CN209596141U - Exoskeleton robot, universal joint mould group and its joint limit assembly - Google Patents

Abstract

The utility model provides a kind of exoskeleton robot, universal joint mould group and its joint limit assembly, the joint limit assembly includes: main board and is integrally formed with main board and main board week is arranged in along upper arc-shaped limit convex ribs, and the both ends line of arc-shaped limit convex ribs, which is formed by string, has default central angle.The utility model enormously simplifies manufacture and the assembly difficulty of joint limit assembly, so that the overall structure of exoskeleton robot is light by the main board and arc-shaped limit convex ribs of setting integral structure.

Description

Exoskeleton robot, universal joint mould group and its joint limit assembly

Technical field

The utility model relates to healing robot technical fields, and in particular to a kind of exoskeleton robot, universal joint mould Group and its joint limit assembly.

Background technique

Current existing rehabilitation exoskeleton robot usually requires individually designed each joint and its connector, due to human body Lower limb structure is complicated, and freedom degree is more, and individually designed each joint often results in that robot architecture is complicated, difficulty of processing is big, body The problems such as product is huge, weight is big.

Utility model content

The utility model provides a kind of exoskeleton robot, universal joint mould group and its joint limit assembly, existing to solve There is the technical problem of ectoskeleton robot architecture complexity in technology.

In order to solve the above technical problems, the technical solution that the utility model uses is: providing a kind of joint limit group Part, the joint limit assembly include: main board and are integrally formed and are arranged in the main board week along upper with the main board Arc-shaped limit convex ribs, the both ends line of the arc-shaped limit convex ribs, which is formed by string, has default central angle.

According to one specific embodiment of the utility model, the main board is circle, and the size of the default central angle is 40 ° -50 °, 50 ° -60 °, 55 ° -65 °, 100 ° -120 ° or 110 ° -120 °.

According to one specific embodiment of the utility model, first axis hole, the arc-shaped limit are offered on the main board The second axial hole is offered on convex ribs, and offers radial cabling channel on the arc-shaped limit convex ribs.

In order to solve the above technical problems, another technical solution that the utility model uses is: providing a kind of universal joint Mould group, the universal joint mould group include rotary components and previously described joint limit assembly, and the rotary components are equipped with limit Position interconnecting piece, the limit interconnecting piece activity is set between the both ends of the arc-shaped limit convex ribs, to be limited by the arc The default central angle of position convex ribs carries out rotary stopper to the limit interconnecting piece.

In order to solve the above technical problems, another technical solution that the utility model uses is: providing a kind of ectoskeleton machine Device people, the exoskeleton robot include previously described universal joint mould group and leg expansion joint assembly, and the leg is stretched Contracting connection component includes: the first connector and the second connector, and first connector and second connector are socketed, described First positioning hole is offered on the side wall of first connector, offers second location hole on the side wall of second connector, institute First positioning hole is stated to match with the second location hole, with by bolt by first connector and second connector Connection.

According to one specific embodiment of the utility model, offered on first connector through first connector The grooving of side wall, the grooving is used for will be described by locking member after second connector is inserted into first connector Grooving locking, to enhance the bonding strength of first connector Yu second connector.

According to one specific embodiment of the utility model, the universal joint mould group includes the first hip joint mould group, the second hip Joint mould group, knee joint mould group, the first ankle-joint mould group and the second ankle-joint mould group, the first hip joint mould group are preset Central angle is 110 ° -120 °, and the default central angle of the second hip joint mould group is 55 ° -65 °, the knee joint mould group it is pre- If central angle is 100 ° -120 °, the default central angle of the first ankle-joint mould group is 50 ° -60 °, the second ankle-joint mould The default central angle of group is 40 ° -50 °.

According to one specific embodiment of the utility model, the exoskeleton robot further includes lumbar support revolving part and foot Support revolving part, the both ends of the lumbar support revolving part respectively with the first hip joint mould group and the second hip joint mould Group connection；The both ends of the foot supports revolving part connect with the first ankle-joint mould group and the second ankle-joint mould group respectively It connects.

According to one specific embodiment of the utility model, the exoskeleton robot further includes control box assembly, the control Box assembly includes waist fixed plate, computer, battery and shell, and the battery is electrically connected with the computer, and is contained in jointly In the accommodating chamber that the shell and the waist fixed plate surround, display screen and control assembly are additionally provided on the shell.

According to one specific embodiment of the utility model, the exoskeleton robot further includes scalable waist bandage and foot Device, the scalable waist bandage are fixed in the waist fixed plate, and the foot device is fixed on the universal joint In mould group.

The beneficial effects of the utility model are: being in contrast to the prior art, joint limit provided by the utility model Component has the main board and arc-shaped limit convex ribs of integral structure, and the both ends line of arc-shaped limit convex ribs, which is formed by string, to be had in advance If central angle, rotated with limiting rotary components in the range of default central angle.Since main board and arc-shaped limit convex ribs are one Body structure enormously simplifies manufacture and the assembly difficulty of joint limit assembly, so that the overall structure of exoskeleton robot is light.

Detailed description of the invention

It, below will be to required in embodiment description in order to illustrate more clearly of the technical solution in utility model embodiment The attached drawing used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of utility model, For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings Other attached drawings, in which:

Fig. 1 is the schematic perspective view for the joint limit assembly that an embodiment of the present invention provides；

Fig. 2 is the planar structure schematic diagram for the joint limit assembly that an embodiment of the present invention provides；

Fig. 3 is the schematic perspective view for the universal joint mould group that an embodiment of the present invention provides；

Fig. 4 is the decomposition texture schematic diagram for the universal joint mould group that an embodiment of the present invention provides；

Fig. 5 is the schematic perspective view for the exoskeleton robot that an embodiment of the present invention provides；

Fig. 6 is the decomposition texture schematic diagram of exoskeleton robot shown in Fig. 5；

Fig. 7 is the right view of exoskeleton robot shown in Fig. 5；

Fig. 8 is the rearview of exoskeleton robot shown in Fig. 5；

Fig. 9 is the schematic perspective view of lumbar support revolving part shown in Fig. 6；

Figure 10 is the decomposition texture schematic diagram of shank expansion joint assembly shown in Fig. 6；

Figure 11 is the schematic diagram of the decomposition texture of shank expansion joint assembly shown in Figure 10 in the other state；

Figure 12 is the decomposition texture schematic diagram that box assembly is controlled shown in Fig. 6；

Figure 13 is the decomposition texture schematic diagram of foot device shown in Fig. 6；

Figure 14 is the decomposition texture schematic diagram of shank bandage component shown in Fig. 6.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not when making creative work Every other embodiment obtained belongs to the range of the utility model protection.

It is to be appreciated that if related in the utility model embodiment directionality instruction (such as upper and lower, left and right, it is preceding, Afterwards ...), then directionality instruction is only used for explaining opposite between each component under a certain particular pose (as shown in the picture) Positional relationship, motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.

In addition, if relating to the description of " first ", " second " etc. in the utility model embodiment, " first ", " the Two " etc. description is used for description purposes only, and is not understood to indicate or imply its relative importance or is implicitly indicated meaning The quantity of the technical characteristic shown." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one A this feature.It in addition, the technical solution between each embodiment can be combined with each other, but must be with ordinary skill Based on personnel can be realized, this technical side will be understood that when the combination of technical solution appearance is conflicting or cannot achieve The combination of case is not present, also not within the protection scope of the requires of the utility model.

Referring to Fig. 1, Fig. 1 is the schematic perspective view for the joint limit assembly that an embodiment of the present invention provides.

As shown in Figure 1, the utility model provides a kind of joint limit assembly 10, which includes main board 12 and arc-shaped limit convex ribs 14.Wherein, main board 12 and arc-shaped limit convex ribs 14 are integrally formed, and the setting of arc-shaped limit convex ribs 14 exists The week of main board 12, the arc-shaped limit convex ribs 14 were used to limit turn for the other components being connected with joint limit assembly 10 along upper Dynamic range.The utility model is by being arranged integrally formed joint limit assembly 10, so that the position limiting structure of exoskeleton robot Novelty, part difficulty of processing is small and small volume, assembly are convenient.

Specifically, referring to Figure 2 together, Fig. 2 is the flat of the joint limit assembly that an embodiment of the present invention provides Face structural schematic diagram.

In the present embodiment, main board 12 is circle, and the end face protrusion of 14 autonomous agent plate 12 of arc-shaped limit convex ribs is set to On main board 12, and the week of circular body plate 12 is looped around along upper.The center of circle of circular body plate 12 and arc-shaped limit convex ribs 14 The center of circle is overlapped, and the both ends line of arc-shaped limit convex ribs 14, which is formed by string, has default central angle, θ as shown in Figure 2.Work as pass After saving limit assembly 10 and the assembly of other components, when the rotation of other components, the both ends of arc-shaped limit convex ribs 14 will be to other groups Part is limited, so that the rotation angle of other components is less than or equal to the default central angle.That is, joint limit assembly 10 makes it The rotation angle of its component is less than or equal to θ.

Wherein, since different joints need the angle that rotates different, thus, in order to fit the joint limit assembly 10 For each rotary joint of human body, preset central angle size can also flexible setting according to demand, to promote joint limit The versatility of component 10.For example, the size of the default central angle can be 40 ° -50 °, 50 ° -60 °, 55 ° -65 °, 100 ° -120 ° Or 110 ° -120 °.

For example, in the embodiment shown in Figure 2, the default central angle of the joint limit assembly 10 is 110 °.In other realities Apply in example, the default central angle of the joint limit assembly 10 can also for 42 °, 45 °, 48 °, 53 °, 55 °, 58 °, 60 °, 62 °, 110 °, 115 ° or 118 ° etc., the utility model is not listed one by one.

Wherein, arc-shaped limit convex ribs 14 can be continuously disposed in week of main board 12 along upper, can also be with subsection setup, this Shen It please be not specifically limited.For example, arc-shaped limit convex ribs 14 can be divided into two sections, two sections separated, in two sections of arc-shaped limits Two default central angles are formed between convex ribs 14.Arc-shaped limit convex ribs 14 in the present embodiment are continuously arranged, to promote joint limit The bonding strength of hyte part 10 and other elements.

Further, as shown in Figure 1, offering first axis hole 122 on main board 12, which is used In fixing other elements on main board 12.Wherein, first axis hole 122 is arranged around the center of main board 12, i.e. first axle Center to hole 122 apart from main board 12 is equidistant, so that uniform force when main board 12 is connect with other elements, is promoted Bonding strength.

The second axial hole 142 is offered on arc-shaped limit convex ribs 14, which is used to joint limiting group Part 10 is connect with other elements.By the way that the second axial hole 142 is arranged on arc-shaped limit convex ribs 14, joint limit group can be promoted The bonding strength of part 10.

Optionally, first axis hole 122 and/or the second axial hole 142 are counter sink, by joint limit assembly 10 Counter sink is set, on the one hand attachment screw can be sunk, makes product shape more beautiful while reducing volume；Another party Face can reduce the surface processing accuracy requirement of joint limit assembly 10.

Further, the cabling channel 144 for extending radially through arc-shaped limit convex ribs 14 is also provided on arc-shaped limit convex ribs 14. The cabling channel 144 is for cabling for for the power elements in universal joint mould group.

Optionally, in the week of arc-shaped limit convex ribs 14 along escape groove 146 is above also provided with, which is used to incite somebody to action When joint limit assembly 10 connect to form universal joint mould group with other elements, other elements in universal joint mould group are avoided, So that the structure of universal joint mould group is more compact, volume is smaller.

Fig. 3 and Fig. 4 are please referred to, on the other hand the utility model also provides a kind of universal joint mould group 20.The universal joint Mould group 20 includes rotary components 22 and joint limit assembly 10.Rotary components 22 include limit interconnecting piece 2242, limit connection Portion 2242 is for the universal joint mould group 20 to be connect with outer member.Limit 2242 activity of interconnecting piece is set to arc limit Between the both ends of position convex ribs 14, to carry out rotary stopper by 14 pairs of limit interconnecting pieces 2242 of arc-shaped limit convex ribs.That is, making to limit Interconnecting piece 2242 is only capable of moving in the range of default central angle.

Wherein, the structure of joint limit assembly 10 is identical as the structure of joint limit assembly 10 in above-described embodiment, asks Referring to the description in above-described embodiment, details are not described herein again.

As shown in figure 4, rotary components 22 in the present embodiment include motor 221, joint fixing part 222, retarder 223 with And articulation part 224.Wherein, motor 221 and retarder 223 are located at the opposite sides of joint fixing part 222, and with pass Section fixing piece 222 is fixedly connected.The output shaft of motor 221 wears the centre bore stretched out on joint fixing part 222, and and retarder 223 input terminal connection, the output end of retarder 223 are connect with articulation part 224.Motor 221 drives retarder 223 to revolve Turn, retarder 223 is transferred to the torque of articulation part 224 by the increase of deceleration increment principle, and reduces articulation part 224 Revolving speed.

Wherein, it is provided with the portion of being fixedly connected 2224 on joint fixing part 222, is protruded above in the end face in the portion that is fixedly connected 2224 It is provided with the first connecting plate 2226 of two pieces of parallel intervals setting, and is provided on two piece of first connecting plate 2226 coaxial the One through-hole 2268, portion 2224 and the assembly fixation of other components will be fixedly connected with by screw.

It limits interconnecting piece 2242 to be arranged on articulation part 224, and limiting interconnecting piece 2242 includes two pieces of parallel intervals The second connecting plate 2244 being arranged is provided with the second coaxial through-hole 2246, on two piece of second connecting plate 2244 to pass through spiral shell Nail fixes limit interconnecting piece 2242 with the assembly of other components.

Wherein, first through hole 2268 and the quantity of the second through-hole 2246 can have multiple groups, and the application is not specifically limited.In In the present embodiment, the quantity of first through hole 2268 and the second through-hole 2246 has 4 groups, so that uniform force when connection.

Further, as shown in figure 4, articulation part 224 further includes rotating disc 2248, the rotating disc 2248 and limit connect Socket part 2242 is integrally formed.Rotating disc 2248 is rounded, and the arc-shaped surface of rotating disc 2248 is arranged in limit interconnecting piece 2242 On.

Rotating disc 2248 is connect with the output end of retarder 223, is rotated with the rotation with the output end of retarder 223. Joint limit assembly 10 passes through the second axial hole 142 being arranged on arc-shaped limit convex ribs 14 and connect with retarder 223, and joint turns Moving part 224 is folded between retarder 223 and joint limit assembly 10, and coaxial with retarder 223 and joint limit assembly 10 Setting.

Wherein, the diameter of main board 12 is greater than the diameter of rotating disc 2248, and is less than the maximum ruler of articulation part 224 It is very little.So that rotating disc 2248 can rotate in joint limit assembly 10, and the stretching main board 12 of interconnecting piece 2242 is limited, and It is rotated under the limitation of arc-shaped limit convex ribs 14.

Wherein, universal joint mould group 20 can also include for example motor driver 225, motor housing 226, coupling sleeve 227, The other elements such as encoder 228.Motor driver 225 is fixed on joint fixing part 222, and motor housing 226 is located at motor On 221, to protect motor 221.Coupling sleeve 227 is arranged between joint fixing part 222 and retarder 223, is used for motor 221 Output shaft connect with the input terminal of retarder 223.Encoder 228 is fixed by screw and the connection in first axis hole 122 On joint limit assembly 10.

Fig. 5 and Fig. 6 are please referred to, the utility model also provides a kind of exoskeleton robot 100, the exoskeleton robot 100 Including universal joint mould group 20 and leg expansion joint assembly 50.Wherein, leg expansion joint assembly 50 is arranged adjacent general Between joint mould group 20, for connecting adjacent universal joint mould group 20 to form exoskeleton robot 100.

Specifically, universal joint mould group 20 can specifically include the first hip joint mould group 23, the second hip joint mould group 24, knee Joint mould group 25, the first ankle-joint mould group 26 and the second ankle-joint mould group 27.Wherein, the first hip joint mould group 23, the second hip Joint mould group 24, knee joint mould group 25, the overall structure substantially phase of the first ankle-joint mould group 26 and the second ankle-joint mould group 27 Together, the description of the universal joint mould group 20 in above-described embodiment is please referred to, the difference of each joint mould group is to limit joint assembly The angle of 10 default central angle is different.

Wherein, the default central angle of the first hip joint mould group 23 is 110 ° -120 °, the default central angle of knee joint mould group 25 It is 100 ° -120 °, the default central angle of the first ankle-joint mould group 26 is 50 ° -60 °.

Specifically, in the present embodiment, as shown in Figure 7, it is assumed that vertical direction is critical line (0 ° of line), the first hip joint mould After group 23 is fixed, angle of the both ends of arc-shaped limit convex ribs 14 apart from critical line is respectively 90 ° and 25 °, and thus the first hip closes The default central angle for saving mould group 23 is 115 °.After knee joint mould group 25 is fixed, the both ends of arc-shaped limit convex ribs 14 are apart from critical The angle of line is respectively 0 ° and 110 °, and the default central angle of knee joint mould group 25 is 110 ° as a result,.First ankle-joint mould group 26 is solid After fixed, angle of the both ends of arc-shaped limit convex ribs 14 apart from critical line is respectively 60 ° and 115 °, as a result, the first ankle-joint mould The default central angle of group 26 is 55 °.

Wherein, the default central angle of the second hip joint mould group 24 is 55 ° -65 °, the default center of circle of the second ankle-joint mould group 27 Angle is 40 ° -50 °.

Specifically, in the present embodiment, as shown in Figure 8, it is assumed that vertical direction is critical line (0 ° of line), the second hip joint mould After group 24 is fixed, angle of the both ends of arc-shaped limit convex ribs 14 apart from critical line is respectively 60 ° and 120 °, as a result, the second hip The default central angle of joint mould group 24 is 60 °.After second ankle-joint mould group 27 is fixed, the both ends distance of arc-shaped limit convex ribs 14 The angle of critical line is respectively 15 ° and 30 °, and the default central angle of the second ankle-joint mould group 27 is 45 ° as a result,.

It certainly, in other embodiments, can also be according to practical flexible setting the first hip joint mould group 23, the second hip joint The size of the default central angle of mould group 24, knee joint mould group 25, the first ankle-joint mould group 26 and the second ankle-joint mould group 27, this Utility model does not repeat one by one.

Wherein, the first hip joint mould group 23, knee joint mould group 25 and the first ankle-joint mould group 26 are fixedly connected with portion 2224 and limit being fixedly connected with portion 2224 and limiting connection for the structure of interconnecting piece 2242 and the universal joint mould group that is described above The structure in portion 2242 is identical, and details are not described herein again.

Second hip joint mould group 24 is fixedly connected with portion 2224 and limit interconnecting piece 2242 with the second ankle-joint mould group 27 Structure and previously described universal joint mould group 20 be fixedly connected with portion 2224 and the limit structure of interconnecting piece 2242 is different, below Portion 2224 and limit interconnecting piece 2242 are fixedly connected with not to the second hip joint mould group 24 and the second ankle-joint mould group 27 emphatically It is described in detail with place.

Referring to Fig. 6, the end face of the separate limit interconnecting piece 2242 for being fixedly connected with portion 2224 of the second hip joint mould group 24 On be formed with the first screw hole 242, with by screw by the end face for being fixedly connected with portion 2224 of two the second hip joint mould groups 24 It links together.The shape on the surface close to the first hip joint mould group 23 for being fixedly connected with portion 2224 of the second hip joint mould group 24 At there is the second screw hole 244, second screw hole 244 is for being fixedly mounted other assemblies.For example, in the present embodiment, being used for The fixed control box assembly of installation.

The limit interconnecting piece 2242 of second hip joint mould group 24 is formed on the surface of the first hip joint mould group 23 Third screw hole 246, the third screw hole 246 are evenly distributed in the close first hip joint mould group 23 of limit interconnecting piece 2242 Surface on.The quantity and distributing position the application of third screw hole 246 are not specifically limited.In the present embodiment, third spiral shell There are four the quantity of nail hole 246, and four third screw holes 246 are distributed in the edge on the surface of limit interconnecting piece 2242.

Further, limit interconnecting piece 2242 close to the first hip joint mould group 23 surface on be also formed with for The first slot or the first slotting key with positioning, for the matching when being attached other elements and the second hip joint mould group 24 Positioning.

Wherein, the quantity of the first slotting key or the first slot can be according to limit interconnecting piece 2242 close to the first hip joint mould The surface area flexible choice on the surface of group 23.For example, when the surface close to the first hip joint mould group 23 of limit interconnecting piece 2242 Surface area it is larger when, multiple first slots or the first slotting key can be set.When being closed close to the first hip for limit interconnecting piece 2242 When the surface area on the surface of section mould group 23 is smaller, first slot or the first slotting key can be only set.

As shown in fig. 6, in the present embodiment, what is formed on limit interconnecting piece 2242 is the first slotting key 248, and first inserts The length direction of key 248 is parallel with the axis of the first hip joint mould group 23.The length direction and the first hip of first slotting key 248 are set The axis of joint mould group 23 is parallel, on the one hand can be used for matching positioning, and it is vertical on the other hand can also to provide other elements Support force on direction.

As shown in fig. 6, the table close to the first ankle-joint mould group 26 for being fixedly connected with portion 2224 of the second ankle-joint mould group 27 The 4th screw hole 272 is formed on face, to connect the second ankle-joint mould group 27 with other elements by screw.

Wherein, the 4th screw hole 272 is evenly distributed on the table close to the first ankle-joint mould group 26 in the portion of being fixedly connected 2224 On face, so that uniform force when connection.The quantity of the 4th screw hole 272 is not limited specifically in application.

Further, in the table close to the first ankle-joint mould group 26 for being fixedly connected with portion 2224 of the second ankle-joint mould group 27 The the second slotting key or the second slot for matching positioning are formed on face, for by other elements and the second ankle-joint mould group 27 match positioning when being attached.

Wherein, the quantity of the second slotting key or the second slot can be according to the portion that is fixedly connected 2224 close to the first ankle-joint mould The surface area flexible choice on the surface of group 26.For example, when the surface close to the first ankle-joint mould group 26 for being fixedly connected with portion 2224 Surface area it is larger when, multiple second slots or the second slotting key can be set.When being closed close to the first ankle for the portion that is fixedly connected 2224 When the surface area on the surface of section mould group 26 is smaller, second slot or the second slotting key can be only set.

As shown in fig. 6, in this embodiment, three are formed in the portion that is fixedly connected 2224 ranked fourth screw hole 272, and every Adjacent ranked fourth is provided with a second slotting key 274 parallel with the axis of the first ankle-joint mould group 26 among screw hole 272.If The length direction for setting the second slotting key 274 is parallel with the axis of the first ankle-joint mould group 26, on the one hand can be used for matching positioning, separately On the one hand other elements can also be provided with the support force on vertical direction.

Wherein, the structure of the limit interconnecting piece 2242 of the second ankle-joint mould group 27 is connect with the limit of universal joint mould group 20 The structure in portion 2242 is identical, please refers to the description of hereinbefore universal joint mould group 20.

Fig. 6, Fig. 9 and Figure 10 are please referred to, exoskeleton robot 100 further includes lumbar support revolving part 30 and foot supports rotation Turn part 40.Wherein, lumbar support revolving part 30 is arranged between the first hip joint mould group 23 and the second hip joint mould group 24, is used for First hip joint mould group 23 and the second hip joint mould group 24 are connected.Foot supports revolving part 40 is arranged in the first ankle-joint mould group 26 and second between ankle-joint mould group 27, for connecting the first ankle-joint mould group 26 and the second ankle-joint mould group 27.

As shown in figure 9, lumbar support revolving part 30 includes: first connecting portion 32, second connecting portion 34 and switching part 36. Wherein, first connecting portion 32 is mutually perpendicular to the plane where second connecting portion 34, first connecting portion 32 and second connecting portion 34 The both ends of switching part 36 are located at, for being attached with outer member.

Specifically, in the present embodiment, as shown in Fig. 4, Fig. 6 and Fig. 9, first connecting portion 32 is used for and the first hip joint mould 23 connection of group, second connecting portion 34 with the second hip joint mould group 24 for connecting.It is logical that third is provided in first connecting portion 32 Hole 322, the third through-hole 322 is corresponding with the first through hole 2268 being fixedly connected in portion 2224 in the first hip joint mould group 23 to be set It sets, to be connect first connecting portion 32 with the first hip joint mould group 23 by bolt.

Fourth hole 342 is provided in second connecting portion 34, the limit on the fourth hole 342 and the second hip joint mould group 24 Third screw hole 246 on the interconnecting piece 2242 of position is correspondingly arranged, to pass through bolt for second connecting portion 34 and the second hip joint mould 24 connection of group.

Wherein, in the present embodiment, the quantity of fourth hole 342 is greater than the third screw hole on limit interconnecting piece 2242 246 quantity, so that position of the second connecting portion 34 in the second hip joint mould group 24 is adjustable, so that exoskeleton robot 100 can be adapted for the user of different building shape.

Further, it is provided on the contact surface of second connecting portion 34 and the second hip joint component 24 for cooperating positioning The first slot or the first slotting key, first slot or the first slotting key are used for and the limit interconnecting piece in the second hip joint mould group 24 The first slotting key or the cooperation of the first slot on 2242, to be used in connection to lumbar support revolving part 30 and the second hip joint mould Group 24 is positioned.

Specifically, it when the first slotting key is arranged in second connecting portion 34, is connected in the limit of the second hip joint mould group 24 Portion 2242 forms the first slot on the surface of the first hip joint mould group 23.When setting first is inserted in second connecting portion 34 When slot, first is formed on the surface close to the first hip joint mould group 23 of the limit interconnecting piece 2242 of the second hip joint mould group 24 Insert key.In the present embodiment, as shown in Fig. 6 and Fig. 9, what is formed on limit interconnecting piece is the first slotting key 248, in the second connection What is formed in portion 34 is the first slot 344.

Referring to Fig. 6, the structure of foot supports revolving part 40 and the structure of lumbar support revolving part 30 are substantially the same, it is used for First ankle-joint mould group 26 is connect with the second ankle-joint mould group 27.The structure of foot supports revolving part 40 please refers to lumbar support The structure of revolving part 30, details are not described herein again.

Referring to Fig. 5, leg expansion joint assembly 50 includes thigh expansion joint assembly 52 and shank expansion joint assembly 54.Wherein, thigh expansion joint assembly 52 is identical with the general structure of shank expansion joint assembly 54, only flexible to shank below The structure of connection component 54 is described in detail, and structure the application of thigh expansion joint assembly 52 repeats no more.

Specifically, as shown in Figure 10, shank expansion joint assembly 54 may include the first connector 542 and the second connector 544.First connector 542 and the second connector 544 are partially set as hollow, so that the first connector 542 and second connects Fitting 544 is socketed.

Specifically, in the present embodiment, the size of the first connector 542 is greater than the size of the second connector 544, so that the Two connectors 544 are socketed in the first connector 542.Certainly, in other embodiments, the size of the first connector 542 can also With the size less than the second connector 544, so that the first connector 542 is socketed in the second connector 544.

Wherein, first positioning hole 543 and the first cable hole 548 are offered on the side wall of the first connector 542, second Second location hole 545 and the second cable hole 549, first positioning hole 543 and second location hole are offered on the side wall of connector 544 545 match, the first connector 542 and the second connector 544 are attached fixation by bolt.First cable hole 548 Cabling is used for the second cable hole 549.

The quantity of at least one of first positioning hole 543 and second location hole 545 can have multiple, and first positioning hole 543 quantity can be equal with the quantity of second location hole 545, can not also wait.By the way that multiple 543 Hes of first positioning hole are arranged Multiple second location holes 545 can according to need the first positioning hole 543 and the second positioning of flexible choice appropriate location and quantity Hole 545 is attached fixation, so that the relative position of the first connector 542 and the second connector 544 is adjustable, so that leg The length of expansion joint assembly 50 is adjustable.

Wherein, the first cable hole 548 is connected with the inside of the first connector 542, the second cable hole 549 and the second connector 544 inside conducting.It, can be by the control of exoskeleton robot 100 by the first cable hole 548 of setting and the second cable hole 549 Cable processed is laid in the inside of leg expansion joint assembly 50, to protect cable.Simultaneously it is also possible that exoskeleton robot 100 Shape it is more neat and artistic.

Wherein, in the present embodiment, the first connector 542 is perpendicular to the first connector 542 and the second connector 544 The cross section being socketed on direction is rectangle.Second connector 544 is perpendicular to the first connector 542 and the second connector 544 The cross section being socketed on direction is circle, with enhancing structure intensity.

Further, in the present embodiment, it is offered in the side that the first connector 542 is connect with the second connector 544 Through the grooving 546 of the side wall of the first connector 542, grooving 546 is used to be inserted into the first connector 542 in the second connector 544 In after grooving 546 is locked by locking member, to enhance the bonding strength of the first connector 542 and the second connector 544.

Specifically, for the ease of the second connector 544 is inserted into the first connector 542, in the side wall of the first connector 542 On open up grooving 546 so that the first connector 542 connect with the second connector 544 one end opening size be greater than second connection The size of part 544.By the second connector 544 be inserted into the first connector 542 in after, by bolt by first positioning hole 543 with The connection positioning of second location hole 545, and locked grooving 546 using locking member, at this point, the ruler of 542 upper opening of the first connector Very little reduction is connected so that the first connector 542 is locked at 544 outer surface of the second connector with the first connector of enhancing 542 and second The bonding strength of fitting 544.

As shown in Figure 10 and Figure 11, in the present embodiment, in the first connector 542 close to the end of the second connector 544 Protrusion is provided with lug boss 541, and the connection vertical with the protrusion extending direction of lug boss 541 is offered on lug boss 541 Hole 5411, grooving 546 are formed on lug boss 541.Connect that is, being offered on lug boss 541 with the inside of the first connector 542 Logical grooving 546.

Wherein, the axial direction of connecting hole 5411 is vertical with grooving 546, and connecting hole 5411 will be cut for receiving locking member screw-in Slot 546 is locked, and then fixes the second connector 544.

Optionally, grooving 546 is formed in the middle position of lug boss 541, so that the first connector 542 connects by second When fitting 544 is connected and fixed, the uniform force at 541 both ends of lug boss, so that connection is more stable.

Further, as shown in Figure 10 and Figure 11, mutually deviating from the first connector 542 and the second connector 544 One end is respectively arranged with the first external connection portion 5422 and the second external connection portion 5442.First external connection portion 5422 and the second external connection portion 5442 It is used to for leg expansion joint assembly 50 connecting with outer member.

Wherein, in the present embodiment, the plane at 5442 place of the first external connection portion 5422 and the second external connection portion is parallel to each other, with The direction for the power for inputting leg expansion joint assembly 50 and the direction of the power of output is set to be parallel to each other.Certainly, in other embodiments In, the direction of the power in direction and output if necessary to the power of setting input leg expansion joint assembly 50 is mutually perpendicular to, then phase Plane where setting the first external connection portion 5422 and the second external connection portion 5442 answered is mutually perpendicular to.

Wherein, the first external connection portion 5422 and the second external connection portion 5442 are being parallel to the first connector 542 and the second connector Cross sectional shape on 544 socket direction can be swallow-tail form, rectangle, triangle or the shapes such as trapezoidal.The application is not done specifically It limits.As shown in Figure 10, in the present embodiment, the cross sectional shape of the first external connection portion 5422 is rectangle, the second external connection portion 5442 Cross sectional shape is trapezoidal.Be arranged the second trapezoidal external connection portion 5442 can increase the second external connection portion 5442 and with the second external connection portion The contact area of the element of 5442 connections, so that connection is more stable.

Further, mounting hole (5424,5444) are also provided in the first external connection portion 5422 and the second external connection portion 5442, For the first external connection portion 5422 and the second external connection portion 5442 to be connect with outer member.Mounting hole (5424,5444) is uniform respectively It is distributed in the first external connection portion 5422 and the second external connection portion 5442, so that the first external connection portion 5422 and the second external connection portion 5442 exist Uniform force when being connect with outer member.

Optionally, multiple fixation holes 5426, multiple fixation hole are additionally provided on the lateral wall of the first connector 542 5426 for fixing outer member, such as leg strap etc..Fixation hole 5426, which can according to need, to be arranged in the first connector 542 A side wall on, fixation hole 5426 can also be respectively provided on all side walls.Similarly, the quantity of fixation hole 5426 can also be with Flexible choice as needed, the embodiment of the present application are not specifically limited.

Optionally, as shown in Figure 10, in the present embodiment, first positioning hole 543 is counter sink.By first positioning hole 543 On the one hand the suface processing quality of the first connector 542 can be reduced by being arranged to counter sink, on the other hand can also connect first The attachment screw of fitting 542 and the second connector 544 sinks, and avoids for attachment screw being exposed to outer influence beauty.

Please continue to refer to Fig. 5 and Fig. 6, exoskeleton robot 100 further includes control box assembly 60.Control box assembly 60 and the Two hip joint mould groups 24 connection, for realizing the motion control of exoskeleton robot 100.

Specifically, as shown in Fig. 6 and Figure 11, control box assembly 60 include waist fixed plate 61, computer 62, battery 63 with And shell 64.Wherein, the 5th screw hole 612 is offered in waist fixed plate 61, the 5th screw hole 612 is used to close with the second hip The second screw hole 244 connection being fixedly connected in portion 2224 in section mould group 24.Battery 63 and computer 62 are by being folded in battery Circuit board 67 between 63 and computer 62 is electrically connected, for powering for computer 62.Computer 62 is used to receiving and handling feedback signal, And further export control command.Battery 63 and the accommodating chamber that computer 62 is contained in shell 64 jointly and waist fixed plate 61 surrounds It is interior, display screen 65 and control assembly are additionally provided on shell 64.Control assembly may include power knob 662, scram button 664, Current Display 666 and charging plug 668 etc..

Please continue to refer to Fig. 5 and Fig. 6, exoskeleton robot 100 further includes scalable waist bandage 70 and foot device 80. Scalable waist bandage 70 is fixed on control box assembly 60, for the telescopic waist for being fixed on user, to be suitable for The user of different building shape.

Foot device 80 is connect with the second ankle-joint mould group 27, specifically, is connect with the limit of the second ankle-joint mould group 27 Portion 2242 connects, and is moved with following the rotation of the second ankle-joint mould group 27.

Wherein, plantar pressure detection module is additionally provided in foot device 80, for detecting the distribution of Human Sole pressure, And then the point of zero moment of exoskeleton robot 100 is calculated, and realize the function of the autonomic balance of exoskeleton robot 100, it realizes The autonomous of user.

Specifically, Figure 12 is please referred to, foot device 80 includes the upper plate non-slip mat 81 set gradually, upper plate 82, pressure Force snesor 83, middle part cushion 84, compression spring 85, lower plate 86, sliding locating shaft nut 87 and lower plate non-slip mat 88。

Wherein, upper plate non-slip mat 81 is fixed on upper plate 82 by adhesive.The upper plate non-slip mat 81 can benefit Be made of the biggish material of the coefficient of frictions such as rubber, and can on the surface of the separate upper plate 82 of upper plate non-slip mat 81 shape At multiple ripple protrusions, to further increase the coefficient of friction of upper plate non-slip mat 81.

The company connecting for the limit interconnecting piece 2242 with the second ankle-joint mould group 27 is provided at the edge of upper plate 82 Fitting 822 offers multiple equally distributed fifth holes 824 on the connector 822, so that uniform force when connection.In The side of upper plate 82 is also provided with the 6th screw hole 826, and the 6th screw hole 826 is for fixing foot bandage.

Multiple counter sinks are offered, among upper plate 82 to assemble for component.It is anti-close to upper plate in upper plate 82 Multiple elongated slots 828 are also provided on one side surface of skidding 81, to be used for cabling.In the separate upper plate non-slip mat of upper plate 82 Multiple short slot (not shown)s are offered on 81 side surface, and offer long hole in short slot, and elongated slot 828 and short slot are logical Cross long hole connection.

Pressure sensor 83 includes electrical connection section 832, bending part 834 and test section 836.Wherein, bending part 834 is located at Between electrical connection section 832 and test section 836, for electrical connection section 832 and test section 836 to be connected.Electrical connection section 832 is embedded in In elongated slot 828, and it is electrically connected with the cabling being located in elongated slot 828.Test section 836 in short slot 829, wear by bending part 834 It is located in long hole, the electrical connection section 832 for being located at 82 two sides of upper plate and test section 836 is connected.

Middle part cushion 84 is bonded on upper plate 82 between upper plate 82 and lower plate 86 by adhesive.It should Middle part cushion 84 is soft elastic material, and spring ratio is low, generates instead in compression process to upper plate 82 and lower plate 86 Active force is small, is mainly used for absorbing vibration.

Lower plate 86 is provided with support column 862 close to the side of upper surface, and offers through foot lower plate 86 Six through-holes 864.Sliding locating shaft nut 87, which is worn, stretches out the 6th through-hole 864 and middle part cushion 84, with the fixed company of upper plate 82 It connects.Compression spring 85 is threaded through on sliding locating shaft nut 87.In an unstressed state, the length of compression spring 85 and middle part are slow The thickness for rushing pad 84 is equal, so pressure sensor 83 can't detect plantar pressure, the pressure data of output is zero.Work as upper plate When having pressure on 82, upper plate 82 is pushed, so that middle part cushion 84 and compression spring 85 generate compression, support column 862 contact with test section 836, and most plantar pressures are transmitted to pressure sensor 83 by support column 862, and then make pressure Sensor 83 detects plantar pressure, output pressure data.

Wherein, the diameter of the 6th through-hole 864 is slightly larger than the outer diameter of locating shaft nut 87 is slided, to guarantee to slide locating shaft Nut 87 it is easy for installation, will not upper plate 82 push during with lower plate 86 generate interference.

Side of the lower plate 86 far from middle part cushion 84 is arranged in lower plate non-slip mat 88, is bonded in down by adhesive On bottom plate 86, for protecting lower plate 86, prevent lower plate 86 from wearing.Lower plate non-slip mat 88 can select abrasion resistance properties compared with Strong material is made.It is, of course, also possible to which the material for selecting coefficient of friction big is made, with increasing friction force, prevent from falling down.

Wherein, as shown in figure 13, exoskeleton robot 100 further includes shank bandage component 90.Shank bandage component 90 wraps Include shank bandage skeleton connecting plate 91, shank bandage bracket 92, shank bandage skeleton 93 and shank bandage 94.Wherein, shank is tied up Belt supporting frame 92 at both ends is machined with annular groove 922 for being connected with shank bandage skeleton connecting plate 91 and respectively for stretching with shank The 7th connected through-hole 924 of contracting connection component.Shank bandage bracket 92 is fixed on shank and tied up by shank bandage skeleton connecting plate 91 On band skeleton 93, and guarantee a rotary freedom of shank bandage bracket 92.And shank bandage 94 is fixed on shank bandage bone On frame 93.

As shown in fig. 6, exoskeleton robot 100 further includes thigh bandage 95, thigh bandage 95 is fixed on the flexible company of thigh On connected components 52.

In conclusion it should be readily apparent to one skilled in the art that exoskeleton robot provided by the utility model 100 is using tool There are the universal joint mould group 20 and leg expansion joint assembly 50 of the joint limit assembly 10 of different default central angles, realizes outer The modularized design of bone robot 100, and then the structure of exoskeleton robot 100 is simplified, so that production assembly is more just It is prompt.

The above is only the embodiments of the present invention, and therefore it does not limit the scope of the patent of the utility model, all benefits The equivalent structure or equivalent flow shift made by the utility model specification and accompanying drawing content, is applied directly or indirectly in it His relevant technical field, is also included in the patent protection scope of the utility model.

Claims (10)

1. a kind of joint limit assembly, which is characterized in that the joint limit assembly include: main board and with the main board one Body formed and the main board week is arranged in along upper arc-shaped limit convex ribs, the both ends line of the arc-shaped limit convex ribs is formed String there is default central angle.

2. joint limit assembly according to claim 1, which is characterized in that the main board is circle, the default circle The size at heart angle is 40 ° -50 °, 50 ° -60 °, 55 ° -65 °, 100 ° -120 ° or 110 ° -120 °.

3. joint limit assembly according to claim 1, which is characterized in that offer first axis on the main board Hole offers the second axial hole on the arc-shaped limit convex ribs, and offers radial cabling channel on the arc-shaped limit convex ribs.

4. a kind of universal joint mould group, which is characterized in that the universal joint mould group includes rotary components and according to claim The described in any item joint limit assemblies of 1-3, the rotary components are equipped with limit interconnecting piece, and the limit interconnecting piece activity is set Between the both ends of the arc-shaped limit convex ribs, to be connected by the default central angle of the arc-shaped limit convex ribs to the limit Portion carries out rotary stopper.

5. a kind of exoskeleton robot, which is characterized in that the exoskeleton robot includes according to claim 4 general Joint mould group and leg expansion joint assembly, the leg expansion joint assembly include: the first connector and the second connector, institute It states the first connector and second connector is socketed, offer first positioning hole on the side wall of first connector, it is described Second location hole is offered on the side wall of second connector, the first positioning hole matches with the second location hole, with logical It crosses bolt and connect first connector with second connector.

6. exoskeleton robot according to claim 5, which is characterized in that offer on first connector through institute The grooving of the side wall of the first connector is stated, the grooving is used for logical after second connector is inserted into first connector It crosses locking member to lock the grooving, to enhance the bonding strength of first connector Yu second connector.

7. exoskeleton robot according to claim 5, which is characterized in that the universal joint mould group is closed including the first hip Save mould group, the second hip joint mould group, knee joint mould group, the first ankle-joint mould group and the second ankle-joint mould group, first hip The default central angle of joint mould group is 110 ° -120 °, and the default central angle of the second hip joint mould group is 55 ° -65 °, described The default central angle of knee joint mould group is 100 ° -120 °, and the default central angle of the first ankle-joint mould group is 50 ° -60 °, institute The default central angle for stating the second ankle-joint mould group is 40 ° -50 °.

8. exoskeleton robot according to claim 7, which is characterized in that the exoskeleton robot further includes waist branch Revolving part and foot supports revolving part are supportted,

The both ends of the lumbar support revolving part are connect with the first hip joint mould group and the second hip joint mould group respectively；

The both ends of the foot supports revolving part are connect with the first ankle-joint mould group and the second ankle-joint mould group respectively.

9. exoskeleton robot according to claim 5, which is characterized in that the exoskeleton robot further includes control cabinet Component, the control box assembly includes waist fixed plate, computer, battery and shell, and the battery is electrically connected with the computer, And be contained in the shell jointly and accommodating chamber that the waist fixed plate surrounds in, be additionally provided on the shell display screen and Control assembly.

10. exoskeleton robot according to claim 9, which is characterized in that the exoskeleton robot further includes that can stretch Waisting portion bandage and foot device, the scalable waist bandage are fixed in the waist fixed plate, and the foot device is solid It is scheduled in the universal joint mould group.