CN115946102A

CN115946102A - Human exoskeleton auxiliary robot

Info

Publication number: CN115946102A
Application number: CN202310226255.9A
Authority: CN
Inventors: 王东; 郑刚敏; 龙招勇
Original assignee: Shenzhen Hechuan Intelligent Technology Co ltd
Current assignee: Shenzhen Hechuan Intelligent Technology Co ltd
Priority date: 2023-03-10
Filing date: 2023-03-10
Publication date: 2023-04-11
Anticipated expiration: 2043-03-10
Also published as: CN115946102B

Abstract

The invention discloses a human exoskeleton assisting robot which comprises a waist supporting structure, a leg structure and a locking mechanism. The leg structure comprises a thigh part and a shank part, the thigh part comprises an upper section body and a lower section body, the upper section body is movably sleeved on the lower section body, and the lower section body is provided with a plurality of limiting holes which are sequentially distributed along the vertical direction; the locking mechanism comprises two locking assemblies and a knob, each locking assembly is arranged corresponding to one thigh part, and each locking assembly comprises a limiting part, an elastic part and a pull rope; the limiting piece is movably arranged on the upper section body of the thigh part in a penetrating way, the elastic piece is arranged between the upper section body and the limiting piece and can drive the limiting piece to be inserted into the limiting hole of the lower section body so as to enable the upper section body and the lower section body to be relatively fixed in a limiting way, and one end of the pull rope is connected with the limiting piece; the knob is rotatably arranged on the waist supporting structure and connected with one end, far away from the limiting parts, of the two pull ropes, and the knob can be used for rolling the two pull ropes when rotating so as to pull the two limiting parts to be separated from the limiting holes.

Description

Human exoskeleton auxiliary robot

Technical Field

The invention relates to the technical field of robots, in particular to a human exoskeleton auxiliary robot.

Background

In the field of rehabilitation medicine, walking training is one of important means in lower limb dysfunction rehabilitation, so that the use of the human exoskeleton-assisted robot is necessary in rehabilitation therapy, and the robot can provide support, protection and enhance the movement capability for a user. The related art human exoskeleton assisting robot generally includes two parts, namely a waist support structure and a leg structure, wherein the waist support structure can be worn on the waist to support the waist of a user, and the leg structure can be worn on the legs to provide power to assist the user in walking training.

In order to enable the human exoskeleton-assisted robot to be applicable to users with different heights, some manufacturers can set the leg structures in the human exoskeleton-assisted robot to be telescopic so as to adjust the lengths of the leg structures to adapt to the users with different heights. There are two general solutions for the scalable adjustment, one is: one of the two telescopic parts in the leg structure is provided with an inserting hole, the other part is provided with a penetrating hole, and the two telescopic parts in the leg structure are limited and locked by penetrating a screw. The second scheme is as follows: one of the two telescopic parts in the leg structure is provided with a threaded hole, the other part is provided with a threaded rod and a motor, one end of the threaded rod is inserted into the threaded hole, the other end of the threaded rod is connected with the motor, and the motor drives the threaded rod to rotate to drive the leg structure to be adjusted in a telescopic mode. At this moment, the process of screw when dismouting in scheme one is itself comparatively complicated, and two shank structures stretch out and draw back the regulation respectively again, so also lead to the use of human outer skeleton auxiliary robot comparatively inconvenient. In the second scheme, although the human exoskeleton-assisted robot can be conveniently used due to the adoption of automatic adjustment, the control module needs to be correspondingly arranged and the part is correspondingly powered due to the adoption of the motor, so that the energy consumption of the human exoskeleton-assisted robot is large.

Disclosure of Invention

The invention mainly aims to provide a human exoskeleton assisting robot, and aims to improve the use convenience and the energy-saving and environment-friendly properties of the human exoskeleton assisting robot when the human exoskeleton assisting robot telescopically adjusts a leg structure.

In order to achieve the above object, the present invention provides a human exoskeleton-assisted robot comprising:

a lumbar support structure;

the leg structure comprises thighs and lower legs, the upper ends of the two thighs are rotatably connected to the waist supporting structure, and the upper ends of the two lower legs are rotatably connected to the lower ends of the thighs; the thigh part comprises an upper section body and a lower section body, the upper section body is movably sleeved on the lower section body, and the lower section body is provided with a plurality of limiting holes which are distributed in sequence along the vertical direction; and

the locking mechanism comprises two locking assemblies and a knob, each locking assembly corresponds to one thigh part and comprises a limiting part, an elastic part and a pull rope; the limiting piece is movably arranged on the upper section body of the thigh part in a penetrating manner, the elastic piece is arranged between the upper section body and the limiting piece and can drive the limiting piece to be inserted into the limiting hole of the lower section body, so that the upper section body and the lower section body are relatively limited and fixed, and one end of the pull rope is connected to the limiting piece; the knob is rotatably arranged on the lumbar support structure and connected with one end of each of the two pull ropes far away from the limiting piece, and the knob can be used for rolling the two pull ropes when rotating so as to pull the two limiting pieces to be separated from the limiting holes.

Optionally, the human exoskeleton assisting robot is defined to further have a front-back direction and a left-right direction perpendicular to the up-down direction, and the two thigh parts are arranged side by side along the left-right direction;

each locking assembly further comprises a winding shaft and gears, the winding shafts in the two locking assemblies are rotatably arranged on the rear side of the lumbar support structure and are arranged side by side along the left-right direction, the two gears are respectively sleeved on the two winding shafts, and the two gears are meshed with each other;

one end, far away from the limiting part, of each of the two pull ropes is respectively wound on the two winding shafts, and the knob can drive one of the two winding shafts to rotate when rotating, so that the two winding shafts wind the two pull ropes.

Optionally, a closing cover is arranged at the rear side of the lumbar support structure, covers the winding shaft and the gear, and is provided with a thread passing hole for the pull rope to pass through;

two one of them of rolling axle is equipped with the connecting hole, the connecting hole is non-circular setting, it corresponds to enclose to close the cover the position of connecting hole is provided with dodges the hole, the knob passes dodge the hole to partial adaptation is inserted in the connecting hole.

Optionally, the knob is detachably arranged with the winding shaft provided with the connecting hole and the enclosure cover, and a receiving cavity and a cover plate are further arranged on the rear side of the lumbar support structure;

accomodate the chamber and have the opening, the lid closes the board lid and fits accomodate the opening in chamber, just a side of lid closes the board rotate connect in lumbar support structure, opposite side detachably connect in lumbar support structure, the knob with the rolling axle with enclose to close cover and can accomodate after the separation in accomodate the intracavity.

Optionally, the lid plywood keep away from its rotate connect in one side of lumbar bearing structure with lumbar bearing structure is fixed for magnetism is inhaled, the lid plywood deviates from one side of lumbar bearing structure is equipped with the pull ring.

Optionally, the locking mechanism further includes a pawl, the pawl is disposed in the enclosure, one end of the pawl is rotatably disposed at the rear side of the lumbar support structure, and the other end of the pawl abuts against the gear on the winding shaft which can be driven by the knob, so as to block the gear from rotating along the rotation direction of the winding shaft when the pull rope is released;

the pawl is connected with a poke rod, the enclosing cover is further provided with a sliding groove for the poke rod to penetrate through, and the poke rod can be separated from the gear when sliding along the sliding groove under the action of external force.

Optionally, the two opposite sides of the lower section body are both provided with the limiting holes, the number of the limiting members and the number of the elastic members in each locking assembly are two, the two limiting members are oppositely arranged on the upper section body, and each elastic member is arranged corresponding to one limiting member;

the pull rope in each locking assembly comprises two front branch sections and a rear confluence section, one end of each front branch section is connected to one end of each limiting part, the other end of each front branch section is connected to one end of each rear confluence section, and one end, far away from the front branch sections, of each rear confluence section is connected to the knob.

Optionally, the lumbar support structure comprises a main body plate and two side plates, wherein the two side plates are respectively connected to the main body plate and extend along the same side of the main body plate;

the upper ends of the two upper sections are respectively and rotatably connected with the two side plates, and the knob is rotatably connected to one side of the main body plate, which is far away from the two side plates;

the upper segment body is equipped with two at least leading wheels, two of them the leading wheel is and sets up side by side to all be located the upper segment body with the curb plate rotates the below of the connecting axle of connecting, two preceding branch section is kept away from the one end of locating part is respectively around locating two the leading wheel to be set up in opposite directions and connect in the section of converging after, the section of converging after is around locating connect behind the connecting axle in the knob.

Optionally, the two front branch sections and the rear junction section are arranged in an integral structure, and are sleeved with wear-resistant layers on the outer sides.

When the human exoskeleton assisting robot in the technical scheme of the invention is used, when the length of a leg structure needs to be adjusted, a knob in a locking mechanism can be directly rotated. And two pull ropes can be rolled up by the rotating knob, and the two limiting parts of the pull ropes can be separated from the limiting holes on the lower segment bodies of the thigh parts by the two pull ropes. At this time, the limit locking between the upper segment body and the lower segment body of the thigh is released, and the upper segment body and the lower segment body can be driven to move relatively, so that the length of the required leg structure can be adjusted to fit the user. After the knob is loosened, the limiting part can be inserted into the corresponding limiting hole in the lower segment body again under the elastic action of the elastic part, so that the upper segment body and the lower segment body are limited and fixed again, and the length adjustment of the leg structure of the external skeleton auxiliary robot can be completed. Therefore, the human exoskeleton auxiliary robot in the scheme sets the structure for limiting the position between the upper segment body and the lower segment body in the thigh part as the locking assembly comprising the limiting part, the elastic part and the pull rope, and the knob, so that when the length of the leg structure is adjusted, the length between the upper segment body and the lower segment body in the two thigh parts can be adjusted simultaneously by one simple operation of rotating the knob, in other words, one-key rotation operation for adjusting the length of the leg structure is realized. Therefore, the process of telescopic adjustment of the leg structure is greatly simplified, and the use convenience of the human exoskeleton assisting robot is improved. Moreover, the locking structure is a mechanical structure, and does not relate to electricity or circuits, so that a control module does not need to be correspondingly arranged and the part does not need to be powered, the energy consumption of the human exoskeleton-assisted robot is reduced, and the energy conservation and environmental protection performance of the human exoskeleton-assisted robot is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an embodiment of a human exoskeleton assisting robot according to the present invention;

FIG. 2 is a schematic structural diagram of another perspective of the extra-corporeal-skeleton-assisted robot of FIG. 1;

FIG. 3 is a partial structural view of the human exoskeleton auxiliary robot in FIG. 2;

FIG. 4 is a cross-sectional view schematically illustrating a partial structure of the human exoskeleton auxiliary robot in FIG. 3;

FIG. 5 is an enlarged view of a portion of FIG. 4 at A;

FIG. 6 is another partial structural view of the human exoskeleton auxiliary robot in FIG. 2;

FIG. 7 is an exploded view of a partial structure of the exoskeleton-assisted robot in FIG. 6;

FIG. 8 is another exploded view schematically illustrating a partial structure of the extracorporeal bone-assisting robot of FIG. 7;

FIG. 9 is an enlarged partial view at B of FIG. 8;

fig. 10 is a schematic view showing still another partial structure of the human exoskeleton auxiliary robot in fig. 7.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are 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, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the expression "and/or" as used throughout is meant to encompass three juxtaposed aspects, exemplified by "A and/or B", including either the A aspect, or the B aspect, or aspects in which both A and B are satisfied. In addition, technical solutions between the embodiments may be combined with each other, but must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 to 5, the present invention provides a human exoskeleton robot 100, in an embodiment of the present invention, the human exoskeleton robot 100 includes a lumbar support structure 10, a leg structure 30 and a locking mechanism 50. The leg structure 30 comprises thigh portions 31 and lower leg portions 33, the upper ends of the two thigh portions 31 being rotatably connected to the lumbar support structure 10, and the upper ends of the two lower leg portions 33 being rotatably connected to the lower ends of the thigh portions 31; the thigh portion 31 comprises an upper section 311 and a lower section 314, the upper section 311 is movably sleeved on the lower section 314, and the lower section 314 is provided with a plurality of limiting holes 315 which are sequentially distributed along the vertical direction; the locking mechanism 50 comprises two locking assemblies 51 and a knob 53, each locking assembly 51 is arranged corresponding to one thigh part 31, and each locking assembly 51 comprises a limiting piece 511, an elastic piece 512 and a pull rope 513; the limiting member 511 is movably inserted through the upper segment 311 of the thigh portion 31, the elastic member 512 is disposed between the upper segment 311 and the limiting member 511, and can drive the limiting member 511 to be inserted into the limiting hole 315 of the lower segment 314, so that the upper segment 311 and the lower segment 314 are relatively limited and fixed, and one end of the pulling rope 513 is connected to the limiting member 511; the knob 53 is rotatably disposed on the lumbar support structure 10 and connected to one end of the two pulling ropes 513 far away from the limiting members 511, and the knob 53 can wind the two pulling ropes 513 when rotating so as to pull the two limiting members 511 to disengage from the limiting holes 315.

The lumbar support structure 10 may be used for supporting the lumbar region of a user, and may be a plate structure, and may be attached to the back of a human body when in use; of course, the lumbar support structure 10 may also be a U-shaped structure including a main body panel 17 and two side panels 19, and the present application does not limit the specific shape structure of the lumbar support structure 10. The leg structure 30 includes a thigh portion 31 and a lower leg portion 33 to be worn by the user's thigh and lower leg, respectively. In order to facilitate wearing, the upper body 311 of the thigh 31 may be provided with a thigh wearing ring 316, and the lower body may be provided with a lower leg wearing ring 331 so as to be worn on the thigh and the lower leg of the human body through the thigh wearing ring 316 and the lower leg wearing ring 331, respectively. In order to facilitate the user's walking rehabilitation training, a driving motor may be provided to drive the lower body 314 of the thigh 31 and the lower leg 33 to rotate relatively. That is, when the user lifts his or her leg, the driving motor can drive the lower section 314 and the lower leg portion 33 to rotate relatively to assist the user in performing the leg lifting action. Since it is prior art to provide a driving motor to drive the rotation of the leg structure 30 to assist the user in performing the walking exercise, it will not be described in detail here. The number of the locking assemblies 51 in the locking mechanism 50 can be set corresponding to the number of the thigh portions 31, that is, one locking assembly 51 can be used for limiting and fixing the upper segment 311 and the lower segment 314 in one thigh portion 31. Specifically, the limiting member 511 of the locking assembly 51 mounted on the upper segment 311 may be a column structure, and may be inserted into the limiting hole 315 of the lower segment 314 under the elastic force of the elastic member 512 (which may be a spring), so as to achieve the limiting fixation between the upper segment 311 and the lower segment 314. The pulling rope 513 and the knob 53 can be used to unlock the position limitation between the upper segment 311 and the lower segment 314, that is, when the knob 53 is rotated, the knob 53 can wind the two pulling ropes 513, and one end of the pulling rope 513, which is far away from the knob 53, is connected to the limiting member 511, so that when the limiting member 511 is pulled to overcome the elastic force of the elastic member 512 and is disengaged from the limiting hole 315, the position limitation between the upper segment 311 and the lower segment 314 is released.

In the use process of the human exoskeleton assisting robot 100 in the technical scheme of the present invention, when the length of the leg structure 30 needs to be adjusted, the knob 53 in the locking mechanism 50 can be directly rotated. The rotating knob 53 can wind up the two pulling ropes 513, and the two pulling ropes 513 can pull the two stoppers 511 of the pulling ropes 513 to disengage from the stopper holes 315 of the lower body 314 of the thigh 31. At this time, the upper segment 311 and the lower segment 314 of the thigh 31 are locked and released, so that the upper segment 311 and the lower segment 314 can be driven to move relatively, and the length of the leg structure 30 can be adjusted to fit the user. After the knob 53 is loosened, the limiting member 511 can be inserted into the corresponding limiting hole 315 on the lower segment 314 again under the elastic force of the elastic member 512, so as to realize the re-limiting fixation between the upper segment 311 and the lower segment 314, and thus the length adjustment of the leg structure 30 of the external skeletal assistance robot 100 can be completed. As can be seen, the human exoskeleton assisting robot 100 in the present embodiment sets the structure for limiting the position between the upper segment 311 and the lower segment 314 of the thigh 31 as the locking assembly 51 including the limiting member 511, the elastic member 512 and the pull rope 513, and the one knob 53, so that when the length of the leg structure 30 is adjusted, the length between the upper segment 311 and the lower segment 314 of the two thigh 31 can be adjusted simultaneously by a simple operation of turning the knob 53, in other words, a one-key rotation operation for adjusting the length of the leg structure 30 is realized. This greatly simplifies the process of telescopic adjustment of the leg structure 30, thereby improving the convenience of use of the human exoskeleton-assisted robot 100. Moreover, what is more important, the locking structure is a mechanical structure, and does not involve electricity or circuits, so that a control module does not need to be correspondingly arranged and the part needs to be powered, the energy consumption of the human exoskeleton assisting robot 100 is reduced, and the energy conservation and environmental protection performance of the human exoskeleton assisting robot 100 is improved.

Referring to fig. 6 to 10 in combination, in an embodiment of the present invention, the human exoskeleton assisting robot 100 further has a front-back direction and a left-right direction perpendicular to the up-down direction, and the two thigh portions 31 are arranged side by side along the left-right direction; each locking assembly 51 further comprises a winding shaft 516 and gears 518, the winding shafts 516 of the two locking assemblies 51 are rotatably arranged at the rear side of the lumbar support structure 10 and are arranged side by side along the left-right direction, the two gears 518 are respectively sleeved on the two winding shafts 516, and the two gears 518 are meshed with each other; one end of each of the two pulling ropes 513, which is away from the limiting member 511, is respectively wound around two winding shafts 516, and the knob 53, when rotating, can drive one of the two winding shafts 516 to rotate, so that the two winding shafts 516 wind the two pulling ropes 513.

In this embodiment, two winding shafts 516 arranged side by side in the left-right direction are arranged at the rear side of the lumbar support structure 10, so that the two winding shafts can be perpendicular to the stretching from the thigh part 31 and the lumbar support structure 10, and then two pull ropes 513 can be conveniently and directly wound on the two winding shafts 516, thereby improving the convenience of arrangement of the pull ropes 513. The two gears 518 are arranged, so that when one knob 53 is arranged, one winding shaft 516 is driven to rotate, and the other winding shaft 516 can also rotate through the meshing transmission of the two gears 518, so that the two pull ropes 513 can be wound.

Referring to fig. 6 to 9, in an embodiment of the present invention, the lumbar support structure 10 is provided with a surrounding cover 11 at the rear side, the surrounding cover 11 covers the winding shaft 516 and the gear 518, and is provided with a thread passing hole 111 for passing the pulling rope 513; one of the two winding shafts 516 is provided with a connecting hole 517, the connecting hole 517 is arranged in a non-circular shape, an avoiding hole 113 is arranged at the position of the surrounding cover 11 corresponding to the connecting hole 517, and the knob 53 penetrates through the avoiding hole 113 and is partially inserted into the connecting hole 517 in an adaptive manner.

In this embodiment, the winding shaft 516 and the gear 518 are covered by the enclosure 11, so that the partial structure can be hidden on the lumbar support structure 10, thereby reducing the possibility of damage to the partial structure by foreign objects and prolonging the service life of the winding assembly. The clearance hole 113 on the enclosure 11 may be larger than the cross-sectional area of the knob 53, so as to facilitate the passing of the knob 53. And connecting hole 517 can be square, rectangle or triangle-shaped etc. and the part that knob 53 inserted in connecting hole 517 also can be corresponding sets up to square, rectangle or triangle-shaped etc. guarantees when rotating knob 53, can drive the rolling axle 516 rotation that corresponds to the realization can to the rolling of stay cord 513.

Referring to fig. 6 and 7, in an embodiment of the present invention, the knob 53 is detachably disposed with the winding shaft 516 having the connection hole 517 and the enclosure 11, and the receiving cavity 13 and the cover plate 15 are disposed on the rear side of the lumbar support structure 10; the containing cavity 13 is provided with an opening, the covering plate 15 covers the opening of the containing cavity 13, one side edge of the covering plate 15 is rotatably connected to the lumbar support structure 10, the other side edge of the covering plate 15 is detachably connected to the lumbar support structure 10, and the knob 53 can be contained in the containing cavity 13 after being separated from the winding shaft 516 and the enclosing cover 11.

In this embodiment, the knob 53 and the take-up reel 516 are provided separately from the enclosure 11 so that the locking assembly 51 can be pulled away from the lumbar support structure 10 without unlocking it with the knob 53. At this time, the cover of the winding shaft 516 is covered by the enclosing cover 11, and the knob 53 is detachably arranged, so that the possibility of safety accidents caused by unlocking the locking assembly 51 due to mistaken collision of the knob 53 can be reduced. That is, the arrangement of the enclosure 11 and the detachable arrangement of the knob 53 can improve the safety of the human exoskeleton assisting robot 100 during use. And the arrangement of the storage cavity 13 and the cover plate 15 enables the removed knob 53 to be conveniently arranged at the place, thereby avoiding the possibility of loss.

Referring to fig. 6 and 7, in an embodiment of the present invention, the side of the cover plate 15 away from the lumbar support structure 10 is magnetically fixed to the lumbar support structure 10, and the side of the cover plate 15 away from the lumbar support structure 10 is provided with a pull ring 151.

In this embodiment, one side of the cover plate 15 is configured to be magnetically fixed, that is, magnets capable of attracting each other are disposed on the cover plate 15 and the lumbar support structure 10 for fixing. At this time, the connection between the cover plate 15 and the lumbar support structure 10 is simple, and the pull ring 151 is further provided, so that the cover plate 15 can be opened by directly pulling the pull ring 151, thereby facilitating the improvement of the convenience of opening the cover plate 15, and further improving the convenience of using the human exoskeleton assisting robot 100.

Referring to fig. 6 to 9, in an embodiment of the present invention, the locking mechanism 50 further includes a pawl 55, the pawl 55 is disposed in the enclosure 11, and one end of the pawl 55 is rotatably disposed at the rear side of the lumbar support structure 10, and the other end of the pawl 55 abuts against a gear 518 on a winding shaft 516 that can be driven by the knob 53, so as to block the gear 518 from rotating along the rotation direction of the winding shaft 516 when releasing the pulling rope 513; the pawl 55 is connected with a poke rod 551, the enclosing cover 11 is also provided with a sliding chute 115 for the poke rod 551 to pass through, and when the poke rod 551 is acted by external force and slides along the sliding chute 115, the pawl 55 can be separated from the gear 518.

In this embodiment, the pawl 55 is arranged to limit the rotation of the winding shaft 516 driven by the knob 53, so that the winding shaft 516 is still not driven by the elastic element 512 to release the pull rope 513 when the force of the knob 53 is removed. That is, the exoskeleton robot can be stably unlocked, and in this state, people do not need to hold the knob 53 for limiting, and people can drive the upper segment 311 and the lower segment 314 of the thigh 31 to perform the relative movement adjustment, so that the exoskeleton robot 100 can be conveniently used. After the position is adjusted to the right position, the deflector rod is directly shifted, so that the pawl 55 and the gear 518 are separated, the winding shaft 516 can be in a free rotation state, and the limiting piece 511 at the moment can be quickly reset under the action of the elastic piece 512 and inserted into the corresponding limiting hole 315. The knob 53 may be removed and stored in the storage chamber 13.

Referring to fig. 3 to fig. 5, in an embodiment of the present invention, two opposite sides of the lower segment 314 are respectively provided with two limiting holes 315, the number of the limiting members 511 and the elastic members 512 in each locking assembly 51 is two, the two limiting members 511 are disposed on the upper segment 311 in an opposite manner, and each elastic member 512 is disposed corresponding to one limiting member 511; the pulling rope 513 in each locking assembly 51 comprises two front branch sections 514 and a rear confluence section 515, one end of each of the two front branch sections 514 is connected to one end of each of the two limiting members 511, the other end of each of the two front branch sections is connected to one end of the rear confluence section 515, and one end of the rear confluence section 515, which is far away from the front branch sections 514, is connected to the knob 53.

In this embodiment, the number of the limiting members 511 and the number of the elastic members 512 are two, so that the two elastic members 512 which are oppositely arranged can drive the limiting members 511 to be inserted into the limiting holes 315 on two sides of the lower segment body 314, and further, the upper segment body 311 and the lower segment body 314 can be limited on two opposite sides, so that the stability of limiting between the upper segment body 311 and the lower segment body 314 is improved, and the safety of using the human exoskeleton assisting robot 100 is improved. And the pulling rope 513 comprises two front branch sections 514 and one rear converging section 515, so that the number of the pulling rope 513 can still be set to be relatively small, and the subsequent winding and releasing on the winding shaft 516 are convenient, and the stability of the stretching winding and releasing is improved.

In one embodiment of the present invention, the lumbar support structure 10 includes a main body panel 17 and two side panels 19, wherein the two side panels 19 are respectively connected to the main body panel 17 and extend along the same side of the main body panel 17; the upper ends of the two upper sections 311 are rotatably connected to the two side plates 19, respectively, and the knob 53 is rotatably connected to the side of the main body plate 17 away from the two side plates 19; the upper segment 311 is provided with at least two rotatable guide wheels 312, wherein the two guide wheels 312 are arranged side by side and are both located below a connecting shaft 313 rotatably connected with the upper segment 311 and the side plate 19, one ends of the two front branch segments 514 far away from the limiting member 511 are respectively wound around the two guide wheels 312 and are oppositely arranged to be connected with the rear confluence segment 515, and the rear confluence segment 515 is wound around the connecting shaft 313 and then is connected with the knob 53.

In the present embodiment, the lumbar support structure 10 is provided with a main body plate 17 and two side plates 19, which can be formed into a U-shaped structure, so as to be worn more appropriately. Also, such an arrangement may facilitate the arrangement of the pulling rope 513. And furthermore, two guide wheels 312 are arranged on the upper section body 311, and the pull rope 513 is guided and arranged by the connecting shaft 313, so that the arrangement regularity of the pull rope 513 can be further improved, and the subsequent pull rope 513 can be orderly and stably wound and released. In order to further reduce the wear on the pulling rope 513, a rotatable rotating ring may be sleeved on the connecting shaft 313, and the pulling rope 513 may be wound around the rotating ring when passing through the region where the connecting shaft 313 is located.

In an embodiment of the present invention, the two front branch sections 514 and the rear junction section 515 are integrally disposed, and both are externally sleeved with an abrasion resistant layer.

In this embodiment, the two front branch sections 514 and the rear bus bar section 515 of the pulling rope 513 are provided as an integral structure, so that the overall strength of the pulling rope 513 can be improved, and the stability during operation can be further improved. And the outer side of the stretching is sleeved with a wear-resistant layer, so that the possibility that the pulling rope 513 is damaged in work can be reduced.

In one embodiment of the invention, the inner side of the main body plate 17 is provided with a flexible pad.

In this embodiment, the flexible pad is disposed on the inner side of the main body plate 17, so that the flexible pad can be in flexible contact with the human body, thereby reducing the possibility of damage to the human body. Further, a movable plate can be disposed on the inner side of the main body plate 17, and the movable plate can rotate around an axis parallel to the up-down direction, so that the waist of the human body can be changed during the walking rehabilitation training process, and the injury to the waist of the human body can be further reduced. At this time, a flexible pad may be provided to a side of the movable plate facing away from the main body plate 17.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A human exoskeleton-assisted robot, comprising:

a lumbar support structure;

the leg structure comprises thighs and lower legs, the upper ends of the two thighs are rotatably connected to the waist supporting structure, and the upper ends of the two lower legs are rotatably connected to the lower ends of the thighs; the thigh part comprises an upper section body and a lower section body, the upper section body is movably sleeved on the lower section body, and the lower section body is provided with a plurality of limiting holes which are sequentially distributed along the vertical direction; and

2. The human exoskeleton assistance robot as claimed in claim 1 wherein said human exoskeleton assistance robot is further defined to have a front-back direction and a left-right direction perpendicular to the up-down direction, and two of said thigh portions are arranged side by side in the left-right direction;

one end, far away from the limiting part, of each of the two pull ropes is wound on the two winding shafts respectively, and the knob can drive one of the two winding shafts to rotate when rotating, so that the two winding shafts can wind the two pull ropes.

3. The human exoskeleton assistance robot as claimed in claim 2 wherein a rear side of the lumbar support structure is provided with a containment cover covering the take-up reel and the gear and provided with a thread through hole for the pull rope to pass through;

4. The human exoskeleton robot as claimed in claim 3, wherein the knob is detachably disposed to the winding shaft and the enclosure with the connection hole, and the back side of the lumbar support structure is further provided with a receiving cavity and a cover plate;

5. The human exoskeleton robot as claimed in claim 4 wherein said cover plate is magnetically attached to a side of said lumbar support structure remote from said side of said cover plate pivotally connected to said lumbar support structure, and wherein said cover plate is provided with a pull ring on a side of said cover plate remote from said lumbar support structure.

6. The human exoskeleton robot as claimed in claim 3 wherein said locking mechanism further comprises a pawl disposed in said enclosure and having one end rotatably disposed at the rear side of said lumbar support structure and the other end abutting against said gear on said take-up shaft which is driven by said knob to block rotation of said gear in the direction of rotation of said take-up shaft when said pull cord is released;

7. The human exoskeleton robot as claimed in any one of claims 1 to 6 wherein the lower segment has two holes for limiting, and each of the locking assemblies has two limiting members and two elastic members, the two limiting members are disposed on the upper segment oppositely, and each of the elastic members is disposed corresponding to one of the limiting members;

the pull rope in each locking assembly comprises two front branch sections and a rear confluence section, one end of each front branch section is connected to one end of each limiting piece, the other end of each front branch section is connected to one end of each rear confluence section, and one end, far away from the front branch sections, of each rear confluence section is connected to the knob.

8. The human exoskeleton assistance robot as claimed in claim 7 wherein said lumbar support structure comprises a body plate and two side plates, each of said side plates being attached to said body plate and extending along a same side of said body plate;

9. The human exoskeleton robot as claimed in claim 8 wherein the two front branch sections and the rear convergence section are integrally formed and each is externally sleeved with a wear layer.

10. The human exoskeleton assistance robot as claimed in claim 8 wherein the inner side of the main body plate is provided with a flexible pad.