A multi-degree-of-freedom integrated quick-release joint and exoskeleton

Abstract

The present invention discloses a multi-degree-of-freedom integrated quick-release joint, which includes a spherical universal joint and an integrated quick-release member. At least one movable locking member is provided between the spherical universal joint and the integrated quick-release member; when the movable locking member is located in a first locking space jointly formed by the spherical universal joint and the integrated quick-release member, the spherical universal joint and the integrated quick-release member are quickly detachably connected in a manner that can be quickly disassembled. By arranging a quick-release member in the spherical universal joint and quickly detachably connecting the two in a manner that can be quickly disassembled, the present invention enables quick disassembly on the basis of achieving multiple degrees of freedom, thereby enabling modularization of various parts of the exoskeleton, facilitating the repair or iterative replacement of some components in the exoskeleton, and also facilitating the user to put on and take off, improving the user experience.

Description

Technical Field

[0001] The present invention relates to exoskeletons, and in particular to a multi-degree-of-freedom quick-release joint and an exoskeleton having the multi-degree-of-freedom quick-release joint. Background Art

[0002] An exoskeleton is a mechanical device that can be worn outside the human body. This device can conform to the movement of the human limbs, assist the human body in bearing loads or its own body weight, and efficiently transmit the load or the gravity of the human body to the ground through its mechanical structure, and even assist the human limbs in movement. Therefore, it has strong application prospects in fields such as disaster rescue, individual soldier load-bearing, fire fighting and rescue, outdoor hiking, and logistics transportation.

[0003] At present, there are already various exoskeletons for assisting the human body in bearing loads. For example, there are exoskeletons that carry materials in a back-mounted manner, or a front-mounted manner, or a combination of shoulder-carrying and back-carrying manners to carry substances, etc. In order to adapt to each joint of the human body, various joints are also correspondingly designed for the exoskeleton. For example, hip joint exoskeletons, knee joint exoskeletons, elbow joint exoskeletons, and wrist joint exoskeletons, etc., so as to adapt to the movement of the corresponding joints of the human body. However, most of the existing exoskeleton technologies use single-degree-of-freedom joints, or multiple single-degree-of-freedom joints are combined to form multi-degree-of-freedom joints, and most of them do not consider the quick-release function of the joints, especially multi-degree-of-freedom joints (for example, joints with two or more degrees of freedom). This makes the exoskeleton unable to be modularized, thus making it inconvenient for maintenance, component replacement, or the update and iteration of the exoskeleton. Moreover, it is also inconvenient for users to put on and take off, reducing the user experience.

[0004] In view of this, it is of great significance to study a multi-degree-of-freedom joint that can achieve quick release. Summary of the Invention

[0005] To partially solve the above problems, the present invention provides a multi-degree-of-freedom quick-release joint, which can achieve multi-degree-of-freedom movement while being able to achieve quick disassembly or assembly, thus facilitating maintenance, component replacement, or the update and iteration of the exoskeleton.

[0006] To solve the above problems, in a first aspect of the present invention, there is provided a multi-degree-of-freedom quick-release joint, including: a universal transmission mechanism and a quick-release member, and at least one movable locking member is arranged between the universal transmission mechanism and the quick-release member; when the movable locking member is located in a first locking space jointly formed by the universal transmission mechanism and the quick-release member, the universal transmission mechanism and the quick-release member are quickly detachably connected in a quick-detachable manner.

[0007] In an exemplary embodiment of the present disclosure, the universal transmission mechanism includes: a spherical universal joint and a cross-axis universal joint.

[0008] In an exemplary embodiment of the present disclosure, the quick-release member includes: a split quick-release member and an integral quick-release member.

[0009] In an exemplary embodiment of the present disclosure, the split quick-release member includes: a first quick-release bushing, a quick-release core shaft installed in the first quick-release bushing in a manner that can slide axially along the first quick-release bushing, and a quick-release button fixedly connected to the operating end of the quick-release core shaft. Wherein, a locking wedge hole for providing an activity space for the movable locking member is provided on the first quick-release bushing; when the first quick-release bushing is matched with the universal transmission mechanism, the locking wedge hole communicates with a first locking groove provided in the universal transmission mechanism to form the first locking space.

[0010] In an exemplary embodiment of the present disclosure, a first accommodation groove is provided in the first quick-release bushing corresponding to the operating ends of the quick-release button and the quick-release core shaft. The quick-release button is installed in the first accommodation groove, and a first elastic reset member for providing a restoring force to the quick-release button is provided between the bottom of the first accommodation groove and the quick-release button.

[0011] In an exemplary embodiment of the present disclosure, a second locking groove that can cooperate with the movable locking member is provided at the locking end of the quick-release core shaft; in the initial state, when an external force is applied to the quick-release button such that the second locking groove communicates with the locking wedge hole to form a second locking space, the movable locking member moves from the first locking space to the second locking space, and the universal transmission mechanism is quickly disassembled from the quick-release member.

[0012] In an exemplary embodiment of the present disclosure, a first locking groove that can cooperate with the movable locking member is provided at the locking end of the integral quick-release member; when the integral quick-release member is matched with the universal transmission mechanism, the first locking groove communicates with a locking wedge hole provided in the universal transmission mechanism to form the first locking space.

[0013] In an exemplary embodiment of the present disclosure, the spherical universal joint includes: a first connecting end cover, and a spherical body installed in the first connecting end cover in a manner that can rotate relative to the first connecting end cover. A quick-release hole that can cooperate with the quick-release member is provided in the spherical body, and at least one first locking groove that can cooperate with the movable locking member is provided in the quick-release hole; when the quick-release member is matched with the quick-release hole, the first locking groove communicates with a locking wedge hole provided on the quick-release member to form the first locking space.

[0014] In an exemplary embodiment of the present disclosure, the spherical universal joint includes: a first connection end cover, a spherical body installed in the first connection end cover in a rotatable manner relative to the first connection end cover, and a quick-release button and a first quick-release bushing disposed in the spherical body. Wherein, the quick-release button is disposed at one end of the first quick-release bushing in a slidable manner relative to the first quick-release bushing, and a locking wedge hole for providing a moving space for the movable locking member is provided on the first quick-release bushing; when the quick-release member is engaged with the first quick-release bushing, the locking wedge hole communicates with a first locking groove provided on the quick-release member to form the first locking space.

[0015] In an exemplary embodiment of the present disclosure, a second locking groove that can cooperate with the movable locking member is provided in the quick-release button; in an initial state, when an external force is applied to the quick-release button such that the second locking groove communicates with the locking wedge hole to form a second locking space, the movable locking member moves from the first locking space to the second locking space, and the quick-release member is quickly disassembled from the spherical universal joint.

[0016] In an exemplary embodiment of the present disclosure, a first accommodation groove is provided in the spherical body, the quick-release button is installed in the first accommodation groove, and a first elastic reset member is provided between the quick-release button and the bottom of the first accommodation groove.

[0017] In an exemplary embodiment of the present disclosure, a second accommodation groove communicating with the first accommodation groove is further provided in the spherical body, the first quick-release bushing is installed in the second accommodation groove, and one end of the first quick-release bushing extends into a third accommodation groove provided in the quick-release button.

[0018] In an exemplary embodiment of the present disclosure, the cross-axis universal joint includes: a first quick-release bracket and a quick-release base, the quick-release base is installed on the first quick-release bracket in a rotatable manner relative to the first quick-release bracket about a first axial direction and / or a second axial direction. Wherein, the first axial direction and the second axial direction are perpendicular to each other, and a first locking groove that can cooperate with the movable locking member is provided in the quick-release base; when the quick-release member is engaged with the quick-release base, the first locking groove communicates with a locking wedge hole provided on the quick-release member to form the first locking space.

[0019] In an exemplary embodiment of the present disclosure, two first rotating shaft ends are symmetrically arranged on the first quick-release bracket along the first axial direction, and / or two second rotating shaft ends are symmetrically arranged on the quick-release base along the second axial direction. A second quick-release bracket is arranged between the first quick-release bracket and the quick-release base. Rotating shaft bearings are respectively arranged on the second quick-release bracket at positions corresponding to the first rotating shaft end and / or the second rotating shaft end. Among them, the first rotating shaft end and / or the second rotating shaft end are respectively matched with the corresponding rotating shaft bearings.

[0020] In an exemplary embodiment of the present disclosure, the quick-release base includes: a mounting base, and a second quick-release shaft sleeve rotatably mounted in the mounting base relative to the mounting base. Among them, the two second rotating shaft ends are symmetrically arranged on the mounting base along the second axial direction; and the first locking groove is arranged at the locking end of the second quick-release shaft sleeve.

[0021] In an exemplary embodiment of the present disclosure, the quick-release base further includes: a first elastic reset mechanism arranged on one side of the mounting base for providing a resilient force to the second quick-release shaft sleeve, and the first elastic reset mechanism is coaxially and rotatably connected to the second quick-release shaft sleeve; and / or a first damping mechanism arranged on the other side of the mounting base for providing a damping force to the second quick-release shaft sleeve, and the first damping mechanism is coaxially and rotatably connected to the second quick-release shaft sleeve.

[0022] In an exemplary embodiment of the present disclosure, the multi-degree-of-freedom quick-release joint further includes: a second elastic reset mechanism coaxially and rotatably connected to the quick-release base, and / or a second damping mechanism coaxially and rotatably connected to the quick-release base.

[0023] In an exemplary embodiment of the present disclosure, the multi-degree-of-freedom quick-release joint further includes: a first connecting rod rotatably connected to the universal transmission mechanism in a manner that can rotate relative to the universal transmission mechanism around the second axial direction, and a third elastic reset mechanism arranged on the universal transmission mechanism for providing a restoring force to the first connecting rod; and / or a third damping mechanism arranged on the universal transmission mechanism for providing a damping force to the first connecting rod.

[0024] In a second aspect of the present invention, there is also provided a multi-degree-of-freedom integrated quick-release joint, including a spherical universal joint and an integrated quick-release member. At least one movable locking member is arranged between the spherical universal joint and the integrated quick-release member; when the movable locking member is located in a first locking space jointly formed by the spherical universal joint and the integrated quick-release member, the spherical universal joint and the integrated quick-release member are quickly detachably connected in a manner that can be quickly disassembled.

[0025] In an exemplary embodiment of the present disclosure, the spherical universal joint includes: a first connection end cover, a spherical body rotatably mounted within the first connection end cover, and a quick-release button and a first quick-release bushing disposed within the spherical body, wherein the quick-release button is disposed at one end of the first quick-release bushing in a slidable manner relative to the first quick-release bushing, and a locking wedge hole for providing a movement space for the movable locking member is provided on the first quick-release bushing; when the integrated quick-release member is engaged with the first quick-release bushing, the locking wedge hole communicates with a first locking groove provided at the locking end of the integrated quick-release member to form the first locking space.

[0026] In an exemplary embodiment of the present disclosure, a second locking groove that can cooperate with the movable locking member is provided within the quick-release button; in an initial state, when an external force is applied to the quick-release button such that the second locking groove communicates with the locking wedge hole to form a second locking space, the movable locking member moves from the first locking space to the second locking space, and the integrated quick-release member is quickly disassembled from the spherical universal joint.

[0027] In an exemplary embodiment of the present disclosure, a first accommodation groove is provided within the spherical body, the quick-release button is installed within the first accommodation groove, and a first elastic reset member for providing a resilience force to the quick-release button is provided between the quick-release button and the bottom of the first accommodation groove. Among them, a first limiting member for limiting the base of the quick-release button within the first accommodation groove is provided at the notch of the first accommodation groove.

[0028] In an exemplary embodiment of the present disclosure, a second accommodation groove communicating with the first accommodation groove is provided within the spherical body, the first quick-release bushing is installed within the second accommodation groove, and one end of the first quick-release bushing extends into a third accommodation groove provided within the quick-release button.

[0029] In an exemplary embodiment of the present disclosure, a second limiting member for limiting the first quick-release bearing within the second accommodation groove is provided at the notch of the second accommodation groove.

[0030] In an exemplary embodiment of the present disclosure, the first locking groove is an annular groove circumferentially provided along the locking end of the integrated quick-release member.

[0031] In a third aspect of the present invention, there is also provided an exoskeleton, which includes the multi-degree-of-freedom quick-release joint described above.

[0032] Beneficial effects:

[0033] In the present invention, a quick-release component is arranged inside a universal transmission mechanism, such as a ball joint or a cardan joint, and the quick-release component is quickly detachably connected to the universal transmission mechanism in a manner that enables quick disassembly. This allows for quick disassembly or quick assembly while achieving multiple degrees of freedom, thereby modularizing various parts of the exoskeleton. This facilitates the repair or iterative replacement of certain components in the exoskeleton and also makes it easier for the user to put on and take off the exoskeleton, enhancing the user experience.

[0034] Furthermore, the quick-release component of the multi-degree-of-freedom quick-release joint in the present invention includes an integrated quick-release component and a split quick-release component. Correspondingly, the universal transmission mechanism includes a ball joint and a cardan joint, and the integrated quick-release component can be integrally and quickly detachably connected and split and quickly detachably connected to the ball joint or the cardan joint respectively in a manner that enables quick disassembly. Alternatively, the split quick-release component can be integrally and quickly detachably connected and split and quickly detachably connected to the ball joint or the cardan joint respectively in a manner that enables quick disassembly. This allows for the selection of different quick-release connection methods according to different application scenarios, expanding the application scenarios of the exoskeleton and providing diverse choices for users, further enhancing the user experience.

[0035] Furthermore, by arranging corresponding elastic return mechanisms and / or damping mechanisms in one degree of freedom or each degree of freedom, such as coaxially arranging corresponding elastic return mechanisms and / or damping mechanisms at the end of the first rotating shaft and / or the second rotating shaft between the quick-release base and the first quick-release bracket, or arranging corresponding elastic return mechanisms and / or damping mechanisms on the rotating shaft between the universal transmission mechanism and the first link, a buffering function is provided to avoid situations such as joint jamming or malfunction caused by overly fast or violent movement. For example, by arranging an elastic return mechanism and a damping mechanism between the quick-release base and the first quick-release bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the drawings required for describing the embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale. Obviously, the following-described drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts:

[0037] Figure 1 It is a schematic structural diagram of an embodiment of a multi-degree-of-freedom quick-release joint shown according to a first exemplary embodiment;

[0038] Figure 2It is a separation schematic diagram of a spherical universal joint and a split quick-release part in a multi-degree-of-freedom quick-release joint embodiment shown according to the first exemplary embodiment;

[0039] Figure 3 It is an exploded schematic diagram of the structure of a multi-degree-of-freedom quick-release joint embodiment shown according to the first exemplary embodiment;

[0040] Figure 4 It is an assembly schematic diagram of a spherical universal joint and a split quick-release part in a multi-degree-of-freedom quick-release joint embodiment shown according to the first exemplary embodiment;

[0041] Figure 5 It is a schematic diagram of a split quick-release part and a spherical universal joint in a multi-degree-of-freedom quick-release joint embodiment shown according to the first exemplary embodiment in a quick-release connection (i.e., in the initial state);

[0042] Figure 6 It is a separation schematic diagram of a spherical universal joint and an integral quick-release part in a multi-degree-of-freedom quick-release joint embodiment shown according to the second exemplary embodiment;

[0043] Figure 7 It is an exploded schematic diagram of the structure of a multi-degree-of-freedom quick-release joint embodiment shown according to the second exemplary embodiment;

[0044] Figure 8 It is an assembly schematic diagram of a spherical universal joint and an integral quick-release part in a multi-degree-of-freedom quick-release joint embodiment shown according to the second exemplary embodiment;

[0045] Figure 9 It is a schematic diagram of a spherical universal joint and an integral quick-release part in a multi-degree-of-freedom quick-release joint embodiment shown according to the second exemplary embodiment in a quick-release connection (i.e., in the initial state);

[0046] Figure 10a It is a schematic diagram of the first movement direction in a multi-degree-of-freedom quick-release joint embodiment shown according to the second exemplary embodiment;

[0047] Figure 10b It is a schematic diagram of the second movement direction in a multi-degree-of-freedom quick-release joint embodiment shown according to the second exemplary embodiment;

[0048] Figure 10c It is a schematic diagram of the third movement direction in a multi-degree-of-freedom quick-release joint embodiment shown according to the second exemplary embodiment;

[0049] Figure 11 It is a schematic diagram of the structure of a multi-degree-of-freedom quick-release joint embodiment shown according to the third exemplary embodiment;

[0050] Figure 12 It is an exploded view of a cross universal joint in the structure of a multi-degree-of-freedom quick-release joint embodiment shown according to the third exemplary embodiment;

[0051] Figure 13a It is an exploded view of a split quick-release part in a multi-degree-of-freedom quick-release joint embodiment shown according to the third exemplary embodiment;

[0052] Figure 13b It is a cross-sectional view of a split quick-release part in a multi-degree-of-freedom quick-release joint embodiment shown according to the third exemplary embodiment;

[0053] Figure 14a It is an exploded view of a quick-release base from the first perspective in a multi-degree-of-freedom quick-release joint embodiment shown according to the third exemplary embodiment;

[0054] Figure 14b It is an exploded view of a quick-release base from the second perspective in a multi-degree-of-freedom quick-release joint embodiment shown according to the third exemplary embodiment;

[0055] Figure 15a It is a cross-sectional view of a quick-release base in a multi-degree-of-freedom quick-release joint embodiment shown according to the third exemplary embodiment;

[0056] Figure 15b It is a cross-sectional view of the cooperation between a quick-release base and a split quick-release part in a multi-degree-of-freedom quick-release joint embodiment shown according to the third exemplary embodiment;

[0057] Figure 16 It is a structural diagram of a multi-degree-of-freedom quick-release joint embodiment shown according to the fourth exemplary embodiment;

[0058] Figure 17a It is a separation diagram of a cross universal joint and a split quick-release part from the first perspective in a multi-degree-of-freedom quick-release joint embodiment shown according to the fourth exemplary embodiment;

[0059] Figure 17b It is a separation diagram of a cross universal joint and a split quick-release part from the second perspective in a multi-degree-of-freedom quick-release joint embodiment shown according to the fourth exemplary embodiment;

[0060] Figure 18 It is an exploded view of a multi-degree-of-freedom quick-release joint embodiment shown according to the fourth exemplary embodiment;

[0061] Figure 19a It is an exploded view of a second elastic reset mechanism and a second damping mechanism from the first perspective in a multi-degree-of-freedom quick-release joint embodiment shown according to the fourth exemplary embodiment;

[0062] Figure 19b It is an exploded view of the second perspective of the second elastic reset mechanism and the second damping mechanism in a multi-degree-of-freedom quick-release joint embodiment shown according to the fourth exemplary embodiment;

[0063] Figure 20a It is an exploded view of the first perspective of the third elastic reset mechanism and the third damping mechanism in a multi-degree-of-freedom quick-release joint embodiment shown according to the fourth exemplary embodiment;

[0064] Figure 20b It is an exploded view of the second perspective of the third elastic reset mechanism and the third damping mechanism in a multi-degree-of-freedom quick-release joint embodiment shown according to the fourth exemplary embodiment;

[0065] Figure 20c It is a schematic view of the first perspective of the cooperation between the third elastic reset mechanism and the third damping mechanism in a multi-degree-of-freedom quick-release joint embodiment shown according to the fourth exemplary embodiment;

[0066] Figure 20d It is a schematic view of the second perspective of the cooperation between the third elastic reset mechanism and the third damping mechanism in a multi-degree-of-freedom quick-release joint embodiment shown according to the fourth exemplary embodiment;

[0067] Figure 21 It is a cross-sectional view of a multi-degree-of-freedom quick-release joint embodiment shown according to the fourth exemplary embodiment.

[0068] Among them, 1 is the first connecting rod; 2 is the first connecting end cover, 24 is the spherical bearing bush, 22 is the bearing bush mounting base, 25 is the bearing bush end cover, 23 is the bearing bush retaining ring; 4 is the second connecting rod, 40 is the second connecting end cover; 3a is the split quick-release part, 3b is the integral quick-release part, 31 is the movable locking part, 32 is the first quick-release bushing, 321 is the locking wedge hole, 322 is the quick-release core groove, 34 is the quick-release core shaft, 35 is the quick-release button, 350 is the base part, 351 is the operating part, 33 is the first elastic reset part, 341 is the second locking groove, 343 is the positioning journal, 232 is the second limiting part, 36 is the first limiting part; 5 is the spherical universal joint, 50 is the spherical body, 51 is the quick-release hole, 501 is the first locking groove; 6 is the cross universal joint, 61 is the first quick-release bracket, 63 is the quick-release base, 01 is the first axial direction, 02 is the second axial direction, 03 is the third axial direction, 71 is the first rotating shaft end, 72 is the second rotating shaft end, 73 is the rotating shaft bearing, 62 is the second quick-release bracket, 621 is the first bearing seat, 622 is the second bearing seat, 630 is the mounting base, 631 is the second quick-release bushing, 6301 is the partition plate, 6312 is the inner ear mounting groove, 6311 is the polygonal step; 8 is the first elastic reset mechanism, 81 is the torsion spring, 82 is the torsion spring bearing, 83 is the first mounting cover, 831 is the torsion spring bearing mounting seat, 812 is the inner support ear, 811 is the outer support ear, 832 is the outer ear mounting groove; 9 is the first damping mechanism, 91 is the damping box, 91a is the damping inner cover, 91b is the damping outer cover, 910 is the damping liquid fluctuation block, 911 is the damping liquid injection hole, 920 is the damping liquid diversion groove, 94 is the damping bearing, 93 is the second mounting cover, 931 is the damping box bearing mounting seat; 10 is the second elastic reset mechanism, 101a is the torsion spring protection outer cover, 101b is the torsion spring protection inner cover; 11 is the second damping mechanism; 15 is the third elastic reset mechanism, 19 is the third damping mechanism; 111a is the damping protection outer cover, 111b is the damping protection outer cover, 830 is the first mounting cavity, 833 is the second mounting cavity, 933 is the third mounting cavity, 932 is the fourth mounting cavity, 183 is the fixing part, 14 is the protection outer cover, 141 is the first protection outer cover, 142 is the second protection outer cover, 13 is the fastener, 112 is the locking end bearing, 16 is the locking bearing seat, 161 is the locking end bearing inner seat, 162 is the locking screw mounting hole, 17 is the locking screw, 182 is the locking hole Detailed implementation mode

[0069] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0070] In this document, suffixes such as "module", "component", or "unit" used to represent elements are only for the convenience of describing the present invention and have no specific meaning in themselves. Therefore, "module", "component", or "unit" can be used interchangeably.

[0071] Glossary of terms:

[0072] Multi-degree-of-freedom quick-release joint: The "multi-degree-of-freedom quick-release joint" in this document refers to a part that can achieve the modularization of various parts of the exoskeleton, can achieve the quick assembly / quick disassembly between various joints or components of the exoskeleton, and can achieve two or more degrees of freedom. For example, the hip joint, knee joint, ankle joint, or the connection part between the spinal movement adaptation mechanism and the hip mechanism in the back carrying assistance mechanism, or the connection part between the spinal movement adaptation mechanism and the shoulder support mechanism, etc. can all be set to be quickly disassembled / quickly assembled.

[0073] Quick-release connection: The "quick-release connection" in this document means that the corresponding components in the quick-release joint can be connected in a quickly disassembled manner. Specifically, the "quick-release connection" in this document includes: integrated quick-release connection and split quick-release connection. Among them, the integrated quick-release connection means that the quick-release part can be directly connected to the universal transmission mechanism in a quickly disassembled manner as a single element; the split quick-release connection means that the quick-release part can be connected to the universal transmission mechanism in a quickly disassembled manner only after being composed of multiple elements. Of course, the multiple elements can also be quickly connected to each other.

[0074] In order to realize the modularization of the exoskeleton, so as to facilitate maintenance or component replacement or update iteration, and to facilitate users to put on and take off, and improve user experience, the present invention provides a multi-degree-of-freedom quick-release joint, including a universal transmission mechanism and a quick-release part that are quickly connected in a quick-release and disassembled manner. Specifically, at least one movable locking member is arranged between the universal transmission mechanism and the quick-release part, that is, the universal transmission mechanism and the quick-release part are quickly connected through the movable locking member. In the initial state (that is, the universal transmission mechanism and the quick-release part are quickly connected), the movable locking member is located in the first locking space formed by the quick-release part and the universal transmission mechanism (for example, a first locking groove can be respectively arranged in the universal transmission mechanism, and a locking wedge hole can be arranged on the quick-release part. When the first locking groove is connected to the locking wedge hole, the first locking space is formed; of course, it can also be reversed, such as a locking wedge hole is arranged in the universal transmission mechanism, and a first locking groove is arranged on the quick-release part).

[0075] The universal transmission mechanism (such as a universal joint such as a ball joint, a cross-axis universal joint, etc.) and the quick-release member are specifically connected in a split quick-release manner so as to be quickly disassembled, or in an integrated quick-release manner. For example, by providing at least one locking wedge hole that can cooperate with the movable locking member on the split quick release member (specifically, a corresponding locking wedge hole is provided on the quick release shaft sleeve in the split quick release member), correspondingly, a first locking groove that can cooperate with the movable locking member is provided in the universal transmission mechanism; or, by providing a locking wedge hole that can cooperate with at least one movable locking member in the universal transmission mechanism, a first locking groove that can cooperate with the movable locking member is provided on the integrated quick release member, so that when the quick release member is installed in the universal transmission mechanism and the locking wedge hole is connected to the first locking groove to form a first locking space, the movable locking member is moved into the first locking space under the action of the quick release member, thereby the split quick release member / integrated quick release member is connected to the universal transmission mechanism in a split quick release manner / integrated quick release manner.

[0076] Furthermore, an elastic reset mechanism (including elastic reset parts such as torsion springs) for providing restoring force and / or a damping mechanism (including a damping box with a damping fluid guide groove and a damping fluid toggle block) for providing damping force are provided on the universal transmission mechanism and / or the quick release part. For example, in a cross-axis universal joint, a damping rebound mechanism is provided on one or two axial directions (see Example 3), or damping rebound mechanisms are provided on three mutually perpendicular axial directions (see Example 4).

[0077] Embodiment 1 Multi-degree-of-freedom split quick-release joint

[0078] See also Figure 1, is a schematic structural diagram of a multi-degree-of-freedom quick-release joint according to an exemplary embodiment. Specifically, the multi-degree-of-freedom quick-release joint includes a universal transmission mechanism and a quick-release member. Among them, the universal transmission mechanism and the quick-release member are quickly disassembled and connected through at least one movable locking member (such as a spherical ball).

[0079] In some embodiments, the universal transmission mechanism of the multi-degree-of-freedom quick-release joint can be installed in the first connection end cover 2, and then connected to the corresponding part of the exoskeleton through the first connecting rod 1 connected to the first connection end cover 2. Correspondingly, the quick-release member can be connected to the corresponding part of the exoskeleton through the second connecting rod 4. Specifically, the universal transmission mechanism uses a spherical universal joint 5, and the spherical universal joint 5 is installed in the first connection end cover 2 in a manner that can rotate relative to the first connection end cover 2, while the quick-release member uses a split quick-release member 3a, and the spherical universal joint 5 and the split quick-release member 3a are split and quickly disassembled and connected in a manner that can be quickly disassembled.

[0080] In some embodiments, see Figure 2 and Figure 3 , the first connection end cover 2 includes a spherical bearing bush 24 for installing the spherical universal joint 5, a bearing bush mounting base 22 for installing the spherical bearing bush 24, and a bearing bush end cover 25 and a bearing bush retaining ring 23 respectively located on both sides of the bearing bush mounting base 22 for limiting the spherical bearing bush 24 within the bearing bush mounting base 22. When installing the spherical universal joint 5 in the first connection end cover 2, first install the spherical universal joint 5 in the spherical bearing bush 24, then install the spherical bearing bush 24 in the bearing bush mounting base 22, and then fix the bearing bush end cover 25 and the bearing bush retaining ring 23 on both sides of the spherical bearing bush 24 respectively to stably install the spherical bearing bush 24 on the bearing bush mounting base 22.

[0081] In some embodiments, see Figure 2 and Figure 3 , by providing at least one locking wedge hole 321 on the split quick-release member 3a that can cooperate with the movable locking member 31 (such as a spherical ball). Correspondingly, at least one first locking groove 501 (which can also be set as an annular groove) that can cooperate with the movable locking member 31 is provided in the spherical universal joint 5. When the split quick-release member 3a is installed in the spherical universal joint 5 such that the locking wedge hole 321 communicates with the first locking groove 501 in the spherical universal joint 5 to form a first locking space, the movable locking member 31 moves to the first locking space under the action of the split quick-release member 3a (that is, the movable locking member 31 cooperates with both the locking wedge hole 321 and the first locking groove 501 at the same time, see Figure 5), so that the split quick release part 3a is split and quickly connected to the spherical universal joint 5. It can be seen that in the initial state (i.e., the quick release part is quickly connected to the universal transmission mechanism), the movable locking part 31 is located in the first locking space formed by the spherical universal joint 5 (the first locking groove 501 in it) and the split quick release part 3a (the locking wedge hole 321 in it).

[0082] Accordingly, when an external force is applied to the split quick release member 3a connected to the spherical universal joint 5 in a split quick release manner, the movable locking member 31 is disengaged from the first locking groove 501 (for example, see Figure 4 When the locking wedge hole 321 is offset from the first locking groove 501 so that the movable locking member does not cooperate with the first locking groove 501, the split quick release member 3a and the ball universal joint 5 are quickly disassembled.

[0083] In some embodiments, see Figure 3 and Figure 4 The spherical universal joint 5 includes a spherical body 50 matched with the spherical bearing bush 24, a quick release hole 51 for inserting the split quick release part 3a is provided in the spherical body 50, and a first locking groove 501 matched with the movable locking part 31 is provided on the hole wall of the quick release hole 51. When the split quick release part 3a is gradually inserted into the quick release hole 51, the locking wedge hole 321 on the split quick release part 3a also gradually approaches the first locking groove 501 and finally engages with the first locking groove 501. The locking grooves 501 are connected to form a first locking space. At this time, if an external force is applied to the split quick release component 3a (the quick release button 35), the movable locking component 31 is moved to the first locking space under the action of the split quick release component 3a (the quick release spindle 34 inside), so that the movable locking component 31 self-locks the split quick release component 3a (the first quick release shaft sleeve 32 therein) and the spherical body 50, that is, the split quick release component 3a is quickly released and connected to the spherical universal joint 5, see Figure 5 .

[0084] In some embodiments, see Figure 3 and Figure 4, the split quick-release member 3a specifically includes a quick-release mandrel 34, a first quick-release bushing 32, and a quick-release button 35. Among them, the base 350 of the quick-release button 35 is fixedly connected to the operating end of the quick-release mandrel 34. A quick-release core groove 322 corresponding to the quick-release mandrel 34 is provided in the first quick-release bushing 32. A first accommodation groove is provided at the position corresponding to the operating ends of the quick-release button 35 and the quick-release mandrel 34 in the quick-release core groove 322. A first elastic reset member 33, such as a spring, is provided between the bottom of the first accommodation groove and the base 350 of the quick-release button 35. Thus, the quick-release button 35 can drive the quick-release mandrel 34 to slide in the first quick-release bushing 32 under the action of the first elastic reset member 33 (that is, the quick-release mandrel 34 is installed in the first quick-release bushing 32 in a manner that can slide axially along the first quick-release bushing 32). The other end of the quick-release mandrel 34, that is, the locking end, is provided with a second locking groove 341 for cooperating with the movable locking member 31. A locking wedge hole 321 through which the movable locking member 31 can pass is provided in the first quick-release bushing 32 (specifically, the locking wedge hole 321 penetrates the wall of the quick-release core groove 322 in the first quick-release bushing 32, and a part of the movable locking member 31 can pass through the locking wedge hole 321). When the movable locking member 31 is located in the second locking space formed by the connection of the locking wedge hole 321 and the second locking groove 341, the quick-release mandrel 34 and the first quick-release bushing 32 are detachably connected in a split quick-release manner, see Figure 2 and Figure 4 ; when the movable locking member 31 disengages from the second locking groove 341, the quick-release mandrel 34 and the first quick-release bushing 32 are quickly disassembled, see Figure 3 .

[0085] Preferably, there are 4 movable locking members 31. The first quick-release bushing 32 is a square tenon, and a locking wedge hole 321 is provided on each of its four faces. Correspondingly, four first locking grooves 501 are also provided on the wall of the quick-release hole 51 of the spherical body 50 (certainly, the four first locking grooves can also be connected to form an annular groove that can cooperate with the four movable locking members); the second locking groove 341 on the quick-release mandrel 34 is an annular groove provided along the circumferential direction of the quick-release mandrel 34.

[0086] During specific implementation, see Figure 4 and Figure 5 , the process of assembling the split quick-release member 3a and the spherical universal joint 5 includes:

[0087] First, an external force F1 is applied to the operating portion 351 of the quick-release button 35 to gradually push the quick-release mandrel 34 axially along the quick-release core groove 322 into the first quick-release bushing 32. At this time, the base portion 350 of the quick-release button 35 squeezes the first elastic reset member 33 towards the bottom of the first receiving groove. Refer to Figure 4 ; when the second locking groove 341 on the quick-release mandrel 34 communicates with the locking wedge hole 321 on the first quick-release bushing 32 to form a second locking space that can accommodate the movable locking member 31, the movable locking member 31 is placed in the second locking space, and the external force F1 is maintained so that the movable locking member 31 always remains in the second locking space.

[0088] Then, the first quick-release bushing 32 equipped with the quick-release mandrel 34 is inserted into the spherical body 50 along the quick-release hole 51. When the locking wedge hole 321 on the first quick-release bushing 32 communicates with the first locking groove 501 in the quick-release hole 51 to form a first locking space (refer to Figure 5 , when the first quick-release bushing 32 is completely inserted into the quick-release hole 51 in the spherical body 50 and the locking wedge hole 321 is located at the notch of the first locking groove 501), the above-mentioned external force acting on the operating portion 351 of the quick-release button 35 is removed, that is, the quick-release button 35 is released. At this time, due to the action of the first elastic reset member 33, the operating portion 351 of the quick-release button 35 is pushed out of the first receiving groove (specifically, by providing a first limiting member 36 (such as a spring end cover) at the notch of the first receiving groove to limit the movement range of the base portion 350 of the quick-release button 35 within the first receiving groove, that is, only the operating portion 351 of the quick-release button 35 can move out of the first receiving groove). And because the base portion 350 of the quick-release button 35 is fixedly connected to the operating end / free end of the quick-release mandrel 34, therefore, the quick-release button 35 drives the quick-release mandrel 34 to move out along the quick-release hole 51 of the spherical body 50. At this time, the movable locking member 31 moves out of the second locking groove 341 on the quick-release mandrel 34 and is pushed into the first locking space formed by the communication of the first locking groove 501 and the locking wedge hole 321 by the shaft wall of the free end (i.e., the locking end) of the quick-release mandrel 34, and the movable locking member 31 is limited in the first locking space by the shaft wall of the quick-release mandrel 34 to prevent the movable locking member 31 from moving to other positions, that is, the first quick-release bushing 32 and the spherical body 50 are self-locked by the movable locking member 31 to realize a split-type quick-release connection between the first quick-release bushing 32 and the spherical universal joint 5, that is, a split-type quick-release connection between the split-type quick-release member 3a and the spherical universal joint 5 is realized through the movable locking member 31.

[0089] It can be seen from this that refer to Figure 5, after assembly, that is, when the multi-degree-of-freedom quick-release joint is in its initial state, the movable locking member 31 is located in the first locking space formed by the communication of the first locking groove 501 in the spherical body 50 and the locking wedge hole 321 on the first quick-release bushing 32 (and the first locking space jointly formed by the universal transmission mechanism and the quick-release member), thereby locking the first quick-release bushing 32 in the spherical body 50, that is, the first quick-release bushing 32 is quickly connected to the spherical body 50; at this time, when the first elastic reset member 33 is released, that is, under the action of the first elastic reset member 33, the operating portion 351 of the quick-release button 35 slides out along the central axis of the first quick-release bushing 32 to the outside of the first accommodating groove, so as to facilitate the user to press the quick-release button again to unlock the first quick-release bushing 32 and the spherical body 50.

[0090] If it is necessary to quickly disassemble the split quick-release member 3a and the spherical universal joint 5, that is, it is necessary to quickly disassemble the first quick-release bushing 32 and the spherical body 50. The user only needs to apply an external force to the operating portion 351 of the quick-release button 35 again to squeeze the first elastic reset member 33 (that is, the base portion 350 of the quick-release button 35 squeezes the elastic reset member 33 towards the bottom of the first accommodating groove, see Figure 4 ), thereby driving the quick-release mandrel 34 to slide into the spherical body 50 along the central axis of the first quick-release bushing 32, so that the second locking groove 341 on the quick-release mandrel 34 communicates with the locking wedge hole 321 on the first quick-release bushing 32 to form a second locking space. At this time, due to the lack of the limitation of the shaft wall, under the action of the groove wall of the first locking groove 501, the movable locking member 31 moves from the first locking space (formed by the communication of the first locking groove 501 and the locking wedge hole 321) to the second locking space (formed by the communication of the second locking groove 341 and the locking wedge hole 321), and then the first quick-release bushing 32 and the spherical universal joint 5 are quickly disassembled, that is, the split quick-release member 3a and the spherical universal joint 5 are quickly disassembled.

[0091] Of course, when the first quick-release bushing 32 is pulled out of the spherical body 50 and the quick-release button 35 is released, under the action of the first elastic reset member 33, the quick-release mandrel 34 moves out along the first quick-release bushing, and its shaft wall pushes the movable locking member 31 out of the locking wedge hole (of course, the movable locking member can also be directly taken out and then the quick-release button is released), and the operating portion 351 of the quick-release button 35 moves out of the first accommodating groove. At this time, if the first limiting member 36 for limiting the operating portion 351 of the quick-release button 35 in the first accommodating groove is removed, the quick-release mandrel 34 can be taken out of the first quick-release bushing 32, that is, the quick-release mandrel 34 and the first quick-release bushing 32 are quickly disassembled.

[0092] Specifically, during implementation, the first connecting rod 1 connected to the connecting end cover 2 in the above-mentioned multi-degree-of-freedom quick-release joint and the second connecting rod 4 connected to the split quick-release member 3a can be respectively installed at corresponding positions on the exoskeleton. For example, the first connecting rod 1 can be connected to the thigh component of the lower limb exoskeleton, and correspondingly, the second connecting rod 4 can be connected to the calf component of the lower limb exoskeleton to complete the assembly.

[0093] In this embodiment, by providing a split quick-release member 3a in the spherical universal joint 5, the spherical universal joint 5 and the split quick-release member 3a can be respectively connected to corresponding components in the exoskeleton through corresponding connecting rods, and then the spherical universal joint 5 and the split quick-release member 3a are used for split quick-release connection, thereby modularizing the exoskeleton, facilitating the repair or update iteration of the components in the exoskeleton, and also facilitating the user to put on and take off, improving the user experience.

[0094] Embodiment 2 Multi-degree-of-freedom integrated quick-release joint

[0095] See Figure 6 , which is a schematic structural diagram of an embodiment of a multi-degree-of-freedom quick-release joint of another exemplary embodiment. The multi-degree-of-freedom quick-release joint includes a universal transmission mechanism and a quick-release member, and at least one movable locking member 31 provided between the universal transmission mechanism and the quick-release member, that is, the universal transmission mechanism and the quick-release member are quickly detachably connected through the movable locking member 31.

[0096] In some embodiments, the universal transmission mechanism uses a spherical universal joint 5, the quick-release member uses an integrated quick-release member 3b, and the spherical universal joint 5 and the integrated quick-release member 3b are integrally and quickly detachably connected through the movable locking member 31 in a manner that can be quickly disassembled. Among them, the spherical universal joint 5 is installed in the first connecting end cover 2 in a manner that can rotate relative to the first connecting end cover 2, so that the spherical universal joint 5 can pass through the first connecting end cover 2 (specifically, the connecting end cover is the same as the first connecting end cover 2 in the first embodiment above, and the same components use the same reference numerals), and the first connecting rod 1 connected to the first connecting end cover 2 is connected to the corresponding part of the exoskeleton. Correspondingly, the integrated quick-release member 3b can be connected to the corresponding part of the exoskeleton through the second connecting rod 4.

[0097] In some embodiments, see Figure 7 and Figure 8, by providing at least one locking wedge hole 321 in the spherical universal joint 5 that cooperates with the movable locking member 31 (such as a spherical ball), and providing at least one first locking groove 501 on the integral quick-release member 3b that can cooperate with the movable locking member 31. Thus, when the integral quick-release member 3b is installed in the spherical universal joint 5 and the first locking groove 501 in the integral quick-release member 3b communicates with the locking wedge hole 321 to form a first locking space that can cooperate with the movable locking member 31, the movable locking member 31 moves to the first locking space under the action of the integral quick-release member 3b, so that the integral quick-release member 3b and the spherical universal joint 5 are integrally and quickly connected.

[0098] Correspondingly, when an external force is applied to the spherical universal joint 5 that is integrally and quickly connected to the integral quick-release member 3b, causing the movable locking member 31 to disengage from the first locking groove 501 (such as moving from the above-mentioned first locking space to a second locking space formed by the communication between the locking wedge hole 321 and the second locking groove 341 on the first quick-release bushing 32), the integral quick-release member 3b and the spherical universal joint 5 are quickly disassembled.

[0099] In some embodiments, referring to Figure 7 , Figure 8 and Figure 9 , the spherical universal joint 5 includes a spherical body 50, and a quick-release button 35 and a first quick-release bushing 32 installed in the quick-release hole 51 of the spherical body 50. Among them, the quick-release button 35 is arranged at one end of the first quick-release bushing 32 in a manner that can slide relative to the first quick-release bushing 32 (specifically, referring to Figure 8, one end of the quick-release hole 51 is provided with a first accommodation groove, the quick-release button 35 is located in the first accommodation groove, and a first elastic reset member 33, such as a spring, is provided between the bottom of the first accommodation groove and the base 350 of the quick-release button 35, so that the quick-release button 35 can slide left and right in the first accommodation groove relative to the spherical body 50 under the action of the first elastic reset member 33; at the same time, a second accommodation groove corresponding to the locking end of the first quick-release bushing 32 (i.e., the end provided with the first locking groove 501) is provided in the quick-release button 35 to place the locking end / free end of the first quick-release bushing 32, and the other end / connecting end of the first quick-release bushing 32 (i.e., the end connected to the second connecting rod 4) is defined in the quick-release hole 51 of the spherical body 50 through the positioning journal 343 and the second limiting member 232 (such as a retaining ring), that is, the first quick-release bushing 32 is fixed in the quick-release hole 51 of the spherical body 50 through the positioning journal 343 and the second limiting member 232, and one end of it is inserted into the second accommodation groove in the quick-release button 35. When the quick-release button 35 slides relative to the spherical body 50 under the action of the first elastic reset member 33 / external force, correspondingly, the quick-release button 35 slides correspondingly to the first quick-release bushing 32), and a second locking groove 341 that can cooperate with the movable locking member 31 is provided in the quick-release button 35 (in the second accommodation groove), and a locking wedge hole 321 that can provide a moving space for the movable locking member 31 is provided on the first quick-release bushing 32, and when the second locking groove 341 is communicated with the locking wedge hole 321, a second locking space for accommodating the movable locking member 31 is formed. Thus, when the movable locking member 31 is located in the second locking space, the movable locking member 31 self-locks the first quick-release bushing 32 and the quick-release button 35, see Figure 8 (At this time, even if an external force is applied to the quick-release button 35, the quick-release button 35 cannot slide relative to the first quick-release bushing 32); at this time, if the integrated quick-release member 3b is inserted into the first quick-release bushing 32, and when the first locking groove 501 on the integrated quick-release member 3b is communicated with the locking wedge hole on the first quick-release bushing 32 to form a first locking space, the movable locking member 31 located in the second locking space moves from the second locking space to the first locking space jointly formed by the first locking groove 501 on the integrated quick-release member 3b and the locking wedge hole 321 on the first quick-release bushing 32 in the spherical universal joint under the action of the axial wall of the locking end of the integrated quick-release member 3b, see Figure 9 .

[0100] In some embodiments, see Figure 7 and Figure 8, the integrated quick-release part 3b is a quick-release shaft, and a first locking groove 501 that can cooperate with the above-mentioned movable locking part 31 is arranged at a position near the end of its free end / locking end. Thus, when the movable locking part 31 cooperates with the first locking groove 501 on the integrated quick-release part 3b, the integrated quick-release part 3b is integrally and quickly connected to the spherical universal joint 5; and the other end (i.e., the connecting end) of the integrated quick-release part 3b can be connected to a corresponding component in the exoskeleton (for example, the calf exoskeleton of the lower limb exoskeleton) through the second connecting rod 4.

[0101] Preferably, there are 4 movable locking parts 31, and the integrated quick-release part 3b adopts an octagonal quick-release head. Correspondingly, the quick-release core groove 322 in the first quick-release shaft sleeve 32 adopts an octagonal quick-release hole, and four locking wedge holes 321 are arranged circumferentially at the locking end (or free end) of the first quick-release shaft sleeve 32. Correspondingly, four second locking grooves 341 are also correspondingly arranged on the groove wall of the second accommodation groove in the quick-release button 35. Specifically, the first locking groove 501 on the integrated quick-release part 3b adopts an annular groove arranged circumferentially along the quick-release core shaft 34.

[0102] During specific implementation, refer to Figure 8 and Figure 9 , the process of assembling the spherical universal joint 5 and the integrated quick-release part 3b includes:

[0103] First, insert the first quick-release shaft sleeve 32 into the quick-release hole 51 of the spherical body 50, and limit the positioning journal 343 of the first quick-release shaft sleeve 32 in the third accommodation groove at one end of the quick-release hole 51 through the second limiting part 232 to fix the first quick-release shaft sleeve 32 in the quick-release hole 51. And the other end (i.e., the free end / locking end) of the first quick-release shaft sleeve 32 extends into the corresponding second accommodation groove in the quick-release button 35 arranged in the first accommodation groove at the other end of the quick-release hole 51, and sleuth the first elastic reset part 33 and the quick-release button 35 in sequence on the other end (i.e., the locking end provided with the locking wedge holes 321) of the first quick-release shaft sleeve 32, and limit the quick-release button 35 in the first accommodation groove through the first limiting part 36;

[0104] Then, press the operation part 351 of the quick-release button 35 to make the quick-release button 35 move towards the bottom of the first accommodation groove (at this time, the base part 350 squeezes the first elastic reset part 33 towards the bottom of the first accommodation groove, refer to Figure 8), and during the movement, the second locking groove 341 provided in the base 350 of the quick release button 35 is connected with the locking wedge hole 321 on the first quick release sleeve 32 to form a second locking space, and then the integrated quick release member 3b is inserted into the first quick release sleeve 32, Therefore, under the action of the chamfered surface of the locking end / free end of the integrated quick release component 3b, part of the movable locking component 31 is pushed into the second locking groove 341 (that is, the movable locking component 31 is located in the second locking space formed by the locking wedge hole 321 and the second locking groove 341), so that the integrated quick release component 3b can completely slide into the first quick release sleeve 32, and when it completely slides into the first quick release sleeve 32, the first locking groove 501 on the integrated quick release component 3b corresponds to the locking wedge hole 321 on the first quick release sleeve 32, and is connected thereto to form a first locking space. At this time, the quick release button 35 is released, and under the action of the first elastic return member 33, the quick release button 35 slides outside the spherical body 50 (the first accommodating groove in it) along the central axis of the first quick release sleeve 32, so that the movable locking component 31 is pushed into the first locking space under the action of the quick release button. The movable locking member is confined in the first locking space by the groove wall of the second accommodating groove in the quick release button, so that the integrated quick release member 3b and the first quick release shaft sleeve 32 are self-locked, that is, the integrated quick release member 3b and the first quick release shaft sleeve 32 are connected in an integrated quick release manner, that is, the integrated quick release member 3b and the ball universal joint 5 are connected in an integrated quick release manner, see Figure 9 .

[0105] It can be seen that when the integrated quick release part 3b is installed in the spherical universal joint 5, that is, the multi-degree-of-freedom quick release joint is in the initial state, the movable locking part 31 is located in the first locking space formed by the first locking groove 501 on the integrated quick release part 3b and the locking wedge hole 321 on the first quick release sleeve 32. At this time, the first elastic reset part 33 is released and the operating part 351 of the quick release button 35 is pushed out of the first receiving groove. At this time, the integrated quick release part 3b can be rotated with multiple degrees of freedom, see Figure 10a , Figure 10b and Figure 10c .

[0106] To quickly disassemble the integrated quick-release member 3b and the spherical universal joint 5, an external force is applied to the spherical body 50, and the operating portion 351 (such as the quick-release button 35) of the quick-release button 35 located at the locking end of the first quick-release sleeve 32 is pressed. Figure 10a) to move the quick-release button 35 into the first receiving groove (at this time, the first elastic reset member 33 is squeezed by the base 350 of the quick-release button 35 towards the bottom of the first receiving groove), and when the second locking groove 341 on the groove wall of the second receiving groove in the quick-release button 35 communicates with the locking wedge hole 321 on the first quick-release bushing 32 to form the second locking space, the movable locking member 31 originally located in the first locking space is pushed into the second locking space under the action of the groove wall of the first locking groove 501 (i.e., part of the movable locking member 31 slides into the second locking groove 341), thereby quickly disassembling the integrated quick-release member 3b from the first quick-release bushing 32, that is, quickly disassembling the integrated quick-release member 3b from the spherical universal joint 5, see Figure 8 . Then, release the quick-release button 35, so that the quick-release button 35 slides out along the outside of the first receiving groove under the action of the first elastic reset member 33, that is, the operating portion of the quick-release button protrudes out of the first receiving groove, facilitating the user to press the quick-release button again. At this time, since the integrated quick-release member 3b has been removed from the first quick-release bushing 32, the movable locking member 31 is removed from the second locking groove 341 under the action of the groove wall of the second locking groove 341 in the quick-release button 35 and is stuck on the locking wedge hole 321. And when the first limiting member 36 and the second limiting member 232 are removed, the quick-release button 35 and the first quick-release bushing 32 can also be taken out from the spherical body 50.

[0107] Specifically, during implementation, the spherical body 50 in the above-mentioned multi-degree-of-freedom quick-release joint can be installed on the first connection end cover 2 connected to the first connecting rod 1 to be connected to the corresponding part on the exoskeleton through the first connecting rod 1. Correspondingly, the integrated quick-release member 3b is connected to the second connecting rod 4 to be connected to the corresponding part on the exoskeleton through the second connecting rod. For example, connecting the first connecting rod 1 to the thigh component of the lower limb exoskeleton, and correspondingly, connecting the second connecting rod 4 to the calf component of the lower limb exoskeleton can complete the assembly.

[0108] In this embodiment, by setting the integrated quick-release member 3b in the spherical universal joint 5, the spherical universal joint 5 and the integrated quick-release member 3b can be respectively connected to the corresponding components in the exoskeleton through the corresponding connecting rods, and then the spherical universal joint 5 and the integrated quick-release member 3b are used for integrated quick-release connection, thereby realizing the modularization of the exoskeleton, facilitating the maintenance or update iteration of the components in the exoskeleton, and also facilitating the user to put on and take off, improving the user experience.

[0109] Embodiment Three: Multi-degree-of-freedom Single Damping Rebound Quick-release Joint

[0110] Refer to Figure 11, which is a schematic structural diagram of an embodiment of a multi-degree-of-freedom quick-release joint according to the third exemplary embodiment. Specifically, the multi-degree-of-freedom quick-release joint includes: a universal transmission mechanism and a quick-release member, wherein the universal transmission mechanism and the quick-release member are quickly detachably connected by at least one movable locking member (such as a spherical ball).

[0111] In some embodiments, the universal transmission mechanism and the quick-release member of the multi-degree-of-freedom quick-release joint can be respectively connected to corresponding parts of the exoskeleton through a first connecting rod 1 and a second connecting rod 4. Specifically, the universal transmission mechanism adopts a cross-axis universal joint 6, and the quick-release member adopts a split quick-release member 3a (specifically, the split quick-release member 3a is connected to the second connection end cover 40 of the second connecting rod 4), and the cross-axis universal joint 6 and the split quick-release member 3a are quickly detachably connected by the movable locking member 31 in a quickly detachable manner.

[0112] In some embodiments, refer to Figure 12 , Figure 13a and Figure 13b , the split quick-release member 3a includes the various components of the split quick-release member in the first embodiment above, such as a first quick-release bushing 32, a quick-release mandrel 34, a quick-release button 35, a first elastic reset member 33, etc. The same components use the same reference numerals, and their working principles are also the same, which will not be elaborated here. Of course, only one movable locking member 31 can also be used. Correspondingly, a second locking groove 341 is provided at the locking end of the quick-release mandrel 34, and a locking wedge hole 321 is provided on the first quick-release bushing 32. Refer to Figure 13a and Figure 13b .

[0113] In some embodiments, refer to Figure 12 , the cross-axis universal joint 6 includes: a first quick-release bracket 61 and a quick-release base 63, wherein the quick-release base 63 is mounted on the first quick-release bracket 61 in a manner that can rotate around a first axial direction O1 and a second axial direction O2 perpendicular to each other relative to the first quick-release bracket 61. Among them, a first locking groove 501 that can cooperate with the movable locking member 31 is provided in the quick-release base 63. Refer to Figure 14b , Figure 15a and Figure 15b . That is, when the first locking groove 501 in the quick-release base 63 communicates with the locking wedge hole 321 on the split quick-release member 3b (the first quick-release bushing 32) to form a first locking space, and when the movable locking member 31 moves to the first locking space under the action of the quick-release member, the movable locking member 31 locks the quick-release base 63 and the quick-release member. That is, in the initial state, the movable locking member 31 is located in the first locking space, thereby quickly detachably connecting the cross universal joint 6 and the split quick-release member 3a.

[0114] In some embodiments, referring to Figure 12 , taking the center of the first quick-release bracket 61 as the origin, and taking Figure 12 the axial direction of the first connecting rod in Figure 12 as the X-axis, taking the axial direction of the quick-release mandrel 34 / quick-release part perpendicular to the X-axis as the Z-axis, and taking the vertical direction as the Y-axis, a three-dimensional coordinate system as shown in

[0115] is obtained. Among them, the first axial direction O1 is the Y-axis direction passing through the center of the first quick-release bracket, and the second axial direction O2 is the X-axis direction passing through the center of the first quick-release bracket. Figure 12 In some embodiments, referring to

[0116] , two first rotating shaft ends 71 are symmetrically arranged on the first quick-release bracket 61 along the first axial direction O1 (or Y-axis) (that is, the straight line where the two first rotating shaft ends 71 are located is the first axial direction O1), and two second rotating shaft ends 72 are symmetrically arranged on the quick-release base 63 along the second axial direction O2 (or the direction passing through the center point of the quick-release base 63 and parallel to the X-axis direction) (that is, the straight line where the two second rotating shaft ends 72 are located is parallel to the second axial direction O2), and the quick-release base 63 is rotatably installed in the first quick-release bracket 61 through the first rotating shaft end 71 and the second rotating shaft end 72, the rotating shaft bearing 73 and the corresponding bearing seat. Specifically, a second quick-release bracket 62 is arranged between the quick-release base 63 and the first quick-release bracket 61, and a first bearing seat 621 corresponding to the first rotating shaft end 71 is arranged on the second quick-release bracket 62 along the first axial direction O1, and a second bearing seat 622 corresponding to the second rotating shaft end 72 is arranged along the second axial direction O2. The first quick-release bracket 61 is annular, and the two first rotating shaft ends 71 symmetrically arranged on the inner ring wall along the first axial direction O1 are installed on the bearing 73 in the first bearing seat 621 on the second quick-release bracket 62; correspondingly, the quick-release base 63 is cylindrical (the central axis thereof is perpendicular to the central axis of the first quick-release bracket 61), and the two second rotating shaft ends 72 symmetrically arranged on the outer wall along the second axial direction O2 are installed on the bearing 73 in the second bearing seat 622 on the second quick-release bracket 62, so that the first quick-release bracket 61, the second quick-release bracket 62 and the quick-release base 63 are nested in layers from the outside to the inside, and the quick-release base 63 can rotate relative to the first quick-release bracket 61 around the first axial direction O1 and / or the second axial direction O2 through the first rotating shaft end 71 and the second rotating shaft end 72. Figure 14a and Figure 14b, the quick-release base 63 includes a cylindrical mounting base 630 (specifically, second shaft ends 72 are symmetrically arranged on the outer wall of the mounting base 630 along the second axis), and a second quick-release bushing 631 is mounted in the mounting base 630 in a manner that can rotate relative to the mounting base 630. Specifically, a partition 6301 is provided in the mounting base 630, and a fixing hole matching the second quick-release bushing 631 is formed in the partition 6301; a quick-release hole 51 that can cooperate with the above-mentioned quick-release member is formed in the second quick-release bushing 631, and a first locking groove 501 that can cooperate with the above-mentioned movable locking member 31 is provided in the quick-release hole 501. Thus, when the movable locking member 31 is located in a first locking space formed by the communication of the first locking groove 501 and the locking wedge hole 321 on the quick-release member, the second quick-release bushing 631 rotates with the quick-release member relative to the mounting base 630 around the axis of the quick-release member, that is, the third axis O3 (or Z axis) of the first quick-release bracket 61.

[0117] Further, in order to provide buffering and resilience to the quick-release member, in some embodiments, a first elastic reset mechanism 8 is further provided in the quick-release base 63. See Figure 14a and Figure 14b , specifically in implementation, the first elastic reset mechanism 8 includes: a second elastic reset member provided on one side of the mounting base 630 (partition 6301) and coaxially arranged with the second quick-release bushing 631, such as a torsion spring 81. Specifically, the torsion spring 81 is sleeved on one end of the second quick-release bushing 631 and is fixed to one side of the mounting base 630 through a torsion spring bearing 82 and a first mounting cover 83 (a torsion spring bearing mounting seat 831 is provided therein), and the inner lug 812 of the torsion spring 81 is mounted in the inner ear mounting groove 6312 at one end of the second bushing 631. See Figure 15a and Figure 15b ; correspondingly, the outer lug 811 of the torsion spring 81 is mounted in the outer ear mounting groove 832 in the first mounting cover 83. See Figure 14a .

[0118] Furthermore, in order to provide a damping force to the second quick-release bushing 631, in some embodiments, a first damping mechanism 9 is further provided in the mounting base 630 (that is, the above-mentioned first elastic reset mechanism and the first damping mechanism together constitute a first damping and resilience mechanism that rotates coaxially with the quick-release member / second quick-release bushing). See Figure 14a and Figure 14b, during specific implementation, the first damping mechanism 9 includes: a damping box 91 disposed on the other side of the mounting base 630 (partition 6301) and rotatably connected coaxially with the second quick-release bushing 631. Specifically, the damping box 91 includes a damping outer cover 91b provided with a plurality of damping liquid fluctuation blocks 910 and damping liquid injection holes 911 (and the damping liquid injection holes 911 also serve as fixing holes for fixing the damping box 91 on the partition 6301), a damping inner cover 91a provided with a plurality of damping liquid diversion grooves 920 and capable of mating with the damping outer cover 91b, a first damping bearing 94 sleeved on the other end of the second bushing 631, and a second mounting cover 93 for limiting the damping box 91 within the mounting base 630, and a corresponding bearing mounting seat 931 is provided therein. Refer to Figure 14a and Figure 14b , and Figure 15a and Figure 15b .

[0119] Embodiment 4: Multi-Degree-of-Freedom Full-Damping Rebound Quick-Release Joint

[0120] Refer to Figure 16 , which is a schematic structural diagram of an embodiment of a multi-degree-of-freedom quick-release joint for a fourth exemplary embodiment. Specifically, the multi-degree-of-freedom quick-release joint includes a universal transmission mechanism quick-release member, wherein the universal transmission mechanism and the quick-release member are quickly detachably connected through at least one movable locking member (such as a spherical ball).

[0121] In some embodiments, the universal transmission mechanism and the quick-release member of the multi-degree-of-freedom quick-release joint can also be respectively connected to corresponding parts of the exoskeleton through a first connecting rod 1 and a second connecting rod 4 (i.e., the second connecting end cover 40 connected to the second connecting rod 4). Specifically, the universal transmission mechanism adopts a cross-axis universal joint 6, the quick-release member adopts a split quick-release member 3a (specifically, the split quick-release member 3a is connected to the second connecting end cover 40 of the second connecting rod 4), and the cross-axis universal joint 6 and the split quick-release member 3a are quickly detachably connected in a quickly detachable manner through the movable locking member 31.

[0122] In some embodiments, refer to Figure 17a and Figure 17b , the split quick-release member 3a includes each component of the split quick-release member in the first embodiment above, such as a first quick-release bushing 32, a quick-release mandrel 34, a quick-release button 35, a first elastic reset member 33, etc. The same components are denoted by the same reference numerals and have the same working principle, which will not be elaborated here.

[0123] In some embodiments, refer to Figure 17a and Figure 17b, the cross universal joint 6 includes: a first quick-release bracket 61 and a quick-release base 63. Among them, the quick-release base 63 is mounted on the first quick-release bracket 61 in a manner that can rotate relative to the first quick-release bracket 61 around the first axial direction O1, and a first locking groove 501 that can cooperate with the movable locking member 31 is provided in the quick-release base 63. That is, when the first locking groove 501 in the quick-release base 63 communicates with the locking wedge hole 321 on the split quick-release member 3b (the first quick-release bushing 32) to form a first locking space, and when the movable locking member 31 moves to the first locking space under the action of the quick-release member, the movable locking member 31 locks the quick-release base 63 and the quick-release member self-locking. That is, in the initial state, the movable locking member 31 is located in the first locking space, thereby quickly connecting the cross universal shaft 6 and the quick-release member.

[0124] In some embodiments, refer to Figure 18 , the first quick-release bracket 61 is arc-shaped or semi-circular, and its two free ends are respectively rotatably connected to two second rotating shaft ends 72 on the quick-release base 63. Specifically, the quick-release base 63 includes each component of the quick-release base 63 in the above-mentioned Embodiment 3. The difference is that the second rotating shaft ends 72 on the quick-release base 63 are symmetrically arranged along the first axial direction O1 (i.e., the Y-axis) of the first quick-release bracket 61. That is, the quick-release base 63 is rotatably connected to the first quick-release bracket 61 through the second rotating shaft ends 72, so that the quick-release base 63 can rotate relative to the first quick-release bracket 61 around the first axial direction O1. Of course, it is also understandable to be arranged along the second axial direction O2 (i.e., the X-axis), and then the positions of other components are adjusted adaptively.

[0125] In some embodiments, refer to Figure 19a and Figure 19b, a second elastic reset mechanism 10 is provided between one end of the first quick-release bracket 61 and a second rotating shaft end 72 on the quick-release base 63. In specific implementation, the second elastic reset mechanism 10 includes: a second elastic reset member (such as a torsion spring 81), a third mounting cover (specifically, it includes a torsion spring protection outer cover 101a and a torsion spring protection inner cover 101b, and the torsion spring protection outer cover 101a and the torsion spring protection inner cover 101b are sequentially provided with a first mounting cavity 830 and a second mounting cavity 833 along the direction away from the second rotating shaft end 72. When the torsion spring protection outer cover 101a and the torsion spring protection inner cover 101b are butted, the two first mounting cavities 830 communicate with each other to form a mounting space for installing the torsion spring bearing 82, and the two second mounting cavities 833 communicate with each other to form a mounting space for installing the torsion spring 81), and a torsion spring bearing 82; wherein, the torsion spring 81 and the torsion spring bearing 82 are sleeved on the second rotating shaft end 72 in sequence along the direction gradually approaching the quick-release base 63, and the outer ear 811 of the torsion spring 81 is installed in the outer ear mounting groove 832 on the torsion spring protection inner cover 101b, and the inner ear 812 is installed in the inner ear mounting groove 6312 provided on the second rotating shaft end 72.

[0126] In some embodiments, a second damping mechanism 11 is provided between the other end of the first quick-release bracket 61 and another second rotating shaft end 72 on the quick-release base 63 (that is, the second elastic reset mechanism and the second damping mechanism together constitute a second damping and rebounding mechanism rotatably arranged coaxially with the quick-release base). Refer to Figure 19a and Figure 19b , in specific implementation, the second damping mechanism 11 includes: a damping box 91 coaxially arranged on the second rotating shaft end 72. Specifically, the damping box 91 includes a damping inner cover 91a provided with a plurality of damping liquid fluctuation blocks 910, a damping outer cover 91b provided with a plurality of damping liquid diversion grooves 920 and a damping liquid injection hole 911 and capable of cooperating with the damping inner cover 91a, a damping bearing 94 coaxially arranged with the damping box 91 on the second rotating shaft end 72, and a fourth mounting cover for mounting the damping box 91 on the second rotating shaft end 72 (specifically, it includes a damping protection outer cover 111a and a damping protection inner cover 111b, and the damping protection outer cover 111a and the damping protection inner cover 111b are sequentially provided with a third mounting cavity 933 and a fourth mounting cavity 932 along the direction away from the second rotating shaft end 72. When the damping protection outer cover 111a and the damping protection inner cover 111b are butted, the two third mounting cavities 933 communicate with each other to form a mounting space for installing the damping bearing 94, and the two fourth mounting cavities 932 communicate with each other to form a mounting space for installing the damping box 91).

[0127] In some embodiments, refer to Figure 20a andFigure 20b , a first rotary shaft end 71 is arranged in the middle of the first quick-release bracket 61 along the second axis O2 (i.e., the X axis, or the axis of the first connecting rod 1), that is, the first quick-release bracket 61 is rotationally connected to the first connecting rod 1 through the first rotary shaft end 71.

[0128] Furthermore, a third elastic reset mechanism 15 is arranged between the first rotary shaft end 71 and the first connecting rod 71. Specifically, referring to Figure 20a and Figure 20b , the third elastic reset mechanism 15 includes: a torsion spring bearing 82 sequentially installed on the first rotary shaft end 71 along the direction away from the first rotary shaft end 71 (specifically, the torsion spring bearing 82 is installed through a torsion spring bearing mounting seat 831 arranged at the bottom / base of the first rotary shaft end 71), a fixing member 183, a second elastic reset member (such as a torsion spring 81), and a protective outer cover 14 (specifically, the protective outer cover is fixed in the connection end of the first connecting rod 1 through a fastener 13, which includes a first protective outer cover 141 and a second protective outer cover 142 that cooperate with each other, and the inner edges of the first protective outer cover 141 and the second protective outer cover 142 are sequentially provided with: a torsion spring bearing outer seat 1425 that cooperates with the torsion spring bearing 82, a torsion spring mounting seat that cooperates with the torsion spring 81 (on which an outer support ear mounting groove 832 is arranged), a damping box mounting seat 1423 that cooperates with the damping box 91, a bearing outer seat 1422 that cooperates with the damping bearing 94, and a fixing perforation 1421 for installing the fastener 13; that is, after the first protective outer cover 141 and the second protective outer cover 142 are combined, they can be embedded in the connection end where the first connecting rod 1 is connected to the first quick-release bracket 61, and the two are fixed in the first connecting rod 1 through a fastener 13, such as a fixing rivet, referring to Figure 20c and Figure 20d ), wherein, the inner support ear 1021 of the second torsion spring 102 penetrates through the inner ear mounting groove 6312 on the fixing member 183, and the outer support ear 1022 is installed in the outer ear mounting groove 832 arranged on the second protective outer cover 142, referring to Figure 20c and Figure 20d .

[0129] Furthermore, a third damping mechanism 19 is coaxially arranged with the third elastic reset mechanism 15 in the first connecting rod 71 (that is, the third elastic reset mechanism and the third damping mechanism together constitute a third damping and rebounding mechanism that rotates coaxially with the first connecting rod). Specifically, referring to Figure 20a and Figure 20b, the third damping mechanism 19 includes: a damping box 91 coaxially rotatably arranged along the direction away from the end of the first rotating shaft 71 (specifically, including an inner cover 91a of the damping box provided with a plurality of damping liquid deflectors 910, and an outer cover 91b of the damping box provided with a plurality of damping liquid diversion grooves 920 and damping liquid injection holes 911), a locking end bearing 112, a locking bearing seat 16, and a locking screw 17; wherein, one end of the locking screw 17 abuts against the inner wall of the protective outer cover 14, the other end penetrates through the locking bearing seat 16, and is inserted into a locking hole 182 in the end of the first rotating shaft 71. The locking bearing seat 16 is fixed to the free end of the end of the first rotating shaft 71, that is, the locking screw 17 is firmly connected to the end of the first rotating shaft 71 by the locking bearing seat 16, and the locking end bearing 112 is installed on the locking bearing seat 16; the damping box 91 is installed at the free end of the end of the first rotating shaft 71 (i.e., the end away from the first quick release bracket 61), the torsion spring 81 is installed on a fixing member 183 on the end of the first rotating shaft 71, and the torsion spring bearing 82 is installed on the base of the end of the first rotating shaft 71 through a corresponding torsion spring bearing mounting seat 181. See Figure 21 .

[0130] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without more limitations, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including that element.

[0131] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the purpose of the present invention and the scope protected by the claims. These all fall within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom integrated quick-release joint, characterized in that, it includes a spherical universal joint and an integrated quick-release part, and at least one movable locking part is arranged between the spherical universal joint and the integrated quick-release part; when the movable locking part is located in a first locking space jointly formed by the spherical universal joint and the integrated quick-release part, the spherical universal joint and the integrated quick-release part are quickly detachably connected in a quickly detachable manner; wherein, the integrated quick-release part includes a quick-release core shaft, a first locking groove matched with the movable locking part is arranged at the locking end of the quick-release core shaft, the other end of the quick-release core shaft far from the locking end is fixedly connected with a second connecting rod through a conical boss, and a first inclined surface is arranged on the conical boss; wherein, the spherical universal joint includes: a first connecting end cover, a spherical body installed in the first connecting end cover in a rotatable manner relative to the first connecting end cover, and a quick-release button and a first quick-release bushing arranged in the spherical body. Wherein, a bearing end cover is arranged on the first connecting end cover, a second inclined surface is arranged on the bearing end cover, the quick-release button is arranged at one end of the first quick-release bushing in a slidable manner relative to the first quick-release bushing, a first accommodating groove is formed in the spherical body, and a second accommodating groove communicated with the first accommodating groove is formed. The quick-release button is installed in the first accommodating groove, and a first elastic reset part for providing a return force to the quick-release button is arranged between the quick-release button and the bottom of the first accommodating groove; the first quick-release bushing is installed in the second accommodating groove, and one end of the first quick-release bushing extends into a third accommodating groove formed in the quick-release button; a first limiting part for limiting the base part of the quick-release button in the first accommodating groove is arranged at the notch of the first accommodating groove; and a second limiting part for limiting the first quick-release bushing in the second accommodating groove is arranged at the notch of the second accommodating groove; when the integrated quick-release part is quickly detachably connected with the spherical universal joint, the end surface with a smaller size of the conical boss abuts against the first quick-release bushing, so that a movable space is formed between the first inclined surface and the spherical body.

2. A multi-degree-of-freedom integrated quick-release joint according to claim 1, characterized in that, a locking wedge hole for providing a movable space for the movable locking part is arranged on the first quick-release bushing; when the integrated quick-release part is matched with the first quick-release bushing, the locking wedge hole is communicated with a first locking groove arranged at the locking end of the integrated quick-release part to form the first locking space.

3. A multi-degree-of-freedom integrated quick-release joint according to claim 2, characterized in that, a second locking groove capable of being matched with the movable locking part is arranged in the quick-release button; in an initial state, when an external force is applied to the quick-release button so that the second locking groove is communicated with the locking wedge hole to form a second locking space, the movable locking part moves from the first locking space to the second locking space, and the integrated quick-release part and the spherical universal joint are quickly disassembled.

4. A multi-degree-of-freedom integrated quick-release joint according to claim 2 or 3, characterized in that, the first locking groove is an annular groove provided circumferentially along the locking end of the integrated quick-release part.

5. A multi-degree-of-freedom integrated quick-release joint according to any one of claims 1 to 3, characterized in that, there are four movable locking parts; and / or, the movable locking parts are balls.

6. An exoskeleton, characterized in that, comprising a multi-degree-of-freedom integrated quick-release joint according to any one of claims 1 to 5.

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