An exoskeleton robot

Abstract

The utility model discloses an exoskeleton robot, when the exoskeleton robot of the present application uses, waist module wears in the waist of use, the wearing structure of leg module wears in the knee of user, in the process of walking of user, since wearing structure is movably arranged in the other end of connecting structure through universal structure, thereby making wearing structure can follow the knee of user relative connecting structure and carry out activity, to reduce the relative activity of wearing structure and the knee part of user, and further reduce the friction damage of wearing structure to the knee of user.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton structure technology, and in particular to an exoskeleton robot. Background Technology

[0002] Exoskeleton robots are widely used in military, industrial and rehabilitation fields. As a modern wearable device, exoskeleton robots are mainly used to enhance human mobility while providing protection for the wearer. With social progress and the acceleration of aging, human exoskeletons have developed rapidly.

[0003] In related technologies, exoskeleton robots include a waist module and two leg modules. The two leg modules are connected to the waist module. When the exoskeleton robot is in use, the waist belt of the waist module is worn on the user's waist, and the two leg modules are worn on the user's two legs respectively. The leg modules include a connecting structure and a wearing structure. The wearing structure is worn on the user's knee area, and the opposite ends of the connecting structure are connected to the waist module and the wearing structure respectively.

[0004] However, when users walk using exoskeleton robots, their knees bend. In this situation, the knees move relative to the wearable structure, causing reciprocating friction between the user's knees and the wearable structure, which can damage the user's knees. Utility Model Content

[0005] The purpose of this invention is to at least solve one of the technical problems existing in the prior art. This invention provides an exoskeleton robot that can reduce damage to the user's knees.

[0006] The exoskeleton robot provided according to the embodiments of this utility model includes a waist module and a leg module; the waist module is worn on the user's waist; there are two leg modules, each leg module including a connecting structure and a wearing structure, the wearing structure being worn on the user's knee area, one end of the connecting structure being connected to the waist module, and the wearing structure being movably located at the other end of the connecting structure via a universal structure.

[0007] The exoskeleton robot described in this utility model has at least the following beneficial effects: When the exoskeleton robot of this application is used, the waist module is worn on the user's waist, and the leg module is worn on the user's knees. During the user's walking process, since the wearable structure is movably located at the other end of the connecting structure through the universal structure, the wearable structure can follow the user's knees to move relative to the connecting structure, thereby reducing the relative movement between the wearable structure and the user's knees, and thus reducing the friction damage caused by the wearable structure to the user's knees.

[0008] According to the embodiments of the present invention, the exoskeleton robot has a universal structure including a limiting pin and a limiting member. The wearable structure is provided with a floating hole. The limiting pin is horizontally inserted into the floating hole, and there is a movable gap between the limiting pin and the hole wall of the floating hole. The two opposite ends of the limiting pin are respectively connected to the limiting member and the connecting structure. The limiting member can abut against the wearable structure to prevent the wearable structure from detaching from the limiting pin.

[0009] According to the embodiments of the present invention, the exoskeleton robot has a wearable structure including a universal plate and a wearable component. A floating hole is provided on the universal plate, and the wearable component is provided on the universal plate and is used to be worn on the user's knee area.

[0010] According to the embodiments of the present invention, the exoskeleton robot has a connection structure including a first adjusting member, a rolling member, and a second adjusting member. One end of the first adjusting member is connected to a limiting pin, and the other end of the first adjusting member is rotatably connected to a rolling member. The second adjusting member is connected to a waist module. The second adjusting member has a long strip-shaped limiting cavity. The rolling member is rotatably disposed in the limiting cavity. Under the action of external force, the rolling member can roll along the limiting cavity to drive the wearable structure closer to or away from the waist module.

[0011] According to the exoskeleton robot of the present invention, the second adjusting member is provided with a mounting hole, the wall of the mounting hole is provided with a long strip-shaped mounting groove, the extension direction of the mounting hole is parallel to the extension direction of the mounting groove, a limiting cavity is formed in the mounting groove, and the first adjusting member is slidably inserted into the mounting hole.

[0012] According to the exoskeleton robot of the present invention, the second adjustment component includes a first assembly block and a second assembly block, the first assembly block and the second assembly block are detachably connected, the first assembly block and the second assembly block together define a mounting hole, and a mounting groove is provided on the first assembly block.

[0013] According to the exoskeleton robot of the present invention, the connection structure further includes a mounting base. The second adjustment member is connected to the waist module through the mounting base. The second adjustment member is hinged to the mounting base. Under the action of external force, the second adjustment member can rotate relative to the mounting base to move closer to or away from another second adjustment member.

[0014] According to the embodiments of the present invention, the exoskeleton robot has a waist module including a waist belt, a first connector, a second connector, and a locking structure. The waist belt is worn on the user's waist. The first connector and the second connector are respectively connected to opposite ends of the waist belt. The first connector and the second connector are slidably connected relative to each other in a preset direction. The locking structure is provided on the second connector and is used to lock or release the first connector.

[0015] According to the exoskeleton robot of this utility model embodiment, the first connector is provided with a plurality of snap-fit ​​grooves spaced apart along a preset direction. The locking structure includes a locking member and an elastic connector. The locking member is movably disposed on the second connector and partially passes through the snap-fit ​​groove. The elastic connector is connected to the locking member and the second connector respectively, and is used to provide elastic force to keep the locking member snapped into the snap-fit ​​groove. Under the action of external force, the locking member can overcome the elastic force of the elastic connector to disengage from the snap-fit ​​groove.

[0016] According to the exoskeleton robot of the present invention, the second connector has a connecting hole extending along a preset direction, the first connector is slidably inserted into the connecting hole, the side wall of the connecting hole has an insertion hole, and the locking member is slidably inserted into the insertion hole.

[0017] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0019] Figure 1 This is a schematic diagram of the structure of an exoskeleton robot according to an embodiment of the present invention;

[0020] Figure 2 for Figure 1 The diagram shows the structure of the leg module of the exoskeleton robot.

[0021] Figure 3 for Figure 2 A magnified view of the structure at point A of the leg module shown.

[0022] Figure 4 for Figure 2 A structural schematic diagram of the leg module shown from another perspective;

[0023] Figure 5 for Figure 1 The diagram shows the structure of the second connector of the exoskeleton robot.

[0024] Figure 6 for Figure 1 A schematic diagram of the structure of the first connector of the exoskeleton robot shown;

[0025] Figure 7 for Figure 1 The diagram shows the locking structure of the exoskeleton robot.

[0026] Figure label:

[0027] Waist modules 10; Leg modules 20;

[0028] Belt 100;

[0029] First connector 200; plate 210; snap-fit ​​part 220; snap-fit ​​groove 221;

[0030] Second connector 300; connecting hole 301; through hole 302; first housing 310; second housing 320;

[0031] Locking structure 400; locking element 410; button 411; limit stop 411a; pressing surface 411b; locking post 412; hook part 412a; elastic connector 420;

[0032] Connection structure 500; first adjusting member 510; second adjusting member 520; mounting hole 520a; first assembly block 521; limiting cavity 521a; second assembly block 522; rolling member 530; mounting base 540;

[0033] Wearable structure 600; Wearable component 610; Universal plate 620; Floating hole 621;

[0034] Universal joint 700; limit pin 710; limit component 720. Detailed Implementation

[0035] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0036] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0037] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0038] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0039] The following is for reference. Figures 1 to 7 The exoskeleton robot of this application is described in detail.

[0040] refer to Figures 1 to 4 According to an embodiment of the present invention, an exoskeleton robot includes a waist module 10 and a leg module 20. The waist module 10 is worn on the user's waist. Two leg modules 20 are provided, each including a connecting structure 500 and a wearing structure 600. The wearing structure 600 is worn on the user's knee area. One end of the connecting structure 500 is connected to the waist module 10, and the wearing structure 600 is movably disposed at the other end of the connecting structure 500 via a universal structure 700.

[0041] It should be noted that when the exoskeleton robot is used, the waist module 10 is worn around the user's waist, and the leg module 20 is worn at the user's knees via a wearing structure 600. The leg module 20 assists the user's legs in walking. However, when the user walks, their knees bend, causing relative movement between the knees and the leg module 20. In this situation, the leg module 20 restricts knee movement, and the wearing structure 600 causes friction between itself and the user's knees, potentially leading to knee injury.

[0042] It is understood that in the exoskeleton robot of this application, since the wearable structure 600 is movably mounted on the connecting structure 500 via the universal structure 700, the wearable structure 600 can move relative to the connecting structure 500 with the user's knee during walking. On the one hand, this reduces the restriction of the wearable structure 600 on the user's knee movement, and on the other hand, it reduces the relative friction between the wearable structure 600 and the user's knee, thereby reducing the damage to the user's knee caused by the wearable structure 600.

[0043] In some embodiments of this utility model, reference is made to Figure 3The universal structure 700 includes a limiting pin 710 and a limiting member 720. The wearable structure 600 is provided with a floating hole 621. The limiting pin 710 is horizontally inserted into the floating hole 621, and there is a movable gap between the limiting pin 710 and the hole wall of the floating hole 621. The opposite ends of the limiting pin 710 are respectively connected to the limiting member 720 and the connecting structure 500. The limiting member 720 can abut against the wearable structure 600 to prevent the wearable structure 600 from disengaging from the limiting pin 710.

[0044] Understandably, because there is a gap between the limiting pin 710 and the wall of the floating hole 621, the wearable structure 600 can float relative to the limiting pin 710 in the vertical plane.

[0045] It should be noted that during the user's walking process, the knee bends up and down around the horizontal axis. In other words, the vertical swing amplitude of the wearable structure 600 following the knee is greater than the horizontal swing amplitude.

[0046] Based on the above problems, in a further embodiment of this utility model, the floating hole 621 is a vertically extending elongated strip.

[0047] Understandably, by setting the floating hole 621 as a vertically extending strip, the wearable structure 600 can follow the knee's vertical movement with a greater range of motion, thereby improving the user's comfort during knee movement.

[0048] In some embodiments of this utility model, reference is made to Figure 2 and Figure 3 The wearable structure 600 includes a universal plate 620 and a wearable component 610. A floating hole 621 is provided on the universal plate 620, and the wearable component 610 is provided on the universal plate 620 and is used to be worn on the user's knee area.

[0049] It should be noted that the wearable part 610 is ring-shaped to facilitate wearing on the user's knee.

[0050] It should be noted that the wearable device 610 can use Velcro.

[0051] In some embodiments of this utility model, reference is made to Figure 2 and Figure 4The connecting structure 500 includes a first adjusting member 510, a rolling member 530, and a second adjusting member 520. One end of the first adjusting member 510 is connected to a limiting pin 710, and the other end of the first adjusting member 510 is rotatably connected to the rolling member 530. The second adjusting member 520 is connected to the waist module 10. The second adjusting member 520 has a long strip-shaped limiting cavity. The rolling member 530 is rotatably disposed in the limiting cavity. Under the action of external force, the rolling member 530 can roll along the limiting cavity to drive the wearable structure 600 to move closer to or away from the waist module 10.

[0052] It should be noted that when a user walks using an exoskeleton robot, the distance between the user's knees and waist is constantly changing. If the distance between the wearable structure 600 and the waist module 10 remains the same, the wearable structure 600 will rub against the user's knees. Over time, the wearable structure 600 will cause abrasions to the user's knees, affecting the user experience of the exoskeleton robot.

[0053] It is understood that in the exoskeleton robot of this application, the connecting structure 500 includes a first adjusting member 510, a rolling member 530, and a second adjusting member 520. One end of the first adjusting member 510 is connected to a limiting pin 710, and the other end of the first adjusting member 510 is rotatably connected to the rolling member 530. The second adjusting member 520 is connected to the waist module 10. The second adjusting member 520 has an elongated limiting cavity. The rolling member 530 is rotatably disposed in the limiting cavity. Thus, when the user wears the exoskeleton robot of this application and walks, the wearing structure 600 can push the rolling member 530 to roll along the limiting cavity 521a under the action of the user's knee. This allows the relative distance between the wearing structure 600 and the waist module 10 to change in real time with the user's knee. Consequently, the relative movement between the wearing structure 600 and the user's knee can be reduced, thereby reducing the abrasions caused by the wearing structure 600 to the user's knee.

[0054] It is understandable that, since the rolling element 530 is rotatably disposed on the first connecting member 200 and rotatably disposed within the limiting cavity 521a, the rolling element 530 can roll within the limiting cavity 521a along the extending direction of the limiting cavity 521a, so that the frictional force generated between the rolling element 530 and the cavity wall of the limiting cavity 521a can be reduced. As a result, when the user wears the exoskeleton robot of this application for walking, the wearing structure 600 can more smoothly follow the relative movement of the user's knee relative to the connecting structure 500.

[0055] In some embodiments of this utility model, reference is made to Figure 4The second adjusting member 520 is provided with a mounting hole 520a. The wall of the mounting hole 520a is provided with a long strip-shaped mounting groove. The extension direction of the mounting hole 520a is parallel to the extension direction of the mounting groove. A limiting cavity 521a is formed in the mounting groove. The first adjusting member 510 is slidably inserted into the mounting hole 520a.

[0056] It is understandable that by providing a mounting hole 520a in the second adjusting member 520, and by slidably inserting the first adjusting member 510 through the mounting hole 520a, the first adjusting member 510 can smoothly slide along the extension direction of the mounting hole 520a under the limitation of the hole wall of the mounting hole 520a. Since the extension direction of the mounting hole 520a is parallel to the extension direction of the mounting groove, the rolling member 530 can smoothly roll along the length direction of the limiting cavity 521a, thereby reducing the pressure between the rolling member 530 and the cavity wall of the limiting cavity 521a, and thus protecting the rolling member 530 and the cavity wall of the limiting cavity 521a. At the same time, the setting of the mounting hole 520a also makes the connection between the first adjusting member 510 and the second adjusting member 520 more stable.

[0057] In some embodiments of this utility model, reference is made to Figure 4 The second adjusting member 520 includes a first assembly block 521 and a second assembly block 522. The first assembly block 521 and the second assembly block 522 are detachably connected. The first assembly block 521 and the second assembly block 522 together define a mounting hole 520a, and a mounting groove is provided on the first assembly block 521.

[0058] Understandably, since the mounting hole 520a is formed between the first assembly block 521 and the second assembly block 522, the first assembly block 521 and the second assembly block 522 can be manufactured separately and then detachably connected, which reduces the manufacturing difficulty of the second adjustment member 520.

[0059] In some embodiments of this utility model, reference is made to Figure 4 The mounting groove is a through groove that communicates with the outside of the mounting hole 520a.

[0060] It is understandable that by setting the mounting groove as a through groove, the rolling element 530 can be installed on the first adjusting element 510 located in the mounting hole 520a through the mounting groove, or the rolling element 530 installed on the first adjusting element 510 can be removed through the mounting groove; furthermore, by setting the mounting groove as a through groove, the installation and removal of the rolling element 530 can be facilitated.

[0061] Specifically, the rolling element 530 is a bearing.

[0062] Specifically, the cross-section of the mounting groove is waist-shaped.

[0063] In some embodiments of this utility model, reference is made to Figure 1 and Figure 4 The connecting structure 500 also includes a mounting base 540. The second adjusting member 520 is connected to the waist module 10 through the mounting base 540. The second adjusting member 520 is hinged to the mounting base 540. Under the action of external force, the second adjusting member 520 can rotate relative to the mounting base 540 to move closer to or away from another second adjusting member 520.

[0064] It is understandable that the distance between the user's two legs changes when the user walks. Since the second adjustment member 520 is hinged to the mounting base 540, the two wearable structures 600 can move closer or further away from each other as the user walks while wearing the exoskeleton robot of this application, so as to improve the user experience of the exoskeleton robot of this application.

[0065] In some embodiments of this utility model, reference is made to Figure 1 The waist module 10 includes a waist belt 100, a first connector 200, a second connector 300, and a locking structure 400. The waist belt 100 is worn on the user's waist. The first connector 200 and the second connector 300 are respectively connected to the opposite ends of the waist belt 100. The first connector 200 and the second connector 300 are slidably connected relative to each other in a preset direction. The locking structure 400 is provided on the second connector 300 and is used to lock or release the first connector 200.

[0066] It should be noted that waist circumference varies for users of different body types.

[0067] Understandably, when the exoskeleton robot of this application is worn, the waist belt 100 is wrapped around the user's waist, and the locking structure 400 achieves a fixed connection between the first connector 200 and the second connector 300, so as to realize the wearing of the waist module 10 on the user's waist. When the user feels that the waist belt 100 is too loose or too tight, the user can release the locking structure 400 from locking the first connector 200. At this time, the user can adjust the sliding of the first connector 200 relative to the second connector 300 in a preset direction to adjust the tightness of the waist belt 100, so that the waist module 10 of the exoskeleton robot of this application can be adapted to users of different body types.

[0068] In a further embodiment of this utility model, reference is made to... Figure 1 , Figure 5 and Figure 6The first connector 200 is provided with a plurality of snap-fit ​​grooves 221 spaced apart along a preset direction. The locking structure 400 includes a locking member 410 and an elastic connector 420. The locking member 410 is movably disposed on the second connector 300 and partially passes through the snap-fit ​​grooves 221. The elastic connector 420 is connected to the locking member 410 and the second connector 300 respectively, and is used to provide the elastic force to keep the locking member 410 snapped into the snap-fit ​​grooves 221. Under the action of external force, the locking member 410 can overcome the elastic force of the elastic connector 420 to disengage from the snap-fit ​​grooves 221.

[0069] Understandably, when the exoskeleton robot of this application is in use, the waist belt 100 wraps around the user's waist, the first connector 200 is connected to one end of the waist belt 100, and the second connector 300 is connected to the other end of the waist belt 100. The first connector 200 and the second connector 300 are slidably connected in a preset direction, and the locking member 410 is inserted into one of the snap-fit ​​slots 221 on the first connector 200 under the elastic force of the elastic connector 420, so as to achieve locking and fixation between the first connector 200 and the second connector 300. At this time, the waist module 10 can... The belt is securely worn around the user's waist. When the tightness of the belt 100 needs to be adjusted, the user can overcome the elastic force of the elastic connector 420 so that the locking member 410 disengages from the snap-fit ​​groove 221. At this time, the operator can drive the first connector 200 to move relative to the second connector 300 in a preset direction. After the tightness of the belt 100 is adjusted, the locking member 410 is released. At this time, the locking member 410 is inserted into another snap-fit ​​groove 221 under the elastic force of the elastic connector 420 to achieve locking and fixing between the first connector 200 and the second connector 300.

[0070] In some embodiments of this utility model, the second connector 300 has a connecting hole 301 extending along a preset direction, the first connector 200 is slidably inserted into the connecting hole 301, the side wall of the connecting hole 301 has an insertion hole 302, and the locking member 410 is slidably inserted into the insertion hole 302.

[0071] For example, such as Figure 1 , Figure 5 and Figure 6As shown, the first connector 200 and the second connector 300 are distributed in the left-right direction, and the second connector 300 is located to the left of the first connector 200. The right side of the first connector 200 is connected to one end of the belt 100, and the left side of the second connector 300 is connected to the other end of the belt 100. The second connector 300 is provided with a connecting hole 301 extending in the left and right directions, and the opening of the connecting hole 301 faces to the right. A vertically extending insertion hole 302 is provided on the upper side wall of the connecting hole 301. The locking member 410 is slidably inserted into the insertion hole 302 in the vertical direction. The snap-fit ​​grooves 221 on the first connector 200 are distributed at intervals in the left-right direction. The first connector 200 is inserted into the connecting hole 301 from right to left.

[0072] It is understandable that the connection hole 301 is designed so that the hole wall of the connection hole 301 can limit the first connector 200, so that the first connector 200 can slide stably along the preset direction.

[0073] In some embodiments of this utility model, the snap-fit ​​groove 221 is provided at one end of the first connector 200 away from the insertion hole 302, the locking member 410 has a hook portion 412a, the hook portion 412a extends to the side of the first connector 200 away from the insertion hole 302 and passes through the snap-fit ​​groove 221, and the elastic connector 420 is used to provide elastic force to keep the locking member 410 away from the connector hole 301 along the insertion hole 302.

[0074] For example, such as Figures 5 to 7 As shown, the slot of the snap-fit ​​groove 221 is set downward, and the lower end of the locking member 410 is provided with a hook portion 412a. Part of the structure of the hook portion 412a extends horizontally into the snap-fit ​​groove 221, so that the groove wall of the snap-fit ​​groove 221 can prevent the hook portion 412a from moving upward. The upper and lower ends of the elastic connector 420 are respectively connected to the locking member 410 and the second connector 300, and are used to provide elastic force to keep the locking member 410 moving upward.

[0075] Furthermore, under the elastic force of the elastic connector 420, the locking member 410 moves upward, so that the hook part 412a passes upward into the locking groove 221 and keeps the hook part 412a abutting the groove wall of the locking groove 221. When it is necessary to adjust the size of the belt 100, the user can overcome the elastic force of the elastic connector 420 to press the locking member 410 downward, so that the hook part 412a disengages downward from the locking groove 221. At this time, the user can smoothly drive the first connector 200 to move relative to the second connector 300 in a preset direction. After the user releases the locking member 410, under the elastic force of the elastic connector 420, the locking member 410 moves upward, so that the hook part 412a re-engages into a locking groove 221. At this time, the locking member 410 can prevent the first connector 200 from moving relative to the second connector 300 in a preset direction, so as to achieve locking and fixing between the first connector 200 and the second connector 300.

[0076] Understandably, users can unlock the first connector 200 and the second connector 300 by pressing the locking member 410, making it easier and more convenient for users to drive the locking member 410.

[0077] In some embodiments of this utility model, the locking member 410 includes a button 411 and a locking post 412. The locking post 412 is sequentially inserted into the insertion hole 302 and the connection hole 301. One end of the locking post 412 is detachably connected to the button 411, and the other end of the locking post 412 is bent to form a hook portion 412a. The button 411 can abut against the edge of the insertion hole 302 to prevent the button 411 from extending into the insertion hole 302.

[0078] For example, such as Figure 7 As shown, the locking member 410 includes a button 411 and a locking post 412. The locking post 412 is detachably connected to the lower end of the button 411. The locking post 412 passes through the insertion hole 302. The lower end of the locking post 412 extends into the connection hole 301 and is bent to form a hook portion 412a. The button 411 is located at the upper end of the insertion hole 302, and the button 411 can abut against the upper end hole edge of the insertion hole 302.

[0079] Understandably, by detachably connecting the locking pin 412 and the button 411 to form the entire locking member 410, the locking pin 412 and the button 411 of the locking member 410 can be manufactured as a single piece, reducing the manufacturing difficulty of the locking member 410; at the same time, the button 411 can abut against the upper edge of the through hole 302, which can effectively prevent the entire locking member 410 from being submerged in the through hole 302 due to excessive pressure from the user.

[0080] Specifically, the snap-fit ​​post 412 and the button 411 are connected by threaded connectors such as screws and bolts.

[0081] In some embodiments of this utility model, reference is made to Figure 7 The elastic connector 420 is a spring, which is sleeved on the snap-fit ​​post 412, and one end of the spring abuts against the button 411.

[0082] It is understandable that by fitting the spring onto the snap-fit ​​post 412, the snap-fit ​​post 412 can limit the spring, thereby reducing the probability of the spring automatically falling off during use; at the same time, the spring has a simple structure and low cost.

[0083] In some embodiments of this utility model, the button 411 is provided with an annular limiting stop 411a, the limiting stop 411a defines a limiting groove, the snap-fit ​​post 412 part passes through the limiting groove, and the spring part passes through the limiting groove.

[0084] For example, such as Figure 7 As shown, the lower end of button 411 is provided with an annular limiting stop 411a, which forms a limiting groove. The upper end of the locking post 412 passes through the limiting groove and is connected to button 411 through a threaded connector. There is an installation gap between the circumferential surface of the locking post 412 and the limiting stop 411a. A spring is sleeved on the locking post 412, and the upper end of the spring passes through the installation gap and abuts against the lower end of button 411.

[0085] Understandably, the setting of the limiting stop 411a allows the limiting stop 411a to cooperate with the snap-fit ​​post 412 to limit the spring, thereby reducing the deformation of the spring in the horizontal direction during operation; at the same time, the setting of the limiting stop 411a allows the limiting stop 411a to position the snap-fit ​​post 412 when the button 411 and the snap-fit ​​post 412 are connected, so as to facilitate the subsequent threaded connection of the button 411 and the snap-fit ​​post 412.

[0086] In some embodiments of this utility model, reference is made to Figure 7 The button 411 has a recessed pressing surface 411b at the end opposite to the locking post 412.

[0087] It is understandable that by providing a concave pressing surface 411b at the end of button 411 away from the locking post 412, the concave shape of the pressing surface 411b can adapt to the shape of the user's fingertip, thereby improving the user's feel when pressing button 411.

[0088] In some embodiments of this utility model, reference is made to Figure 6 The second connector 300 includes a first housing 310 and a second housing 320. The first housing 310 and the second housing 320 are detachably connected. The first housing 310 and the second housing 320 together define a connection hole 301 and an insertion hole 302.

[0089] It is understandable that by configuring the second connector 300 to be formed by the detachable connection of the first housing 310 and the second housing 320, the first housing 310 and the second housing 320 can be manufactured separately, thereby reducing the overall manufacturing cost of the second connector 300.

[0090] Specifically, the first housing 310 and the second housing 320 are detachably connected by threaded fasteners such as screws or bolts.

[0091] In some embodiments of this utility model, the first connector 200 includes a plate 210 and a snap-fit ​​part 220. The snap-fit ​​part 220 is disposed on the plate surface of the plate 210 and is integrally formed with the plate 210. The snap-fit ​​groove 221 is formed on the snap-fit ​​part 220.

[0092] For example, such as Figure 5 As shown, the first connector 200 includes a plate 210 and a snap-fit ​​part 220. The snap-fit ​​part 220 is disposed on the front plate surface of the plate 210, and the lower end of the snap-fit ​​part 220 is provided with a snap-fit ​​groove 221 with the opening facing downward.

[0093] It is understandable that by dividing the first connector 200 into a plate 210 and a snap-fit ​​part 220, and by setting the snap-fit ​​part 220 on the plate surface of the plate 210, the plate 210 can make the structural strength of the entire first connector 200 higher.

[0094] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An exoskeleton robot, characterized in that, include: Waist module, worn around the user's waist; The leg module is provided in two parts. The leg module includes a connecting structure and a wearing structure. The wearing structure is worn on the user's knee area. One end of the connecting structure is connected to the waist module. The wearing structure is movably located at the other end of the connecting structure via a universal structure.

2. The exoskeleton robot according to claim 1, characterized in that, The universal structure includes a limiting pin and a limiting member. The wearable structure is provided with a floating hole. The limiting pin is horizontally inserted into the floating hole, and there is a movable gap between the limiting pin and the hole wall of the floating hole. The opposite ends of the limiting pin are respectively connected to the limiting member and the connecting structure. The limiting member can abut against the wearable structure to prevent the wearable structure from detaching from the limiting pin.

3. An exoskeleton robot according to claim 2, characterized in that, The wearable structure includes a universal joint and a wearable component. The floating hole is provided on the universal joint, and the wearable component is provided on the universal joint and is used to be worn on the user's knee area.

4. An exoskeleton robot according to claim 2, characterized in that, The connecting structure includes a first adjusting member, a rolling member, and a second adjusting member. One end of the first adjusting member is connected to the limiting pin, and the other end of the first adjusting member is rotatably connected to the rolling member. The second adjusting member is connected to the waist module. The second adjusting member has an elongated limiting cavity. The rolling member is rotatably disposed in the limiting cavity. Under the action of external force, the rolling member can roll along the limiting cavity to drive the wearable structure closer to or away from the waist module.

5. An exoskeleton robot according to claim 4, characterized in that, The second adjusting member has a mounting hole, and the wall of the mounting hole has an elongated mounting groove. The extension direction of the mounting hole is parallel to the extension direction of the mounting groove. The limiting cavity is formed in the mounting groove. The first adjusting member is slidably inserted into the mounting hole.

6. An exoskeleton robot according to claim 5, characterized in that, The second adjusting member includes a first assembly block and a second assembly block, the first assembly block and the second assembly block are detachably connected, the first assembly block and the second assembly block together define the mounting hole, and the mounting groove is provided on the first assembly block.

7. An exoskeleton robot according to claim 4, characterized in that, The connection structure also includes a mounting base. The second adjusting member is connected to the waist module through the mounting base. The second adjusting member is hinged to the mounting base. Under the action of external force, the second adjusting member can rotate relative to the mounting base to move closer to or further away from the other second adjusting member.

8. An exoskeleton robot according to claim 1, characterized in that, The waist module includes a waist belt, a first connector, a second connector, and a locking structure. The waist belt is worn around the user's waist. The first connector and the second connector are respectively connected to opposite ends of the waist belt. The first connector and the second connector are slidably connected relative to each other along a preset direction. The locking structure is provided on the second connector and is used to lock or release the first connector.

9. An exoskeleton robot according to claim 8, characterized in that, The first connector has a plurality of snap-fit ​​grooves spaced apart along the preset direction. The locking structure includes a locking member and an elastic connector. The locking member is movably disposed on the second connector and partially passes through the snap-fit ​​groove. The elastic connector is connected to the locking member and the second connector respectively, and is used to provide an elastic force to keep the locking member snapped into the snap-fit ​​groove. Under the action of external force, the locking member can overcome the elastic force of the elastic connector to disengage from the snap-fit ​​groove.

10. An exoskeleton robot according to claim 9, characterized in that, The second connector has a connecting hole extending along the preset direction, the first connector is slidably inserted into the connecting hole, the side wall of the connecting hole has an insertion hole, and the locking member is slidably inserted into the insertion hole.

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