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

Abstract

The present invention discloses a multi-degree-of-freedom quick-release joint, comprising a universal transmission mechanism and a quick-release part, wherein the universal transmission mechanism and the quick-release part are connected in a quick-release manner. The present invention arranges a quick-release part in the universal transmission mechanism, and realizes the quick-release connection between the two by at least one movable locking part, so that on the basis of being able to realize multiple degrees of freedom, it is also possible to perform quick disassembly, thereby realizing modularization of various parts of the exoskeleton, thereby facilitating the maintenance or iterative replacement of certain parts in the exoskeleton, and also facilitating the user to put on and take off, thereby improving the user experience.

Description

Technical Field

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

[0002] An exoskeleton is a mechanical device that can be worn on the outside of the human body. The device can adapt to the movement of human limbs, assist the human body in bearing loads or the body's own weight, and efficiently transmit the load or the body's gravity to the ground through its mechanical structure. It can even assist human limbs in movement. Therefore, it has strong application prospects in disaster relief, individual load-bearing, firefighting, outdoor hiking, logistics and transportation, and other fields.

[0003] At present, there are many exoskeletons used to assist the human body in carrying weight, for example, carrying materials on the back, or carrying them in front, or carrying materials on the shoulders and on the back. In order to adapt to the various joints of the human body, exoskeletons are also designed with various joints, such as hip exoskeletons, knee exoskeletons, elbow exoskeletons, and wrist exoskeletons, 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, 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 it impossible to achieve modularization of the exoskeleton, which is not convenient for maintenance or replacement of parts or updating and iteration of the exoskeleton, and it is not convenient for users to put on and take off, which reduces 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] In order to partially solve the above problems, the present invention provides a multi-degree-of-freedom quick-release joint, which can realize multi-degree-of-freedom movement and can be quickly disassembled or assembled, thereby facilitating maintenance or component replacement or updating and iteration of the exoskeleton.

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

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

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

[0009] In an exemplary embodiment of the present disclosure, the split quick-release component includes: a first quick-release sleeve, a quick-release spindle installed in the first quick-release sleeve in a manner that can slide axially along the first quick-release sleeve, and a quick-release button fixedly connected to the operating end of the quick-release spindle, wherein the first quick-release sleeve is provided with a locking wedge hole for providing a movable space for the movable locking component; when the first quick-release sleeve cooperates with the universal transmission mechanism, the locking wedge hole is communicated 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 accommodating groove is provided in the first quick-release sleeve at an operating end corresponding to the quick-release button and the quick-release spindle, the quick-release button is installed in the first accommodating 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 accommodating groove and the quick-release button.

[0011] In an exemplary embodiment of the present disclosure, the locking end of the quick-release spindle is provided with a second locking groove that can cooperate with the movable locking member; in an initial state, when an external force is applied to the quick-release button so that the second locking groove is connected to 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 and the quick-release member are quickly disassembled.

[0012] In an exemplary embodiment of the present disclosure, the locking end of the integrated quick release component is provided with a first locking groove that can cooperate with the movable locking component; when the integrated quick release component cooperates with the universal transmission mechanism, the first locking groove is connected with the 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 part is opened in the spherical body, and at least one first locking groove that can cooperate with the movable locking part is arranged in the quick release hole; when the quick release part cooperates with the quick release hole, the first locking groove is connected to the locking wedge hole provided on the quick release part to form the first locking space.

[0014] In an exemplary embodiment of the present disclosure, the spherical universal joint includes: a first connecting end cover, a spherical body installed in the first connecting end cover in a manner that can rotate relative to the first connecting end cover, and a quick-release button and a first quick-release sleeve arranged in the spherical body, wherein the quick-release button is arranged at one end of the first quick-release sleeve in a manner that can slide relative to the first quick-release sleeve, and the first quick-release sleeve is provided with a locking wedge hole for providing a movable space for the movable locking member; when the quick-release member cooperates with the first quick-release sleeve, the locking wedge hole is communicated with the 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 so that the second locking groove is connected to 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 and the ball universal joint are quickly disassembled.

[0016] In an exemplary embodiment of the present disclosure, a first receiving groove is defined in the spherical body, the quick release button is installed in the first receiving groove, and a first elastic return member is disposed between the quick release button and the bottom of the first receiving groove.

[0017] In an exemplary embodiment of the present disclosure, a second receiving groove connected to the first receiving groove is also provided in the spherical body, the first quick-release sleeve is installed in the second receiving groove, and one end of the first quick-release sleeve extends to a third receiving groove opened 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 mounted on the first quick-release bracket in a manner that it can rotate relative to the first quick-release bracket around 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 cooperates with the quick-release base, the first locking groove is communicated 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 axis, and / or two second rotating shaft ends are symmetrically arranged on the quick-release base along the second axis, and a second quick-release bracket is arranged between the first quick-release bracket and the quick-release base, and 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, wherein 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 sleeve mounted in the mounting base in a rotatable manner relative to the mounting base, wherein two second rotating shaft ends are symmetrically arranged on the mounting base along the second axis; and the first locking groove is arranged at the locking end of the second quick-release sleeve.

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

[0023] In an exemplary embodiment of the present disclosure, the multi-degree-of-freedom quick-release joint also includes: a first connecting rod rotatably connected to the universal transmission mechanism in a manner that it can rotate around a second axis relative to the universal transmission mechanism, 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] A second aspect of the present invention is to provide an exoskeleton comprising the above-mentioned multi-degree-of-freedom quick-release joint.

[0025] Beneficial effects:

[0026] The present invention provides a quick-release part in a universal transmission mechanism, such as a ball joint or a cross-axis universal joint, and the quick-release part is quickly connected to the universal transmission mechanism in a quickly disassembled manner, so that on the basis of being able to achieve multiple degrees of freedom, it is also possible to perform quick disassembly or quick assembly, thereby realizing modularization of various parts of the exoskeleton, and further facilitating the maintenance or iterative replacement of certain parts in the exoskeleton, and also facilitating users to put on and take off the exoskeleton, thereby improving user experience.

[0027] Furthermore, the quick-release parts of the multi-degree-of-freedom quick-release joint of the present invention include an integrated quick-release part and a split quick-release part. Correspondingly, the universal transmission mechanism includes a spherical universal joint and a cross-axis universal joint, and the integrated quick-release part can be respectively connected to the spherical universal joint or the cross-axis universal joint in an integrated quick-release connection and a split quick-release connection in a quick and quick-release manner, or the split quick-release part can be respectively connected to the spherical universal joint or the cross-axis universal joint in an integrated quick-release connection and a split quick-release connection in a quick and quick-release manner, so that different quick-release connection methods can be selected according to different application scenarios, thereby broadening the application scenarios of the exoskeleton, providing users with a variety of choices, and further improving the user experience.

[0028] Furthermore, by arranging a corresponding elastic reset mechanism and / or damping mechanism on one degree of freedom, or on each degree of freedom, such as by coaxially arranging a corresponding elastic reset mechanism and / or damping mechanism on the first rotating shaft end and / or the second rotating shaft end between the quick-release base and the first quick-release bracket, or arranging a corresponding elastic reset mechanism and / or damping mechanism on the rotating shaft between the universal transmission mechanism and the first connecting rod, a buffering function is provided to avoid joint jamming or failure caused by too fast or too violent movement, for example, by arranging an elastic reset mechanism and / or damping mechanism between the quick-release base and the first quick-release bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the prior art description. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings without paying creative labor:

[0030] Figure 1 is a schematic structural diagram of an embodiment of a multi-degree-of-freedom quick-release joint according to a first exemplary embodiment;

[0031] Figure 2is a schematic diagram of separation of a spherical universal joint and a split quick-release component in an embodiment of a multi-degree-of-freedom quick-release joint according to a first exemplary embodiment;

[0032] Figure 3 is an exploded schematic diagram of a multi-degree-of-freedom quick-release joint embodiment structure according to a first exemplary embodiment;

[0033] Figure 4 is a schematic diagram of assembling a spherical universal joint and a split quick-release component in a multi-degree-of-freedom quick-release joint embodiment according to a first exemplary embodiment;

[0034] Figure 5 is a schematic diagram of a quick-release connection between a split quick-release component and a spherical universal joint (i.e., in an initial state) in a multi-degree-of-freedom quick-release joint embodiment according to a first exemplary embodiment;

[0035] Figure 6 is a schematic diagram of separating a spherical universal joint and an integrated quick-release component in an embodiment of a multi-degree-of-freedom quick-release joint according to a second exemplary embodiment;

[0036] Figure 7 is an exploded schematic diagram of a multi-degree-of-freedom quick-release joint embodiment structure according to a second exemplary embodiment;

[0037] Figure 8 is a schematic diagram of assembling a spherical universal joint and an integrated quick-release component in a multi-degree-of-freedom quick-release joint embodiment according to a second exemplary embodiment;

[0038] Fig. 9 is a schematic diagram of a quick-release connection (i.e., in an initial state) between a spherical universal joint and an integrated quick-release component in a multi-degree-of-freedom quick-release joint embodiment according to a second exemplary embodiment;

[0039] Fig.10a is a schematic diagram of a first movement direction of a multi-degree-of-freedom quick-release joint embodiment according to a second exemplary embodiment;

[0040] Fig.10b is a schematic diagram of a second movement direction in an embodiment of a multi-degree-of-freedom quick-release joint according to a second exemplary embodiment;

[0041] Fig.10c is a schematic diagram of a third movement direction in an embodiment of a multi-degree-of-freedom quick-release joint according to a second exemplary embodiment;

[0042] Fig.11 is a structural schematic diagram of an embodiment of a multi-degree-of-freedom quick-release joint according to a third exemplary embodiment;

[0043] Fig.12is an exploded schematic diagram of a cross-axis universal joint in a multi-degree-of-freedom quick-release joint embodiment structure according to a third exemplary embodiment;

[0044] Fig.13a is an exploded schematic diagram of a split quick release part in an embodiment of a multi-degree-of-freedom quick release joint according to a third exemplary embodiment;

[0045] Fig.13b is a cross-sectional view of a split quick release component in an embodiment of a multi-degree-of-freedom quick release joint according to a third exemplary embodiment;

[0046] Fig.14a is an exploded schematic diagram of a quick-release base from a first perspective in an embodiment of a multi-degree-of-freedom quick-release joint according to a third exemplary embodiment;

[0047] Fig.14b is an exploded schematic diagram of a quick-release base from a second perspective in an embodiment of a multi-degree-of-freedom quick-release joint according to a third exemplary embodiment;

[0048] Fig.15a is a cross-sectional view of a quick-release base in an embodiment of a multi-degree-of-freedom quick-release joint according to a third exemplary embodiment;

[0049] Fig.15b is a cross-sectional view of a quick-release base and a split quick-release component in a multi-degree-of-freedom quick-release joint embodiment according to a third exemplary embodiment;

[0050] Fig.16 is a schematic structural diagram of an embodiment of a multi-degree-of-freedom quick-release joint according to a fourth exemplary embodiment;

[0051] Fig.17a is a schematic diagram of separation of a cross-axis universal joint and a split quick-release component from a first perspective in an embodiment of a multi-degree-of-freedom quick-release joint according to a fourth exemplary embodiment;

[0052] Fig.17b is a schematic diagram of separation of a cross-axis universal joint and a split quick-release component from a second perspective in an embodiment of a multi-degree-of-freedom quick-release joint according to a fourth exemplary embodiment;

[0053] Fig.18 is an exploded schematic diagram of an embodiment of a multi-degree-of-freedom quick-release joint according to a fourth exemplary embodiment;

[0054] Fig.19a is an exploded schematic diagram of a second elastic reset mechanism and a second damping mechanism in a multi-degree-of-freedom quick-release joint embodiment from a first perspective according to a fourth exemplary embodiment;

[0055] Fig.19bis an exploded schematic diagram of a second elastic reset mechanism and a second damping mechanism in a multi-degree-of-freedom quick-release joint embodiment according to a fourth exemplary embodiment from a second perspective;

[0056] Fig.20a is an exploded schematic diagram of a third elastic reset mechanism and a third damping mechanism in a multi-degree-of-freedom quick-release joint embodiment from a first perspective according to a fourth exemplary embodiment;

[0057] Fig.20b is an exploded schematic diagram of a third elastic reset mechanism and a third damping mechanism in a multi-degree-of-freedom quick-release joint embodiment from a second perspective according to a fourth exemplary embodiment;

[0058] Fig.20c is a schematic diagram of a third elastic reset mechanism and a third damping mechanism cooperating with each other in a first viewing angle in an embodiment of a multi-degree-of-freedom quick-release joint according to a fourth exemplary embodiment;

[0059] Fig.20d is a schematic diagram of a third elastic reset mechanism and a third damping mechanism cooperating with each other in a multi-degree-of-freedom quick-release joint embodiment according to a fourth exemplary embodiment from a second viewing angle;

[0060] Fig.21 is a cross-sectional view of an embodiment of a multi-degree-of-freedom quick-release joint according to a fourth exemplary embodiment.

[0061] Among them, 1 is the first connecting rod; 2 is the first connecting end cover, 24 is the spherical bearing, 22 is the bearing mounting base, 25 is the bearing end cover, and 23 is the bearing retaining ring; 4 is the second connecting rod, 40 is the second connecting end cover; 3a is a split quick release part, 3b is an integrated quick release part, 31 is a movable locking part, 32 is a first quick release sleeve, 321 is a locking wedge hole, 322 is a quick release core groove, 34 is a quick release core shaft, 35 is a quick release button, 350 is a base, and 351 is an operating part. 33 is the first elastic reset member, 341 is the second locking groove, 343 is the positioning journal, 232 is the second limit member, 36 is the first limit member; 5 is a spherical universal joint, 50 is a spherical body, 51 is a quick release hole, 501 is the first locking groove; 6 is a cross-axis universal joint, 61 is a first quick release bracket, 63 is a 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 shaft end, 72 is the second shaft end, 73 is the 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 sleeve, 6301 is the partition, 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 ear, 811 is the outer 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 toggle block, 911 is the damping liquid injection hole, 920 is a damping liquid guide groove, 94 is a damping bearing, 93 is a second mounting cover, 931 is a damping box bearing mounting seat; 10 is a second elastic reset mechanism, 101a is a torsion spring protection outer cover, 101b is a torsion spring protection inner cover; 11 is a second damping mechanism; 15 is a third elastic reset mechanism, 19 is a third damping mechanism; 111a is a damping protection outer cover, 111b is a damping protection inner cover, 830 is a first mounting cavity, 833 is a second mounting cavity, 933 is a third mounting cavity, 932 is a fourth mounting cavity, 183 is a fixing member, 14 is a protection outer cover, 141 is a first protection outer cover, 142 is a second protection outer cover, 13 is a fastener, 112 is a locking end bearing, 16 is a locking bearing seat, 161 is a locking end bearing inner seat, 162 is a locking screw mounting hole, 17 is a locking screw, and 182 is a locking hole. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0063] Herein, suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings by themselves. Therefore, "module", "component" or "unit" can be used mixedly.

[0064] Definition of noun:

[0065] Multi-degree-of-freedom quick-release joints: The "multi-degree-of-freedom quick-release joints" in this article refer to parts that can realize quick assembly / quick disassembly between various joints or components of the exoskeleton in order to realize modularization of various parts of the exoskeleton, and can realize two or more degrees of freedom. For example, the hip joint, knee joint, ankle joint, or the connection between the spinal motion adaptation mechanism and the hip mechanism in the back-supporting mechanism, or the connection between the spinal motion adaptation mechanism and the shoulder support mechanism, etc. can all be set to quick disassembly / quick assembly.

[0066] Quick-release connection: The "quick-release connection" in this article refers to the corresponding parts in the quick-release joint being able to be connected in a quick-disassembly manner. Specifically, the "quick-release connection" in this article includes: one-piece quick-release connection and split quick-release connection. Among them, one-piece quick-release connection means that the quick-release part can be directly connected to the universal transmission mechanism in a quick-disassembly manner as a separate component; split quick-release connection means that the quick-release part can be connected to the universal transmission mechanism in a quick-disassembly manner only after it is composed of multiple components. Of course, the multiple components can also be quickly-disassembled.

[0067] In order to realize the modularization of the exoskeleton, so as to facilitate maintenance or component replacement or update iteration, and 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 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 the other way around, 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).

[0068] The universal transmission mechanism (such as a universal joint such as a ball joint, a cross-axis universal joint, etc.) and the quick-release part 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), a first locking groove that can cooperate with the movable locking member is correspondingly 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 quickly connecting the split quick release member / integrated quick release member to the universal transmission mechanism in a split quick release manner / integrated quick release manner.

[0069] 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).

[0070] Embodiment 1 Multi-degree-of-freedom split quick-release joint:

[0071] See also Figure 1, is a schematic diagram of a structure of a multi-degree-of-freedom quick-release joint embodiment of an 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 connected through at least one movable locking member (such as a spherical ball).

[0072] 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, and accordingly, the quick-release part can be connected to the corresponding part of the exoskeleton through the second connecting rod 4. Specifically, the universal transmission mechanism adopts 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, and the quick-release part adopts a split quick-release part 3a, and the spherical universal joint 5 and the split quick-release part 3a are split and quickly connected in a manner that can be quickly disassembled.

[0073] In some embodiments, see Figure 2 and Figure 3 The first connection end cover 2 includes a spherical bearing 24 for mounting the spherical universal joint 5, a bearing mounting base 22 for mounting the spherical bearing 24, and bearing end covers 25 and bearing retaining rings 23 respectively located on both sides of the bearing mounting base 22 for confining the spherical bearing 24 in the bearing mounting base 22. When the spherical universal joint 5 is mounted in the first connection end cover 2, the spherical universal joint 5 is first mounted in the spherical bearing 24, and then the spherical bearing 24 is mounted in the bearing mounting base 22, and then the bearing end covers 25 and the bearing retaining rings 23 are respectively fixed on both sides of the spherical bearing 24, so that the spherical bearing 24 is stably mounted on the bearing mounting base 22.

[0074] In some embodiments, see Figure 2 and Figure 3 By providing at least one locking wedge hole 321 that can cooperate with the active locking member 31 (such as a spherical ball) on the split quick release member 3a, correspondingly, providing at least one first locking groove 501 (of course, it can also be provided as an annular groove) that can cooperate with the active locking member 31 in the spherical universal joint 5, when the split quick release member 3a is installed in the spherical universal joint 5 so that the locking wedge hole 321 is connected with the first locking groove 501 in the spherical universal joint 5 to form a first locking space, the active locking member 31 moves to the first locking space (that is, the active locking member 31 cooperates with the locking wedge hole 321 and the first locking groove 501 at the same time, see Figure 5), so that the split quick release component 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 component is quickly connected to the universal transmission mechanism), the movable locking component 31 is located in the first locking space formed by the spherical universal joint 5 (the first locking groove 501 therein) and the split quick release component 3a (the locking wedge hole 321 therein).

[0075] 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 match the first locking groove 501 , the split quick-release member 3 a and the ball universal joint 5 are quickly disassembled.

[0076] In some embodiments, see Figure 3 and Figure 4 The spherical universal joint 5 includes a spherical body 50 that matches the spherical bearing bush 24. The spherical body 50 is provided with a quick-release hole 51 for inserting the split quick-release part 3a. A first locking groove 501 that can cooperate with the movable locking member 31 is formed on the hole wall of the quick-release hole 51. When the split quick-release member 3a is gradually inserted into the quick-release hole 51, the locking wedge hole 321 on the split quick-release member 3a also gradually approaches the first locking groove 501, and finally communicates with the first locking groove 501 to form a first locking space. At this time, if an external force is applied to the split quick-release member 3a (the quick-release button 35 thereon), the movable locking member 31 is moved to the first locking space under the action of the split quick-release member 3a (the quick-release spindle 34 therein), so that the movable locking member 31 self-locks the split quick-release member 3a (the first quick-release shaft sleeve 32 therein) with the spherical body 50, that is, the split quick-release member 3a is quickly released and connected to the spherical universal joint 5, see Figure 5 .

[0077] In some embodiments, see Figure 3 and Figure 4The split quick release component 3a specifically includes a quick release spindle 34, a first quick release sleeve 32 and a quick release button 35, wherein the quick release button 35 (the base 350) is fixedly connected to the operating end of the quick release spindle 34, and a quick release core groove 322 corresponding to the quick release spindle 34 is provided in the first quick release sleeve 32, and the quick release core groove 322 is provided with a first accommodating groove corresponding to the quick release button 35 and the operating end of the quick release spindle 34, and a first elastic reset component 33, such as a spring, is provided between the bottom of the first accommodating groove and the base 350 of the quick release button 35, so that the quick release button 35 can be reset in the first elastic reset component 3 3, the quick-release spindle 34 is driven to slide in the first quick-release sleeve 32 (that is, the quick-release spindle 34 is installed in the first quick-release sleeve 32 in a manner that it can slide axially along the first quick-release sleeve 32), and the other end of the quick-release spindle 34, that is, the locking end, is provided with a second locking groove 341 for cooperating with the movable locking member 31, and the first quick-release sleeve 32 is provided with a locking wedge hole 321 for the movable locking member 31 to pass through (specifically, the locking wedge hole 321 penetrates the groove wall of the quick-release core groove 322 in the first quick-release sleeve 32, allowing part of the movable locking member 31 to pass through the locking wedge hole 321). When the movable locking member 31 is located in the second locking space formed by the connection between the locking wedge hole 321 and the second locking groove 341, the quick-release spindle 34 is connected to the first quick-release sleeve 32 in a split quick-release manner that can be quickly disassembled, see Figure 2 and Figure 4 When the movable locking member 31 is disengaged from the second locking groove 341, the quick-release mandrel 34 and the first quick-release sleeve 32 are quickly disassembled, see Figure 3 .

[0078] Preferably, there are four movable locking members 31, the first quick-release sleeve 32 adopts a square tenon, and a locking wedge hole 321 is respectively provided on each of its four faces. Correspondingly, four first locking grooves 501 are also provided on the hole wall of the quick-release hole 51 of the spherical body 50 (of course, the four first locking grooves can also be connected to form an annular groove that can cooperate with the four movable locking members); and the second locking groove 341 on the quick-release spindle 34 adopts an annular groove arranged along the circumference of the quick-release spindle 34.

[0079] For specific implementation, see Figure 4 and Figure 5 The process of assembling the split quick release part 3a and the ball universal joint 5 includes:

[0080] First, an external force F1 is applied to the operating portion 351 of the quick release button 35 to gradually push the quick release core shaft 34 into the first quick release sleeve 32 along the axial direction of the quick release core groove 322. At this time, the base 350 of the quick release button 35 presses the first elastic return member 33 toward the bottom of the first accommodating groove. Figure 4 When the second locking groove 341 on the quick-release spindle 34 is connected with the locking wedge hole 321 on the first quick-release sleeve 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 is always maintained in the second locking space.

[0081] Then, the first quick-release sleeve 32 with the quick-release spindle 34 installed is inserted into the spherical body 50 along the quick-release hole 51, and when the locking wedge hole 321 on the first quick-release sleeve 32 is connected with the first locking groove 501 in the quick-release hole 51, a first locking space is formed (see Figure 5 When the first quick-release sleeve 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 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 accommodating groove (specifically, the first limiting member 36 (such as a spring end cover) is provided at the notch of the first accommodating groove to limit the range of movement of the base 350 of the quick-release button 35 within the first accommodating groove, that is, only the operating portion 351 of the quick-release button 35 can move out of the first accommodating groove), and because the base 350 of the quick-release button 35 is fixedly connected to the operating end / free end of the quick-release spindle 34, The quick release button 35 drives the quick release spindle 34 to move outside 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 spindle 34 and is pushed into the first locking space formed by the first locking groove 501 and the locking wedge hole 321 connected by the axial wall of the free end (i.e., the locking end) of the quick release spindle 34. The movable locking member 31 is confined in the first locking space by the axial wall of the quick release spindle 34 to prevent the movable locking member 31 from moving to other positions, that is, the first quick release sleeve 32 and the spherical body 50 are self-locked by the movable locking member 31, so that the first quick release sleeve 32 and the spherical universal joint 5 are connected in a split quick release manner, that is, the split quick release connection between the split quick release member 3a and the spherical universal joint 5 is realized by the movable locking member 31.

[0082] From this we can see that, see Figure 5After the assembly is completed, that is, when the multi-degree-of-freedom quick-release joint is in the initial state, the movable locking member 31 is located in the first locking space formed by the first locking groove 501 in the spherical body 50 and the locking wedge hole 321 on the first quick-release sleeve 32 (and the first locking space formed by the universal transmission mechanism and the quick-release member), so that the first quick-release sleeve 32 is locked in the spherical body 50, that is, the first quick-release sleeve 32 is quickly released from the spherical body 50; at this time, 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 of the first accommodating groove along the central axis of the first quick-release sleeve 32, so that the user can press the quick-release button again to unlock the first quick-release sleeve 32 and the spherical body 50.

[0083] If the split quick release member 3a and the spherical universal joint 5 are to be quickly disassembled, that is, the first quick release sleeve 32 and the spherical body 50 need to be quickly disassembled, 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 350 of the quick release button 35 squeezes the elastic reset member 33 toward the bottom of the first accommodating groove, see Figure 4 ), thereby driving the quick-release spindle 34 to slide along the central axis of the first quick-release sleeve 32 into the spherical body 50, so that the second locking groove 341 on the quick-release spindle 34 is connected with the locking wedge hole 321 on the first quick-release sleeve 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 first locking groove 501 and the locking wedge hole 321) to the second locking space (formed by the second locking groove 341 and the locking wedge hole 321), thereby allowing the first quick-release sleeve 32 to be quickly disassembled from the spherical universal joint 5, that is, the split quick-release member 3a and the spherical universal joint 5 are quickly disassembled.

[0084] Of course, after the first quick-release sleeve 32 is pulled out of the spherical body 50, the quick-release button 35 is released. Under the action of the first elastic reset member 33, the quick-release spindle 34 moves along the outside of the first quick-release sleeve, 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 used to limit the operating portion 351 of the quick-release button 35 in the first accommodating groove is removed, the quick-release spindle 34 can be taken out of the first quick-release sleeve 32, that is, the quick-release spindle 34 and the first quick-release sleeve 32 are quickly disassembled.

[0085] In a specific implementation, the first connecting rod 1 connected to the first 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 part 3a can be respectively installed to corresponding parts of the exoskeleton. For example, the first connecting rod 1 is connected to the thigh part of the lower limb exoskeleton, and correspondingly, the second connecting rod 4 is connected to the calf part of the lower limb exoskeleton to complete the assembly.

[0086] In this embodiment, by providing a split quick-release part 3a in the spherical universal joint 5, the spherical universal joint 5 and the split quick-release part 3a can be connected to corresponding components in the exoskeleton through corresponding connecting rods respectively, and then the spherical universal joint 5 and the split quick-release part 3a are used to perform a split quick-release connection, thereby realizing modularization of the exoskeleton, thereby facilitating the maintenance or update iteration of components in the exoskeleton, and also facilitating users to put on and take off the exoskeleton, thereby improving the user experience.

[0087] Embodiment 2: Multi-degree-of-freedom integrated quick-release joint:

[0088] See also Figure 6 , is a schematic structural diagram of a multi-degree-of-freedom quick-release joint embodiment of another exemplary embodiment. The multi-degree-of-freedom quick-release joint comprises a universal transmission mechanism and a quick-release member, and at least one movable locking member 31 disposed between the universal transmission mechanism and the quick-release member, that is, the universal transmission mechanism and the quick-release member are quickly released and connected through the movable locking member 31.

[0089] In some embodiments, the universal transmission mechanism adopts a ball-shaped universal joint 5, the quick-release part adopts an integrated quick-release part 3b, and the ball-shaped universal joint 5 and the integrated quick-release part 3b are connected in an integrated quick-release manner through the movable locking part 31 in a quickly disassembled manner. The ball-shaped universal joint 5 is installed in the first connecting end cover 2 in a rotatable manner relative to the first connecting end cover 2, so that the ball-shaped universal joint 5 can be connected to the corresponding part of the exoskeleton through the first connecting end cover 2 (specifically, the connecting end cover is the same as the first connecting end cover 2 in the above-mentioned embodiment 1, and the same parts are marked with the same figure), and the first connecting rod 1 connected to the first connecting end cover 2, and accordingly, the integrated quick-release part 3b can be connected to the corresponding part of the exoskeleton through the second connecting rod 4.

[0090] In some embodiments, see Figure 7 and Figure 8By providing at least one locking wedge hole 321 that cooperates with the movable locking member 31 (such as a spherical ball) in the spherical universal joint 5, and providing at least one first locking groove 501 that can cooperate with the movable locking member 31 on the integrated quick release member 3b, when the integrated quick release member 3b is installed in the spherical universal joint 5, and the first locking groove 501 in the integrated quick release member 3b is connected 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 integrated quick release member 3b, so that the integrated quick release member 3b is connected to the spherical universal joint 5 in an integrated quick release manner.

[0091] Correspondingly, when an external force is applied to the spherical universal joint 5 that is integrally connected to the integrated quick release component 3b, so that the movable locking component 31 is disengaged from the first locking groove 501 (such as moving from the above-mentioned first locking space to the second locking space formed by the locking wedge hole 321 and the second locking groove 341 on the first quick release sleeve 32), the integrated quick release component 3b and the spherical universal joint 5 are quickly disassembled.

[0092] In some embodiments, see Figure 7 , Figure 8 and Fig. 9 The spherical universal joint 5 includes a spherical body 50, a quick release button 35 and a first quick release sleeve 32 installed in a quick release hole 51 of the spherical body 50, wherein the quick release button 35 is arranged at one end of the first quick release sleeve 32 in a manner that it can slide relative to the first quick release sleeve 32 (specifically, see Figure 8A first receiving groove is provided at one end of the quick-release hole 51, and the quick-release button 35 is located in the first receiving groove, and a first elastic reset member 33, such as a spring, is provided between the bottom of the first receiving groove and the base 350 of the quick-release button 35, so that the quick-release button 35 can slide left and right relative to the spherical body 50 in the first receiving groove under the action of the first elastic reset member 33; at the same time, a second receiving groove corresponding to the locking end of the first quick-release sleeve 32 (that is, 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 sleeve 32, and the other end / connecting end of the first quick-release sleeve 32 (that is, the end connected to the second connecting rod 4) is limited in the quick-release hole 51 of the spherical body 50 by the positioning journal 343 and the second limiting member 232 (such as a retaining ring), that is, the positioning journal 343 and the second limiting member 232 are used to limit the quick-release sleeve 32 to the quick-release hole 51 of the spherical body 50. The first quick-release sleeve 32 is fixed in the quick-release hole 51 of the spherical body 50, and one end thereof is inserted into the second accommodating 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, the quick-release button 35 slides correspondingly to the first quick-release sleeve 32), and the quick-release button 35 (in the second accommodating groove) is provided with a second locking groove 341 that can cooperate with the movable locking member 31, and the first quick-release sleeve 32 is provided with a locking wedge hole 321 that can provide a movable space for the movable locking member 31, and when the second locking groove 341 is connected to the locking wedge hole 321, a second locking space that can be used to accommodate the movable locking member 31 is formed, so that when the above-mentioned movable locking member 31 is located in the second locking space, the movable locking member 31 self-locks the first quick-release sleeve 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 sleeve 32); at this time, if the integrated quick release component 3b is inserted into the first quick release sleeve 32, and when the first locking groove 501 on the integrated quick release component 3b is connected with the locking wedge hole on the first quick release sleeve 32 to form a first locking space, the movable locking component 31 located in the second locking space is moved from the second locking space to the first locking space formed by the integrated quick release component 3b (the first locking groove 501 on it) and the first quick release sleeve 32 in the spherical universal joint (the locking wedge hole 321 on it) under the action of the shaft wall of the locking end of the integrated quick release component 3b, participating in Fig. 9 .

[0093] In some embodiments, see Figure 7 and Figure 8The integrated quick-release component 3b is a quick-release shaft, and a first locking groove 501 which can cooperate with the above-mentioned movable locking component 31 is provided near the end of its free end / locking end, so that when the movable locking component 31 cooperates with the first locking groove 501 on the integrated quick-release component 3b, the integrated quick-release component 3b is connected to the spherical universal joint 5 in an integrated quick-release manner; and the other end (i.e., the connecting end) of the integrated quick-release component 3b can be connected to the corresponding component in the exoskeleton (e.g., the calf exoskeleton of the lower limb exoskeleton) through the second connecting rod 4.

[0094] Preferably, there are four movable locking members 31, and the integrated quick release member 3b adopts an octagonal quick release head. Accordingly, the quick release core groove 322 in the first quick release sleeve 32 adopts an octagonal quick release hole, and the locking end (or free end) of the first quick release sleeve 32 is circumferentially provided with four locking wedge holes 321. Accordingly, four second locking grooves 341 are also correspondingly provided on the groove wall of the second accommodating groove in the quick release button 35. Specifically, the first locking groove 501 on the integrated quick release member 3b adopts an annular groove arranged along the circumference of the quick release core shaft 34.

[0095] For specific implementation, see Figure 8 and Fig. 9 The process of assembling the spherical universal joint 5 and the integrated quick-release component 3b includes:

[0096] First, the first quick-release sleeve 32 is inserted into the quick-release hole 51 of the spherical body 50, and the positioning journal 343 of the first quick-release sleeve 32 is limited in the third receiving groove at one end of the quick-release hole 51 by the second limiting member 232, so as to fix the first quick-release sleeve 32 in the quick-release hole 51, and the other end (i.e., the free end / locking end) of the first quick-release sleeve 32 extends into the corresponding second receiving groove in the quick-release button 35 in the first receiving groove provided at the other end of the quick-release hole 51, and the first elastic reset member 33 and the quick-release button 35 are sequentially sleeved on the other end (i.e., the locking end provided with the locking wedge hole 321) of the first quick-release sleeve 32, and the quick-release button 35 is limited in the first receiving groove by the first limiting member 36;

[0097] Then, the operating portion 351 of the quick release button 35 is pressed, so that the quick release button 35 moves toward the bottom of the first receiving groove (at this time, the base 350 presses the first elastic return member 33 toward the bottom of the first receiving groove, see Figure 8), and during the movement, after the second locking groove 341 set 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, the integrated quick-release component 3b is inserted into the first quick-release sleeve 32, so that 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 second locking groove 502 on the first quick-release sleeve 32. A locking wedge hole 321 on a quick-release sleeve 32 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 reset member 33, the quick-release button 35 slides along the central axis of the first quick-release sleeve 32 toward the outside of the spherical body 50 (the first receiving groove in the spherical body), so that the movable locking member 31 is pushed into the first locking space under the action of the quick-release button, and the groove wall of the second receiving groove in the quick-release button confines the movable locking member in the first locking space, thereby self-locking the integrated quick-release member 3b with the first quick-release sleeve 32, that is, the integrated quick-release member 3b is connected to the first quick-release sleeve 32 in an integrated quick-release manner, that is, the integrated quick-release member 3b is connected to the spherical universal joint 5 in an integrated quick-release manner, see Fig. 9 .

[0098] 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 Fig.10a , Fig.10b and Fig.10c .

[0099] 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 operating portion 352 of the quick-release button 35) located at the locking end of the first quick-release sleeve 32 is pressed. Fig.10a), so as to move the quick release button 35 into the first receiving groove (at this time, the first elastic return member 33 is squeezed toward the bottom of the first receiving groove by the base 350 of the quick release button 35), and when the second locking groove 341 on the wall of the second receiving groove in the quick release button 35 is connected with the locking wedge hole 321 on the first quick release sleeve 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 (that is, part of the movable locking member 31 slides into the second locking groove 341), so that the integrated quick release member 3b and the first quick release sleeve 32 are quickly disassembled, that is, the integrated quick release member 3b and the ball universal joint 5 are quickly disassembled, see Figure 8 Then, the quick release button 35 is released, so that the quick release button 35 slides outside the first accommodating groove under the action of the first elastic return member 33, that is, the operating portion of the quick release button protrudes outside the first accommodating groove, so that the user can press the quick release button again. At this time, since the integrated quick release member 3b has been moved out of the first quick release sleeve 32, the movable locking member 31 is moved out of 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. When the first limiting member 36 and the second limiting member 232 are removed, the quick release button 35 and the first quick release sleeve 32 can also be taken out of the spherical body 50.

[0100] In a specific implementation, the spherical body 50 in the above-mentioned multi-degree-of-freedom quick-release joint can be installed on the first connecting end cover 2 connected to the first connecting rod 1, so as to be connected to the corresponding part on the exoskeleton through the first connecting rod 1. Accordingly, the integrated quick-release part 3b is connected to the second connecting rod 4, so as to be connected to the corresponding part on the exoskeleton through the second connecting rod. For example, the first connecting rod 1 is connected to the thigh part of the lower limb exoskeleton, and accordingly, the second connecting rod 4 is connected to the calf part of the lower limb exoskeleton to complete the assembly.

[0101] In this embodiment, an integrated quick-release part 3b is provided in the spherical universal joint 5, so that the spherical universal joint 5 and the integrated quick-release part 3b can be connected to corresponding components in the exoskeleton through corresponding connecting rods respectively, and then an integrated quick-release connection is performed through the spherical universal joint 5 and the integrated quick-release part 3b, thereby realizing modularization of the exoskeleton, thereby facilitating the maintenance or update iteration of the components in the exoskeleton, and also facilitating the user to put on and take off the exoskeleton, thereby improving the user experience.

[0102] Embodiment 3 Multi-degree-of-freedom single damping rebound quick-release joint:

[0103] join Fig.11, is a schematic diagram of a structure of a multi-degree-of-freedom quick-release joint embodiment of the third exemplary embodiment. Specifically, the multi-degree-of-freedom quick-release joint comprises: a universal transmission mechanism and a quick-release member, wherein the universal transmission mechanism and the quick-release member are quickly connected through at least one movable locking member (such as a spherical ball).

[0104] In some embodiments, the universal transmission mechanism and the quick release part of the multi-degree-of-freedom quick release joint can be connected to corresponding parts of the exoskeleton through the first connecting rod 1 and the second connecting rod 4, respectively. Specifically, the universal transmission mechanism adopts a cross-axis universal joint 6, and the quick release part adopts a split quick release part 3a (specifically, the split quick release part 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 part 3a are quickly connected in a quickly disassembled manner through the movable locking part 31.

[0105] In some embodiments, see Fig.12 , Fig.13a and Fig.13b The split quick release member 3a includes the components of the split quick release member in the first embodiment, such as the first quick release sleeve 32, the quick release spindle 34, the quick release button 35, the first elastic reset member 33, etc. The same components are marked with the same reference numerals and their working principles are the same, which will not be described in detail here. Of course, only one movable locking member 31 can be used, and accordingly, a second locking groove 341 is provided at the locking end of the quick release spindle 34, and a locking wedge hole 321 is provided on the first quick release sleeve 32, see Fig.13a and Fig.13b .

[0106] In some embodiments, see Fig.12 The cross-axis universal joint 6 comprises: 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 it can rotate relative to the first quick-release bracket 61 around a first axial direction O1 and a second axial direction O2 that are perpendicular to each other, wherein a first locking groove 501 that can cooperate with the movable locking member 31 is provided in the quick-release base 63, see Fig.14b , Fig.15a and Fig.15b That is, when the first locking groove 501 in the quick release base 63 is connected with the locking wedge hole 321 on the split quick release part 3a (the first quick release shaft sleeve 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 part, the movable locking member 31 self-locks the quick release base 63 and the quick release part, that is, in the initial state, the movable locking member 31 is located in the first locking space, so that the cross universal joint 6 is quickly connected to the split quick release part 3a.

[0107] In some embodiments, see Fig.12 , with the center of the first quick-release bracket 61 as the origin, Fig.12 The axial direction of the first connecting rod is the X-axis, the axial direction of the quick-release core shaft 34 / quick-release member perpendicular to the X-axis is the Z-axis, and the vertical direction is the Y-axis. Fig.12 The three-dimensional coordinate system shown in FIG. 1 , wherein 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.

[0108] In some embodiments, see Fig.12 The first quick-release bracket 61 is symmetrically provided with two first rotating shaft ends 71 ​​along the first axial direction O1 (or the Y axis) (i.e., the straight line where the two first rotating shaft ends 71 ​​are located is the first axial direction O1), and the quick-release base 63 is symmetrically provided with two second rotating shaft ends 72 along the second axial direction O2 (or a direction passing through the center point of the quick-release base 63 and parallel to the X axis direction) (i.e., 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; accordingly, the quick-release bracket 61 is annular. The base 63 is cylindrical (its central axis is perpendicular to the central axis of the first quick-release bracket 61), and two second rotating shaft ends 72 symmetrically arranged along the second axial direction O2 on its outer wall are installed on the inner bearing 73 of 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 stacked and nested from the outside to the inside, and the quick-release base 63 can rotate around the first axial direction O1 and / or the second axial direction O2 respectively corresponding to the first quick-release bracket 61 through the first rotating shaft end 71 and the second rotating shaft end 72.

[0109] In some embodiments, see Fig.14a and Fig.14bThe quick-release base 63 includes a cylindrical mounting base 630 (specifically, a second rotating shaft end 72 is symmetrically arranged on the outer wall of the mounting base 630 along the second axis), and a second quick-release shaft sleeve 631 is installed in the mounting base 630 in a manner that it 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 sleeve 631 is provided on the partition 6301; a quick-release hole 51 matching the quick-release member is provided in the second quick-release sleeve 631, and a first locking groove 501 matching the movable locking member 31 is provided in the quick-release hole 51, so that when the movable locking member 31 is located in the first locking space formed by the first locking groove 501 and the locking wedge hole 321 on the quick-release member, the second quick-release sleeve 631 rotates with the quick-release member relative to the mounting base 630 around the axial direction of the quick-release member, that is, the third axial direction O3 (or Z-axis) of the first quick-release bracket 61.

[0110] Furthermore, in order to provide buffering and resilience to the quick release member, in some embodiments, a first elastic reset mechanism 8 is further disposed in the quick release base 63. Fig.14a and Fig.14b In a specific implementation, the first elastic reset mechanism 8 includes: a second elastic reset member, such as a torsion spring 81, which is arranged on one side of the mounting base 630 (partition plate 6301) and coaxially arranged with the second quick-release sleeve 631. Specifically, the torsion spring 81 is sleeved on one end of the second quick-release sleeve 631 and fixed to one side of the mounting base 630 through a torsion spring bearing 82 and a first mounting cover 83 (in which a torsion spring bearing mounting seat 831 is arranged), and the inner ear 812 of the torsion spring 81 is installed in the inner ear mounting groove 6312 at one end of the second sleeve 631, see Fig.15a and Fig.15b Accordingly, the outer ear 811 of the torsion spring 81 is mounted in the outer ear mounting groove 832 in the first mounting cover 83, see Fig.14a .

[0111] Furthermore, in order to provide damping force to the second quick-release sleeve 631, in some embodiments, a first damping mechanism 9 is further disposed in the mounting base 630 (i.e., the first elastic reset mechanism and the first damping mechanism together constitute a first damping rebound mechanism coaxially rotatably disposed with the quick-release member / second quick-release sleeve). Fig.14a and Fig.14bIn a 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 coaxially rotatably connected to the second quick-release sleeve 631. Specifically, the damping box 91 includes a damping outer cover 91b provided with a plurality of damping liquid toggle blocks 910 and a damping liquid injection hole 911 (and the damping liquid injection hole 911 also serves as a fixing hole for fixing the damping box 91 on the partition 6301), a damping inner cover 91a provided with a plurality of damping liquid guide grooves 920 and capable of matching with the damping outer cover 91b, and a first damping bearing 94 sleeved on the other end of the second sleeve 631, and a second mounting cover 93 for confining the damping box 91 in the mounting base 630, wherein a corresponding damping box bearing mounting seat 931 is provided, see Fig.14a and Fig.14b ,as well as Fig.15a and Fig.15b .

[0112] Embodiment 4 Multi-degree-of-freedom full-damping rebound quick-release joint:

[0113] See also Fig.16 , is a schematic diagram of a structure of a multi-degree-of-freedom quick-release joint embodiment of a fourth exemplary embodiment. Specifically, the multi-degree-of-freedom quick-release joint includes a universal transmission mechanism quick-release part, wherein the universal transmission mechanism and the quick-release part are quickly connected through at least one movable locking part (such as a spherical ball).

[0114] In some embodiments, the universal transmission mechanism and the quick release part of the multi-degree-of-freedom quick release joint can also be connected to the corresponding parts of the exoskeleton through the first connecting rod 1 and the second connecting rod 4 (i.e., connected to the second connecting end cover 40 of the second connecting rod 4). Specifically, the universal transmission mechanism adopts a cross-axis universal joint 6, and the quick release part adopts a split quick release part 3a (specifically, the split quick release part 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 part 3a are quickly connected in a quickly disassembled manner through the movable locking part 31.

[0115] In some embodiments, see Fig.17a and Fig.17b The split quick release component 3a includes various components of the split quick release component in the above-mentioned embodiment 1, such as the first quick release sleeve 32, the quick release spindle 34, the quick release button 35, the first elastic reset component 33, etc. The same components are marked with the same reference numerals, and their working principles are also the same, which will not be repeated here.

[0116] In some embodiments, see Fig.17a and Fig.17bThe cross universal joint 6 comprises: 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 it 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 arranged in the quick release base 63. That is, when the first locking groove 501 in the quick release base 63 is connected with the locking wedge hole 321 on the split quick release member 3a (the first quick release shaft sleeve 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 self-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, so that the cross universal shaft 6 is quickly connected to the quick release member.

[0117] In some embodiments, see Fig.18 , the first quick-release bracket 61 is arc-shaped or semicircular, and its two free ends are respectively rotatably connected with the two second rotating shaft ends 72 on the quick-release base 63. Specifically, the quick-release base 63 includes various components of the quick-release base 63 in the above-mentioned embodiment 3, except 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 around the first axial direction O1 relative to the first quick-release bracket 61. Of course, it is also understandable to set it along the second axial direction O2 (i.e., the X axis), and then other components are adaptively adjusted in position.

[0118] In some embodiments, see Fig.19a and Fig.19bA second elastic reset mechanism 10 is arranged between one end of the first quick-release bracket 61 and a second rotating shaft end 72 on the quick-release base 63. In a specific implementation, the second elastic reset mechanism 10 includes: a second elastic reset member (such as a torsion spring 81), a third installation 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 installation cavity 830 and a second installation cavity 833 in a 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 connected to each other, the two first installation cavities 830 are connected to each other. The two second mounting cavities 833 are connected to form an mounting space for mounting the torsion spring bearing 82, and the two second mounting cavities 833 are connected to form an mounting space for mounting the torsion spring 81), and the torsion spring bearing 82; wherein, the torsion spring 81 and the torsion spring bearing 82 are sequentially sleeved on the second rotating shaft end 72 in a 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.

[0119] In some embodiments, a second damping mechanism 11 is disposed between the other end of the first quick-release bracket 61 and another second rotating shaft end 72 on the quick-release base 63 (i.e., the second elastic reset mechanism and the second damping mechanism together constitute a second damping rebound mechanism coaxially rotatably disposed with the quick-release base). Fig.19a and Fig.19b In a 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 toggle blocks 910, a damping outer cover 91b provided with a plurality of damping liquid guide grooves 920 and a damping liquid injection hole 911 and capable of matching with the damping inner cover 91a, and a damping bearing 94 coaxially arranged on the second rotating shaft end 72 with the damping box 91, 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 The 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 installation cavity 933 and a fourth installation 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 connected to each other, the two third installation cavities 933 are connected to form an installation space for installing the damping bearing 94, and the two fourth installation cavities 932 are connected to form an installation space for installing the damping box 91).

[0120] In some embodiments, see Fig.20a and Fig.20bA first rotating shaft end 71 is provided in the middle of the first quick-release bracket 61 along the second axial direction O2 (ie, the X-axis, or the axis of the first connecting rod 1 ), that is, the first quick-release bracket 61 is rotatably connected to the first connecting rod 1 through the first rotating shaft end 71 .

[0121] Furthermore, a third elastic reset mechanism 15 is provided between the first rotating shaft end 71 and the first connecting rod 1. Fig.20a and Fig.20b The third elastic reset mechanism 15 includes: a torsion spring bearing 82 sequentially installed on the first rotating shaft end 71 in a direction away from the first rotating shaft end 71 (specifically, the torsion spring bearing 82 is installed by a torsion spring bearing mounting seat 831 arranged at the bottom / base of the first rotating 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 to the connecting end of the first connecting rod 1 by a fastener 13, and 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 gradually move away from the first rotating shaft end 71. A quick-release bracket 61 is provided with: a torsion spring bearing outer seat 1425 matched with the torsion spring bearing 82, a torsion spring mounting seat matched with the torsion spring 81 (on which an outer ear mounting groove 832 is provided), a damping box mounting seat 1423 matched with the damping box 91, a bearing outer seat 1422 matched with the damping bearing 94, and a fixing through hole 1421 for installing the fastener 13; that is, after the first protective outer cover 141 and the second protective outer cover 142 are matched, they can be embedded in the connecting end of the first connecting rod 1 connected to the first quick-release bracket 61, and the two are fixed in the first connecting rod 1 by a fastener 13, such as a fixing rivet, to participate in Fig.20c and Fig.20d ), wherein the inner ear 1021 of the second torsion spring 102 passes through the inner ear mounting groove 6312 on the fixing member 183, and the outer ear 1022 is installed in the outer ear mounting groove 832 provided on the second protective outer cover 142, see Fig.20c and Fig.20d .

[0122] Furthermore, in the first connecting rod 1, a third damping mechanism 19 is coaxially arranged with the third elastic reset mechanism 15 (that is, the third elastic reset mechanism and the third damping mechanism together constitute a third damping rebound mechanism coaxially arranged with the first connecting rod). Fig.20a and Fig.20bThe third damping mechanism 19 includes: a damping box 91 (specifically, a damping box inner cover 91a provided with a plurality of damping liquid toggle blocks 910, and a damping box outer cover 91b provided with a plurality of damping liquid guide grooves 920 and damping liquid injection holes 911) coaxially rotatably arranged in a direction away from the first rotating shaft end 71, 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, and the other end penetrates the locking bearing seat 16 and is inserted into the locking hole 182 in the first rotating shaft end 71. In the embodiment, the pair of locking bearing seats 16 are fixed to the free end of the first rotating shaft end 71, that is, the pair of locking screws 17 are fastened to the first rotating shaft end 71 by the pair of locking bearing seats 16, and the pair of locking end bearings 112 are mounted on the pair of locking bearing seats 16; the damping box 91 is mounted on the free end of the first rotating shaft end 71 (that is, the end away from the first quick-release bracket 61), the torsion spring 81 is mounted on the fixing member 183 on the first rotating shaft end 71, and the torsion spring bearing 82 is mounted on the base of the first rotating shaft end 71 through the corresponding torsion spring bearing mounting seat 831, see Fig.21 .

[0123] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0124] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A multi-degree-of-freedom quick-release joint, characterized in that: include: A universal transmission mechanism and a quick release member, a first connecting rod rotatably connected to the universal transmission mechanism in a manner that it can rotate relative to the universal transmission mechanism around a second axial direction, and at least one movable locking member is provided between the universal transmission mechanism and the quick release member; the universal transmission mechanism includes a cross-axis universal joint; the quick release joint includes a split quick release member; The multi-degree-of-freedom quick-release joint further includes: a second elastic reset mechanism and a second damping mechanism coaxially connected to the quick-release base; and a third elastic reset mechanism provided on the universal transmission mechanism for providing a restoring force to the first connecting rod; and a third damping mechanism provided on the universal transmission mechanism for providing a damping force to the first connecting rod; Wherein, the split quick release part comprises: a first quick release sleeve, a quick release spindle installed in the first quick release sleeve in a manner that it can slide axially along the first quick release sleeve, and a quick release button fixedly connected to the operating end of the quick release spindle, wherein the first quick release sleeve is provided with a locking wedge hole for providing a movable space for the movable locking part; and a first receiving groove is provided in the first quick release sleeve corresponding to the quick release button and the operating end of the quick release spindle, the quick release button is installed in the first receiving groove, and a first elastic reset part for providing a restoring force to the quick release button is provided between the groove bottom of the first receiving groove and the quick release button; the notch of the first receiving groove is provided with a first limiter for limiting the base of the quick release button in the first receiving groove; The cross-axis universal joint comprises: an arc-shaped or semicircular first quick-release bracket and a cylindrical quick-release base, wherein the quick-release base is mounted on the first quick-release bracket in a manner of being rotatable relative to the first quick-release bracket around 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, the quick-release base is rotatably connected to two free ends of the first quick-release bracket via two second rotating shaft ends symmetrically arranged along the first axial direction, a first rotating shaft end is arranged on the middle outer side wall of the first quick-release bracket along the second axial direction, the first quick-release bracket is rotatably connected to the first connecting rod via the first rotating shaft end, and a first locking groove that can cooperate with the movable locking member is arranged on the first quick-release shaft sleeve in the quick-release base; When the first quick-release bushing cooperates with the cross-axis universal joint, the locking wedge hole is connected with the first locking groove to form a first locking space, and when the movable locking member is located in the first locking space formed by the universal transmission mechanism and the quick-release member, the universal transmission mechanism and the quick-release member are quickly connected in a quickly disassembled manner.

2. An exoskeleton, characterized in that: It comprises the multi-degree-of-freedom quick-release joint as claimed in claim 1.

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