CN109895064A

CN109895064A - A kind of exoskeleton robot

Info

Publication number: CN109895064A
Application number: CN201910152531.5A
Authority: CN
Inventors: 吴新宇; 彭安思; 陈春杰; 王灿; 王超; 闫泽峰; 何勇; 李南; 郭子铭; 马勋举
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2019-02-28
Filing date: 2019-02-28
Publication date: 2019-06-18
Anticipated expiration: 2039-02-28
Also published as: CN109895064B

Abstract

The application provides an exoskeleton robot, the exoskeleton robot includes a thigh assembly, a lower leg assembly, a locking assembly and a shoe assembly, the lower leg assembly is respectively rotatably connected to the thigh assembly and the shoe assembly, and the locking assembly is used for the thigh assembly. When the calf assembly rotates in the first direction to the first preset position, the thigh assembly and the calf assembly are locked, so as to assist the user to maintain the full squat or half squat state required for production operations, reduce or even eliminate the knee joint, etc. damage received.

Description

A kind of exoskeleton robot

Technical field

This application involves assistant robot technical fields, more particularly to a kind of exoskeleton robot.

Background technique

Exoskeleton robot is a kind of non invasive mechanical device of the directly equipment on human body.User dresses ectoskeleton After robot, exoskeleton robot can play bearing human body, auxiliary human motion and mitigate the effects of weight bearing is felt.

Currently, being engaged in the operating personnel that logistics carries, builds the industries such as carrying, automobile assembling, aircraft assembly, it is often necessary to It is chronically at full crouching or half crouch operation, when being especially chronically at half crouch operation, operating personnel is easy to feel fatigue, The wounds such as the pressure that especially kneed knee is subject to is larger, is easy by biggish injury, and ankle-joint is also easy to be sprained Evil.

Summary of the invention

The application is mainly to provide ankle-joint bearing part and exoskeleton robot, it is intended to improve in the prior art to being in It is complete to squat or the bearing of the operating personnel of half crouch and the poor problem of protecting effect.

In order to solve the above technical problems, the exoskeleton robot includes big this application provides a kind of exoskeleton robot Leg assembly, shank component, latch assembly and shoes carry out component, and big leg assembly and shank component are rotatablely connected, and shank component is far from big One end of leg assembly and shoes carry out component rotation connection；Wherein, latch assembly includes the first lock piece and the second lock piece, the first lock Stop member is fixedly connected with big leg assembly, and the second lock piece for rotating in big leg assembly relative to shank component in a first direction The first lock piece of backstop when to the first predeterminated position, so that big leg assembly is in a first direction locking shape with shank component State.

The beneficial effect of the application is: being in contrast to the prior art, exoskeleton robot provided by the present application includes Big leg assembly, shank component, latch assembly and shoes carry out component, and big leg assembly and shank component are rotatablely connected, and shank component is separate One end of big leg assembly and shoes carry out component rotation connection；Wherein, latch assembly include the first lock piece and the second lock piece, first Lock piece is fixedly connected with big leg assembly, and the second lock piece for turning in big leg assembly relative to shank component in a first direction The first lock piece of backstop when moving to the first predeterminated position, so that big leg assembly is in a first direction locking shape with shank component State.

Using the above structure, after user dresses exoskeleton robot, big leg assembly phase when user squats down Shank component is rotated in a first direction, and when big leg assembly turns to the first predeterminated position, passes through the second lock piece The mode of the first lock piece of backstop can prevent the further rotation of big leg assembly in a first direction, so that thigh group Part is in a first direction lockup state with shank component, to assist user more easily to remain complete needed for production operation Crouching or semi-crouch state even are eliminated the injury that kneed knee etc. is subject to mitigate.

Detailed description of the invention

In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, to this For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others Attached drawing.

Fig. 1 is the structural schematic diagram of exoskeleton robot embodiment provided by the present application；

Fig. 2 is the decomposition diagram of big leg assembly in Fig. 1；

Fig. 3 is the decomposition diagram of shank component in Fig. 1；

Fig. 4 is the schematic cross-section of big leg assembly and shank component rotation connection in Fig. 1；

Fig. 5 is the decomposition diagram of latch assembly in Fig. 1；

Fig. 6 is the schematic diagram of latch assembly and big leg assembly and shank component relative positional relationship in Fig. 1；

Fig. 7 is the schematic diagram of another angle of relative positional relationship in Fig. 6；

Fig. 8 is the structural schematic diagram that shoes carry out component in Fig. 1；

Fig. 9 is the structural schematic diagram of lock piece in Fig. 1；

Figure 10 is the decomposition diagram of connection component in Fig. 1；

Figure 11 is the schematic cross-section that shank component and shoes carry out component rotation connection in Fig. 1；

Figure 12 is that shank component and shoes carry out the schematic cross-section that component is swung on the second plane of oscillation in Fig. 1；

Figure 13 is the decomposition diagram of the big leg assembly of latch assembly locking and another embodiment of shank component in Fig. 1；

Figure 14 is the schematic diagram of third locating part and the 4th lock piece and the second elastic component relative positional relationship in Figure 13；

Figure 15 is front schematic view when exoskeleton robot is worn on user and is in upright state in Fig. 1；

Figure 16 is side schematic view when exoskeleton robot is worn on user and is in upright state in Fig. 1；

Figure 17 is side schematic view when exoskeleton robot is worn on user and is in semi-crouch state in Fig. 1.

Specific embodiment

Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete Site preparation description, it is clear that described embodiment is only a part of the embodiment of the application, instead of all the embodiments.It is based on Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall in the protection scope of this application.

" embodiment " mentioned in this application is it is meant that a particular feature, structure, or characteristic described can be in conjunction with the embodiments Included at least one embodiment of the application.The phrase, which occurs, in each position in the description might not each mean phase Same embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art are explicitly Implicitly understand, embodiment described herein can be combined with other embodiments.

Present inventor is by the discovery that studies for a long period of time: being engaged in logistics and carries, builds carrying, automobile assembling, aircraft dress With etc. industries operating personnel, it is often necessary to be chronically at it is complete squat or half crouch operation, be especially chronically at half crouch When operation, operating personnel is easy to feel fatigue, and the pressure that especially kneed knee is subject to is larger, is easy by biggish wound Evil, ankle-joint are also easy the injury such as to be sprained.For this purpose, this application provides following examples.

Refering to fig. 1, Fig. 1 is the structural schematic diagram of exoskeleton robot embodiment provided by the present application.

The exoskeleton robot 10 of the present embodiment includes big leg assembly 11, shank component 12, latch assembly 13, shoes shoe component 14 and lock piece 15, big leg assembly 11 is rotatablely connected with shank component 12, the one end of shank component 12 far from big leg assembly 11 with Shoes are carried out component 14 and are rotatablely connected.

Optionally, exoskeleton robot 10 further includes bearing part 16, big leg assembly 11 and shank component 12 respectively with bearing The inner ring and outer ring of part 16 are cooperatively connected, so that the two realizes rotation connection.

Optionally, exoskeleton robot 10 further includes connection component 17, connection component 17 for connect shank component 12 with Shoes carry out component 14, so that the two realizes rotation connection.

Referring to Fig.2, Fig. 2 is the decomposition diagram of big leg assembly 11 in Fig. 1.

Big leg assembly 11 includes thigh attachment base 111, thigh support plate 112 and thigh binding strip 113, thigh support plate 112 are fixedly connected with thigh attachment base 111, and thigh binding strip 113 is connect with thigh support plate 112, and big leg assembly 11 is tied up Tie up the thigh in user.

It should be noted that " user " described in the embodiment of the present application is generally adult, for different uses Person, there may be differences for gender, height, weight etc., so that the position of bondage may there is also differences.

Wherein, thigh attachment base 111 includes the first mounting portion 1111 and the second mounting portion 1112, the second mounting portion 1112 with The coaxial arrangement of first mounting portion 1111, and thigh attachment base 111 is fixedly connected by the first mounting portion 1111 with latch assembly 13, Thigh attachment base 111 is rotatablely connected by the second mounting portion 1112 with shank component 12.

Optionally, the first mounting portion 1111 and the second mounting portion 1112 are arranged in cylinder, and the first mounting portion 1111 is in Hollow setting not only can reduce the weight of thigh attachment base 111, can also increase the carrying energy of thigh attachment base 111 Power.

Optionally, accommodation space 1113 is formed between the first mounting portion 1111 and the second mounting portion 1112, can be dropped in this way The weight of low thigh attachment base 111.

Optionally, thigh support plate 112 is multi-segment structure, and length can be adjusted according to the demand of user, To increase the scope of application of exoskeleton robot 10.

Optionally, thigh support plate 112 has certain radian, to adapt to the variation of user's thigh radian, for example, making The diameter of user's thigh gradually becomes smaller from waist to shank, to increase the patch between thigh support plate 112 and user's thigh It is right.

Optionally, thigh binding strip 113 is made of materials such as textile fabric, leathers, so that thigh binding strip 113 has Certain intensity and flexibility, to increase the bondage effect between big leg assembly 11 and user's thigh.

Optionally, the length of thigh support plate 112 is consistent with user's thigh length, and the quantity of thigh binding strip 113 can Think it is multiple, multiple thigh binding strips 113 in different positions by big 11 bondage of leg assembly in user's thigh, tied up to increase Tie up effect.

In the description of the present application, the meaning of " plurality " is at least two, such as two, three etc., unless otherwise clearly having The restriction of body.

It is the decomposition diagram of shank component 12 in Fig. 1 refering to Fig. 2 and Fig. 4, Fig. 3 jointly, Fig. 4 is big leg assembly in Fig. 1 11 schematic cross-sections being rotatablely connected with shank component 12.

Shank component 12 includes shank attachment base 121, shank support plate 122 and shank binding strip 123, shank support plate 122 are fixedly connected with shank attachment base 121, and the one end of shank support plate 122 far from shank attachment base and shoes are carried out component 14 and rotated Connection, shank binding strip 123 is connect with shank support plate 122, by 12 bondage of shank component in the shank of user.

Optionally, shank attachment base 121 is arranged in cylinder, and is sheathed on the second mounting portion 1112, with thigh attachment base 111 rotation connections.

Optionally, shank support plate 122 is multi-segment structure, and length can be adjusted according to the demand of user, To increase the scope of application of exoskeleton robot 10.

Optionally, 122 part of shank support plate is in bending setting.In the present embodiment, shank support plate 122 connects close to shank One end of joint chair 121 is bent towards big leg assembly 11, to reduce the distance between shank support plate 122 and thigh support plate 112, To increase the compactness of shank support plate 122 and thigh support plate 112 and user's body.Meanwhile shank support plate 122 leans on One end that nearly shoes carry out component 14 is bent away from the direction of shank binding strip 123, in 12 bondage of shank component in user Shank when avoiding user ankle, to increase the compactness of shank component 12 Yu user's body.

Further, shank support plate 122 offers the first jack 1221, connection component close to one end that shoes carry out component 14 17 are arranged in the first jack 1221, are rotatablely connected so that shank support plate 122 and shoes carry out component 14, so that shank supports Plate 122 can carry out component 14 relative to shoes and swing.

Optionally, the first jack 1221 is strip hole, to carry out 14 rotation connection of component in shank support plate 122 and shoes Afterwards, it is mobile can also to carry out component 14 relative to shoes for shank support plate 122.

Optionally, the U-shaped opening at the first jack 1221 of shank support plate 122, and shank support plate 122 herein can In curling or bending setting.

Optionally, shank binding strip 123 is made of materials such as textile fabric, leathers, so that shank binding strip 123 has Certain intensity and flexibility, to increase the bondage effect between shank component 12 and user's shank.

Optionally, the length of shank support plate 122 is consistent with user's lower-leg length, and the quantity of shank binding strip 123 can Think it is multiple, multiple shank binding strips 123 in different positions by 12 bondage of shank component in user's shank, tied up to increase Tie up effect.

Further, shank component 12 further includes the first locating part 124 and the second locating part 125, the first locating part 124 and Second locating part 125 is fixedly connected with shank attachment base 121, and along the circumferential direction setting of shank attachment base 121.

It should be noted that user, can be with when squatting down or standing up after user dresses exoskeleton robot 10 Think that shank component 12 is fixed, mainly big leg assembly 11 is rotated relative to shank component 12.Simultaneously as the first limit Part 124 and the second locating part 125 are fixedly connected with shank attachment base 121, in order to simplify the structure in attached drawing, it is believed that thigh Component 11 is big leg assembly 11 relative to shank component 12 relative to the position of the first locating part 124 and the second locating part 125 Position.

Optionally, the first locating part 124 and the second locating part 125 and shank attachment base 121 are integrally formed part, to reduce The complexity and assembly difficulty of shank component 12, and reduce the processing cost of shank component 12.

Optionally, the first locating part 124 and the second locating part 125 are detachably connected with shank attachment base 121, first After locating part 124 and the damage of the second locating part 125, easily replaced, to extend the service life of shank component 12.

In the present embodiment, bearing part 16 can be deep groove ball bearing, and thigh attachment base 111 and shank attachment base 121 are distinguished It is cooperatively connected with the inner ring and outer ring of bearing part 16, so that big leg assembly 11 is rotatablely connected with shank component 12.

It is the decomposition diagram of latch assembly 13 in Fig. 1 refering to Fig. 2 to Fig. 7, Fig. 5 jointly, Fig. 6 is latch assembly in Fig. 1 13 with the schematic diagram of 12 relative positional relationship of big leg assembly 11 and shank component, Fig. 7 is another angle of relative positional relationship in Fig. 6 Schematic diagram.

Latch assembly 13 includes the first lock piece 131 and the second lock piece 132, the first lock piece 131 and big leg assembly 11 It is fixedly connected, the second lock piece 132 is used to turn to first in a first direction relative to shank component 12 in big leg assembly 11 The first lock piece of backstop 131 when predeterminated position, so that big leg assembly 11 is in a first direction locking shape with shank component 12 State.

In the present embodiment, first direction be can be after user dresses exoskeleton robot 10, what user squatted down In the process, the direction that big leg assembly 11 is rotated relative to shank component 12, the direction as shown in Fig. 5 arrow A into Fig. 7.

In the present embodiment, the first predeterminated position be can be after user dresses exoskeleton robot 10, at user When full crouching or semi-crouch state, position of the big leg assembly 11 relative to shank component 12.

It should be noted that first predeterminated position of the present embodiment can be arbitrary, the degree that it squats down with user It is related, the flexibility of exoskeleton robot 10 can be improved in this way.

In the present embodiment, lockup state can refer to that big leg assembly 11 turns to the first predeterminated position relative to shank component 12 It can not further rotate in a first direction later.

It should be noted that under above-mentioned lockup state, when user can remain longer by exoskeleton robot 10 Between full crouching or semi-crouch state, to assist user that can more easily maintain needed for production operation crouching or semi-crouch shape entirely State even is eliminated the injury that kneed knee etc. is subject to mitigate.

In the present embodiment, the first lock piece 131 is fixedly connected by the first mounting portion 1111 with thigh attachment base 111, from And it is fixedly connected with big leg assembly 11.

Optionally, the first lock piece 131 is detachably connected with thigh attachment base 111, in 131 damage of the first lock piece Afterwards, it is easily replaced, to extend the service life of latch assembly 13.

Optionally, the first lock piece 131 and thigh attachment base 111 are integrally formed part, to reduce exoskeleton robot 10 Complexity and assembly difficulty, and reduce the processing cost of exoskeleton robot 10.

Optionally, the quantity of the second lock piece 132 is multiple, such as two, two the second lock pieces 132 backstop the simultaneously One lock piece 131 can increase the locking effect between big leg assembly 11 and shank component 12.

In the present embodiment, the first lock piece 131 includes multiple the first holding sections 1311 along first direction setting, the second lock Stop member 132 includes the second holding section 1321, and the second holding section 1321 can be inserted in the first holding section 1311, so that the second lock Stop member 132 in a first direction can the first lock piece of backstop 131.

Optionally, the first lock piece 131 is the component similar to ratchet, including it is multiple be circumferentially uniformly arranged along it is similar In the first holding section 1311 of tooth form, so that the second holding section 1321 is engaged with the first holding section 1311.

Optionally, the second lock piece 132 is 131 groups of the component similar to pawl, the second lock piece 132 and the first lock piece At ratchet mechanism, so that only existing one-directional rotation between the second lock piece 132 and the first lock piece 131.In the present embodiment, the Two lock pieces 132 and the first lock piece 131 are in lockup state in a first direction.

In some embodiments, the second lock piece 132 is connect with shank attachment base 121, to turn in big leg assembly 11 The first lock piece of backstop 131 when the first predeterminated position, thus prevent big leg assembly 11 relative to shank component 12 in a first direction On further rotation, and then user is assisted to be squatted entirely or semi-crouch.

In the present embodiment, the first lock piece 131 further includes the second stopper section 1312 and third stopper section 1313, the second backstop Portion 1312 and third stopper section 1313 are arranged along thigh attachment base 111 is circumferential.

Referring again to Fig. 5 to Fig. 7, latch assembly 13 further includes third lock piece 133, and third lock piece 133 is sheathed on greatly Leg assembly 11 is simultaneously connect with the second lock piece 132, with when big leg assembly 11 turns to the first predeterminated position, the first locating part 124 backstop third lock pieces 133 in a first direction.

In the present embodiment, third lock piece 133 is sheathed on the second mounting portion 1112, in the first locating part 124 in first party Upward backstop third lock piece 133, and the second lock piece 132 in a first direction the first lock piece 131 of backstop when, thigh connection Seat 111 is in a first direction lockup state with shank attachment base 121.

Optionally, third lock piece 133 is the structure similar to annulus, is sheathed on thigh attachment base 111, and lock with first Stop member 131 is disposed adjacent, with when the second lock piece 132 is connect with third lock piece 133, the second lock piece 132 is in first party It upwards can the first lock piece of backstop 131.

Optionally, the first lock piece 131 and the second lock piece 132 are set to the same side of third lock piece 133, When three lock pieces 133 are sheathed on thigh attachment base 111, the second lock piece 132 in a first direction can the first lock piece of backstop 131。

Optionally, the stop dog position of the first locating part 124 is located at the downstream of the first predeterminated position, third in a first direction Lock piece 133 is provided with the first stopper section 1331, and the first stopper section 1331 is set with the first locating part 124 relatively in a first direction It sets, when big leg assembly 11 turns to the first predeterminated position, third lock piece 133 can be relative to shank attachment base 121 first It is continued to rotate on direction to the first stopper section 1331 and is connected to the first locating part 124, so that the first locating part 124 is in first party Upward backstop third lock piece 133.

In the present embodiment, in the first backstop third lock piece 133 in a first direction of locating part 124, the second holding section 1321 are inserted in the first holding section 1311, so that the second lock piece 132 the first lock piece of backstop 131 in a first direction.

Optionally, during big leg assembly 11 turns to the first predeterminated position, the second holding section 1321 is inserted in One holding section 1311, to push third lock piece 133 to turn to the first predeterminated position, at this point, the first stopper section 1331 is located at the One predeterminated position.Further, it continues to rotate in third lock piece 133 to the first stopper section 1331 and is connected to the first locating part During 124, the second lock piece 132 can be rotated relative to third lock piece 133, so that the second holding section 1321 is detached from the One holding section 1311, at this point, third lock piece 133 can continue to rotate in a first direction.

Further, third stopper section 1313 is oppositely arranged with the second locating part 125 in a second direction, in thigh group When part 11 turns to initial position relative to shank component 12 in a second direction, third stopper section 1313 is connected to the second limit Part 125.

In the present embodiment, initial position be can be after user dresses exoskeleton robot 10, and user is in station When vertical or upright, position of the big leg assembly 11 relative to shank component 12.

In the present embodiment, second direction be can be after user dresses exoskeleton robot 10, and user is from above-mentioned During first predeterminated position (full crouching or semi-crouch state) is stood up to initial position (standing or upright state), big leg assembly 11 Relative to the direction that shank component 12 rotates, the direction as shown in arrow B in Fig. 6 and Fig. 7.Wherein, second direction and first party To oppositely arranged each other.

Optionally, third stopper section 1313 is oppositely arranged with the first stopper section 1331 in a second direction, in thigh group During part 11 turns to initial position, the second lock piece 132 is rotated relative to third lock piece 133, so that the second engaging Portion 1321 is detached from the first holding section 1311 so that third lock piece 133 relative to shank component 12 in a second direction It can turn to the first stopper section 1331 and is connected to the second stopper section 1312.

Optionally, latch assembly 13 further includes the first elastic component 134, the first elastic component 134 and the second lock piece 132 and Three lock pieces 133 connection, with when flexible deformation occurs for the first elastic component 134, the second holding section 1321 is detached from the first engaging Portion 1311, and when the first elastic component generation elasticity becomes multiple again, the second holding section 1321 is inserted in the first holding section 1311.

Optionally, the first elastic component 134 is torsionspring, and torsionspring is sheathed on the second lock piece 132 and third locking The interconnecting piece (being not marked in figure) of part 133, two free end are connect with the first lock piece 131 and third lock piece 133 respectively, So that the second lock piece 132 first lock piece of backstop 131 in a first direction under the action of torsionspring, at this point, second Holding section 1321 is inserted in the first holding section 1311, makes the second lock piece 132 opposite alternatively, flexible deformation occurs for torsionspring It is rotated in third lock piece 133, at this point, the second holding section 1321 is detached from the first holding section 1311.

As previously mentioned, the first lock piece 131 can be ratchet, the second lock piece 132 can be pawl, third lock piece 133 can connect for the annulus of neighbouring first lock piece 131 setting, pawl with annulus, then, pawl, ratchet, torsionspring and Annulus can form the ratchet mechanism of an one-directional rotation.Specifically, pawl is inserted in ratchet under the action of torsionspring, makes Obtain ratchet not can be rotated relative to pawl and annulus in a first direction, and can turn relative to pawl or annulus in a second direction Dynamic, in other words, pawl and annulus can be rotated relative to ratchet in a first direction, and in a second direction can not relative to ratchet Rotation.

In the present embodiment, when user dress exoskeleton robot 10 after, can from stand or upright state squat down to Semi-crouch or state of squatting entirely, or from semi-crouch or full crouching state stand up to stand or upright state, below just above-mentioned two process divide It is not described in detail.

The first predeterminated position is turned to from initial position to the opposite shank component 12 of leg assembly 11 big in the present embodiment below, And it is described in detail under the action of latch assembly 13 in the process of lockup state:

Firstly, turning to first from initial position (standing or upright state) relative to shank component 12 in big leg assembly 11 During predeterminated position (semi-crouch or state of squatting entirely), thigh attachment base 111 drives the first lock piece 131 to connect relative to shank Seat 121 rotates in a first direction, at this point, third stopper section 1313 is connected to the first stopper section 1331 in a first direction, the Two holding sections 1321 are plugged in the first holding section 1311, to push the second lock piece 132 and third lock piece 133 relative to small Leg attachment base 121 rotates in a first direction, until big leg assembly 11 reaches the first predeterminated position relative to shank component 12.It is aobvious So, latch assembly 13 also is located at the first predeterminated position.

Then, since the stop dog position of the first locating part 124 is located at the downstream of the first predeterminated position in a first direction, make It obtains third lock piece 133 to continue to rotate relative to shank attachment base 121, at this point, the second lock piece 132 is relative to third lock piece 133 rotate so that flexible deformation occurs for the first elastic component 134, so that the second holding section 1321 is detached from the first holding section 1311, until the first stopper section 1331 is connected to the first locating part 124 in a first direction, at this point, the first locating part 124 is the Elastic recovery occurs for backstop third lock piece 133 on one direction, at the same time, the first elastic component 124, so that the second holding section 1321 are inserted in the first holding section 1311, at this point, the second lock piece 132 the first lock piece of backstop 131 in a first direction.It is aobvious So, it is fixedly connected due to the first locating part 124 with shank attachment base 121, the first lock piece 131 and thigh attachment base 111 are fixed Connection, also, the first locating part 124 backstop third lock piece 133 in a first direction, the second locking 132 is in a first direction The first lock piece of backstop 131, so that latch assembly 13 carries out locking with shank component 12 to big leg assembly 11 in a first direction, It that is to say, under the locking effect of latch assembly 13, big leg assembly 11 is in a first direction lockup state with shank component 12.

Leg assembly 11 big in the present embodiment and latch assembly 13 are turned with respect to shank component 12 from the first predeterminated position below It moves to the process of initial position and is described in detail:

As previously mentioned, second lock piece 132 is only first during big leg assembly 11 is rotated relative to shank component 12 The first lock piece of backstop 131 is on direction to carry out locking.

Firstly, being turned to relative to shank component 12 from the first predeterminated position (semi-crouch or entirely squat state) in big leg assembly 11 During initial position (standing or upright state), the second lock piece 132 is rotated relative to third lock piece 133 so that first Flexible deformation occurs for elastic component 134, so that the second holding section 1321 is detached from the first holding section 1311, at the same time, the One lock piece 131 follows thigh attachment base 111 to rotate in a second direction, until third stopper section 1313 is connected to the second limit Portion 125, at this point, thigh attachment base 111 and the first lock piece 131 are located at initial position.

Then, third lock piece 133 and the second lock piece 132 rotate in a second direction, until the first stopper section 1331 It is connected to third stopper section 1313, at this point, third lock piece 133 and the second lock piece 132 are located at initial position.

After big leg assembly 11 and lock piece 13 are located at initial position, elastic recovery occurs for the first elastic component 124, so that Second holding section 1321 is inserted in the first holding section 1311.

It should be noted that after user dresses exoskeleton robot 10, user is during normal walk, the One stopper section 1331 will not be connected to the first locating part 124, so that latch assembly 13 can't interfere user normally to walk.

It is the structural schematic diagram that shoes carry out component 14 in Fig. 1 refering to Fig. 8, Fig. 8.

It includes that shoes carry out support plate 141, shoes carry out part 142 and shoes carry out binding strip 143 that shoes, which carry out component 14, and shoes carry out part 142 and shoes are carried out Support plate 141 is connected far from one end of shank component 12, and shoes are carried out binding strip 143 and connect with shoes shoe part 142, and shoes are carried out component 14 Bondage is in the foot of user.

Optionally, shoes are carried out 141 part of support plate and are arranged in bending, and in the present embodiment, shoes carry out support plate 141 far from shank group The direction that part 142 is carried out away from shoes in one end of part 12 is bent, to avoid when shoes carry out 14 bondage of component in the foot of user The ankle of user, to increase the compactness that shoes carry out component 14 and user's body.

Optionally, shoes are carried out binding strip 143 and are made of materials such as textile fabric, leathers, so that shoes, which carry out binding strip 143, to be had Certain intensity and flexibility, to increase the bondage effect that shoes are carried out between component 14 and user foot.

Optionally, shoes carry out the in the same size of part 122 and user's heel, and the quantity of shoes shoe binding strip 123 can be more A, multiple shoes carry out binding strip 123 and shoes are carried out 14 bondage of component in user foot in different positions, to increase bondage effect Fruit.

In the present embodiment, user dresses shoes and carries out after component 14, and shoes are carried out part 142 and acted on respectively with shoes shoe binding strip 143 In the heel and instep of user, with when user normally walks, or lift shank even foot when, it is tight that shoes carry out component 14 Paste user foot.

Further, shoes carry out support plate 141 and offer the second jack 1411, connection component close to one end of shank component 12 17 are arranged in the first jack 1221 and the second jack 1411, connect so that shank support plate 122 and shoes carry out the rotation of support plate 141 It connects, is swung so that shank support plate 122 can carry out support plate 141 relative to shoes.

Optionally, the second jack 1411 is strip hole, is rotatablely connected with carrying out support plate 141 in shank support plate 122 and shoes Later, it is mobile can also to carry out support plate 141 relative to shoes for shank support plate 122.

It is the structural schematic diagram of lock piece 15 in Fig. 1 refering to Fig. 9 to Figure 11, Fig. 9 jointly, Figure 10 is connection component in Fig. 1 17 decomposition diagram, Figure 11 are that shank component 12 and shoes carry out the schematic cross-section that component 14 is rotatablely connected in Fig. 1.

Lock piece 15 is carried out component 14 with shank component 12 or shoes and is fixedly connected, and for carrying out in shank component 12 relative to shoes When component 14 is rocked to the second predeterminated position, locking shank component 12 and shoes carry out component 14.

Wherein, lock piece 15 offers accommodating space 151, and the opening of accommodating space 151 carries out component 14 or shank towards shoes Component 12.

In the present embodiment, lock piece 15 is fixedly connected with shank support plate 122 far from one end of shank attachment base 121, and The same side that support plate 141 is located at shank support plate 122 is carried out with shoes, and the opening of accommodating space 151 carries out support plate towards shoes 141。

In the present embodiment, the second predeterminated position can be user after dressing exoskeleton robot 10, at user When full crouching, semi-crouch state, shank component 12 carries out the position of component 14 relative to shoes.

It should be noted that the second predeterminated position in the present embodiment can be arbitrary, the journey that it squats down with user It spends related, the flexibility of exoskeleton robot 10 can be improved in this way.

Optionally, lock piece 15 is detachably connected with shank support plate 122, with lock piece 15 damage after, easily It is replaced, to extend the service life of shank component 12.

Optionally, lock piece 15 and shank support plate 122 are integrally formed part, difficult with the assembly for reducing shank component 12 Degree.

Optionally, the shape of accommodating space 151 and shoes carry out support plate 141 close to the shape one of 122 one end of shank support plate It causes, and 151 volume of accommodating space carries out support plate 141 close to the volume of 122 that one end of shank support plate, so that shoes slightly larger than shoes Accommodating space 151 can be partially inserted in by carrying out support plate 141.

Further, connection component 17 includes the first connector 171 and the second connector 172, and the first connector 171 is worn Component 14 is carried out in shank component 12 and shoes, is put so that shank component 12 can carry out component 14 relative to shoes on the first plane of oscillation Dynamic, the second connector 172 is arranged in the first connector 171 and carries out component 14 with shank component 12 or shoes and connect, so that shank Component 12 can carry out component 14 relative to shoes on the second plane of oscillation and swing.

Wherein, the second plane of oscillation is perpendicular to the first plane of oscillation.

In the present embodiment, the first plane of oscillation can be user after dressing exoskeleton robot 10, for example, user In the process of walking or user leans forward or swings back during squatting down or when user is in full crouching or semi-crouch state In the process, shank component 12 relative to shoes carry out component 14 swing direction constitute plane, for example, the first plane of oscillation be parallel to it is small Leg support plate 122 and/or shoes carry out the plane where support plate 141, at this point, shank component 12 can be former relative to shoes shoe component 14 After swing.

In the present embodiment, the second plane of oscillation can be user after dressing exoskeleton robot 10, for example, shoes shoe group When part 14 leaves ground, shoes are carried out component 14 and can also be rotated relative to shank component 12, such as can swing, as Figure 12 (a), (b) shown in, so that exoskeleton robot 10 follows the ankle-joint of user to carry out multidirectional rotation, and then increase dermoskeleton The flexibility of bone robot 10.But user is in the process of walking or user is during squatting down or user is in When full crouching or semi-crouch state, it is undesirable that shank component 12 is carried out component 14 relative to shoes and is rotated on the second plane of oscillation, to avoid Ankle-joint such as is sprained at the injury.For this purpose, lock piece 15 carries out component 14 in the first plane of oscillation relative to shoes for shank component 12 On when being rocked to the second predeterminated position, locking shank component 12 carries out swing of the component 14 on the second plane of oscillation relative to shoes, such as Shown in Figure 11.

The directional instruction (such as up, down, left, right, before and after ...) of institute is only used for explaining at certain in the embodiment of the present application Relative positional relationship, motion conditions etc. under one particular pose (as shown in the picture) between each component, if the particular pose is sent out When raw change, then directionality instruction also correspondingly changes correspondingly.

Optionally, the first connector 171 is arranged in the first jack 1221 and the second jack 1411, so that shank support plate 122, which can carry out support plate 141 relative to shoes on the first plane of oscillation, swings, so that shank component 12 can be on the first plane of oscillation Component 14 is carried out relative to shoes to swing.

Optionally, the first connector 171 offers third jack 1711, is inserted with being arranged in first in the first connector 171 After hole 1221 and the second jack 1411, the second connector 172 be arranged in third jack 1711 and with shank support plate 122 or shoes It carries out support plate 141 to connect, be swung so that shank support plate 122 can carry out support plate 141 relative to shoes on the second plane of oscillation, from And makes shank component 12 that can carry out component 14 relative to shoes on the second plane of oscillation and swing.

In the present embodiment, after the first connector 171 is arranged in the first jack 1221 and the second jack 1411, second connects Fitting 172 is arranged in third jack 1711 and connect with shank support plate 122, inserts for example, the second connector 172 is arranged in third The part that hole 1711 and shank support plate 122 are arranged in curling or bending, as shown in figure 11.It in this way can be to avoid the second connection Part 172 rotates on the first plane of oscillation relative to shank support plate 122.

Further, since the first jack 1221 and/or the second jack 1411 are strip hole, in the present embodiment, with first Jack 1221 and the second jack 1411 are to be illustrated for strip hole, are arranged in the first jack in the first connector 171 1221 and second after jack 1411, and shank support plate 122 not only can carry out support plate 141 relative to shoes on the first plane of oscillation It swings, it is also possible that shank support plate 122 can carry out the movement of support plate 141 relative to shoes, and carries out 141 part of support plate in shoes and insert When set on accommodating space 151,15 locking shank component 12 of lock piece carries out swing of the component 14 on the second plane of oscillation relative to shoes, As shown in figure 11.

In addition, when shoes are carried out support plate 141 and are detached from accommodating space 151, for example, when shoes shoe component 14 leaves ground, it is small Leg assembly 12 can carry out component 14 relative to shoes on the second plane of oscillation and swing, and can increase the flexible of exoskeleton robot 10 in this way Property, and shank support plate 122 can be used for backstop shank component 12 and carry out swing of the component 14 on the second plane of oscillation relative to shoes, such as Shown in Figure 12 (a), (b), it can control shank component 12 in this way relative to shoes and carry out amplitude of fluctuation of the component 14 on the second plane of oscillation Degree, to improve safety.

After dressing exoskeleton robot 10 to user below, 15 locking shank component 12 of lock piece and shoes carry out component 14 Process be described in detail.

User is after dressing exoskeleton robot 10, for example, user is in the process of walking or user is squatting down When in the process or user is in full crouching or semi-crouch state, by the effect of self gravity, shank support plate 122 is carried out relative to shoes Support plate 141 is mobile, so that shoes carry out 141 part of support plate and are inserted in accommodating space 151, as shown in figure 11, at this point, shank component 12, which carry out component 14 relative to shoes, is rocked to the second predeterminated position, and 15 locking shank component 12 of lock piece carries out component 14 relative to shoes and exists Swing on second plane of oscillation, that is to say, shank component 12 relative to shoes carry out swing of the component 14 on the second plane of oscillation by The limitation of lock piece 15 can be sprained so that the ankle of user is difficult to swing to avoid ankle-joint in this way Deng injury.

3 and Figure 14, Figure 13 are that the big leg assembly 11 of 13 locking of latch assembly and shank component 12 are another in Fig. 1 refering to fig. 1 jointly The decomposition diagram of one embodiment, Figure 14 are third locating part 126 and the 4th lock piece 136 and the second elastic component 135 in Figure 13 The schematic diagram of relative positional relationship.

The shank component 12 of the present embodiment further includes third locating part 126, third locating part 126 and shank attachment base 121 It is fixedly connected, and is arranged with the first locating part 124 and the second locating part 125 along the circumferential direction of shank attachment base 121.

Optionally, third locating part 126 and shank attachment base 121 are integrally formed part, to reduce answering for shank component 12 Miscellaneous degree and assembly difficulty, and reduce the processing cost of shank component 12.

Optionally, third locating part 126 is detachably connected with shank attachment base 121, in 126 damage of third locating part Afterwards, it is easily replaced, to extend the service life of shank component 12.

The latch assembly 13 of the present embodiment further includes the second elastic component 135 and the 4th lock piece 136, the second elastic component 135 It is sheathed on the second mounting portion 1112, the 4th lock piece 136 can partially be placed in accommodation space 1113.

Term " first ", " second ", " third " and " the 4th " in the application are used for description purposes only, and should not be understood as Indication or suggestion relative importance or the quantity for implicitly indicating indicated technical characteristic." first ", " are defined as a result, Two ", " third " and the feature of " the 4th " can explicitly or implicitly include at least one of the features.

Optionally, the second elastic component 135 is torsionspring, and is arranged in the shape of a spiral, and torque active force is primarily subjected to.

It should be noted that the major parameters such as dimensions and coefficient of elasticity of the second elastic component 135 are according to the second elasticity Active force that part 135 is subjected to and design.

Optionally, the 4th lock piece 136 is flexibly connected with the first mounting portion 1111, and the first mounting portion 1111 offers peace Hole 1114 is filled, the 4th lock piece 136 is arranged in mounting hole 1114, so that the 4th lock piece 136 can partially be placed in receiving sky Between 1113.

In the present embodiment, third locating part 126 is opposite with the first end 1351 of the second elastic component 135 in a first direction Setting, and when 136 part of the 4th lock piece is placed in accommodation space 1113, the 4th lock piece 136 is in a first direction with the The second end 1352 of two elastic components 135 is oppositely arranged, with when big leg assembly 11 turns to the first predeterminated position, first end 1351 are connected to third locating part 126, and the second end 1352 is connected to the 4th lock piece 136.

Optionally, the second elastic component 135 is fixedly connected with shank attachment base 121, so that first end 1351 is connected to Third locating part 126 can increase during big leg assembly 11 turns to the first predeterminated position, third locating part in this way 126 and the 4th lock piece 136 respectively to the second elastic component 135 apply active force stationarity.

In the present embodiment, during big leg assembly 11 turns to the first predeterminated position, and 136 part of the 4th lock piece When being placed in accommodation space 1113, the 4th lock piece 136 moves closer to the second end 1352, and opposite in the 4th lock piece 136 When the rotational angle of the second elastic component 135 is greater than or equal to angle threshold, the 4th lock piece 136 is connected to the second end 1352。

In the present embodiment, angle threshold be can be after user dresses exoskeleton robot 10, and user is normal During on foot, the maximum value for the angular dimension that big leg assembly 11 is rotated relative to shank component 12, for example, angle threshold is 5°.In other words, during normal walk, the 4th lock piece 136 can only move closer to or far from the second end user 1352, and close to or far from rhythm and user walk in step with each other, without being connected to the second end 1352.

It should be noted that due to the paces of different users are not fully consistent or user be careful, hurry up, Paces when running are also not quite identical, then, user is during normal walk, the 4th lock piece 136 The second end 1352, which may be connected to, makes the second elastic component 136 that Light deformation occur.

In the present embodiment, after user dresses exoskeleton robot 10, when user squats down, the 4th lock piece 136 can be greater than or equal to angle threshold relative to the rotational angle of the second elastic component 135, and turn to first in big leg assembly 11 During predeterminated position, third locating part 126 and the 4th lock piece 136 are connected to first end 1351 and the second end respectively 1352, so that flexible deformation occurs for the second elastic component 135.It obviously, in this way can be in user by exoskeleton robot 10 maintain on the basis of the full crouching of long period or semi-crouch state, while providing elasticity or sinking support to user, thus So that exoskeleton robot 10 is more comfortable.

Optionally, latch assembly 13 further includes third elastic component 137 and shifting part 138, and third elastic component 137 is sheathed on Four lock pieces 136, shifting part 138 is used for so that flexible deformation occurs for third elastic component 137, so that the 4th lock piece 136 Part is placed in accommodation space 1113.

Specifically, thigh support plate 112 offers third holding section 1121, and shifting part 138 and thigh support plate 112 rotate Connect and including press section 1381 and the 4th holding section 1382, turn to the 4th relative to thigh support plate 112 in shifting part 138 During holding section 1382 is inserted in third holding section 1121, press section 1381 makes third elastic component 137 that elastic change occur Shape, and the 4th lock piece 136 is pushed to partially protrude into accommodation space 1113.

Optionally, third holding section 1121 is card slot, and the 4th holding section 1382 can be inserted in third holding section 1121.

Optionally, third elastic component 137 is compressed spring, and third elastic component 137 is slightly variable shape in nature or compression Under state, the 4th lock piece 136 can't be oppositely arranged with the second end 1352 in a first direction, that is to say, in the 4th locking When part 136 is greater than or equal to angle threshold relative to the rotational angle of the second elastic component 135, the 4th lock piece 136 can't be supported It is connected to the second end 1352.

It should be noted that after user dresses exoskeleton robot 10, user during normal walk, Shifting part 138 can not be struck, at this point, the 4th lock piece 136 can't be connected to the second end 1352 and interfere user It is normal to walk.In the present embodiment, user can first act on shifting part 138 and make the 4th lock piece 136 when squatting down Divide and protrudes into accommodation space 1113.

Other structures and above-mentioned exoskeleton robot are same or similar in the present embodiment, and details are not described herein.

Firstly, shifting part 138 is rotated relative to thigh support plate 112, until the 4th holding section 1382 is inserted in third card Conjunction portion 1121, at the same time, press section 1381 make third elastic component 137 that flexible deformation occur and push the 4th lock piece 136 Accommodation space 1113 is partially protruded into, at this point, the 4th lock piece 136 the second end with the second elastic component 135 in a first direction 1352 are oppositely arranged.

Then, first is turned to from initial position (standing or upright state) relative to shank component 12 in big leg assembly 11 During predeterminated position (semi-crouch or state of squatting entirely), thigh attachment base 111 drives the first lock piece 131 to connect relative to shank Seat 121 rotates in a first direction, at this point, third stopper section 1313 is connected to the first stopper section 1331 in a first direction, the Two holding sections 1321 are plugged in the first holding section 1311, to push the second lock piece 132 and third lock piece 133 relative to small Leg attachment base 121 rotates in a first direction, until big leg assembly 11 reaches the first predeterminated position relative to shank component 12.With This simultaneously, thigh attachment base 111 drive the 4th lock piece 136 rotated in a first direction relative to shank attachment base 121 so that 4th lock piece 136 moves closer to the second end 1352, and the rotation in the 4th lock piece 136 relative to the second elastic component 135 When angle is greater than or equal to angle threshold, the 4th lock piece 136 is connected to the second end 1352, and then rotates in big leg assembly 11 To the first predeterminated position, third locating part 126 and the 4th lock piece 136 are connected to first end 1351 and respectively Two ends 1352, and act on the second elastic component 135 from first end 1351 and the second end 1352 and make the second elastic component 135 occur flexible deformation.

Further, since the stop dog position of the first locating part 124 is located in a first direction under the first predeterminated position Trip, so that third lock piece 133 is continued to rotate relative to shank attachment base 121, at this point, the second lock piece 132 is relative to third Lock piece 133 rotates so that flexible deformation occurs for the first elastic component 134, so that the second holding section 1321 is detached from the first card Conjunction portion 1311, until the first stopper section 1331 is connected to the first locating part 124 in a first direction, at this point, the first locating part 124 Elastic recovery occurs for backstop third lock piece 133 in a first direction, at the same time, the first elastic component 124, so that the second engaging Portion 1321 is inserted in the first holding section 1311, at this point, the second lock piece 132 the first lock piece of backstop 131 in a first direction.

Clearly as the first locating part 124 is fixedly connected with shank attachment base 121, the first lock piece 131 is connect with thigh Seat 111 is fixedly connected, also, the first locating part 124 backstop third lock piece 133 in a first direction, and the second locking 132 is the The first lock piece of backstop 131 on one direction, so that latch assembly 13 is in a first direction to big leg assembly 11 and shank component 12 Locking is carried out, that is to say, under the locking effect of latch assembly 13, big leg assembly 11 is in shank component 12 in a first direction Lockup state.At the same time, be fixedly connected due to third locating part 126 with shank attachment base 121, the 4th lock piece 136 with it is big Leg attachment base 111 connects, also, in a latched condition, third locating part 126 and the 4th lock piece 136 are respectively from first end 1351 and the second end 1352 act on the second elastic component 135 and make the second elastic component 135 occur flexible deformation, that is to say, Second elastic component, 135 elastic reaction is in thigh attachment base 111 and shank attachment base 121.Therefore, in the locking of latch assembly 13 Under effect, big leg assembly 11 is in a first direction lockup state with shank component 12, meanwhile, in the work of the second elastic component 135 Under, which is elasticity or sinking support, so that exoskeleton robot 10 is more comfortable.

Firstly, being turned to relative to shank component 12 from the first predeterminated position (semi-crouch or entirely squat state) in big leg assembly 11 During initial position (standing or upright state), the second lock piece 132 is rotated relative to third lock piece 133 so that first Flexible deformation occurs for elastic component 134, so that the second holding section 1321 is detached from the first holding section 1311, at the same time, the One lock piece 131 follows thigh attachment base 111 to rotate in a second direction, until third stopper section 1313 is connected to the second limit Portion 125, at this point, thigh attachment base 111 and the first lock piece 131 are located at initial position.At the same time, the 4th lock piece 136 with It is rotated in a second direction with thigh attachment base 111, at this point, elastic recovery, the 4th lock piece 136 occur for the second elastic component 135 It progressively disengages in the second end 1352 of the second elastic component 135, until the 4th lock piece 136 is located at initial position.Clearly as Second elastic component 135 occur elastic recovery during can discharge elastic potential energy, can make in this way thigh component 11 relative to Shank component 12 turns to the entire of initial position (stand or upright state) from the first predeterminated position (semi-crouch or entirely squat state) Process is more steady, more laborsaving.

Finally, can act on shifting part 138 when the 4th lock piece 136 is located at initial position and make the 4th engaging Portion 1382 is detached from third holding section 1121, and at the same time, elastic recovery occurs for third elastic component 137, and pushes the 4th locking Part 136 is detached from accommodation space 1113, until the 4th lock piece 136 will not in a first direction with the second elastic component 135 the Two ends 1352 are oppositely arranged.

Jointly refering to fig. 15 to Figure 17, Figure 15 is that exoskeleton robot 10 is worn on user and in vertical in Fig. 1 Front schematic view when state, Figure 16 are sides when exoskeleton robot 10 is worn on user and is in upright state in Fig. 1 Schematic diagram, Figure 17 are side schematic views when exoskeleton robot 10 is worn on user and is in semi-crouch state in Fig. 1.

In the present embodiment, when user dresses exoskeleton robot 10, big 11 bondage of leg assembly in user's left thigh and Right thigh, for 12 bondage of shank component in user's left leg and right leg, shoes carry out 14 bondage of component in user's left foot and right crus of diaphragm, Latch assembly 13 is connect with big leg assembly 11 and shank component 12, and lock piece 15 is carried out component 14 with shank component 12 and shoes and connect.

It is in contrast to the prior art, exoskeleton robot provided by the present application includes big leg assembly, shank component, lock Only component and shoes carry out component, and big leg assembly and shank component are rotatablely connected, and the one end of shank component far from big leg assembly and shoes are carried out Component rotation connection；Wherein, latch assembly includes the first lock piece and the second lock piece, and the first lock piece is fixed with big leg assembly Connection, the second lock piece when big leg assembly turns to the first predeterminated position in a first direction relative to shank component for stopping The first lock piece is kept off, so that big leg assembly is in a first direction lockup state with shank component.

The foregoing is merely presently filed embodiments, are not intended to limit the scope of the patents of the application, all to utilize this Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content, it is relevant to be applied directly or indirectly in other Technical field similarly includes in the scope of patent protection of the application.

Claims

1. a kind of exoskeleton robot, which is characterized in that the exoskeleton robot includes big leg assembly, shank component, locking Component and shoes carry out component, and the big leg assembly and the shank component are rotatablely connected, and the shank component is far from the thigh group One end of part and the shoes carry out component rotation connection；

Wherein, the latch assembly includes the first lock piece and the second lock piece, first lock piece and the big leg assembly It is fixedly connected, second lock piece for turning in the big leg assembly relative to the shank component in a first direction First lock piece described in backstop when the first predeterminated position so that the big leg assembly in said first direction with the shank Component is in lockup state.

2. exoskeleton robot according to claim 1, which is characterized in that the shank component include shank attachment base and First locating part, the shank attachment base and the big leg assembly are rotatablely connected, and first locating part is connect with the shank Seat be fixedly connected, the latch assembly further includes third lock piece, the third lock piece be sheathed on the big leg assembly and with The second lock piece connection, with when the big leg assembly turns to first predeterminated position, first locating part exists Third lock piece described in backstop on the first direction.

3. exoskeleton robot according to claim 2, which is characterized in that the stop dog position of first locating part is in institute The downstream for being located at first predeterminated position on first direction is stated, the third lock piece is provided with the first stopper section, and described the One stopper section is oppositely arranged with first locating part in said first direction, turns to described first in the big leg assembly When predeterminated position, the third lock piece can be continued to rotate in said first direction relative to the shank attachment base to described First stopper section is connected to first locating part, so that first locating part is in said first direction described in backstop Three lock pieces.

4. exoskeleton robot according to claim 3, which is characterized in that first lock piece includes multiple along described First holding section of first direction setting, second lock piece includes the second holding section, in first locating part described On first direction described in backstop when third lock piece, second holding section is inserted in first engaging, so that described the Two lock pieces the first lock piece described in backstop in said first direction.

5. exoskeleton robot according to claim 4, which is characterized in that turn to described first in the big leg assembly During predeterminated position, second holding section is inserted in first holding section, to push the third lock piece to rotate Extremely first predeterminated position, and continue to rotate in the third lock piece to first stopper section and be connected to first limit During the part of position, second lock piece can be rotated relative to the third lock piece, so that second holding section is detached from In first holding section.

6. exoskeleton robot according to claim 5, which is characterized in that the shank component further includes the second limit Part, second locating part are fixedly connected with the shank attachment base, and first lock piece further includes the second stopper section, described Second stopper section is oppositely arranged with second locating part in a second direction, and the second direction and the first direction are each other It is oppositely arranged, with when the big leg assembly turns to initial position in this second direction relative to the shank component, Second stopper section is connected to second locating part.

7. exoskeleton robot according to claim 6, which is characterized in that first lock piece further includes third backstop Portion, the third stopper section are oppositely arranged with first stopper section in this second direction, are rotated in the big leg assembly To the initial position, second lock piece is rotated relative to the third lock piece, so that second card Conjunction portion is detached from first holding section, so that the third lock piece is relative to the shank component in the second party It can turn to first stopper section upwards and is connected to the third stopper section.

8. exoskeleton robot according to claim 7, which is characterized in that the latch assembly further includes the first elasticity Part, first elastic component are connect with second lock piece and the third lock piece, to occur in first elastic component When flexible deformation, second holding section is detached from first engaging, and elasticity occurs in first elastic component and becomes again again When, second holding section is inserted in first engaging.

9. exoskeleton robot according to claim 2, which is characterized in that the big leg assembly includes thigh attachment base, The shank attachment base and the thigh attachment base are rotatablely connected, and the thigh attachment base includes the first mounting portion and the second installation Portion, second mounting portion and first mounting portion are coaxially disposed and are formed accommodation space, first lock piece with it is described First mounting portion is fixedly connected, and the third lock piece is sheathed on second mounting portion, in first locating part described Third lock piece described in backstop on first direction, and second lock piece the first locking described in backstop in said first direction When part, the thigh attachment base is in said first direction lockup state with the shank attachment base.

10. exoskeleton robot according to claim 9, which is characterized in that the latch assembly further includes the second elasticity Part and the 4th lock piece, second elastic component are sheathed on second mounting portion, and the 4th lock piece can be partially placed in The accommodation space, the shank component further include third locating part, the third locating part in said first direction with institute The first end for stating the second elastic component is oppositely arranged, and when the 4th lock piece part is placed in the accommodation space, institute It states the second end of the 4th lock piece in said first direction with second elastic component to be oppositely arranged, in the thigh group When part turns to first predeterminated position, the first end is connected to the third locating part, and the second end supports It is connected to the 4th lock piece.

11. exoskeleton robot according to claim 10, which is characterized in that second elastic component and the shank connect Joint chair is fixedly connected, so that the first end is connected to the third locating part, the 4th lock piece and described first Mounting portion is flexibly connected, with during the big leg assembly turns to first predeterminated position, and the 4th locking When part part is placed in the accommodation space, the 4th lock piece moves closer to the second end, and in the 4th lock When stop member is greater than or equal to angle threshold relative to the rotational angle of second elastic component, the 4th lock piece is connected to institute State the second end.

12. exoskeleton robot according to claim 11, which is characterized in that first mounting portion offers installation Hole, the 4th lock piece are arranged in the mounting hole, and the latch assembly further includes third elastic component and shifting part, and described Three elastic components are sheathed on the 4th lock piece, and the shifting part is used for so that flexible deformation occurs for the third elastic component, from And the 4th lock piece part is made to be placed in the accommodation space.

13. exoskeleton robot according to claim 12, which is characterized in that the big leg assembly further includes thigh support Plate, the thigh support plate are fixedly connected with the thigh attachment base, and the thigh support plate offers third holding section, described Shifting part and the thigh support plate are rotatablely connected and including press section and the 4th holding sections, in the shifting part relative to described Thigh support plate turns to during the 4th holding section is inserted in the third holding section, and the press section makes described Flexible deformation occurs for third elastic component, and the 4th lock piece is pushed to partially protrude into the accommodation space.

14. exoskeleton robot according to claim 2, which is characterized in that the shank component further includes shank bearing Plate, the shank support plate are fixedly connected with the shank attachment base, and the shank support plate is far from the shank attachment base One end and the shoes carry out component rotation connection so that the shank component can relative to the shoes carry out component swing.

15. exoskeleton robot according to claim 14, which is characterized in that the exoskeleton robot further includes locking Part, the lock piece are used for when the shank component carries out component relative to the shoes and is rocked to the second predeterminated position, locking institute It states shank component and the shoes carries out component.

16. exoskeleton robot according to claim 15, which is characterized in that the exoskeleton robot further includes connection Component, the connection component include the first connector and the second connector, and first connector is arranged in the shank component And the shoes carry out component, swing so that the shank component can carry out component relative to the shoes on the first plane of oscillation, it is described Second connector is arranged in first connector and carries out component with the shank component or the shoes and connect, so that described small Leg assembly can carry out component relative to the shoes on the second plane of oscillation perpendicular to first plane of oscillation and swing, the lock piece Component is carried out with the shank component or the shoes to be fixedly connected, and carries out component described relative to the shoes for the shank component When being rocked to the second predeterminated position on the first plane of oscillation, shank component described in locking carries out component described second relative to the shoes Swing on plane of oscillation.

17. exoskeleton robot according to claim 16, which is characterized in that the shank support plate is carried out close to the shoes One end of component offers the first jack, and it includes that shoes carry out support plate that the shoes, which carry out component, and the shoes carry out support plate close to described small One end of leg assembly offers the second jack, and first connector is arranged in first jack and second jack, with It is swung so that the shank component can carry out component relative to the shoes on the first plane of oscillation.

18. exoskeleton robot according to claim 17, which is characterized in that first connector offers third and inserts Hole, with after first connector is arranged in first jack and second jack, second connector is worn In third jack and support plate is carried out with the shank support plate or the shoes connect, so that the shank component can be described the Component is carried out relative to the shoes on two planes of oscillation to swing.

19. exoskeleton robot according to claim 17, which is characterized in that the lock piece and the shank support plate It is fixedly connected, and carries out the same side that support plate is located at the shank support plate with the shoes, it is empty that the lock piece offers receiving Between, the opening of the accommodating space carries out support plate towards the shoes, and first jack or/and second jack are strip Hole so that the shank support plate can carry out support plate movement relative to the shoes, and is carried out support plate part in the shoes and is plugged When the accommodating space, shank component described in the lock piece locking carries out component in second plane of oscillation relative to the shoes On swing.

20. exoskeleton robot according to claim 19, which is characterized in that carry out support plate in the shoes and be detached from described When accommodating space, the shank component can carry out component relative to the shoes on second plane of oscillation and swing, and the shank Support plate can be used for shank component described in backstop and carry out swing of the component on second plane of oscillation relative to the shoes.