Rapid adjustment mechanism and modular backplate device for exoskeleton

Abstract

The present application relates to a quick adjustment mechanism and a modular backboard device for an exoskeleton, comprising: an adjustment component including an adjustment unit, the adjustment unit being movably arranged on a mounting plate, driving the adjustment unit away from the first end of the backboard, the length of the backboard increases, driving the adjustment unit close to the first end of the backboard, the length of the backboard decreases, thereby achieving quick adjustment of the length size of the backboard, improving the fit of the backboard to the human body, and providing a better user experience; an elastic component including an elastic unit with a buffering pressure and a connection unit that can be quickly disassembled or quickly fixed, a quick-release slot being provided on the backboard, one end of the connection unit being arranged on the elastic unit, and the other end of the connection unit being detachably connected to the quick-release slot, the elastic unit being placed on the shoulder, thereby reducing the burden on the user, that is, strengthening the burden sharing force for the user, and improving the overall adjustment performance of the device.

Description

Technical Field

[0001] The present application relates to the field of robot wearable devices, and in particular to a rapid adjustment mechanism and a modular backboard device for an exoskeleton. Background Art

[0002] Currently, human wearable devices are usually exoskeleton devices. Exoskeleton devices are designed based on the basic reference of human anatomical structure, movement and power characteristics. They are human-assisted tools worn and controlled by humans, providing assistance or sharing people's burdens, and coordinating human movement.

[0003] However, the exoskeleton devices in the prior art are usually designed for different fields, so that the universal parts in the exoskeleton devices cannot be universalized in all fields, that is, the backboard in the exoskeleton devices cannot be universalized in all fields. Among them, the backboard is the core component connecting the upper limbs and lower limbs in the exoskeleton devices. According to the comfort and structural characteristics of the human back, it has a variety of forms. At the same time, the backboard needs to be adjusted accordingly according to the different heights of the human body. The length of the adjustment time affects the overall experience of the exoskeleton and the optimization and iteration of the structure. Rapid adjustment is an important influencing factor for the exoskeleton to go to the market and productization. At the same time, the fit between the backboard and the human body also has a great influence on the good backboard design, because a good backboard can quickly transmit force during the wearing process, thereby improving the overall experience. Therefore, the present invention proposes a rapid adjustment mechanism and a modular backboard device for an exoskeleton. Summary of the invention

[0004] The present application provides a quick adjustment mechanism and a modular back panel device for an exoskeleton. In view of the various structural forms of existing exoskeletons and the poor quick adjustment experience, a modular back panel device with a quick adjustment component is provided, and an elastic component is installed according to actual needs. The roller and connecting rod of the adjustment unit are used to complete the quick adjustment in the length direction. The roller can be quickly reset under the action of a torsion spring, so as to achieve quick adjustment and fixation of the gear position. At the same time, the problems of poor fit of the back panel of the existing exoskeleton with the human body, poor experience and low wearing efficiency are solved.

[0005] The present application provides a quick adjustment mechanism for an exoskeleton, comprising: a back plate, a mounting plate, an adjustment component and an elastic component, wherein the mounting plate is arranged on a first end of the back plate, the adjustment component is arranged on the mounting plate, and the elastic component is arranged on a second end of the back plate, and the second end is close to a human shoulder;

[0006] The adjusting assembly comprises an adjusting unit, which is movably arranged on the mounting plate. When the adjusting unit is driven away from the first end of the back plate, the length of the back plate increases, and when the adjusting unit is driven close to the first end of the back plate, the length of the back plate decreases.

[0007] The elastic component includes an elastic unit with buffering pressure and a quickly detachable or quickly fixed connecting unit, a quick release slot is provided on the back plate, one end of the connecting unit is arranged on the elastic unit, and the other end of the connecting unit is detachably connected to the quick release slot, and the elastic unit is placed on the shoulder.

[0008] Optionally, the adjustment component also includes a connecting piece, which is slidably connected to the adjustment unit and has a connecting port connected to the lower limb. The connecting piece moves the adjustment unit away from the first end of the back panel, and the distance between the back panel and the lower limb increases, thereby increasing the length of the back panel. The connecting piece moves the adjustment unit close to the first end of the back panel, and the distance between the back panel and the lower limb decreases, thereby reducing the length of the back panel.

[0009] Optionally, the adjustment unit includes a first fixed plate and a sliding block, the fixed plate is provided with a sliding groove, the sliding block is arranged on the sliding groove, and the connecting member is arranged on the sliding block.

[0010] Optionally, the adjustment unit further includes a sliding module and a first connecting rod, the sliding module and the first connecting rod are both arranged in the sliding groove, the first end of the first connecting rod is elastically connected to the sliding module, and the second end of the first connecting rod is connected to the sliding block.

[0011] Optionally, the sliding module includes a torsion spring, a second connecting rod and a third connecting rod, the first end of the second connecting rod and the first end of the third connecting rod slide with the inner wall of the slide groove, the second end of the second connecting rod and the second end of the third connecting rod are respectively provided with a second connecting hole and a third connecting hole, the first end of the first connecting rod is provided with a first connecting hole, and the torsion spring passes through the second connecting hole and the third connecting hole respectively and is connected to the first connecting hole.

[0012] Optionally, the sliding module comprises two rollers and a cylindrical pin, and the two rollers are rotatably disposed on the first end of the second connecting rod and the first end of the third connecting rod, so that the two rollers slide on the inner side wall of the sliding groove;

[0013] A plurality of fixing holes are provided on both sides of the first fixing plate, and the plurality of fixing holes are arranged at intervals. Roller holes are provided at intervals on the two rollers, and the cylindrical pins pass through the fixing holes and are connected to the roller holes to keep the second connecting rod and the third connecting rod in unchanged position.

[0014] Optionally, the elastic unit includes an energy absorbing box for absorbing energy, a plurality of elastic members and a second fixed plate, the plurality of elastic members are arranged between the energy absorbing box and the second fixed plate and are respectively connected to the energy absorbing box and the second fixed plate, and the connecting unit is arranged on the second fixed plate.

[0015] Optionally, the elastic unit also includes a plurality of first pillars and a plurality of second pillars, the plurality of first pillars are arranged on the energy absorption box, the energy absorption box is provided with energy-absorbing particles for quickly reorganizing the deformed energy absorption box, the plurality of second pillars are arranged on the second fixed plate, the plurality of first pillars and the plurality of second pillars correspond one to one, and the plurality of elastic members are respectively arranged between the plurality of first pillars and the plurality of second pillars.

[0016] Optionally, the connecting unit includes a connecting column and a protruding structure, the bottom end of the connecting column is arranged on the elastic unit, the protruding structure is arranged on the top end of the connecting column, and the protruding structure cooperates with the quick-release slot.

[0017] The present application also provides a modular backboard device, comprising any one of the quick adjustment mechanisms for an exoskeleton described above, and a lower limb mechanism, wherein the quick adjustment mechanism for an exoskeleton is connected to the lower limb mechanism.

[0018] The present application comprises an adjustment unit through the adjustment component, and the adjustment unit is movably arranged on the mounting plate. When the adjustment unit is driven away from the first end of the back plate, the length of the back plate increases, and when the adjustment unit is driven close to the first end of the back plate, the length of the back plate decreases, thereby realizing rapid adjustment of the length size of the back plate, improving the fit between the back plate and the human body, and providing a better user experience. The elastic component comprises an elastic unit with a buffering pressure and a connection unit that can be quickly disassembled or quickly fixed, and a quick-release slot is provided on the back plate. One end of the connection unit is arranged on the elastic unit, and the other end of the connection unit is detachably connected to the quick-release slot. The elastic unit is placed on the shoulder, thereby reducing the burden on the user, that is, strengthening the sharing force for the user, thereby improving the overall adjustment performance of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] Figure 1 A schematic diagram of an assembly of a rapid adjustment mechanism for an exoskeleton provided in an embodiment of the present application;

[0022] Figure 2 An exploded schematic diagram of a rapid adjustment mechanism for an exoskeleton provided in an embodiment of the present application;

[0023] Figure 3 A schematic diagram of an adjustment unit of a rapid adjustment mechanism for an exoskeleton provided in an embodiment of the present application;

[0024] Figure 4 A schematic diagram of a sliding module of a rapid adjustment mechanism for an exoskeleton provided in an embodiment of the present application;

[0025] Figure 5 A schematic diagram of an elastic unit for a rapid adjustment mechanism of an exoskeleton provided in an embodiment of the present application.

[0026] Back panel 100;

[0027] Mounting plate 200;

[0028] Adjustment assembly 300, adjustment unit 310, connection member 320, first fixing plate 311, slide slot 313, slider 312, sliding module 330, first connecting rod 315, torsion spring 331, second connecting rod 332, third connecting rod 333, first connecting hole 336, second connecting hole 334, third connecting hole 335, rollers 337, 338, cylindrical pin 339, fixing hole 316, roller hole 307;

[0029] The elastic component 400 , the elastic unit 410 , the connecting unit 420 , the energy absorbing box 411 , the elastic member 412 , the second fixing plate 413 , the first pillar 416 , the second pillar 417 , the connecting pillar 421 , and the protruding structure 422 . DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0031] Figure 1 The present application provides a quick adjustment mechanism for an exoskeleton, comprising: a back plate 100, a mounting plate 200, an adjustment assembly 300 and an elastic assembly 400, wherein the mounting plate 200 is arranged on a first end of the back plate 100, the adjustment assembly 300 is arranged on the mounting plate 200, the elastic assembly 400 is arranged on a second end of the back plate 100, and the second end is close to a human shoulder, and the adjustment assembly 300 includes an adjustment unit 310, and the adjustment unit 310 is movably arranged on the mounting plate 200, and the adjustment unit 310 is driven away from the first end of the back plate 100, the length of the back plate 100 is increased, and the adjustment unit 310 is driven close to the human shoulder. At the first end of the back panel 100, the length of the back panel 100 is reduced, thereby realizing quick adjustment of the length size of the back panel 100, improving the fit of the back panel 100 to the human body, and providing a better user experience. The elastic component 400 includes an elastic unit 410 with buffering pressure and a quick-release or quick-fix connection unit 420. A quick-release slot is provided on the back panel 100, one end of the connection unit 420 is provided on the elastic unit 410, and the other end of the connection unit 420 is detachably connected to the quick-release slot. The elastic unit 410 is placed on the shoulder, thereby reducing the burden on the user, that is, strengthening the burden sharing force for the user, thereby improving the overall adjustment performance of the device.

[0032] In one embodiment, the adjustment assembly 300 also includes a connecting member 320, which is slidably connected to the adjustment unit 310, and the connecting member 320 is provided with a connecting port connected to the lower limbs. The connecting member 320 moves the adjustment unit 310 away from the first end of the back panel 100, and the distance between the back panel 100 and the lower limbs is increased, so that the length of the back panel 100 is increased. The connecting member 320 moves the adjustment unit 310 close to the first end of the back panel 100, and the distance between the back panel 100 and the lower limbs is reduced, and the length of the back panel 100 is reduced. It should be noted that the connecting member 320 is equivalent to a part of the back panel 100, and the length of the back panel 100 is increased or decreased by sliding the connecting member 320 on the back panel 100, that is, the connecting member 320 drives the adjustment unit 310 away from the first end of the back panel 100, and the distance between the back panel 100 and the lower limb increases, so that the length of the back panel 100 increases. The connecting member 320 makes the adjustment unit 310 close to the first end of the back panel 100, and the distance between the back panel 100 and the lower limb decreases, and the length of the back panel 100 decreases.

[0033] In one embodiment, the adjustment unit 310 includes a first fixed plate 311 and a slider 312, the fixed plate is provided with a slide groove 313, the slider 312 is arranged on the slide groove 313, and the connecting member 320 is arranged on the slider 312. The slider 312 is driven by the connecting member 320 to move closer to or away from the first end of the back plate 100 in the slide groove 313, so as to increase or decrease the length of the back plate 100, which has a simple structure and is easy to operate, so that the user experience is greatly improved.

[0034] In one embodiment, the adjustment unit 310 further includes a sliding module 330 and a first connecting rod 315, both of which are disposed in the slide slot 313, the first end of the first connecting rod 315 being elastically connected to the sliding module 330, and the second end of the first connecting rod 315 being connected to the slider 312. Optionally, the sliding module 330 includes a torsion spring 331, a second connecting rod 332, and a third connecting rod 333, the first end of the second connecting rod 332 and the first end of the third connecting rod 333 sliding with the inner side wall of the slide slot 313, the second end of the second connecting rod 332 and the second end of the third connecting rod 333 being respectively provided with a second connecting hole 334 and a third connecting hole 335, the first end of the first connecting rod 315 being provided with a first connecting hole 336, the torsion spring 331 respectively passing through the second connecting hole 334 and the third connecting hole 335 and connected to the first connecting hole 336. Optionally, the sliding module 330 includes two rollers 337, 338 and a cylindrical pin 339, the two rollers 337, 338 are rotatably arranged on the first end of the second connecting rod 332 and the first end of the third connecting rod 333, so that the two rollers 337 slide on the inner side wall of the slide groove 313, a plurality of fixing holes 316 are arranged on both sides of the first fixing plate, the plurality of fixing holes 316 are arranged at intervals, and roller holes 307 are arranged at intervals on the two rollers 337, and the cylindrical pin 339 passes through the fixing holes 316 and is connected to the roller holes 307, so that the second connecting rod 332 and the third connecting rod 333 remain in the same position. When the slider 312 slides to the target position, the cylindrical pin 339 passes through the fixing holes 316 and is connected to the roller holes 307, so that the second connecting rod 332 and the third connecting rod 333 remain in the same position, so that the slider 312 no longer slides. Furthermore, the slider 312 is fixedly connected to the connector 320, and the slider 312 is driven to move by the connector 320, so that the roller 337 slides on the inner wall of the slide groove 313. Since the slider 312 unit is provided with a torsion spring 331 between the first connecting rod 315 and the second connecting rod 332 or the first connecting rod 315 and the third connecting rod 333, when adjusting according to different heights of people, the roller 337 slides out from the inner wall of the slide groove 313, and when reaching the next gear, it can quickly enter the inner wall of the next pulley and be quickly fixed to complete the adjustment. The device reduces the time for adjusting for different heights, improves the wearing efficiency of the entire exoskeleton, and adapts to a wider range of applications. At the same time, the entire mechanism is cleverly designed, occupies a small space, has a high degree of modularity, and is integrated inside a certain part, making the entire exoskeleton look more compact. Simple changes can be made according to actual needs to be applied to the length adjustment of the leg, hip or ankle.

[0035] The roller 337 and the inner wall of the slide groove 313 are in point-surface contact, and the inner wall of the slide groove 313 is a semi-elliptical structure. In actual application, the roller 337 contacts the inner wall of the slide groove 313 in three directions, and the forces in the upper and lower symmetrical directions cancel each other out and balance. The resultant force received by the symmetrical rollers 337 on both sides is along the axial force direction of the second connecting rod 332 and the third connecting rod 333. At this time, the angle between the movement direction of the roller 337 and the force direction is 0 degrees. Therefore, during the human body wearing process, the connection of the lower limb is fixed at this time, resulting in the connection part 320 not sliding, and the slider 312 will not move relatively, so that the entire adjustment unit 310 does not move, and ultimately ensures the safety of human wear and the stability of the structure.

[0036] In one embodiment, the elastic unit 410 includes an energy absorbing box 411 for absorbing energy, a plurality of elastic members 412 and a second fixed plate 413, the plurality of elastic members 412 are arranged between the energy absorbing box 411 and the second fixed plate 413 and are respectively connected to the energy absorbing box 411 and the second fixed plate 413, and the connecting unit 420 is arranged on the second fixed plate 413. Optionally, the spring can be a spring, and when the elastic member 412 is deformed, it can absorb energy to a certain extent. The shell of the energy absorption box 411 is processed by a special process, so that the energy absorption box 411 can be deformed quickly when it encounters pressure to cope with external pressure. At the same time, the energy absorption box 411 is quickly reorganized during the deformation process, so that it can better fit the contacted object, improve the wearing comfort and structural stability; after the spring absorbs energy, it will generate a reaction force on the back plate 100 and the energy absorption box 411 respectively, and the energy absorption box 411 in contact with the shoulder will absorb the reaction force, reduce the pressure on the shoulder, and make the wearer feel no pressure from external force, thereby improving the overall experience. In order to better play the role of the energy absorption box 411, the energy absorption box 411 is a hollow structure, and a certain number of energy-absorbing particles are added inside as needed to absorb the deformation ability. As an optional unit, the elastic unit 410 can be installed through a quick slot when used for carrying or carrying a backpack, which may put pressure on the shoulders. When used for dragging objects, the elastic unit 410 can be removed when the shoulder is not greatly affected. The elastic unit 410 has the advantages of quick disassembly, modular reorganization, and wide adaptability to scenarios.

[0037] In one embodiment, the elastic unit 410 further includes a plurality of first pillars 416 and a plurality of second pillars 417, wherein the plurality of first pillars 416 are disposed on the energy absorbing box 411, and the energy absorbing box 411 is provided with energy absorbing particles for rapidly reorganizing the deformed energy absorbing box 411, and the plurality of second pillars 417 are disposed on the second fixing plate 413, and the plurality of first pillars 416 and the plurality of second pillars 417 correspond to each other one by one, and the plurality of elastic members 412 are respectively disposed between the plurality of first pillars 416 and the plurality of second pillars 417. Both ends of the elastic member 412 are respectively connected to the first pillar 416 and the second pillar 417, and the first pillar 416 and the second pillar 417 prevent the elastic member 412 from twisting during deformation and play a guiding role. Energy-absorbing particles are distributed inside the energy-absorbing box 411, and the outer shell of the energy-absorbing box 411 is processed by a special process. When the elastic member 412 located on the outer shell of the energy-absorbing box 411 is deformed, it can perform a certain buffering and energy absorption. At the same time, the energy-absorbing particles inside the energy-absorbing box 411 can be quickly reorganized during the deformation of the energy-absorbing box 411, so as to better fit the contacted object and improve comfort.

[0038] In one embodiment, the connection unit 420 includes a connection column 421 and a protruding structure 422. The bottom end of the connection column 421 is disposed on the elastic unit 410, and the protruding structure 422 is disposed on the top end of the connection column 421. The protruding structure 422 cooperates with the quick release slot. The operation is more convenient through the buckle cooperation between the protruding structure 422 and the quick release slot, which improves the work efficiency for installation and disassembly.

[0039] The present application also provides a modular backboard device, comprising any one of the quick adjustment mechanisms for an exoskeleton described above, and a lower limb mechanism, wherein the quick adjustment mechanism for an exoskeleton is connected to the lower limb mechanism.

[0040] The device helps the user to share part of the force on the shoulders during carrying or carrying through the elastic component, thereby increasing the comfort of wearing; the adjustment components are respectively located on the mounting plate and the connecting piece, playing the dual role of adjustment and fixation.

[0041] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants 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, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0042] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A rapid adjustment mechanism for an exoskeleton, It is characterized in that include: A back plate, a mounting plate, an adjustment component and an elastic component, wherein the mounting plate is arranged on a first end of the back plate, the adjustment component is arranged on the mounting plate, and the elastic component is arranged on a second end of the back plate, and the second end is close to a human shoulder; The adjusting assembly includes an adjusting unit, which is movably arranged on the mounting plate, and when the adjusting unit is driven away from the first end of the back plate, the length of the back plate increases, and when the adjusting unit is driven close to the first end of the back plate, the length of the back plate decreases; the adjusting assembly also includes a connecting member, which is slidably connected to the adjusting unit, and the connecting member is provided with a connecting port connected to the lower limb, the connecting member moves the adjusting unit away from the first end of the back plate, the distance between the back plate and the lower limb increases, so that the length of the back plate increases, and the connecting member moves the adjusting unit close to the first end of the back plate, the distance between the back plate and the lower limb decreases, and the length of the back plate decreases; the adjusting unit includes a first fixed plate and a slider, the fixed plate is provided with a slide groove, the slider is arranged on the slide groove, and the connecting member is arranged on the slider; the adjusting unit also includes a sliding module and a first connecting rod, the sliding module and the first connecting rod are both arranged in the slide groove, and the first connecting rod The first end of the rod is elastically connected to the sliding module, and the second end of the first connecting rod is connected to the sliding block; the sliding module includes a torsion spring, a second connecting rod and a third connecting rod, the first end of the second connecting rod and the first end of the third connecting rod slide with the inner side wall of the sliding groove, and the second end of the second connecting rod and the second end of the third connecting rod are respectively provided with a second connecting hole and a third connecting hole, and the first end of the first connecting rod is provided with a first connecting hole, and the torsion spring passes through the second connecting hole and the third connecting hole respectively and is connected to the first connecting hole; the sliding module includes two rollers and a cylindrical pin, and the two rollers are rotatably arranged on the first end of the second connecting rod and the first end of the third connecting rod so that the two rollers slide on the inner side wall of the sliding groove; a plurality of fixing holes are provided on both sides of the first fixing plate, and the plurality of fixing holes are arranged at intervals, and roller holes are provided on the two rollers at intervals, and the cylindrical pin passes through the fixing hole and is connected to the roller hole so that the second connecting rod and the third connecting rod keep their positions unchanged; The elastic component includes an elastic unit with buffering pressure and a quickly detachable or quickly fixed connecting unit, a quick release slot is provided on the back plate, one end of the connecting unit is arranged on the elastic unit, and the other end of the connecting unit is detachably connected to the quick release slot, and the elastic unit is placed on the shoulder.

2. The rapid adjustment mechanism for an exoskeleton according to claim 1, It is characterized in that The elastic unit includes an energy absorbing box for absorbing energy, a plurality of elastic members and a second fixing plate, the plurality of elastic members are arranged between the energy absorbing box and the second fixing plate and are respectively connected to the energy absorbing box and the second fixing plate, and the connecting unit is arranged on the second fixing plate.

3. The rapid adjustment mechanism for an exoskeleton according to claim 2, It is characterized in that The elastic unit also includes a plurality of first pillars and a plurality of second pillars, the plurality of first pillars are arranged on the energy absorbing box, the energy absorbing box is provided with energy absorbing particles for quickly reorganizing the deformed energy absorbing box, the plurality of second pillars are arranged on the second fixing plate, the plurality of first pillars and the plurality of second pillars correspond one to one, and the plurality of elastic members are respectively arranged between the plurality of first pillars and the plurality of second pillars.

4. The rapid adjustment mechanism for an exoskeleton according to claim 1, It is characterized in that The connecting unit includes a connecting column and a protruding structure, the bottom end of the connecting column is arranged on the elastic unit, the protruding structure is arranged on the top end of the connecting column, and the protruding structure cooperates with the quick-release slot.

5. A modular backplane device, It is characterized in that It comprises the quick adjustment mechanism for an exoskeleton as claimed in any one of claims 1 to 4, and a lower limb mechanism, wherein the quick adjustment mechanism for an exoskeleton is connected to the lower limb mechanism.

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