CN210161147U - Robot spine structure and auxiliary exoskeleton device - Google Patents

Abstract

The application relates to a robot spine structure and an auxiliary exoskeleton device, and belongs to the technical field of auxiliary exoskeletons. The robot spinal structure comprises a plurality of spinal segments, two adjacent spinal segments are connected through a universal joint, two first telescopic driving parts are connected between the two adjacent spinal segments and respectively positioned on two sides of the universal joint, and when the two first telescopic driving parts extend out or retract simultaneously, the two adjacent spinal segments relatively rotate around a first rotating axis; when one of the two first telescopic driving pieces extends and the other one retracts, the adjacent two spinal column segments relatively rotate around the second rotation axis. Can realize two adjacent spinal column sections's multidirectional rotation through universal energy-conservation, when two first flexible driving pieces adopted different drive mode, two adjacent spinal column sections can do corresponding rotation, realize the different actions of backbone structure, simulate the action of human backbone, and backbone structure activity is nimble, satisfies user's activity demand.

Description

Robot spine structure and auxiliary exoskeleton device

Technical Field

The application relates to the technical field of auxiliary exoskeleton, in particular to a spine structure of a robot and an auxiliary exoskeleton device.

Background

With the social demands, the auxiliary exoskeleton device enters the life of people and brings convenience for the actions of people.

The spine part of the existing auxiliary exoskeleton is rigidly connected, and the spine part has poor flexibility and cannot meet the action requirement of a user.

SUMMERY OF THE UTILITY MODEL

The purpose of the application is to solve the above problems, and provide a spine structure and an auxiliary exoskeleton device for a robot, wherein two adjacent spine segments can realize actions in various directions, the spine is flexible in movement, and the spine structure and the auxiliary exoskeleton device are adapted to different actions, meet the movement requirements of users, and improve the above problems.

According to the robot spinal structure of the embodiment of the first aspect of the application, the robot spinal structure comprises a plurality of spinal segments, two adjacent spinal segments are connected through a universal joint, the universal joint is provided with a first rotating axis and a second rotating axis which are perpendicular to each other, two first telescopic driving parts are connected between the two adjacent spinal segments and respectively located on two sides of the universal joint, and when the two first telescopic driving parts extend out or retract simultaneously, the two adjacent spinal segments rotate around the first rotating axis relatively; when one of the two first telescopic driving pieces extends and the other one retracts, the adjacent two spinal column segments relatively rotate around the second rotation axis.

According to the robot backbone structure of this application embodiment, through universal energy-conserving multidirectional rotation that can realize two adjacent spinal column sections, when two first flexible driving pieces adopted different drive methods, two adjacent spinal column sections can do corresponding rotation, realize the different actions of backbone structure, simulate the action of human backbone, backbone structure activity is nimble, satisfies user's activity demand.

In addition, the robot spine structure according to the embodiment of the application has the following additional technical characteristics:

according to some embodiments of the application, the two first telescopic drives are arranged in parallel, and the universal joint is offset from a plane in which the two first telescopic drives are located.

In above-mentioned embodiment, two first flexible driving pieces symmetric distribution are in the both sides of backbone festival section, and two first flexible driving pieces parallel arrangement constitute the plane, and the universal joint deviates from the plane at two first flexible driving pieces places, can make two adjacent backbone festival sections realize about, the rotation of front and back different directions, satisfy different action demands.

According to some embodiments of the application, the first telescopic drive member comprises a fixed end and a telescopic end, the fixed end being ball-and-socket connected with one of the two adjacent spinal segments and the telescopic end being ball-and-socket connected with the other.

In the above embodiment, the fixed end and the telescopic end of the first telescopic driving component are respectively connected with the two adjacent spinal segments through ball sockets, so that when the telescopic end moves telescopically relative to the fixed end, the fixed end and the telescopic end can rotate relative to the corresponding spinal segment, so that one of the two adjacent spinal segments rotates relative to the other one around the rotation axis of the universal joint, and the action of the spinal column is realized.

According to some embodiments of the present application, each spinal segment includes a rotating sleeve, two rotating assemblies and two rotation driving mechanisms, the two rotating assemblies are respectively located at two ends of the rotating sleeve, each rotating assembly is rotatably connected with the rotating sleeve, the two rotation driving mechanisms are in one-to-one correspondence with the two rotating assemblies, and each rotation driving mechanism is used for driving the corresponding rotating assembly to rotate relative to the rotating sleeve.

In the above embodiment, two rotating assemblies are distributed at two ends of the rotating sleeve, and each rotating assembly is connected with one rotation driving mechanism, so that rotation of one rotating assembly relative to the rotating sleeve can be realized, or the two rotating assemblies rotate relative to the rotating sleeve simultaneously, and the rotating mode is flexible.

According to some embodiments of the application, the relative both ends of swivel mount are provided with respectively and hold the chamber, every runner assembly holds the chamber cooperation with one, every runner assembly includes the pivot, end cover and connection pad, the pivot is rotationally inserted and is located and hold the intracavity, the end cover is located the open end that holds the chamber and restricts the pivot in holding the intracavity, the end cover is connected with swivel mount detachably, the connection pad is located one side of keeping away from the swivel mount of end cover and rotationally is connected with the end cover, the universal joint links to each other with the connection pad, the one end of pivot is passed the end cover and is linked to each other with the connection pad, rotation actuating mechanism installs in the perisporium of swivel mount, rotation actuating mechanism's flexible end stretches into and holds the intracavity and acts on the pivot.

In above-mentioned embodiment, the pivot is inserted and is located and hold the intracavity, and when rotating actuating mechanism and driving the pivot and rotate, the pivot can drive the connection pad and rotate to drive adjacent backbone section through the universal joint and rotate, realize two adjacent backbone section's wrench movement.

In some embodiments of the application, the pivot includes the axis body and two baffles, and two baffles are located the both sides of axis body respectively, and every baffle links to each other with the axis body, and the rotation actuating mechanism includes two second flexible driving pieces, two second flexible driving pieces and two baffle one-to-one, and every second flexible driving piece's stiff end links to each other with the swivel nut, and every second flexible driving piece's flexible end is located and holds the intracavity and act on the baffle that corresponds.

In the above embodiment, since the second telescopic driving member acts on the baffle, when the second telescopic driving member works, the baffle is pushed to drive the shaft body to rotate, so as to realize the rotation of the rotating shaft relative to the rotating sleeve; when the rotating shaft rotates, the extending or retracting actions of the two second telescopic driving pieces are opposite.

Optionally, the pivot still includes two limiting plates, and on the axis body was located to two limiting plate covers, two limiting plates set up and constitute spacing space along the axial interval of axis body, and two baffles are located spacing space, and the relative both ends of every baffle link to each other with two limiting plates respectively.

In the above embodiment, two limiting plates are arranged at two ends of the baffle for fixing the baffle, so that the connection strength of the baffle and the shaft body is increased, and the rotating shaft is ensured to rotate stably.

According to some embodiments of the present application, the plurality of spinal segments includes a first spinal segment, a second spinal segment, and a third spinal segment connected in series.

In the above embodiment, the robot spine structure adopts a three-section structure, which can not only meet the strength of the human spine, but also realize different rotation actions, and the action is flexible.

According to supplementary ectoskeleton device of this application second aspect embodiment, including being used for wearing the subassembly is dressed to two arms on the arm, being used for wearing the subassembly is dressed to two shanks on the shank and according to the robot backbone structure of first aspect embodiment, the subassembly is dressed with two arms to the upper end of robot backbone structure links to each other, and the subassembly is dressed with two shanks to the lower extreme of robot backbone structure and links to each other, and the subassembly is dressed with robot backbone structure turnably to two shanks respectively.

According to the auxiliary exoskeleton device, the wearable structure improves the fitting degree of the auxiliary skeleton device and a human body, the action of a user is facilitated, the spine of the auxiliary skeleton device is flexible in action due to the spine structure of the robot, the auxiliary skeleton device adapts to different actions, and the overall flexibility is improved.

According to some embodiments of the application, supplementary ectoskeleton device still includes the top support, and top support mounting is in the upper end of robot backbone structure, and every arm is dressed the subassembly and is included backplate, armlet and armlet bracing piece, and the one end of backplate links to each other with the top support, and the other end of backplate is provided with the guide arm, and the guide arm is located and is locked through the bolt to armlet slidable ground cover, and the both ends of armlet bracing piece are articulated with top support and armlet respectively, and the armlet bracing piece is the telescopic link.

In the above embodiment, the arm rings are slidably connected to the guide rods, and the arm rings slide relative to the back plate through the arm ring support rods, so that the distance between the two arm rings can be adjusted to adapt to users with different body types.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic view of a robot spine structure provided in an embodiment of a first aspect of the present application;

FIG. 2 is a left side view of FIG. 1;

FIG. 3 is a schematic representation of the connection of two adjacent spinal segments of the robotic spinal construct of FIG. 1;

FIG. 4 is a forward-leaning state view of two adjacent spinal segments of the robotic spinal construct of FIG. 1;

FIG. 5 is a state view of two adjacent spinal segments of the robotic spinal structure of FIG. 1 in a reclined position;

FIG. 6 is a left side view of the bent over state of two adjacent spinal segments of the robotic spinal construct of FIG. 1;

FIG. 7 is a right-side view of two adjacent spinal segments of the robotic spinal construct of FIG. 1 in a bent state;

FIG. 8 is an exploded view of a spinal segment of the robotic spinal construct of FIG. 1;

FIG. 9 is a cross-sectional view of a spinal segment of the robotic spinal construct of FIG. 1;

fig. 10 is a schematic structural diagram of an auxiliary exoskeleton device provided in an embodiment of a second aspect of the present application;

fig. 11 is a schematic structural view of an arm donning assembly of the auxiliary exoskeleton device of fig. 10.

Icon: 100-a robotic spinal structure; 1-a spinal segment; 11-a connecting plate; 12-a rotating sleeve; 121-a receiving cavity; 122-mounting bosses; 123-through holes; 13-a rotating shaft; 131-a shaft body; 132-a baffle; 133-a limiting plate; 134-a bearing; 135-spacing space; 14-an end cap; 15-connecting disc; 16-a second telescopic drive; 161-fixed end; 162-a telescoping end; 17-a first spinal segment; 18-a second spinal segment; 19-a third spinal segment; 2-a universal joint; 3-a first telescopic driving member; 31-a fixed end; 32-a telescoping end; 200-an auxiliary exoskeleton device; 4-an arm-worn component; 41-a back plate; 42-arm loop; 421-inner ring; 422-outer ring; 43-arm loop support bar; 44-a guide bar; 5-a leg wear assembly; 6-Top support.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when using, and are only used for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Embodiments of the first aspect

A robotic spinal structure 100 according to an embodiment of the first aspect of the present application is described below with reference to the figures.

As shown in fig. 1, a robotic spine structure 100 according to an embodiment of the present application includes: a plurality of spinal segments 1.

In particular, two adjacent spinal segments 1 are connected by a universal joint 2 to enable relative rotation of the two adjacent spinal segments 1. The universal joint 2 has a first axis of rotation and a second axis of rotation perpendicular to each other, along which two adjacent spinal segments 1 can rotate. Two first flexible driving pieces 3 are connected between two adjacent spinal column segments 1, the two first flexible driving pieces 3 are respectively located on two sides of the universal joint 2, a first rotation axis is parallel to a plane where the two first flexible driving pieces 3 are located, and a second rotation axis is perpendicular to the plane where the two first flexible driving pieces 3 are located. When the two first telescopic driving parts 3 extend or retract simultaneously, the two adjacent spinal column segments 1 rotate around the first rotation axis to realize the forward tilting or backward tilting of the spinal column segments 1; when one of the two first telescopic driving members 3 extends and the other one retracts, that is, when the two first telescopic driving members 3 act oppositely, the adjacent two spinal segments 1 rotate relatively around the second rotation axis, so as to realize lateral bending (left lateral bending or right lateral bending) of the spinal segment 1.

According to the robot spine structure 100 of the embodiment of the application, a multi-section structure is adopted, so that the overall strength is ensured, and meanwhile, certain flexibility is achieved; can realize two adjacent spinal column sections 1's multidirectional rotation through universal joint 2, when two first flexible driving pieces 3 adopted different drive methods, two adjacent spinal column sections 1 can do corresponding rotation, realize the different actions of backbone structure, simulate the action of human backbone, and backbone structure activity is nimble, satisfies user's activity demand.

As shown in fig. 2, the two first telescopic driving members 3 are arranged in parallel, that is, the two first telescopic driving members 3 are arranged vertically in the figure, and the two first telescopic driving members 3 form a plane, so that the motion tracks of the two first telescopic driving members 3 are ensured to be in the same plane; the universal joint 2 deviates from the plane where the two first telescopic driving pieces 3 are located, so that when the two first telescopic driving pieces 3 extend out or retract together, the two adjacent spinal column segments 1 can rotate around the first rotation axis, the forward tilting or backward tilting action of the two adjacent spinal column segments 1 is realized, and the action requirement of the spinal column structure is met, and the spinal column structure is flexible in movement. Optionally, based on the standing of the human body, the two first telescopic driving members 3 are located at the left and right sides of the spinal column segment 1, the universal joint 2 is located at the rear portion of the two first telescopic driving members 3, and the universal joint 2 also plays a role in supporting the spinal column segment 1.

The first telescopic drive member 3 comprises a fixed end 31 and a telescopic end 32, the telescopic end 32 being slidable relative to the fixed end 31 to enable extension or retraction of the telescopic end 32, the fixed end 31 being ball and socket connected to one of the two adjacent spinal segments 1 and the telescopic end 32 being ball and socket connected to the other. When the telescopic end 32 of the first telescopic driver 3 is extended or retracted relative to the fixed end 31, the connection of the first telescopic driver 3 to the spinal segment 1 can be correspondingly rotated, so that the rotation of two adjacent spinal segments 1 is flexible.

Alternatively, as shown in fig. 3, the first telescopic driving member 3 is a telescopic cylinder, the cylinder body is a fixed end 31, and the telescopic rod is a telescopic end 32; the spinal construct further comprises a connection plate 11 for cooperation with the first telescopic driver 3, the connection plate 11 being located at the junction of two adjacent spinal segments 1, each connection plate 11 being detachably connected to one spinal segment 1, the connection plate 11 extending beyond the spinal segment 1 at both ends thereof such that the mounting position of the first telescopic driver 3 does not interfere with the spinal segment 1. The cylinder body of the telescopic cylinder is connected with one connecting plate 11 through a ball socket, and the telescopic rod of the telescopic cylinder is connected with the other connecting plate 11 through a ball socket, so that the telescopic cylinder is connected with the two spinal column sections 1.

The first telescopic driver 3 has a two-stage stroke, and the first telescopic driver 3 (telescopic cylinder) has a retraction state, a first stroke state and a second stroke state, wherein the first stroke state and the second stroke state are extension states, and the extension length of the second stroke state is greater than that of the first stroke state. When the robotic spinal structure 100 is in the initial state, the first telescopic drive member 3 is in a first stroke state, in which the plurality of spinal segments 1 are in an upright state (the plurality of spinal segments 1 are vertically arranged). When the two first telescopic drives 3 are simultaneously in the retracted state, as shown in fig. 4, the two adjacent spinal segments 1 are rotated about the first axis of rotation, effecting a forward tilt of one of the two adjacent spinal segments 1 relative to the other. When the two first telescopic drivers 3 are simultaneously in the second stroke state, i.e. the two telescopic ends 32 are simultaneously extended further than the fixed ends 31, as shown in fig. 5, the two adjacent spinal segments 1 are rotated about the first rotation axis, and the reclining of one of the two adjacent spinal segments 1 relative to the other is achieved. When one of the two first telescopic drives 3 is in the second stroke state and the other is in the retracted state, as shown in fig. 6 and 7, the two adjacent spinal segments 1 are rotated about the second rotation axis, and a leftward (or rightward) bending of one of the two adjacent spinal segments 1 relative to the other is achieved.

According to some embodiments of the present application, as shown in fig. 8, each spinal column segment 1 comprises a rotating sleeve 12, two rotating assemblies and two rotation driving mechanisms, wherein the two rotating assemblies are respectively located at two ends of the rotating sleeve 12, and each rotating assembly is rotatably connected with the rotating sleeve 12; the two rotation driving mechanisms correspond to the two rotation assemblies one to one, and each rotation driving mechanism is used for driving the corresponding rotation assembly to rotate relative to the rotary sleeve 12. The two rotating assemblies are mutually independent structures and can respectively rotate relative to the rotating sleeve 12; a rotation driving mechanism is connected to one of the rotating assemblies, and the rotation driving mechanism can drive the rotating assemblies to rotate relative to the rotating sleeve 12, so that rotation of one rotating assembly relative to the rotating sleeve 12 is realized, or rotation of two rotating assemblies relative to the rotating sleeve 12 is realized simultaneously. When two adjacent spinal segments 1 are connected, rotation of the rotation assembly relative to the rotation sleeve 12 may be understood as twisting of the spinal structure, which is flexible.

As shown in fig. 9, the opposite ends of the rotary sleeve 12 are respectively provided with an accommodating cavity 121 with one end open, the open end of the accommodating cavity 121 is located at the end of the rotary sleeve 12, and the accommodating cavity 121 extends in the axial direction of the rotary sleeve 12. Each rotating assembly is matched with one accommodating cavity 121, as shown in fig. 8 and 9, each rotating assembly comprises a rotating shaft 13, an end cover 14 and a connecting disc 15, the rotating shaft 13 is rotatably inserted into the accommodating cavity 121, the end cover 14 is located at the open end of the accommodating cavity 121 and is used for closing the opening of the accommodating cavity 121, and the end cover 14 restricts the rotating shaft 13 in the accommodating cavity 121; the connecting plate 15 is located on the side of the end cover 14 remote from the rotary sleeve 12 and is rotatably connected to the end cover 14. The end cap 14 is detachably connected (e.g., bolted, screwed, etc.) with the rotary sleeve 12, so as to facilitate assembly and disassembly of the end cap 14 and the rotary sleeve 12, and to facilitate placement of the rotary shaft 13 in the accommodating cavity 121. One end of the rotating shaft 13 penetrates through the end cover 14 to be connected with the connecting disc 15, the rotating shaft 13 is rotatably connected with the end cover 14, and when the rotating shaft 13 rotates, the rotating shaft 13 can drive the connecting disc 15 to rotate. The universal joint 2 is connected with the connecting disc 15, and the connecting plate 11 is installed on the connecting disc 15, and when the pivot 13 rotated for the swivel nut 12, the pivot 13 can drive adjacent backbone festival section 1 and rotate, realizes the wrench movement of backbone structure. The rotation driving mechanism is mounted on the peripheral wall of the rotary sleeve 12, the telescopic end of the rotation driving mechanism extends into the accommodating cavity 121 and acts on the rotating shaft 13, the extension or retraction of the telescopic end can drive the rotating shaft 13 to rotate relative to the rotary sleeve 12, and the rotation driving mechanism provides power for the rotation of the rotating shaft 13.

For the convenience of mounting and dismounting, the end cover 14 is connected with the rotary sleeve 12 through bolts, the end part of the rotating shaft 13 extends out of the end cover 14 and is connected with the connecting disc 15 through bolts, and the connecting plate 11 is located on one side of the connecting disc 15 far away from the end cover 14 and is connected with the connecting disc 15 through bolts.

In some embodiments of the present application, as shown in fig. 8, the rotating shaft 13 includes a shaft body 131 and two baffles 132, the two baffles 132 are respectively located at two sides of the shaft body 131, one end of each baffle 132 is connected to the shaft body 131, and the other end is a free end; the rotation driving mechanism comprises two second telescopic driving members 16, the two second telescopic driving members 16 correspond to the two baffle plates 132 one by one, the second telescopic driving members 16 also comprise fixed ends 161 and telescopic ends 162, the fixed end 161 of each second telescopic driving member 16 is connected with the rotary sleeve 12, and the telescopic end 162 of each second telescopic driving member 16 is located in the accommodating cavity 121 and acts on the corresponding baffle plate 132. Each of the second telescopic actuators 16 is engaged with one of the stops 132 such that when the telescopic end 162 of one of the second telescopic actuators 16 is extended, the telescopic end 162 of the other second telescopic actuator 16 is retracted, thereby causing the shaft body 131 to rotate relative to the rotary sleeve 12 to rotate the adjacent spinal segment 1 to effect twisting of the spinal structure, i.e., rotation of the individual.

As shown in fig. 8 and 9, the outer peripheral wall of the rotary sleeve 12 is provided with a mounting boss 122, the mounting boss 122 is provided with a through hole 123 communicating with the accommodating cavity 121, the fixed end 161 of the second telescopic driving member 16 is in threaded connection with the mounting boss 122, and the telescopic end 162 passes through the through hole 123 and extends into the accommodating cavity 121 and acts on the baffle 132.

Alternatively, the second telescopic driving member 16 is a hydraulic telescopic cylinder, and the rotation driving of the rotating shaft 13 is realized by the telescopic motion of the telescopic rod (i.e. the telescopic end 162). In other embodiments of the present application, the second telescopic drive 16 may also be other forms of telescopic cylinder, such as a pneumatic cylinder or the like.

In order to ensure the rotation flexibility of the rotating shaft 13, two opposite ends of the rotating shaft 13 are respectively sleeved with bearings 134, and the rotating shaft 13 is rotatably connected with the rotating sleeve 12 through the bearings 134.

Further, as shown in fig. 8, the rotating shaft 13 further includes two limiting plates 133, the two limiting plates 133 are sleeved on the shaft body 131, the two limiting plates 133 are axially spaced along the shaft body 131 and form a limiting space 135, the telescopic end 162 of the second telescopic driving element 16 is limited in the limiting space 135, the two baffles 132 are located in the limiting space 135, and two opposite ends of each baffle 132 are respectively connected to the two limiting plates 133. The two ends of the baffle 132 are limited by the two limiting plates 133, so that the connection strength between the baffle 132 and the shaft body 131 is ensured, and the rotating shaft 13 rotates smoothly.

According to some embodiments of the present application, as shown in fig. 1, the robot spinal structure 100 adopts a three-segment structure, and the plurality of spinal segments 1 includes a first spinal segment 17, a second spinal segment 18, and a third spinal segment 19 connected in sequence, and the three-segment structure can ensure the strength of the spinal structure and realize different rotation motions, so that the spinal motion is flexible.

The working principle of the robot spine structure 100 according to the embodiment of the present application is:

when the two first telescopic driving parts 3 extend or retract simultaneously, the two adjacent spinal column segments 1 rotate around the first rotation axis to realize the forward tilting or backward tilting of the spinal column segments 1; when one of the two first telescopic driving members 3 extends and the other one retracts, that is, when the two first telescopic driving members 3 act oppositely, the adjacent two spinal segments 1 rotate relatively around the second rotation axis, so as to realize lateral bending (left lateral bending or right lateral bending) of the spinal segment 1.

The robot spine structure 100 adopts a multi-section structure, so that the overall strength is ensured, and meanwhile, certain flexibility is achieved; can realize two adjacent spinal column sections 1's multidirectional rotation through universal joint 2, when two first flexible driving pieces 3 adopted different drive methods, two adjacent spinal column sections 1 can do corresponding rotation, realize the different actions of backbone structure, simulate the action of human backbone, and backbone structure activity is nimble, satisfies user's activity demand.

Examples of the second aspect

As shown in fig. 10, the auxiliary exoskeleton device 200 according to the embodiment of the second aspect of the present application includes two arm wearing assemblies 4 for wearing on the arms, two leg wearing assemblies 5 for wearing on the legs, and the robot spine structure 100 according to the embodiment of the first aspect.

In some embodiments of the present application, the upper end of the robot spine structure 100 is connected to the two arm wearing assemblies 4, the lower end of the robot spine structure 100 is connected to the two leg wearing assemblies 5, and the two leg wearing assemblies 5 are respectively rotatably connected to the robot spine structure 100. The arm is fixed by the arm wearing component 4, and the leg is fixed by the leg wearing component 5, so that the fitting degree of the auxiliary exoskeleton device 200 and a human body is improved, different actions can be conveniently realized, and a user can walk or other actions can be assisted.

According to the auxiliary exoskeleton device 200 of the embodiment of the application, the wearable structure improves the fitting degree of the auxiliary skeleton device and a human body, assists a user to perform required actions, and the robot spine structure 100 enables the spine of the auxiliary skeleton device to flexibly act to adapt to different actions, so that the overall flexibility is improved.

According to some embodiments of the present application, as shown in fig. 11, the auxiliary exoskeleton device 200 further comprises a top bracket 6, the top bracket 6 being mounted to the upper end of the robotic spine structure 100; each arm wearing assembly 4 includes a back plate 41, an arm ring 42 and an arm ring support rod 43, one end of the back plate 41 (the end close to the other back plate 41) is connected to the top bracket 6, the other end of the back plate 41 is provided with a guide rod 44, the guide rod 44 is arranged along the horizontal direction, the arm ring 42 is slidably sleeved on the guide rod 44, and the arm ring 42 is fixed on the guide rod 44 through a bolt. The both ends of armlet bracing piece 43 are articulated with top support 6 and armlet 42 respectively, and armlet bracing piece 43 is used for supporting armlet 42, and armlet bracing piece 43 is the telescopic link, and when removing the locking state of armlet 42 and guide arm 44, through the flexible of armlet bracing piece 43, realize that armlet 42 keeps away from or is close to armlet 42 of another arm wearing subassembly 4.

In the above embodiment, the arm ring 42 is slidably connected with the guide rod 44, and the arm ring 42 slides relative to the back plate 41 through the arm ring support rod 43, so as to adjust the distance between the two arm rings 42 to adapt to users with different body sizes.

Further, the arm ring 42 includes an inner ring 421 and an outer ring 422, the guide rod 44 is slidably sleeved on the outer ring 422, and the inner ring 421 is rotatably disposed on the inner surface of the outer ring 422 to adapt to users with different body types, so as to provide a comfortable experience environment for the users.

Examples of the third aspect

A serpentine robot in accordance with an embodiment of the third aspect of the present application employs a robot spine structure 100 in accordance with an embodiment of the first aspect of the present application.

Be applied to snake-shaped robot with robot backbone structure 100, as the body position of snake-shaped robot, realize the wrench movement flexibility of snake-shaped robot through first flexible driving piece 3, accomplish different actions.

Example of the fourth aspect

A robotic arm according to an embodiment of the fourth aspect of the present application employs a robotic spine structure 100 according to an embodiment of the first aspect of the present application.

The mechanical arm adopts a robot spine structure 100 as a main body part of the mechanical arm, and the action of the mechanical arm is realized through the first telescopic driving part 3, so that the action of the mechanical arm is flexible.

It should be noted that the features of the embodiments in the present application may be combined with each other without conflict.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A robot spine structure is characterized by comprising a plurality of spine segments, wherein two adjacent spine segments are connected through a universal joint, the universal joint is provided with a first rotating axis and a second rotating axis which are perpendicular to each other, two first telescopic driving parts are connected between the two adjacent spine segments and are respectively positioned at two sides of the universal joint, and when the two first telescopic driving parts extend out or retract simultaneously, the two adjacent spine segments rotate around the first rotating axis relatively; when one of the two first telescopic drivers is extended and the other one is retracted, the adjacent two spinal segments are relatively rotated around the second rotation axis.

2. A robotic spine structure according to claim 1, wherein the two first telescopic drives are arranged in parallel and the universal joint is offset from the plane of the two first telescopic drives.

3. A robotic spine structure according to claim 1, wherein the first telescopic drive comprises a fixed end and a telescopic end, the fixed end being ball and socket connected to one of two adjacent spine segments and the telescopic end being ball and socket connected to the other.

4. The robotic spine structure of claim 1 wherein each spine segment comprises a rotating sleeve, two rotating assemblies and two rotation driving mechanisms, the two rotating assemblies are respectively located at two ends of the rotating sleeve, each rotating assembly is rotatably connected with the rotating sleeve, the two rotation driving mechanisms are in one-to-one correspondence with the two rotating assemblies, and each rotation driving mechanism is used for driving the corresponding rotating assembly to rotate relative to the rotating sleeve.

5. The robot spine structure according to claim 4, wherein the two opposite ends of the rotating sleeve are respectively provided with a receiving cavity, each rotating assembly is matched with one receiving cavity, each rotating assembly comprises a rotating shaft, an end cover and a connecting disc, the rotating shaft is rotatably inserted into the receiving cavity, the end cover is positioned at an opening end of the receiving cavity and limits the rotating shaft in the receiving cavity, the end cover is detachably connected with the rotating sleeve, the connecting disc is positioned at one side of the end cover far away from the rotating sleeve and is rotatably connected with the end cover, the universal joint is connected with the connecting disc, one end of the rotating shaft penetrates through the end cover and is connected with the connecting disc, the rotating driving mechanism is mounted on the peripheral wall of the rotating sleeve, and a telescopic end of the rotating driving mechanism extends into the receiving cavity and acts on the rotating shaft, so as to drive the rotating shaft to rotate relative to the rotating sleeve.

6. The robot spine structure according to claim 5, wherein the rotation shaft comprises a shaft body and two blocking plates, the two blocking plates are respectively located at two sides of the shaft body, each blocking plate is connected with the shaft body, the rotation driving mechanism comprises two second telescopic driving members, the two second telescopic driving members are in one-to-one correspondence with the two blocking plates, a fixed end of each second telescopic driving member is connected with the rotating sleeve, and a telescopic end of each second telescopic driving member is located in the accommodating cavity and acts on the corresponding blocking plate.

7. The robot spine structure according to claim 6, wherein the rotation shaft further comprises two limiting plates, the two limiting plates are sleeved on the shaft body, the two limiting plates are axially spaced along the shaft body and form a limiting space, the two baffles are located in the limiting space, and opposite ends of each baffle are respectively connected with the two limiting plates.

8. The robotic spinal structure of claim 1, wherein the plurality of spinal segments includes a first spinal segment, a second spinal segment, and a third spinal segment connected in series.

9. An auxiliary exoskeleton device comprising two arm wearing components for wearing on an arm, two leg wearing components for wearing on a leg, and the robot spine structure of any one of claims 1 to 8, wherein the upper end of the robot spine structure is connected to the two arm wearing components, the lower end of the robot spine structure is connected to the two leg wearing components, and the two leg wearing components are respectively rotatably connected to the robot spine structure.

10. The auxiliary exoskeleton device as claimed in claim 9 further comprising a top bracket mounted on the upper end of the spine structure of the robot, wherein each arm wearing assembly comprises a back plate, an arm ring and an arm ring support rod, one end of the back plate is connected to the top bracket, the other end of the back plate is provided with a guide rod, the arm ring is slidably sleeved on the guide rod and locked by a bolt, two ends of the arm ring support rod are respectively hinged to the top bracket and the arm ring, and the arm ring support rod is a telescopic rod.

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