Exoskeleton robot structure capable of being used for waist assistance

Abstract

According to the exoskeleton robot structure capable of being used for assisting the waist, a binding assembly is connected to a frame, a driving motor is also installed on the frame through a support, an output wheel is fixedly connected to an output shaft of the driving motor, one end of a winding belt is fixedly connected to the wheel face of the output wheel and wound around the output wheel, and the other end of the winding belt is fixedly connected to the frame. The other end of the winding belt is simultaneously connected to two thigh binding belts of the binding assembly through a flexible belt; the output wheel is further fixedly connected with a ratchet wheel, the pawl is arranged beside the ratchet wheel, a shaft rod is installed at the position, corresponding to the pawl, of the support, the middle of the pawl is hinged to the shaft rod, the face, away from the ratchet wheel, of the tail of the pawl is connected to the support through an extension spring, and an electromagnet is arranged beside the other face of the tail of the pawl and fixedly connected to the rack. And the tail part of the pawl is made of a ferromagnetic material. The exoskeleton robot has the advantages of being good in waist assisting effect, small in human body load, good in user experience, capable of keeping the posture, flexible and convenient to use, low in manufacturing and follow-up maintenance cost and the like.

Description

Technical Field

[0001] The invention belongs to the field of power-assist robots, and in particular relates to an exoskeleton robot structure that can be used for waist power assistance. Background Art

[0002] The wearable waist exoskeleton robot can provide functions such as assistance, protection, and support for people's waist. It integrates multiple technologies such as mechanics, electronics, control, and sensing. It can drive the system through a matching follow-up control strategy to perform human-machine collaborative movement, enhance the load and movement capacity of the human waist, and has broad application prospects in many fields such as industrial production, rehabilitation medicine, and military.

[0003] At present, most of the active power-assisted exoskeleton robots for the waist are usually driven by placing a pair of drive motors at the human hip joint. This type of exoskeleton robot assists the human hip joint through a dual-motor hip joint power-assisted mode, which can be used to assist the human lower limbs in walking, and also has a certain waist power-assisted function. When the human body bends or stands up, the drive motors at the two hip joints can also rotate in the bending direction and the standing direction at the same time to assist the human waist extension movement. However, according to the walking habits of the human body, its drive motor needs to be a high-speed and low-load type, and for the characteristics of waist movement, a low-speed and high-load drive motor needs to be selected. Therefore, the actual application effect of the waist power-assisted function of this type of exoskeleton robot with a dual-motor hip joint power-assisted mode is poor, and two motors are required to drive it synchronously, and the load on the human legs is also large. Therefore, there is an urgent need for an exoskeleton robot specifically for waist power-assisted.

[0004] Moreover, in the application scenarios of waist-assisted exoskeleton robots, a large part of them require the waist to maintain a certain posture for a long time. In this scenario, the drive motor needs to maintain a certain torque for a long time, but there is no mechanical movement. In this case, all the electrical energy is converted into heat energy, which will cause the motor to generate a lot of heat, causing the motor temperature to rise sharply or even burn out. Some motors are equipped with brakes and have certain braking functions, but their braking is mostly through the friction between the friction plates to prevent the relative rotation between the motor stator and the rotor. When the load is large, the braking function cannot be realized, which is easy to cause danger. In addition, the size and weight of the motor with braking function are also large, which affects the compact design of the robot system.

[0005] For example, an active waist-assist exoskeleton (CN112621722A) designed by Maibao Intelligent Technology (Suzhou) Co., Ltd. places a pair of motors at the hip joints of the human body to assist the hip joints. In addition to assisting the human body in walking, the motors can also simultaneously rotate forward or reverse to achieve the waist-assist function of bending and standing up. However, the symmetrical installation structure of the two motors increases the overall weight of the system; this configuration achieves the bending and straightening of the human waist through the relative rotation of the back and thighs. In order to ensure that the human body can turn and move sideways at the same time, an additional mechanism to support the turning and moving of the legs is added, which greatly increases the complexity of the thigh and binding mechanism; the relatively high-speed and low-torque characteristics of the motors are also not matched with the low-speed and high-torque characteristics required for waist assistance, which reduces the effectiveness of waist assistance; the hip joints also do not have a corresponding holding mechanism. When the waist needs to maintain a certain posture for a long time, the motor will continue to output torque without rotation, and the temperature rise is large, which not only wastes electrical energy, but also is not conducive to the normal operation of the subsequent motor. Summary of the invention

[0006] Based on the deficiencies of existing exoskeleton robots described in the background technology, the present invention provides an exoskeleton robot structure that can be used for waist assistance, which has the characteristics of good waist assistance effect, small human body load, good user experience, posture maintenance function, flexible and convenient use, and low manufacturing and subsequent maintenance costs.

[0007] An exoskeleton robot structure that can be used for waist assistance is provided, which includes a binding assembly, a frame, a drive motor, an output wheel, a reel, a flexible belt, a ratchet, a pawl, a shaft, an electromagnet, and a tension spring;

[0008] The binding assembly is connected to the frame, the driving motor is also installed on the frame through a bracket and a support plate, an output wheel is fixedly connected to the output shaft of the driving motor, one end of the belt is fixedly connected to the wheel surface of the output wheel and wound around the output wheel, and a slot is specifically provided on the wheel surface of the output wheel, and one end of the belt can be pressed into the slot by a pressing block, and the other end of the belt is simultaneously connected to two thigh straps of the binding assembly through a flexible belt, and the flexible belt can specifically be a tension belt;

[0009] The output wheel is also fixedly connected to a ratchet, which is coaxially arranged next to the output wheel and can be fastened to the output wheel by a plurality of screws in a circumferential array, so that the ratchet and the output wheel are securely installed; the pawl is arranged next to the ratchet, and the bracket is equipped with a shaft rod at the corresponding position of the pawl, and the middle part of the pawl is hinged to the shaft rod. Specifically, a rotating hole is opened in the middle part of the pawl, and the pawl is sleeved on the shaft rod through its rotating hole, and the side of the tail of the pawl away from the ratchet is connected to the lower part of the bracket through a tension spring, and an electromagnet is arranged next to the other side of the tail of the pawl, and the electromagnet is fixedly connected to the bottom surface of the frame through a mounting frame, and the tail of the pawl is made of ferromagnetic material.

[0010] The exoskeleton robot of the above structure adopts a single motor back flexible belt waist power-assist mode, and its working principle is as follows:

[0011] When the human body bends or stands up, the driving motor works to unwind or rewind the belt on the output wheel. The action of the belt is transmitted to the thigh strap through the flexible belt to assist the human body in stretching the waist, thereby realizing the waist assist function.

[0012] When the electromagnet is not energized, the pawl of the pawl can be inserted into the tooth groove of the ratchet wheel to limit the rotation of the ratchet wheel, thereby limiting the rotation of the output wheel. In this state, the belt cannot be unwound, thereby preventing the waist from bending, thereby realizing the waist load holding function.

[0013] When the electromagnet is energized, it attracts the tail of the pawl, which can overcome the pulling force of the tension spring on the tail of the pawl, causing the tension spring to be further stretched, and the pawl swings around the shaft, so that the pawl moves away from the ratchet wheel, thereby releasing the waist load holding function and restoring normal waist movement and power assist function.

[0014] The control of the above-mentioned drive motor and electromagnet can be achieved through intelligent control gloves. A bending sensor is installed on the back of each finger of the intelligent control glove, a thin film pressure sensor is installed on the front of the finger tip, and a signal acquisition and communication control circuit is installed on the back of the palm. The movement state of the finger tip and the contact force between the finger and the object can be collected by the bending sensor and the thin film pressure sensor, and transmitted to the main control board in the electrical control box through wired or wireless communication, so as to control the operation of the drive motor and the electromagnet; the control method of the drive motor and the electromagnet is the existing technology. Since this application aims to protect the structure of the exoskeleton robot, the specific control method and logic of the drive motor and the electromagnet will not be repeated here.

[0015] Preferably, the drive motor is a low-speed, high-load reduction motor, stepper motor or servo motor that can rotate forward and reverse. Such a low-speed, high-load drive motor is more in line with the movement characteristics of the waist and is beneficial to improving the waist assistance effect under large load scenarios.

[0016] Furthermore, the above-mentioned exoskeleton robot that can be used for waist assistance also includes a limit guide assembly, and the limit guide assembly includes a limit member, a limit rod and a tension guide shaft;

[0017] The limit member is arranged below the output wheel and fixedly connected to the lower part of the frame. A through hole is opened on the limit member, and two parallel limit rods are installed in the through hole of the limit member. The bracket is installed with a tensioning guide shaft at the unwinding position of the belt, and the belt bypasses the tensioning guide shaft and passes through the gap between the two limit rods. In this way, the belt will not shake when it is wound and unwound, and a more stable waist assistance effect can be achieved.

[0018] Furthermore, the above-mentioned exoskeleton robot that can be used for waist assistance also includes a mounting block, the bottom surface of which is integrally connected with a pull ring, the end of the roll belt is fixedly connected to the mounting block after passing through the through hole of the limiter, one end of the flexible belt is detachably connected to the thigh strap via Velcro, and the other end of the flexible belt is detachably connected to the pull ring of the mounting block via Velcro; the flexible belt configured in this way facilitates the connection and disconnection of the driving component and the thigh strap, and is easy to wear on the human body after disconnection.

[0019] Preferably, an anti-collision rubber piece is fixedly connected to the top surface of the mounting block to prevent the mounting block from directly and rigidly contacting the limiting piece when the tape is rolled up.

[0020] Preferably, the binding assembly also includes a back plate, a waist side guard plate, a shoulder strap and a waist belt; the back plate is fixedly connected to the frame, the back plate and the drive motor are respectively arranged on the front and rear sides of the frame, the two waist side guard plates are respectively arranged on the left and right sides of the back plate and are respectively fixedly connected to the back plate, one end of the shoulder strap is fixedly connected to the back plate, and the other end is fixedly connected to the corresponding waist side guard plate, the two ends of the waist belt are respectively detachably connected to the corresponding waist side guard plates, and the thigh straps are fixedly connected to the corresponding waist side guard plates through stretch straps; the human torso is combined and tied to the human body through the front waist belt and shoulder straps, and the human thighs are combined and tied through the lower thigh straps. Such a binding assembly can be firmly bound to the human body and will not affect the waist assistance effect.

[0021] Preferably, a shell cover is also provided at the back plate, the shell cover is fixedly connected to the frame, the bracket, drive motor, output wheel, ratchet and pawl are all located inside the shell cover, and the shell cover is provided with an obstacle avoidance hole at the unwinding position of the belt; in this way, the shell cover can protect the various power-assisted drive components on the back of the human body and also make the appearance good.

[0022] Preferably, an electric control box is also provided inside the shell cover and above the motor. The electric control box is fixedly connected to the back panel. A main control board, batteries and other components are installed in the electric control box. The box has functions such as signal acquisition, transmission, calculation, and control, and supplies power to the system. An extended display control panel electrically connected to the electric control box is installed on the shoulder strap to facilitate personnel to monitor the system status and adjust the operating mode during the operation of the equipment.

[0023] Preferably, the frame is a hollow tube structure, with wire through holes on the frame surface, and cables distributed in the hollow cavity of the frame; the cables arranged in this way can be hidden and not exposed, and the cables can pass through the wire through holes on the frame surface to be connected to the drive motor, electromagnet, battery in the electric control box, and various control components.

[0024] Through the above technical solution, the present invention at least includes the following beneficial effects:

[0025] The exoskeleton robot that can be used for waist assistance described in the present application is designed as a single-motor back flexible belt waist assistance mode. The linear assistance from the back to the legs is more in line with the movement characteristics of the waist, which can improve the load capacity and increase the waist assistance effect. The single drive motor used as the power element reduces the number of motors used compared to the exoskeleton robot with a dual-motor hip joint assistance mode described in the background technology, which not only reduces costs, but also reduces system weight and reduces the load on the human body. The single drive motor and the corresponding assistance component units are integrated on the back of the human body, which greatly reduces the load on the human legs and improves the user experience.

[0026] The exoskeleton robot that can be used for waist assistance described in the present application also integrates a retaining mechanism with a ratchet and pawl cooperation at the power-assisting drive unit on the back, and has waist load and posture holding functions, that is, after the waist moves to a certain position, it can maintain this posture for a long time without consuming electric energy, meeting the requirements of adapting to various movement modes; in the scenario of maintaining the posture for a long time, it can not only greatly reduce the power consumption of the system and maintain the waist load capacity, but also effectively reduce the temperature rise of the motor and increase the service life of the motor; it achieves posture maintenance through mechanical self-locking, and compared with the motor braking mode with brake described in the background technology, it has higher reliability and greater load capacity.

[0027] The exoskeleton robot that can be used for waist assistance described in the present application has a waist assistance mode that uses a flexible belt to transmit force to pull the thigh straps to achieve waist extension movement. Since the flexible belt is flexible and bendable, it does not affect the turning and lateral movement of the human body, and is flexible and convenient to use. Compared with the dual-motor hip joint assistance mode described in the background technology (which requires a complex rigid structure to be bound to the thigh to transmit the torque from the hip joint motor, and two rotating pairs need to be set to achieve the lower limb turning and lateral movement functions), it not only greatly simplifies the complexity of the transmission mechanism, but also does not require the addition of an additional rotating mechanism, thereby reducing the manufacturing and subsequent maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the overall structure of an exoskeleton robot that can be used for waist assistance as described in an embodiment of the present application;

[0029] Figure 2 A schematic diagram of a portion of the internal structure of an exoskeleton robot that can be used for waist assistance as described in an embodiment of the present application;

[0030] Figure 3 This is a schematic diagram of the structure of the ratchet and the spine of an exoskeleton robot that can be used for waist assistance as described in an embodiment of the present application (the back plate, bracket and other components are hidden in the figure);

[0031] Figure 4It is a schematic structural diagram of the limiting member and the limiting rod described in the implementation manner of the present application. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the structures related to the present invention.

[0033] In the description of this application, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship are only used for exemplary description and cannot be understood as limiting this patent; if there are terms such as "first", "second", etc., they are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the said features. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0034] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] refer to Figures 1 to 4 An exoskeleton robot structure that can be used for waist assistance, comprising a binding assembly, a frame 1, a drive motor 8, an output wheel 9, a reel 10, a flexible belt 2, a ratchet 11, a pawl 12, a shaft 18, an electromagnet 13 and a tension spring 14;

[0036] The binding assembly is connected to the frame 1, and the driving motor 8 is also installed on the frame 1 through the bracket 15 and the support plate 16. The output shaft of the driving motor 8 is fixedly connected to the output wheel 9, and one end of the reel 10 is fixedly connected to the wheel surface of the output wheel 9 and wound around the output wheel 9. Specifically, a card slot is opened on the wheel surface of the output wheel 9, and one end of the reel 10 can be pressed into the card slot by a pressing block. The other end of the reel 10 is simultaneously connected to the two thigh straps 301 of the binding assembly through a flexible belt 2, and the flexible belt 2 can specifically be a tension belt;

[0037] The output wheel 9 is also fixedly connected to a ratchet 11, which is coaxially arranged next to the output wheel 9 and can be fastened to the output wheel 9 by a plurality of circumferentially arrayed screws, so that the ratchet 11 and the output wheel 9 are securely installed; the pawl 12 is arranged next to the ratchet 11, and the bracket 15 is equipped with a shaft 18 at the corresponding position of the pawl 12, and the middle part of the pawl 12 is hinged to the shaft 18, and specifically, a rotating hole is opened in the middle part of the pawl 12, and the pawl 12 is sleeved on the shaft 18 through its rotating hole, and the side of the tail of the pawl 12 away from the ratchet 11 is connected to the lower part of the bracket 15 through a tension spring 14, and an electromagnet 13 is arranged next to the other side of the tail of the pawl 12, and the electromagnet 13 is fixedly connected to the bottom surface of the frame through a mounting frame, and the tail of the pawl 12 is made of ferromagnetic material.

[0038] The exoskeleton robot of the above structure adopts a single motor back flexible belt waist power-assist mode, and its working principle is as follows:

[0039] When the human body bends or stands up, the driving motor 8 works to unwind or rewind the belt 10 on the output wheel 9, and the movement of the belt 10 is transmitted to the thigh strap 301 through the flexible belt 2, thereby assisting the human body's waist to stretch, thereby realizing the waist assistance function;

[0040] When the electromagnet 13 is not energized, the tension spring 14 tightens the tail of the pawl 12, so that the claw of the pawl 12 can be stuck in the tooth groove of the ratchet wheel 11 to limit the rotation of the ratchet wheel 11, thereby limiting the rotation of the output wheel 9. In this state, the belt 10 cannot be unwound, thereby preventing the waist from bending, thereby realizing the waist load holding function;

[0041] When the electromagnet 13 is energized, the electromagnet 13 attracts the tail of the pawl 12, which can overcome the pulling force of the tension spring 14 on the tail of the pawl 12, so that the tension spring 14 is further stretched, and the pawl 12 swings around the shaft 18, so that the claw of the pawl 12 is away from the ratchet 11, to release the waist load holding function, thereby restoring normal waist movement and power assist function.

[0042] The control of the above-mentioned drive motor 8 and electromagnet 13 can be achieved through an intelligent control glove 4, in which a bending sensor is installed on the back of each finger of the intelligent control glove 4, a thin film pressure sensor is installed on the front of the finger tip, and a signal acquisition and communication control circuit is installed on the back of the palm. The movement state of the finger tip and the contact force between the finger and the object can be collected by the bending sensor and the thin film pressure sensor, and transmitted to the main control board in the electrical control box through wired or wireless communication, so as to control the operation of the drive motor 8 and the electromagnet 13; the control method of the drive motor 8 and the electromagnet 13 is the existing technology. Since this application aims to protect the structure of the exoskeleton robot, the specific control method and logic of the drive motor 8 and the electromagnet 13 will not be repeated here.

[0043] The drive motor 8 can be selected as a low-speed and high-load reduction motor, a stepper motor or a servo motor that can rotate forward and reverse. Such a low-speed and high-load drive motor 8 is more in line with the movement characteristics of the waist and is beneficial to improving the waist assistance effect under large load scenarios.

[0044] In this specific implementation:

[0045] The above-mentioned exoskeleton robot that can be used for waist assistance also includes a limit guide component, refer to Figure 2 and Figure 4 , the limiting guide assembly includes a limiting member 6, a limiting rod 601 and a tensioning guide shaft 17;

[0046] The limit member 6 is arranged below the output wheel 9 and fixedly connected to the lower part of the frame 1. A through hole is opened on the limit member 6, and two parallel limit rods 601 are installed in the through hole of the limit member 6; the bracket 15 is installed with a tensioning guide shaft 17 at the unwinding position of the belt 10, and the belt 10 bypasses the tensioning guide shaft 17 and passes through the gap between the two limit rods 601; in this way, the belt 10 will not shake when winding and unwinding, and a more stable waist assistance effect can be achieved.

[0047] refer to Figure 1 and Figure 2 The exoskeleton robot for waist assistance also includes a mounting block 7, the bottom surface of which is integrally connected with a pull ring 701, the end of the reel 10 is fixedly connected to the mounting block 7 after passing through the through hole of the limiter 6, one end of the flexible belt 2 is detachably connected to the thigh strap 301 through a Velcro 201, and the other end of the flexible belt 2 is detachably connected to the pull ring 701 of the mounting block 7 through a Velcro 201; the flexible belt 2 arranged in this way facilitates the connection and disconnection of the driving component and the thigh strap 301, and is convenient for human wear after disconnection. The top surface of the mounting block 7 is also fixedly connected with an anti-collision rubber part 702 to prevent the mounting block 7 from directly and rigidly contacting the limiter 6 when the reel 10 is rolled up.

[0048] refer to Figure 1The binding assembly also includes a back plate 302, a waist side guard plate 303, a shoulder strap 304 and a waist belt 305; the back plate 302 is fixedly connected to the frame 1, the back plate 302 and the driving motor 8 are respectively arranged on the front and rear sides of the frame 1, the two waist side guard plates 303 are respectively arranged on the left and right sides of the back plate 302, and are respectively fixedly connected to the back plate 302, one end of the shoulder strap 304 is fixedly connected to the back plate 302, and the other end is fixedly connected to the corresponding waist side guard plate 303, the two ends of the waist belt 305 are respectively detachably connected to the corresponding waist side guard plate 303, and the thigh strap 301 is fixedly connected to the corresponding waist side guard plate 303 through a stretch belt; the human body torso is combined and tied with the human body through the front waist belt 305 and the shoulder strap 304, and the human body thigh is combined and tied with the lower thigh strap 301, such a binding assembly can be firmly bound to the human body and will not affect the waist assistance effect.

[0049] refer to Figure 1 A shell cover 5 is also provided at the back plate 302, and the shell cover 5 is fixedly connected to the frame 1. The bracket 15, the drive motor 8, the output wheel 9, the ratchet 11 and the pawl 12 are all located in the shell cover 5. The shell cover 5 is provided with an obstacle avoidance hole at the unwinding position of the belt 10; in this way, the shell cover 5 can protect the various power-assisted drive components on the back of the human body and also make the appearance good.

[0050] An electric control box is also arranged inside the shell cover 5 and above the motor. The electric control box is fixedly connected to the back plate 302. The main control board, battery and other components are installed in the electric control box. It has functions such as signal acquisition, transmission, calculation, and control, and supplies power to the system at the same time. The extended display control panel electrically connected to the electric control box is installed on the shoulder strap to facilitate personnel to monitor the system status and adjust the operation mode during the operation of the equipment. The frame 1 is a hollow tube structure. The surface of the frame 1 is provided with threading holes, and cables are distributed in the hollow cavity of the frame 1. The cables arranged in this way can be hidden and not exposed. The cables can pass through the threading holes on the surface of the frame 1 to connect with the drive motor 8, the electromagnet 13 and the battery in the electric control box, and various control components.

[0051] The above-mentioned exoskeleton robot that can be used for waist assistance is designed as a single-motor back flexible belt waist assistance mode. The linear assistance from the back to the legs is more in line with the movement characteristics of the waist, can improve the load capacity, and increase the waist assistance effect; the single drive motor 8 is used as the power element. Compared with the exoskeleton robot with a dual-motor hip joint assistance mode described in the background technology, the number of motors used is reduced, which can not only reduce costs, but also reduce system weight and reduce the load on the human body. The single drive motor 8 and the corresponding assistance component units are integrated on the back of the human body, which greatly reduces the load on the human legs and improves the user experience.

[0052] The exoskeleton robot that can be used for waist assistance also integrates a retaining mechanism that cooperates with a ratchet 11 and a pawl 12 at the power-assisting drive unit on the back, and has waist load and posture retention functions, that is, after the waist moves to a certain position, it can maintain this posture for a long time without consuming electrical energy, meeting the requirements of adapting to various movement modes; in the scenario of maintaining a posture for a long time, it can not only greatly reduce the system power consumption and maintain the waist load capacity, but also effectively reduce the temperature rise of the motor and increase the service life of the motor; it achieves posture retention through mechanical self-locking, and compared with the motor braking mode with a brake described in the background technology, it has higher reliability and greater load capacity.

[0053] The exoskeleton robot that can be used for waist assistance, in its waist assistance mode, transmits force through the flexible belt 2 to pull the thigh strap 301 to achieve waist extension movement. Since the flexible belt 2 is flexible and bendable, it does not affect the turning and lateral movement of the human body, and is flexible and convenient to use. Compared with the dual-motor hip joint assistance mode described in the background technology (which requires a complex rigid structure to be bound to the thigh to transmit the torque from the hip joint motor, and needs to set up two rotating pairs to achieve the movement functions of lower limb turning and lateral movement), it not only greatly simplifies the complexity of the transmission mechanism, but also does not need to add an additional rotating mechanism, thereby reducing the manufacturing and subsequent maintenance costs.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Based on the present invention and the above description, relevant personnel can make various changes and modifications without departing from the technical idea of ​​the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An exoskeleton robot structure that can be used for waist assistance, characterized in that: It comprises a binding assembly, a frame (1), a driving motor (8), an output wheel (9), a winding belt (10), a flexible belt (2), a ratchet wheel (11), a ratchet pawl (12), a shaft (18), an electromagnet (13) and a tension spring (14); The binding assembly is connected to the frame (1), the driving motor (8) is also installed on the frame (1) through a bracket (15), an output wheel (9) is fixedly connected to the output shaft of the driving motor (8), one end of the winding belt (10) is fixedly connected to the wheel surface of the output wheel (9) and is wound around the output wheel (9), and the other end of the winding belt (10) is simultaneously connected to two thigh straps (301) of the binding assembly through a flexible belt (2); The output wheel (9) is also fixedly connected to a ratchet (11), the ratchet pawl (12) is arranged beside the ratchet (11), the bracket (15) is equipped with a shaft (18) at a corresponding position of the ratchet pawl (12), the middle part of the ratchet pawl (12) is hinged to the shaft (18), the side of the tail of the ratchet pawl (12) away from the ratchet (11) is connected to the bracket (15) through a tension spring (14), an electromagnet (13) is arranged beside the other side of the tail of the ratchet pawl (12), the electromagnet (13) is fixedly connected to the frame, and the tail of the ratchet pawl (12) is made of ferromagnetic material.

2. The exoskeleton robot structure for waist assistance according to claim 1, characterized in that: The driving motor (8) is a low-speed, high-load reduction motor, a stepping motor or a servo motor capable of forward and reverse rotation.

3. The exoskeleton robot structure for waist assistance according to claim 1, characterized in that: It also includes a limit guide assembly, which includes a limit member (6), a limit rod (601) and a tension guide shaft (17); The limiting member (6) is arranged below the output wheel (9) and is fixedly connected to the frame (1); a through hole is provided on the limiting member (6), and two parallel limiting rods (601) are installed in the through hole of the limiting member (6); the bracket (15) is installed with a tensioning guide shaft (17) at the unwinding position of the winding belt (10), and the winding belt (10) bypasses the tensioning guide shaft (17) and passes through the gap between the two limiting rods (601).

4. The exoskeleton robot structure for waist assistance according to claim 3, characterized in that: It also comprises a mounting block (7), the bottom surface of which is integrally connected with a pull ring (701), the end of the roll belt (10) is fixedly connected to the mounting block (7) after passing through the through hole of the limiting member (6), one end of the flexible belt (2) is detachably connected to the thigh strap (301) via a Velcro (201), and the other end of the flexible belt (2) is detachably connected to the pull ring (701) of the mounting block (7) via a Velcro (201).

5. The exoskeleton robot structure for waist assistance according to claim 4, characterized in that: The top surface of the mounting block (7) is also fixedly connected with an anti-collision rubber piece (702).

6. An exoskeleton robot structure for waist assistance according to any one of claims 1 to 5, characterized in that: The binding assembly also includes a back plate (302), a waist side guard plate (303), a shoulder strap (304) and a waist belt (305); The back plate (302) is fixedly connected to the frame (1); the back plate (302) and the driving motor (8) are respectively arranged on the front and rear sides of the frame (1); the two waist side guard plates (303) are respectively arranged on the left and right sides of the back plate (302) and are respectively fixedly connected to the back plate (302); one end of the shoulder strap (304) is fixedly connected to the back plate (302) and the other end is fixedly connected to the corresponding waist side guard plate (303); both ends of the waist belt (305) are respectively detachably connected to the corresponding waist side guard plate (303); and the thigh strap (301) is fixedly connected to the corresponding waist side guard plate (303) through a stretch belt.

7. The exoskeleton robot structure for waist assistance according to claim 6, characterized in that: A shell cover (5) is also provided at the back plate (302), and the shell cover (5) is fixedly connected to the frame (1). The bracket (15), the drive motor (8), the output wheel (9), the ratchet (11) and the ratchet pawl (12) are all located inside the shell cover (5), and the shell cover (5) is provided with an obstacle avoidance hole at the unwinding position of the tape (10).

8. The exoskeleton robot structure for waist assistance according to claim 7, characterized in that: An electric control box is also arranged inside the shell cover (5) and above the motor, and the electric control box is fixedly connected to the back plate (302).

9. The exoskeleton robot structure for waist assistance according to claim 8, characterized in that: The frame (1) is a hollow tube structure, a surface of the frame (1) is provided with wire threading holes, and cables are distributed in the hollow cavity of the frame (1).

Images