CN115229767A - Exoskeleton robot - Google Patents

Abstract

The embodiment of the application provides an ectoskeleton robot, includes: the bearing structure comprises a load bearing back frame and a hydraulic power unit arranged on the load bearing back frame; the leg structure comprises a leg cylinder body and a leg rod piece which are connected in a sliding manner, the leg cylinder body is hinged with the weight-bearing back frame and is connected with the hydraulic power unit through an oil pipe, and one end of the leg rod piece is embedded into the leg cylinder body; and the foot tool structure is arranged at one end of the leg rod piece, which is far away from the leg cylinder body.

Description

Exoskeleton robot

Technical Field

The application relates to the technical field of exoskeleton, in particular to an exoskeleton robot.

Background

The exoskeleton robot is a mechanical device which can be worn by a user to provide assistance for a human body so as to realize the functions of assisting load carrying, enhancing the functions of the human body and the like. In the related art, the exoskeleton robot generally has the problems of complex structure, heavy weight, insignificant assistance performance, unreasonable structural layout, restriction on human motor functions and the like, and the practicality of the exoskeleton robot is severely restricted by the factors.

Disclosure of Invention

The embodiment of the application provides an ectoskeleton robot, can collect and bear a burden and walk with initiative helping hand function in an organic whole, reduce ectoskeleton robot's structure complexity and dead weight by a wide margin, improve helping hand efficiency and dress the travelling comfort.

The application embodiment provides an ectoskeleton robot includes: the bearing structure comprises a load bearing back frame and a hydraulic power unit arranged on the load bearing back frame; the leg structure comprises a leg cylinder body and a leg rod piece which are connected in a sliding manner, the leg cylinder body is hinged with the weight-bearing back frame and is connected with the hydraulic power unit through an oil pipe, and one end of the leg rod piece is embedded into the leg cylinder body; and the foot tool structure is arranged at one end of the leg rod piece, which is far away from the leg cylinder body.

In some embodiments, the hydraulic power unit includes a power cylinder, a driving piston disposed in the power cylinder, and a driving assembly driving the driving piston to slide, and an oil port of the power cylinder is connected with an oil port of the leg cylinder.

In some embodiments, the hydraulic power unit further comprises a buffer piston and a buffer spring which are respectively arranged in the power cylinder body, oil ports of the driving piston, the buffer spring and the power cylinder body are sequentially arranged, and peripheral walls of the driving piston, the buffer piston and the power cylinder body enclose to form a pressure oil cavity; the buffering piston is provided with an oil passing hole, and the pressure oil cavity is communicated with the oil port of the power cylinder body through the oil passing hole.

In some embodiments, the driving assembly includes a driving motor, a flexible transmission mechanism, a screw sleeve, and a screw rod rotatably held in the screw sleeve, the driving motor, the flexible transmission mechanism, the screw rod, and the driving piston are connected in sequence, and the screw sleeve and the driving motor are disposed in parallel.

In some embodiments, the weight-carrying back frame comprises a back frame body and a shoulder strap mounting assembly comprising a first longitudinal adjuster slidably disposed in a vertical direction on the back frame body and a shoulder strap connector slidably disposed in a horizontal direction on the first longitudinal adjuster.

In some embodiments, the weight-bearing back frame comprises a back frame body and a belt mounting assembly, the belt mounting assembly comprises a second longitudinal adjusting member and a belt connecting member, the second longitudinal adjusting member is slidably arranged on the back frame body along the vertical direction, and the belt connecting member is arranged on the second longitudinal adjusting member in a manner of swinging around a horizontal shaft.

In some embodiments, the backpack structure further comprises a horizontally disposed hinge connection rotatably disposed on the weight-carrying frame about an extension axis thereof, the hinge connection being hinged to the leg cylinder at an end remote from the weight-carrying frame.

In some embodiments, the footwear structure includes a footwear body, a connection spring, and a leg connection end; the connecting spring is arranged on the foot tool body and is provided with a multi-layer bending structure formed by sequentially and continuously bending along the vertical direction, the multi-layer bending structure comprises a plurality of layer plate parts and a plurality of bending parts, the plurality of layer plate parts are sequentially arranged in parallel at intervals along the vertical direction, and two adjacent layer plate parts are connected through one bending part; the leg connecting end is arranged on the connecting spring and is configured to be connected with one end of the leg rod piece far away from the leg cylinder body.

In some embodiments, the footwear body includes a bottom support, a body support, a pressure tube and a pressure sensor, the bottom support and the body support are sequentially disposed at an interval from bottom to top, the pressure tube is sandwiched between the bottom support and the body support, and the pressure sensor is configured to measure a pressure of the pressure tube.

In some embodiments, the footwear body comprises a body support, a top wearing piece and a force sensor, the body support and the top wearing piece are sequentially arranged at intervals from bottom to top, and the force sensor is clamped between the body support and the top wearing piece.

One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

according to the embodiment of the application, the backpack structure, the leg structure and the foot tool structure are arranged, the leg structure is simplified into the leg cylinder body and the leg rod piece which are in sliding connection, the leg structure only comprises the executing structure, the structure of the leg structure can be simplified, the self weight of the leg structure is reduced, and the movement performance of the leg structure is improved; the hydraulic power unit is arranged on the load carrying frame of the carrying structure and drives the leg structure to stretch through the hydraulic oil circuit, so that the structural layout and load distribution of the exoskeleton robot can be optimized, the transmission structure between the driving structure and the executing structure is simplified, the self weight of the exoskeleton robot is greatly reduced, large and stable power output can be provided, and the damage to the limbs of a user caused by over-quick response is avoided.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is an isometric view of an exoskeleton robot provided in some embodiments of the present application;

fig. 2 is a cross-sectional block diagram of a hydraulic power unit of an exoskeleton robot provided in some embodiments of the present application;

fig. 3 is a partial block diagram of an exoskeleton robot provided in some embodiments of the present application;

fig. 4 is an isometric view of a footwear structure of an exoskeleton robot provided in some embodiments of the present application;

fig. 5 is an exploded view of a footwear structure of an exoskeleton robot provided in some embodiments of the present application;

fig. 6 is a partial block diagram of a footwear structure of an exoskeleton robot provided in some embodiments of the present application;

fig. 7 is a perspective view of a footwear structure of an exoskeleton robot according to some embodiments of the present application.

Description of the main element symbols:

1-backpack construction, 11-weight back frame, 111-back frame body, 1111-longitudinal guide rod, 1112-hip ring support, 112-shoulder strap mount assembly, 1121-first longitudinal adjuster, 1122-shoulder strap connector, 113-waist belt mount assembly, 1131-second longitudinal adjuster, 1132-waist belt connector, 12-hydraulic power unit, 121-power cylinder, 1211-power port, 122-driving piston, 123-driving assembly, 1231-driving motor, 1232-flexible transmission mechanism, 1233-screw rod housing, 1234-screw pusher, 124-cushion piston, 1241-oil passing hole, 125-cushion spring, 12 a-pressure oil chamber, 13-hinged connector, 2-leg construction, 21-leg cylinder, 211-leg port, 22-leg rod, 3-foot tool construction, 31-foot tool body, 311-bottom support, 312-body support, 3121-extension slot, 3122-groove portion, 3123-opening portion, 313-top wearing piece, 313-bottom plate, 3131-bottom plate, 3132-foot tool construction, 31-foot tool body, 311-bottom support, 312-body support, 3121-extension slot, 3122-opening portion, 313-top wearing piece, 3132-bottom plate, 3132-side cushion, 31332-connection end, and pressure tube connection end.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

"A and/or B" includes the following three combinations: a alone, B alone, and a combination of A and B.

The use of "adapted to" or "configured to" in this application means open and inclusive language that does not exclude devices adapted to or configured to perform additional tasks or steps. Additionally, the use of "based on" is meant to be open and inclusive in that a process, step, calculation, or other action that is "based on" one or more stated conditions or values may, in practice, be based on additional conditions or exceed the stated values.

In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not set forth in detail in order to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

As shown in fig. 1 to 3, the present application provides an exoskeleton robot, which includes a backpack structure 1, a leg structure 2, and a foot structure 3, and can achieve structural simplification and performance optimization.

Here, the backpack structure 1 includes a weight carrier 11 and a hydraulic power unit 12. The weight carrier 11 is in contact with the upper body of the user and is worn on the back of the user, and has a function of carrying a heavy object. The hydraulic power unit 12 is arranged on the weight-bearing back frame 11 and is loaded and supported by the weight-bearing back frame 11; meanwhile, the hydraulic power unit 12 may output hydraulic power to be externally driven.

The leg structure 2 matches the leg of the user and comprises a leg cylinder 21 and a leg rod 22. One end of the leg rod 22 is embedded in the leg cylinder 21, and the other end slidably protrudes out of the leg cylinder 21 to form a sliding type shaft-hole connection relationship. The leg cylinder 21 is hinged with the weight-bearing back frame 11, and can provide a rotational degree of freedom between the two; the leg cylinder 21 and the hydraulic power unit 12 can be connected by an oil pipe, and the hydraulic power unit 12 can output hydraulic power to the leg cylinder 21 by the flow of pressure oil, thereby driving the leg rod 22 to slidably extend and retract on the leg cylinder 21. On one hand, the leg rod 22 can be matched with the walking movement of the legs of the user to be synchronous to avoid movement disorder based on sliding and stretching; on the other hand, active power assistance can be provided for the legs of the user by active driving of the hydraulic power unit 12, so that the exercise burden can be reduced.

The foot tool structure 3 is arranged at one end of the leg rod 22 far away from the leg cylinder 21, is suitable for being worn by the feet of the user and keeps moving synchronously with the feet of the user.

Compared with the prior art, the embodiment of the application simplifies the leg structure 2 into the leg cylinder 21 and the leg rod 22 which are connected in a sliding way by arranging the bearing structure 1, the leg structure 2 and the foot tool structure 3, so that the leg structure 2 only comprises an executing structure, the structure of the leg structure 2 can be simplified, the self weight of the leg structure 2 can be reduced, and the motion performance of the leg structure 2 can be improved; the hydraulic power unit 12 is arranged on the load carrying frame 11 of the carrying structure 1, the leg structure 2 is driven by the hydraulic power unit 12 through a hydraulic oil path to stretch, the structural layout and load distribution of the exoskeleton robot can be optimized, the transmission structure between the driving structure and the executing structure is simplified, the dead weight of the exoskeleton robot is greatly reduced, large and stable power output can be provided, and the damage to the limbs of a user caused by too fast response is avoided.

In some embodiments, the number of hydraulic power units 12 and leg structures 2 is two each, and each is connected in a one-to-one correspondence.

The configuration of the hydraulic power unit 12 may be determined according to actual needs, and the embodiment of the present application is not limited thereto. In some embodiments, the hydraulic power unit 12 may include a power cylinder 121, a master piston 122, and a drive assembly 123. The driving piston 122 is slidably disposed in the power cylinder 121, a dynamic seal can be formed between the driving piston 122 and the peripheral wall of the power cylinder 121 through a high-pressure seal ring, and the driving assembly 123 is configured to drive the driving piston 122 to slide; the power cylinder 121 may be disposed on the load-bearing back frame 11, and an oil port (hereinafter, referred to as a power oil port) 1211 of the power cylinder 121 and an oil port (hereinafter, referred to as a leg oil port) 211 of the leg cylinder 21 are connected by an oil pipe. Under the driving of the driving assembly 123, the driving piston 122 can slide in the power cylinder 121, and accordingly adjust the oil pressure in the power cylinder 121, so as to suck at least part of the hydraulic oil in the leg cylinder 21 into the power cylinder 121, so as to make the leg rod 22 retract into the leg cylinder 21, thereby shortening the leg structure 2, or press at least part of the hydraulic oil in the power cylinder 121 into the leg cylinder 21, so as to make the leg rod 22 extend outwards from the leg cylinder 21, thereby making the leg structure 2 extend. With the above structure, the size and weight of the driving structure can be reduced while ensuring sufficient output power.

In some examples, the hydraulic power unit 12 may also include a damping piston 124 and a damping spring 125. The buffer piston 124 is slidably arranged in the power cylinder 121, and a dynamic seal can be formed between the buffer piston 124 and the peripheral wall of the power cylinder 121 through a high-pressure seal ring; the damper spring 125 is disposed in the power cylinder 121 and is elastically deformable between the damper piston 124 and one end wall of the power cylinder 121. Here, the driving piston 122, the buffer piston 124, the buffer spring 125, and the oil port of the power cylinder 121 are sequentially provided. The driving piston 122 and the buffer piston 124 are oppositely arranged, and a pressure oil chamber 12a is formed by surrounding walls of the driving piston 122, the buffer piston 124 and the power cylinder 121; an oil through hole 1241 is formed in the damping piston 124, and the pressure oil chamber 12a may be communicated with an oil port of the power cylinder block 121 through the oil through hole 1241.

Thus, the driving piston 122 is slidable in the power cylinder 121 under the driving of the driving assembly 123, so that the hydraulic oil in the pressure oil chamber 12a can enter the leg cylinder 21 through the oil passing hole 1241, the power oil port 1211, the oil pipe and the leg oil port 211, or the hydraulic oil in the leg cylinder 21 can be sucked into the pressure oil chamber 12a through the leg oil port 211, the oil pipe, the power oil port 1211 and the oil passing hole 1241. When the oil pressure in the pressure oil chamber 12a is too high, the buffer piston 124 can slide under pressure to compress the buffer spring 125, and the buffer spring 125 absorbs the pressure pulse to realize adaptive pressure balance adjustment, thereby ensuring that the oil pressure in the pressure oil chamber 12a is proper in magnitude.

The configuration of the driving assembly 123 can be determined according to actual needs, and the embodiment of the present application is not limited thereto. Illustratively, the driving assembly 123 may include a driving motor 1231, a flexible transmission 1232, a screw housing 1233, and a screw push rod 1234. The screw housing 1233 has an internal thread portion formed in an inner hole thereof, and the screw 1234 has an external thread portion formed on an outer peripheral wall thereof so that the screw 1234 is spirally and rotatably held in the screw housing 1233. The driving motor 1231, the flexible transmission mechanism 1232, the spiral push rod 1234 and the driving piston 122 are sequentially connected, and the spiral rod housing 1233 and the driving motor 1231 are arranged in parallel.

Here, the flexible transmission mechanism 1232 includes a driving wheel, a driven wheel, and a flexible member, and the flexible member is connected with the driving wheel and the driven wheel in a tensioned manner to form a flexible transmission relationship. The rotational axis of the driving wheel may be connected to an output shaft end of the driving motor 1231, and the rotational axis of the driven wheel may be connected to the screw push rod 1234. The flexible drive relationship is typically comprised of two or more drive wheels (e.g., a drive wheel and a driven wheel) and flexible members through which motion and power are transmitted between the drive wheels. During operation, driving motor 1231 drives the action wheel rotatory, and the action wheel passes through the flexure element and drives from the driving wheel rotation, drives helical push rod 1234 synchronous revolution from the driving wheel, makes helical push rod 1234 carry out the helical rotation in the threaded rod cover, and then makes driving piston 122 can realize straight reciprocating sliding in order to drive leg structure 2 concertina movement. The flexible transmission mainly includes belt transmission, chain transmission and rope transmission according to the type of the flexible parts, wherein the transmission wheels are respectively a belt wheel, a chain wheel and a rope wheel, and the flexible parts are respectively a transmission belt, a transmission chain and a transmission rope. In this embodiment, the driving wheel may be a pulley, a sheave or a sprocket; the driven wheel can be a belt wheel, a rope wheel or a chain wheel; the flexible member may be a drive belt, a drive rope or a drive chain.

With the above structure, the driving assembly 123 can realize high-precision motion driving output, and is compact in structure and favorable for utilizing the layout space of the back of a user.

In some embodiments, weight-bearing back frame 11 may include a back frame body 111 and a shoulder strap mounting assembly 112, and shoulder strap mounting assembly 112 may include a first longitudinal adjustment member 1121 and a shoulder strap connector 1122. The first longitudinal adjusting piece 1121 is slidably disposed on the back frame body 111 in the vertical direction to provide an adjusting degree of freedom in the vertical direction; the shoulder strap attachment 1122 is slidably disposed on the first longitudinal adjustment member 1121 in the horizontal direction to provide a degree of freedom of adjustment in the horizontal direction. The shoulder straps worn by the user may be mounted on the shoulder strap connectors 1122, and may be adaptively adjusted and adapted in the vertical and horizontal directions after being worn, so that the shoulder straps can be snugly held on the shoulders of the user.

In some embodiments, the weight carrier 11 may include a carrier body 111 and a belt mounting assembly 113, the belt mounting assembly 113 including a second longitudinal adjuster 1131 and a belt connector 1132. The second longitudinal adjuster 1131 is slidably disposed on the back frame body 111 in the vertical direction to provide an adjustment degree of freedom in the vertical direction; a belt link 1132 is swingably provided on the second longitudinal adjuster 1131 about a horizontal axis to provide a degree of freedom in pitch adjustment. Here, the horizontal axis around which the waistband connecting member 1132 is wound may be parallel to the human body width direction. The waistband for the user to dress can install on waistband connecting piece 1132, can carry out the sliding adjustment adaptation along vertical direction and carry out the every single move adjustment adaptation around the horizontal axis by the self-adaptation after the dress, makes the waistband keep in user's waist hip with laminating.

In some examples, the back frame body 111 may include a longitudinal guide rod extending in a vertical direction and a circumferential hip bracket disposed on the longitudinal guide rod, which may be disposed around the hip of the user. In this way, on one hand, a better supporting strength can be provided, on the other hand, the vertical sliding adjustment of the first longitudinal adjusting member 1121 and the second longitudinal adjusting member 1131 can be better guided, and on the third hand, the third aspect has a simpler structure and is easy to manufacture.

In some embodiments, the backpack structure 1 may further comprise a horizontally arranged hinge connection 13; here, the hinge connector 13 may extend along a horizontal axis parallel to the thickness direction of the human body. The hinge joint 13 is rotatably provided on the weight-bearing back frame 11 about an extension axis thereof, and an end of the hinge joint 13 remote from the weight-bearing back frame 11 is hinged to the leg cylinder 21, the extension axis of the hinge joint 13 being perpendicular to a hinge axis between the hinge joint 13 and the leg cylinder 21. Since the hinge-connecting member 13 can rotate relative to the body frame about its extended axis and also can swing about its hinge axis with the leg cylinder 21, two degrees of freedom of rotation are provided between the backpack structure 1 and the leg structure 2, increasing mobility.

The configuration of the footwear structure 3 may be determined according to actual needs, and the embodiment of the present application is not limited thereto. As shown in fig. 4, in some embodiments, the footwear structure 3 may include a footwear body 31, a connection spring 32, and a leg connection end 33.

The footwear body 31 has a structure suitable for being worn by the user's foot, and is worn by the user. During travel, the bottom of the footwear body 31 may contact the ground to provide structural support to the exoskeletal robot and the user.

The connecting spring 32 is disposed on the footwear body 31, and has a multi-layer bending structure formed by sequentially and continuously bending in a vertical direction. The multilayer bent structure comprises a plurality of layer plate parts 321 and a plurality of bent parts 322, wherein the layer plate parts 321 are sequentially arranged in parallel at intervals along the vertical direction to form a stacked arrangement structure at intervals; the plate portions 321 have a planar structure, the bending portions 322 have a bending plate structure, and two adjacent plate portions 321 are connected by a bending portion 322 respectively. The material and the molding process of the connecting spring 32 may be determined according to actual requirements, which are not limited in the embodiments of the present application. In some embodiments, the connecting spring 32 may be formed by continuously bending a spring steel plate having a relatively high elasticity, such as 65Mn, 60Si2Mn, etc., to have a relatively good spring performance.

A leg connection end 33 is provided on the connection spring 32, which is configured to be connected to an end of the leg rod remote from the leg cylinder. In this way, the connection spring 32 is provided on the footwear body 31 and connected to the leg link through the leg connection end 33, so that the connection spring 32 flexibly connects the leg link and the footwear body 31 to function as an ankle joint.

Due to the fact that any two adjacent layer plate parts 321 are arranged at intervals and connected only through the bending part 322, a deformation movement space is formed between any two adjacent layer plate parts 321; accordingly, the two adjacent layer plate portions 321 can rotate around the vertical axis to the bending portion 322 to match the inward/outward turning motion of the ankle joint, can open and close up and down around the first horizontal axis at the end far away from the bending portion 322 to match the dorsiflexion/plantar flexion motion of the ankle joint, and can turn left and right around the second horizontal axis to match the inward/outward turning motion of the ankle joint, so that the connecting spring 32 has three rotational degrees of freedom matching the real degree of freedom of motion of the ankle joint; here, the first horizontal axis is parallel to the length direction of the bent portion 322, and the second horizontal axis is perpendicular to the first horizontal axis. Thus, when the foot device body 31 performs dorsiflexion/plantar flexion, inward/outward rotation, inward inversion/outward inversion and other movements along with the ankle joint of the human body, the connecting spring 32 can synchronously perform flexible rotation deformation, and the following flexibility of the foot device body 31 is ensured.

Because the plurality of laminar parts 321 are sequentially arranged in parallel at intervals along the vertical direction, the plurality of laminar parts 321 can be stacked layer by layer to jointly bear the external load; because each layer plate part 321 and the bending part 322 have larger elastic deformation range and bearing limit due to the plate-shaped structure, on one hand, the whole elastic deformation range of the connecting spring 32 can be increased through multilayer superposition to adapt to the movement range of human joints, on the other hand, the flexibility coefficient and the bearing capacity of the connecting spring 32 in different movement directions can be adjusted through setting the length, the width and the thickness of a single layer, meanwhile, the landing impact can be absorbed through the deformation of the layer plate part 321 and the bending part 322, the wearing comfort and the flexibility are enhanced, and the supporting stability and the safety during landing are further ensured.

In addition, the connecting spring 32 can accumulate elastic potential energy when flexibly rotating and deforming in a follow-up manner, and can release the elastic potential energy to provide restoring moment for the foot tool body 31 when the ankle joint of the human body needs to be restored, so that the foot tool body 31 can be automatically restored to reduce the exercise burden of the user. Thanks to the characteristics of gradual elastic deformation and gradual attenuation of deformation of the connecting spring 32, the connecting spring 32 can release elastic potential energy smoothly to avoid impact injury to the footwear body 31 and the ankle joint of the human body.

In addition, by adjusting the laminated portions 321 and the bent portions 322, when the connecting spring 32 is compressed, elastic deformation can be performed step by step, the number of the laminated portions 321 and the bent portions 322 which are elastically deformed at the same time can be reduced, and the deformation amount can be attenuated step by step, so that the connecting spring 32 is not instantaneously and excessively deformed when being subjected to an external load, and the plurality of laminated portions 321 and the bent portions 322 absorb energy and buffer step by step to reduce an impact load.

Compared with the related art, the foot tool structure 3 provided by the embodiment of the application has the advantages that the connecting spring 32 is directly introduced to serve as a flexible joint, the actual motion freedom degree of the human ankle joint is matched and flexible bearing is carried out through the connecting spring 32, the structure is simple and compact, the structure can be simplified, the manufacturing cost can be reduced, the bearing limit is large, the urgency stability and the safety are good, and the resetting assistance is ideal, so that the structure is simplified and the performance is optimized.

The specific configuration of the footwear body 31 may be determined according to actual needs, and is not limited in this embodiment. As shown in fig. 4-7, in some examples, footwear body 31 may include a bottom support 311, a body brace 312, a pressure tube 314, and a pressure sensor. Here, the bottom supporter 311 and the body supporter 312 are sequentially spaced from bottom to top so that the bottom supporter 311 and the body supporter 312 are not directly contact-connected; pressure tube 314 is sandwiched between bottom support member 311 and body support 312 such that the bottom side of pressure tube 314 is in contact with bottom support member 311 and the top side of pressure tube 314 is in contact with body support 312. Pressure tube 314 may be filled with a gas, and the pressure within pressure tube 314 changes synchronously as pressure tube 314 is subjected to an external pressure; a pressure sensor is coupled to pressure line 314 to measure the pressure within pressure line 314.

When the user wears the exoskeleton robot to perform walking movement, the footwear body 31 can contact the ground and receive a force from the ground. This force is transmitted through bottom support member 311 to pressure tube 314 causing the pressure within the tube of pressure tube 314 to change, which is measured by the pressure sensor. Therefore, on one hand, the pressure pipe 314 and the pressure sensor can be utilized to accurately monitor the landing force of the footwear body 31 and the exoskeleton robot so as to feedback control the motion state of the exoskeleton robot and the power assisting force for the user; pressure tube 314, on the other hand, can be utilized to provide a cushioned connection between bottom support 311 and body support 312 to reduce impact injury to the user's foot while landing, and to increase safety and comfort while the user is in use.

In some examples, an extension groove portion 3121 may be provided on one of the bottom support 311 and the body bracket 312, the extension groove portion 3121 facing the other of the bottom support 311 and the body bracket 312. Illustratively, the bottom supporting member 311 may be provided thereon with an extension groove portion 3121, the extension groove portion 3121 being provided on the bottom supporting member 311 toward one side of the body bracket 312, for example, a top side of the bottom supporting member 311, so that the extension groove portion 3121 may be directed upward toward the body bracket 312; further illustratively, the body bracket 312 may be provided with an extension groove portion 3121, and the extension groove portion 3121 is provided at a side of the body bracket 312 toward the bottom support 311, for example, a bottom side of the body bracket 312, so that the extension groove portion 3121 may be directed downward toward the bottom support 311. Wherein, the extension groove portion 3121 may be formed by a surface of the bottom support 311 or the body bracket 312 being depressed in a vertical direction.

Here, pressure tube 314 may be extendedly disposed along the extending direction of the extension groove part 3121 to extend to various regions of the extension groove part 3121. One side of pressure pipe 314 in the vertical direction may be embedded in extended groove portion 3121, and the other side thereof in the vertical direction protrudes out of extended groove portion 3121. For example, the extending groove portion 3121 may be extended in a horizontal direction; accordingly, the pressure pipe 314 may be extended in the horizontal direction at the extended groove portion 3121. With extension slot portion 3121 positioned on base support 311, an upper region of pressure tube 314 may be nested within extension slot portion 3121, with a lower region of pressure tube 314 protruding out of extension slot portion 3121; where extension groove portion 3121 is provided on body support 312, the lower region of pressure tube 314 can be embedded within extension groove portion 3121 while the upper region of pressure tube 314 protrudes out of extension groove portion 3121.

Due to the structural arrangement of the extending groove 3121, the pressure tube 314 can be reliably clamped between the bottom support 311 and the body support 312, so that the indirect connection and force transmission between the bottom support 311 and the body support 312 are required through the pressure tube 314, and further, the pressure tube 314 can perform the buffer connection and ground force sensing between the bottom support 311 and the body support 312, thereby increasing the safety and comfort of the footwear structure 3 during wearing and walking.

In some examples, pressure tube 314 may be provided with an air tap 3141. By providing gas nozzle 3141, pressure tube 314 can be filled or released with gas as needed to adjust the load carrying capacity of pressure tube 314. Here, a pressure sensor may extend into pressure tube 314 via air tap 3141 to accurately measure pressure changes within pressure tube 314; for example, the sensing elements of the pressure sensor may be embedded within pressure tube 314, and the output line of the pressure sensor may be electrically connected to the exoskeleton robot control system via air tap 3141 for communicating the measurement externally. For example, the body support 312 may be provided with an opening portion 3123 communicating with the extension groove portion 3121, and the air tap 3141 may extend to the outside of the body support 312 through the opening portion 3123.

In some examples, footwear body 31 may include a body mount 312, a top dressing 313, and a force sensor 315. Here, the body bracket 312 and the top wearing part 313 are sequentially spaced from bottom to top so that the body bracket 312 and the top wearing part 313 are not directly contacted and connected; the force sensor 315 is interposed between the body bracket 312 and the top wearing member 313 so that the bottom side of the force sensor 315 can be in contact with the body bracket 312 and the top side of the force sensor 315 can be in contact with the top wearing member 313.

When the user wears the exoskeleton robot to perform walking movement, the top-wearing part 313 can contact with the human foot of the user to generate acting force. The force is transmitted to the force sensor 315 through the top wearing member 313, and is measured by the force sensor 315. Therefore, the acting force between the foot of the user and the foot tool body 31 can be monitored in real time, so that the operation intention of the user can be judged, and the assistance and the posture of the exoskeleton robot can be subjected to feedback regulation control.

In some examples, one of the body support 312 and the top donning 313 may be provided with a recessed portion 3122, the recessed portion 3122 facing the other of the body support 312 and the top donning 313. Illustratively, the body bracket 312 may be provided with a groove portion 3122, the groove portion 3122 being provided at a side of the body bracket 312 facing the top wearing part 313, for example, a top side of the body bracket 312, so that the groove portion 3122 may be upwardly facing the top wearing part 313; further illustratively, the top wearing part 313 may be provided with a groove portion 3122, and the groove portion 3122 is provided on the top wearing part 313 toward a side of the body bracket 312, for example, a bottom side of the top wearing part 313, so that the groove portion 3122 may be downwardly directed toward the body bracket 312. Wherein, the groove portion 3122 may be formed by the surface of the body bracket 312 or the top wearable piece 313 being depressed in the vertical direction.

Here, the force sensor 315 may be at least partially embedded in the groove portion 3122, so that the structure of the footwear body 31 is compact. Illustratively, the force sensor 315 is only partially embedded within the recessed portion 3122. When the recessed groove portion 3122 is provided on the bottom support 311, an upper side region of the force sensor 315 may be embedded within the recessed groove portion 3122, while a lower side region of the force sensor 315 protrudes outside the recessed groove portion 3122; when the groove portion 3122 is provided on the body support 312, a lower side region of the force sensor 315 may be embedded within the groove portion 3122, and an upper side region of the force sensor 315 protrudes outside the groove portion 3122.

As another example, the force sensor 315 may be entirely embedded within the recessed portion 3122. Here, the footwear body 31 may further include a plurality of bearing pads 316, the plurality of bearing pads 316 being interposed between the force sensor 315 and one of the body bracket 312 and the top dressing 313. For example, a plurality of load bearing pads 316 may be sandwiched between the body bracket 312 and the force sensor 315; as another example, a plurality of load bearing pads 316 may be sandwiched between the top dressing 313 and the force sensors 315. On one hand, through the transitional connection of the plurality of bearing pads 316, the body bracket 312 and the top wearing piece 313 can be prevented from directly pressing the pressure sensor, and the damage risk of the pressure sensor is reduced; on the other hand, by distributed loading of the plurality of load pads 316, stress concentrations and thus structural damage and measurement disturbances to the force sensor 315 can be avoided. Illustratively, the plurality of load bearing pads 316 may be evenly distributed over the force sensor 315 for evenly distributed load bearing. For example, the load-bearing pad 316 may have a ring-shaped configuration, and a fastening member such as a fastening screw, a fastening pin, etc. may be sequentially passed through the top wearing part 313 and the load-bearing pad 316 and then fastened to the force sensor 315, so as to sequentially lock the top wearing part 313, the load-bearing pad 316, and the force sensor 315. For example, the load-bearing pad 316 may be made of a material such as rubber, plastic, etc., and has a better elasticity.

In some examples, footwear body 31 may include a bottom support 311, a pressure tube 314, a body support 312, a force sensor 315, and a top dressing 313, arranged in a bottom-up order. The top side of the body bracket 312 is provided with an extended groove portion 3121 and the bottom side is provided with a groove portion 3122, the pressure tube 314 is disposed in the extended groove portion 3121 and the force sensor 315 is disposed in the groove portion 3122, so that the overall structure of the footwear body 31 is compact and functions are abundant.

The configuration of the top wearing part 313 may be determined according to actual needs, and the embodiment of the present application is not limited thereto. In some examples, the top-wearing member 313 may include a bottom plate 3131 and a plurality of side plate 3132 disposed on the bottom plate 3131, the plurality of side plate 3132 being sequentially disposed at intervals on a front side, a left side, and a right side of the bottom plate 3131 to restrain a foot of a user.

The position of the connecting spring 32 on the footwear body 31 may be determined according to actual needs, which is not limited in the embodiment of the present application. In some examples, the connection spring 32 may be disposed on the body bracket 312 for secure connection and structural relief. Illustratively, the plate portion 321 of the connecting spring 32 may be fixedly connected to the body bracket 312.

In some examples, the footwear structure may further include a cushion 317, the cushion 317 being disposed at a bottom of the footwear body 31 to cushion between the footwear body 31 and the ground when landing. Illustratively, the footwear body 31 may include a bottom support 311 and a body bracket 312, and the cushion 317 may be disposed on a side of the bottom support 311 away from the body bracket 312. The type of the buffer pad 317 may be determined according to actual needs, and may be a type such as a rubber pad, an elastic plastic pad, etc., which is not limited in this embodiment.

The exoskeleton robot provided by the embodiments of the present application is described in detail above, and the principle and the embodiments of the present application are explained by applying specific examples herein, and the description of the above embodiments is only used to help understanding the method and the core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manner and the application scope may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present application. Although the present invention has been described in detail with reference to examples, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. An exoskeleton robot, comprising:

the bearing structure comprises a load bearing back frame and a hydraulic power unit arranged on the load bearing back frame;

the leg structure comprises a leg cylinder body and a leg rod piece which are connected in a sliding mode, the leg cylinder body is hinged with the weight-bearing back frame and is connected with the hydraulic power unit through an oil pipe, and one end of the leg rod piece is embedded into the leg cylinder body;

and the foot tool structure is arranged at one end of the leg rod piece, which is far away from the leg cylinder body.

2. The exoskeleton robot as claimed in claim 1 wherein the hydraulic power unit comprises a power cylinder, a driving piston and a driving assembly, wherein the driving piston is disposed in the power cylinder, the driving assembly drives the driving piston to slide, and an oil port of the power cylinder is connected with an oil port of the leg cylinder.

3. The exoskeleton robot as claimed in claim 2, wherein the hydraulic power unit further comprises a buffer piston and a buffer spring respectively disposed in the power cylinder, oil ports of the driving piston, the buffer spring and the power cylinder are sequentially disposed, and peripheral walls of the driving piston, the buffer piston and the power cylinder enclose to form a pressure oil chamber; and the buffer piston is provided with an oil passing hole, and the pressure oil cavity is communicated with the oil hole of the power cylinder body through the oil passing hole.

4. The exoskeleton robot as claimed in claim 2 wherein said drive assembly comprises a drive motor, a flexible drive mechanism, a screw sleeve and a screw rod, said screw rod being helically rotatably retained within said screw sleeve, said drive motor, said flexible drive mechanism, said screw rod and said drive piston being connected in series, said screw sleeve and said drive motor being arranged in parallel.

5. The exoskeleton robot of claim 1 wherein said weight-bearing back frame includes a back frame body and a shoulder strap mounting assembly, said shoulder strap mounting assembly including a first longitudinal adjuster slidably disposed in a vertical direction on said back frame body and a shoulder strap connector slidably disposed in a horizontal direction on said first longitudinal adjuster.

6. The exoskeleton robot as claimed in claim 1 wherein said weight-carrying back frame includes a back frame body and a waist belt mounting assembly, said waist belt mounting assembly including a second longitudinal adjuster slidably disposed in a vertical direction on said back frame body and a waist belt link swingably disposed about a horizontal axis on said second longitudinal adjuster.

7. The exoskeleton robot of claim 1, wherein said piggyback structure further comprises a horizontally disposed hinge link rotatably disposed on said weight-back frame about an axis of extension thereof, said hinge link being hinged to said leg cylinder at an end remote from said weight-back frame.

8. The exoskeletal robot of claim 1, wherein the footwear structure comprises a footwear body, a connecting spring and a leg connecting end;

the connecting spring is arranged on the foot tool body and is provided with a multi-layer bending structure formed by sequentially and continuously bending along the vertical direction, the multi-layer bending structure comprises a plurality of layer plate parts and a plurality of bending parts, the plurality of layer plate parts are sequentially arranged in parallel at intervals along the vertical direction, and two adjacent layer plate parts are connected through one bending part;

the leg connecting end is arranged on the connecting spring and is configured to be connected with one end of the leg rod piece far away from the leg cylinder body.

9. The exoskeleton robot as recited in claim 8, wherein said footwear body includes a bottom support, a body support, a pressure tube and a pressure sensor, said bottom support and said body support being spaced apart in sequence from bottom to top, said pressure tube being interposed between said bottom support and said body support, said pressure sensor being configured to measure a pressure of said pressure tube.

10. The exoskeleton robot as claimed in claim 8 wherein the footwear body comprises a body support, a top wearing member and a force sensor, the body support and the top wearing member are sequentially arranged from bottom to top at intervals, and the force sensor is clamped between the body support and the top wearing member.

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