Hydraulic power exoskeleton robot

Abstract

The invention relates to the technical field of emergency rescue, in particular to a hydraulic power exoskeleton robot which comprises an upper limb skeleton, a lower limb skeleton and a backpack support with built-in hydraulic power, the bottom of the lower limb skeleton is rotatably connected with shoe covers, and the side face of the backpack support is fixedly connected with fast-inserting shoulder straps and fast-inserting waistbands. According to the invention, the quick-insertion waistband and the quick-insertion shoulder straps are adopted, and meanwhile, the shoe covers are adopted to fix the feet, so that the wearing steps are reduced, and the shoulder strap hasps and the waistband hasps are quickly pressed down by two hands when the shoes need to be separated, so that the shoes are convenient and quick to wear and also quick to separate; during emergency rescue, if a fault or a dangerous situation occurs, rapid separation can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of emergency rescue, and in particular to a hydraulically powered exoskeleton robot. Background Art

[0002] Exoskeleton robotics technology integrates sensing, control, information, fusion, and mobile computing to provide operators with a wearable mechanical mechanism. One type of exoskeleton is a human enhancement exoskeleton that assists specific joints. This type of exoskeleton is mainly used to increase human strength and expand the upper limit of human capabilities. The other type is a rehabilitation exoskeleton, which is mainly used in the field of medical rehabilitation.

[0003] The existing Chinese patent with publication number CN110842892A discloses a hydraulically driven four-link upper limb power-assisting exoskeleton robot, which belongs to the field of intelligent device technology. The exoskeleton robot includes: a back exoskeleton, a shoulder joint exoskeleton, an elbow joint exoskeleton and a wrist joint exoskeleton; the shoulder joint exoskeleton is connected to the back exoskeleton, the elbow joint exoskeleton is connected to the shoulder joint exoskeleton, and the wrist joint exoskeleton is connected to the elbow joint exoskeleton; wherein the shoulder joint exoskeleton and the elbow joint exoskeleton are four-link mechanisms; they solve the problem of heavy weight in the existing technology and achieve the effect of weight reduction.

[0004] Existing exoskeleton robots that can cover the whole body and provide upper arm assistance in carrying are mostly driven by joint motors or linear motors. They have a small load capacity and are difficult to wear. They need to be bound to the limbs and multiple moving parts of the body. They are not adaptable and require help from others to bind. In addition, if the exoskeleton robot malfunctions, the wearer may be trapped in a dangerous environment and may not have time to escape. Summary of the Invention

[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides a hydraulically powered exoskeleton robot that can effectively solve the problem that the prior art is inconvenient to wear.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: The present invention provides a hydraulically powered exoskeleton robot, comprising an upper limb skeleton, a lower limb skeleton, and a backpack support with built-in hydraulic power, wherein the bottom of the lower limb skeleton is rotatably connected to a shoe cover; A quick-insert shoulder strap and a quick-insert waist belt are fixedly connected to the side of the backpack stand, a shoulder strap buckle is installed at the end of the quick-insert shoulder strap, and a waist belt buckle is installed at the end of the quick-insert waist belt; A hand-held controller is installed at the end of the upper limb skeleton, and an upper touch switch, a lower touch switch, a front touch switch and a rear touch switch are installed in the hand-held controller; The hand-held controller also includes an external sliding sleeve in the middle. The wearer holds the external sliding sleeve and pushes the external sliding sleeve forward with both hands to trigger the rear touch switch, thereby controlling the forearm oil cylinder to extend, otherwise the forearm oil cylinder will retract. The upward lifting of the sliding sleeve triggers the upper touch switch, thereby controlling the upper arm oil cylinder to retract, otherwise the upper arm oil cylinder will extend.

[0007] Furthermore, the lower limb frame includes two leg abduction frames hinged to the backpack frame, the ends of the two leg abduction frames are rotatably connected to the thigh frame, the bottom end of the thigh frame is rotatably connected to the calf frame, the bottom end of the calf frame is fixedly connected to a universal ball head, and the calf frame is rotatably connected to the shoe cover through the universal ball head.

[0008] Furthermore, the upper limb skeleton includes two upper limb abduction brackets hinged to the backpack bracket, the ends of the two upper limb abduction brackets are rotatably connected to the upper arm bracket, and the ends of the upper arm brackets are rotatably connected to the forearm bracket.

[0009] Furthermore, a boom cylinder is rotatably connected between the upper limb abduction bracket and the boom bracket, and a forearm cylinder is rotatably connected between the boom bracket and the forearm bracket.

[0010] Furthermore, a calf oil cylinder is fixedly connected between the thigh frame and the calf frame, and a thigh oil cylinder is rotatably connected between the thigh frame and the leg abduction bracket.

[0011] Furthermore, a sole detection switch is fixedly installed on the top surface of the shoe cover to detect the position of the wearer's sole.

[0012] Furthermore, a foot instep position sensing switch is fixedly connected to the side of the shoe cover, and the foot instep position sensing switch is located just above the shoe cover to detect the wearer's foot instep position.

[0013] Furthermore, the connection of the leg abduction support is fixedly connected to the pelvic support, the end of the pelvic support is fixedly connected to the thigh displacement sensor, the bottom of the pelvic support is rotatably connected to the leg support, and a spring is fixedly connected between the thigh displacement sensor and the leg support.

[0014] Furthermore, the handheld controller also includes a central frame, and the two ends of the controller bracket are respectively embedded with corresponding upper touch switches and lower touch switches, and the lower touch switch is located at the bottom. The external sliding sleeve of the central frame is provided with an external sliding sleeve, and the upper and lower ends of the central frame are fixedly connected with upper and lower guide columns, and a start switch is installed on the outside of the external sliding sleeve.

[0015] Furthermore, the hand-held controller is rotatably connected to the forearm bracket, and the hand-held controller also includes a controller bracket. Two front and rear guide columns are slidingly inserted into the inner side of the central skeleton, and the two front and rear guide columns are fixedly connected to the front and rear trigger sleeves. A front touch switch and a rear touch switch are embedded and fixedly connected on the central skeleton, and the front touch switch and the rear touch switch are distributed correspondingly.

[0016] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: 1. The present invention adopts quick-insert waist belt and quick-insert shoulder strap, and uses shoe covers to fix the feet, which helps reduce the number of steps for putting on the shoes. When it is necessary to take off the shoes, the shoulder strap buckle and waist belt buckle can be quickly pressed with both hands, making it convenient and quick to put on and take off. In case of emergency rescue, if a malfunction occurs or the shoes are in danger, they can be quickly taken off.

[0017] 2. The present invention adopts a hand-held controller, which allows the wearer to rely on the movement of the external sliding sleeve to independently control the operation of the upper arm cylinder or the lower arm cylinder, or both at the same time, helping the wearer to conveniently and quickly realize the movement of the upper limbs and provide additional load for the wearer.

[0018] 3. The present invention uses the coordination between the thigh displacement sensor, the instep displacement sensing switch and the thigh displacement sensor, so that when the wearer changes his walking posture, the thigh cylinder and the calf cylinder can autonomously help the wearer to move his lower limbs, providing assistance to the wearer's lower limbs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0020] Figure 1 It is a rear view of the overall structure of the present invention; Figure 2 It is a front view of the overall structure of the present invention; Figure 3 The handheld controller of the present invention is trying to; Figure 4 It is a half-section view of the central skeleton of the present invention.

[0021] The numbers in the figure represent: 101, shoe cover; 102, universal ball head; 103, calf frame; 104, thigh frame; 105, leg abduction support; 106, backpack support; 107, forearm support; 108, upper arm support; 109, upper limb abduction support; 110, pelvic support; 111, leg support; 201, calf cylinder; 202, thigh cylinder; 203, upper arm cylinder; 204, forearm cylinder; 301, quick-release waist belt; 401, quick-release shoulder strap; 501, sole detection Switch; 502, instep position sensing switch; 503, thigh displacement sensor; 505, spring; 600, hand-held controller; 601, controller bracket; 700, control component; 701, central skeleton; 702, external sliding sleeve; 703, upper and lower guide pillars; 704, front and rear guide pillars; 705, front and rear trigger sleeves; 801, lower touch switch; 802, front touch switch; 803, rear touch switch; 804, upper touch switch; 805, start switch; 901, shoulder strap buckle; 902, waist belt buckle. DETAILED DESCRIPTION

[0022] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] The present invention will be further described below with reference to the embodiments.

[0024] Example: A hydraulically powered exoskeleton robot, referring to Figures 1 to 4 , including an upper limb frame, a lower limb frame and a backpack bracket 106. The upper limb frame includes two upper limb abduction frames 109 hinged to the backpack bracket 106, and the lower limb frame includes two leg abduction frames 105 hinged to the backpack bracket 106. The side of the backpack bracket 106 is fixedly connected with a quick-release shoulder strap 401 and a quick-release waist belt 301. The end of the quick-release shoulder strap 401 is installed with a shoulder strap buckle 901, and the end of the quick-release waist belt 301 is installed with a waist belt buckle 902.

[0025] During the donning process, the wearer can half-squat, put his feet into the shoe covers 101, then stand up, put his arms through the quick-insert shoulder straps 401, then buckle the shoulder strap buckles 901, then put the quick-insert waist belt 301 around the waist, and buckle the waist belt buckle 902 to complete the overall donning. When it is necessary to take off the exoskeleton, the wearer can quickly press the shoulder strap buckles 901 and the waist belt buckle 902 with both hands to loosen the quick-insert waist belt 301 and the quick-insert waist belt 301. Then the wearer can quickly detach from the exoskeleton, realizing quick donning and doffing of the exoskeleton, making it more convenient to wear and faster to take off the exoskeleton when encountering danger.

[0026] The ends of the two leg abduction brackets 105 are rotatably connected to the thigh frame 104, the bottom end of the thigh frame 104 is rotatably connected to the calf frame 103, the bottom end of the calf frame 103 is fixedly connected to the universal ball head 102, and the calf frame 103 is rotatably connected to the shoe cover 101 through the universal ball head 102, the calf cylinder 201 is fixedly connected between the thigh frame 104 and the calf frame 103, the thigh cylinder 202 is rotatably connected between the thigh frame 104 and the leg abduction bracket 105, the connection point of the leg abduction bracket 105 is fixedly connected to the pelvic bracket 110, the end of the pelvic bracket 110 is fixedly connected to the thigh displacement sensor 503, the bottom of the pelvic bracket 110 is rotatably connected to the leg bracket 111, and a spring 505 is fixedly connected between the thigh displacement sensor 503 and the leg bracket 111.

[0027] The lower limb skeleton is driven by two thigh cylinders 202 and two calf cylinders 201 to provide external force support for the wearer, and the backpack bracket 106 has built-in hydraulic power, which can be transmitted to the thigh cylinder 202 and the calf cylinder 201. During the wearer's movement, the spring 505 provides elastic force to keep the leg bracket 111 in contact with the outside of the wearer's thigh. When the wearer's thigh steps forward, since the leg bracket 111 always fits the leg, the leg displacement sensor connected to the leg bracket 111 will detect the change in angle. At this time, the thigh cylinder 202 extends to help the wearer's thigh move forward. Conversely, the thigh cylinder 202 retracts to help the wearer's thigh move backward.

[0028] A sole detection switch 501 is fixedly installed on the top surface of the shoe cover 101 to detect the position of the wearer's sole. An instep position sensing switch 502 is fixedly connected to the side of the shoe cover 101. The instep position sensing switch 502 is located directly above the shoe cover 101 to detect the position of the wearer's instep. The wearer's load weight is completely transferred to the bottom of the shoe cover 101 through the backpack frame and the lower limb frame.

[0029] The control system uses the moment when the sole of the shoe steps on the sole detection switch 501 and is just triggered as the 0 position of the instep position sensing switch 502. When the instep approaches the instep position sensing switch 502, the calf cylinder 201 gradually contracts to help the wearer's calf bend toward the thigh. When the instep moves away from the instep position sensing switch 502, the calf cylinder 201 extends to help the wearer's calf straighten. In general, the distance trend of the instep to the instep is used to determine whether to lift the calf or press the calf, thereby controlling the calf cylinder 201 to perform the corresponding action.

[0030] The ends of the two upper limb abduction brackets 109 are rotatably connected to the upper arm bracket 108, the ends of the upper arm bracket 108 are rotatably connected to the forearm bracket 107, the upper limb abduction bracket 109 and the upper arm bracket 108 are rotatably connected to the upper arm cylinder 203, and the upper arm bracket 108 and the forearm bracket 107 are rotatably connected to the forearm cylinder 204.

[0031] The handheld controller 600 is rotatably connected to the forearm bracket 107. The handheld controller 600 also includes a controller bracket 601. The front and rear trigger sleeves 705 are slidingly sleeved on the outside of the central skeleton 701. Two front and rear guide posts 704 are horizontally fixedly connected inside the front and rear trigger sleeves 705. The front and rear guide posts 704 are slidably inserted into the central skeleton 701. The central skeleton 701 is embedded with a front touch switch 802 and a rear touch switch 803. The front touch switch 802 and the rear touch switch 803 are correspondingly distributed. The handheld controller 600 also includes a central skeleton 701. 01. The two ends of the controller bracket 601 are respectively embedded with corresponding upper touch switches 804 and lower touch switches 801, and the lower touch switch 801 is located at the bottom. The external sliding sleeve of the central skeleton 701 is provided with an external sliding sleeve 702. The upper and lower ends of the central skeleton 701 are fixedly connected with upper and lower guide columns 703. The outside of the external sliding sleeve 702 is installed with a starting switch 805. The starting switch 805 controls the start and stop of the overall hydraulic power. The upper and lower guide columns 703 form a whole with the central skeleton 701 and slide between the two ends of the controller bracket 601.

[0032] When wearing the device, the wearer needs to hold the two external sleeves 702 with both hands respectively. By pushing the external sleeve 702 of the hand-held controller 600 forward with both hands, the rear touch switch 803 is triggered to control the forearm cylinder 204 to extend, helping the wearer's forearm and upper arm to become straight. By pulling the external sleeve 702 backward, the front touch switch 802 is triggered to control the forearm cylinder 204 to retract, helping the wearer's forearm to bend toward the upper arm. Lifting the external sleeve 702 can trigger the upper touch switch 804 to control the upper arm cylinder 203 to retract, helping the wearer's upper arm to lift up. Pressing the external sleeve 702 downward can trigger the lower touch switch 801 to control the upper arm cylinder 203 to extend, helping the wearer's upper arm to bend down. During operation, the wearer can independently control the movement of the external sleeve 702 as needed. At the same time, the wearer is not limited to moving the external sleeve 702 in only one direction, that is, the external sleeve 702 can be moved in two directions at the same time to complete the responsible upper limb movement and provide additional load for the wearer.

[0033] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A hydraulically powered exoskeleton robot comprising an upper limb skeleton, a lower limb skeleton, and a backpack support with built-in hydraulic power, characterized in that: The bottom of the lower limb frame is rotatably connected to a shoe cover; A quick-insert shoulder strap and a quick-insert waist belt are fixedly connected to the side of the backpack stand, a shoulder strap buckle is installed at the end of the quick-insert shoulder strap, and a waist belt buckle is installed at the end of the quick-insert waist belt; A hand-held controller is installed at the end of the upper limb skeleton, and an upper touch switch, a lower touch switch, a front touch switch and a rear touch switch are installed in the hand-held controller; The hand-held controller also includes an external sliding sleeve in the middle. The wearer holds the external sliding sleeve and pushes the external sliding sleeve forward with both hands to trigger the rear touch switch, thereby controlling the forearm oil cylinder to extend, otherwise the forearm oil cylinder will retract. The upward lifting of the sliding sleeve triggers the upper touch switch, thereby controlling the upper arm oil cylinder to retract, otherwise the upper arm oil cylinder will extend.

2. A hydraulic powered exoskeleton robot according to claim 1, characterized in that: The lower limb frame includes two leg abduction frames hinged to the backpack frame, the ends of the two leg abduction frames are rotatably connected to the thigh frame, the bottom end of the thigh frame is rotatably connected to the calf frame, the bottom end of the calf frame is fixedly connected to a universal ball head, and the calf frame is rotatably connected to the shoe cover through the universal ball head.

3. A hydraulic powered exoskeleton robot according to claim 2, characterized in that: The upper limb skeleton includes two upper limb abduction brackets hinged to the backpack bracket, the ends of the two upper limb abduction brackets are rotatably connected to the upper arm bracket, and the ends of the upper arm brackets are rotatably connected to the forearm bracket.

4. A hydraulic powered exoskeleton robot according to claim 3, characterized in that: A large arm oil cylinder is rotatably connected between the upper limb abduction bracket and the large arm bracket, and a small arm oil cylinder is rotatably connected between the large arm bracket and the small arm bracket.

5. The hydraulic powered exoskeleton robot according to claim 2, characterized in that: A calf oil cylinder is fixedly connected between the thigh frame and the calf frame, and a thigh oil cylinder is rotatably connected between the thigh frame and the leg abduction bracket.

6. A hydraulic powered exoskeleton robot according to any one of claims 4 or 5, characterized in that: A sole detection switch is embedded and fixedly installed on the top surface of the shoe cover to detect the position of the wearer's sole.

7. A hydraulic powered exoskeleton robot according to claim 6, characterized in that: The side of the shoe cover is fixedly connected with an instep position sensing switch, and the instep position sensing switch is located just above the shoe cover to detect the instep position of the wearer.

8. The hydraulic powered exoskeleton robot according to claim 7, characterized in that: The connection of the leg abduction bracket is fixedly connected to the pelvic bracket, the end of the pelvic bracket is fixedly connected to the thigh displacement sensor, the bottom of the pelvic bracket is rotatably connected to the leg bracket, and a spring is fixedly connected between the thigh displacement sensor and the leg bracket.

9. The hydraulic powered exoskeleton robot according to claim 8, characterized in that: The handheld controller also includes a central frame, and the two ends of the controller bracket are respectively embedded with corresponding upper touch switches and lower touch switches, and the lower touch switch is located at the bottom. The external sliding sleeve of the central frame is provided with an external sliding sleeve, and the upper and lower ends of the central frame are fixedly connected with upper and lower guide columns, and a start switch is installed on the outside of the external sliding sleeve.

10. The hydraulic powered exoskeleton robot according to claim 9, characterized in that: The hand-held controller is rotatably connected to the forearm bracket, and the hand-held controller also includes a controller bracket. The front and rear trigger sleeves are slidingly sleeved outside the central frame, and two front and rear guide columns are horizontally fixedly connected inside the front and rear trigger sleeves. The front and rear guide columns are slidably inserted into the central frame, and a front touch switch and a rear touch switch are embedded and fixedly connected on the central frame, and the front touch switch and the rear touch switch are distributed correspondingly.

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