An exoskeleton load-bearing robot

Abstract

The invention discloses an exoskeleton load-bearing robot, which relates to the technical field of power-assisted exoskeleton robots, including hip plates, hip plate adjustment mechanisms are arranged between the hip plates; a rigid waist belt is arranged at the lower part of the hip plates; a hip joint assembly is arranged at the bottom of the hip plates; a leg assembly is arranged at the bottom of the hip joint assembly; a foot assembly is arranged at the bottom of the leg assembly; and a power-assisting device is arranged at the rear side of the foot assembly. By arranging a foldable back plate behind the hip plate, part of the weight placed on the back plate can be transferred to the ground through the hip plate, the leg assembly and the foot assembly, so as to achieve the effect of weight reduction. The power-assisting device is arranged at the calf, which can help the calf to return to the correct position during walking, so as to achieve the power-assisting effect. A plurality of adjustment devices are arranged so that the width, height and waist circumference can be adjusted to match people of different body shapes. Matching joint devices are arranged at the joints of human body movement, so as to achieve the purpose of matching human body movement. There are bindings on the calves, waist, chest and feet, which well ensures the fit between man and machine.

Description

Technical Field

[0001] The present invention relates to the technical field of power-assisted exoskeleton robots, and in particular to an exoskeleton load-bearing robot. Background Art

[0002] An exoskeleton robot is a wearable mechanical integrated system used to assist movement or enhance movement ability. It is mainly used in military, medical, logistics, factory operations and other fields. Based on the power source, exoskeleton robots can be divided into active exoskeleton robots and passive exoskeleton robots. Among them, a passive exoskeleton robot is an exoskeleton without a power source. It mainly assists by directing gravity to the ground and mechanically storing energy. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an exoskeleton load-bearing robot without a power source.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides an exoskeleton load-bearing robot, comprising two hip plates, wherein a hip plate adjustment mechanism is arranged between the two hip plates; a rigid waist belt is arranged at the lower part of the two hip plates; a hip joint assembly is respectively arranged at the bottom of the two hip plates; a leg assembly is arranged at the bottom of the hip joint assembly; a foot assembly is arranged at the bottom of the leg assembly; and a power assist device is arranged at the rear side of the foot assembly.

[0006] Optionally, the hip board includes a waist connection portion and a leg connection portion, and there is a smooth transition between the waist connection portion and the leg connection portion according to the curve from the human back to the hip joint; the waist connection portion is used to connect to the hip board adjustment mechanism, and the leg connection portion is used to connect to the hip joint assembly.

[0007] Optionally, the leg connecting part includes a third limiting groove, in which a third semi-cylindrical optical groove is arranged; a joint connecting seat is slidably arranged in the third limiting groove, and a fourth semi-cylindrical threaded groove is arranged on the side of the joint connecting seat facing the leg connecting part, the third semi-cylindrical optical groove and the fourth semi-cylindrical threaded groove match to form a second adjustment screw hole, and a second adjustment bolt is arranged in the second adjustment screw hole; a joint connecting part is arranged on the side of the joint connecting seat away from the leg connecting part, and the joint connecting part is used to connect with the hip joint assembly.

[0008] Optionally, the hip joint assembly includes a connecting seat and a rotating head; the upper part of the connecting seat is rotatably connected to the hip plate; the lower part of the connecting seat is rotatably connected to the upper part of the rotating head, and the lower part of the rotating head is rotatably connected to the leg assembly.

[0009] Optionally, the rotating head and the connecting seat are connected via a rotating shaft, a rotating shaft is arranged at the lower part of the rotating head, and a limiting block is arranged at the middle part of the rotating head.

[0010] Optionally, the rigid waist belt comprises a binding block located at the front end of the hip board, a fixing block connected to the hip board, a plurality of connecting blocks located at the rear end of the hip board, and a waist belt adjustment assembly arranged in the middle of the plurality of connecting blocks;

[0011] Optionally, the belt adjustment assembly includes a belt adjustment fixed plate and a belt adjustment movable plate; the belt adjustment fixed plate and the belt adjustment movable plate are limitedly connected; one end of the belt adjustment fixed plate is connected to the connecting block, and a fifth semi-cylindrical optical groove is provided in the middle of one side of the belt adjustment fixed plate facing the belt adjustment movable plate, one end of the belt adjustment movable plate is connected to the connecting block, and a sixth semi-cylindrical threaded groove is provided in the middle of one side of the belt adjustment movable plate facing the belt adjustment fixed plate, the fifth semi-cylindrical optical groove and the sixth semi-cylindrical threaded groove match to form a third adjustment screw hole, and a third adjustment bolt is provided in the third adjustment screw hole.

[0012] Optionally, the leg assembly includes a thigh adjustment member, a thigh assembly, a calf assembly and a calf adjustment member connected in sequence from top to bottom; the top of the thigh adjustment member is connected to the hip joint assembly, and the bottom of the calf adjustment member is connected to the foot assembly;

[0013] in,

[0014] The thigh adjustment member is provided with a rotation limit seat at the top, a vertical connection hole is provided in the middle of the rotation limit seat, and a rotation limit portion extending upward is provided at the top of the rotation limit seat; a plurality of first adjustment holes are provided at the middle and lower part of the thigh adjustment member, and the plurality of first adjustment holes are used for adjustably connecting with the thigh component;

[0015] And / or, the thigh assembly includes a thigh member and a thigh strap; the top of the thigh member is connected to the thigh adjustment member, and the bottom of the thigh member is rotatably connected to the calf assembly; the thigh strap is connected to the thigh member through a binding belt;

[0016] And / or, the calf assembly includes a calf member and a calf strap; the top of the calf member is rotatably connected to the thigh assembly, and the bottom of the calf member is connected to the calf adjustment member; the calf strap is connected to the calf member through a binding belt;

[0017] And / or, the bottom of the calf adjustment component is rotatably connected to the foot component, and a plurality of second adjustment holes are provided in the upper middle portion of the calf adjustment component.

[0018] Optionally, a limit adjustment groove is provided at the bottom of the calf component, and a calf limit groove is provided on the side wall of the calf component, and the calf limit groove is communicated with the limit adjustment groove; a calf height adjustment handle is provided on the side wall of the calf component, one end of the calf height adjustment handle is rotatably connected to the side wall of the calf component, and a fixed block is provided at the other end of the calf height adjustment handle, and the fixed block passes through the calf limit groove, is inserted into the limit adjustment groove, and is connected to the calf adjustment component.

[0019] Optionally, the hip plate adjustment mechanism includes a hip fixed adjustment plate and two hip movable adjustment plates; a first limiting groove is provided on the rear side of the hip fixed adjustment plate, one end of the hip movable adjustment plate is provided in the first limiting groove and connected to the hip fixed adjustment plate; the other end of the hip movable adjustment plate is connected to the hip plate.

[0020] Optionally, a first semi-cylindrical optical groove is provided on the side of the hip movement adjustment plate facing the hip plate; a second semi-cylindrical threaded groove is provided at the portion where the hip plate and the hip movement adjustment plate are connected; the second semi-cylindrical threaded groove is provided in a second limiting groove; the other end of the hip movement adjustment plate is provided in the second limiting groove; the first semi-cylindrical optical groove and the second semi-cylindrical threaded groove match to form a first adjustment screw hole, and a first adjustment bolt is provided in the first adjustment screw hole.

[0021] Optionally, the foot assembly includes a vertical connecting seat and a foot plate, the top of the vertical connecting seat is connected to the bottom of the leg assembly, and the bottom of the vertical connecting seat is rotatably connected to one side of the foot plate; the power assist device is arranged at the rear end of the foot plate.

[0022] Optionally, the power-assisting device includes a base, a movable block and an elastic member; the bottom of the base is connected to the foot assembly, the movable block is slidably arranged in the base, one end of the elastic member is connected to the top of the movable block, the other end of the elastic member is connected to the top of the base, and the top of the movable block is connected to the calf via a pull rope.

[0023] Optionally, the power-assisting device includes a pre-tensioning structure movable end, a pre-tensioning end, a pre-tensioning seat, a mounting seat and an elastic member; the mounting seat includes an upper part and a lower part, the upper part and the lower part are rotatably connected via a rotating shaft, the lower part is connected to the foot assembly, and the upper part is connected to the bottom of the pre-tensioning seat; the relative height between the pre-tensioning seat and the pre-tensioning end is adjustable; a pre-tensioning structure movable end is provided above the pre-tensioning end, and the elastic member is an elastic belt, which is wound around the seat shaft and the pre-tensioning structure movable end.

[0024] Compared with the prior art, the present invention has achieved the following technical effects:

[0025] The exoskeleton load-bearing robot in the present invention, by providing a foldable back plate behind the hip plate, can transfer part of the weight placed on the back plate to the ground through the hip plate, leg assembly, and foot assembly, thereby achieving a weight reduction effect.

[0026] A power-assisting device is provided at the calf to help the calf return to the correct position during walking, thereby achieving a power-assisting effect.

[0027] Multiple adjustment devices are set so that the width, height and waist circumference can be adjusted to match people of different body shapes.

[0028] Matching joint devices are arranged at the joints of human body movement, so as to achieve the purpose of matching human body movement.

[0029] There are bindings on the thighs, calves, waist, chest and feet to ensure a good fit between the person and the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is a schematic diagram of the structure of the exoskeleton load-bearing robot of the present invention;

[0032] Figure 2 It is a three-dimensional structural schematic diagram of a hip plate and a hip plate adjustment mechanism in the exoskeleton load-bearing robot of the present invention;

[0033] Figure 3 It is a front structural schematic diagram of a hip plate and a hip plate adjustment mechanism in the exoskeleton load-bearing robot of the present invention;

[0034] Figure 4 This is a schematic diagram of the structure of the hip plate in the exoskeleton load-bearing robot of the present invention;

[0035] Figure 5 It is a schematic diagram of the three-dimensional structure of the hip fixing adjustment plate in the exoskeleton load-bearing robot of the present invention;

[0036] Figure 6 It is a front structural schematic diagram of a hip fixing adjustment plate in the exoskeleton load-bearing robot of the present invention;

[0037] Figure 7 It is a schematic structural diagram of a hip activity adjustment plate in an exoskeleton load-bearing robot of the present invention;

[0038] Figure 8It is a structural schematic diagram of another perspective of the hip activity adjustment plate in the exoskeleton load-bearing robot of the present invention;

[0039] Fig. 9 It is a schematic diagram of the structure of the rigid waist belt in the exoskeleton load-bearing robot of the present invention;

[0040] Fig.10 It is a schematic diagram of the structure of the waist belt adjustment assembly in the exoskeleton load-bearing robot of the present invention;

[0041] Fig.11 A schematic structural diagram of a waist belt adjustment assembly in the exoskeleton load-bearing robot of the present invention from another perspective;

[0042] Fig.12 This is a schematic diagram of the structure of the waist belt adjustment movable plate in the exoskeleton load-bearing robot of the present invention;

[0043] Fig.13 This is a schematic diagram of the structure of the waist belt adjustment fixing plate in the exoskeleton load-bearing robot of the present invention;

[0044] Fig.14 It is a schematic structural diagram of the sixth semi-cylindrical thread groove in the exoskeleton load-bearing robot of the present invention;

[0045] Fig.15 It is a schematic diagram of the structure of the adjustment seat in the exoskeleton load-bearing robot of the present invention;

[0046] Fig.16 It is a schematic diagram of the structure of the hip joint assembly in the exoskeleton load-bearing robot of the present invention;

[0047] Fig.17 It is a schematic structural diagram of a thigh adjustment member and a thigh assembly in the exoskeleton load-bearing robot of the present invention;

[0048] Fig.18 It is a schematic structural diagram of a thigh adjustment component in the exoskeleton load-bearing robot of the present invention;

[0049] Fig.19 It is a schematic diagram of the structure of the thigh component and the shank component of the exoskeleton load-bearing robot of the present invention;

[0050] Fig. 20 It is a schematic diagram of the structure of the lower leg component and the foot component of the exoskeleton load-bearing robot of the present invention;

[0051] Fig.21 This is a schematic diagram of the structure of the calf height adjustment handle in the exoskeleton load-bearing robot of the present invention;

[0052] Fig. 22 This is a schematic diagram of the structure of the bottom of the lower leg component of the exoskeleton load-bearing robot of the present invention;

[0053] Fig.23It is a schematic structural diagram of a power-assisting device in the exoskeleton load-bearing robot of the present invention;

[0054] Fig.24 The figure is a schematic structural diagram of another power-assisting device in the exoskeleton load-bearing robot of the present invention.

[0055] Description of the accompanying drawings: 1. Hip plate; 2. Hip plate adjustment mechanism; 3. Waist belt adjustment assembly; 4. Rigid waist belt; 5. Hip joint assembly; 6. Thigh strap plate; 7. Thigh adjustment member; 8. Thigh member; 9. Calf member; 10. Calf strap plate; 11. Power assist device; 12. Calf adjustment member; 13. Foot assembly;

[0056] 01, third limiting groove; 02, third semi-cylindrical light groove; 03, hip adjustment hole; 04, second limiting groove; 05, second semi-cylindrical light groove;

[0057] 111. movable end of pre-tightening structure; 112. pre-tightening end; 113. elastic member; 114. mounting seat; 115. pre-tightening seat; 116. base; 117. pull rope;

[0058] 21. Hip fixed adjustment plate; 22. Hip movable adjustment plate;

[0059] 211, first limiting groove; 212, hip bundle hole; 213, hip first screw hole;

[0060] 221, first semi-cylindrical thread groove; 222, second screw hole at hip;

[0061] 31. Waist belt adjustment fixing plate; 32. Waist belt adjustment movable plate; 33. Waist belt connecting seat; 34. Third adjustment bolt; 35. Fifth semi-cylindrical optical groove; 36. Sixth semi-cylindrical threaded groove;

[0062] 41. Binding block; 42. Fixing block; 43. Connecting block;

[0063] 51. Joint connection seat; 52. Connection seat; 53. Connection shaft; 54. Rotation head;

[0064] 541, limit block; 542, rotating shaft;

[0065] 71. vertical connection hole; 72. rotation limiter;

[0066] 731, first adjustment hole; 732, vertical through hole;

[0067] 91. calf limit slot; 92. reset spring hole; 93. limit adjustment slot;

[0068] 121. Second adjustment hole; 122. Calf height adjustment handle;

[0069] 1221. fixing block; 1222. resetting connection hole. DETAILED DESCRIPTION

[0070] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 creative work are within the scope of protection of the present invention.

[0071] Embodiment 1:

[0072] like Figures 1 to 23 As shown, this embodiment provides an exoskeleton load-bearing robot, comprising two hip plates 1, a hip plate adjustment mechanism 2 is arranged between the two hip plates 1; a rigid waist belt 4 is arranged at the lower part of the two hip plates 1; a hip joint assembly 5 is respectively arranged at the bottom of the two hip plates 1; a leg assembly is arranged at the bottom of the hip joint assembly 5; a foot assembly 13 is arranged at the bottom of the leg assembly; and a power assist device 11 is arranged at the rear side of the foot assembly 13.

[0073] In this specific embodiment, the hip board 1 includes a waist connection portion and a leg connection portion, and there is a smooth transition between the waist connection portion and the leg connection portion according to the curve from the back of the human body to the hip joint; the waist connection portion is used to connect with the hip board adjustment mechanism 2, and the leg connection portion is used to connect with the hip joint assembly 5.

[0074] The hip plate adjustment mechanism 2 includes a hip fixed adjustment plate 21 and two hip movable adjustment plates 22; a first limiting groove 211 is arranged at the rear side of the hip fixed adjustment plate 21, one end of the hip movable adjustment plate 22 is arranged in the first limiting groove 211 and connected to the hip fixed adjustment plate 21; the other end of the hip movable adjustment plate 22 is connected to the hip plate 1. Further, the waist connection part includes a second semi-cylindrical optical groove 05 and a second limiting groove 04, and a second limiting half groove is arranged at one end of the second semi-cylindrical optical groove 05; the leg connection part includes a third limiting groove 01 and a third semi-cylindrical optical groove 02, and a third limiting half groove is arranged at one end of the third semi-cylindrical optical groove 02.

[0075] The hip activity adjustment plate 22 is provided with a first semi-cylindrical thread 221 on the side facing the hip plate 1, and a first limiting half groove is provided at one end of the first semi-cylindrical thread groove 221, and the first limiting half groove and the second limiting half groove form a first limiting adjustment groove; a second semi-cylindrical optical groove 05 is provided at the portion where the hip plate 1 is connected to the hip activity adjustment plate 22; the second semi-cylindrical optical groove 05 is arranged in the second limiting groove 04; the other end of the hip activity adjustment plate 22 is arranged in the second limiting groove 04; the first semi-cylindrical thread groove 221 and the second semi-cylindrical optical groove 05 match to form a first adjustment screw hole, a first adjustment bolt is provided in the first adjustment screw hole, and the end of the first adjustment bolt is located in the first limiting adjustment groove.

[0076] The two hip movable adjustment plates 22 are respectively inserted from the left and right sides of the second limiting groove 04 of the hip fixed adjustment plate 21, and are fixedly connected by screwing screws into the second screw hole 222 of the hip and the first screw hole 213 of the hip, so that the two hip movable adjustment plates 22 are fixedly connected to the hip fixed adjustment plate 21. The first adjustment bolt is placed in the second semi-cylindrical threaded groove 05, and the hip movable adjustment plate 22 is inserted into the second limiting groove 04 of the hip plate 1, so that the second semi-cylindrical light groove 05 and the first semi-cylindrical threaded groove 221 form a first adjustment screw hole, and the relative position between the hip plate 1 and the hip movable adjustment plate 22 is adjusted by the cooperation of the first adjustment bolt and the first adjustment screw hole to complete the installation of the hip. Further, in order to facilitate the screwing of the first adjustment bolt, a hip adjustment hole 03 is provided on the side of the hip plate 1 away from the hip movable adjustment plate 22 and coaxial with the first adjustment screw hole, and the first adjustment bolt is inserted after the tool passes through the hip adjustment hole 03 to facilitate the screwing of the first adjustment bolt.

[0077] A hip strap hole 212 is provided on the upper portion of the hip fixing adjustment plate 21 for mounting a chest strap or a shoulder strap.

[0078] A joint connection seat 51 is slidably arranged in the third limiting groove 01 of the leg connection part of the hip plate 1, and a fourth semi-cylindrical thread groove is arranged on the side of the joint connection seat 51 facing the leg connection part, and a fourth limiting half-groove is arranged at one end of the fourth semi-cylindrical thread groove, and the third semi-cylindrical optical groove 02 and the fourth semi-cylindrical thread groove match to form a second adjustment screw hole, and a second adjustment bolt is arranged in the second adjustment screw hole, and the end of the second adjustment bolt is arranged in the second limiting adjustment groove 93 composed of the third limiting half-groove and the fourth limiting half-groove; a joint connection part is arranged on the side of the joint connection seat 51 away from the leg connection part, and the joint connection part is used to connect with the hip joint assembly 5.

[0079] The second adjusting bolt is rotated to adjust the relative position of the joint connection seat 51 and the hip plate 1, and then the relative position between the hip plate 1 and the hip joint assembly 5 is adjusted to compensate for the position change of the hip plate 1 caused by the length adjustment of the rigid waist belt 4 by the waist belt adjustment assembly 3.

[0080] The rigid waist belt 4 includes a binding block 41 located at the front end of the hip plate 1 , a fixing block 42 connected to the hip plate 1 , a plurality of connecting blocks 43 located at the rear end of the hip plate 1 , and a waist belt adjustment assembly 3 arranged in the middle of the plurality of connecting blocks 43 .

[0081] The waist belt adjustment assembly 3 includes a waist belt adjustment fixed plate 31 and a waist belt adjustment movable plate 32; the waist belt adjustment fixed plate 31 and the waist belt adjustment movable plate 32 are limitedly connected; one end of the waist belt adjustment fixed plate 31 is connected to the connecting block 43, a fifth semi-cylindrical optical groove 35 is provided in the middle of one side of the waist belt adjustment fixed plate 31 facing the waist belt adjustment movable plate 32, a fifth limited semi-groove is provided at one end of the fifth semi-cylindrical optical groove 35, and one end of the waist belt adjustment movable plate 32 is connected to the connecting block 43 The waist belt adjustment movable plate 32 is provided with a sixth semi-cylindrical thread groove 36 in the middle of one side facing the waist belt adjustment fixed plate 31, and a sixth limiting half groove is provided at one end of the sixth semi-cylindrical thread groove 36, and the fifth limiting half groove and the sixth limiting half groove form a third limiting adjustment groove 93, and the fifth semi-cylindrical optical groove 35 and the sixth semi-cylindrical thread groove 36 match to form a third adjustment screw hole, and a third adjustment bolt 34 is provided in the third adjustment screw hole, and the end of the third adjustment bolt 34 is located in the third limiting adjustment groove 93. By rotating the third adjustment bolt 34, the relative position between the waist belt adjustment fixed plate 31 and the waist belt adjustment movable plate 32 can be adjusted, thereby changing the overall length of the rigid waist belt 4.

[0082] The leg assembly includes a thigh adjustment component 7, a thigh component, a calf component and a calf adjustment component 12 which are connected in sequence from top to bottom; the top of the thigh adjustment component 7 is connected to the hip joint component 5, and the bottom of the calf adjustment component 12 is connected to the foot component 13.

[0083] A rotation limit seat is arranged at the top of the thigh adjustment component 7, a vertical connecting hole 71 is arranged in the middle of the rotation limit seat, and a rotation limit portion 72 extending upward is arranged at the top of the rotation limit seat; a plurality of first adjustment holes 731 are arranged in the middle and lower part of the thigh adjustment component 7, and the plurality of first adjustment holes 731 are used for adjustably connecting with the thigh component.

[0084] The hip joint assembly 5 includes a connecting seat 52 and a rotating head 54; the upper part of the connecting seat 52 is rotatably connected to the hip plate 1; the lower part of the connecting seat 52 is rotatably connected to the upper part of the rotating head 54, and the lower part of the rotating head 54 is rotatably connected to the leg assembly.

[0085] The rotation limiter 72 between the rotating head 54 and the connecting seat 52 is connected by a rotating shaft, a rotating shaft 542 is provided at the lower part of the rotating head 54, and a limiting block 541 is provided at the middle part of the rotating head 54. The rotating shaft 542 is inserted into the bearings in the vertical connecting hole 71 and the vertical through hole 732, and the limiting block 541 is located between the rotation limiter 72, so that the rotating head 54 can rotate within a certain range.

[0086] The thigh assembly includes a thigh component 8 and a thigh band plate 6; the top of the thigh component 8 is connected to the thigh adjustment component 7, and the bottom of the thigh component 8 is rotatably connected to the calf component; the thigh band plate 6 is connected to the thigh component 8 by a binding belt;

[0087] The calf assembly includes a calf component 9 and a calf strap 10; the top of the calf component 9 is rotatably connected to the thigh component, and the bottom of the calf component 9 is connected to the calf adjustment component; the calf strap 10 is connected to the calf component 9 by a binding belt;

[0088] The bottom of the calf adjustment component 12 is rotatably connected to the foot component 13 , and a plurality of second adjustment holes 121 are provided in the upper middle portion of the calf adjustment component 12 .

[0089] A limit adjustment groove 93 is provided at the bottom of the calf component 9, and a calf limit groove 91 is provided on the side wall of the calf component 9, and the calf limit groove 91 is communicated with the limit adjustment groove 93; a calf height adjustment handle 122 is provided on the side wall of the calf component 9, one end of the calf height adjustment handle 122 is rotatably connected to the side wall of the calf component 9, and a fixing block 42 is provided at the other end of the calf height adjustment handle 122, and the fixing block 42 passes through the calf limit groove 91 and is inserted into the limit adjustment groove 93 to be connected to the calf adjustment component 12.

[0090] Furthermore, a return spring hole 92 is provided at the bottom of the calf component 9, and a return connection hole 1222 is provided on the calf height adjustment handle 122. The return spring hole 92 and the return connection hole 1222 are coaxially arranged, and a return spring is provided. The elastic force of the return spring keeps the fixing block 42 inserted into the calf limiting groove 91.

[0091] The foot assembly 13 includes a vertical connection seat 52 and a foot plate, the top of the vertical connection seat 52 is connected to the bottom of the leg assembly, and the bottom of the vertical connection seat 52 is rotatably connected to one side of the foot plate; the power assist device 11 is arranged at the rear end of the foot plate.

[0092] The power assist device 11 includes a base 116, a movable block and an elastic member; the bottom of the base 116 is connected to the foot assembly 13, the movable block is slidably arranged in the base 116, one end of the elastic member is connected to the top of the movable block, the other end of the elastic member is connected to the top of the base 116, and the top of the movable block is connected to the calf bundle plate 10 through a pull rope 117. The elastic member adopts a coil spring, and during the human body walking process, the elastic member stretches and stores energy, and releases in the next step process to pull the calf position back to the normal position, thereby playing a power assist role.

[0093] Embodiment 2:

[0094] like Fig.24 As shown, in this embodiment, the power assist device 11 includes a pre-tightening structure movable end 111, a pre-tightening end 112, a pre-tightening seat 115, a mounting seat 114 and an elastic member 113; the mounting seat 114 includes an upper portion and a lower portion, the upper portion and the lower portion are rotatably connected via a rotating shaft, the lower portion is connected to the foot assembly 13, and the upper portion is connected to the bottom of the pre-tightening seat 115; the relative height between the pre-tightening seat 115 and the pre-tightening end 112 is adjustable, specifically, an internal thread is provided in the pre-tightening seat 115, an external threaded rod is provided at the bottom of the pre-tightening end 112, the external threaded rod matches the internal thread, and the relative height between the pre-tightening seat 115 and the pre-tightening end 112 is adjusted by adjusting the depth of the external threaded rod screwed into the internal thread; a pre-tightening structure movable end 111 is provided above the pre-tightening end 112, and the elastic member 113 is an elastic belt, and the elastic belt 113 is wound around the seat shaft and the pre-tightening structure movable end. The movable end 111 of the pre-tightening structure is connected to the calf strap 10 through a drawstring. When a person walks, the elastic member 113 stretches to store energy, and releases it during the next step to pull the calf back to the correct position, thereby providing assistance.

[0095] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure mark in the claims should not be regarded as limiting the claims involved.

[0096] The present specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An exoskeleton load-bearing robot, characterized in that: It comprises two hip plates, a hip plate adjustment mechanism is arranged between the two hip plates; a rigid waist belt is arranged at the lower part of the two hip plates; a hip joint assembly is arranged at the bottom of each of the two hip plates; a leg assembly is arranged at the bottom of the hip joint assembly; a foot assembly is arranged at the bottom of the leg assembly; a power assist device is arranged at the rear side of the foot assembly; The hip plate adjustment mechanism comprises a hip fixed adjustment plate and two hip movable adjustment plates; a first limiting groove is arranged at the rear side of the hip fixed adjustment plate, one end of the hip movable adjustment plate is arranged in the first limiting groove and connected to the hip fixed adjustment plate; the other end of the hip movable adjustment plate is connected to the hip plate; A first semi-cylindrical optical groove is provided on one side of the hip movable adjustment plate facing the hip plate; a second semi-cylindrical threaded groove is provided at a portion where the hip plate and the hip movable adjustment plate are connected; the second semi-cylindrical threaded groove is provided in a second limiting groove; the other end of the hip movable adjustment plate is provided in the second limiting groove; the first semi-cylindrical optical groove and the second semi-cylindrical threaded groove match to form a first adjusting screw hole, and a first adjusting bolt is provided in the first adjusting screw hole; The power-assisting device includes a pre-tightening structure movable end, a pre-tightening end, a pre-tightening seat, a mounting seat and an elastic member; the mounting seat includes an upper part and a lower part, the upper part and the lower part are rotatably connected via a rotating shaft, the lower part is connected to the foot assembly, and the upper part is connected to the bottom of the pre-tightening seat; the relative height between the pre-tightening seat and the pre-tightening end is adjustable; a pre-tightening structure movable end is arranged above the pre-tightening end, and the elastic member is an elastic belt, which is wound around the seat shaft and the pre-tightening structure movable end.

2. The exoskeleton load-bearing robot according to claim 1, characterized in that: The hip board includes a waist connection part and a leg connection part, and there is a smooth transition between the waist connection part and the leg connection part according to the curve from the back of the human body to the hip joint; the waist connection part is used to connect with the hip board adjustment mechanism, and the leg connection part is used to connect with the hip joint assembly.

3. The exoskeleton load-bearing robot according to claim 2, characterized in that: The leg connecting part includes a third limiting groove, in which a third semi-cylindrical optical groove is arranged; a joint connecting seat is slidably arranged in the third limiting groove, and a fourth semi-cylindrical threaded groove is arranged on the side of the joint connecting seat facing the leg connecting part, the third semi-cylindrical optical groove and the fourth semi-cylindrical threaded groove match to form a second adjustment screw hole, and a second adjustment bolt is arranged in the second adjustment screw hole; a joint connecting part is arranged on the side of the joint connecting seat away from the leg connecting part, and the joint connecting part is used to connect with the hip joint assembly.

4. The exoskeleton load-bearing robot according to claim 1, characterized in that: The hip joint assembly includes a connecting seat and a rotating head; the upper part of the connecting seat is rotatably connected to the hip plate; the lower part of the connecting seat is rotatably connected to the upper part of the rotating head, and the lower part of the rotating head is rotatably connected to the leg assembly.

5. The exoskeleton load-bearing robot according to claim 4, characterized in that: The rotating head is connected to the connecting seat via a rotating shaft, a rotating shaft is arranged at the lower part of the rotating head, and a limiting block is arranged at the middle part of the rotating head.

6. The exoskeleton load-bearing robot according to claim 1, characterized in that: The leg assembly includes a thigh adjustment member, a thigh assembly, a calf assembly and a calf adjustment member which are sequentially connected from top to bottom; the top of the thigh adjustment member is connected to the hip joint assembly, and the bottom of the calf adjustment member is connected to the foot assembly; in, The thigh adjustment member is provided with a rotation limit seat at the top, a vertical connection hole is provided in the middle of the rotation limit seat, and a rotation limit portion extending upward is provided at the top of the rotation limit seat; a plurality of first adjustment holes are provided at the middle and lower part of the thigh adjustment member, and the plurality of first adjustment holes are used for adjustably connecting with the thigh component; And / or, the thigh assembly includes a thigh member and a thigh strap; the top of the thigh member is connected to the thigh adjustment member, and the bottom of the thigh member is rotatably connected to the calf assembly; the thigh strap is connected to the thigh member through a binding belt; And / or, the calf assembly includes a calf member and a calf strap; the top of the calf member is rotatably connected to the thigh assembly, and the bottom of the calf member is connected to the calf adjustment member; the calf strap is connected to the calf member through a binding belt; And / or, the bottom of the calf adjustment component is rotatably connected to the foot component, and a plurality of second adjustment holes are provided in the upper middle portion of the calf adjustment component.

7. The exoskeleton load-bearing robot according to claim 6, characterized in that: A limit adjustment groove is provided at the bottom of the calf component, and a calf limit groove is provided on the side wall of the calf component, and the calf limit groove is communicated with the limit adjustment groove; a calf height adjustment handle is provided on the side wall of the calf component, one end of the calf height adjustment handle is rotatably connected to the side wall of the calf component, and a fixing block is provided at the other end of the calf height adjustment handle, and the fixing block passes through the calf limit groove, is inserted into the limit adjustment groove, and is connected to the calf adjustment component.

Images