CN220362582U - Passive wearable quick-adjustment exoskeleton robot - Google Patents

Abstract

The utility model discloses a passive wearable quick adjustment exoskeleton robot, which comprises a back component, a waist component, a leg component and a foot component; the back component comprises a back follow-up plate and a back adjusting piece, wherein two internal thread structures are arranged at the upper end and the lower end of the waist back adjusting piece and are opposite in rotation direction, and the two internal thread structures are respectively connected with the lower end of the upper threaded rod and the upper end of the lower threaded rod; the waist assembly comprises a waist supporting piece, a waist crotch connecting piece, a waist crotch connector and a waist adjusting assembly, wherein the waist adjusting assembly comprises a waist width adjusting piece and a waist locking bolt; the thigh subassembly includes thigh support piece, and thigh support piece upper end is provided with the through-hole perpendicularly, and the mid portion that is more than one third apart from the through-hole is provided with the horizontal groove structure, is provided with the nut in each groove respectively. The utility model can quickly adjust the sizes of the back, the waist and the legs, is suitable for users with different body types, and has better universality.

Description

Passive wearable quick-adjustment exoskeleton robot

Technical Field

The utility model relates to an exoskeleton robot, in particular to a passive wearable quick adjustment exoskeleton robot.

Background

The exoskeleton robot technology is a comprehensive technology integrating multiple subjects of sensing, control, information and mobile computing, is a wearable mechanical mechanism, can provide assistance for a human body, enhances the human body skills, and has outstanding development prospects in the aspect of auxiliary movement. With the development of scientific technology, exoskeleton robots have wider application prospects in the fields of military, civil and the like, and have become the research focus of various countries in the robot field at present. From the power source, exoskeleton robots can be classified into active exoskeleton robots and passive exoskeleton robots. The passive exoskeleton robot is an exoskeleton without a power source, and is assisted mainly by guiding gravity to the ground, mechanically accumulating and the like.

An existing passive exoskeleton robot, such as one disclosed in the application publication CN107283391a, can implement various actions similar to the human arm and lower limb, and can implement the following control of the person, but the following disadvantages still exist:

the exoskeleton machine is difficult to quickly adjust the sizes of the back, the waist and the legs, is difficult to adapt to users with different body types, and has poor universality.

Disclosure of Invention

The utility model aims to overcome the problems, and provides a passive wearable quick-adjustment exoskeleton robot which can quickly adjust the sizes of the back, the waist and the legs, is suitable for users with different body types and has good universality.

The aim of the utility model is achieved by the following technical scheme:

a passive wearable quick adjustment exoskeleton robot, comprising a back component, a waist component, a leg component, and a foot component;

the back assembly comprises a back follow-up plate and a back adjusting piece, wherein two internal thread structures are arranged at the upper end and the lower end of the back adjusting piece and are opposite in rotation direction, and the two internal thread structures are respectively connected with the lower end of the upper threaded rod and the upper end of the lower threaded rod; the upper end of the upper threaded rod is connected with the follow-up plate through a threaded structure; the lower end of the lower threaded rod is connected with the waist component through a threaded structure;

the waist assembly comprises a waist support piece, a waist crotch connecting piece, a waist crotch connector and a waist adjusting assembly, wherein the waist adjusting assembly comprises a waist width adjusting piece and a waist locking bolt; the waist width adjusting piece is rotationally connected with one end of the waist crotch connecting piece; the back side surface of the waist support piece is provided with a plurality of adjusting and mounting holes, and the waist locking bolt penetrates through the waist width adjusting piece to be locked on the waist support piece;

the thigh assembly comprises a thigh support piece, wherein the upper end of the thigh support piece is vertically provided with a through hole, the middle part which is more than one third away from the two ends of the through hole is provided with 1-3 horizontal through groove structures, nuts are respectively arranged in each through groove, a screw at the lower end of the thigh connection piece is arranged in the through hole and is connected with the nuts in the horizontal grooves, the part of the screw outside the through hole is provided with another nut, screw fastening is realized by reversely screwing the two nuts, and when the two nuts are loosened, the screw height adjustment is realized by rotating the nuts in the through grooves;

the lower leg assembly comprises a lower leg supporting piece, the lower end of the lower leg supporting piece is vertically provided with a through hole, the middle part, which is more than one third away from the two ends of the through hole, is provided with 1-3 horizontal through groove structures, nuts are respectively arranged in each through groove, a screw rod at the upper end of the lower leg connecting piece is arranged in the through hole and connected with the nuts in the horizontal grooves, the part, outside the through hole, of the screw rod is provided with another nut, screw rod fastening is achieved by reversely screwing the two nuts, and when the two nuts are loosened, screw rod height adjustment is achieved by rotating the nuts in the through grooves.

In a preferred embodiment of the present utility model, a standing assisting structure is provided between the thigh assembly and the shank assembly; the standing assisting structure comprises an assisting spring, wherein two ends of the assisting spring are respectively fixed on a thigh supporting piece and a shank supporting piece; in the knee bending state, the booster spring deforms and stores energy;

the booster spring is an extension spring which is arranged on the front sides of the thigh support and the shank support. When the knee of the wearer is bent, the extension spring performs extension energy storage; when the wearer is up, the extension springs resume deformation and release the stored energy, driving the thigh support and the calf support open, thereby providing upward-standing assistance.

In a preferred aspect of the present utility model, the thigh assembly further comprises a thigh binding for binding the thigh of the wearer with the thigh support.

Further, the thigh binding piece comprises a buckle belt and a buckle seat, the buckle belt comprises a belt body, a swallow tail end is arranged at one end of the belt body, a rack is arranged on the surface of the belt body, the buckle seat comprises a fixed plate, a pressing plate is arranged at the top of the fixed plate, a buckle belt penetrating groove is formed in one side of the top of the buckle seat in a penetrating manner, a plurality of buckle teeth are arranged at the bottom of one side of the pressing plate, and the buckle teeth are in clamping fit with tooth grooves on the rack; after the top of one end of the pressing plate is pressed, the buckling teeth at the other end can be lifted upwards, so that the buckling teeth are separated from tooth grooves on the racks.

In a preferred aspect of the present utility model, the thigh assembly further comprises a thigh spacer made of a soft material, the thigh spacer being fixed on the thigh support; in the worn state, the thigh spacer is located between the thigh support and the thigh of the wearer. Therefore, the thigh support piece is prevented from being in direct hard contact with the thigh of the human body, and wearing comfort is improved.

Further, thigh adaptation concave surfaces for being matched with thighs of a wearer are arranged on the thigh spacers.

In a preferred embodiment of the utility model, a waist connecting screw is provided on the waist unit, which serves as a center of rotation between the thigh screw connection and the waist crotch connection of the waist unit, which waist connecting screw passes through the waist unit and the thigh screw connection and is fastened by means of a quick-release nut. The robot has the advantages that the robot has the effects of quick disassembly and quick assembly in the wearing process of the exoskeleton robot, the thigh screw connecting piece can swing along with the crotch of a human body during walking, the swing range of the thigh screw connecting piece is certain, so that the wearing adaptability is improved, and the robot is effectively limited and protected by joint machinery.

In a preferred aspect of the present utility model, the calf assembly further comprises a calf binder for binding the wearer's calf with the calf support.

Further, the calf binding adopts the same structure as the thigh binding.

According to the utility model, the thigh binding piece and the shank binding piece comprise a buckle belt and a buckle seat, the buckle belt comprises a belt body, one end of the belt body is provided with a swallow tail end, the surface of the belt body is provided with a rack, the buckle seat comprises a fixed plate, the top of the fixed plate is provided with a pressing plate, one side of the top of the buckle seat is provided with a buckle belt penetrating groove in a penetrating way, one side bottom of the pressing plate is provided with a plurality of buckle teeth, the buckle teeth are matched with tooth grooves on the rack in a clamping way, and after one end top of the pressing plate is pressed, the buckle teeth at the other end of the pressing plate can be lifted upwards, so that the buckle teeth are separated from the tooth grooves on the rack.

In a preferred aspect of the present utility model, the calf assembly further comprises a calf spacer made of soft material, the calf spacer being secured to the calf support; in the worn state, the calf spacer is located between the calf support and the calf of the wearer. Therefore, the direct hard contact between the shank support piece and the shank of the human body is avoided, and the wearing comfort is improved.

Further, the shank spacer is provided with a shank adapting concave surface for being matched with the shank of a wearer.

In a preferred embodiment of the utility model, the shank screw connection is rotatably connected to the foot component by means of a foot connection screw which serves as a center of rotation between the screw connection and the foot component, which foot connection screw passes through the foot component and the screw connection and is fastened by means of a quick release nut. Above-mentioned structure through the nut that rotates shank screw rod connecting piece and shank support piece, can adjust shank adjusting screw's screw in degree of depth, and then the length scope of electrodeless outer skeleton festival robot low limbs to adapt to different wearers' wearing demand.

In a preferred aspect of the present utility model, the back assembly further comprises a back wearing member for wearing on the back of the wearer, the back wearing member being made of a soft material. Therefore, the mechanical gap between the human body and the exoskeleton can be filled when the robot is worn, the robot is applied to the human body, the better fixing and buffering effects are realized, and the wearing comfort of the exoskeleton robot is improved.

Further, 1-10 semicircular hooks are arranged on the back follow-up plate, and the semicircular hooks are fixedly connected with the back follow-up plate.

In a preferred embodiment of the present utility model, two waist-crotch connectors are provided, one end of each waist-crotch connector is rotatably connected to the corresponding waist support member, and the other end of each waist-crotch connector is rotatably connected to the thigh assembly through the corresponding waist-crotch connector.

Further, one end of the waist and crotch connecting piece, which is connected with the waist and crotch connector, is provided with a length adjusting groove, and two sides of the length adjusting groove are mutually communicated and provided with a plurality of first lock holes;

one end of the waist crotch connector, which is connected with the waist crotch connecting piece, is provided with a length adjusting part matched with the length adjusting groove, and a plurality of second lock holes are formed in the length adjusting part; in the locking state, the length adjusting part is positioned in the length adjusting groove, and the locking is realized by the locking bolt penetrating through the first locking hole and the second locking hole.

Further, a bearing through hole is formed in the waist width adjusting piece, and a bearing is arranged in the bearing through hole; the height of the bearing is higher than that of the waist width adjusting piece in the axial direction of the bearing; the lumbar lock bolt is attached to the lumbar support through the bearing. In this way, the lumbar width adjustment member can rotate about the bearing in a vertical plane relative to the lumbar support member.

In a preferred aspect of the present utility model, the lumbar assembly further comprises a lumbar pad made of a soft material, the lumbar pad being fixed to the lumbar support; in the worn state, the lumbar pad is located between the lumbar support and the waist of the wearer. Thus, the waist supporting piece is prevented from being in direct hard contact with the waist of a human body, and wearing comfort is improved.

Further, the waist pad is provided with a waist adapting concave surface which is matched with the waist of the wearer, and the shape of the waist pad is half heart-shaped.

In a preferred embodiment of the present utility model, the lumbar assembly further comprises a stage rotatably coupled to the lumbar support by a hinge; the rotation range of the objective table is 0-90 degrees. Therefore, the object stage can be put down when the exoskeleton robot has the object carrying requirement, and can be retracted when the exoskeleton robot does not have the object carrying requirement.

Further, 1-10 semicircular hooks are arranged on the objective table, and the hooks are fixedly connected with the objective table. Therefore, when the object stage is loaded, the semicircular hooks of the object stage and the semicircular hooks of the back follow-up plate can be bound through the binding belt.

In one preferred form of the utility model, the foot component includes a foot wrap, a foot binding, and a foot connector; the foot bindings and foot links are both disposed on a foot wrap; the foot link is pivotally connected to the lower leg assembly.

Further, the foot wrapping member is made of elastic soft materials, is easy to wear and wear, and enhances the usability of the exoskeleton robot.

Further, the foot wrapping piece is of a U-shaped structure and is made of plastic materials with the thickness of 0.5-5 mm, and the foot wrapping piece is provided with four through holes;

one end of the foot binding piece is provided with a metal ring, and the other end of the foot binding piece is provided with a magic tape;

the foot binding pieces are arranged in two, and the two foot binding pieces are respectively bound on the heel and the sole of the wearer through the through holes of the foot wrapping piece.

Compared with the prior art, the utility model has the following beneficial effects:

the passive wearable quick-adjustment exoskeleton robot disclosed by the utility model can quickly adjust the sizes of the back, the waist and the legs, is suitable for users with different body types, and has better universality.

Drawings

Fig. 1-2 are schematic perspective views of two different perspectives of a passive wearable fast-adjusting exoskeleton robot of the present utility model.

FIG. 3 is a schematic perspective view of the back and lumbar assemblies of the present utility model

In the figure: the waist-mounted seat back support device comprises a back following plate 1, a double-head positive wire screw 2, a double-head negative wire screw 3, a positive wire nut 4, a back wearing piece 5, a waist supporting piece 6, an adjusting mounting hole 6-1, a waist crotch connecting piece 7, a length adjusting groove 7-1, a waist crotch connecting head 8, a length adjusting part 8-1, a waist width adjusting piece 9, a waist locking bolt 10, a waist partition 11, a stage 12, a thigh supporting piece 13, a thigh binding piece 14, a thigh partition 15, a thigh adjusting screw 16, a thigh screw connecting piece 17, a waist connecting bolt 18, a shank supporting piece 19, a shank binding piece 20, a shank partition 21, a shank adjusting screw 22, a shank screw connecting piece 23, a booster spring 24, a foot wrapping piece 25, a foot binding piece 26 and a foot connecting piece 27.

Detailed Description

In order that those skilled in the art will well understand the technical solutions of the present utility model, the following describes the present utility model further with reference to examples and drawings, but the embodiments of the present utility model are not limited thereto.

The passive wearable quick adjustment exoskeleton robot of this embodiment includes a back component, a waist component, a leg component, and a foot component.

Referring to fig. 1-3, the back assembly comprises a back follow-up plate 1 and a back adjustment member for adjusting the height of the back follow-up plate 1, through which the back follow-up plate 1 is connected to the lumbar assembly. Further, the back adjusting piece comprises a double-head positive wire screw rod 2, a double-head negative wire screw rod 3 and a positive wire nut 4; two ends of the double-end positive wire screw rod 2 are respectively connected with the back follow-up plate 1 through nuts in a threaded manner and are connected with one end of the positive wire screw rod 4 in a threaded manner; the two ends of the double-end reverse thread screw rod 3 are respectively connected with the waist component through nuts in a threaded manner and the other ends of the reverse thread nuts 4 in a threaded manner. Through above-mentioned structure, through rotating positive anti-silk nut 4, can adjust the screw-in degree of depth of the positive silk screw rod 2 of double-end and the anti-silk screw rod 3 of double-end, and then can adjust the distance of back and waist, can satisfy the wearing demand of the wearer of different heights.

Further, the back assembly comprises a back wearing member 5 for wearing on the back of the wearer, the back wearing member 5 being made of a soft material, having a thickness of 25 mm. Therefore, the mechanical gap between the human body and the exoskeleton can be filled when the robot is worn, the robot is applied to the human body, the better fixing and buffering effects are realized, and the wearing comfort of the exoskeleton robot is improved.

Further, 1-10 semicircular hooks are arranged on the back follow-up plate 1, and the semicircular hooks are fixedly connected with the back follow-up plate 1.

Referring to fig. 1-3, the waist unit includes a waist support 6, a waist crotch connector 7 and a waist crotch connector 8, both the waist crotch connector 7 and the waist crotch connector 8 are provided with two, one end of the waist crotch connector 7 is rotatably connected with the waist support 6, and the other end of the waist crotch connector 7 is rotatably connected with the thigh unit through the waist crotch connector 8.

Further, a length adjusting groove 7-1 is arranged at one end of the waist and crotch connecting piece 7 connected with the waist and crotch connector 8, and a plurality of first lock holes are arranged at two sides of the length adjusting groove 7-1 in a mutually communicated manner; one end of the waist and crotch connector 8 connected with the waist and crotch connector 7 is provided with a length adjusting part 8-1 matched with the length adjusting groove 7-1, and a plurality of second lock holes are formed in the length adjusting part 8-1; in the locked state, the length adjusting part 8-1 is located in the length adjusting groove 7-1, and the locking is achieved by passing the locking bolt through the first locking hole and the second locking hole.

Further, one end of the waist crotch connector 7 is connected to the waist support 6 by a waist adjusting member including a waist width adjuster 9 and a waist lock bolt 10; the waist width adjusting piece 9 is rotationally connected with one end of the waist crotch connecting piece 7; the lumbar support 6 is provided on its rear side with a plurality of adjustment mounting holes 6-1, and the lumbar locking bolt 10 is locked to the lumbar support 6 through the lumbar width adjustment 9. Through the structure, the waist and crotch connecting piece 7 can swing in a certain range in the up-down direction and the front-back direction during walking action, thereby meeting the design requirement of ergonomics.

Further, the waist width adjusting member 9 is provided with a bearing through hole, and the bearing through hole is provided with a bearing; the height of the bearing is higher than the height of the waist width adjusting member 9 in the axial direction of the bearing; the lumbar lock bolt is attached to the lumbar support 6 through the bearing. In this way, the lumbar width adjustment member 9 can rotate about the bearing in a vertical plane relative to the lumbar support 6.

Referring to fig. 1-3, the lumbar assembly further comprises a lumbar pad 11 made of soft material, having a thickness of 25mm, the lumbar pad 11 being secured to the lumbar support 6; in the worn state, the lumbar pad 11 is located between the lumbar support 6 and the waist of the wearer. In this way, the lumbar support 6 is prevented from being in direct hard contact with the lumbar region of the human body, and wearing comfort is improved. Further, the waist spacer 11 is provided with a waist adapting concave surface for matching with the waist of the wearer, and is shaped as a half heart.

Referring to fig. 1-3, the lumbar assembly further includes a stage 12, the stage 12 being pivotally connected to the lumbar support 6 by a hinge; the rotational range of the stage 12 is 0-90 degrees. In this way, the exoskeleton robot can be put down the object stage 12 when the load is required, and can be retracted when the load is not required.

Further, 1 to 10 semicircular hooks are arranged on the objective table 12, and the hooks are fixedly connected with the objective table 12. Thus, when the object stage is loaded, the semicircular hooks of the object stage 12 and the semicircular hooks of the back follow-up plate 1 can be bound through the binding belt.

Referring to fig. 1-2, the leg assemblies are provided with two groups, each group of leg assemblies comprising a thigh assembly, a shank assembly, and a stand-up assist structure disposed between the thigh assembly and the shank assembly; the thigh assembly comprises a thigh support 13, the top of the thigh support 13 is rotatably connected with the waist assembly, and the rotation center between the thigh support 13 and the waist assembly is perpendicular to the extending direction of the thigh support 13 and the straight ahead direction of the wearer, respectively.

Referring to fig. 1-2, the thigh assembly further comprises thigh bindings 14 for binding the thighs of the wearer with the thigh support 13. Further, the thigh binding 14 includes a buckle belt and a buckle seat, the buckle belt includes a belt body, a swallow tail end is installed at one end of the belt body, a rack is installed on the surface of the belt body, the buckle seat includes a fixing plate, a pressing plate is installed at the top of the fixing plate, a buckle belt penetrating groove is formed in one side of the top of the buckle seat in a penetrating manner, a plurality of buckle teeth are installed at the bottom of one side of the pressing plate, and the buckle teeth are in clamping fit with tooth grooves on the rack; after the top of one end of the pressing plate is pressed, the buckling teeth at the other end can be lifted upwards, so that the buckling teeth are separated from tooth grooves on the racks.

Referring to fig. 1-2, the thigh assembly further comprises a thigh spacer 15 made of a soft material, the thigh spacer 15 being fixed on the thigh support 13; in the worn state, the thigh spacer 15 is located between the thigh support 13 and the thigh of the wearer. In this way, the thigh support 13 is prevented from being in direct hard contact with the human thigh, and wearing comfort is improved. Further, the thigh spacer 15 is provided with a thigh fitting concave surface for fitting with the thigh of the wearer.

Referring to fig. 1-2, the thigh support 13 is rotatably connected with the lumbar assembly by a thigh height adjusting structure comprising a thigh adjusting screw 16 and a thigh screw connecting 17; both ends of the thigh adjusting screw 16 are respectively connected with the thigh screw connecting piece 17 in a threaded manner and the thigh supporting piece 13 in a threaded manner through nuts. Above-mentioned structure through rotating the nut of thigh screw rod connecting piece 17 and thigh support piece 13, can realize the screw rod fastening through reverse twisting two nuts, when two nuts loosen, can realize screw rod altitude mixture control through rotating logical inslot nut, can adjust the screw in degree of depth of thigh adjusting screw 16, and then the length scope of electrodeless outer skeleton festival robot low limbs to adapt to different wearers' wearing demand.

Further, the thigh screw connecting part 17 is rotatably connected with the waist part; the waist part is provided with a waist connecting bolt 18, the waist connecting bolt 18 serves as a rotation center between the thigh screw connecting piece 17 and the waist part, and the waist connecting bolt 18 penetrates through the waist part and the thigh screw connecting piece 17 and is fixed through a quick-release nut. The effect of quick detach fast-assembling is played in ectoskeleton robot dress in-process, and when walking action, thigh screw connecting piece 17 can follow human crotch and swing together, and the swing scope of thigh screw connecting piece 17 is certain to improve and dress adaptability, form the effectual joint machinery spacing protection of robot.

Referring to fig. 1-2, the lower leg assembly includes a lower leg support 19, the upper portion of the lower leg support 19 is rotatably coupled to the thigh support 13, and the lower portion of the lower leg support 19 is rotatably coupled to the foot assembly; the center of rotation between the calf support 19 and the thigh support 13 is parallel to the center of rotation between the thigh support 13 and the lumbar assembly; the centre of rotation between the calf support 19 and the foot assembly is parallel to the centre of rotation between the thigh support 13 and the waist assembly.

Referring to fig. 1-2, the calf assembly further includes a calf binding 20 for binding the wearer's calf with the calf support 19. Further, the lower leg link 20 adopts the same structure as the upper leg link 14.

Further, thigh binding 14 and shank binding 20 all include the cingulum and detain the seat, detain the area and include the area body, the swallow tail end is installed to the one end of area body, the surface mounting of area body has the rack, detain the seat and include the fixed plate, the clamp plate is installed at the top of fixed plate, detain the top one side of seat and link up and seted up detain the area and penetrate the groove, a plurality of knot teeth are installed to one side bottom of clamp plate, detain tooth and the tooth's socket joint cooperation on the rack, the one end top of clamp plate can make the knot tooth of the other end upwarp after receiving pressure to make detain tooth and the tooth's socket separation on the rack.

Referring to fig. 1-2, the calf assembly further comprises a calf spacer 21 made of soft material, the calf spacer 21 being secured to the calf support 19; in the worn state, the calf spacer 21 is located between the calf support 19 and the calf of the wearer. In this way, the shank support 19 is prevented from being in direct hard contact with the human shank, and wearing comfort is improved. Further, the shank spacer 21 is provided with a shank fitting concave surface for fitting with the shank of the wearer.

Referring to fig. 1-2, the calf support 19 is rotatably connected to the foot assembly by a calf height adjustment structure including a calf adjustment screw 22 and a calf screw connector 23; the shank screw attachment 23 is pivotally connected to the foot assembly by a foot attachment bolt; both ends of the shank adjusting screw 22 are respectively connected with the shank screw connecting piece 23 by screw threads and the shank supporting piece 19 by screw threads. By rotating the nuts of the shank screw connecting piece 23 and the shank supporting piece 19, the screwing depth of the shank adjusting screw 22 can be adjusted, and the length range of the lower limb of the exoskeleton robot can be adjusted steplessly so as to adapt to the wearing requirements of different wearers.

Referring to fig. 1-2, the stand-up assist structure includes an assist spring 24, both ends of the assist spring 24 being fixed to the thigh support 13 and the shank support 19, respectively; in the knee bending state, the booster spring 24 deforms and stores energy; wherein the booster spring 24 is an extension spring provided on the front side of the thigh support 13 and the shank support 19. When the knee of the wearer is bent, the extension spring performs extension energy storage; when the wearer is up, the extension springs resume deformation and release the stored energy, driving the thigh support 13 and the calf support 19 open, thereby providing upward standing assistance.

Referring to Figs. 1-2, the foot assembly includes a foot wrap 25, a foot binding 26, and a foot connector 27; the foot bindings 26 and foot links 27 are each provided on the foot wrap 25; the foot link 27 is pivotally connected to the calf assembly.

Further, the foot wrap 25 is made of a flexible, resilient, soft material, and is easy to wear and wear, enhancing the ease of use of the present exoskeleton robot.

Further, the foot wrapping member 25 has a U-shaped structure, and is made of plastic material with a thickness of 0.5-5 mm, and the foot wrapping member 25 is provided with four through holes; one end of the foot binding piece 26 is provided with a metal ring, and the other end is provided with a magic tape; the foot binding 26 is provided in two, and the two foot binding 26 are respectively bound on the heel and the sole of the wearer through the through holes of the foot wrapping 25.

Referring to fig. 1-3, the working principle of the passive wearable quick adjustment exoskeleton robot of the present embodiment is:

when being worn, the thigh of the wearer is bound with the thigh support 13 by the thigh binding 14, and the calf of the wearer is bound with the calf support 19 by the calf binding 20; when walking, the whole exoskeleton robot moves along with a wearer; when the wearer bends the knees, the thigh support 13 and the shank support 19 perform relative rotation, the rotation center moves forward, and the thigh support 13 and the shank support 19 fold backward to approach; at the same time, the booster spring 24 is deformed and stored. When the wearer is up, the booster springs 24 resume deformation and release the stored energy, acting on the thigh support 13 and the shank support 19, providing upward standing assistance so that the wearer can easily perform the standing action.

The foregoing is illustrative of the present utility model, and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made without departing from the spirit and principles of the utility model are intended to be included within the scope of the utility model.

Claims (10)

1. A passive wearable quick adjustment exoskeleton robot, comprising a back component, a waist component, a leg component, and a foot component; it is characterized in that the method comprises the steps of,

the back assembly comprises a back follow-up plate and a back adjusting piece, wherein two internal thread structures are arranged at the upper end and the lower end of the back adjusting piece and are opposite in rotation direction, and the two internal thread structures are respectively connected with the lower end of the upper threaded rod and the upper end of the lower threaded rod; the upper end of the upper threaded rod is connected with the follow-up plate through a threaded structure; the lower end of the lower threaded rod is connected with the waist component through a threaded structure;

the waist assembly comprises a waist supporting piece, a waist crotch connecting piece, a waist crotch connector and a waist adjusting assembly, wherein the waist adjusting assembly comprises a waist width adjusting piece and a waist locking bolt; the waist width adjusting piece is rotationally connected with one end of the waist crotch connecting piece; the back side surface of the waist support piece is provided with a plurality of adjusting and mounting holes, and the waist locking bolt penetrates through the waist width adjusting piece to be locked on the waist support piece;

the leg assembly includes a thigh assembly and a shank assembly;

the thigh assembly comprises a thigh support piece, wherein the upper end of the thigh support piece is vertically provided with a through hole, the middle part which is more than one third away from the two ends of the through hole is provided with 1-3 horizontal through groove structures, nuts are respectively arranged in each through groove, a screw at the lower end of the thigh connection piece is arranged in the through hole and is connected with the nuts in the horizontal grooves, the part of the screw outside the through hole is provided with another nut, screw fastening is realized by reversely screwing the two nuts, and when the two nuts are loosened, the screw height adjustment is realized by rotating the nuts in the through grooves;

the lower leg assembly comprises a lower leg supporting piece, the lower end of the lower leg supporting piece is vertically provided with a through hole, the middle part, which is more than one third away from the two ends of the through hole, is provided with 1-3 horizontal through groove structures, nuts are respectively arranged in each through groove, a screw rod at the upper end of the lower leg connecting piece is arranged in the through hole and connected with the nuts in the horizontal grooves, the part, outside the through hole, of the screw rod is provided with another nut, screw rod fastening is achieved by reversely screwing the two nuts, and when the two nuts are loosened, screw rod height adjustment is achieved by rotating the nuts in the through grooves.

2. The passive wearable quick adjustment exoskeleton robot of claim 1, wherein said back assembly further comprises a back wear for wearing on a back of a wearer, the back wear being made of a soft material.

3. The passive wearable quick adjustment exoskeleton robot of claim 1, wherein two of said waist-crotch connector and said waist-crotch connector are provided, one end of said waist-crotch connector is rotatably connected to said waist support, and the other end of said waist-crotch connector is rotatably connected to said thigh assembly through said waist-crotch connector;

one end of the waist and crotch connecting piece, which is connected with the waist and crotch connector, is provided with a length adjusting groove, and two sides of the length adjusting groove are mutually communicated with a plurality of first lock holes;

one end of the waist crotch connector, which is connected with the waist crotch connecting piece, is provided with a length adjusting part matched with the length adjusting groove, and a plurality of second lock holes are formed in the length adjusting part; in a locking state, the length adjusting part is positioned in the length adjusting groove, and the locking is realized by the locking bolt penetrating through the first locking hole and the second locking hole;

the waist width adjusting piece is provided with a bearing through hole, and the bearing through hole is provided with a bearing; the height of the bearing is higher than that of the waist width adjusting piece in the axial direction of the bearing; the lumbar lock bolt is attached to the lumbar support through the bearing.

4. The passive wearable quick adjustment exoskeleton robot of claim 1, wherein said lumbar assembly further comprises a lumbar pad made of a soft material secured to a lumbar support; in the worn state, the lumbar pad is located between the lumbar support and the waist of the wearer; the waist pad is provided with a waist adapting concave surface which is matched with the waist of a wearer, and the shape of the waist adapting concave surface is half heart-shaped;

the lumbar assembly further includes a stage rotatably coupled to the lumbar support by a hinge; the rotation range of the objective table is 0-90 degrees; and 1-10 semicircular hooks are arranged on the objective table and are fixedly connected with the objective table.

5. The passive wearable quick adjustment exoskeleton robot of claim 1, wherein a stand-up assistance structure is provided between the thigh assembly and the calf assembly; the standing assisting structure comprises an assisting spring, wherein two ends of the assisting spring are respectively fixed on a thigh supporting piece and a shank supporting piece; and in the knee bending state, the booster spring deforms and stores energy.

6. The passive wearable quick adjustment exoskeleton robot of claim 1, wherein said thigh assembly further comprises a thigh binding for binding a thigh of a wearer with a thigh support;

the thigh binding piece comprises a buckle belt and a buckle seat, the buckle belt comprises a belt body, a swallow tail end is arranged at one end of the belt body, a rack is arranged on the surface of the belt body, the buckle seat comprises a fixed plate, a pressing plate is arranged at the top of the fixed plate, a buckle belt penetrating groove is formed in one side of the top of the buckle seat in a penetrating manner, a plurality of buckle teeth are arranged at the bottom of one side of the pressing plate, and the buckle teeth are in clamping fit with tooth grooves on the rack; the thigh assembly further comprises a thigh spacer made of a soft material, the thigh spacer being secured to the thigh support; in a worn state, the thigh spacer is located between the thigh support and the thigh of the wearer;

the thigh spacer is provided with a thigh adaptation concave surface for being matched with the thigh of a wearer.

7. The passive wearable quick adjustment exoskeleton robot of claim 1 wherein the lumbar assembly is provided with a lumbar connection bolt acting as a center of rotation between the screw connection and the lumbar crotch connector of the lumbar assembly, the lumbar connection bolt passing through the lumbar assembly and the screw connection and being secured by a quick release nut;

the shank screw connection is rotatably connected with the foot component through a foot connection bolt, the foot connection bolt serves as a rotation center between the screw connection and the foot component, and the foot connection bolt penetrates through the foot component and the screw connection and is fixed through a quick-release nut.

8. The passive wearable quick adjustment exoskeleton robot of claim 1 wherein said calf assembly further comprises a calf binder for binding a wearer's calf with a calf support;

the lower leg binding member adopts the same structure as the thigh binding member;

the calf assembly further includes a calf spacer made of a soft material secured to the calf support; in a worn state, the calf spacer is located between the calf support and the calf of the wearer;

the shank spacer is provided with a shank adapting concave surface which is used for being matched with the shank of a wearer.

9. The passive wearable quick adjustment exoskeleton robot of claim 1, wherein said foot component comprises a foot wrap, a foot binding, and a foot connector; the foot bindings and foot links are both disposed on a foot wrap; the foot connecting piece is rotationally connected with the lower leg assembly; the foot wrap is made of a resilient, soft material.

10. The passive wearable quick adjustment exoskeleton robot of claim 9, wherein the foot wrapping member has a U-shaped structure and is made of plastic material with a thickness of 0.5-5 mm, and four through holes are formed in the bottoms of the sole and the sole;

one end of the foot binding piece is provided with a metal ring, and the other end of the foot binding piece is provided with a magic tape;

the foot binding pieces are arranged in two, and the two foot binding pieces are respectively bound on the heel and the sole of the wearer through the through holes of the foot wrapping piece.