CN109316314B - Exoskeleton robot, universal joint module and joint limiting assembly thereof - Google Patents

Abstract

The invention provides an exoskeleton robot, a universal joint module and a joint limiting assembly thereof, wherein the joint limiting assembly comprises: the main body plate and the arc-shaped limiting convex ribs which are integrally formed with the main body plate and are arranged on the periphery of the main body plate, and a chord formed by connecting two ends of the arc-shaped limiting convex ribs is provided with a preset central angle. According to the invention, the main body plate and the arc-shaped limiting ribs are integrally arranged, so that the manufacturing and assembling difficulties of the joint limiting assembly are greatly simplified, and the overall structure of the exoskeleton robot is light.

Description

Exoskeleton robot, universal joint module and joint limiting assembly thereof

Technical Field

The invention relates to the technical field of rehabilitation robots, in particular to an exoskeleton robot, a universal joint module and a joint limiting assembly thereof.

Background

At present, an existing rehabilitation exoskeleton robot generally needs to design each joint and a connecting piece of each joint independently, and because of the complex structure of lower limbs of a human body, the degree of freedom is more, and the problems of complex structure, high processing difficulty, huge volume, heavy weight and the like of the robot are often caused by independently designing each joint.

Disclosure of Invention

The invention provides an exoskeleton robot, a universal joint module and a joint limiting assembly thereof, which are used for solving the technical problem that the exoskeleton robot in the prior art is complex in structure.

In order to solve the technical problems, the invention adopts a technical scheme that: there is provided a joint limiting assembly, the joint limiting assembly comprising: the main body plate and with main body plate integrated into one piece just sets up the spacing protruding muscle of arc on the main body plate week, the chord that the both ends connecting wire of the spacing protruding muscle of arc formed has the default central angle.

According to a specific embodiment of the present invention, the main body plate is circular, and the preset central angle is 40 ° -50 °, 50 ° -60 °, 55 ° -65 °, 100 ° -120 ° or 110 ° -120 °.

According to one embodiment of the invention, the main body plate is provided with a first axial hole, the arc-shaped limiting convex rib is provided with a second axial hole, and the arc-shaped limiting convex rib is provided with a radial wiring groove.

In order to solve the technical problems, the invention adopts another technical scheme that: the utility model provides a general joint module, general joint module includes rotating assembly and the spacing subassembly of aforesaid joint, rotating assembly is equipped with spacing connecting portion, spacing connecting portion activity is located between the both ends of the spacing protruding muscle of arc, in order to pass through the spacing protruding muscle of arc predetermine central angle right spacing connecting portion rotate spacingly.

In order to solve the technical problems, the invention adopts another technical scheme that: there is provided an exoskeleton robot comprising a universal joint module and a leg telescopic connection assembly as described above, the leg telescopic connection assembly comprising: the first connecting piece and second connecting piece, first connecting piece with the second connecting piece cup joints, first locating hole has been seted up on the lateral wall of first connecting piece, second locating hole has been seted up on the lateral wall of second connecting piece, first locating hole with second locating hole assorted, in order will through the bolt first connecting piece with the second connecting piece is connected.

According to one embodiment of the invention, the first connector is provided with a slot penetrating through the side wall of the first connector, and the slot is used for locking the slot through a locking piece after the second connector is inserted into the first connector, so that the connection strength of the first connector and the second connector is enhanced.

According to a specific embodiment of the present invention, the universal joint module includes a first hip joint module, a second hip joint module, a knee joint module, a first ankle joint module, and a second ankle joint module, where the preset central angle of the first hip joint module is 110 ° -120 °, the preset central angle of the second hip joint module is 55 ° -65 °, the preset central angle of the knee joint module is 100 ° -120 °, the preset central angle of the first ankle joint module is 50 ° -60 °, and the preset central angle of the second ankle joint module is 40 ° -50 °.

According to an embodiment of the present invention, the exoskeleton robot further comprises a lumbar support rotator and a foot support rotator, wherein both ends of the lumbar support rotator are respectively connected with the first hip joint module and the second hip joint module; the two ends of the foot supporting rotating member are respectively connected with the first ankle joint module and the second ankle joint module.

According to a specific embodiment of the invention, the exoskeleton robot further comprises a control box assembly, the control box assembly comprises a waist fixing plate, a computer, a battery and a shell, the battery is electrically connected with the computer and is commonly contained in a containing cavity defined by the shell and the waist fixing plate, and the shell is further provided with a display screen and a control assembly.

According to an embodiment of the present invention, the exoskeleton robot further comprises a retractable waist strap fixed to the waist fixing plate and a foot device fixed to the universal joint module.

The beneficial effects of the invention are as follows: different from the condition of the prior art, the joint limiting assembly provided by the invention is provided with the main body plate and the arc limiting convex rib which are integrally structured, and a chord formed by connecting two ends of the arc limiting convex rib is provided with a preset central angle so as to limit the rotation of the rotating assembly within the range of the preset central angle. Because the main body plate and the arc-shaped limiting convex ribs are of an integrated structure, the manufacturing and assembling difficulties of the joint limiting assembly are greatly simplified, and the overall structure of the exoskeleton robot is light.

Drawings

For a clearer description of the technical solutions of embodiments of the invention, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the invention, from which, without inventive effort, other drawings can be obtained for a person skilled in the art, wherein:

FIG. 1 is a schematic perspective view of a joint stop assembly according to an embodiment of the present invention;

FIG. 2 is a schematic plan view of a joint stop assembly according to an embodiment of the present invention;

FIG. 3 is a schematic perspective view of a universal joint module according to an embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating an exploded view of a universal joint module according to an embodiment of the present invention;

FIG. 5 is a schematic perspective view of an exoskeleton robot according to an embodiment of the present invention;

FIG. 6 is an exploded view of the exoskeleton robot shown in FIG. 5;

FIG. 7 is a right side view of the exoskeleton robot shown in FIG. 5;

FIG. 8 is a rear view of the exoskeleton robot shown in FIG. 5;

FIG. 9 is a schematic perspective view of the lumbar support rotation member shown in FIG. 6;

FIG. 10 is an exploded view of the lower leg extension link assembly shown in FIG. 6;

FIG. 11 is a schematic view of the exploded structure of the lower leg extension link assembly shown in FIG. 10 in another state;

FIG. 12 is an exploded view of the control box assembly shown in FIG. 6;

FIG. 13 is an exploded view of the foot device shown in FIG. 6;

Fig. 14 is an exploded view of the calf strap assembly shown in fig. 6.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

Referring to fig. 1, fig. 1 is a schematic perspective view of a joint limiting assembly according to an embodiment of the invention.

As shown in fig. 1, the present invention provides a joint stop assembly 10, the joint stop assembly 10 including a body plate 12 and arcuate stop ribs 14. Wherein, main body plate 12 and the spacing protruding muscle 14 integrated into one piece of arc, the spacing protruding muscle 14 of arc sets up on the week of main body plate 12, and this spacing protruding muscle 14 of arc is used for restricting the rotation scope of other subassemblies that are connected with the spacing subassembly 10 of joint. According to the invention, the integrally formed joint limiting assembly 10 is arranged, so that the exoskeleton robot is novel in limiting structure, small in part machining difficulty, small in size and convenient to assemble.

Specifically, referring to fig. 2 together, fig. 2 is a schematic plan view of a joint limiting assembly according to an embodiment of the invention.

In this embodiment, the main body plate 12 is circular, and the arc-shaped limiting ribs 14 are protruded from the end surface of the main body plate 12 on the main body plate 12 and encircle the periphery of the circular main body plate 12. The center of the circular main body plate 12 coincides with the center of the arc-shaped limit rib 14, and a chord formed by connecting the two ends of the arc-shaped limit rib 14 has a preset central angle, such as θ shown in fig. 2. When the joint limiting assembly 10 is assembled with other assemblies, the two ends of the arc limiting ribs 14 limit the other assemblies when the other assemblies rotate, so that the rotation angle of the other assemblies is smaller than or equal to the preset central angle. That is, the joint limit assembly 10 makes the rotation angle of the other assemblies equal to or less than θ.

Because the rotation angles of the different joints are different, the preset central angle can be flexibly set according to the requirement in order to enable the joint limiting assembly 10 to be suitable for each rotation joint of a human body, so that the universality of the joint limiting assembly 10 is improved. For example, the predetermined central angle may be 40 ° -50 °, 50 ° -60 °, 55 ° -65 °,100 ° -120 °, or 110 ° -120 °.

For example, in the embodiment shown in fig. 2, the predetermined central angle of the limit stop assembly 10 is 110 °. In other embodiments, the preset central angle of the joint limiting assembly 10 may be 42 °, 45 °, 48 °, 53 °, 55 °, 58 °, 60 °, 62 °,110 °, 115 ° or 118 °, etc., which are not meant to be limiting.

The arc-shaped limiting ribs 14 may be continuously disposed on the peripheral edge of the main body plate 12, or may be disposed in segments, which is not particularly limited in the present application. For example, the arc-shaped limiting bead 14 may be divided into two sections, and the two sections are separated from each other to form two preset central angles between the two arc-shaped limiting beads 14. The arc-shaped limiting ribs 14 in this embodiment are continuously arranged to enhance the connection strength of the joint limiting assembly 10 with other components.

Further, as shown in fig. 1, a first axial hole 122 is formed in the body plate 12, and the first axial hole 122 is used for fixing other elements on the body plate 12. The first axial hole 122 is disposed around the center of the main body plate 12, that is, the first axial hole 122 is equidistant from the center of the main body plate 12, so that the main body plate 12 is uniformly stressed when being connected with other elements, and the connection strength is improved.

A second axial hole 142 is formed in the arcuate stop bead 14, and the second axial hole 142 is used to connect the joint stop assembly 10 to other components. By providing the second axial hole 142 on the arcuate stop bead 14, the strength of the joint stop assembly 10 may be increased.

Optionally, the first axial hole 122 and/or the second axial hole 142 are countersunk, and by arranging the countersunk holes on the joint limiting assembly 10, on one hand, the connecting screws can be sunk, so that the product appearance is more attractive while the volume is reduced; on the other hand, the surface machining precision requirement of the joint limiting assembly 10 can be reduced.

Further, a wiring groove 144 radially penetrating the arc-shaped limiting rib 14 is further formed in the arc-shaped limiting rib 14. The wiring slots 144 are used for wiring for powering components in the universal joint module.

Optionally, an avoidance groove 146 is further formed on the peripheral edge of the arc-shaped spacing rib 14, and the avoidance groove 146 is used for avoiding other elements in the universal joint module when the joint spacing assembly 10 is connected with other elements to form the universal joint module, so that the universal joint module is more compact in structure and smaller in volume.

Referring to fig. 3 and 4, another aspect of the present invention further provides a universal joint module 20. The universal joint module 20 includes a rotation assembly 22 and a joint stop assembly 10. The swivel assembly 22 includes a limit link 2242, which limit link 2242 is used to connect the universal joint module 20 to an external element. The limiting connection part 2242 is movably arranged between two ends of the arc-shaped limiting convex rib 14, so that the limiting connection part 2242 is rotationally limited through the arc-shaped limiting convex rib 14. That is, the limit connecting portion 2242 is allowed to move only within a range of the preset central angle.

The structure of the joint limiting assembly 10 is the same as that of the joint limiting assembly 10 in the above embodiment, please refer to the description in the above embodiment, and the description is omitted herein.

As shown in fig. 4, the rotating assembly 22 in the present embodiment includes a motor 221, a joint fixing member 222, a decelerator 223, and a joint rotating member 224. Wherein, motor 221 and reduction gear 223 are located the opposite both sides of joint mounting 222 respectively, and with joint mounting 222 fixed connection. The output shaft of the motor 221 penetrates through a central hole extending out of the joint fixing piece 222 and is connected with the input end of the speed reducer 223, and the output end of the speed reducer 223 is connected with the joint rotating piece 224. The motor 221 drives the decelerator 223 to rotate, and the decelerator 223 increases the torque transmitted to the joint rotation member 224 and decreases the rotation speed of the joint rotation member 224 by the principle of deceleration and increase in distance.

The joint fixing piece 222 is provided with a fixing connection portion 2224, two first connection plates 2226 arranged in parallel and at intervals are arranged on the end face of the fixing connection portion 2224 in a protruding mode, and coaxial first through holes 2268 are formed in the two first connection plates 2226, so that the fixing connection portion 2224 and other components are assembled and fixed through screws.

The limit connection part 2242 is disposed on the joint rotation member 224, and the limit connection part 2242 includes two parallel second connection plates 2244 disposed at intervals, and coaxial second through holes 2246 are disposed on the two second connection plates 2244, so as to fix the limit connection part 2242 and other components by assembling with screws.

The number of the first through holes 2268 and the second through holes 2246 may be plural, and the present application is not particularly limited. In this embodiment, the number of the first through holes 2268 and the second through holes 2246 is 4, so that the stress is uniform during connection.

Further, as shown in fig. 4, the articulation component 224 also includes a swivel plate 2248 that is integrally formed with the limit link 2242. The rotating disc 2248 is circular, and the limit connection part 2242 is disposed on the circular arc curved surface of the rotating disc 2248.

A rotating disk 2248 is connected to an output end of the speed reducer 223 to rotate with rotation of the output end of the speed reducer 223. The joint limiting assembly 10 is connected with the speed reducer 223 through a second axial hole 142 arranged on the arc-shaped limiting rib 14, and the joint rotating piece 224 is clamped between the speed reducer 223 and the joint limiting assembly 10 and is coaxially arranged with the speed reducer 223 and the joint limiting assembly 10.

Wherein the body plate 12 has a diameter greater than the diameter of the rotating disc 2248 and less than the largest dimension of the articulation joint 224. Such that the rotating disc 2248 may rotate within the joint stop assembly 10 with the stop link 2242 extending beyond the body panel 12 and rotating under the limit of the arcuate stop bead 14.

The universal joint module 20 may also include other components such as a motor drive 225, a motor housing 226, a coupling sleeve 227, an encoder 228, etc. A motor driver 225 is fixed to the joint fixing member 222, and a motor housing 226 is covered on the motor 221 to protect the motor 221. The coupling sleeve 227 is provided between the joint holder 222 and the decelerator 223 for connecting an output shaft of the motor 221 with an input end of the decelerator 223. The encoder 228 is secured to the articulating stop assembly 10 by a screw connection to the first axial bore 122.

Referring to fig. 5 and 6, the present invention also provides an exoskeleton robot 100, the exoskeleton robot 100 comprising a universal joint module 20 and a leg telescopic connection assembly 50. Wherein the leg telescopic connection assembly 50 is disposed between adjacent universal joint modules 20 for connecting the adjacent universal joint modules 20 to form the exoskeleton robot 100.

Specifically, the universal joint module 20 may include a first hip joint module 23, a second hip joint module 24, a knee joint module 25, a first ankle joint module 26, and a second ankle joint module 27. The overall structures of the first hip joint module 23, the second hip joint module 24, the knee joint module 25, the first ankle joint module 26 and the second ankle joint module 27 are substantially the same, and the differences between the joint modules are that the angles of the preset central angles of the spacing joint assemblies 10 are different, as described with reference to the universal joint module 20 in the above embodiment.

Wherein the preset central angle of the first hip module 23 is 110-120 °, the preset central angle of the knee module 25 is 100-120 °, and the preset central angle of the first ankle module 26 is 50-60 °.

Specifically, in the present embodiment, as shown in fig. 7, assuming that the vertical direction is a critical line (0 °), after the first hip joint module 23 is fixed, the angles of the two ends of the arc-shaped limiting bead 14 from the critical line are 90 ° and 25 °, respectively, whereby the preset central angle of the first hip joint module 23 is 115 °. After the knee joint module 25 is fixed, the angles between the two ends of the arc-shaped limiting ribs 14 and the critical line are respectively 0 degrees and 110 degrees, and therefore, the preset central angle of the knee joint module 25 is 110 degrees. After the first ankle joint module 26 is fixed, the angles between the two ends of the arc-shaped limiting ribs 14 and the critical line are respectively 60 degrees and 115 degrees, and therefore, the preset central angle of the first ankle joint module 26 is 55 degrees.

Wherein the preset central angle of the second hip module 24 is 55-65 degrees and the preset central angle of the second ankle module 27 is 40-50 degrees.

Specifically, in the present embodiment, as shown in fig. 8, assuming that the vertical direction is a critical line (0 °), after the second hip joint module 24 is fixed, the angles of the two ends of the arc-shaped limiting bead 14 from the critical line are 60 ° and 120 °, respectively, and thus, the preset central angle of the second hip joint module 24 is 60 °. After the second ankle joint module 27 is fixed, the angles between the two ends of the arc-shaped limiting ribs 14 and the critical line are 15 degrees and 30 degrees respectively, so that the preset central angle of the second ankle joint module 27 is 45 degrees.

Of course, in other embodiments, the preset central angles of the first hip joint module 23, the second hip joint module 24, the knee joint module 25, the first ankle joint module 26 and the second ankle joint module 27 may be flexibly set according to the actual situation, which is not described in detail herein.

The structures of the fixed connection portion 2224 and the limit connection portion 2242 of the first hip joint module 23, the knee joint module 25, and the first ankle joint module 26 are the same as the structures of the fixed connection portion 2224 and the limit connection portion 2242 of the universal joint module described above, and will not be described herein.

The structures of the fixed connection 2224 and the limit connection 2242 of the second hip module 24 and the second ankle module 27 are different from those of the fixed connection 2224 and the limit connection 2242 of the universal joint module 20 described above, and the differences between the fixed connection 2224 and the limit connection 2242 of the second hip module 24 and the second ankle module 27 will be described in detail.

Referring to fig. 6, the end surfaces of the fixed connection portions 2224 of the second hip joint modules 24 far from the limit connection portions 2242 are formed with first screw holes 242 to connect the end surfaces of the fixed connection portions 2224 of the two second hip joint modules 24 together by screws. A second screw hole 244 is formed on a surface of the fixing connection portion 2224 of the second hip module 24 near the first hip module 23, and the second screw hole 244 is used for fixing other components. For example, in this embodiment, a stationary control box assembly is used for mounting.

A third screw hole 246 is formed on a surface of the limit connection 2242 of the second hip joint module 24 near the first hip joint module 23, and the third screw hole 246 is uniformly distributed on a surface of the limit connection 2242 near the first hip joint module 23. The number and distribution positions of the third screw holes 246 are not particularly limited in the present application. In the present embodiment, the number of the third screw holes 246 is four, and the four third screw holes 246 are distributed at corners of the surface of the limit connecting portion 2242.

Further, a first slot or first key for matching positioning is also formed on a surface of the limit connection 2242 near the first hip module 23 for matching positioning when connecting other components with the second hip module 24.

The number of the first inserting keys or the first inserting slots can be flexibly selected according to the surface area of the surface, close to the first hip module 23, of the limit connection 2242. For example, when the surface area of the limit link 2242 near the surface of the first hip module 23 is large, a plurality of first slots or first keys may be provided. When the surface area of the limit link 2242 near the surface of the first hip module 23 is small, only one first slot or first key may be provided.

As shown in fig. 6, in the present embodiment, a first plug 248 is formed on the limit connection 2242, and the length direction of the first plug 248 is parallel to the axis of the first hip module 23. The length direction of the first insertion key 248 is parallel to the axis of the first hip module 23, which can be used for matching positioning on the one hand and can provide supporting force in the vertical direction for other elements on the other hand.

As shown in fig. 6, a fourth screw hole 272 is formed on a surface of the fixed connection portion 2224 of the second ankle module 27 near the first ankle module 26 to connect the second ankle module 27 with other elements by screws.

The fourth screw holes 272 are uniformly distributed on the surface of the fixed connection portion 2224 close to the first ankle module 26, so that the stress is uniform during connection. The number of fourth screw holes 272 is not particularly limited in the application.

Further, a second key or a second slot for the matching positioning is formed on a surface of the fixed connection portion 2224 of the second ankle module 27 near the first ankle module 26 for the matching positioning when the other elements are connected with the second ankle module 27.

The number of the second inserting keys or the second inserting grooves can be flexibly selected according to the surface area of the surface of the fixed connection portion 2224 close to the first ankle module 26. For example, when the surface area of the surface of the fixing link 2224 near the first ankle module 26 is large, a plurality of second slots or second key may be provided. When the surface area of the surface of the fixing connection part 2224 near the first ankle module 26 is small, only one second socket or second key may be provided.

As shown in fig. 6, in the present embodiment, three rows of fourth screw holes 272 are formed in the fixed connection portion 2224, and one second insert key 274 parallel to the axis of the first ankle module 26 is provided in the middle of each adjacent row of fourth screw holes 272. The second insert 274 is provided with a length parallel to the axis of the first ankle module 26, which can be used for mating positioning on the one hand and providing vertical support for other components on the other hand.

The structure of the limit connection 2242 of the second ankle module 27 is the same as that of the limit connection 2242 of the universal joint module 20, please refer to the description of the universal joint module 20.

Referring to fig. 6, 9 and 10, the exoskeleton robot 100 further includes a lumbar support rotator 30 and a foot support rotator 40. Wherein a lumbar support rotation 30 is provided between the first and second hip joint modules 23, 24 for connecting the first and second hip joint modules 23, 24. The foot supporting rotator 40 is disposed between the first ankle module 26 and the second ankle module 27 for connecting the first ankle module 26 and the second ankle module 27.

As shown in fig. 9, the lumbar support rotation member 30 includes: a first connection portion 32, a second connection portion 34, and an adapter portion 36. The planes of the first connecting portion 32 and the second connecting portion 34 are perpendicular to each other, and the first connecting portion 32 and the second connecting portion 34 are respectively located at two ends of the adapting portion 36 for connection with an external element.

Specifically, in the present embodiment, as shown in fig. 4, 6 and 9, the first connection portion 32 is used to connect with the first hip module 23, and the second connection portion 34 is used to connect with the second hip module 24. The first connection portion 32 is provided with a third through hole 322, and the third through hole 322 is disposed corresponding to the first through hole 2268 of the fixed connection portion 2224 of the first hip module 23, so as to connect the first connection portion 32 with the first hip module 23 through a bolt.

The second connecting portion 34 is provided with a fourth through hole 342, and the fourth through hole 342 is disposed corresponding to a third screw hole 246 of the limit connecting portion 2242 of the second hip joint module 24, so as to connect the second connecting portion 34 with the second hip joint module 24 through a bolt.

In the present embodiment, the number of the fourth through holes 342 is greater than the number of the third screw holes 246 on the limit connecting portion 2242, so that the position of the second connecting portion 34 on the second hip module 24 is adjustable, and the exoskeleton robot 100 can be suitable for users with different sizes.

Further, a first slot or first key for mating positioning is provided on the contact surface of the second connection portion 34 and the second hip module 24, and the first slot or first key is used for mating with a first key or first slot on the limit connection portion 2242 on the second hip module 24 to position the lumbar support rotator 30 and the second hip module 24 when connected.

Specifically, when the first key is provided on the second connection part 34, a first slot is formed on the surface of the limit connection part 2242 of the second hip joint module 24 near the first hip joint module 23. When the first slot is provided on the second connection portion 34, a first key is formed on the surface of the limit connection portion 2242 of the second hip module 24 near the first hip module 23. In the present embodiment, as shown in fig. 6 and 9, a first insertion key 248 is formed on the limit connection portion, and a first insertion groove 344 is formed on the second connection portion 34.

Referring to fig. 6, the foot support rotator 40 is generally configured the same as the lumbar support rotator 30 for connecting the first ankle module 26 to the second ankle module 27. The structure of the foot supporting rotator 40 is referred to as the structure of the lumbar supporting rotator 30 and will not be described again.

Referring to fig. 5, leg extension and retraction assembly 50 includes a thigh extension and retraction assembly 52 and a shank extension and retraction assembly 54. The thigh telescopic connecting assembly 52 and the shank telescopic connecting assembly 54 have the same general structure, and only the structure of the shank telescopic connecting assembly 54 will be described in detail below, and the structure of the thigh telescopic connecting assembly 52 is not described in detail.

Specifically, as shown in fig. 10, the calf telescoping connection assembly 54 can include a first connector 542 and a second connector 544. The first connector 542 and the second connector 544 are each partially hollow such that the first connector 542 is sleeved over the second connector 544.

Specifically, in the present embodiment, the size of the first connector 542 is larger than the size of the second connector 544, so that the second connector 544 is sleeved inside the first connector 542. Of course, in other embodiments, the first connector 542 may also be smaller in size than the second connector 544 such that the first connector 542 fits within the second connector 544.

Wherein, a first positioning hole 543 and a first routing hole 548 are formed on the side wall of the first connecting piece 542, a second positioning hole 545 and a second routing hole 549 are formed on the side wall of the second connecting piece 544, and the first positioning hole 543 is matched with the second positioning hole 545 so as to connect and fix the first connecting piece 542 and the second connecting piece 544 through bolts. The first routing aperture 548 and the second routing aperture 549 are for routing.

The number of at least one of the first positioning holes 543 and the second positioning holes 545 may be plural, and the number of the first positioning holes 543 and the number of the second positioning holes 545 may be equal or unequal. Through setting up a plurality of first locating holes 543 and a plurality of second locating holes 545, can nimble selection suitable position and the first locating hole 543 of quantity and second locating hole 545 are connected fixedly as required to make the relative position of first connecting piece 542 and second connecting piece 544 adjustable, and then make the length of shank telescopic connection subassembly 50 adjustable.

Wherein the first routing hole 548 is in communication with the interior of the first connector 542 and the second routing hole 549 is in communication with the interior of the second connector 544. By providing first routing aperture 548 and second routing aperture 549, control cables of exoskeleton robot 100 can be routed inside leg telescopic connection assembly 50 to protect the cables. And also may make the outer shape of the exoskeleton robot 100 more neat and attractive.

In this embodiment, the cross section of the first connector 542 perpendicular to the coupling direction of the first connector 542 and the second connector 544 is rectangular. The second connection member 544 is circular in cross section perpendicular to the socket direction of the first connection member 542 and the second connection member 544 to enhance structural strength.

Further, in the present embodiment, a slot 546 penetrating through a sidewall of the first connector 542 is formed at a side of the first connector 542 connected to the second connector 544, and the slot 546 is used for locking the slot 546 by a locking member after the second connector 544 is inserted into the first connector 542, so as to enhance the connection strength between the first connector 542 and the second connector 544.

Specifically, to facilitate insertion of the second connector 544 into the first connector 542, a slot 546 is formed in a sidewall of the first connector 542 such that the size of the opening at the end of the first connector 542 that is connected to the second connector 544 is greater than the size of the second connector 544. After the second connector 544 is inserted into the first connector 542, the first positioning holes 543 are connected to the second positioning holes 545 by bolts, and the slots 546 are locked by the locking members, at this time, the size of the opening on the first connector 542 is reduced, so that the first connector 542 is locked on the outer surface of the second connector 544, so as to enhance the connection strength between the first connector 542 and the second connector 544.

As shown in fig. 10 and 11, in the present embodiment, a boss 541 is convexly provided at an end of the first connector 542 near the second connector 544, and a connection hole 5411 perpendicular to a protruding extension direction of the boss 541 is provided on the boss 541, and a slit 546 is formed on the boss 541. That is, the boss 541 is provided with a notch 546 communicating with the inside of the first connector 542.

The axial direction of the connecting hole 5411 is perpendicular to the slot 546, and the connecting hole 5411 is used for receiving the locking member to be screwed in to lock the slot 546, so as to fix the second connecting member 544.

Optionally, a slot 546 is formed in the middle of the boss 541, so that when the first connector 542 is connected to the second connector 544, the stress on both ends of the boss 541 is uniform, so that the connection is more stable.

Further, as shown in fig. 10 and 11, first and second external portions 5422 and 5442 are provided at ends of the first and second connection members 542 and 544, respectively, which are away from each other. The first and second external portions 5422, 5442 are each used to connect the leg telescopic connection assembly 50 with external components.

In this embodiment, the planes of the first external connection portion 5422 and the second external connection portion 5442 are parallel to each other, so that the direction of the force of the input leg telescopic connection assembly 50 and the direction of the force of the output are parallel to each other. Of course, in other embodiments, if it is desired to set the direction of the force input to the leg extension and retraction connection assembly 50 and the direction of the force output to be perpendicular to each other, the planes in which the first and second external portions 5422 and 5442 respectively lie are set to be perpendicular to each other.

The cross-sectional shapes of the first and second external portions 5422 and 5442 in the socket direction parallel to the first and second connection members 542 and 544 may be dovetail, rectangular, triangular, or trapezoidal. The present application is not particularly limited. As shown in fig. 10, in the present embodiment, the cross-sectional shape of the first external portion 5422 is rectangular, and the cross-sectional shape of the second external portion 5442 is trapezoidal. Providing the trapezoidal second external portion 5442 can increase the contact area of the second external portion 5442 and the element connected to the second external portion 5442, thereby making the connection more stable.

Further, mounting holes (5424, 5444) are further formed in the first and second external portions 5422, 5442 for connecting the first and second external portions 5422, 5442 with an external element. The mounting holes (5424, 5444) are uniformly distributed on the first and second external connection portions 5422, 5442, respectively, so that the first and second external connection portions 5422, 5442 are uniformly stressed when connected to an external element.

Optionally, a plurality of fixing holes 5426 are further provided on the outer sidewall of the first connector 542, and the plurality of fixing holes 5426 are used to fix external elements such as leg bands and the like. The fixing holes 5426 may be provided on one side wall of the first connection member 542 as needed, or the fixing holes 5426 may be provided on all side walls. Likewise, the number of the fixing holes 5426 can be flexibly selected according to the needs, and the embodiment of the present application is not particularly limited.

Alternatively, as shown in fig. 10, in the present embodiment, the first positioning hole 543 is a countersunk hole. Setting the first positioning hole 543 to a countersunk hole can reduce the surface processing quality of the first connecting piece 542 on the one hand, and can sink the connecting screw of the first connecting piece 542 and the second connecting piece 544 on the other hand, so as to avoid exposing the connecting screw to the outside and affecting the beauty.

With continued reference to fig. 5 and 6, the exoskeleton robot 100 further includes a control box assembly 60. The control box assembly 60 is coupled to the second hip module 24 for motion control of the exoskeleton robot 100.

Specifically, as shown in fig. 6 and 11, the control box assembly 60 includes a waist fixing plate 61, a computer 62, a battery 63, and a housing 64. The waist fixing plate 61 is provided with a fifth screw hole 612, and the fifth screw hole 612 is used for being connected with the second screw hole 244 on the fixing connection portion 2224 of the second hip joint module 24. The battery 63 is electrically connected to the computer 62 via a circuit board 67 interposed between the battery 63 and the computer 62 for powering the computer 62. The computer 62 is configured to receive and process the feedback signals and further output control commands. The battery 63 and the computer 62 are commonly accommodated in an accommodating cavity enclosed by the casing 64 and the waist fixing plate 61, and the casing 64 is also provided with a display screen 65 and a control assembly. The control components may include a power button 662, a scram button 664, a current display 666, a charging plug 668, and the like.

With continued reference to fig. 5 and 6, the exoskeleton robot 100 further includes a retractable waist strap 70 and a foot device 80. A retractable waist strap 70 is secured to the control box assembly 60 for retractable attachment to the waist of a user for use with users of different sizes.

The foot device 80 is connected with the second ankle module 27, specifically, with the limit link 2242 of the second ankle module 27 to move following the rotation of the second ankle module 27.

Wherein, a plantar pressure detection module is further arranged in the foot device 80 and is used for detecting plantar pressure distribution of a human body, further calculating a zero moment point of the exoskeleton robot 100, realizing the autonomous balance function of the exoskeleton robot 100 and realizing autonomous walking of a user.

Specifically, referring to fig. 13, the foot device 80 includes an upper plate cleat 81, an upper plate 82, a pressure sensor 83, a middle cushion pad 84, a pressure spring 85, a lower plate 86, a slide detent nut 87, and a lower plate cleat 88, which are disposed in this order.

Wherein the upper plate anti-slip pad 81 is fixed to the upper plate 82 by an adhesive. The upper plate anti-slip pad 81 may be made of a material having a large friction coefficient such as rubber, and a plurality of corrugation protrusions may be formed on a surface of the upper plate anti-slip pad 81 away from the upper plate 82 to further increase the friction coefficient of the upper plate anti-slip pad 81.

The edge of the upper base plate 82 is provided with a connecting piece 822 for connecting with a limit connecting part 2242 of the second ankle joint module 27, and a plurality of evenly distributed fifth through holes 824 are formed in the connecting piece 822 so as to enable even stress during connection. A sixth screw hole 826 is also provided in the side of the upper plate 82, and the sixth screw hole 826 is used to secure the foot strap.

A plurality of counter bores are provided in the middle of the upper base plate 82 for assembly. A plurality of elongated slots 828 are also formed in a surface of the upper plate 82 adjacent to the upper plate cleat 81 for routing. A plurality of short grooves (not shown) are formed on a surface of the upper plate 82 on a side thereof remote from the upper plate anti-slip pad 81, and long holes are formed in the short grooves, and the long grooves 828 communicate with the short grooves through the long holes.

The pressure sensor 83 includes an electrical connection 832, a bending portion 834, and a detection portion 836. The bending portion 834 is located between the electrical connection portion 832 and the detection portion 836, and connects the electrical connection portion 832 and the detection portion 836. The electrical connection 832 is embedded in the slot 828 and electrically connects with the traces located in the slot 828. The detecting portion 836 is embedded in the short groove 829, and the bending portion 834 is inserted into the long hole to connect the detecting portion 836 with the electrical connecting portions 832 located on both sides of the upper plate 82.

The middle bumper pad 84 is positioned between the upper plate 82 and the lower plate 86 and is bonded to the upper plate 82 by an adhesive. The middle cushion 84 is a soft elastic material with a low spring rate and generates a small reaction force to the upper and lower base plates 82 and 86 during compression, and is mainly used for absorbing shock.

A support column 862 is provided on one side of the lower plate 86 near the upper surface, and a sixth through hole 864 penetrating the lower plate 86 of the foot is provided. The sliding positioning shaft nut 87 is inserted through the sixth through hole 864 and the middle buffer pad 84, and is fixedly connected with the upper base plate 82. The pressure spring 85 is threaded onto the slide detent spindle nut 87. In the non-pressure state, the length of the pressure spring 85 is equal to the thickness of the middle cushion 84, so that the pressure sensor 83 cannot detect the plantar pressure, and the output pressure data is zero. When pressure is applied to the upper plate 82, the upper plate 82 is pressed down, so that the middle cushion pad 84 and the pressure spring 85 are compressed, the support columns 862 are in contact with the detecting portion 836, most of the plantar pressure is transmitted to the pressure sensor 83 through the support columns 862, and the pressure sensor 83 detects the plantar pressure and outputs pressure data.

The diameter of the sixth through hole 864 is slightly larger than the outer diameter of the sliding positioning shaft nut 87, so that the sliding positioning shaft nut 87 is convenient to install and cannot interfere with the lower bottom plate 86 in the pressing process of the upper bottom plate 82.

The lower plate anti-slip pad 88 is disposed at a side of the lower plate 86 away from the middle cushion pad 84, and is adhered to the lower plate 86 by an adhesive for protecting the lower plate 86 from abrasion of the lower plate 86. The lower plate skid pad 88 can be made of a material with high wear resistance. Of course, the friction force can be increased by selecting a material with a large friction coefficient, so that the falling is prevented.

Therein, as shown in fig. 13, exoskeleton robot 100 further comprises a calf strap assembly 90. The calf strap assembly 90 includes a calf strap frame connecting plate 91, a calf strap bracket 92, a calf strap frame 93, and a calf strap 94. The shank strap support 92 is provided with a ring groove 922 for connecting with the shank strap skeleton connecting plate 91 and a seventh through hole 924 for connecting with the shank expansion and contraction connecting assembly at both ends. The lower leg band frame connecting plate 91 fixes the lower leg band frame 92 to the lower leg band frame 93, and ensures one degree of rotational freedom of the lower leg band frame 92. And the shank strap 94 is fixed to the shank strap skeleton 93.

As shown in FIG. 6, exoskeleton robot 100 further comprises thigh strap 95, thigh strap 95 being secured to thigh telescopic link assembly 52.

In summary, as will be readily understood by those skilled in the art, the exoskeleton robot 100 provided by the present invention adopts the universal joint module 20 and the leg telescopic connection assembly 50 of the joint limiting assemblies 10 with different preset central angles, so as to realize the modular design of the exoskeleton robot 100, further simplify the structure of the exoskeleton robot 100, and make the manufacturing and assembly more convenient.

The foregoing is only the embodiments of the present invention, and therefore, the patent scope of the invention is not limited thereto, and all equivalent structures or equivalent processes using the descriptions of the present invention and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the invention.

Claims (5)

1. An exoskeleton robot, characterized in that the exoskeleton robot comprises a universal joint module, a leg telescopic connection assembly and a foot device,

The universal joint module includes: the rotation component and the joint limiting component, the joint limiting component includes: the device comprises a main body plate and an arc-shaped limiting convex rib which is integrally formed with the main body plate and is arranged on the periphery of the main body plate, wherein a chord formed by connecting two ends of the arc-shaped limiting convex rib is provided with a preset central angle; the rotating assembly is provided with a limiting connecting part, and the limiting connecting part is movably arranged between two ends of the arc-shaped limiting convex rib so as to rotationally limit the limiting connecting part through a preset central angle of the arc-shaped limiting convex rib;

The universal joint module comprises a first hip joint module, a second hip joint module, a knee joint module, a first ankle joint module and a second ankle joint module, wherein the preset central angle of the first hip joint module is 110-120 degrees, the preset central angle of the second hip joint module is 55-65 degrees, the preset central angle of the knee joint module is 100-120 degrees, the preset central angle of the first ankle joint module is 50-60 degrees, and the preset central angle of the second ankle joint module is 40-50 degrees;

the leg telescopic connection assembly includes: the first connecting piece is sleeved with the second connecting piece, a first positioning hole is formed in the side wall of the first connecting piece, a second positioning hole is formed in the side wall of the second connecting piece, and the first positioning hole is matched with the second positioning hole so as to connect the first connecting piece with the second connecting piece through a bolt;

the first connecting piece is provided with a cutting groove penetrating through the side wall of the first connecting piece, and the cutting groove is used for locking the cutting groove through a locking piece after the second connecting piece is inserted into the first connecting piece so as to enhance the connection strength of the first connecting piece and the second connecting piece;

The foot device is connected with the second ankle joint module and is used for detecting plantar pressure distribution of a human body, the foot device comprises an upper base plate, a pressure sensor, a middle buffer cushion, a pressure spring and a lower base plate which are sequentially arranged, the pressure spring is embedded in the middle buffer cushion, a support column is arranged on one side, close to the upper surface, of the lower base plate, when the upper base plate has pressure, the upper base plate is pressed down, the middle buffer cushion and the pressure spring are compressed, plantar pressure is transmitted to the pressure sensor through the support column, and then plantar pressure is detected by the pressure sensor, and pressure data are output;

The exoskeleton robot further comprises a lumbar support rotating piece, wherein two ends of the lumbar support rotating piece are respectively connected with the first hip joint module and the second hip joint module;

the lumbar support rotating piece comprises a first connecting part, a second connecting part and a switching part; the first connecting part and the second connecting part are perpendicular to each other, the first connecting part and the second connecting part are respectively positioned at two ends of the switching part, the first connecting part is connected with the first hip joint module, and the second connecting part is connected with the second hip joint module;

the second connecting part is provided with a fourth through hole, the second hip joint module comprises a limiting connecting part, the limiting connecting part is provided with a third screw hole, the fourth through hole is correspondingly arranged with the third screw hole, and the number of the fourth through holes is larger than that of the third screw hole, so that the position of the second connecting part on the second hip joint module is adjustable;

the first inserting key is arranged on the second connecting part, and a first inserting groove is formed on the surface, close to the first hip joint module, of the limiting connecting part of the second hip joint module.

2. The exoskeleton robot of claim 1, wherein the body plate is provided with a first axial hole, the arcuate limit ribs are provided with a second axial hole, and the arcuate limit ribs are provided with radial routing grooves.

3. The exoskeleton robot of claim 1, further comprising a foot-supporting rotator, the two ends of the foot supporting rotating member are respectively connected with the first ankle joint module and the second ankle joint module.

4. The exoskeleton robot of claim 1, further comprising a control box assembly, wherein the control box assembly comprises a waist fixing plate, a computer, a battery and a housing, the battery is electrically connected with the computer and is commonly accommodated in a containing cavity defined by the housing and the waist fixing plate, and a display screen and a control assembly are further arranged on the housing.

5. The exoskeleton robot of claim 4, wherein, the exoskeleton robot further comprises a retractable waist strap, the retractable waist strap is fixed on the waist fixing plate.