WO2020113439A1 - Wearable power-assisted exoskeleton robot - Google Patents

Abstract

A wearable power-assisted exoskeleton robot, comprising a chest support device, hip joints and leg support devices. The chest support device comprises an integrated chest support (1) and chest support rods (2). Two ends of the chest support rods (2) are connected to the integrated chest support (1) and the hip joints respectively. The hip joints comprise waist binding plates (8), force generating devices, and rotating plates (3) connected to the chest support rods (2). The force generating devices have bases (4), pulling wheels (7), steel ropes (29) and elastic elements (34). Two ends of the rotating plates (3) are connected to the chest support rods (2) and the pulling wheels (7) respectively. The pulling wheels (7) are connected to the elastic elements (34) by means of the steel ropes (29). Leg support rod accommodating slots are provided in the bases (4). The leg support devices comprise leg support rods (5), and thigh baffles (6) that fit the thighs. Upper ends of the leg support rods (5) are connected to the leg support rod accommodating slots, and lower ends of the leg support rods (5) are rotatably hinged with the thigh baffles (6). The present wearable power-assisted exoskeleton robot has a light and flexible structure and a good power-assisting effect.

Description

Wearable power-assisted exoskeleton robot Technical field

The invention belongs to the technical field of robots, and particularly relates to a wearable assisted exoskeleton robot.

Background technique

Exoskeleton robot technology is a comprehensive technology that combines sensing, control, information, fusion, and mobile computing to provide a wearable mechanical mechanism for people as operators. Exoskeleton robots are used to provide assistance to the human body, and have outstanding development prospects in enhancing human body skills and assisting sports. They have increasingly become the focus of research in the field of robotics. The present invention relates to a wearable power-assisted exoskeleton, which provides support and power when the human body leans forward or bends down. A similar structure is also mentioned in the US1371690 patent of 1921.

When the human body is leaning forward or bending over, especially when carrying out bending or carrying things, its body muscles and bones are more prone to fatigue and injury than when standing upright. Being under such a working posture for a long time is likely to cause occupational musculoskeletal diseases.

The US1371690 patent describes a wearable power-assist structure for supporting the upper body of the human body. The structure is composed of shoulders and legs, and the two parts are connected by a flexible strip and a spring. The shoulder structure is fixed to the shoulder of the human body, and the leg structure is tied to the thigh. When the body is bent, the shoulder structure will follow the movement of the human shoulder, thereby driving the spring to bend, generating a force opposite to the bending direction of the body, which is the upper body of the human body. Provide support.

However, this structure is uncomfortable for the wearer. The overall structure is cumbersome and the assistance mode provided when bending changes irregularly. The influencing factors include the position of the wearer and the physical characteristics of the person, such as body shape and weight distribution. In addition, the structure may cause damage to normal human actions, especially when moving the arm. Although people have been improving the shortcomings of this structure for a long time, other currently known structures and devices still cannot overcome the problems and shortcomings associated with this structure.

The EP1264583 patent discloses a structure for supporting the body, in which a structure of an elastic band is provided on the leg and back of a person, which is connected to the ankle, the lower back and the shoulder. Similar structures are described in the US654173 and US5816251 patents, both of which have a structure to which a strap around the thigh is attached, which structure is pulled to the crotch region during use. These structures proved to be uncomfortable, and were cumbersome to use, and the boosting effect provided was not ideal.

The US 2009/0095308 patent discloses a power-assist and support device that restricts the movement of the spine to regulate the correct lifting technique, but the support structure of the waist and legs is not disclosed.

U2010/0069806 discloses a rigid support frame with chest pads, lumbar pads and thigh pads. The bracket is designed to help patients suffering from forward leaning due to spine weakness achieve an upright posture, so it is not provided for The wearable structure of the human body is at least partially released during leaning forward or bending down.

WO2007/107952 discloses an elastic baffle structure shaped like an apron. The elastic structure extends from the chest area, through the abdomen of the person to the thigh area, and the lumbar support structure is not disclosed. The problem with this elastic structure is that when the user bends or leans forward, the lower end of the elastic structure slides toward the lower end of the thigh or the upper end slides toward the throat.

WO2008/125802 discloses an apron-like support plate structure, which includes a flexible textile material, in which two spring elements are provided, and when the user bends forward, the spring elements are used to pull the baffle sheet from bending to a straight line position. The device proved to be uncomfortable and it was difficult to provide the best boosting effect.

US5176622 discloses a bending support device, which compresses the bracket between the chest and the legs when the user bends to help the user stand and relieve back strain. The center of the bracket includes a pair of arc-shaped springs that are wound on a bobbin of a cylindrical elastic body. The spool is connected to the waist belt, and its rotation center is coaxial with the rotation center of the hip joint. The disadvantage of this device is that installing the arc spring on the spool and the correct positioning of the spool is a cumbersome and error-prone process.

US443113 discloses a power-assist device including shoulder support, waist support and leg support. The three parts are connected by an elastic rod extending along the side of the body. The upper end of the rod is connected to the shoulder support at the back of the body, the lower end of the rod is connected to the leg support, and the waist support is composed of a waist belt in the middle of the two rods. This structure also makes the user feel uncomfortable, especially the shoulders and legs are pulled back, and the freedom of movement of the arms and legs is restricted, which is cumbersome in use and cannot provide sufficient support. In addition, as the degree of bending increases, it is more difficult to bend over.

US7744552 discloses a wearable assistive structure for supporting the upper body of the human body when bending down. The support structure includes a hollow tube, which extends to both sides along the abdomen, and a torsion spring mechanism is provided inside. The middle part of the hollow tube is provided with a support roller extending in the chest direction, and the left and right ends are hinged with the thigh support rod. The structure supports the upper body through a torsion spring mechanism, and the thigh support supports the thigh to achieve power, and the thigh supports can move independently of each other. However, this assist structure is relatively heavy, and due to the hollow tube structure, the ventral area of the person wearing the device is constrained. In addition, when the body is bent, the chest support will move relative to the upper body due to the fixed distance between the hollow tube and the chest support. Also, due to the fixed distance between the tube and the thigh support, the thigh support will change the position relative to the leg, which is also uncomfortable for the user.

CN201720248125.5 discloses a waist booster device, which includes a waist support frame and a thigh link, a combined booster drive device is provided at the connection between the waist support frame and the thigh link, and a waist support frame and a thigh link are provided for detecting body posture The gyroscope is also equipped with a control system on the waist support frame, which is used to make the combined power drive device control the rotation assist between the waist support frame and the thigh link according to the gyroscope data. The power assist device can reduce the long-term bending work The burden and discomfort of the back muscles. However, the length and angle of the connecting arms of the device on both sides of the lumbar support plate are fixed, and the free movement of the upper arm is easily restricted during use. The second is that its combined power driving device uses a coil spring to be installed on the torsion shaft, and the power assisting effect is limited.

Summary of the invention

Object of the invention: To overcome the shortcomings of the prior art, the present invention provides a wearable power-assisted exoskeleton robot with a streamlined and lightweight structure, which can be fitly fit on the body of users with different body shapes, increase the wearing comfort, and provide reliable support And boost.

Technical solution: To achieve the above purpose, the present invention adopts the following technical solution:

A wearable power-assisted exoskeleton robot includes a chest support device, a hip joint and a leg support device: the chest support device includes an integrated chest support and a chest support bar, the chest support bar extends along the armpits on both sides of the body, The integrated chest support and the hip joint are respectively connected to realize the transmission of the force between the integrated chest support and the hip joint. The hip joint includes a waist binding plate, a force generating device, and a rotating plate connected to the chest support rod. The force generating device has a base, a wire wheel, a steel rope, and an elastic element. The two ends of the rotating plate are respectively The chest support rod is connected to the wire pulling wheel, the wire pulling wheel is connected to the elastic element through a steel rope, a leg support rod accommodating groove is provided in the base, and the hip joint connects the chest support rod and the leg Partial support device for supporting the upper body of the user. The leg support device includes a leg support bar and a thigh baffle fitting the thigh, the leg support bar connects the hip joint and the thigh baffle, and the upper end of the leg support bar is connected to the leg support bar The accommodating groove, the lower end of the leg support rod is rotatably hinged with the thigh baffle.

As an improvement, the integrated chest support includes a support base plate, a rotating shaft group and a base body,

The base body includes a base plate, a chest support rod adapter, and an outer shell covering at least one shell layer on the surface of the base body, with an opening between the base plate and the outer shell, the opening having a spherically contoured support surface, the chest The support rod adapter is hinged to the base plate and the housing; as an improvement, the base plate has screw positioning holes for installing the chest support rod adapter, and the chest support rod adapter has a chest support for adjusting the width of the waist support rod Rod positioning pin and lumbar support rod adjustment knob.

The rotating shaft group has a rotating shaft, one end of the rotating shaft is fixed on a supporting base plate, and the other end has a coupling end with an outer surface having a spherical contour. The coupling end is rotatably held on the support surface. The coupling end and the base support surface constitute a spherical pair. The coupling end is composed of a rotating shaft and a spherical bearing, and the rotating shaft is fixedly connected to the spherical bearing through a fixing nut, and the spherical bearing is located in the opening between the base plate and the housing. As an improvement, the rotating shaft group further includes a rubber washer, the rubber washer passes through the rotating shaft, and is located between the supporting bottom plate and the base body, and functions as a buffer for the interval. As an improvement, the base plate has a receiving groove of a rubber gasket.

As an improvement, the supporting bottom plate further has an elastic cushion pad that elastically deforms to fit and support the user's chest, and the elastic cushion pad material may be selected from sponge, rubber, silicone, or the like.

As an improvement, the first shell layer of the outer shell is a chest shell, and the chest shell is cooperatively installed on the base plate, and a cavity between the inner surface of the chest shell and the base plate forms a chest shell accommodating groove, and the spherical shape The bearing is at least partially located in the receiving groove of the chest shell.

As an improvement, the one-piece chest support is also provided with a chest sensor for detecting energy consumption of human movement and evaluating local muscle fatigue. The chest sensor is at least partially installed in the receiving groove of the chest shell, and the chest sensor In the chest housing accommodating groove, the bearing surface of the ball bearing in the coupling end is connected or the surface of the chest sensor facing the coupling end directly serves as the bearing surface of the ball bearing. The outer surface of the chest shell accommodating groove is detachably mated with a shell insert, and the shell insert is provided with an opening in the middle for easy removal of the chest sensor, and a chest sensor fixing shell is detachably covered at the opening .

As an improvement, the chest sensor is also provided with a toggle switch, and the toggle portion of the toggle switch is provided at the notch of the housing insert.

As an improvement, the hip joint has a waist binding plate, a force generating device, and a rotating plate connected to the chest support rod. The waist binding plate may have an elastic cushion, and the elastic cushion may elastically deform to fit the user's hips and buttocks. The force generating device has a base, a wire pulling wheel, a hip joint rotating shaft, a steel rope and an elastic element. The base has front and rear elastic element accommodating grooves and the leg support rod accommodating grooves. The wire pulling wheel is hinged to the waist binding plate and the base through the hip joint rotation axis. The steel rope connects the wire-pulling wheel and the elastic element to transmit the force between the two. The wire pulling wheel is hinged to the rotating plate, and the rotating plate connects the chest support rod to the wire pulling wheel. The rotating plate has a releasing mechanism. The releasing mechanism includes a releasing switch and a clamping plate. The clamping plate is installed in the sliding groove of the wire pulling wheel, and the release switch is installed in the mounting groove at the front end of the clamping plate, for controlling the clutch between the rotating plate and the wire pulling wheel.

As an improvement, the hip joint further includes a leg sensor for detecting leg gait information of the user, and the leg sensor is installed above the leg support rod receiving groove.

As an improvement, the leg support device has an adjustable length leg support bar and a thigh baffle that fits the thigh surface. The upper end of the leg support rod is connected to the accommodating groove of the leg support rod, the lower end is hinged with the thigh baffle plate, and the thigh baffle plate and the leg support rod can rotate with a certain degree of freedom. As a further improvement, the upper end of the leg support bar has a set of positioning holes for the leg support bar. The position of the positioning hole of the leg support bar is moved up and down and fixed by the thigh bar adjustment knob, which is used to adjust the leg support bar on the leg. The support bar accommodates the height of the groove.

Beneficial effect: The wearable power-assisted exoskeleton robot provided by the present invention has a simple and light structure, and the body freedom is not limited when bending or leaning forward. The presence of the elastic cushion makes the structure fit the users of different body types; The disengagement mechanism is convenient for the user to control the device; the waist sensor and the leg sensor provided in the wearable power-assisted exoskeleton robot structure provided by the present invention can be directly used with modern electronic equipment, such as a mobile phone, so that the user can grasp relevant sports information at any time; The structure of the invention can provide immediate support for some users who have inconvenience in bending or long-term bending, and the effect of the assistance is good, which can effectively relieve or delay the discomfort symptoms such as low back pain.

BRIEF DESCRIPTION

1 is a schematic diagram of the overall structure of a wearable assisted exoskeleton robot according to an embodiment of the present invention;

2 is a schematic structural diagram of a chest support device of a wearable assisted exoskeleton robot according to an embodiment of the present invention;

3 is an exploded schematic view of an integrated chest support of a wearable assisted exoskeleton robot chest support device according to an embodiment of the present invention;

4 is a schematic diagram of the overall structure of a hip joint of a wearable assisted exoskeleton robot according to an embodiment of the present invention;

5 is a schematic diagram of an exploded structure of a hip joint of a wearable assisted exoskeleton robot according to an embodiment of the present invention;

6 is a schematic structural diagram of a hip joint force generating device of a wearable assisted exoskeleton robot according to an embodiment of the present invention;

7 is an exploded schematic view of a hip joint release mechanism of a wearable assisted exoskeleton robot according to an embodiment of the present invention;

8 is a schematic structural diagram of a leg support device of a wearable assisted exoskeleton robot according to an embodiment of the present invention.

Reference Signs Description: 1. Integrated chest support 2. Chest support bar 3. Rotating plate 4. Base 5. Leg support bar 6. Thigh baffle 7. Pulling wheel 8. Waist binding plate 9. Chest support bar Adapter 10. Copper sleeve under the rod 11. Chest positioning pin 12. Adjustment knob 13. Elastic cushion 14. Support base plate 15. Rubber washer 16. Adapter pin 17. Base plate 18. Shell insert 19. Dial Dynamic switch 20. Chest sensor fixing shell 21. Chest sensor 22. Chest shell 23. Rotating shaft 24. Loose switch 25. Rotating plate rotating shaft 26. Base housing 27. Steel rope compression bolt 28. Retaining ring 29. Steel rope 30. Elastic element accommodating groove 31. Leg sensor 32. Thigh rod adjustment knob. 33. Hip joint rotation axis. 34. Elastic element. 35. Chest support rod fixed screw cap. 36. Card board. 37. Gasket .38. Rotating plate fixing pin. 39 Thigh baffle rotating groove. 40. Thigh support rod fixing screw.

detailed description

The present invention is further described below with reference to specific embodiments and drawings. It should be understood that both the foregoing general description and the following detailed description are only exemplary and illustrative, and do not limit the scope of the required implementation. In this application The terms indicating up, down, left, right, front, back, etc. are for illustrative purposes only, and are not used to limit the scope of the present invention unless otherwise explained. In addition, any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in the drawings, can still be found in these technical features (or their equivalents) Any combination or deletion is continued between them) to obtain more other embodiments of the present invention that may not be directly mentioned herein. Those skilled in the art make modifications and equivalent replacements based on the technical concept of the present invention. All should fall within the protection scope of the present invention.

FIG. 1 exemplarily shows the overall structure of a wearable power-assisted exoskeleton robot. The present invention is used to provide a mechanical device with a simplified structure, good motion flexibility, and a good power-assisted effect. The wearable assisted exoskeleton robot includes a chest support device, a hip joint and a leg support device. The chest support device includes an integrated chest support 1, a chest support rod adapter 9 and a chest support rod 2, two ends of the chest support rod adapter 9 are connected to the integrated chest support 1 and the chest support rod 2, the chest The support rod 2 extends along the underarms on both sides of the body, respectively connecting the integrated chest support 1 and the hip joint, so as to realize the transmission of the force between the integrated chest support 1 and the hip joint. The hip joint connects the chest support rod 2 and the leg support device, and is used to provide support for the user's upper body. The leg support device has a leg support rod 5 and a thigh baffle 6 that fits the thigh, and the leg support bar 5 connects the hip joint and the baffle 6 that fits the thigh.

As shown in Figure 2-3, the chest support device has an integrated chest support 1, a chest support rod 2 and a chest support rod adapter 9, and the chest support rod adapter 9 is provided at both ends of the integrated chest support 1 and used for The chest support rod 2 is inserted, and one end of the chest support rod 2 connected to the chest support rod adaptor 9 has a set of holes. The chest support rod adaptor is provided with a chest positioning pin 11 and an adjustment knob 12. The adjustment knob 12 is pulled to align and fix the chest positioning pin 11 to the proper hole position of the chest support rod 2, so that the user can adjust the depth of insertion of the chest support rods 2 on both sides into the integrated chest support 1 according to the change in chest shape. In another embodiment, the lower end of the chest support rod 2 is further provided with an under-rod copper sleeve 10, and the under-rod copper sleeve 10 is circumferentially tightened and fixed to the hip joint through the chest support rod fixing screw cap 35 in FIG.

As shown in FIG. 3, in the integrated chest support, the elastic cushion 13 is installed on the supporting base plate 14, preferably, the material of the elastic cushion 13 can be selected from elastic materials such as sponge, rubber, silicone, etc. for elastically deformable sticking According to the chest of the user, in another embodiment, the shape of the support base 14 is nearly saddle-shaped, and the support base 14 may be a straight panel or may have a certain curvature.

The one-piece chest support has a chest shell 22 which is fitted on the outer surface of the base plate 17 in cooperation. The chest support rod adapter 9 is hinged to the base plate 17 and the chest shell 22. In a specific embodiment, the chest support rod adapter 9 can be hinged to the base plate through the screw positioning hole on the base plate 17 through the adapter pin 16 17 and both ends of the chest shell 22. There are left and right gaps at both ends of the chest shell 22 suitable for hinged chest support rod adapter 9 and base plate 12 for sealing.

One end of the rotating shaft 23 is fixedly connected to the supporting base plate 14, and the other end of the rotating shaft 23 is connected to a spherical bearing. The rotating shaft 23 and the spherical bearing can be fixed together by a fixing nut, and the two can rotate integrally, or can be fixed at other fixed parts. Together, such as a top wire, an eccentric sleeve or an adapter sleeve, the spherical bearing and the rotating shaft 23 form a joint end with a spherical profile. In another embodiment, the spherical bearing is a bearing with an inner ring wider than the outer ring, and the outer ring has a truncated spherical outer surface, which is mounted on the mounting hole in the middle of the base plate 17 and is partially located on the inner surface of the chest shell 22 The chest shell formed in the cavity between the substrates 17 is accommodated in the groove. There is an opening between the base plate 17 and the chest shell 22, the opening is located in the chest shell accommodating groove, the opening has a spherical contour bearing surface, the spherical bearing is held on the bearing surface, the rotating shaft 23 and the spherical bearing are on the supporting base 14 and the base plate 17 and the chest shell 22 form a spherical pair. In another embodiment, a rubber washer 15 is also provided. The rubber washer 15 passes through the rotating shaft 23 and is located between the supporting bottom plate 14 and the base plate 17. When relative rotation occurs between the rotating shaft 23 and the supporting bottom plate 14, the rubber washer 15 To the buffer effect of the interval, the rotating shaft 23, the spherical bearing and the rubber washer 15 constitute a rotating shaft group. As an improvement, the base plate 17 is provided with a receiving groove of the rubber gasket 15.

In another embodiment, a chest sensor 21 is also installed in the chest housing accommodating groove, and the chest sensor 21 is partially or fully located in the chest housing accommodating groove, and is used to detect the user's exercise energy consumption and related exercise information. In another embodiment In the middle, the chest sensor 21 is connected to the spherical contour support surface of the rotation axis group, or the side of the chest sensor 21 and the spherical contour of the joint end directly serves as the support surface of the joint end. The rotation changes are collected and used to detect human movement energy consumption and assess local muscle fatigue. The chest sensor 21 can use various types of sensors. Among them, a chest sensor that can be directly connected to a network device such as a mobile phone or a computer is preferable. The outer surface of the chest housing receiving groove is detachably fitted with the housing insert 18. In another embodiment, the chest sensor 21 is further provided with a toggle switch 19, and the toggle portion of the toggle switch 19 is provided at the notch at the upper part of the housing insert 18, and the toggle switch 19 is turned on when the user moves.

In another embodiment, in order to facilitate access to the chest sensor 21, the housing insert is provided with an opening in the middle for easy removal of the chest sensor, and a chest sensor fixing shell 20 is detachably covered at the opening.

As shown in FIGS. 4-7, the hip joint has a waist binding plate 8, a force generating device, and a rotating plate 3 connected to the chest support rod. A pair of waist binding plates 8 are relatively installed on the hip joint to provide support for hips and buttocks. The waist binding plates 8 may be provided with elastic cushions 13 for elastically deforming to fit the user's hips And hips. The force generating device has a base 4, a pulling wheel 7, a hip joint rotation shaft 28, a steel rope 29, and an elastic element 34. The wire pulling wheel 7 and the rotating plate 3 are hinged through the rotating plate rotating shaft 25. In another embodiment, after the hinged end of the lower part of the rotating plate 3 is fitted into the hinge groove of the non-rotating end of the wire wheel 7, the fixed pin 38 of the rotating plate is inserted into the pin hole between the rotating plate 3 and the wire wheel 7 to achieve fixed hinge. In order to be more stable, when the rotating plate fixing pin 38 is inserted, spacers 37 are added at the left and right ends.

In another embodiment, in order to facilitate putting on and taking off the device, the wire pulling wheel 7 and the rotating plate 3 are set in an easy clutch mode, specifically, the wire pulling wheel 7 is also provided with a releasing mechanism, the releasing mechanism includes a releasing switch 24 and the clamping plate 36. The clamping plate 36 is installed in the sliding groove of the wire pulling wheel 7. The release switch 24 is installed in the mounting groove at the front end of the clamping plate 36 to control the clutch between the rotating plate 3 and the wire pulling wheel 7. Specifically, the hinged end of the lower part of the rotating plate 2 has a horizontal notch. After the hinged end of the rotating plate 3 is inserted into the hinge groove of the wire wheel 7, the horizontal notch of the hinged end of the rotating plate 2 is just inserted into the left end of the sliding groove of the wire wheel 7, and the horizontal notch The inner surface of is integrated with the left end of the sliding groove of the wire wheel 7. The card board 36 is connected to the release switch 24 through the horizontal sliding groove of the wire wheel 7, and the card board 36 can be driven to slide in the horizontal slide slot by moving the release switch 24 left and right, when the card board 36 slides to the leftmost end of the slide slot , The clamping plate 36 is embedded in the horizontal gap of the rotating plate 3, then the rotating plate 3 is locked with the wire wheel 7, when the clamping plate 36 slides to the far right, the clamping plate 36 comes out of the horizontal gap of the rotating plate 3, the rotating plate 3 can Relative to the wire wheel 7 rotates. When the user walks or squats normally, the rotating plate 3 and the wire pulling wheel 7 are loosened so as not to hinder the movement, and when bending down, the loosening mechanism is locked to provide assistance.

The upper part of the base 4 is provided with a hip joint rotating shaft 33, and the wire pulling wheel 7 is hinged with the base 4 and the waist binding plate 8 through the hip joint rotating shaft 33. The hip joint rotating shaft 33 is provided with a wire pulling wheel 7, The hinge holes of the base 4 and the waist binding plate 8, and the wire wheel 7 and the base 4 and the waist binding plate 8 are axially fixed on the hip joint rotation axis 33 through a fixing ring 28, The wire pulling wheel 7 is fixed to the hole of the axis of the hip joint rotation axis 33, and the base plate 4 and the waist binding plate 8 are respectively fixed to the holes of the hip joint rotation axis 33 axis. The upper end of the steel rope 29 passes through the wire-drawing wheel 7, and the upper end of the steel rope 29 is compressed in the steel rope limiting groove of the wire-drawing wheel 7 using a steel wire compression bolt 27, and the lower end of the steel rope is consolidated with the elastic element. As shown in FIG. 5, when the wire pulling wheel 7 rotates counterclockwise, the steel rope 29 connected to the wire pulling wheel will pull the elastic element 34 and compress the elastic element. The reverse elastic force generated by the elastic element 34 exerts a reverse pulling force on the steel rope 29, and a torque in the direction of the clockwise direction is applied to the wire pulling wheel 7, and the torque is transmitted to the chest through the chest support rod 2 to form a support force The elastic force generated by the elastic element includes but is not limited to springs, compressed gas and the like. Compared with the cam structure, the wire-pulling wheel 7 adopted by the present invention is superior to the cam structure in the force transmission reliability of the wire-pulling wheel 7; the cam structure is line contact, and the force component is larger, the force transmission efficiency is better than the cam, and the output torque is direct To multiply the output force by the radius of the wire wheel, and the cam has to be multiplied by the angle between the force and the arm, the efficiency of output torque is low. In another embodiment, the elastic element 34 may be placed in the elastic element receiving groove 30 in the base 4. The base 4 also has a base housing 26.

The base 4 is also provided with a leg support rod accommodating groove for placing the upper end of the leg support rod 5. In the presence of the elastic element accommodating groove 30, the leg support rod accommodating groove and the elastic element are accommodated The placement groove 30 is provided in the base 4 forward and backward. A thigh lever adjustment knob 32 is provided at the lower end of the leg support rod accommodating groove, and the thigh lever adjustment knob 32 is partially exposed on the base housing 26. In another embodiment, the upper end of the leg support bar 5 has a set of positioning holes for the leg support bar, and the thigh bar is used to adjust the knob 32 while adjusting the upper end of the leg support bar 5 by moving the position of the positioning hole of the leg support bar up and down Support the height of the groove in the leg support bar.

In an embodiment, a leg sensor 31 is further installed above the accommodating groove of the thigh support rod, and the leg sensor 31 is used to detect gait information of the user.

As shown in FIG. 8, the leg support device further includes a thigh baffle 6 that fits the surface of the thigh, a thigh baffle rotation groove 39 is provided on the back of the thigh baffle 6, and the lower end of the leg support rod 5 is inserted into the groove of the thigh baffle rotation groove 39 The holes are hinged and fixed with thigh support rod fixing screws 40, and a certain degree of freedom can be rotated between the thigh baffle 6 and the leg support rod 5.

Claims (14)

1. A wearable power-assisted exoskeleton robot includes a chest support device, a hip joint and a leg support device, and is characterized in that the chest support device includes an integrated chest support and a chest support rod, and two ends of the chest support rod are respectively connected An integrated chest support and a hip joint, the hip joint includes a waist binding plate, a force generating device and a rotating plate connected to the chest support rod, the force generating device has a base, a wire wheel, a steel rope and an elastic element , The two ends of the rotating plate are respectively connected to the chest support rod and the wire drawing wheel, the wire drawing wheel is connected to the elastic element through a steel rope, and a leg support rod accommodating groove is provided in the base, the leg part The support device includes a leg support rod and a thigh baffle that fits the thigh, an upper end of the leg support rod is connected to the leg support rod accommodating groove, and a lower end of the leg support rod is rotatably hinged with the thigh baffle.
2. The wearable power-assisted exoskeleton robot according to claim 1, wherein the integrated chest support includes a supporting base plate, a rotating shaft group and a base body,

   The base body includes a base plate, a chest support rod adapter, and an outer shell covering at least one shell layer on the surface of the base body, with an opening between the base plate and the outer shell, the opening having a spherically contoured support surface, the chest The support rod adapter is hinged to the base plate and the housing;

   The rotating shaft group includes a rotating shaft, one end of the rotating shaft is fixed on a supporting base plate, and the other end has a joint end with a spherical outline on the outer surface. The joint end is rotatably held on the support surface. The coupling end and the supporting surface constitute a spherical pair.
3. The wearable power-assisted exoskeleton robot according to claim 2, wherein the first shell of the outer shell is a chest shell, the chest shell is cooperatively installed on the base plate, and the inner surface of the chest shell is in contact with the base plate The cavity between them forms a housing groove for the chest shell.
4. The wearable power-assisted exoskeleton robot according to claim 2, wherein the coupling end is composed of a combination of a rotating shaft and a spherical bearing, and the spherical bearing is at least partially located in the receiving groove of the chest shell.
5. The wearable power-assisted exoskeleton robot according to claim 1 or 2, wherein the integrated chest support is further provided with a chest sensor for detecting energy consumption of human movement and evaluating local muscle fatigue.
6. The wearable power-assisted exoskeleton robot according to claim 5, wherein the chest sensor is at least partially installed in the chest housing accommodating groove, and the chest sensor is connected to the spherical bearing in the chest housing accommodating groove The bearing surface is connected.
7. The wearable power-assisted exoskeleton robot according to claim 6, wherein the outer surface of the chest shell accommodating groove is detachably connected with a shell insert, and a shell insert is provided in the middle of the shell insert to facilitate removal of the chest sensor The opening is detachably covered with a chest sensor fixing shell at the opening.
8. The wearable power-assisted exoskeleton robot according to claim 1, wherein the wire pulling wheel is hinged to the rotating plate.
9. The wearable power-assisted exoskeleton robot according to claim 1 or 8, wherein the rotating plate is provided with a release mechanism for controlling the clutch between the rotating plate and the wire wheel, and the release mechanism includes a release switch and a card board The card board is installed in the sliding groove of the wire drawing wheel, the front end of the card board has an installation groove, and the release switch is installed in the installation groove at the front end of the card board.
10. The wearable power-assisted exoskeleton robot according to claim 1, wherein a hip joint rotation axis is provided in the base, and the wire pulling wheel and the base and the waist binding plate pass through the hip joint The axis of rotation is hinged.
11. The wearable power-assisted exoskeleton robot according to claim 10, wherein an elastic element accommodating groove is further provided in the base, and the elastic element is accommodated in the elastic element accommodating groove.
12. The wearable power-assisted exoskeleton robot according to claim 1, wherein the upper end of the leg support rod has a set of positioning holes, which are fixed by the thigh rod adjustment knob to adjust the leg by moving the position of the positioning hole up and down The height of the support bar accommodating groove in the leg support bar.
13. The wearable assisted exoskeleton robot according to claim 1 or 11, wherein the hip joint further includes a leg sensor for detecting leg gait information of the user, and the leg sensor is installed on the leg The support rod is accommodated above the groove.
14. The wearable power-assisted exoskeleton robot according to claim 1, wherein at least one or more of the supporting base plate, the waist binding plate, and the thigh baffle plate are further provided with elastic cushions, the elastic The cushion is elastically deformable to fit and support the user's chest, hips and hips, and/or legs.

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