Waist adjustment and rotation mechanism of exoskeleton robot

Abstract

The present invention relates to an exoskeleton robot waist adjustment and rotation mechanism, belonging to the technical field of exoskeleton robots, the robot waist is connected to the leg fixing rod through a rotation compensation assembly; the rotation compensation assembly includes a mounting plate, the mounting plate is mounted on the robot waist, the leg fixing rod is rotatably mounted on the mounting plate, a compensation block is coaxially mounted on the leg fixing rod, a first limit block and a second limit block are fixedly mounted on the mounting plate, the first limit block is arranged in the clockwise rotation direction of the compensation block, and the first limit block and the compensation block are arranged at intervals; the second limit block is arranged in the counterclockwise rotation direction of the compensation block, and the second limit block and the compensation block are arranged at intervals. The present invention has a compensation angle when the foot swings inward and a compensation angle when the foot swings outward, so that the legs of the exoskeleton robot can swing inward and outward with the left and right transfer of the center of gravity of the human body, and the walking action is relatively flexible and has a high degree of comfort.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and in particular to a waist adjustment and rotation mechanism of an exoskeleton robot. Background Art

[0002] Exoskeleton robot technology is an important branch of robotics technology. It involves robotics, ergonomics, mechanics, computing science and communication technology. It is a hot technology currently being studied at home and abroad. Exoskeleton robots can help people complete more intensive tasks, such as weight-bearing, by relying on their own strength. In medicine, they can also help patients with rehabilitation training. The waist of the exoskeleton robot is often designed with a structure that controls the freedom of waist movement. This structure can limit the range of movement of the wearer through mechanical fixation. The existing exoskeleton robot is to fix the leg fixing plate on the waist of the robot, and fix the robot legs on the leg fixing plate. However, in the normal walking process of the human body, the left and right legs swing forward and backward to walk. In the process of replacing the left and right legs, the center of gravity of the human body shifts left and right. In the process of shifting the center of gravity, the feet will swing inward and outward. The traditional exoskeleton robot does not provide compensation for the inward and outward swinging of the feet. When the user wears the traditional exoskeleton robot to walk, the walking movement is relatively stiff and there is no good comfort. Summary of the invention

[0003] The technical problem to be solved by the present invention is: in order to overcome the problem that traditional exoskeleton robots do not provide compensation for the inward and outward swinging of the feet, and the walking movements of users are relatively stiff and lack good comfort when wearing traditional exoskeleton robots, an exoskeleton robot waist adjustment and rotation mechanism is provided.

[0004] The technical solution adopted by the present invention to solve the technical problem is: an exoskeleton robot waist adjustment and rotation mechanism, comprising a robot waist and a leg fixing rod, wherein the robot waist and the leg fixing rod are connected via a rotation compensation component;

[0005] The rotation compensation assembly includes a mounting plate, which is mounted on the waist of the robot, the leg fixing rod is rotatably mounted on the mounting plate, a compensation block is coaxially mounted on the leg fixing rod, and a first limit block and a second limit block are fixedly mounted on the mounting plate, the first limit block is arranged in the clockwise rotation direction of the compensation block, and is used to limit the clockwise rotation of the compensation block, and the first limit block is spaced apart from the compensation block; the second limit block is arranged in the counterclockwise rotation direction of the compensation block, and is used to limit the counterclockwise rotation of the compensation block, and the second limit block is spaced apart from the compensation block.

[0006] The waist adjustment and rotation mechanism of the exoskeleton robot of the present invention uses a rotation compensation component to connect the waist of the robot and the leg fixing rod. When walking, when the feet swing inward, the legs of the exoskeleton robot drive the leg fixing rod to rotate inward clockwise, and the compensation block is coaxially installed on the leg fixing rod. The compensation block rotates clockwise with the leg fixing rod. The first limit block arranged in the clockwise rotation direction of the compensation block is spaced apart from the compensation block. After the compensation block rotates clockwise by a certain angle, the first limit block limits the compensation block from continuing to rotate. The angle is the compensation angle when the feet swing inward; when the feet swing outward, the legs of the exoskeleton robot The leg fixing rod drives the leg fixing rod to rotate counterclockwise outward, and the compensation block rotates counterclockwise with the leg fixing rod. The second limit block arranged in the counterclockwise rotation direction of the compensation block is spaced apart from the compensation block. After the compensation block rotates counterclockwise to a certain angle, the second limit block restricts the compensation block from continuing to rotate, and the angle is the compensation angle when the foot swings outward. The present invention has a compensation angle when the foot swings inward and a compensation angle when the foot swings outward, so that the legs of the exoskeleton robot can swing inward and outward as the center of gravity of the human body shifts left and right. When a user wears the exoskeleton robot of the present invention and walks, the walking action is more flexible and has a higher degree of comfort.

[0007] Since the structure of the exoskeleton robot is relatively compact, in order to make the space occupied by the rotation compensation component smaller, the compensation block, the first limit block and the second limit block need to be compactly installed. In order to compactly install the compensation block, the first limit block and the second limit block, the compensation block includes a cylinder and two fan-shaped blocks, the cylinder is coaxially installed on the leg fixing rod, the two fan-shaped blocks are evenly distributed along the circumference of the central axis of the cylinder, the centers of the two fan-shaped blocks coincide with the center of the cylinder, the outer radius of the two fan-shaped blocks is greater than the radius of the cylinder, and a first fan-shaped opening and a second fan-shaped opening are formed between the two fan-shaped blocks. The first limit block is inserted in the first fan-shaped opening, the first limit block is a fan-shaped block, the center of the first limit block coincides with the center of the cylinder, and the angle of the first limit block is smaller than the angle of the first fan-shaped opening; the second limit block is inserted in the second fan-shaped opening, the second limit block is a fan-shaped block, the center of the second limit block coincides with the center of the cylinder, and the angle of the second limit block is smaller than the angle of the second fan-shaped opening. The angle of the first limit block is smaller than the angle of the first fan-shaped opening, and there is an angle gap between the two side surfaces of the first limit block and the side surfaces of the fan-shaped blocks on both sides, and the sum of the angle gaps on both sides is the compensation angle when the foot swings inward; the angle of the second limit block is smaller than the angle of the second fan-shaped opening, and there is an angle gap between the two side surfaces of the second limit block and the side surfaces of the fan-shaped blocks on both sides, and the sum of the angle gaps on both sides is the compensation angle when the foot swings outward.

[0008] In order to ensure that the compensation angle when the foot swings inward is equal to the compensation angle when the foot swings outward, the two fan-shaped blocks in the compensation block are exactly the same, and the first limit block and the second limit block are exactly the same. If the two fan-shaped blocks in the compensation block are exactly the same, then the first fan-shaped opening and the second fan-shaped opening are exactly the same, and after the first limit block and the second limit block are exactly the same, then the sum of the angle gaps on both sides of the first limit block is equal to the sum of the angle gaps on both sides of the second limit block, and the compensation angle when the foot swings inward is equal to the compensation angle when the foot swings outward.

[0009] When people of different heights and weights walk, the compensation angles when the feet swing inwards and outwards are different. In order to adapt to people of different heights and weights to be able to wear the exoskeleton robot of the present invention more flexibly, different compensation blocks need to be replaced according to different human bodies. The angles of the fan-shaped blocks in different compensation blocks are different. When the required compensation angle is larger, the compensation block with a smaller fan-shaped block angle is replaced. When the required compensation angle is smaller, the compensation block with a larger fan-shaped angle is replaced. In order to facilitate the replacement of the compensation block, the cylinder in the compensation block can be detachably mounted on the leg fixing rod.

[0010] In order to achieve that the center of the first limit block and the second limit block coincide with the center of the cylinder, the present invention also includes a mounting column and a mounting cover, wherein the mounting cover is fixedly mounted on the mounting plate, the mounting column is fixedly mounted in the mounting cover, the mounting column is coaxially arranged with the cylinder in the compensation block, the first limit block and the second limit block are fixedly mounted on the end face of the mounting column, and the first limit block and the second limit block are centrally symmetrically arranged with respect to the central axis of the cylinder.

[0011] The waist of a traditional exoskeleton robot is not easy to adjust the width of the waist structure according to the wearer's body shape, and the supporting effect on the waist is poor, which makes it uncomfortable when worn. In order to solve the above problems, the waist of the robot includes a waist mounting seat, a pressure block and an adjustment nut. The waist mounting seat is provided with a guide rail, and the mounting plate is slidably arranged in the guide rail. The mounting plate is provided with a guide through hole, and a screw is fixedly installed on the waist mounting seat. The screw passes through the guide through hole and the pressure block in turn and is threadedly connected with the adjusting nut. The adjusting nut presses the pressure block to contact the mounting plate, and adjusts the position of the mounting plate in the guide rail, thereby adjusting the width of the robot's waist. The pressure block and the adjusting nut are provided to fix the mounting plate.

[0012] In order to prevent the pressing block from rotating, an upper stopper and a lower stopper are fixedly mounted on the waist mounting seat. The upper stopper and the lower stopper are respectively located on both sides of the pressing block and are arranged in contact with the pressing block.

[0013] A leg mounting block is slidably mounted on the leg fixing rod, and an adjustment opening and a threaded hole are provided on the leg mounting block. The threaded hole vertically penetrates the adjustment opening, and an adjustment screw is threadedly mounted in the threaded hole.

[0014] The beneficial effects of the present invention are as follows: the waist adjustment and rotation mechanism of the exoskeleton robot of the present invention uses a rotation compensation component to connect the waist of the robot and the leg fixing rod. When walking, when the feet swing inward, the legs of the exoskeleton robot drive the leg fixing rod to rotate inward clockwise, and the compensation block is coaxially installed on the leg fixing rod. The compensation block rotates clockwise with the leg fixing rod. The first limit block arranged in the clockwise rotation direction of the compensation block is spaced apart from the compensation block. After the compensation block rotates clockwise by a certain angle, the first limit block limits the compensation block from continuing to rotate. The angle is the compensation angle when the feet swing inward; when the feet swing outward, the exoskeleton The legs of the robot drive the leg fixing rod to rotate counterclockwise outward, and the compensation block rotates counterclockwise with the leg fixing rod. The second limit block arranged in the counterclockwise rotation direction of the compensation block is spaced apart from the compensation block. After the compensation block rotates counterclockwise to a certain angle, the second limit block restricts the compensation block from continuing to rotate. The angle is the compensation angle when the foot swings outward. The present invention has a compensation angle when the foot swings inward and a compensation angle when the foot swings outward, so that the legs of the exoskeleton robot can swing inward and outward as the center of gravity of the human body shifts left and right. When a user wears the exoskeleton robot of the present invention and walks, the walking movement is more flexible and has a higher degree of comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0016] Figure 1 is a three-dimensional schematic diagram of the present invention;

[0017] Figure 2 is a rear view of the present invention;

[0018] Figure 3 The present invention Figure 2 Sectional view at AA in the middle;

[0019] Figure 4 is a top view of the present invention;

[0020] Figure 5 The present invention Figure 4 Sectional view at the middle BB;

[0021] Figure 6 It is a three-dimensional assembly schematic diagram of the compensation block, the first limit block and the second limit block in the present invention;

[0022] Figure 7 The present invention Figure 6 The main view of

[0023] Figure 8 It is a three-dimensional schematic diagram of the compensation block in the present invention.

[0024] In the figure: 1. leg fixing rod, 2. mounting plate, 2-1. guide through hole, 3. compensation block, 3-1. cylinder, 3-2. fan-shaped block, 3-3. first fan-shaped opening, 3-4. second fan-shaped opening, 4. first limit block, 5. second limit block, 6. mounting column, 7. mounting cover, 8. waist mounting seat, 8-1. guide rail, 9. pressure block, 10. adjusting nut, 11. screw, 12. upper block, 13. lower block, 14. leg mounting block, 14-1. adjusting opening, 15. adjusting screw. DETAILED DESCRIPTION

[0025] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0026] like Figure 1 and Figure 4 An exoskeleton robot waist adjustment and rotation mechanism is shown, comprising a robot waist and a leg fixing rod 1, wherein the robot waist is connected to the leg fixing rod 1 via a rotation compensation assembly; the rotation compensation assembly comprises a mounting plate 2, wherein the mounting plate 2 is mounted on the robot waist, the leg fixing rod 1 is rotatably mounted on the mounting plate 2, a compensation block 3 is coaxially mounted on the leg fixing rod 1, a first limit block 4 and a second limit block 5 are fixedly mounted on the mounting plate 2, the first limit block 4 is arranged in the clockwise rotation direction of the compensation block 3, and is used to limit the clockwise rotation of the compensation block 3, and the first limit block 4 and the compensation block 3 are spaced apart. The second limit block 5 is arranged in the counterclockwise rotation direction of the compensation block 3, and is used to limit the counterclockwise rotation of the compensation block 3, and the second limit block 5 and the compensation block 3 are spaced apart.

[0027] The compensation block 3 includes a cylinder 3-1 and two sector blocks 3-2. Figure 8 As shown, the two sector blocks 3-2 in the compensation block 3 are exactly the same, the cylinder 3-1 is coaxially installed on the leg fixing rod 1, the two sector blocks 3-2 are evenly distributed along the circumference of the central axis of the cylinder 3-1, the centers of the two sector blocks 3-2 coincide with the center of the cylinder 3-1, the outer radius of the two sector blocks 3-2 is larger than the radius of the cylinder 3-1, and a first sector opening 3-3 and a second sector opening 3-4 are formed between the two sector blocks 3-2. The first limit block 4 is inserted in the first sector opening 3-3, the first limit block 4 is a sector block, the center of the first limit block 4 coincides with the center of the cylinder 3-1, and the angle of the first limit block 4 is smaller than the angle of the first sector opening 3-3; the second limit block 5 is inserted in the second sector opening 3-4, the second limit block 5 is a sector block, the center of the second limit block 5 coincides with the center of the cylinder 3-1, as shown Figure 6 and Figure 7 As shown, the angle of the second limit block 5 is smaller than the angle of the second fan-shaped opening 3-4. The angle of the first limit block 4 is smaller than the angle of the first fan-shaped opening 3-3, and there is an angle gap between the two side surfaces of the first limit block 4 and the side surfaces of the fan-shaped blocks 3-2 on both sides, and the sum of the angle gaps on both sides is the compensation angle when the foot swings inward; the angle of the second limit block 5 is smaller than the angle of the second fan-shaped opening 3-4, and there is an angle gap between the two side surfaces of the second limit block 5 and the side surfaces of the fan-shaped blocks 3-2 on both sides, and the sum of the angle gaps on both sides is the compensation angle when the foot swings outward.

[0028] The first limit block 4 is identical to the second limit block 5. The two sector blocks 3-2 in the compensation block 3 are identical, so the first sector opening 3-3 and the second sector opening 3-4 are identical, and after the first limit block 4 and the second limit block 5 are identical, the sum of the angle gaps on both sides of the first limit block 4 is equal to the sum of the angle gaps on both sides of the second limit block 5, and the compensation angle when the foot swings inward is equal to the compensation angle when the foot swings outward.

[0029] When people of different heights and weights walk, the compensation angles when the feet swing inwards and outwards are different. In order to adapt to people of different heights and weights to be able to wear the exoskeleton robot of the present invention more flexibly, different compensation blocks 3 need to be replaced according to different human bodies. The angles of the fan-shaped blocks 3-2 in different compensation blocks 3 are different. When the required compensation angle is large, the compensation block 3 with a smaller angle of the fan-shaped block 3-2 is replaced. When the required compensation angle is small, the compensation block 3 with a larger fan-shaped angle is replaced. In order to facilitate the replacement of the compensation block 3, the cylinder 3-1 in the compensation block 3 is detachably mounted on the leg fixing rod 1 by screws, such as Figure 5 shown.

[0030] The present invention also includes a mounting column 6 and a mounting cover 7. The mounting cover 7 is fixedly mounted on the mounting plate 2. The mounting column 6 is fixedly mounted in the mounting cover 7. The mounting column 6 is coaxially arranged with the cylinder 3-1 in the compensation block 3. The first limit block 4 and the second limit block 5 are both fixedly mounted on the end surface of the mounting column 6. The first limit block 4 and the second limit block 5 are centrally symmetrically arranged about the central axis of the cylinder 3-1.

[0031] The robot waist includes a waist mounting seat 8, a pressure block 9 and an adjusting nut 10. The waist mounting seat 8 is provided with a guide rail 8-1, and the mounting plate 2 is slidably arranged in the guide rail 8-1. Figure 2 As shown, a guide through hole 2-1 is provided on the mounting plate 2, and a screw 11 is fixedly installed on the waist mounting seat 8. Figure 3As shown, the screw 11 passes through the guide through hole 2-1 and the pressure block 9 in sequence and is threadedly connected with the adjusting nut 10. The adjusting nut 10 presses the pressure block 9 to contact the mounting plate 2, and adjusts the position of the mounting plate 2 in the guide rail 8-1, thereby adjusting the width of the robot's waist. The pressure block 9 and the adjusting nut 10 are used to fix the mounting plate 2. The upper block 12 and the lower block 13 are fixedly installed on the waist mounting seat 8. The upper block 12 and the lower block 13 are respectively located on both sides of the pressure block 9 and are in contact with the pressure block 9.

[0032] A leg mounting block 14 is slidably mounted on the leg fixing rod 1 , and an adjustment opening 14 - 1 and a threaded hole are provided on the leg mounting block 14 . The threaded hole vertically penetrates the adjustment opening 14 - 1 , and an adjustment screw 15 is threadedly mounted in the threaded hole.

[0033] The waist adjustment and rotation mechanism of the exoskeleton robot of the present invention uses a rotation compensation component to connect the waist of the robot and the leg fixing rod 1. When walking, when the foot swings inward, the leg of the exoskeleton robot drives the leg fixing rod 1 to rotate inward clockwise, and the compensation block 3 is coaxially installed on the leg fixing rod 1. The compensation block 3 rotates clockwise with the leg fixing rod 1. The first limit block 4 arranged in the clockwise rotation direction of the compensation block 3 is spaced apart from the compensation block 3. After the compensation block 3 rotates clockwise by a certain angle, the first limit block 4 limits the compensation block 3 from continuing to rotate. The angle is the compensation angle when the foot swings inward; when the foot swings outward, the exoskeleton robot The legs drive the leg fixing rod 1 to rotate counterclockwise outward, and the compensation block 3 rotates counterclockwise with the leg fixing rod 1. The second limit block 5 arranged in the counterclockwise rotation direction of the compensation block 3 is spaced apart from the compensation block 3. After the compensation block 3 rotates counterclockwise to a certain angle, the second limit block 5 limits the compensation block 3 from continuing to rotate. The angle is the compensation angle when the foot swings outward. The present invention has a compensation angle when the foot swings inward and a compensation angle when the foot swings outward, so that the legs of the exoskeleton robot can swing inward and outward as the center of gravity of the human body shifts left and right. When the user wears the exoskeleton robot of the present invention and walks, the walking movement is more flexible and has a higher degree of comfort.

[0034] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An exoskeleton robot waist adjustment and rotation mechanism, comprising a robot waist and leg fixing rod (1), characterized in that: The waist of the robot is connected to the leg fixing rod (1) via a rotation compensation component; The rotation compensation assembly comprises a mounting plate (2), wherein the mounting plate (2) is mounted on the waist of the robot, the leg fixing rod (1) is rotatably mounted on the mounting plate (2), a compensation block (3) is coaxially mounted on the leg fixing rod (1), and a first limit block (4) and a second limit block (5) are fixedly mounted on the mounting plate (2), wherein the first limit block (4) is arranged in a clockwise rotation direction of the compensation block (3) and is used to limit the clockwise rotation of the compensation block (3), and the first limit block (4) and the compensation block (3) are arranged at intervals; the second limit block (5) is arranged in a counterclockwise rotation direction of the compensation block (3) and is used to limit the counterclockwise rotation of the compensation block (3), and the second limit block (5) and the compensation block (3) are arranged at intervals; The compensation block (3) comprises a cylinder (3-1) and two fan-shaped blocks (3-2), the cylinder (3-1) is coaxially mounted on the leg fixing rod (1), the two fan-shaped blocks (3-2) are evenly distributed along the circumference of the central axis of the cylinder (3-1), the centers of the two fan-shaped blocks (3-2) coincide with the center of the cylinder (3-1), the outer radii of the two fan-shaped blocks (3-2) are greater than the radius of the cylinder (3-1), a first fan-shaped opening (3-3) and a second fan-shaped opening (3-4) are formed between the two fan-shaped blocks (3-2), the first limit block (4) is inserted into the first fan-shaped opening (3-3), the first limit block (4) is a fan-shaped block, the center of the first limit block (4) coincides with the center of the cylinder (3-1), and the angle of the first limit block (4) is smaller than the angle of the first fan-shaped opening (3-3); The second limit block (5) is inserted into the second fan-shaped opening (3-4); the second limit block (5) is a fan-shaped block; the center of the second limit block (5) coincides with the center of the cylinder (3-1); and the angle of the second limit block (5) is smaller than the angle of the second fan-shaped opening (3-4); The two sector blocks (3-2) in the compensation block (3) are completely identical, and the first limit block (4) and the second limit block (5) are completely identical; The cylinder (3-1) in the compensation block (3) is detachably mounted on the leg fixing rod (1).

2. The waist adjustment and rotation mechanism of the exoskeleton robot according to claim 1, characterized in that: The invention also comprises a mounting column (6) and a mounting cover (7), wherein the mounting cover (7) is fixedly mounted on the mounting plate (2), the mounting column (6) is fixedly mounted in the mounting cover (7), the mounting column (6) is coaxially arranged with the cylinder (3-1) in the compensation block (3), the first limit block (4) and the second limit block (5) are both fixedly mounted on the end surface of the mounting column (6), and the first limit block (4) and the second limit block (5) are centrally symmetrically arranged with respect to the central axis of the cylinder (3-1).

3. The waist adjustment and rotation mechanism of the exoskeleton robot as claimed in claim 1, characterized in that: The waist of the robot comprises a waist mounting seat (8), a pressure block (9) and an adjusting nut (10); a guide rail (8-1) is provided on the waist mounting seat (8); the mounting plate (2) is slidably arranged in the guide rail (8-1); a guide through hole (2-1) is provided on the mounting plate (2); a screw rod (11) is fixedly installed on the waist mounting seat (8); the screw rod (11) passes through the guide through hole (2-1) and the pressure block (9) in sequence and is threadedly connected with the adjusting nut (10); the adjusting nut (10) presses the pressure block (9) to be in contact with the mounting plate (2).

4. The waist adjustment and rotation mechanism of the exoskeleton robot as claimed in claim 3, characterized in that: An upper stopper (12) and a lower stopper (13) are fixedly mounted on the waist mounting seat (8); the upper stopper (12) and the lower stopper (13) are respectively located on two sides of the pressing block (9) and are arranged in contact with the pressing block (9).

5. The waist adjustment and rotation mechanism of the exoskeleton robot as claimed in claim 1, characterized in that: A leg mounting block (14) is slidably mounted on the leg fixing rod (1), and an adjustment opening (14-1) and a threaded hole are provided on the leg mounting block (14). The threaded hole vertically penetrates the adjustment opening (14-1), and an adjustment screw (15) is threadedly mounted in the threaded hole.

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