CN209504112U - Gimbal suspension, movable component and exoskeleton robot - Google Patents

Abstract

This application discloses a kind of gimbal suspension, movable component and exoskeleton robots.Gimbal suspension includes the first connector, the second connector and movable part, first connector can be used for connecting with the second connector, the first end of movable part is restricted in the first connector, the second end of movable part is restricted in the second connector, and movable part can and deflection mobile relative to the first connector and the second connector.It can be connected with each other by the first connector and the second connector, gimbal suspension provided by the present application has preferable dismoutability and independent assortment ability.

Description

Gimbal suspension, movable component and exoskeleton robot

Technical field

This application involves wearable device technical fields, more particularly to a kind of gimbal suspension, movable component and ectoskeleton Robot.

Background technique

The normal person with normal limbs action at work, often may require that moving very heavy thing carries out Operation, the cooperation for being highly desirable to external force at this time mitigate the burden of physical strength.Or in field of medical rehabilitation, patient need external force assist into Row rehabilitation training.It is existing to solve the above problems frequently with exoskeleton robot.

But the upper limb component of exoskeleton robot on the market has biggish freedom degree with respect to body at present, and existing is upper Limb component and the connecting component dismoutability of robot body are poor, and the ability of independent assortment is weaker.

Utility model content

The application provides a kind of gimbal suspension, movable component and exoskeleton robot, solve connecting component dismoutability it is poor, The weaker problem of independent assortment ability.

In order to solve the above technical problems, the technical solution that the application uses is: providing a kind of gimbal suspension.Universal pass Section includes the first connector, the second connector and movable part, and the first connector can be used for connecting with the second connector, movable part First end is restricted in the first connector, and the second end of movable part is restricted in the second connector, and movable part can be opposite First connector and the movement of the second connector and deflection.

In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of movable component.The work Dynamic component includes multiple sequentially connected such as above-mentioned gimbal suspension.

In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of exoskeleton robot. The exoskeleton robot includes such as above-mentioned movable component.

The beneficial effect of the application is: being in contrast to the prior art, this application discloses a kind of gimbal suspensions, activity Component and exoskeleton robot.By the way that sequentially connected first connector, movable part and the second connector is arranged, and movable part can Relative to the first connector, the second connector is mobile and deflects, and then gimbal suspension has preferable freedom degree, while the first connection Part can also be connect with the second connector, and then multiple gimbal suspensions can be freely combined and be connected with each other, so that gimbal suspension With preferable dismoutability and independent assortment ability.

Detailed description of the invention

In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings, wherein

Fig. 1 is the structural schematic diagram of one embodiment of exoskeleton robot provided by the present application；

Fig. 2 is the structural schematic diagram of lower limb mechanism in Fig. 1；

Fig. 3 is the structural schematic diagram of limb mechanism of upper in Fig. 1；

Fig. 4 is the structural schematic diagram of Backpack in Fig. 1；

Fig. 5 is the structural schematic diagram of gimbal suspension in Fig. 4；

Fig. 6 is the configuration schematic diagram of gimbal suspension in Fig. 5；

Fig. 7 is another structural schematic diagram of movable part in Fig. 5 gimbal suspension；

Fig. 8 is the configuration schematic diagram of Tu2Zhong ankle mechanism；

Fig. 9 is another visual angle partial structural diagram of Tu8Zhong ankle mechanism；

Figure 10 is the structural schematic diagram of sole in Fig. 2；

Figure 11 is the configuration schematic diagram of driving joint in Fig. 2；

Figure 12 is the structural schematic diagram of clamping element in Figure 11 driving joint；

Figure 13 is the structural schematic diagram of plug connector in Figure 11 driving joint；

Figure 14 is the configuration schematic diagram of the second largest leg piece, driving joint and small leg piece in Fig. 2.

Specific embodiment

Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete Site preparation description, it is clear that described embodiment is only a part of the embodiment of the application, instead of all the embodiments.It is based on Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall in the protection scope of this application.

Term " first ", " second ", " third " in the embodiment of the present application are used for description purposes only, and should not be understood as referring to Show or imply relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " are defined as a result, Two ", the feature of " third " can explicitly or implicitly include at least one of the features.In the description of the present application, " multiples' " It is meant that at least two, such as two, three etc., unless otherwise specifically defined.In addition, term " includes " and " having " And their any deformations, it is intended that cover and non-exclusive include.Such as contain the process of a series of steps or units, side Method, system, product or equipment are not limited to listed step or unit, but optionally further comprising the step of not listing Or unit, or optionally further comprising other step or units intrinsic for these process, methods, product or equipment.

Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments It is contained at least one embodiment of the application.Each position in the description occur the phrase might not each mean it is identical Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and Implicitly understand, embodiment described herein can be combined with other embodiments.

Refering to fig. 1, Fig. 1 is the structural schematic diagram of one embodiment of exoskeleton robot provided by the present application.

Exoskeleton robot 100 can be used for assisting human body carrying heavy goods and walking, reduce the burden of physical strength.Alternatively, dermoskeleton Bone robot 100 can also be used in the movement such as physical disabilities' walking, carry an object, or auxiliary Rehabilitation.

Exoskeleton robot 100 includes lower limb mechanism 10, limb mechanism of upper 20 and Backpack 30, lower limb mechanism 10 and upper limb Mechanism 20 is connect with Backpack 30.

The quantity of lower limb mechanism 10 can be one, to correspond to the left leg or right leg of human body, assist the defective left side of human body Leg or the walking of right leg.Alternatively, the quantity of lower limb mechanism 10 is two, corresponding to the left leg and right leg of human body, and then people can be assisted The defective left leg of body and the walking of right leg, or human body walking is assisted in human body carrying heavy goods, to save physical strength.

The quantity of limb mechanism of upper 20 can be one, and to correspond to the left arm or right arm of human body, auxiliary human body is defective Left arm or right arm movement.Alternatively, the quantity of limb mechanism of upper 20 is two, corresponding to the left arm and right arm of human body, And then the defective left arm of human body and right arm can be assisted to move, such as auxiliary human body carrying heavy goods.

The application is described so that the quantity of limb mechanism of upper 20 and lower limb mechanism 10 is two as an example.

Referring to Fig.2, lower limb mechanism 10 includes big leg assembly 11, small leg piece 13 and driving joint 15, big leg assembly 11 and small Leg piece 13 is rotatablely connected by driving joint 15.

Refering to Fig. 3, limb mechanism of upper 20 includes upper arm 21, forearm 23 and driving joint 15, and upper arm 21 and forearm 23 pass through biography Movable joint 15 is rotatablely connected.

Refering to Fig. 4, Backpack 30 include knapsack plate 31 and multiple driving mechanisms 33, big leg assembly 11 also with knapsack plate 31 Connection, upper arm 21 are connect by movable component 22 with knapsack plate 31, and multiple driving mechanisms 33 are set on knapsack plate 31, and are driven Mechanism 33 drives corresponding driving joint 15 to rotate by transmission rope 34, to drive corresponding limb mechanism of upper 20 or lower limb mechanism 10 Movement.

That is one limb mechanism of upper 20 of corresponding driving of driving mechanism 33 or a lower limb mechanism 10.

For example, two driving mechanism 33 driven, two lower limb mechanisms 10 are to human leg's power-assisted when human body walking；If Carrying heavy goods, two driving mechanisms 33 in addition also drive corresponding two limb mechanism of upper 20 to human arm power-assisted to remove simultaneously Transport weight.

Refering to fig. 4 to fig. 6, movable component 22 includes multiple sequentially connected gimbal suspensions 220, and gimbal suspension 220 includes First connector 221, the second connector 223 and movable part 225, the first connector 221 are connect with the second connector 223, activity One end of part 225 is restricted in the first connector 221, and the other end of movable part 225 can be restricted to the second connector 223 Interior and then adjacent gimbal suspension 220 can be relatively moved and be deflected.

Specifically, the first connector 221 is equipped with the first limiting slot 2210, offers first on 2210 bottom wall of the first limiting slot Through-hole, the first end of movable part 225 pass through first through hole backstop on the bottom wall of the first limiting slot 2210 and can be in the first limit It moves and deflects in slot 2210；Second connector 223 is equipped with the second limiting slot 2230, offers on 2230 bottom wall of the second limiting slot Second through-hole；The second end of movable part 225 passes through the second through-hole backstop on the bottom wall of the second limiting slot 2230 and can be second It moves and deflects in limiting slot 2230.

In one embodiment, movable part 225 includes connecting column 2250, the first connected ball 2251 and the second connected ball 2252, the first connected ball 2251 and the second connected ball 2252 are connected to the both ends of connecting column 2250.

Wherein, the size of connecting column 2250 is less than the size of first through hole and the second through-hole, the ruler of the first connected ball 2251 The very little size greater than first through hole, the size of the second connected ball 2252 is greater than the size of the second through-hole, and then connecting column 2250 can Across first through hole and the second through-hole, the first connected ball 2251 can backstop on the bottom wall of the first limiting slot 2210, the second connection Ball 2252 can backstop on the bottom wall of the second limiting slot 2230.

First connected ball 2251 can move in the first limiting slot 2210, and the second connected ball 2252 can be in the second limiting slot It is moved in 2230, and connecting column 2250 can be deflected relative to the first connector 221 and the second connector 223 and rotation, and then activity Part 225 can be relative to the first connector 221, the movement of the second connector 223 and deflection.

Refering to Fig. 7, in another embodiment, movable part 225 includes backstop disk 2254, transition piece 2255 and barb member 2256, the transiting rod 2257 and transition disc 2258 of transition piece 2255 including integral structure, transiting rod 2257 pass through first through hole with Backstop disk 2254 connects, and the diameter of backstop disk 2254 is greater than the diameter of first through hole, so backstop disk 2254 can backstop in first On the bottom wall of limiting slot 2210, barb member 2256 passes through the second through-hole and connect with transition disc 2258, and barb member 2256 includes fastener Platform 2259, fastener platform 2259 can backstop on the bottom wall of the second limiting slot 2230.

First connector 221 include the first connecting plate 2212, the second connector 223 include the second connecting plate 2232, first Connecting hole is correspondingly provided on connecting plate 2212 and the second connecting plate 2232, the first connecting plate 2212 and the second connecting plate 2232 pass through Connecting hole contraposition connection.

The first connector 221 on two adjacent gimbal suspensions 220 is connect with the second connector 223, thus formation activity group Part 22, so that movable component 22 has good flexibility, after upper limb component 20 is worn on arm, limb mechanism of upper 20 can be with people Body shoulder is brandished to any direction.

Referring again to Fig. 3, Fig. 4, forearm 23 is equipped with the first tension and compression force detection sensor 24, and upper arm 21 is equipped with elbow joint Angular transducer 25, Angle of Elbow Joint sensor 25 are used to detect rotational angle between forearm 23 and upper arm 21, on knapsack plate 31 It is additionally provided with controller 35, controller 35 obtains the movement of upper limb according to the data information detected of Angle of Elbow Joint sensor 25 State, and the motion intention of upper limb is obtained according to the data information detected of the first pull pressure sensor 24, and control accordingly Driving mechanism 33 drives corresponding driving joint 15 to rotate, with power-assisted upper extremity exercise.

Upper arm 21, which can correspond to, is worn on human body last arm, and forearm 23 can be clothed on the forearm of human body by correspondence, upper arm 21 The elbow joint of arm is corresponded to at the rotation connection of forearm 23.For example, by using splicing tape is connected on upper arm 21, forearm 23, it is bonded Band can fix upper arm 21, the arm segments corresponding with human body of forearm 23.

Forearm 23 relative to upper arm 21 rotate when, 25 moment of Angle of Elbow Joint sensor detect and feed back forearm 23 relatively on The rotation data of arm 21, so that controller 35 can obtain the motion state of human upper limb, the i.e. relative position of forearm 23 and upper arm 21 Relationship.When forearm 23 rotates close to upper arm 21, the first tension and compression force detection sensor 24, the first tension and compression force detection sensor are triggered 24 detect pressure, and controller 35 judges the intention that forearm 23 has opposite upper arm 21 to shrink, corresponding driving mechanism 33 accordingly The driving joint 15 of elbow joint is driven to rotate, so that forearm 23 is shunk with respect to upper arm 21.And controller 35 can also be according to inspection The contraction rate of the opposite upper arm 21 of pressure size control forearm 23 measured, such as the first tension and compression force detection sensor 24 detect Pressure reducing, controller 35 control forearm 23 contraction rate reduce；When the pressure detected is zero, controller 35 is controlled Driving mechanism 33 processed stops driving.

When the first tension and compression force detection sensor 24 detects pulling force, controller 35 judges that forearm 23 has on relatively accordingly The intention that arm 21 stretches, corresponding driving mechanism 33 drives the driving joint 15 of elbow joint to rotate backward, so that forearm 23 Opposite upper arm 21 stretches.And controller 35 can also be fast with respect to the stretching, extension of upper arm 21 according to the pulling force size control forearm 23 detected Rate, such as the pulling force that the first tension and compression force detection sensor 24 detects are reducing, and controller 35 controls the stretching, extension rate of forearm 23 Reduce；When the pulling force detected is zero, controller 35 controls driving mechanism 33 and stops driving.

Controller 35 combines the motion state of the forearm 23 and upper arm 21 that detect simultaneously, is limited by regulation driving mechanism 33 The slewing area of the opposite upper arm 21 of forearm processed 23, and then it is excessive with respect to the slewing area of upper arm 21 and injure people to can avoid forearm 23 Body arm.

In another embodiment, the pressure of the first tension and compression force detection sensor 24 detection, which corresponds to forearm 23, opposite upper arm The intention of 21 stretching, extensions, the pulling force of the first tension and compression force detection sensor 24 detection correspond to the meaning that forearm 23 has opposite upper arm 21 to shrink Figure.

In another embodiment, lower limb mechanism 10 uses detection control means identical with limb mechanism of upper 20, regulates and controls small The relatively large leg assembly 11 of leg piece 13 rotation, with power-assisted human leg movement.

Referring again to Fig. 2, in the present embodiment, lower limb mechanism 10 further includes shoe components 17, and shoe components 17 include sole Plate 170 and ankle mechanism 172, ankle mechanism 172 are connected between sole 170 and small leg piece 13, so that sole 170 can phase Small leg piece 13 is rotated, to adapt to human body when walking, angle change of the foot with respect to human calf.

Refering to Fig. 8, Fig. 9, specifically, ankle mechanism 172 includes ankle block 173 and ankle part 174, ankle block 173 and shoes Bottom plate 170 is fixedly connected, and ankle part 174 is connect with small leg piece 13, and ankle block 173 connect with ankle part 174 and can opposite ankle Part 174 rotates.

It is set in ankle block 173 there are two elastic component 176, two elastic components 176 are respectively connected to the opposite of ankle part 174 One end, elastic component 176 are used to buffer pressure when ankle part 174 is rotated relative to ankle block 173.

Ankle part 174 includes plug division 175, and ankle block 173 is equipped with inserting groove 1730, and inserting groove is inserted into plug division 175 1730, and plug division 175 can be swung in inserting groove 1730, two elastic components 176 are respectively connected to opposite one in plug division 175 End.

Ankle mechanism 172 further includes fixing piece 1732, and fixing piece 1732 is used to plug division 175 being limited in inserting groove 1730 It is interior, so that plug division 175 is swung in inserting groove 1730 around fixing piece 1732.Fixing piece 1732 is, for example, screw, pin etc..

The pilot hole 1733 to match with elastic component 176, pilot hole 1733 and inserting groove 1730 are equipped in ankle block 173 One end communicates, and the bottom end of pilot hole 1733 is additionally provided with abutment 1734, and abutment 1734 is used to elastic component 176 being limited in assembly In hole 1733.

Optionally, elastic component 176 is pressure spring.

Refering to Fig. 2, Figure 10, sole 170 is equipped with press detection sensor 177, and big leg assembly 11 is equipped with knee joint Angular transducer 113, knee joint angle sensor 113 is used to detect the rotational angle between small leg piece 13 and big leg assembly 11, small Leg piece 13 is equipped with the second tension and compression force detection sensor 130, is additionally provided with controller 35 on knapsack plate 31, controller 35 is according to knee Joint angles sensor 113 and the data information detected of press detection sensor 177 obtain the motion state of lower limb, Yi Jigen The motion intention of lower limb is obtained according to the data information detected of the second pull pressure sensor 130, and controls driving mechanism 33 accordingly Driving joint 15 is driven to rotate, with power-assisted lower extremity movement.

Specifically, refering to fig. 10, at the tiptoe of sole 170 at 1701, heel 1702 and bipod side at 1703 be equipped with Press detection sensor 177, when controller 35 judges the difference of walking according to the data detected of press detection sensor 177 Phase.When standing, at heel 1702 and bipod side at 1703 bear human bodies most of weight, and then this several place pressure detecting pass The pressure value that sensor 177 detects is greater than at tiptoe 1701 pressure value detected of press detection sensor 177.Walking When, at tiptoe 1701 and bipod side at the 1703 most of weight for being primarily subjected to human body, and the sole 170 of two sides intersect by Power.In turn, controller 35 can judge the state of human body lower limbs according to the pressure detecting numerical value on sole 170, for example, walking or Stand etc..

Referring again to Fig. 2, Fig. 8 and Figure 10, it is connected with leg guard 14 in small leg piece 13, the second drawing is connected on leg guard 14 Press detection sensor 130, so that shank touches the second tension and compression force detection sensor 130 during exercise.I.e. small leg piece 13 is opposite When big leg assembly 11 is shunk, the second tension and compression force detection sensor 130 detects the pulling force that human calf generates it；Small leg piece 13 When relatively large leg assembly 11 stretches, the second tension and compression force detection sensor 130 detects the pressure that human calf generates it.To When human calf will shrink or stretch, by feeding back to the pulling force or pressure data of the second tension and compression force detection sensor 130, Controller 35 would know that the motion intention of human body lower limbs, so control driving mechanism 33 drive corresponding driving joint 15 rotate forward or Reversion, with the movement of power-assisted human body lower limbs.

Big leg assembly 11 includes the first big leg piece 110 and the second largest leg piece 112, the first big leg piece 110 and the second largest leg piece 112 rotation connections, the first big leg piece 110 are fixedly connected with knapsack plate 31.In the present embodiment, the first big leg piece 110 and knapsack plate 31 vertical connections, to form the space dressed for human body.

Further, ankle mechanism 172 is equipped with ankle joint angle sensor 178, and ankle joint angle sensor 178 is used for Detect the rotational angle between sole 170 and small leg piece 13.First big leg piece 110 is equipped with Hip Angle sensor 111, hip Joint angles sensor 111 is used to detect the rotational angle between the second largest leg piece 112 and the first big leg piece 110.Controller 35 The movement of lower limb is further determined according to ankle joint angle sensor 178 and the data detected of Hip Angle sensor 111 State.

And then Hip Angle sensor 111, knee joint angle sensor 113, ankle joint angle sensor 178 and pressure The data detected of detection sensor 177, which go out, passes to controller 35, and controller 35 can obtain the fortune of human body lower limbs accordingly in turn Dynamic state, for example, when walking shank shrink, walking when the states such as toe raise or standing, and according to the second pull pressure sensor The acquisition of 130 pairs of pressures determines the motion intention of human body lower limbs, and then controls driving mechanism 33 and drive corresponding driving joint 15, with the movement of power-assisted human body lower limbs.

Refering to fig. 11 to Figure 13, driving joint 15 includes two clamping elements 150 interconnected, two 150 phases of clamping element Pair side be equipped with cabling channel 151, the outer peripheral surface of clamping element 150 is equipped with winding slot 152, and the outer peripheral surface of clamping element 150 is equipped with Opening 159,159 connection cabling channels 151 and winding slot 152 of opening can be separately connected transmission rope 34 on two clamping elements 150, and two It is additionally provided with gasket 153 between a clamping element 150, two transmission ropes 34 are isolated, transmission rope 34 is wrapped in coiling through cabling channel 151 On slot 152, two transmission ropes 34 on corresponding clamping element 150 around on the contrary, driving mechanism 33 drives correspondence forward or reverse Clamping element 150 rotate, and then drive driving joint 15 forward or reverse.

One driving joint 15 has been correspondingly connected with two transmission ropes 34, respectively drives driving joint 15 and rotates and reverse.Two Transmission rope 34 along corresponding cabling channel 151 trend also on the contrary, transmission rope 34 is fixed on clamping element 150, go out along cabling channel 151 It is wound on clamping element 150 from clamping element 150 and along winding slot 152.

Cabling channel 151 is easement curve shape comprising sequentially connected multistage wire casing 1510 is wherein at least a pair of adjacent Wire casing forms S shape, in order to the deflecting in cabling channel 151 of transmission rope 34.The road strength of cabling channel 151 is jumped by multiple radians, Clamping element 150 is left around the edge of clamping element 150, the groove width of cabling channel 151 is identical as the diameter of transmission rope 34, to increase biography Frictional force between running rope 34 and cabling channel 151 prevents transmission rope 34 from falling off.

When two clamping elements 150 connect, the opening 159 on two clamping elements 150 is mutually staggered, and then can be staggered by it Distance limitation driving joint 15 slewing area, the slewing area to avoid driving joint 15 is excessive and causes to hurt to human body Evil.

Driving joint 15 further includes plug connector 156, and two clamping elements 150 are connected with each other the grafting to limit plug connector 156 Part 156 is used for fixed conveyor rope 34.

Specifically, two connections of clamping element 150 are to limit two plug connectors 156, and then one end of transmission rope 34 is inserted Fitting 156 is fixed in driving joint 15.The quantity of plug connector 156 is two, and correspondence fixes two transmission ropes 34.

Clamping element 150 is equipped with the first slot 154 and the second slot 155, the first slot on one of clamping element 150 154 align setting with the second slot 155 on another clamping element 150, and the both ends correspondence of plug connector 156 is plugged in the first slot 154 and second in slot 155.

Plug connector 156 includes grafting main body 1560, and grafting main body 1560 is equipped with first through hole 1561, grafting main body 1560 One end be equipped with groove 1562, the trend of groove 1562 moves towards identical with first through hole 1561, two plug connectors 156 it is opposite two The first slot 151 and the second slot 155 being plugged on a clamping element 150 respectively are held, so that groove 1562 and first through hole 1561 alignments.Grafting main body 1560 is, for example, cylindrical body, and first through hole 1561 is located at the middle part of cylindrical body and is radially arranged. Alternatively, grafting main body 1560 is prism, the vertical setting of two parallel sides along prism of first through hole 1561.

Transmission rope 34 is wirerope, and one end of transmission rope 34 is placed in groove 1562 and first through hole 1561, is driven later 34 bending of rope enters cabling channel 151, and stretches out after cabling channel more than 151 times bendings from opening 159, to utilize wirerope itself Toughness, the frictional force after bending between cabling channel 151 increases, and then is locked in plug connector 156 and cabling channel 151 certainly.

Further, the other end of grafting main body 1560 is connected to first through hole along counterbore 1563, counterbore 1563 is axially arranged with 1561, the position of corresponding first slot 154 is equipped with the second through-hole 1540 on clamping element 150, is additionally provided with fastening on driving joint 15 Part, fastener and the second through-hole 1540 cooperate to be connected on transmission rope 34 by counterbore 1563, to further fix transmission rope 34.For example, fastener is positioning pin.

Below by taking the joint assembly of the second largest leg piece 112, driving joint 15 and small leg piece 13 composition as an example, it is discussed in detail Connection structure.

1, Figure 14 refering to fig. 1, the side that two clamping elements 150 mutually deviate from are equipped with positioning column 157, the end of small leg piece 13 Two sides are respectively connected with the first mounting plate 132, and positioning column 157 is plugged in the first mounting hole on the first mounting plate 132, Jin Erchuan The relatively small leg piece 13 of movable joint 15 is fixed, and driving joint 15 is able to drive small leg piece 13 and rotates.The end pair of the second largest leg piece 112 Two sides are answered to be connected with the second mounting plate 114, the second mounting plate 114 is correspondingly provided with the second mounting hole, and positioning column 157 also projects into In second mounting hole.

Positioning column 157 is, for example, semicircular pillar, notched circular columns or rhombus column, the shape and positioning of the first mounting hole The shape of column 157 is identical, and the second mounting hole is Yu Yuankong, and diameter is identical as the largest cross-sectional sized of positioning column 157, Jin Erbao Small leg piece 13 is demonstrate,proved to rotate relative to the second largest leg piece 112 without sliding.

In the present embodiment, driving joint 15 further includes end cap 158, and end cap 158 is plugged on positioning column 157 and can be placed in In second mounting hole, to avoid 114 CONTACT WITH FRICTION of positioning column 157 and the second mounting plate.

Further, the first mounting plate 132 is equipped with arc limit slot 133, is connected with limited post on the second mounting plate 114 116, when the first mounting plate 132 and the contraposition of the second mounting plate 114 are installed, limited post 116 is inserted into limiting slot 133, and then from knot The slewing area that the relatively second largest leg piece 112 of shank part 13 is limited on structure prevents small leg piece 13 from rotating excessive injury limbs.

Multiple limit buckles 115 are provided in the second largest leg piece 112, transmission rope 34 passes through multiple limit buckles 115 and closes with transmission 15 connection of section.Further, 34 outside of transmission rope is also arranged with sheath, to reduce transmission rope 34 and limit buckle 115, the second thigh The friction of part 112, and support is provided to the drive path of transmission rope 34.

Optionally, knee joint angle sensor 113 is magnetic angular sensor, is also equipped in one of end cap 158 Magnet, and then knee joint angle sensor 113 is connected on the corresponding position of the second mounting plate 114, to detect magnet with respect to knee The changes of magnetic field situation of joint angles sensor 113, and then measure the rotational angle of the relatively second largest leg piece 112 of small leg piece 13. The end cap 117 that the end cap 158 of the other side is also connected on the second mounting plate 114 is blocked.

The connection structure of the above-mentioned second largest leg piece 112, driving joint 15 and small leg piece 13 is equally applicable to upper arm 21, forearm 23 and driving joint 15 connection structure.

Optionally, it is provided with driving joint 15 between the first big leg piece 110 and the second largest leg piece 112, and then can be to human body Thigh carries out assist exercise.

Optionally, driving joint 15 is set between ankle block and ankle part, to carry out power-assisted to human ankle.

Optionally, controller 35 includes information collection plate and host computer, and information collection plate obtains the original number of each sensor It is handled to obtain angle information, pressure information etc. according to and to initial data, and angle information, pressure information is passed to upper Machine, and then host computer obtains human upper limb, the motion state of lower limb, motion intention, instructs sending to driving mechanism 33, with right The corresponding limb action of human body carries out power-assisted.

Optionally, controller 35 can also be computer, possess data-handling capacity and logic judgment ability, achievable The movement that above controller is completed.

Optionally, driving mechanism 33 includes parcel motor and speed reducer, and transmission rope 34 is connect with speed reducer, parcel motor Power is exported through speed reducer, and is transmitted to driving joint 15 by transmission rope 34.

Optionally, driving mechanism 33 is servo motor.

By the way that sequentially connected first connector, movable part and the second connector is arranged, and movable part can connect with respect to first Fitting, the second connector be mobile and deflection, and then gimbal suspension has a preferable freedom degree, while the first connector can also be with The connection of second connector, and then multiple gimbal suspensions can be freely combined and be connected with each other, so that gimbal suspension has preferably Dismoutability and independent assortment ability.

Above is only an example of the present application, it is not intended to limit the scope of the patents of the application, it is all to utilize this Shen Please equivalent structure or equivalent flow shift made by specification and accompanying drawing content, be applied directly or indirectly in other relevant skills Art field similarly includes in the scope of patent protection of the application.

Claims (10)

1. a kind of gimbal suspension, which is characterized in that the gimbal suspension includes the first connector, the second connector and movable part, First connector can be used for connecting with second connector, and the first end of the movable part is restricted to described first and connects In fitting, the second end of the movable part is restricted in the second connector, and the movable part can relatively described first connection Part and second connector movement and deflection.

2. gimbal suspension according to claim 1, which is characterized in that first connector is equipped with the first limiting slot, institute The bottom wall for stating the first limiting slot is equipped with first through hole, and the first end of the movable part passes through the first through hole backstop in described On the bottom wall of first limiting slot and it can move and deflect in first limiting slot；

Second connector is equipped with the second limiting slot, and the bottom wall of second limiting slot is equipped with the second through-hole, the activity The second end of part passes through the second through-hole backstop on the bottom wall of second limiting slot and can be in second limiting slot Mobile and deflection.

3. gimbal suspension according to claim 2, which is characterized in that the movable part includes connecting column, the first connected ball With the second connected ball, first connected ball and second connected ball are connected to the both ends of the connecting column, the company Connecing column may pass through the first through hole and second through-hole, and first connected ball is for backstop in first limiting slot On bottom wall, second connected ball is for backstop in the bottom wall of second limiting slot.

4. gimbal suspension according to claim 2, which is characterized in that the movable part includes backstop disk, transition piece and falls Hook, the transition piece include the transiting rod and transition disc of integral structure, the transiting rod pass through the first through hole with it is described The connection of backstop disk, the diameter of the backstop disk are greater than the diameter of the first through hole, and the barb member passes through second through-hole Connect with the transition disc, the barb member includes fastener platform, the fastener platform can backstop in the bottom wall of second limiting slot On.

5. gimbal suspension according to claim 4, which is characterized in that first connector includes the first connecting plate, institute Stating the second connector includes the second connecting plate, is correspondingly provided with connecting hole on first connecting plate and second connecting plate, institute It states the first connecting plate and second connecting plate and passes through connecting hole contraposition connection.

6. a kind of movable component, which is characterized in that including multiple sequentially connected gimbal suspensions, the gimbal suspension includes first Connector, the second connector and movable part, first connector can be used for connecting with second connector, the movable part First end be restricted in first connector, the second end of the movable part is restricted in the second connector, and institute Stating movable part can and deflection mobile relative to first connector and second connector.

7. movable component according to claim 6, which is characterized in that first connector is equipped with the first limiting slot, institute The bottom wall for stating the first limiting slot is equipped with first through hole, and the first end of the movable part passes through the first through hole backstop in described On the bottom wall of first limiting slot and it can move and deflect in first limiting slot；

Second connector is equipped with the second limiting slot, and the bottom wall of second limiting slot is equipped with the second through-hole, the activity The second end of part passes through the second through-hole backstop on the bottom wall of second limiting slot and can be in second limiting slot Mobile and deflection.

8. movable component according to claim 7, which is characterized in that the movable part includes connecting column, the first connected ball With the second connected ball, first connected ball and second connected ball are connected to the both ends of the connecting column, the company Connecing column may pass through the first through hole and second through-hole, and first connected ball is for backstop in first limiting slot On bottom wall, second connected ball is for backstop in the bottom wall of second limiting slot.

9. movable component according to claim 7, which is characterized in that the movable part includes backstop disk, transition piece and falls Hook, the transition piece include the transiting rod and transition disc of integral structure, the transiting rod pass through the first through hole with it is described The connection of backstop disk, the diameter of the backstop disk are greater than the diameter of the first through hole, and the barb member passes through second through-hole Connect with the transition disc, the barb member includes fastener platform, the fastener platform can backstop in the bottom wall of second limiting slot On.

10. a kind of exoskeleton robot, which is characterized in that including the described in any item movable components of such as claim 6 to 9.