagement transmission pieces, the purpose that one driving motor component 2 controls all holding parts is achieved, in actual operation, the holding parts needing to be adjusted are specifically controlled through the controller component 4, the structure of the device can be simplified, the control parts are designed in a concentrated mode, and the user can control flexibly.

Certain terms are used throughout the description and claims to refer to particular components. Those of skill in the art will appreciate that a hardware manufacturer may refer to the same component by different names. The description and claims do not take the form of an element differentiated by name, but rather by functionality. As used throughout the specification and claims, the word "comprise" is an open-ended term, and thus should be interpreted to mean "include, but not limited to. By "substantially" is meant that within an acceptable error range, a person skilled in the art is able to solve the technical problem within a certain error range, substantially achieving the technical effect.

It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.

While the foregoing description illustrates and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the inventive concept as described herein, either as a result of the foregoing teachings or as a result of the knowledge or technology in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.

Claims

1. A limbs hug device, includes control portion and hug portion, its characterized in that: the enclasping part comprises a right enclasping arm assembly, a left enclasping arm assembly, an enclasping arm locking piece and a mounting seat assembly, wherein the right enclasping arm assembly and the left enclasping arm assembly are symmetrically hinged with the mounting seat assembly and are provided with an arc enclasping structure, and an electromagnet controlled by the control part is arranged in the middle of the mounting seat assembly; the arm locking piece is arranged at the joint of the arc-shaped enclasping structure of the right enclasping arm assembly and the left enclasping arm assembly; the right enclasping arm assembly and the left enclasping arm assembly can deflect towards two sides, so that the arc enclasping structure is opened, and after the electromagnet is electrified, the electromagnet adsorbs the right enclasping arm assembly and the left enclasping arm assembly to be close towards the middle part, so that the arc enclasping structure is closed; the control part also controls the locking and unlocking of the arm locking piece, and after the arc-shaped clamping structure is closed, the arm locking piece is locked to lock the right clamping arm assembly and the left clamping arm assembly; the right enclasping arm assembly and the left enclasping arm assembly have the same structure and are in mirror symmetry, wherein the right enclasping arm assembly comprises a right enclasping arm and a right mounting arm assembly, and the left enclasping arm assembly comprises a left enclasping arm and a left mounting arm assembly; the right enclasping arm comprises an arc-shaped front arm at the front part, an inserting arm at the rear part and a middle arm connected with the front arm and the inserting arm; the inserting arm comprises a plurality of cutting bars, and meshing teeth are arranged on the side surfaces of the cutting bars; the right mounting arm assembly comprises arm inserting holes corresponding to the number of the cutting strips, a gear accommodating groove is formed in the side face of the right mounting arm assembly, and a meshing contact port is formed in the position, corresponding to the arm inserting holes, of the gear accommodating groove in a penetrating mode; the right mounting arm assembly further comprises a driving shaft arranged in the gear accommodating groove, and bearings for positioning the driving shaft are respectively arranged at the upper part and the lower part of the gear accommodating groove; gears corresponding to the number and the positions of the cutting strips are arranged on the driving shaft, and the gears are meshed with the cutting strips at the meshing contact ports; the control part is connected with the driving shaft and controls the gear to rotate, so as to control the extension or retraction of the inserting arm in the inserting arm hole.

2. A limb clasping apparatus in accordance with claim 1 wherein: positioning teeth are arranged on the inner wall of the gear accommodating groove; the driving shaft can axially move under the limit of the bearing, the lower part of the driving shaft is sleeved with a floating spring, and the lower end of the floating spring is propped against the bearing at the lower part and provides upward elastic force for the driving shaft; the control portion has a longitudinal moving portion capable of positioning the drive shaft at different positions by moving up and down, and when the drive shaft moves to the lowermost portion, the gear engages with the insertion arm without contacting the positioning teeth, and when the drive shaft is positioned at the uppermost position, the gear engages with both the insertion arm and the positioning teeth.

3. A limb clasping apparatus in accordance with claim 2 wherein: the enclasping part is also provided with a limiting component which is connected with the mounting seat component and is positioned between the right enclasping arm component and the left enclasping arm component; the limiting component comprises a limiting lining plate, the limiting lining plate is provided with an arc-shaped surface for attaching the limb, and when the inserting arm is retracted in the inserting arm hole, the right enclasping arm component and the left enclasping arm component pull the limb to the limiting lining plate, and the three components act together and enclasp the limb gradually.

4. A limb clasping apparatus according to claim 3, wherein: the limiting assembly further comprises a floating assembly, the floating assembly comprises a floating seat, a guide shaft hole pointing to the installation seat assembly is formed in the floating seat, a guide sleeve pointing to the installation seat assembly and coaxial with the guide shaft hole is arranged on the floating seat, and the aperture of an inner hole of the guide sleeve is smaller than that of the guide shaft hole; the floating assembly further comprises a guide bolt only with a threaded section at the end part, the guide bolt penetrates through the guide shaft hole and the guide sleeve, and the threaded section at the front end of the guide bolt is in threaded connection with the mounting seat assembly; the length of the guide shaft hole is larger than that of a nut of the guide bolt, and the nut of the guide bolt is positioned in the guide shaft hole; the floating assembly further comprises a floating spring which is sleeved at the front part of the guide bolt, and two ends of the floating spring respectively contact the mounting seat assembly and the guide sleeve.

5. A limb clasping apparatus according to claim 3, wherein: the limiting lining plate comprises a supporting plate which is attached to the limb, and the supporting plate is made of soft materials and is arc-shaped; the limiting lining plate further comprises an installation part, the supporting plate is installed on the front face of the installation part, the back face of the installation part is provided with an inserting shaft, and correspondingly, the floating seat is provided with an inserting hole matched with the inserting shaft.

6. A limb clasping apparatus in accordance with claim 2 wherein: the control part also comprises a driving motor component, a power component, a controller component and a transmission component, wherein the power component is used as a power supply of the limb enclasping device, the driving motor component is indirectly connected with the driving shaft through the transmission component, and a control object of the controller component comprises the driving motor component and a longitudinal moving part.

7. A limb clasping apparatus in accordance with claim 6 wherein: the transmission assembly comprises a universal shaft assembly, the universal shaft assembly comprises a primary universal shaft, a meshing transmission piece and two secondary universal shafts, wherein the upper end of the primary universal shaft is connected with the driving motor assembly, the lower end of the primary universal shaft is connected with the upper ends of the two secondary universal shafts through the meshing transmission piece, and the lower ends of the two secondary universal shafts are provided with plug connectors which are connected with the driving shaft in a plug-in manner; the meshing transmission piece comprises a retainer, and a gear shaft group I and a gear shaft group I I which are in meshing contact are arranged on the retainer, wherein the lower ends of the gear shaft group I and the gear shaft group I I are respectively connected with the upper ends of two secondary universal shafts, and the upper end of the gear shaft group I is connected with the lower end of a primary universal shaft.

8. A limb clasping apparatus in accordance with claim 6 wherein: the longitudinal moving part of the control part comprises a lifting assembly, the lifting assembly comprises a lifting table and a lifting rod, wherein the lifting rod controls the lifting table to ascend or descend; the transmission assembly is connected to the lifting platform, and the lifting platform can enable the transmission assembly to be separated from the driving shaft through upward movement and enable the transmission assembly to be in contact with the driving shaft through downward movement.

9. A limb clasping apparatus in accordance with claim 2 wherein: the arm locking piece comprises a middle locking piece, an upper locking piece and a lower locking piece, wherein the middle locking piece is fixedly arranged in the middle of the joint of the arc-shaped enclasping structure of the right enclasping arm assembly and the left enclasping arm assembly, the upper locking piece and the lower locking piece are respectively arranged at the upper part and the lower part of the joint of the arc-shaped enclasping structure of the left enclasping arm assembly and the right enclasping arm assembly, and after the right enclasping arm assembly and the left enclasping arm assembly are enclasping, the upper locking piece, the middle locking piece and the lower locking piece are kept coaxial from top to bottom; the middle part of the middle locking piece is provided with a central electromagnet controlled by the control part, and the upper end and the lower end of the middle locking piece are provided with end jacks; the upper locking piece and the lower locking piece are respectively provided with an upper inserting shaft and a lower inserting shaft which are movably arranged, after the central electromagnet is electrified, the central electromagnet adsorbs the upper inserting shaft and the lower inserting shaft, and the ends of the upper inserting shaft and the lower inserting shaft are respectively inserted into the end insertion holes at the upper end and the lower end of the middle locking piece, and after the central electromagnet is powered off, the upper inserting shaft and the lower inserting shaft are separated from the middle locking piece.

10. A limb clasping apparatus in accordance with claim 9 wherein: the middle part of the upper locking piece is provided with an upper shaft hole which is penetrated and arranged, the length of the upper inserting shaft is longer than that of the upper shaft hole, and the upper inserting shaft is inserted into the upper shaft hole from top to bottom; a return spring is sleeved on the upper part of the upper inserting shaft, and the upper return spring provides upward elastic force for the upper inserting shaft; the middle part of the lower locking piece is provided with a lower shaft hole which is arranged in a penetrating way, and the length of the lower inserting shaft is longer than that of the lower shaft hole and is inserted into the lower shaft hole from bottom to top; the lower part of the lower inserting shaft is sleeved with a lower reset spring, and the lower reset spring provides downward elasticity for the lower inserting shaft.

11. A limb clasping device according to any one of claims 2 to 9, wherein: the mounting seat assembly comprises a fixed seat and a movable seat, wherein the fixed seat is used for fixedly connecting an exoskeleton, and the right enclasping arm assembly and the left enclasping arm assembly are connected with the movable seat; the movable seat is connected with the fixed seat through the hinged inserting shaft assembly, and the movable seat can be separated from the fixed seat through the hinged inserting shaft assembly; the hinge plug-in shaft assembly comprises two intermediate shaft assemblies symmetrically arranged on two sides of the fixed seat, wherein the intermediate shaft assemblies are longitudinally arranged, and two end shaft assemblies are respectively arranged on two sides of the movable seat; the end shaft assembly comprises an upper end shaft assembly and a lower end shaft assembly, when the fixed seat and the movable seat are combined, the upper end shaft assembly and the lower end shaft assembly are positioned at two ends of the intermediate shaft assembly, and the upper end shaft assembly, the lower end shaft assembly and the intermediate shaft assembly coaxially penetrate through each other.

12. A limb clasping apparatus in accordance with claim 11 wherein: the middle shaft assembly is provided with a shaft hole which is longitudinally arranged, and a middle shaft is arranged in the shaft hole, and the length of the middle shaft is equal to that of the shaft hole of the middle shaft assembly; a spring accommodating groove is formed in the inner wall of the shaft hole of the intermediate shaft assembly, a return spring I I is arranged in the spring accommodating groove, and the intermediate shaft passes through the return spring I I; a baffle ring is fixedly arranged on the intermediate shaft, the baffle ring is positioned in the spring accommodating groove, the upper end of the spring accommodating groove is propped against the baffle ring, and the lower end is propped against the bottom of the spring accommodating groove; when downward pressure is applied to the intermediate shaft, the lower end of the intermediate shaft extends out of the shaft hole of the intermediate shaft assembly, and when the downward pressure is removed, the intermediate shaft can automatically retract into the shaft hole of the intermediate shaft assembly under the action of the reset spring II; the upper end shaft assembly and the lower end shaft assembly are respectively provided with a shaft hole which longitudinally penetrates through the upper end shaft assembly, a movable inserting shaft is arranged in the shaft hole of the upper end shaft assembly, the lower part of the movable inserting shaft is movably inserted into the shaft hole of the upper end shaft assembly, the upper part of the movable inserting shaft extends out, and a reset spring I is sleeved on the upper part of the movable inserting shaft; the longitudinal moving part can press down the movable inserting shaft to enable the movable inserting shaft to move downwards and push the intermediate shaft downwards, at the moment, the lower end of the movable inserting shaft is inserted into the shaft hole of the intermediate shaft assembly, and the lower end of the intermediate shaft is inserted into the shaft hole of the lower end shaft assembly; when the longitudinally moving portion moves upward and gradually disengages from the course of the movable plug shaft, the return spring I urges the movable plug shaft to move upward and retract the lower end of the movable plug shaft into the shaft hole of the upper end shaft assembly, and at the same time, the intermediate shaft is retracted into the intermediate shaft assembly by the return spring I I.

13. A limb clasping apparatus in accordance with claim 12 wherein: the two sides of the rear part of the right mounting arm assembly are symmetrically provided with a hinge ring and a hinge inserting shaft, wherein the hinge ring is movably sleeved on the upper part of the movable inserting shaft; the cross section of the movable inserting shaft is non-circular, the movable inserting shaft can only axially move in the shaft hole of the upper end shaft assembly, the upper end of the reset spring I is limited by the movable inserting shaft, and the lower end of the reset spring I is limited by the hinge ring; the top end part of the hinge inserting shaft is movably inserted into the shaft hole of the lower end shaft assembly.

14. A limb clasping apparatus in accordance with claim 12 wherein: the hugging portion further includes a locking mechanism including a touch head provided at outer ends of the upper and lower insertion shafts, respectively, the touch head having a deflection shaft which can be deflected around the deflection shaft to touch ends of the upper and lower insertion shafts, and also deflected to deviate from ends of the upper and lower insertion shafts.

15. Exoskeleton device, including the exoskeleton and install the wearing device on the exoskeleton, its characterized in that: the wearing device comprising the limb clasping device of any one of claims 1 to 14.

16. The exoskeleton device of claim 15, wherein: the wearing device at least comprises two limb enclasping devices, wherein the control parts of at least two limb enclasping devices are configured into a total control assembly; the main control assembly comprises a driving motor assembly, a power supply assembly, a controller assembly and longitudinal moving parts which are arranged corresponding to the enclasping parts, wherein the controller assembly can independently control the longitudinal moving parts; the main control assembly further comprises a primary meshing transmission member and a secondary meshing transmission member, wherein the primary meshing transmission member and the secondary meshing transmission member are provided with the same gear shaft group I, the same gear shaft group II and a retainer, and the retainer is provided with a gear shaft group II I meshed with the gear shaft group I; the gear shaft group I and the gear shaft group I I of the primary meshing transmission piece are connected with the driving motor assembly through the total universal shaft, and the thigh clasping part is driven through the two sub universal shafts I; the upper end of the gear shaft group III is connected with the lower end of the gear shaft group III in the primary meshing transmission member through a serial universal shaft.