CN107571240B - Exoskeleton robot - Google Patents

Abstract

The invention provides an exoskeleton robot. The exoskeleton robot includes a hip joint component, a thigh support component, a knee joint component, a calf support component and a foot support component. The present invention uses the hip joint drive assembly of the exoskeleton robot to include a hip joint friction wheel to frictionally drive the hip joint transmission assembly, and/or the knee joint drive assembly includes a knee joint friction wheel to frictionally drive the knee joint transmission assembly, thereby driving the joint movement. This method makes the hip joint drive component and/or the knee joint drive component lightweight and smooth in operation, thereby making the exoskeleton robot suitable for wear and easy to carry.

Description

An exoskeleton robot

Technical field

The invention relates to the field of medical devices, and in particular to an exoskeleton robot.

Background technique

At present, in terms of the drive modes of joint motions of exoskeleton robots, there are mainly mechanical drive modes such as chain drive, pneumatic drive, and hydraulic drive. A common feature of these drive modes is that the drive mechanism is bulky and not suitable for wear. , it does not have a portable function, and requires multiple auxiliary personnel to assist at the same time.

Contents of the invention

The present invention mainly provides an exoskeleton robot, aiming to solve the problem that the driving mechanism of the exoskeleton robot is bulky and difficult to wear.

In order to solve the above technical problems, one technical solution adopted by the present invention is to provide an exoskeleton robot. The exoskeleton robot includes: a hip joint component, including a hip joint drive component and a hip joint transmission component. The hip joint transmission component Linked to the hip joint drive assembly to rotate under the drive of the hip joint drive assembly; a thigh support component, one end of the thigh support component is connected to the hip joint transmission assembly to follow the movement of the hip joint transmission assembly Rotate and swing; the knee joint component is connected to the other end of the thigh support component and includes a knee joint driving component and a knee joint transmission component. The knee joint transmission component is linked with the knee joint driving component to move the knee joint Rotate under the drive of the driving assembly; the calf support component is connected with the knee joint transmission component to swing following the rotation of the knee joint transmission component; the foot support component is connected with the calf support component to follow the rotation of the knee joint transmission component The calf support component moves by swinging; wherein, the hip joint driving assembly includes a hip joint friction wheel, and the hip joint transmission assembly is frictionally connected with the hip joint friction wheel to be driven by friction of the hip joint friction wheel. Rotation; and/or the knee joint drive assembly includes a knee joint friction wheel, and the knee joint transmission assembly is frictionally connected with the knee joint friction wheel to rotate under the friction drive of the knee joint friction wheel.

Wherein, the hip joint drive assembly further includes a hip joint motor mechanism, and the hip joint friction wheel is relatively fixed with the hip joint motor mechanism in the axial direction of the hip joint motor mechanism, so as to rotate between the hip joint motor mechanism and the hip joint motor mechanism. driven to rotate.

Wherein, the hip joint transmission assembly includes a hip joint first transmission component and a hip joint second transmission component, between the hip joint first transmission component and the side of the hip joint friction wheel facing the hip joint motor mechanism. A hip joint elastic member is provided, and the hip joint elastic member generates elastic force in the axial direction. The second hip joint transmission member is connected to the first hip joint transmission member on the other side of the hip joint friction wheel. The member is fixedly connected to closely adhere to the hip joint friction wheel under the action of the elastic force, and then is frictionally connected with the hip joint friction wheel.

Wherein, a hip joint friction plate and a hip joint steel plate are arranged in sequence between the hip joint elastic member and the side of the hip joint friction wheel facing the hip joint motor mechanism. The hip joint elastic member One end is in contact with the first transmission member of the hip joint, and the other end is in contact with the hip joint steel plate, so that the hip joint friction plate is in close contact with the hip joint friction wheel, thereby making the hip joint The first transmission member is frictionally connected to the hip joint friction wheel through the hip joint friction plate.

Wherein, the knee joint driving assembly further includes a knee joint motor mechanism, and the knee joint friction wheel is relatively fixed with the knee joint motor mechanism in the axial direction of the knee joint motor mechanism, so that when the knee joint motor mechanism driven to rotate.

Wherein, the knee joint transmission assembly includes a first knee joint transmission component and a knee joint second transmission component, between the knee joint first transmission component and the side of the knee joint friction wheel facing the knee joint motor mechanism. A knee joint elastic member is provided, and the knee joint elastic member generates elastic force in the axial direction. The second knee joint transmission member is connected to the knee joint first transmission member on the other side of the knee joint friction wheel. The member is fixedly connected so as to be close to the knee joint friction wheel under the action of the elastic force, and then frictionally connected with the knee joint friction wheel.

Among them, a knee joint friction plate and a knee joint steel plate are arranged in sequence between the knee joint elastic member and the side of the knee joint friction wheel facing the knee joint motor mechanism. The knee joint elastic member One end is in contact with the first transmission member of the knee joint, and the other end is in contact with the knee joint steel plate, so that the knee joint friction plate is in close contact with the knee joint friction wheel, thereby making the knee joint The first transmission member is frictionally connected to the knee joint friction wheel through the knee joint friction plate.

Wherein, the foot support component includes a foot bearing component and an elastic buffer. The foot bearing component is connected to the elastic buffer to jointly wrap the human body's feet. The elastic buffer is in the wrapping of the human body. The feet are matched with the human body's feet to provide elastic buffering to the human body's feet when the human body's feet perform landing movements.

Wherein, the exoskeleton robot further includes a calf baffle component, the calf baffle component includes: a fixed base connected to the calf support component; a baffle assembly, the baffle assembly is pivotally connected to the fixed base, It is in an open and locked state relative to the fixed base; the linkage mechanism includes a first rod body and a second rod body pivotally connected from head to tail, and the first rod body and the second rod body are respectively pivoted to the fixed base. The seat and the baffle assembly follow the baffle assembly; wherein, when the baffle assembly is in an open state relative to the fixed seat, the first rod body and the second rod body are relative to the fixed seat. The pivot centers of the first rod body and the second rod body are arranged at an included angle; when the baffle assembly is in a buckled state relative to the fixed seat, the first rod body and the second rod body are opposite to each other. The pivot centers of the first rod body and the second rod body are arranged in a straight line to lock the baffle assembly.

Wherein, the exoskeleton robot further includes a waist support component, and the waist support component is connected to the hip joint component to fit the human body's waist and thereby support the human body's waist.

The beneficial effects of the present invention are: different from the prior art, the present invention uses the hip joint drive assembly of the exoskeleton robot to include a hip joint friction wheel to frictionally drive the hip joint transmission assembly, and/or the knee joint drive assembly includes a knee joint The friction wheel drives the knee joint transmission component through friction, thereby driving the joint movement, making the hip joint drive component and/or knee joint drive component lightweight and running smoothly, making the exoskeleton robot suitable for wear and easy to carry.

Description of drawings

Figure 1 is a schematic structural diagram of an embodiment of an exoskeleton robot provided by the present invention;

Figure 2 is an exploded schematic view of the hip joint components in Figure 1;

Figure 3 is an exploded schematic diagram of the hip joint motor mechanism in Figure 2;

Figure 4 is an exploded schematic diagram of the hip joint reducer mechanism, hip joint bearing mechanism and hip joint friction wheel in Figure 2;

Figure 5 is a schematic cross-sectional assembly diagram of each mechanism in Figure 2;

Figure 6 is an enlarged schematic diagram of part A in Figure 5;

Figure 7 is an exploded schematic diagram of the hip joint transmission assembly and hip joint friction wheel in Figure 2;

Figure 8 is a structural schematic diagram of the thigh support component in Figure 1;

Figure 9 is an exploded schematic view of the knee joint components in Figure 1;

Figure 10 is an exploded schematic diagram of the knee joint motor mechanism in Figure 9;

Figure 11 is an exploded schematic diagram of the knee joint reducer mechanism, knee joint bearing mechanism and knee joint friction wheel in Figure 9;

Figure 12 is a schematic cross-sectional assembly diagram of each mechanism in Figure 9;

Figure 13 is an enlarged schematic diagram of part B in Figure 12;

Figure 14 is an exploded schematic diagram of the knee joint transmission assembly and knee joint friction wheel in Figure 9;

Figure 15 is a schematic structural diagram of the calf support component in Figure 1;

Figure 16 is an exploded schematic view of the foot support component in Figure 1;

Figure 17 is a schematic structural diagram of the calf baffle component in Figure 1;

Figure 18 is a schematic structural diagram of the second connector in Figure 17;

Figure 19 is a schematic top view of the baffle assembly in Figure 17 in a buckled state;

Figure 20 is an exploded schematic view of the lumbar support component in Figure 1;

Figure 21 is a schematic block diagram of the electrical connection between the control box and other structures in Figure 20;

Figure 22 is a schematic diagram of the exoskeleton robot and the human body standing in Figure 1;

Figure 23 is a schematic diagram of the sitting posture of the exoskeleton robot and the human body in Figure 1.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions of the present invention, an exoskeleton robot provided by the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Referring to FIG. 1 , an embodiment of an exoskeleton robot provided by the present invention includes a hip joint component 10 , a thigh support component 20 , a knee joint component 30 , a calf support component 40 and a foot support component 50 .

Referring to FIG. 2 , the hip joint component 10 includes a hip joint driving component 11 and a hip joint transmission component 12 .

Among them, the hip joint driving assembly 11 includes a hip joint motor mechanism 111, a hip joint reducer mechanism 112, a hip joint bearing mechanism 113 and a hip joint friction wheel 114.

Referring to Figure 3, the hip joint motor mechanism 111 includes a hip joint driving motor 111a, a hip joint first connecting plate 111b, a hip joint support base 111c, a hip joint isolation plate 111d and a hip joint connector 111e.

Among them, the hip joint support seat 111c is provided with a through hole 1111. Further, the hip joint support seat 111c is also provided with a first hip joint limiting portion 1112. Optionally, the hip joint first limiting portion 1112 is a limiting groove. , and the number is two.

Further, the first hip joint plate 111b and the hip joint support base 111c, optionally, the hip joint first connecting plate 111b and the hip joint support base 111c are fixedly connected by bolts; the drive shaft 1113 of the hip joint drive motor 111a is connected from the hip joint. The side of the joint support base 111c close to the first connecting plate 111b of the hip joint passes through the through hole 1111 of the hip joint support base 111c and is fixedly connected to the hip joint support base 111c. In this embodiment, a flat-head bolt is used to support the joint from the hip joint. The side of the seat 111c away from the hip joint first connecting plate 111b is fixedly connected to the hip joint driving motor 111a and the hip joint support base 111c; the hip joint isolation plate 111d is covered from the side of the hip joint support base 111c away from the hip joint first connecting plate 111b. It is provided on the driving shaft 1113 of the hip joint driving motor 111a. In this embodiment, the hip joint isolating plate 111d is also provided on the flat-headed bolt used to fixedly connect the hip joint driving motor 111a and the hip joint support base 111c to prevent the flat-headed bolt from being fixedly connected. The loose bolt causes the hip joint drive motor 111a to separate from the hip joint support base 111c; the hip joint connector 111e is sleeved on the drive shaft 1113 of the hip joint drive motor 111a and pressed on the hip joint isolation plate 111d. Further, the hip joint is connected The device 111e is fixedly connected to the drive shaft 1113 of the hip drive motor 111a, so that the hip connector 111e rotates under the drive of the drive shaft 1113 of the hip drive motor 111a. Optionally, the hip connector 111e is a cross coupling. The device is fixedly connected to the drive shaft 1113 of the hip joint drive motor 111a through bolts at the cross axis of the cross coupling.

Referring to Figures 3 and 4 together, the hip reducer mechanism 112 includes an outer wheel 112a and an inner wheel 112b. The inner wheel 112b can rotate relative to the outer wheel 112a.

Specifically, the outer wheel 112a can be fixedly connected to the hip joint support base 111c through bolts, the inner wheel 112b is provided with a slot (not shown in the figure) that matches the hip joint connector 111e, and the inner wheel 112b is sleeved on the hip joint drive motor. The drive shaft 1113 of the hip joint drive motor 111a, and the slot of the inner wheel 112b is engaged with the hip joint connector 111e, so that the inner wheel 112b is relatively fixed to the drive shaft 1113 of the hip joint drive motor 111a, so that the inner wheel 112b drives the motor at the hip joint. The outer wheel 112a is driven by the drive shaft 1113 of the outer wheel 111a to rotate relative to the outer wheel 112a.

Furthermore, a positioning post 1121 is provided on the side of the inner wheel 112b of the hip joint reducer mechanism 112 away from the hip joint connector 111e.

The hip joint bearing mechanism 113 includes an outer ring 113a and an inner ring 113b. The inner ring 113b can rotate relative to the outer ring 113a.

Specifically, the outer ring 113a is fixedly connected to the hip joint support base 111c on the side of the inner wheel 112b of the hip reducer mechanism 112 where the positioning post 1121 is provided. In this embodiment, the outer ring 113a is connected to the hip joint through bolts on the side of the outer ring 113a. The support base 111c is fixedly connected; the inner ring 113b is sleeved on the drive shaft 1113 of the hip joint drive motor 111a and is positioned and matched with the positioning post 1121 on the inner wheel 112b of the hip joint reducer mechanism 112, so that the inner ring 113b is driven in the hip joint The drive shaft 1113 of the motor 111a is fixed relative to the inner wheel 112b of the hip reducer mechanism 112 in the axial direction, and then rotates following the rotation of the inner wheel 112b of the hip reducer mechanism 112.

The hip joint friction wheel 114 is fixedly connected to the inner ring 113b of the hip joint bearing mechanism 113 on the side of the hip joint bearing mechanism 113 away from the hip joint reducer mechanism 112 .

Specifically, the hip joint friction wheel 114 is positioned and matched with the positioning post 1121 on the inner wheel 112b of the hip joint reducer mechanism 112, so that the hip joint friction wheel 114 and the inner ring 113b of the hip joint bearing mechanism 113 are in position with the hip joint drive motor 111a. The drive shaft 1113 is relatively fixed in the axial direction, and further the hip joint friction wheel 114 can be fixedly connected to the inner ring 113b of the hip joint bearing mechanism 113 through bolts, so that the hip joint friction wheel 114 follows the inner ring 113b of the hip joint bearing mechanism 113 Turn and turn.

Furthermore, the hip joint friction wheel 114 is also provided with a hip joint first buffer portion 1141. Optionally, the hip joint first buffer portion 1141 is a convex tooth provided on the outer side of the hip joint friction wheel 114.

Referring further to FIG. 2 , the hip joint driving assembly 11 further includes a hip joint motor protective cover 115 . The hip joint motor protective cover 115 covers the hip joint driving motor 111 a to protect the hip joint driving motor 111 a.

The hip joint transmission assembly 12 is linked with the hip joint driving assembly 11 to rotate under the driving of the ankle joint driving assembly 11 .

Specifically, the hip joint transmission assembly 12 is frictionally connected with the hip joint friction wheel 114 to rotate under the frictional drive of the hip joint friction wheel 114 .

5 and 6 together, the hip joint transmission assembly 12 includes a hip joint first transmission member 121 and a hip joint second transmission member 122. The hip joint first transmission member 121 and the hip joint friction wheel 114 face the hip joint motor mechanism 111. A hip joint elastic member 123 is provided between one side. The hip joint elastic member 123 generates elastic force in the axial direction of the hip joint motor mechanism 111. The second hip joint transmission member 122 is connected to the hip joint on the other side of the hip joint friction wheel 114. The first transmission member 121 of the joint is fixedly connected by bolts, so that the second transmission member 122 of the hip joint is close to the hip joint friction wheel 114 under the action of the elastic force, and then is frictionally connected with the hip joint friction wheel 114, so that the hip joint friction wheel When 114 rotates, friction drives the second transmission member 122 of the hip joint.

Further, between the hip joint elastic member 123 and the side of the hip joint friction wheel 114 facing the hip joint motor mechanism 111, there are also hip joint friction plates 124 and hip joint steel plates 125 attached in sequence. One end is in contact with the hip joint first transmission member 121, and the other end is in contact with the hip joint steel plate 125, so that the hip joint friction plate 124 is in close contact with the hip joint friction wheel 114, thereby allowing the hip joint first transmission member 121 to pass through the hip joint. The joint friction plate 124 is connected to the hip joint friction wheel film layer, so that when the hip joint friction wheel 114 rotates, the hip joint friction plate 124 is frictionally driven, so that the hip joint friction plate 124 frictionally drives the hip joint first transmission member 121 .

Optionally, the hip joint elastic member 123 is a cylindrical spring.

Referring to Figure 7, the first hip joint transmission member 121 is provided with a hip joint second limiting portion 1211. When the hip joint friction wheel 114 is frictionally driven to rotate the hip joint transmission assembly 12, the hip joint second limiting portion 1211 and The first hip joint limiting portion 1112 cooperates to limit the rotational freedom of the hip joint transmission assembly 12 .

Optionally, the second hip joint limiting part 1211 is a limiting column that cooperates with the limiting groove of the hip joint first limiting part 1112. The rotational freedom can be set according to actual needs, and is not limited here. .

Furthermore, the second hip joint transmission member 122 is provided with a hip joint second buffering portion 1221. When the hip joint friction wheel 114 is in close contact with the hip joint second transmission member 122, the hip joint second buffering portion 1221 rubs against the hip joint. The first hip joint buffering portion 1141 of the wheel 114 is provided with a clearance to play a buffering role when the hip joint transmission assembly 12 is frictionally driven to rotate by the above-mentioned hip joint friction wheel 114 when a sudden change in speed is encountered.

Referring further to FIG. 2 , the hip joint component 10 further includes a second hip joint connecting plate 13 , which is fixedly connected to the first hip joint connecting plate 111 b through bolts, wherein the second hip joint connecting plate 13 has A hanging board 131 is provided.

One end of the thigh support component 20 is connected to the hip joint transmission assembly 12 to swing following the rotation of the hip joint transmission assembly 12 .

Referring to Figure 8, the thigh support component 20 includes a thigh support plate 21 and a thigh bandage 22. One end of the thigh support plate 21 is fixedly connected to the second transmission member 122 of the hip joint through bolts to follow the rotation of the second transmission member 122 of the hip joint. Swing, the thigh bandage 22 is fixed on the thigh support plate 21 through bolts, and is used to connect the thigh bandage to fix the thigh.

Referring to FIGS. 1 and 9 together, the knee joint component 30 is connected to the other end of the thigh support component 20 and includes a knee joint driving component 31 and a knee joint transmission component 32 .

Among them, the knee joint driving assembly 31 includes a knee joint motor mechanism 311, a knee joint reducer mechanism 312, a knee joint bearing mechanism 313 and a knee joint friction wheel 314.

Referring to Figure 10, the knee joint motor mechanism 311 includes a knee joint driving motor 311a, a knee joint first connecting plate 311b, a knee joint support base 311c, a knee joint isolation plate 311d and a knee joint connector 311e.

Among them, the knee joint support seat 311c is provided with a through hole 3111. Further, the knee joint support seat 311c is also provided with a first knee joint limiting portion 3112. Optionally, the knee joint first limiting portion 3112 is a limiting groove. , and the number is two.

Further, the first knee joint plate 311b is fixedly connected to the knee joint support base 311c. Optionally, the knee joint first connecting plate 311b is fixedly connected to the knee joint support base 311c through bolts; the drive shaft 3113 of the knee joint drive motor 311a Pass through the through hole 3111 of the knee joint support base 311c from the side of the knee joint support base 311c close to the knee joint first connecting plate 311b, and be fixedly connected to the knee joint support base 311c. In this embodiment, a flat-head bolt is used from the knee joint support base 311c. The side of the joint support base 311c away from the first knee joint plate 311b is fixedly connected to the knee joint drive motor 311a and the knee joint support base 311c; the knee joint isolation plate 311d is away from the side of the knee joint support base 311c away from the first knee joint plate 311b The side sleeve is provided on the drive shaft 3113 of the knee joint drive motor 311a. In this embodiment, the knee joint isolation plate 311d is also covered with the flat-head bolts used to fixedly connect the knee joint drive motor 311a and the knee joint support base 311c. To prevent the flat-head bolts from loosening and causing the knee joint drive motor 311a to separate from the knee joint support base 311c; the knee joint connector 311e is sleeved on the drive shaft 3113 of the knee joint drive motor 311a and pressed against the knee joint isolation plate 311d. Further, the knee joint connector 311e The joint connector 311e is fixedly connected to the drive shaft 3113 of the knee joint drive motor 311a, so that the knee joint connector 311e rotates under the drive of the drive shaft 3113 of the knee joint drive motor 311a. Optionally, the knee joint connector 311e is a cross The coupling is fixedly connected to the drive shaft 3113 of the knee joint drive motor 311a at the cross axis of the cross coupling through bolts.

Referring to Figures 10 and 11 together, the knee joint reducer mechanism 312 includes an outer wheel 312a and an inner wheel 312b. The inner wheel 312b can rotate relative to the outer wheel 312a.

Specifically, the outer wheel 312a can be fixedly connected to the knee joint support base 311c through bolts, the inner wheel 312b is provided with a slot (not shown in the figure) that matches the knee joint connector 311e, and the inner wheel 312b is sleeved on the knee joint drive motor. The drive shaft 3113 of the knee joint drive motor 311a, and the slot of the inner wheel 312b is engaged with the knee joint connector 311e, so that the inner wheel 312b is relatively fixed to the drive shaft 3113 of the knee joint drive motor 311a, so that the inner wheel 312b drives the motor at the knee joint. The outer wheel 311a is driven by the drive shaft 3113 to rotate relative to the outer wheel 312a.

Furthermore, a positioning post 3121 is provided on the side of the inner wheel 312b of the knee joint reducer mechanism 312 away from the knee joint connector 311e.

The knee joint bearing mechanism 313 includes an outer ring 313a and an inner ring 313b, and the inner ring 313b can rotate relative to the outer ring 313a.

Specifically, the outer ring 313a is fixedly connected to the knee joint support base 311c on the side of the inner wheel 312b of the knee joint reducer mechanism 312 where the positioning post 3121 is provided. In this embodiment, the outer ring 313a is connected to the knee joint through bolts on the side of the outer ring 313a. The support base 311c is fixedly connected; the inner ring 313b is sleeved on the drive shaft 3113 of the knee joint drive motor 311a and is positioned and matched with the positioning post 3121 on the inner wheel 312b of the knee joint reducer mechanism 312, so that the inner ring 313b is driven in the knee joint The drive shaft 3113 of the motor 311a is fixed relative to the inner wheel 312b of the knee reducer mechanism 312 in the axial direction, and then rotates following the rotation of the inner wheel 312b of the knee reducer mechanism 312.

The knee joint friction wheel 314 is fixedly connected to the inner ring 113b of the knee joint bearing mechanism 313 on the side of the knee joint bearing mechanism 313 away from the knee joint reducer mechanism 312.

Specifically, the knee joint friction wheel 314 is positioned and matched with the positioning post 3121 on the inner wheel 312b of the knee joint reducer mechanism 312, so that the knee joint friction wheel 314 and the inner ring 313b of the knee joint bearing mechanism 313 are aligned with the knee joint drive motor 311a. The drive shaft 3113 is relatively fixed in the axial direction, and further the knee joint friction wheel 314 can be fixedly connected to the inner ring 313b of the knee joint bearing mechanism 313 through bolts, so that the knee joint friction wheel 314 follows the inner ring 313b of the knee joint bearing mechanism 313. Turn and turn.

Furthermore, the knee joint friction wheel 314 is also provided with a knee joint first buffer portion 3141. Optionally, the knee joint first buffer portion 3141 is a convex tooth provided on the outer side of the knee joint friction wheel 314.

Referring further to FIG. 9 , the knee joint driving assembly 31 further includes a knee joint motor protective cover 315 . The knee joint motor protective cover 315 covers the knee joint driving motor 311 a to protect the knee joint driving motor 311 a.

The knee joint transmission assembly 32 is linked with the knee joint driving assembly 31 to rotate under the driving of the ankle joint driving assembly 31 .

Specifically, the knee joint transmission assembly 32 is frictionally connected with the knee joint friction wheel 314 to rotate under the frictional drive of the knee joint friction wheel 314 .

12 and 13 together, the knee joint transmission assembly 32 includes a knee joint first transmission member 321 and a knee joint second transmission member 322. The knee joint first transmission member 321 and the knee joint friction wheel 314 face the knee joint motor mechanism 311. A knee joint elastic member 323 is provided between one side. The knee joint elastic member 323 generates elastic force in the axial direction of the knee joint motor mechanism 311. The second knee joint transmission member 322 is connected to the knee joint on the other side of the knee joint friction wheel 314. The first transmission member 321 of the joint is fixedly connected by bolts, so that the second transmission member 322 of the knee joint is close to the knee joint friction wheel 314 under the action of the elastic force, and then is frictionally connected with the knee joint friction wheel 314, so that the knee joint friction wheel When 314 rotates, friction drives the second transmission member 322 of the knee joint.

Further, between the knee joint elastic member 323 and the side of the knee joint friction wheel 314 facing the knee joint motor mechanism 311, there are also knee joint friction plates 324 and knee joint steel plates 325 attached in sequence. One end is in contact with the first transmission member 321 of the knee joint, and the other end is in contact with the knee joint steel plate 325, so that the knee joint friction plate 324 is in close contact with the knee joint friction wheel 314, thereby allowing the first knee joint transmission member 321 to pass through the knee joint. The joint friction plate 324 is connected to the knee joint friction wheel film layer, so that when the knee joint friction wheel 314 rotates, the knee joint friction plate 324 is frictionally driven to frictionally drive the knee joint first transmission member 321 through the knee joint friction plate 324 .

Optionally, the knee joint elastic member 323 is a cylindrical spring.

Referring to Figure 14, the first knee joint transmission member 321 is provided with a knee joint second limiting portion 3211. When the knee joint friction wheel 314 is used to frictionally drive the knee joint transmission assembly 32 to rotate, the knee joint second limiting portion 3211 and The first knee joint limiting portion 3112 cooperates to limit the rotational freedom of the knee joint transmission assembly 32 .

Optionally, the second knee joint limiting part 3211 is a limiting post that cooperates with the limiting groove of the knee joint first limiting part 3112. The rotational freedom can be set according to actual needs, and is not limited here. .

Furthermore, the second transmission member 322 of the knee joint is provided with a second buffer portion 3221 of the knee joint. When the friction wheel 314 of the knee joint is in close contact with the second transmission member 322 of the knee joint, the second buffer portion 3221 of the knee joint rubs against the knee joint. The first buffer portion 3141 of the knee joint of the wheel 314 is provided with a clearance to play a buffering role when the knee joint transmission assembly 32 is frictionally driven to rotate by the knee joint friction wheel 314 and encounters a sudden change in speed.

In other embodiments, only one of the hip joint component 10 and the knee joint component 30 in this embodiment can adopt the above-mentioned friction wheel friction drive transmission assembly, and the other one can adopt other drive methods, such as hydraulic drive or coupling. Rod drive etc.

The calf support component 40 is connected to the knee joint transmission assembly 32 to swing following the rotation of the knee joint transmission assembly 32 .

Referring to Figure 15, the calf support component 40 includes a first calf support plate 41 and a second calf support plate 42 connected end to end. One end of the first calf support plate 41 passes through the second knee joint transmission member 322 of the knee joint transmission assembly 32. The other end is fixedly connected to the second calf support plate 42 by bolts to swing following the rotation of the second transmission member 322 of the knee joint.

Referring to Figures 1 and 16 together, the foot support component 50 is connected to the calf support component 40 to move following the swing of the calf support component 40, and includes an elastic buffer 51 and a foot bearing component 52.

Optionally, the elastic buffer member 51 is wound from a strip.

The elastic buffer 51 includes an ankle matching part 511 and a supporting part 512. The ankle matching part 511 and the supporting part 512 are connected by oblique bending to generate a first elastic force opposite to the bending direction of the ankle matching part 511.

In this embodiment, the ankle joint matching part 511 is in the form of a torsion spring.

Further, the number of support parts 512 is two, and the elastic buffer 51 also includes an Achilles tendon matching part 513. Both ends of the Achilles tendon matching part 513 are respectively connected with the two support parts 512 in an oblique bend for wrapping the human body. The Achilles tendon of the foot generates a second elastic force opposite to the bending direction of the Achilles tendon matching portion 513 .

Optionally, the two supporting parts 512 are parallel to each other or in a figure-eight shape.

Further, the elastic buffer 51 also includes a first connection part 514 connected to the ankle joint matching part 511. The first connection part 514 is used to connect other components of the exoskeleton robot. In this embodiment, the first connection part 514 It is connected to the second calf support plate 42 of the exoskeleton robot through the connecting sleeve 53 .

The first connecting portion 514 is hook-shaped. The hook-shaped first connecting portion 514 is fixedly connected to the connecting sleeve 53 through bolts, which can prevent the first connecting portion 514 from rotating or sliding in the connecting sleeve 53 and enhance structural stability.

Further, the elastic buffer member 51 also includes a second connecting portion 515, and the second connecting portion 515 is vertically connected to the supporting portion 512.

Further, a first bandage 516 is provided on the elastic buffer 51 . Both ends of the first bandage 516 are connected to the elastic buffer 51 so as to wrap the rear foot of the human foot with the elastic buffer 51 .

In this embodiment, the first bandage 516 is connected to the elastic buffer 51 through a bandage plate 517. One end of the bandage plate 517 is fixedly connected to the elastic buffer 51, and the other end is connected to one end of the first bandage 516. The first bandage 516 has The other end is connected to the elastic buffer member 51 .

The foot bearing component 52 is connected to the elastic buffer 51 for jointly wrapping the human foot.

Specifically, the foot bearing assembly 52 includes a bottom plate 521. A second bandage 522 is provided on the bottom plate 521. Both ends of the second bandage 522 are connected to the bottom plate 521 to wrap the front foot of the human foot together with the bottom plate 521. Combined with the above-mentioned The elastic buffer member 51 and the first bandage 516 jointly wrap the rear foot of the human foot, and then wrap the human foot.

The bottom plate 521 is relatively fixed to the second connection portion 516 of the elastic buffer 51 for carrying human feet. In this embodiment, the bottom plate 521 is fixedly connected to the second connection portion 516 through the bottom plate connection plate 523 .

Specifically, the number of the bottom plate connecting plates 523 is two. The two bottom plate connecting plates 523 jointly clamp the first connecting part 516 and the supporting part 512 and are fixedly connected by bolts, so that the bottom plate connecting plates 523 are opposite to the second connecting part 516 Fix, and then securely connect the bottom plate 521 and the bottom plate connecting plate 523 through bolts.

Among them, the bottom plate 521 can be in a shape consistent with the shape of the human foot to better fit the human foot. At the same time, the front end of the bottom plate 521 can also be inclined, so that the human foot can be aligned with the human foot when walking. play a better supporting role.

Further, a pad 524 is provided on the side of the bottom plate 521 away from the second bandage 522, and the pad 524 is used to increase friction with the ground when in contact with the ground.

Optionally, the material of the gasket 524 is rubber material.

Further, when the elastic buffer member 51 and the foot bearing assembly 52 jointly wrap the human foot, the elastic buffer member 51 matches the human foot to elastically buffer the human foot when the human foot performs a landing action.

Specifically, when wrapping the human foot, the ankle joint matching part 511 matches the ankle joint of the human foot, and under the action of the above-mentioned first elastic force, elastically buffers the ankle joint through the first elastic force; Achilles tendon matching The portion 513 matches the Achilles tendon of the human foot, and under the action of the above-mentioned second elastic force, the Achilles tendon is elastically buffered by the second elastic force, so that when the human foot performs a landing action, it can buffer and absorb shock. role.

In addition, in this embodiment, the ankle joint matching part 511 is in the shape of a torsion spring. Therefore, when matched with the ankle joint, it can also elastically buffer the ankle joint in a direction perpendicular to the ankle joint to prevent the ankle joint from being in this position. It is helpful to protect the ankle joint from severe impact in the direction.

Referring further to FIG. 1 , this embodiment also includes a calf baffle component 60 and a lumbar support component 70 .

Referring to FIG. 17 , the calf baffle component 60 includes a fixed seat 61 , a baffle assembly 62 and a link mechanism 63 .

The fixed base 61 is used to connect other components of the exoskeleton robot in this embodiment. In this embodiment, the fixed base 61 is connected to the first supporting plate 42 connecting the lower leg.

The fixing base 61 is provided with a positioning slot 611, and bolts can be passed through the positioning slot 611 to securely connect the fixing base 61 and the first calf support plate 62, and the connection position can be adjusted in the length direction of the positioning slot 611.

The baffle assembly 62 is pivotally connected to the fixed base 61 so as to be in an open and locked state relative to the fixed base 61 .

Specifically, the baffle assembly 62 includes a calf bandage arm 621 and a calf baffle 622. The calf bandage arm 621 is pivotally connected to the fixed base 61, so that the calf bandage arm 621 can rotate relative to the fixed base 61. Optionally, the calf bandage arm 621 can be rotated relative to the fixed base 61. The pin connects the calf bandage arm 621 and the fixed seat in series, and then installs open retaining rings at both ends of the cylindrical pin; the calf baffle 622 is connected to the calf bandage arm 621 for fitting with the human calf. During the fitting process, the calf block The plate 622 follows the rotation of the calf bandage arm 621 and is close to the human body's calf, so that when it is attached to the human body's calf, it is in a buckled state, and when it is separated from the human body's calf, it is in an open state.

The calf baffle 622 is rotatably connected to the calf bandage arm 621, so that when it fits the human calf, it follows the movement of the human calf and rotates relative to the calf bandage arm 621.

Specifically, the baffle assembly 62 further includes a first connecting piece 623 and a second connecting piece 624. The first connecting piece 623 is fixedly connected to the calf baffle 622 and is arranged in an arc shape in the middle. Refer to Figure 18. The second connecting piece 624 It includes an optical axis part 6241, and the second connecting part 624 passes through the first connecting part 623 and is connected to the calf bandage arm 621, and makes the arc-shaped part fit with the optical axis part 6241, so that the first connecting part 623 can face each other. The optical axis portion 6241 rotates, thereby allowing the calf baffle 622 to rotate relative to the calf bandage arm 621,

Further, the calf baffle 622 is detachably connected to the calf bandage arm 621.

Specifically, the second connecting member 624 also includes a threaded portion 6242. When the second connecting member 624 passes through the first connecting member 623 and is connected to the calf bandage arm 621, the second connecting member 624 is threadedly connected to the calf bandage arm 621, so as to The second connecting member 624 is detachably connected to the calf bandage arm 621, and thus the calf baffle 622 is detachably connected to the calf bandage arm 621.

Optionally, the calf baffle 622 is arranged in an arc shape, and the size of the upper end is larger than the size of the lower end, so that the shape of the calf baffle 622 can match the shape of the human calf to be suitable for wearing. Furthermore, the material of the calf baffle 622 It is a flexible material and has elasticity, so that when the human body's calf is fit, it can flexibly fit the human body's calf, increasing comfort and avoiding wear and damage to the human body's calf when it is rigidly fit; the calf bandage arm 621 is arranged in an arc shape, which can It is consistent with the shape of the human body's calf, and the size gradually becomes larger in the extending direction away from the calf baffle 622, which can save materials, reduce costs, and reduce the overall weight.

Further, the calf baffle 622 is provided with a calf bandage 6221 to bind the human calf when it is fitted to the human calf.

The lever mechanism 63 includes a first lever 631 and a second lever 632 that are pivoted from end to end. The first lever 631 and the second lever 632 are respectively pivoted to the fixed base 61 and the baffle assembly 62 to follow the baffle assembly 62 .

When the baffle assembly 62 is in a buckled state relative to the fixed seat 61, the first rod 631 and the second rod 632 are arranged in a straight line relative to the pivot center 6311 of the first rod 631 and the second rod 632 to lock the baffle. Plate assembly 62.

Referring to Figure 19, when the baffle assembly 62 is in a buckled state relative to the fixed seat 61, since the first rod 631 and the second rod 632 are arranged in a straight line relative to the pivot center 6311 of the first rod 631 and the second rod 632, If you need to disengage the baffle assembly 62 from the buckled state, you need to rotate the baffle assembly 62 in the direction of the arrow in the figure. At this time, the first rod 631 and the second rod 632 arranged in a straight line are pressed in this direction at the same time. Push the calf bandage arm 621 and the fixed seat 61, so that the baffle assembly 62 cannot rotate in this direction, thereby locking the baffle assembly 62. When the baffle assembly 62 fits the human calf, the probability of separation from the human calf is reduced. , improving the reliability of use.

Further, when the baffle assembly 62 is in an open state relative to the fixed base 61 , the first rod 631 and the second rod 632 are arranged at an angle relative to the pivot center 6311 of the first rod 631 and the second rod 632 .

Optionally, the connecting rod assembly 63 further includes a third rod body 633. The third rod body 633 is connected with the first rod body 631 or the second rod body 632 to push the first rod body 631 or the second rod body 632 under the action of external force, so that the first The rod body 631 or the second rod body 632 changes from a straight line setting to an included angle setting.

In this embodiment, the third rod body 633 is connected to the first rod body 631. When the first rod body 631 and the second rod body 632 are in the above-mentioned straight line arrangement, it is only necessary to manually apply an external force to the third rod body 633, so that the first rod body 631 Rotating relative to the fixed base 61 can cause the first rod body 631 and the second rod body 632 to change from a linear setting to an included angle setting. At this time, the baffle assembly 62 can be in an unlocked state, and then change from a buckled state to an open state. state.

Optionally, the third rod body 633 is arranged at an included angle with the first rod body 631 or the second rod body 632.

Referring to Figure 1 and Figure 20 together, the waist support component 70 is connected to the hip joint component 10 for fitting with the human body's waist, thereby supporting the human body's waist, and includes a waist first connector 71, a waist first support plate 72, a waist The second connecting piece 73 and the second waist support plate 74 .

One end of the first waist connecting piece 71 is connected to the second connecting plate 13 of the hip joint. There are two in number and are hollowed out, which can save materials, reduce costs, and achieve a lightweight structure.

Among them, the first waist connecting piece 71 is arranged in a bent manner.

The first waist support plate 72 is connected to the other end of the first waist connector 71 and is hollowed out, which can save materials, reduce costs, and achieve a lightweight structure.

The shape of the first waist support plate 72 is consistent with the shape of the human body's waist, so as to fit the human body's waist.

One end of the second waist connecting piece 73 is connected to the first waist support plate 72 .

The second waist support plate 74 is connected to the other end of the second waist connector 73 and is hollowed out, which can save materials, reduce costs, and achieve a lightweight structure.

Furthermore, the lumbar support component 70 in this embodiment also includes a control box 75 , and the control box 75 is connected to the second lumbar support plate 74 .

Referring to Figure 21, the control box 75 includes an electrically connected power supply 751 and a controller 752. The controller 752 is electrically connected to the hip joint driving motor 111a and the knee joint driving motor 311a to control the hip joint driving motor 111a and the knee joint driving motor 311a. working status.

Referring to Figures 22 and 23 together, in actual application scenarios, the exoskeleton robot embodiment in this embodiment is supported on the human body 80 so that the human body can maintain the standing state as shown in Figure 22. When other states are required, the hip joint The driving component in the component 10 and/or the knee joint component 30 drives the transmission component through the friction wheel to drive the hip joint and knee joint of the human body 80 to move, and can present the sitting posture as shown in Figure 23. Of course, this embodiment only applies to the above For illustration, in other embodiments, the exoskeleton robot can also cause the human body 80 to present other states, such as a walking state.

Different from the situation in the prior art, the present invention adopts the hip joint driving assembly of the exoskeleton robot to include a hip joint friction wheel to frictionally drive the hip joint transmission assembly, and/or the knee joint driving assembly includes a knee joint friction wheel to frictionally drive the knee joint. The transmission component drives joint movement, making the hip joint drive component and/or knee joint drive component lightweight and smooth in operation, thereby making the exoskeleton robot suitable for wear and easy to carry.

The above are only examples of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly applied to other related technologies fields are equally included in the scope of patent protection of the present invention.

Claims (4)

1. An exoskeleton robot, characterized in that the exoskeleton robot includes: The hip joint component includes a hip joint driving component and a hip joint transmission component. The hip joint transmission component is linked with the hip joint driving component to rotate under the driving of the hip joint driving component; Thigh support component, one end of the thigh support component is connected to the hip joint transmission assembly to swing following the rotation of the hip joint transmission assembly; The knee joint component is connected to the other end of the thigh support component and includes a knee joint driving component and a knee joint transmission component. The knee joint transmission component is linked with the knee joint driving component to drive the knee joint driving component. turn down; The calf support component is connected to the knee joint transmission assembly to swing following the rotation of the knee joint transmission assembly; a foot support component connected to the calf support component to move following the swing of the calf support component; Wherein, the hip joint drive assembly includes a hip joint friction wheel, and the hip joint transmission assembly is frictionally connected with the hip joint friction wheel to rotate under the friction drive of the hip joint friction wheel; The hip joint driving assembly further includes a hip joint motor mechanism, and the hip joint friction wheel is relatively fixed with the hip joint motor mechanism in the axial direction of the hip joint motor mechanism to drive the hip joint motor mechanism. downward rotation; the hip joint transmission assembly includes a hip joint first transmission member and a hip joint second transmission member, and the hip joint first transmission member and the hip joint friction wheel face the side of the hip joint motor mechanism. There is a hip joint elastic member between them. The hip joint elastic member generates elastic force in the axial direction. The second hip joint transmission member is connected to the first hip joint on the other side of the hip joint friction wheel. The transmission member is fixedly connected to be close to the hip joint friction wheel under the action of the elastic force, and then is frictionally connected with the hip joint friction wheel; the hip joint elastic member and the hip joint friction wheel face the There are also hip joint friction plates and hip joint steel plates attached in sequence between one side of the hip joint motor mechanism. One end of the hip joint elastic member is in contact with the first hip joint transmission member, and the other end is in contact with the hip joint first transmission member. on the hip joint steel plate, so that the hip joint friction plate is in close contact with the hip joint friction wheel, and then the hip joint first transmission member is frictionally connected to the hip joint friction wheel through the hip joint friction plate ; The knee joint driving assembly includes a knee joint friction wheel, and the knee joint transmission assembly is frictionally connected with the knee joint friction wheel to rotate under the friction drive of the knee joint friction wheel; The knee joint driving assembly further includes a knee joint motor mechanism, and the knee joint friction wheel is relatively fixed with the knee joint motor mechanism in the axial direction of the knee joint motor mechanism to drive the knee joint motor mechanism. turn down; The knee joint transmission assembly includes a first knee joint transmission component and a knee joint second transmission component. There is a joint between the knee joint first transmission component and the side of the knee joint friction wheel facing the knee joint motor mechanism. Knee joint elastic member, the knee joint elastic member generates elastic force in the axial direction, the knee joint second transmission member is fixed to the knee joint first transmission member on the other side of the knee joint friction wheel Connected to be close to the knee joint friction wheel under the action of the elastic force, and then frictionally connected with the knee joint friction wheel; A knee joint friction plate and a knee joint steel plate are arranged in sequence between the knee joint elastic member and the side of the knee joint friction wheel facing the knee joint motor mechanism. One end of the knee joint elastic member It is in contact with the first transmission member of the knee joint, and the other end is in contact with the knee joint steel plate, so that the knee joint friction plate is in close contact with the knee joint friction wheel, thereby making the knee joint first The transmission member is frictionally connected to the knee joint friction wheel through the knee joint friction plate. 2. The exoskeleton robot according to claim 1, wherein the foot support component includes a foot bearing component and an elastic buffer, and the foot bearing component is connected to the elastic buffer for common use. Wrapping the human body's feet, the elastic buffering member matches the human body's feet when wrapping the human body's feet, so as to elastically buffer the human body's feet when the human body's feet perform a landing action. 3. The exoskeleton robot according to claim 1, wherein the exoskeleton robot further includes a calf baffle component, and the calf baffle component includes: A fixed base connected to the calf support component; A baffle assembly, the baffle assembly is pivotally connected to the fixed base, so as to be in an open and buckled state relative to the fixed base; The linkage mechanism includes a first rod body and a second rod body pivotally connected from end to end. The first rod body and the second rod body are respectively pivoted to the fixed seat and the baffle assembly to follow the baffle assembly. board components; Wherein, when the baffle assembly is in an open state relative to the fixed seat, the first rod body and the second rod body form an included angle with respect to the pivot centers of the first rod body and the second rod body. set up; When the baffle assembly is in a buckled state relative to the fixed seat, the first rod body and the second rod body are arranged in a straight line relative to the pivot centers of the first rod body and the second rod body, to lock the baffle assembly. 4. The exoskeleton robot according to claim 1, characterized in that, the exoskeleton robot further includes a waist support component, the waist support component is connected to the hip joint component to fit the waist of the human body and further support the exoskeleton robot. The waist of the human body.