CN216067447U - Exoskeleton load bearing robot - Google Patents
Exoskeleton load bearing robot Download PDFInfo
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- CN216067447U CN216067447U CN202121980428.9U CN202121980428U CN216067447U CN 216067447 U CN216067447 U CN 216067447U CN 202121980428 U CN202121980428 U CN 202121980428U CN 216067447 U CN216067447 U CN 216067447U
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- 210000001624 hip Anatomy 0.000 claims abstract description 131
- 210000002414 leg Anatomy 0.000 claims abstract description 38
- 210000004394 hip joint Anatomy 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 210000000689 upper leg Anatomy 0.000 claims description 51
- 230000003287 optical effect Effects 0.000 claims description 8
- 230000007704 transition Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 244000309466 calf Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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Abstract
The utility model discloses an exoskeleton load bearing robot, which relates to the technical field of power-assisted exoskeleton robots and comprises hip plates, wherein a hip plate adjusting mechanism is arranged between the hip plates; the lower part of the hip plate is provided with a rigid waistband; the bottom of the hip plate is provided with a hip joint component; the bottom of the hip joint component is provided with a leg component; the bottom of the leg component is provided with a foot component; the rear side of the foot component is provided with a power assisting device. By arranging the foldable backboard behind the hip plate, part of the weight placed at the backboard can be transferred to the ground through the hip plate, the leg assembly and the foot assembly, and the effect of reducing the weight is achieved. The power assisting device is arranged at the position of the lower leg, so that the lower leg can be assisted to return to the right during the walking process, and the power assisting effect is achieved. A plurality of adjusting devices are arranged, so that the width, the height and the waistline can be adjusted to match with people of different statures. The joint device matched with the human motion joint is arranged at the human motion joint, so that the aim of matching the human motion is fulfilled. The big and small legs, the waist, the chest and the feet are all tied up, thereby ensuring the human-machine fit.
Description
Technical Field
The utility model relates to the technical field of power-assisted exoskeleton robots, in particular to an exoskeleton loading robot.
Background
The exoskeleton robot is a wearable mechanical integrated system for assisting in movement or enhancing the movement capability, and is mainly applied to the fields of military affairs, medical treatment, logistics, factory operation and the like. From the power source, the exoskeleton robot can be divided into an active exoskeleton robot and a passive exoskeleton robot. The passive exoskeleton robot is an exoskeleton without a power source, and mainly assists power by guiding gravity to the ground, mechanically storing energy and the like.
Disclosure of Invention
In order to solve the technical problems, the utility model provides an exoskeleton loading robot without a power source.
In order to achieve the purpose, the utility model provides the following scheme:
the utility model provides an exoskeleton load-bearing robot, which comprises two hip plates, wherein a hip plate adjusting mechanism is arranged between the two hip plates; the lower parts of the two hip plates are provided with rigid waistbands; the bottom parts of the two hip plates are respectively provided with a hip joint component; a leg component is arranged at the bottom of the hip joint component; a foot component is arranged at the bottom of the leg component; and a power assisting device is arranged at the rear side of the foot component.
Optionally, the hip plate comprises a waist connecting part and a leg connecting part, and the waist connecting part and the leg connecting part are in smooth transition according to the curve from the back of a human body to the hip joint; the waist connecting part is used for being connected with the hip plate adjusting mechanism, and the leg connecting part is used for being connected with the hip joint assembly.
Optionally, the leg connecting portion includes a third limiting groove, and a third semi-cylindrical light groove is disposed in the third limiting groove; a joint connecting seat is slidably arranged in the third limiting groove, a fourth semi-cylindrical threaded groove is arranged on one side, facing the leg connecting part, of the joint connecting seat, the third semi-cylindrical optical groove and the fourth semi-cylindrical threaded groove are matched to form a second adjusting screw hole, and a second adjusting bolt is arranged in the second adjusting screw hole; one side of the joint connecting seat, which is far away from the leg connecting part, is provided with a joint connecting part, and the joint connecting part is used for being connected with the hip joint component.
Optionally, the hip joint assembly comprises a connecting seat and a rotating head; the upper part of the connecting seat is rotatably connected with the hip plate; the lower part of the connecting seat is rotatably connected with the upper part of the rotating head, and the lower part of the rotating head is rotatably connected with the leg component.
Optionally, the rotating head is connected with the connecting seat through a rotating shaft, a rotating shaft is arranged at the lower part of the rotating head, and a limiting block is arranged in the middle of the rotating head.
Optionally, the rigid waistband comprises a binding block located at the front end of the hip plate, a fixing block connected with the hip plate, a plurality of connecting blocks located at the rear end of the hip plate, and a waistband adjusting assembly arranged in the middle of the connecting blocks;
optionally, the belt adjusting assembly comprises a belt adjusting fixed plate and a belt adjusting movable plate; the waistband adjusting fixed plate is connected with the waistband adjusting movable plate in a limiting way; one end of the waistband adjusting fixing plate is connected with the connecting block, a fifth semi-cylindrical optical groove is formed in the middle of one side, facing the waistband adjusting movable plate, of the waistband adjusting fixing plate, one end of the waistband adjusting movable plate is connected with the connecting block, a sixth semi-cylindrical threaded groove is formed in the middle of one side, facing the waistband adjusting fixing plate, of the waistband adjusting movable plate, the fifth semi-cylindrical optical groove is matched with the sixth semi-cylindrical threaded groove to form a third adjusting screw hole, and a third adjusting bolt is arranged in the third adjusting screw hole.
Optionally, the leg assembly comprises a thigh adjusting member, a thigh assembly, a shank assembly and a shank adjusting member which are sequentially connected from top to bottom; the top of the thigh adjusting component is connected with the hip joint component, and the bottom of the shank adjusting component is connected with the foot component;
wherein,
a rotation limiting seat is arranged at the top of the thigh adjusting component, a vertical connecting hole is formed in the middle of the rotation limiting seat, and a rotation limiting part extending upwards is arranged at the top of the rotation limiting seat; a plurality of first adjusting holes are formed in the middle lower part of the thigh adjusting component and are used for being in adjustable connection with the thigh assembly;
and/or, the thigh assembly comprises a thigh member and a thigh strap; the top of the thigh component is connected with the thigh adjusting component, and the bottom of the thigh component is rotatably connected with the shank component; the thigh binding plate is connected with the thigh component through a binding belt;
and/or, the lower leg assembly comprises a lower leg member and a lower leg girth plate; the top of the shank component is rotatably connected with the thigh component, and the bottom of the shank component is connected with the shank adjusting component; the shank binding plate is connected with the shank component through a binding belt;
and/or the bottom of the lower leg adjusting component is rotatably connected with the foot component, and a plurality of second adjusting holes are formed in the middle upper part of the lower leg adjusting component.
Optionally, a limit adjusting groove is formed in the bottom of the shank member, a shank limiting groove is formed in the side wall of the shank member, and the shank limiting groove is communicated with the limit adjusting groove; the shank height adjusting handle is arranged on the side wall of the shank member, one end of the shank height adjusting handle is rotatably connected with the side wall of the shank member, the other end of the shank height adjusting handle is provided with a fixing block, and the fixing block penetrates through the shank limiting groove and is inserted into the limiting adjusting groove to be clamped and connected with the shank adjusting member.
Optionally, the hip plate adjusting mechanism comprises a hip fixing adjusting plate and two hip movable adjusting plates; a first limiting groove is formed in the rear side of the hip fixing and adjusting plate, and one end of the hip movable adjusting plate is arranged in the first limiting groove and connected with the hip fixing and adjusting plate; the other end of the hip movable adjusting plate is connected with the hip plate.
Optionally, a first semi-cylindrical light groove is arranged on one side of the hip movable adjusting plate facing the hip plate; a second semi-cylindrical threaded groove is formed in the part where the hip plate is connected with the hip movable adjusting plate; the second semi-cylindrical threaded groove is arranged in the second limiting groove; the other end of the hip movable adjusting plate is arranged in the second limiting groove; the first semi-cylindrical smooth groove and the second semi-cylindrical threaded groove are matched to form a first adjusting screw hole, and a first adjusting bolt is arranged in the first adjusting screw hole.
Optionally, the foot component comprises a vertical connecting seat and a foot plate, the top of the vertical connecting seat is connected with the bottom of the leg component, and the bottom of the vertical connecting seat is rotatably connected with one side of the foot plate; the power assisting device is arranged at the rear end of the foot plate.
Optionally, the power assisting device comprises a base, a movable block and an elastic piece; the base bottom with the foot subassembly is connected, the movable block slidable set up in the base, elastic component one end with the movable block top is connected, the elastic component other end with the base top is connected, the movable block top is connected with the shank through the stay cord.
Optionally, the power assisting device comprises a pre-tightening structure movable end, a pre-tightening seat, a mounting seat and an elastic piece; the mounting seat comprises an upper part and a lower part, the upper part and the lower part are rotatably connected through a rotating shaft, the lower part is connected with the foot component, and the upper part is connected with the bottom of the pre-tightening seat; the relative height between the pre-tightening seat and the pre-tightening end can be adjusted; the upper part of the pre-tightening end is provided with a pre-tightening structure movable end, the elastic piece is an elastic belt, and the elastic belt is wound on the seat shaft and the pre-tightening structure movable end.
Compared with the prior art, the utility model has the following technical effects:
according to the exoskeleton loading robot, the foldable rear back plate is arranged behind the hip plate, so that part of weight placed on the rear back plate can be transmitted to the ground through the hip plate, the leg assembly and the foot assembly, and the effect of reducing weight is achieved.
The power assisting device is arranged at the position of the lower leg, so that the lower leg can be assisted to return to the right during the walking process, and the power assisting effect is achieved.
A plurality of adjusting devices are arranged, so that the width, the height and the waistline can be adjusted, and people with different statures can be matched.
The joint device matched with the human motion joint is arranged at the human motion joint, so that the aim of matching the human motion is fulfilled.
The legs, the shanks, the waist, the chest and the feet are all tied up, so that the man-machine fit is well ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an exoskeleton loading robot of the present invention;
FIG. 2 is a schematic perspective view of a hip plate and a hip plate adjusting mechanism in the exoskeleton bearing robot according to the present invention;
FIG. 3 is a front view of the hip plate and the hip plate adjusting mechanism of the exoskeleton bearing robot according to the present invention;
fig. 4 is a schematic structural diagram of a hip plate in the exoskeleton bearing robot of the utility model;
FIG. 5 is a schematic perspective view of a hip adjustment plate for use in the exoskeleton robot;
FIG. 6 is a front view of the hip adjusting plate of the exoskeleton robot;
FIG. 7 is a schematic diagram of a hip adjustment plate of the exoskeleton robot;
figure 8 is a schematic structural view of an alternate perspective of a hip-motion adjustment plate of the exoskeleton robot;
fig. 9 is a schematic structural view of a rigid waist belt in the exoskeleton robot;
FIG. 10 is a schematic view of the waist belt adjusting assembly of the exoskeleton robot;
FIG. 11 is a schematic view of an alternative perspective of the belt adjustment assembly of the exoskeleton robot;
fig. 12 is a schematic structural view of a belt adjusting movable plate of the exoskeleton robot;
fig. 13 is a schematic structural view of a waist belt adjusting and fixing plate of the exoskeleton load bearing robot;
fig. 14 is a structural schematic view of a sixth semi-cylindrical threaded groove in the exoskeleton robot for loading weight according to the utility model;
fig. 15 is a schematic structural view of an adjusting seat in the exoskeleton robot for loading loads according to the utility model;
FIG. 16 is a schematic structural view of a hip joint assembly of the exoskeleton robot;
FIG. 17 is a schematic view of the configuration of the thigh adjustment member and the thigh assembly of the exoskeleton robot;
FIG. 18 is a schematic view of the configuration of the thigh adjustment member of the exoskeleton robot;
FIG. 19 is a schematic view of the configuration of the upper and lower leg members of the exoskeleton robot;
FIG. 20 is a schematic view of the lower leg member and foot assembly of the exoskeleton robot;
FIG. 21 is a schematic structural view of a shank height adjusting handle of the exoskeleton robot;
FIG. 22 is a schematic structural view of the bottom of the lower leg member of the exoskeleton robot;
FIG. 23 is a schematic structural view of a power assisting device in the exoskeleton robot for loading loads;
fig. 24 is a schematic structural diagram of another power assisting device in the exoskeleton load bearing robot.
Description of reference numerals: 1. a hip plate; 2. a hip plate adjustment mechanism; 3. a belt adjustment assembly; 4. a rigid waist band; 5. a hip joint assembly; 6. a thigh plate; 7. a thigh adjusting member; 8. a thigh member; 9. a lower leg member; 10. a shank restraint plate; 11. a booster device; 12. a shank adjustment member; 13. a foot component;
01. a third limiting groove; 02. a third semi-cylindrical light groove; 03. a hip adjustment aperture; 04. a second limit groove; 05. a second semi-cylindrical optical groove;
111. pre-tightening the movable end of the structure; 112. pre-tightening ends; 113. an elastic member; 114. a mounting seat; 115. pre-tightening the base; 116. a base; 117. pulling a rope;
21. a hip fixing and adjusting plate; 22. a hip activity adjusting plate;
211. a first limit groove; 212. a hip harness hole; 213. a hip first screw hole;
221. a first semi-cylindrical thread groove; 222. a hip second screw hole;
31. a waistband adjusting fixing plate; 32. a waistband adjusting movable plate; 33. a waistband connecting seat; 34. a third adjusting bolt; 35. a fifth semi-cylindrical light groove; 36. a sixth semi-cylindrical thread groove;
41. binding blocks; 42. a fixed block; 43. connecting blocks;
51. a joint connecting seat; 52. a connecting seat; 53. connecting the rotating shaft; 54. rotating the head;
541. a limiting block; 542. a rotating shaft;
71. a vertical connecting hole; 72. a rotation limiting part;
731. a first adjustment aperture; 732. a vertical through hole;
91. a shank limiting groove; 92. a return spring aperture; 93. a limit adjusting groove;
121. a second adjustment aperture; 122. a shank height adjusting handle;
1221. a fixed block; 1222. and resetting the connecting hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1 to 23, the present embodiment provides an exoskeleton weight-bearing robot, comprising two hip plates 1, and a hip plate adjusting mechanism 2 disposed between the two hip plates 1; the lower parts of the two hip plates 1 are provided with rigid waistbands 4; the bottoms of the two hip plates 1 are respectively provided with a hip joint component 5; the bottom of the hip joint component 5 is provided with a leg component; the foot component 13 is arranged at the bottom of the leg component; the power assisting device 11 is arranged on the rear side of the foot component 13.
In this embodiment, the hip plate 1 comprises a waist connecting portion and a leg connecting portion, and the waist connecting portion and the leg connecting portion smoothly transition according to the curve from the back to the hip joint of the human body; the waist connecting part is used for being connected with the hip plate adjusting mechanism 2, and the leg connecting part is used for being connected with the hip joint component 5.
The hip plate adjusting mechanism 2 comprises a hip fixing adjusting plate 21 and two hip movable adjusting plates 22; a first limit groove 211 is formed in the rear side of the hip fixing and adjusting plate 21, and one end of the hip movable adjusting plate 22 is arranged in the first limit groove 211 and connected with the hip fixing and adjusting plate 21; the other end of the hip movable adjusting plate 22 is connected with the hip plate 1. Further, the waist connecting part comprises a second semi-cylindrical smooth groove 05 and a second limiting groove 04, and a second limiting semi-groove is arranged at one end of the second semi-cylindrical smooth groove 05; the leg connecting part comprises a third limiting groove 01 and a third semi-cylindrical smooth groove 02, and one end of the third semi-cylindrical smooth groove 02 is provided with a third limiting semi-groove.
A first semi-cylindrical thread 221 is arranged on one side of the hip movable adjusting plate 22 facing the hip plate 1, a first limiting semi-groove is arranged at one end of the first semi-cylindrical thread groove 221, and the first limiting semi-groove and the second limiting semi-groove form a first limiting adjusting groove; a second semi-cylindrical light groove 05 is arranged at the part where the hip plate 1 is connected with the hip movable adjusting plate 22; the second semi-cylindrical light groove 05 is arranged in the second limiting groove 04; the other end of the hip movable adjusting plate 22 is arranged in the second limiting groove 04; the first semi-cylindrical thread groove 221 and the second semi-cylindrical light groove 05 are matched to form a first adjusting screw hole, a first adjusting bolt is arranged in the first adjusting screw hole, and the end of the first adjusting bolt is located in the first limiting adjusting groove.
The two hip movable adjusting plates 22 are inserted from the left and right sides of the second limiting groove 04 of the hip fixing adjusting plate 21, and are fixedly connected by screwing screws into the hip second screw hole 222 and the hip first screw hole 213, so that the two hip movable adjusting plates 22 are fixedly connected with the hip fixing adjusting plate 21. And (3) placing a first adjusting bolt into the second semi-cylindrical threaded groove 05, inserting the hip movable adjusting plate 22 into the second limiting groove 04 of the hip plate 1, enabling the second semi-cylindrical smooth groove 05 and the first semi-cylindrical threaded groove 221 to form a first adjusting screw hole, and adjusting the relative position between the hip plate 1 and the hip movable adjusting plate 22 through the matching of the first adjusting bolt and the first adjusting screw hole to finish the hip installation. Furthermore, in order to facilitate screwing the first adjusting bolt, a hip adjusting hole 03 is coaxially arranged on one side of the hip plate 1 far away from the hip movable adjusting plate 22 and is coaxial with the first adjusting screw hole, and a tool is inserted into the first adjusting bolt after penetrating through the hip adjusting hole 03 so as to facilitate screwing the first adjusting bolt.
The upper part of the hip fixing and adjusting plate 21 is provided with a hip beam hole 212 for installing a chest strap or a shoulder strap.
A joint connecting seat 51 is slidably arranged in the third limiting groove 01 of the leg connecting part of the hip plate 1, a fourth semi-cylindrical threaded groove is arranged on one side, facing the leg connecting part, of the joint connecting seat 51, a fourth limiting half groove is arranged at one end of the fourth semi-cylindrical threaded groove, the third semi-cylindrical smooth groove 02 and the fourth semi-cylindrical threaded groove are matched to form a second adjusting screw hole, a second adjusting bolt is arranged in the second adjusting screw hole, and the end of the second adjusting bolt is arranged in a second limiting adjusting groove 93 formed by the third limiting half groove and the fourth limiting half groove; one side of the joint connecting seat 51, which is far away from the leg connecting part, is provided with a joint connecting part, and the joint connecting part is used for being connected with the hip joint component 5.
The relative position of the joint connecting seat 51 and the hip plate 1 is adjusted by rotating the second adjusting bolt, and then the relative position between the hip plate 1 and the hip joint assembly 5 is adjusted, so as to compensate the position change of the hip plate 1 caused by the length adjustment of the rigid waistband 4 by the waistband adjusting assembly 3.
The rigid waistband 4 comprises a binding block 41 positioned at the front end of the hip plate 1, a fixing block 42 connected with the hip plate 1, a plurality of connecting blocks 43 positioned at the rear end of the hip plate 1 and a waistband adjusting component 3 arranged in the middle of the connecting blocks 43.
The waistband adjusting component 3 comprises a waistband adjusting fixed plate 31 and a waistband adjusting movable plate 32; the waistband adjusting fixed plate 31 is in limit connection with the waistband adjusting movable plate 32; one end of the waistband adjusting fixing plate 31 is connected with the connecting block 43, a fifth semi-cylindrical optical groove 35 is arranged in the middle of one side of the waistband adjusting fixing plate 31 facing the waistband adjusting movable plate 32, a fifth limiting semi-groove is arranged at one end of the fifth semi-cylindrical optical groove 35, one end of the belt adjusting movable plate 32 is connected with the connecting block 43, a sixth semi-cylindrical threaded groove 36 is formed in the middle of one side of the belt adjusting movable plate 32 facing the belt adjusting fixed plate 31, a sixth limiting semi-groove is formed in one end of the sixth semi-cylindrical threaded groove 36, a third limiting adjusting groove 93 is formed by the fifth limiting semi-groove and the sixth limiting semi-groove, said fifth semi-cylindrical optical groove 35 and said sixth semi-cylindrical threaded groove 36 are matched to form a third adjustment screw hole, and a third adjusting bolt 34 is arranged in the third adjusting screw hole, and the end of the third adjusting bolt 34 is positioned in the third limiting adjusting groove 93. The third adjusting bolt 34 is rotated to adjust the relative position between the fixed belt adjusting plate 31 and the movable belt adjusting plate 32, thereby changing the overall length of the rigid waist belt 4.
The leg component comprises a thigh adjusting component 7, a thigh component, a shank component and a shank adjusting component 12 which are sequentially connected from top to bottom; the top of the thigh adjusting component 7 is connected with the hip joint component 5, and the bottom of the shank adjusting component 12 is connected with the foot component 13.
A rotation limiting seat is arranged at the top of the thigh adjusting component 7, a vertical connecting hole 71 is arranged in the middle of the rotation limiting seat, and a rotation limiting part 72 extending upwards is arranged at the top of the rotation limiting seat; a plurality of first adjusting holes 731 are formed in the lower middle portion of the thigh adjusting member 7, and the plurality of first adjusting holes 731 are used for being adjustably connected with the thigh assembly.
The hip joint assembly 5 comprises a connecting base 52 and a rotating head 54; the upper part of the connecting seat 52 is rotatably connected with the hip plate 1; the lower portion of the connecting base 52 is rotatably connected to the upper portion of the rotating head 54, and the lower portion of the rotating head 54 is rotatably connected to the leg assembly.
The rotation limiting part 72 between the rotating head 54 and the connecting seat 52 is connected through a rotating shaft, the lower part of the rotating head 54 is provided with a rotating shaft 542, and the middle part of the rotating head 54 is provided with a limiting block 541. The rotation shaft 542 is inserted into the bearings in the vertical coupling hole 71 and the vertical through hole 732, and the stopper 541 is located between the rotation stopper portions 72, thereby allowing the rotation head 54 to rotate within a certain range.
The thigh assembly comprises a thigh member 8 and a thigh plate 6; the top of the thigh member 8 is connected with the thigh adjusting member 7, and the bottom of the thigh member 8 is rotatably connected with the lower leg assembly; the thigh strap 6 is connected with the thigh member 8 by a binding band;
the lower leg assembly comprises a lower leg member 9 and a lower leg girth plate 10; the top of the shank member 9 is rotatably connected with the thigh assembly, and the bottom of the shank member 9 is connected with the shank adjusting member; the shank binding plate 10 is connected with the shank component 9 through a binding belt;
the bottom of the lower leg adjusting member 12 is rotatably connected with the foot component 13, and a plurality of second adjusting holes 121 are arranged at the middle upper part of the lower leg adjusting member 12.
The bottom of the shank member 9 is provided with a limit adjusting groove 93, the side wall of the shank member 9 is provided with a shank limit groove 91, and the shank limit groove 91 is communicated with the limit adjusting groove 93; a shank height adjusting handle 122 is arranged on the side wall of the shank member 9, one end of the shank height adjusting handle 122 is rotatably connected with the side wall of the shank member 9, a fixing block 42 is arranged at the other end of the shank height adjusting handle 122, and the fixing block 42 penetrates through the shank limiting groove 91 and is inserted into the limiting adjusting groove 93 to be clamped and connected with the shank adjusting member 12.
Further, a return spring hole 92 is formed in the bottom of the lower leg member 9, a return connection hole 1222 is formed in the lower leg height adjustment handle 122, the return spring hole 92 and the return connection hole 1222 are coaxially arranged, and a return spring is provided, so that the fixing block 42 is kept inserted into the lower leg limiting groove 91 by the elastic force of the return spring.
The foot component 13 comprises a vertical connecting seat 52 and a foot plate, the top of the vertical connecting seat 52 is connected with the bottom of the leg component, and the bottom of the vertical connecting seat 52 is rotatably connected with one side of the foot plate; the power assisting device 11 is arranged at the rear end of the foot plate.
The power assisting device 11 comprises a base 116, a movable block and an elastic piece; the bottom of the base 116 is connected with the foot component 13, the movable block is slidably arranged in the base 116, one end of the elastic part is connected with the top of the movable block, the other end of the elastic part is connected with the top of the base 116, and the top of the movable block is connected with the calf bundle plate 10 through a pull rope 117. The elastic part adopts a spiral spring, and in the walking process of a human body, the elastic part stretches to store energy and releases to pull the position of the shank to be adjusted back in the next step process, thereby playing the role of assisting power.
Example two:
as shown in fig. 24, in the present embodiment, the power assisting device 11 includes a pre-tightening structure movable end 111, a pre-tightening end 112, a pre-tightening seat 115, a mounting seat 114 and an elastic member 113; the mounting seat 114 comprises an upper portion and a lower portion, the upper portion and the lower portion are rotatably connected through a rotating shaft, the lower portion is connected with the foot component 13, and the upper portion is connected with the bottom of the pre-tightening seat 115; the relative height between the pre-tightening seat 115 and the pre-tightening end 112 can be adjusted, specifically, an internal thread is arranged in the pre-tightening seat 115, an external thread rod is arranged at the bottom of the pre-tightening end 112, the external thread rod is matched with the internal thread, and the relative height between the pre-tightening seat 115 and the pre-tightening end 112 can be adjusted by adjusting the depth of the external thread rod screwed into the internal thread; a movable end 111 of the pre-tightening structure is arranged above the pre-tightening end 112, the elastic piece 113 is an elastic belt, and the elastic belt 113 is wound on the seat shaft and the movable end of the pre-tightening structure. The movable end 111 of the pre-tightening structure is connected with the shank restraint plate 10 through a pull rope, and the elastic piece 113 stretches to store energy in the walking process of a human body and releases to pull the shank position to return to the right position in the next walking process, so that the function of assisting is achieved.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the utility model.
Claims (10)
1. An exoskeleton load-bearing robot is characterized by comprising two hip plates, wherein a hip plate adjusting mechanism is arranged between the two hip plates; the lower parts of the two hip plates are provided with rigid waistbands; the bottom parts of the two hip plates are respectively provided with a hip joint component; a leg component is arranged at the bottom of the hip joint component; a foot component is arranged at the bottom of the leg component; and a power assisting device is arranged at the rear side of the foot component.
2. The exoskeleton weight-bearing robot of claim 1 wherein said hip plate adjustment mechanism comprises a hip fixed adjustment plate and two hip moveable adjustment plates; a first limiting groove is formed in the rear side of the hip fixing and adjusting plate, and one end of the hip movable adjusting plate is arranged in the first limiting groove and connected with the hip fixing and adjusting plate; the other end of the hip movable adjusting plate is connected with the hip plate.
3. The exoskeleton weight-bearing robot of claim 2 wherein a side of the hip adjustable plate facing the hip plate is provided with a first semi-cylindrical light slot; a second semi-cylindrical threaded groove is formed in the part where the hip plate is connected with the hip movable adjusting plate; the second semi-cylindrical threaded groove is arranged in the second limiting groove; the other end of the hip movable adjusting plate is arranged in the second limiting groove; the first semi-cylindrical smooth groove and the second semi-cylindrical threaded groove are matched to form a first adjusting screw hole, and a first adjusting bolt is arranged in the first adjusting screw hole.
4. An exoskeleton weight-bearing robot as claimed in claim 1 wherein the hip plate includes a waist connection and a leg connection between which there is a smooth transition in accordance with the curve of the human back to the hip joint; the waist connecting part is used for being connected with the hip plate adjusting mechanism, and the leg connecting part is used for being connected with the hip joint assembly.
5. An exoskeleton weight bearing robot as claimed in claim 4 wherein the leg link portion includes a third limit groove having a third semi-cylindrical light trough disposed therein; a joint connecting seat is slidably arranged in the third limiting groove, a fourth semi-cylindrical threaded groove is arranged on one side, facing the leg connecting part, of the joint connecting seat, the third semi-cylindrical optical groove and the fourth semi-cylindrical threaded groove are matched to form a second adjusting screw hole, and a second adjusting bolt is arranged in the second adjusting screw hole; one side of the joint connecting seat, which is far away from the leg connecting part, is provided with a joint connecting part, and the joint connecting part is used for being connected with the hip joint component.
6. An exoskeleton weight robot as claimed in claim 1 wherein the hip joint assembly comprises a connecting socket and a swivel head; the upper part of the connecting seat is rotatably connected with the hip plate; the lower part of the connecting seat is rotatably connected with the upper part of the rotating head, and the lower part of the rotating head is rotatably connected with the leg component.
7. The exoskeleton robot for heavy loads according to claim 6, wherein the rotating head is connected with the connecting seat through a rotating shaft, a rotating shaft is arranged at the lower part of the rotating head, and a limiting block is arranged at the middle part of the rotating head.
8. An exoskeleton weight robot as claimed in claim 1 wherein the leg assembly comprises a thigh adjustment member, a thigh assembly, a shank assembly and a shank adjustment member connected in series from top to bottom; the top of the thigh adjusting component is connected with the hip joint component, and the bottom of the shank adjusting component is connected with the foot component;
wherein,
a rotation limiting seat is arranged at the top of the thigh adjusting component, a vertical connecting hole is formed in the middle of the rotation limiting seat, and a rotation limiting part extending upwards is arranged at the top of the rotation limiting seat; a plurality of first adjusting holes are formed in the middle lower part of the thigh adjusting component and are used for being in adjustable connection with the thigh assembly;
and/or, the thigh assembly comprises a thigh member and a thigh strap; the top of the thigh component is connected with the thigh adjusting component, and the bottom of the thigh component is rotatably connected with the shank component; the thigh binding plate is connected with the thigh component through a binding belt;
and/or, the lower leg assembly comprises a lower leg member and a lower leg girth plate; the top of the shank component is rotatably connected with the thigh component, and the bottom of the shank component is connected with the shank adjusting component; the shank binding plate is connected with the shank component through a binding belt;
and/or the bottom of the lower leg adjusting component is rotatably connected with the foot component, and a plurality of second adjusting holes are formed in the middle upper part of the lower leg adjusting component.
9. The exoskeleton robot as claimed in claim 8, wherein the lower leg member is provided with a limit adjustment groove at the bottom, and a lower leg limit groove is provided on the side wall of the lower leg member, and the lower leg limit groove is communicated with the limit adjustment groove; the shank height adjusting handle is arranged on the side wall of the shank member, one end of the shank height adjusting handle is rotatably connected with the side wall of the shank member, the other end of the shank height adjusting handle is provided with a fixing block, and the fixing block penetrates through the shank limiting groove and is inserted into the limiting adjusting groove to be clamped and connected with the shank adjusting member.
10. An exoskeleton robot as claimed in claim 1 wherein the force assist device comprises a base, a movable mass and a resilient member; the bottom of the base is connected with the foot component, the movable block is arranged in the base in a sliding manner, one end of the elastic piece is connected with the top of the movable block, the other end of the elastic piece is connected with the top of the base, and the top of the movable block is connected with the shank through a pull rope;
or the power assisting device comprises a pre-tightening structure movable end, a pre-tightening seat, a mounting seat and an elastic piece; the mounting seat comprises an upper part and a lower part, the upper part and the lower part are rotatably connected through a rotating shaft, the lower part is connected with the foot component, and the upper part is connected with the bottom of the pre-tightening seat; the relative height between the pre-tightening seat and the pre-tightening end can be adjusted; the upper part of the pre-tightening end is provided with a pre-tightening structure movable end, the elastic piece is an elastic belt, and the elastic belt is wound on the seat shaft and the pre-tightening structure movable end.
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| CN202121980428.9U CN216067447U (en) | 2021-08-23 | 2021-08-23 | Exoskeleton load bearing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113500586A (en) * | 2021-08-23 | 2021-10-15 | 北理砺风智能科技(山东)有限公司 | Exoskeleton load bearing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113500586A (en) * | 2021-08-23 | 2021-10-15 | 北理砺风智能科技(山东)有限公司 | Exoskeleton load bearing robot |
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