Self-adaptive binding design for exoskeleton robot shank

[0013] The present invention will be further described below in conjunction with the accompanying drawings. The protection scope of the present invention is not limited to the following:

[0014] Such as figure 1 As shown, an exoskeleton robot self-adaptive binding design for the calf includes a motor 1, a reducer 2, a worm gear 3, a calf connecting rod 4, and a calf binding device 5. The motor 1 and the reducer 2 are screwed Connected to form a knee joint driver. In this embodiment, the motor 1 is a brushless straight-cylinder motor, the reducer 2 is a planetary reducer, and the upper end of the worm and worm 3 is provided with an upper fixed shell 31, and the worm and worm 3 side A side fixed shell 32 is provided in the worm and worm 3, a spline output shaft 33 is installed in the worm and worm 3, a thigh connecting rod 6 is installed at the front end of the worm and worm 3, and the lower leg connecting rod 4 is mounted on two spline output shafts 33. The output shaft of the reducer 2 is located in the upper fixed shell 31 and is connected with the worm of the worm gear 3. Its power is transmitted by the worm gear of the worm gear 3, and then output through the spline output shaft 33, so that the power is transmitted to On the calf rod 51; such as figure 2 As shown, the calf binding device 5 includes a calf rod 51, a sleeve 52, a pin 53, a binding slider 54, a rotating pin 55, a pin fixing member 56, a binding tow 57, and a carbon fiber support plate 58, so The calf rod 51 is connected to the calf connecting rod 4. In this embodiment, the calf rod 51 is made of carbon alloy material to ensure the strength of the exoskeleton structure. The calf rod 51 is provided with a through hole 59 and one end of the pin 53 It is fixedly arranged in the through hole 59, the other end of the pin 53 is located in the sliding groove of the binding slider 54 to play a sliding limit function. The sleeve 52 is sleeved in the binding slider 54 and forms the calf diameter In this embodiment, the sleeve 52 is a polytetrafluoroethylene sleeve, which can reduce the sliding resistance. One end of the rotating pin 55 is connected to the binding sliding member 54 through a thread, and the other end is built into the pin fixing member. On the inner side of 56, the binding tow 57 and the carbon fiber support plate 58 are connected by screws to form a calf support assembly, and the binding tow 57 and the pin fixing member 56 are connected by screws.

[0015] The working process of the present invention is as follows: when the wearer uses, connect the human knee joint with figure 1 The spline output shaft 33 of the middle knee joint turbine output is aligned, and the lower leg is placed on figure 2 The middle carbon fiber support plate 58 is bound by a flexible strap. When the knee joint performs flexion and extension exercises, because the human knee joint is a complex variable-axis motion, and the exoskeleton knee joint is a single-axis motion, this is not Correspondence will inevitably lead to a slight misalignment of the joints, resulting in a pulling force along the radial direction of the lower leg and a torsion force generated by the tangential rotation deviation at the lower leg binding. The calf tie of the present invention passes figure 2 The middle binding slider 54 releases the radial restraint of the calf and the rotation pin 55 releases the tangential rotation restraint to adapt to the deviation of the human-machine movement process, thereby eliminating the drag and torsion force generated by the exoskeleton binding on the human body, thereby improving the rehabilitation The wearing comfort of the bones.