Exoskeleton robot capable of adapting to different heights and method for adjusting the wearing thereof

Abstract

The application provides an exoskeleton robot capable of adapting to different heights and a wearing adjustment method thereof. The exoskeleton robot comprises a back supporting mechanism, two top ends of thigh length adjustment mechanisms rotatably connected with the back supporting mechanism, and two top ends of calf length adjustment mechanisms rotatably connected with the two thigh length adjustment mechanisms. The length of the two thigh length adjustment mechanisms is adjusted to adapt to the length of the thigh link of the human body, and the length of the two calf length adjustment mechanisms is adjusted to adapt to the length of the calf link of the human body, so that the exoskeleton robot can adapt to human bodies of different heights, without the assistance of personnel, simplifying the adjustment operation, greatly shortening the wearing adjustment time, and solving the problems of long time consumption and complicated wearing adjustment of the existing exoskeleton robot in adapting to the height adjustment of the human body.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton robot technology, and more specifically, to an exoskeleton robot that can adapt to different heights and a method for adjusting its wear. Background Technology

[0002] Exoskeletons are assistive mechanical structures designed to enhance human strength, improve motor skills, or provide rehabilitation. They are commonly used in medical, military, and industrial settings to provide users with additional support and protection.

[0003] Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, fusion, and mobile computing to provide a wearable mechanical mechanism for the operator. This article briefly introduces the current status and trends of exoskeleton robot technology in the military field. An exoskeleton robot is a robot worn on the outside of the human body, also known as a "wearable robot."

[0004] Currently, exoskeletons are mainly divided into two categories: one is human enhancement exoskeletons designed for specific joint assistance, primarily used to increase a person's strength and extend their capabilities; the other is rehabilitation exoskeletons, mainly used in the field of medical rehabilitation, such as assisting paralyzed patients to walk. They are assistive mechanical structures designed to enhance human strength, improve motor skills, or provide rehabilitation treatment, and are commonly used in the medical field, military applications, or industrial work, providing users with additional support and protection.

[0005] However, exoskeleton robots are developed and designed based on the average height of the general public. The leg assistive components are all fixed structures, some of which are not adjustable, or require manual mechanical adjustment when worn. The entire wearing and adjustment process is extremely complex and cumbersome, requiring human assistance and is time-consuming. Summary of the Invention

[0006] In view of this, the present invention proposes an exoskeleton robot that can adapt to different heights and its wearing and adjustment method, aiming to solve the problems of long time and cumbersome wearing and adjustment of existing exoskeleton robots to adapt to human height.

[0007] On one hand, this invention proposes an exoskeleton robot adaptable to different heights. The exoskeleton robot includes: a back support mechanism for being carried on the back of a human body so that it fits snugly against the back; two thigh length adjustment mechanisms, each arranged opposite to the back support mechanism below it, with the top ends of each mechanism rotatably connected to the back support mechanism, for adjusting the length to fit the human thigh length; and two calf length adjustment mechanisms, each arranged opposite to the thigh length adjustment mechanisms below it, with the top ends rotatably connected to the thigh length adjustment mechanisms, for adjusting the length to fit the human calf length.

[0008] Furthermore, in the aforementioned exoskeleton robot adaptable to different heights, the thigh length adjustment mechanism and / or the calf length adjustment mechanism include: a support locking part; a sliding adjustment part, slidably disposed on the support locking part along its length direction, for adjusting the protruding length of the sliding adjustment part extending to one side of the support locking part, thereby adjusting the total extension length of the support locking part and the sliding adjustment part; one end of the support locking part is provided with a clearance groove, and the support locking part is also provided with locking grooves on both sides of the clearance groove that communicate with the clearance groove, for clearance and guidance of the sliding adjustment part; a drive unit, with a power output end connected to the sliding adjustment part, for driving the sliding adjustment part to slide along the length direction of the support locking part.

[0009] Furthermore, in the aforementioned exoskeleton robot capable of adapting to different heights, the drive unit includes: a length-adjusting motor; a transmission component, with its power input end connected to the length-adjusting motor and its power output end connected to the sliding adjustment part, used to convert the rotation output by the length-adjusting motor into reciprocating linear motion of the sliding adjustment part along the length direction of the support and locking part, so as to realize the adjustment of the total extension length of the support and locking part and the sliding adjustment part; the transmission component is a gear and rack mechanism, a worm gear mechanism, or a ball screw mechanism.

[0010] Furthermore, in the aforementioned exoskeleton robot adaptable to different heights, the thigh length adjustment mechanism is equipped with an angle sensor to obtain the angle between the thigh length adjustment mechanism and the human thigh member; and / or, the calf length adjustment mechanism is equipped with an angle sensor to obtain the angle between the calf length adjustment mechanism and the human calf member; the angle sensor is connected to a length adjustment controller, which receives the corresponding angle data obtained by the angle sensor and controls the thigh length adjustment mechanism or the calf length adjustment mechanism to adjust its length according to the corresponding angle data until the corresponding angle data is less than a preset angle; the thigh length adjustment mechanism and / or the calf length adjustment mechanism are also connected to at least one of a control button and a mobile terminal, which controls the operation of the thigh length adjustment mechanism and / or the calf length adjustment mechanism to control the length adjustment of the thigh length adjustment mechanism and / or the calf length adjustment mechanism.

[0011] Furthermore, in the aforementioned exoskeleton robot capable of adapting to different heights, the inner side of the thigh length adjustment mechanism and / or the calf length adjustment mechanism is further provided with a leg binding mechanism for binding to the corresponding leg position on the human body; and / or, the end of the calf length adjustment mechanism facing away from the thigh length adjustment mechanism is further provided with a foot support mechanism, and the foot support mechanism is provided with a foot binding mechanism for binding to the human foot; and / or, the back support mechanism is provided with a waist binding mechanism for binding to the human waist; and / or, the back support mechanism is provided with a shoulder strap binding mechanism for binding to the human shoulder; and / or, the back support mechanism is provided with a chest binding mechanism for binding to the human chest.

[0012] Furthermore, in the aforementioned exoskeleton robot adaptable to different heights, the leg binding mechanism, foot binding mechanism, waist binding mechanism, and / or chest binding mechanism include: a binding fixation body; a flexible binding member, with a fixing part disposed on the binding fixation body and an adjusting part extending to one side of the binding fixation body for binding to the outer periphery of the human leg; a connecting piece, detachably connected to the first end of the binding fixation body, and the connecting piece having a winding knob mechanism, the winding knob mechanism having a binding pull... The binding tension rope has its fixed end located at the second end of the binding fixation body and passes around the outside of the flexible binding member. The winding end is wound around the winding knob mechanism. When the connecting piece is installed on the binding fixation body, the binding tension rope, the connecting piece, and the binding fixation body form an annular structure that surrounds the outer periphery of the flexible binding member. The winding knob mechanism can be used to wind or release the binding tension rope, thereby adjusting the binding tightness of the flexible binding member to achieve automatic binding.

[0013] Furthermore, in the aforementioned exoskeleton robot adaptable to different heights, the winding knob mechanism includes: a support limiting member with a rotating limiting groove; an annular winding reel rotatably disposed within the rotating limiting groove for winding or releasing the binding tension ropes wound around its periphery; a locking member whose outer wall engages with the inner wall of the annular winding reel, driving the annular winding reel to rotate synchronously, thereby achieving the winding or releasing of the binding tension ropes; and a buckle fastened to the opening end of the rotating limiting groove, rotatably connected to the support limiting member and also connected to the locking member, for driving the locking member to rotate relative to the support limiting member, with the annular winding reel rotating synchronously with the locking member to achieve the winding or releasing of the binding tension ropes.

[0014] Furthermore, in the aforementioned exoskeleton robot adaptable to different heights, the swivel buckle is connected to the support limiting member in a manner that allows for position adjustment along the axial direction of the rotation limiting groove. Additionally, the locking fastener is slidably disposed inside the annular winding disc along the axial direction of the annular winding disc, enabling locking and unlocking between the locking fastener and the annular winding disc. When locked between the locking fastener and the annular winding disc, the locking fastener and the annular winding disc can rotate synchronously; and when unlocked, the locking fastener can rotate freely.

[0015] Furthermore, in the aforementioned exoskeleton robot that can adapt to different heights, the locking device is also connected to a binding adjustment motor, which drives the locking device to rotate, thereby realizing the electric rotation of the annular winding disc, and thus realizing the electric winding or release of the binding tension rope.

[0016] Furthermore, in the aforementioned exoskeleton robot adaptable to different heights, the leg binding mechanism, foot binding mechanism, waist binding mechanism, and / or chest binding mechanism include: a binding fixation body; a flexible binding member, with a fixing part disposed on the binding fixation body and an adjusting part extending to one side of the binding fixation body for binding to the outer periphery of the human leg; the end of the adjusting part of the flexible binding member away from the fixing part is provided with a winding hole; a connecting piece, detachably disposed on the binding fixation body, and the connecting piece is provided with a winding knob mechanism, the winding knob mechanism being provided with a binding... A binding tension rope is provided, one end of which is wound around the winding knob mechanism and then folded back after passing through the winding hole. The other end is connected to the connecting piece or the fixing part of the winding knob mechanism. When the connecting piece is installed on the binding fixing body, the flexible binding member, the binding tension rope, the connecting piece, and the binding fixing body form a ring structure. The winding knob mechanism can be used to wind or release the binding tension rope, thereby stretching the flexible binding member to adjust the binding tightness and achieve automatic binding.

[0017] Furthermore, the aforementioned exoskeleton robot adaptable to different heights includes the following components: a leg binding mechanism, a foot binding mechanism, a waist binding mechanism, and / or a chest binding mechanism; a binding tension member disposed on the outside of the flexible binding body along its arrangement direction, wherein the winding end of the binding tension member is disposed on the binding fixation body on which the flexible binding body is located in a winding manner, and the stretching end of the binding tension member is connected to a stretching point on the flexible binding body; wherein the stretching point is spaced apart from the connection point between the flexible binding body and the binding fixation body; the binding fixation body is disposed on the thigh length adjustment mechanism, the calf length adjustment mechanism, or the back support mechanism for supporting the corresponding binding mechanism; and a tension drive member whose power output end is connected to the winding end of the binding tension member for driving the binding tension member to wind or release, thereby tightening or loosening the flexible binding body so that the flexible binding body can be bound to the corresponding position on the human body.

[0018] Furthermore, in the aforementioned exoskeleton robot adaptable to different heights, the inner side of the binding mechanism is equipped with a pressure sensor for acquiring the pressure between the binding mechanism and the human body; wherein, the binding mechanism is a leg binding mechanism, a foot binding mechanism, a waist binding mechanism, or a chest binding mechanism; the pressure sensor is connected to a binding controller for receiving the pressure between the binding mechanism and the human body, and controlling the binding mechanism based on the pressure data to control the tightening, tightening force, and unbinding of the binding mechanism; the binding mechanism is also connected to at least one of a control button and a mobile terminal, the control button or the mobile terminal being used to control the operation of the binding mechanism to control the tightening, tightening force, and unbinding of the binding mechanism.

[0019] On the other hand, this invention also proposes a wearing adjustment method for exoskeleton robots that can adapt to different heights. This method includes the following steps: After the exoskeleton robot is worn and the human body is standing, angle sensors installed on the thigh length adjustment mechanism and the calf length adjustment mechanism are used to obtain the angles between the thigh length adjustment mechanism and the human thigh member, and between the calf length adjustment mechanism and the human calf member; based on these angles, the thigh length adjustment mechanism and the calf length adjustment mechanism are controlled to adjust their lengths respectively; after the leg length is adjusted, each binding mechanism on the exoskeleton robot is controlled to tighten after the binding mechanism is inserted into place; wherein, the binding mechanism is a waist binding mechanism on the back support mechanism, a shoulder strap binding mechanism on the back support mechanism, a chest binding mechanism on the back support mechanism, a leg binding mechanism inside the thigh length adjustment mechanism, a leg binding mechanism inside the calf length adjustment mechanism, or a foot binding mechanism on the foot support mechanism.

[0020] The present invention provides an exoskeleton robot adaptable to different heights and its wearing and adjustment method. It is supported by a back support mechanism; two thigh length adjustment mechanisms are installed on the thighs and can be adjusted to fit the length of the thigh struts; similarly, two calf length adjustment mechanisms are installed on the calves and can be adjusted to fit the length of the calf struts. This allows the exoskeleton robot to adapt to people of different heights. Furthermore, the lengths of the thigh and calf length adjustment mechanisms are easily adjustable without human assistance, simplifying the adjustment process and significantly reducing the wearing and adjustment time. This solves the problems of long adjustment times and cumbersome wearing and adjustment processes in existing exoskeleton robots.

[0021] Furthermore, the automatic binding of corresponding positions through the binding mechanism simplifies the binding operation and improves the efficiency and convenience of the entire system, as well as further enhancing the wearing efficiency. Attached Figure Description

[0022] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0023] Figure 1 This is a structural schematic diagram of an exoskeleton robot capable of adapting to different heights, provided in an embodiment of the present invention.

[0024] Figure 2 This is another structural diagram of an exoskeleton robot capable of adapting to different heights, provided in an embodiment of the present invention.

[0025] Figure 3 A schematic diagram of the thigh length adjustment mechanism and calf length adjustment mechanism provided in the embodiments of the present invention when they are relatively long;

[0026] Figure 4 A schematic diagram illustrating the principle of length adaptation between the thigh length adjustment mechanism and the calf length adjustment mechanism provided in the embodiments of the present invention;

[0027] Figure 5 A schematic diagram of the thigh length adjustment mechanism or calf length adjustment mechanism provided in an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the back support mechanism provided in an embodiment of the present invention;

[0029] Figure 7 A partial enlarged view of the back support mechanism at the waist binding mechanism provided in an embodiment of the present invention;

[0030] Figure 8 This is a partial enlarged view of the back support mechanism with embedded pressure sensor provided in an embodiment of the present invention;

[0031] Figure 9 A schematic diagram showing the back support mechanism at the tension drive component according to an embodiment of the present invention;

[0032] Figure 10 This is a schematic diagram of the structure of the tension drive provided in an embodiment of the present invention;

[0033] Figure 11 This is a schematic diagram of the leg binding mechanism provided in an embodiment of the present invention;

[0034] Figure 12 This is a schematic diagram of the winding knob mechanism provided in an embodiment of the present invention;

[0035] Figure 13 A flowchart illustrating the wearing and adjustment method of the exoskeleton robot provided in an embodiment of the present invention;

[0036] Explanation of reference numerals in the attached figures:

[0037] 1-Back support mechanism, 11-Main back support frame, 111-Mounting slot, 12-Shoulder strap, 13-Waist belt, 131-Flexible binding body, 1311-First binding section, 1312-Second binding section, 1313-Insertion fastener, 13131-Quick release male connector, 13132-Quick release female connector, 132-Binding tensioning component, 1321-Binding strap, 133-Tensioning drive component, 1331-Tightening motor, 1332-Tightening pivot, 13321-Storage groove, 1333-Pivot bracket, 2-Thigh length adjustment mechanism, 21-Support locking part, 211-Giveaway groove, 212-Securing groove, 22-Sliding adjustment part, 23-Drive unit, 23 1-Drive motor, 232-Transmission component, 2321-Gear, 2322-Rack, 3-Lower leg length adjustment mechanism, 4-Foot support mechanism, 5-Leg binding mechanism, 501-Thigh binding mechanism, 502-Lower leg binding mechanism, 51-Binding fixing body, 52-Flexible binding component, 53-Connecting piece, 54-Binding tension rope, 55-Winding knob mechanism, 551-Support limiting component, 5511-Rotation limiting groove, 5512-Motor clearance groove, 552-Annular winding disc, 5521-Winding groove, 553-Locking component, 554-Hook, 555-Binding adjustment motor, 6-Rotation joint mechanism, 7-Angle sensor, 8-Pressure sensor. Detailed Implementation

[0038] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0039] Example of an exoskeleton robot:

[0040] See Figures 1 to 2This figure illustrates a preferred structure of an exoskeleton robot capable of adapting to different heights, provided by an embodiment of the present invention. As shown, the exoskeleton robot includes: a back support mechanism 1, two thigh length adjustment mechanisms 2, two lower leg length adjustment mechanisms 3, and two foot support mechanisms 4; wherein,

[0041] The back support mechanism 1 is used to be carried on the back of a human body so that it can fit snugly against the back of the human body and provide top support to ensure the top height position of the exoskeleton robot is fixed. Specifically, the back support mechanism 1 can fit snugly against the back of a human body, and by being carried on the back of a human body, it can provide top support and limit the position of other components of the exoskeleton robot, thereby ensuring the top height position of the exoskeleton robot is fixed.

[0042] Two thigh length adjustment mechanisms 2 are respectively arranged opposite each other below the back support mechanism 1, and the top ends of both thigh length adjustment mechanisms 2 are rotatably connected to the back support mechanism 1. The thigh length adjustment mechanisms 2 are used for length adjustment to adapt to the length of the human thigh. Specifically, the two thigh length adjustment mechanisms 2 and two calf length adjustment mechanisms 3 combine to form two leg assist mechanisms. These two leg assist mechanisms are respectively arranged opposite each other below the back support mechanism 1 to assist in human leg movement. The top ends of the two leg assist mechanisms, i.e., the top ends of the two thigh length adjustment mechanisms 2, are respectively connected to the sides of the back support mechanism 1 (e.g., ...). Figure 1 The left and right sides (shown) are rotatably connected to achieve flexion of the two thigh length adjustment mechanisms 2, simulating and assisting in the flexion of the human thigh. In this embodiment, the top ends of the two thigh length adjustment mechanisms 2 are connected to the back support mechanism 1 via a rotating joint mechanism 6.

[0043] Two calf length adjustment mechanisms 3 are respectively arranged opposite to the two thigh length adjustment mechanisms 2 below them, and the top ends of the two calf length adjustment mechanisms 3 are rotatably connected to the two thigh length adjustment mechanisms 2. The calf length adjustment mechanisms 3 are used for length adjustment to adapt to the length of the human calf. Specifically, the two calf length adjustment mechanisms 3 and the two thigh length adjustment mechanisms 2 are arranged in a one-to-one correspondence, and the top end of the corresponding calf length adjustment mechanism 3 is rotatably connected to the bottom end of the thigh length adjustment mechanism 2 to realize the flexion of the two calf length adjustment mechanisms 3, so as to simulate and assist the flexion of the human calf. In this embodiment, the top ends of the two calf length adjustment mechanisms 3 and the bottom ends of the two thigh length adjustment mechanisms 2 can be connected by a rotating joint mechanism 6.

[0044] Each of the two leg-assisting mechanisms, i.e., the bottom ends of the two calf length adjustment mechanisms 3, can be equipped with a foot support mechanism 4 for foot support, allowing the human foot to step on the foot support mechanism 4 for foot support. In other words, the top and bottom are respectively limited and fixed by the back support mechanism 1 and the foot support mechanism 4. Specifically, the foot support mechanism 4 can be one-to-one, and the corresponding foot support mechanism 4 can also be rotatably connected to the bottom end of the calf length adjustment mechanism 3 to realize foot movement.

[0045] See also Figures 1 to 2An angle sensor 7 is provided on the thigh length adjustment mechanism 2 to obtain the angle between the thigh length adjustment mechanism 2 and the human thigh rod; and / or, an angle sensor 7 is provided on the calf length adjustment mechanism 3 to obtain the angle between the calf length adjustment mechanism 3 and the human calf rod. Specifically, both the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3 can be provided with angle sensors 7 to obtain the angle between the corresponding length adjustment component and the corresponding leg rod of the human body. Of course, one of the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3 can be provided with an angle sensor 7, while the other uses other methods to obtain the angle and other methods to perform length adjustment. In this embodiment, the inertial sensor can be connected to a length adjustment controller (not shown in the figure). The length adjustment controller is used to receive the corresponding angle data obtained by the angle sensor 7, and according to the corresponding angle data, control the thigh length adjustment mechanism 2 or the calf length adjustment mechanism 3 to perform length adjustment until the corresponding angle data is less than or equal to a preset angle. The length adjustment controller can control the thigh length adjustment mechanism 2 based on the angle between the thigh length adjustment mechanism 2 and the human thigh rod to achieve automatic length adjustment of the thigh length adjustment mechanism 2. Simultaneously, the length adjustment controller can control the thigh length adjustment mechanism 2 based on the angle between the calf length adjustment mechanism 3 and the human thigh rod to achieve automatic length adjustment of the calf length adjustment mechanism 3. To ensure that the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3 are properly adjusted, preferably, the length adjustment controller can receive the angle data between the thigh length adjustment mechanism 2 and the human thigh rod acquired by the angle sensor 7, and control the thigh length adjustment mechanism 2 to adjust its length according to the angle data until the angle between the thigh length adjustment mechanism 2 and the human thigh rod is less than a preset angle, thus achieving automatic adjustment of the thigh length adjustment mechanism 2. The preset angle can be determined according to the actual situation, for example, it can be 5°. Of course, the length can also be adjusted until the angle between the thigh length adjustment mechanism 2 and the human thigh rod is 1°. In this embodiment, the angle sensor 7 can be an inertial measurement unit (IMU) or other sensors; no limitation is made on it in this embodiment.

[0046] For example, the exoskeleton automatically adjusts the length of the rods, namely the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3. Based on the angle measured by the IMU, the length adjustment motors of the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3 are controlled to adjust their lengths, i.e., the corresponding rod lengths. Figure 3As shown, if the lengths of the corresponding rods on the exoskeleton, i.e., the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3, are greater than the corresponding lengths of the human leg, and the angle information of the IMU at the thigh and calf is not 0, the length adjustment motor can be controlled to shorten the rods according to the angle data obtained by the IMU until the angle information of the IMU at the thigh and calf is 0. Figure 4 As shown, when the corresponding rods of the exoskeleton are parallel to the corresponding rods of the human body, the angle information of the IMUs at the thigh and lower leg is 0, at which point the length adjustment motor can be stopped. Figure 3 and Figure 4 In the diagram, hinge point A simulates the hinge point between the thigh length adjustment mechanism 2 and the back support mechanism 1, and can be considered as a fixed point; hinge point B simulates the hinge point between the calf length adjustment mechanism 3 and the thigh length adjustment mechanism 2; hinge point C simulates the hinge point between the calf length adjustment mechanism 3 and the foot support mechanism 4, and can be considered as a fixed point.

[0047] In this embodiment, two spinal length adjustment mechanisms may be provided on both sides of the top of the back support mechanism 1. The bottom end of the spinal length adjustment mechanism is connected to the back main support frame 11 of the back support mechanism 1, and the top end is rotatably connected to an arm assist mechanism (not shown in the figure). Both arm assist mechanisms can be rotatably connected to the top of the back support mechanism 1 for assisting arm movement. The structure of the arm assist mechanism can refer to the structure of the leg assist mechanism, that is, it includes a forearm length adjustment component and an upper arm length adjustment component that can be length adjusted to adapt to the length of the human forearm and upper arm. In this embodiment, the structure of the arm assist mechanism can refer to the structure of the leg assist mechanism. The forearm length adjustment component and the upper arm length adjustment component can refer to the structure of the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3, respectively. The connection structure of the forearm length adjustment component, the upper arm length adjustment component, and the spinal length adjustment mechanism can also refer to the connection structure of the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3. The arm assist mechanism, the forearm length adjustment component, the upper arm length adjustment component, and the spinal length adjustment mechanism will not be described in detail here.

[0048] In this embodiment, the exoskeleton robot may be equipped with one or more binding mechanisms, which can be bound to corresponding positions on the human body to achieve binding and fixation between corresponding components of the exoskeleton robot and corresponding positions on the human body. Specifically, the binding mechanism can be an automatic binding mechanism, which can automatically bind to adapt to human bodies with different leg sizes. In this embodiment, the binding mechanism can be a waist binding mechanism on the back support mechanism 1, a shoulder strap binding mechanism on the back support mechanism 1, a chest binding mechanism on the back support mechanism 1, a leg binding mechanism 5 inside the thigh length adjustment mechanism 2, a leg binding mechanism 5 inside the calf length adjustment mechanism 3, or a foot binding mechanism on the foot support mechanism 4. Of course, there can be multiple binding mechanisms, and the multiple binding mechanisms can be one or any combination of the waist binding mechanism on the back support mechanism 1, the shoulder strap binding mechanism on the back support mechanism 1, the chest binding mechanism on the back support mechanism 1, the leg binding mechanism 5 inside the thigh length adjustment mechanism 2, the leg binding mechanism 5 inside the calf length adjustment mechanism 3, and the foot binding mechanism on the foot support mechanism 4.

[0049] Specifically, the inner side of the thigh length adjustment mechanism 2 is also provided with a leg binding mechanism 5 for binding to the thigh of the human body; and / or, the inner side of the calf length adjustment mechanism 3 is also provided with a leg binding mechanism 5 for binding to the calf of the human body. In other words, the inner side of the thigh length adjustment mechanism 2 and / or the calf length adjustment mechanism 3 may be provided with a leg binding mechanism 5 for binding to the corresponding leg position on the human body. Specifically, the leg binding mechanism 5 can be of two types: a thigh binding mechanism 501 and a calf binding mechanism 502. The thigh binding mechanism 501 can be provided on the inner side of each of the two thigh length adjustment mechanisms 2, i.e., on opposite sides, and can be bound to the thigh of the human body to achieve connection and fixation between the thigh length adjustment mechanism 2 and the thigh member, thereby assisting thigh movement. Similarly, the calf binding mechanism 502 can be provided on the inner side of each of the two calf length adjustment mechanisms 3, i.e., on opposite sides, and can be bound to the calf of the human body to achieve connection and fixation between the calf length adjustment mechanism 3 and the calf member, thereby assisting calf movement. The structures of the thigh binding mechanism 501 and the calf binding mechanism 502 can be the same or different; this embodiment does not impose any limitations on them.

[0050] Of course, the foot support mechanism 4 may also be equipped with a foot binding mechanism (not shown in the figure) for binding to the human foot. Specifically, the foot support mechanism 4 may be equipped with one or more foot binding mechanisms along its length direction, i.e., the length of the foot, to ensure the stability of the foot support component binding. The back support mechanism 1 is equipped with a waist binding mechanism for binding to the human waist; the back support mechanism 1 is equipped with a shoulder strap binding mechanism for binding to the human shoulders; and / or, the back support mechanism 1 is equipped with a chest binding mechanism for binding to the human chest. The bottom of the back support mechanism 1 is equipped with a waist binding mechanism, a shoulder strap binding mechanism, and / or a chest binding mechanism to bind to the corresponding positions on the human body.

[0051] See also Figure 1 , Figure 2 , Figure 6 The back support mechanism 1 includes a main back support frame 11, shoulder straps 12, and a waist belt 13. Both the shoulder straps 12 and waist belt 13 are mounted on the main back support frame 11 and are used to fix them to the shoulders and waist of the human body. Specifically, the shoulder straps 12 can be worn on the shoulders, and the waist belt 13 can fit snugly against the waist, thus securing the main back support frame 11 and ensuring it fits snugly against the back of the human body. Together, the back support mechanism 1 supports the entire exoskeleton robot and ensures proper coordination between the exoskeleton robot and the human body. In this embodiment, the shoulder straps 12 and / or waist belt 13 can be binding mechanisms; that is, the shoulder straps 12 can be a shoulder binding mechanism, and the waist belt 13 can be a waist binding mechanism. Alternatively, one can be a binding mechanism, and the other can be a conventional structure. In other words, the shoulder straps 12 and / or waist belt 13 can be binding mechanisms that can automatically tighten to automatically adjust the tightness, achieving automatic tightening and loosening.

[0052] In this embodiment, a pressure sensor 8 may be provided on the inner side of each binding mechanism, i.e., the side facing the human body, to obtain the pressure between the binding mechanism and the human body; wherein, the binding mechanism is a leg binding mechanism 5, a foot binding mechanism, a waist binding mechanism, or a chest binding mechanism. Specifically, the pressure sensor 8 can be an inertial sensor, i.e., an IMU, or other sensors, and this embodiment does not limit them in any way. In this embodiment, the pressure sensor 8 may be connected to a binding controller to receive the pressure between the binding mechanism and the human body, and control the binding mechanism according to the pressure data, so as to control the tightening, tightening force, and unbinding of the binding mechanism, so as to realize the automatic tightening and loosening of the exoskeleton robot on the human body. The user does not need to manually adjust the binding mechanism, saving time and speeding up the wearing and taking off of the exoskeleton robot. Furthermore, the exoskeleton robot can automatically adjust the tightness according to the body condition and needs, providing the user with comfortable support and fit.

[0053] Of course, in this embodiment, each binding mechanism may also be connected to at least one of a control button and a mobile terminal. The control button or mobile terminal is used to control the operation of the binding mechanism, such as controlling the tightening, tightening force, and unbinding. Specifically, the control button may be located on the skeletal robot and can be input through control operations to control the binding mechanism to tighten or unbind, and to control the tightening force and unbinding. The mobile terminal may also be equipped with an APP, which is remotely connected to each binding mechanism. The APP can receive operation commands from the client and control each binding mechanism according to the operation commands to achieve the tightening, tightening force, and unbinding of each binding mechanism.

[0054] Of course, at least one of the control buttons and mobile terminals can also be connected to the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3 to control the length adjustment of the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3.

[0055] See Figure 5 This is a schematic diagram of the thigh length adjustment mechanism or calf length adjustment mechanism provided in an embodiment of the present invention. As shown in the figure, both the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3 can be automatic length adjustment components. In this embodiment, the automatic length adjustment component, such as the thigh length adjustment mechanism 2, may include: a support locking part 21, a sliding adjustment part 22, and a drive unit 23; wherein,

[0056] The sliding adjustment part 22 is along the length direction of the support locking part 21 (e.g.) Figure 5 The vertical direction shown is slidably mounted on the support mounting portion 21, for adjusting the protruding length of the sliding adjustment portion 22 extending to one side of the support mounting portion 21 (e.g., in the vertical direction shown). Figure 5 The length of the protrusion on the upper side (as shown) is used to adjust the total extension length of the support locking part 21 and the sliding adjustment part 22, thereby realizing the length adjustment of the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3. Specifically, one end of the support locking part 21 (such as the length of the protrusion on the upper side) is adjusted to adjust the total extension length of the support locking part 21 and the sliding adjustment part 22, thereby realizing the length adjustment of the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3. Figure 5 The top end shown may be provided with a relief groove 211, and the support locking part 21 is located on both sides of the relief groove 211 (such as...). Figure 5The left and right sides (as shown) are also provided with locking grooves 212 that communicate with the clearance grooves 211. These grooves are used to allow and guide the sliding of the sliding adjustment part 22, so that the two sides of the sliding adjustment part 22 can be slidably locked in the two locking grooves 212 respectively. The two locking grooves 212 guide the up and down sliding of the sliding adjustment part 22, thereby adjusting the total length of the support locking part 21 and the sliding adjustment part 22, that is, adjusting the up and down length of the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3, i.e., the rod. In this embodiment, the top end of the sliding adjustment part 22 of the thigh length adjustment mechanism 2 can be rotatably connected to the back support mechanism 1, especially through the rotation joint mechanism 6. The bottom end of the support locking part 21 of the thigh length adjustment mechanism 2 can be rotatably connected to the top end of the sliding adjustment part 22 of the calf length adjustment mechanism 3, especially through the rotation joint mechanism 6. The bottom end of the support locking part 21 of the calf length adjustment mechanism 3 can be connected to the foot support mechanism 4.

[0057] In this embodiment, to achieve electric drive for length adjustment, preferably, the sliding adjustment part 22 can also be connected to a drive unit 23. The power output end of the drive unit 23 is connected to the sliding adjustment part 22 and is used to drive the sliding adjustment part 22 to slide along the length direction of the support and locking part 21, thereby driving the sliding adjustment part to slide up and down, and thus driving the length adjustment of the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3. Specifically, the fixing part of the drive unit 23 can be set on the support and locking part 21, and the power output end is connected to the sliding adjustment part 22, which can drive the sliding adjustment part 22 to slide up and down to achieve length adjustment.

[0058] See also Figure 5 The drive unit 23 may include a length adjustment motor and a transmission component 232; wherein, the power input end of the transmission component 232 is connected to the length adjustment motor, and the power output end is connected to the sliding adjustment part 22, for converting the rotation output by the length adjustment motor into the reciprocating linear motion of the sliding adjustment part 22 along the length direction of the support and locking part 21, so as to realize the adjustment of the total extension length of the support and locking part 21 and the sliding adjustment part 22.

[0059] Specifically, the fixed housing of the length-adjusting motor can be fixedly mounted on the support bracket 21. The power input end of the transmission component 232 is connected to the power output end of the length-adjusting motor, and the power output end of the transmission component 232 is connected to the sliding adjustment part 22. Under the driving action of the length-adjusting motor, power transmission can be performed to convert the output rotation of the length-adjusting motor into the reciprocating linear motion of the sliding adjustment part 22 in the up-down direction, that is, to convert rotation into linear motion. In this embodiment, the transmission component 232 is a gear 2321 and rack 2322 mechanism. The gear 2321 can be mounted on the power output shaft of the length-adjusting motor by a key, and the rack 2322 can be fixedly mounted on the sliding adjustment part 22 so that when the gear 2321 rotates with the length-adjusting motor, it performs linear motion, thereby driving the sliding adjustment part 22 to perform synchronous linear motion with the rack 2322, realizing the conversion between rotation and linear motion. The width of the rack 2322 is adapted to the clearance groove 211, which allows for the vertical movement of the rack 2322, preventing interference between the rack 2322 and the support locking part 21. Of course, in other embodiments, the transmission component 232 can also be a worm gear mechanism or a ball screw mechanism, or any other mechanism capable of converting rotational and reciprocating linear motion.

[0060] In this embodiment, a length adjustment controller, control button, or mobile terminal can be connected to the length adjustment motor to control its forward and reverse rotation and stop rotation. Specifically, the length adjustment controller can control the length adjustment motor based on the corresponding angle data obtained by the angle sensor 7. In particular, before the thigh length adjustment mechanism 2 is installed and adjusted, its length is generally greater than the length of the corresponding human leg rod. When the corresponding angle data obtained by the angle sensor 7 is greater than or equal to a preset angle, the length adjustment controller can control the length adjustment motor to rotate forward, thereby driving the gear 2321 and rack 2322 mechanism to move forward. This converts the rotational motion of the length adjustment motor into the linear motion of the rack 2322, thus realizing the vertical length adjustment of the sliding adjustment part 22, i.e., driving the sliding adjustment part 22 downward to adjust the length of the thigh length adjustment mechanism 2. When the corresponding angle data obtained by the angle sensor 7 is less than the preset angle, the length adjustment controller controls the length adjustment motor to stop rotating, so that the thigh length adjustment mechanism 2 stops length adjustment, completing the rod length adjustment. Figure 4 The position shown. Of course, it can also be achieved through human body recognition, by controlling the rotation and stopping of the length adjustment motor via buttons or a mobile app, thereby controlling the thigh length adjustment mechanism 2 to adjust and stop the length. For example, when the length is adjusted to a comfortable level, the adjustment can be stopped via buttons or a mobile app, thus completing the adjustment of the rod length.

[0061] The calf length adjustment mechanism 3 has the same structure and adjustment method as the thigh length adjustment mechanism 2, and can be referred to in the same way as the thigh length adjustment mechanism 2, so it will not be described again here. Of course, the structure and adjustment method of the forearm length adjustment component and the upper arm length adjustment component can also refer to the structure and adjustment method of the thigh length adjustment mechanism 2. The back support mechanism 1 may also be equipped with a spinal support component, and the structure and length adjustment method of the spinal support component can also refer to the structure and adjustment method of the thigh length adjustment mechanism 2.

[0062] See also Figures 6 to 8 In this embodiment, the waist belt 13 is a waist binding mechanism, which may include: a flexible binding body 131, a binding tension member 132, and a tension drive member 133; wherein,

[0063] The binding tension member 132 is arranged along the arrangement direction of the flexible binding body 131 on the outer side of the flexible binding body 131, i.e., on the side facing away from the waist of the human body. Furthermore, the winding end of the binding tension member 132 (such as...) Figure 6 The left end shown is mounted on the fixed frame where the flexible binding body 131 is located in a rollable manner, and the tension end of the binding tension member 132 (such as...) Figure 6 The right end shown is connected to the tension point on the flexible binding body 131; wherein the tension point and the flexible binding body 131 are arranged at intervals between the connection points of the fixed frame; the fixed frame is set on the thigh length adjustment mechanism 2, the calf length adjustment mechanism 3 or the back support mechanism 1, and is used to support the corresponding binding mechanism.

[0064] Specifically, the back main support frame 11 serves as the fixed frame of the waist binding mechanism, and the flexible binding body 131 can be mounted on the back main support frame 11 to bind or fit around the waist. The binding tension member 132 is positioned on the outside of the flexible binding body 131 along its arrangement direction. The winding end of the binding tension member 132 is mounted on the fixed frame where the flexible binding body 131 is located, and the tension end of the binding tension member 132 is fixedly connected to the tension point on the flexible binding body 131. The winding end of the binding tension member 132 can be connected to the tension drive member 133, allowing it to be wound or released under the action of the tension drive member 133. The stretching end of the binding tensioner 132 can drive the stretching point on the flexible binding body 131 to move gradually along the outer periphery of the waist towards the main back support frame 11, thereby stretching the flexible binding body 131 and tightening it so that it fits snugly against the waist, i.e., the flexible binding body 131 is bound to the corresponding position on the body, realizing the electric binding of the waist binding mechanism. Of course, the flexible binding body 131 can also be released by releasing the binding tensioner 132. Figure 8 As shown, a pressure sensor 8 may be provided on the inner side of the flexible binding body 131, that is, the side that faces the waist of the human body, to obtain the pressure between the flexible binding body 131 and the waist of the human body.

[0065] In this embodiment, the binding controller can be connected to the tension drive 133 to control the tension drive 133, including its forward and reverse rotation and stopping rotation. Specifically, the binding controller can control the tension drive 133 based on the pressure data obtained by the pressure sensor 8. For example, when the pressure data is less than a preset low pressure, i.e., when the binding is loose, the binding controller can control the tension drive 133 to run in the forward direction, thereby driving the winding end of the binding tension member 132 to wind and tighten. This causes the tension points on the flexible binding body 131 to gradually move towards the back main support frame 11 along the outer periphery of the waist, thus stretching the flexible binding body 131 and tightening it until the pressure data is greater than or equal to the preset low pressure. At this point, the binding controller controls the tension drive 133 to stop running, completing the automatic tightening function of the binding. In other words, the binding tension member 132, the tension drive member 133, and the binding controller act as automatic binding tightening components. These components are responsible for automatically adjusting the tightness of the flexible binding body 131. The tension drive member 133 controls the winding or releasing of the binding tension member 132, allowing the flexible binding body 131 to automatically tighten or loosen. Of course, control buttons or mobile terminals can also be connected to the tension drive member 133 to control its forward and reverse rotation and stop rotation, thereby achieving binding control of the flexible binding body 131. Furthermore, the binding can be continuously monitored and adjusted during walking assistance.

[0066] See also Figure 6In one embodiment of this invention, the flexible binding body 131 may include two binding segments, namely a first binding segment 1311 and a second binding segment 1312. The first binding segment 1311 and the second binding segment 1312 are respectively disposed on both sides of the back main support frame 11. One end of the first binding segment 1311 and one end of the second binding segment 1312 are respectively connected to the two side ends of the back main support frame 11. The other ends of the first binding segment 1311 and the second binding segment 1312 are detachably connected to each other by a inserter 1313. The first binding segment 1311, the second binding segment 1312 and the flexible binding body 131 can form a ring structure to cover the outer periphery of the corresponding position of the human body. The tension point on the flexible binding body 131 is disposed on the inserter 1313. Specifically, a quick-release latch 1313 is provided between the first binding segment 1311 and the second binding segment 1312 to enable a detachable connection between them. The quick-release latch 1313 may include a quick-release male connector 13131 and a quick-release female connector 13132. The quick-release male connector 13131 is located on one binding segment, and the quick-release female connector 13132 is located on the other binding segment. In this embodiment, the quick-release male connector 13131 is located on the first binding segment 1311, and the quick-release female connector 13132 is located on the second binding segment 1312. In this embodiment, a pressure sensor 8 is provided on the inner side of the second binding segment 1312 to obtain the tightness of the binding segment; of course, a pressure sensor 8 may also be provided on the inner side of the first binding segment 1311, or both binding segments may be provided with pressure sensors 8, and the number of pressure sensors 8 may be multiple. The binding controller may be located on the back of the main back support frame 11, or it may be located in other positions; this embodiment does not impose any limitations on it.

[0067] See also Figure 6The first binding section 1311 is provided with a binding tension member 132. The back main support frame 11 is connected to the side end of the first binding section 1311 and is provided with a mounting groove 111. The tension drive member 133 is disposed in the mounting groove 111. The winding end of the binding tension member 132 is connected to the power output end of the tension drive member 133. The binding tension member 132 is disposed on the outside of the first binding section 1311. The tension end is connected to the quick-release buckle, and in particular, it can be connected to the quick-release male connector 13131 to stretch the quick-release male connector 13131, thereby stretching the first binding section 1311 and driving the second binding section 1312 to stretch. Of course, the second binding section 1312 may also be equipped with a binding tension member 132, and the corresponding position of the back main support frame 11 may also be equipped with a tension drive member 133. Alternatively, both binding sections may be equipped with binding tension members 132, and the corresponding position of the back main support frame 11 may be equipped with two tension drive members 133, allowing for selective binding section tensioning. At the same time, if any binding tension member 132 or tension drive member 133 fails, the other binding tension member 132 or tension drive member 133 can still provide a certain degree of functionality, thereby enhancing the reliability and redundancy of the entire system.

[0068] In this embodiment, the quick-release male connector 13131 and quick-release female connector 13132 can be electrically connected to the binding controller. The binding controller can detect the changes in the level state of the quick-release male connector 13131 and quick-release female connector 13132 before and after assembly, so as to control the start and stop of the tension drive 133. The insert 1313 between the first binding segment 1311 and the second binding segment 1312 allows for quick connection and disassembly between the binding segments, providing users with a convenient way to equip and detach. Furthermore, the quick-release male connector 13131 and quick-release female connector 13132 of the insert 1313 are electrically connected to the binding controller, and the changes in the level state of their connection state are detected to control the tension drive 133. The user controls the binding section of the exoskeleton robot by connecting the quick-release male connector 13131 and the quick-release female connector 13132. When the quick-release male connector 13131 and the quick-release female connector 13132 are assembled and connected, their voltage levels change, such as closing a circuit or changing the resistance of the circuit. The binding controller detects this voltage level change and recognizes that the latch is connected. The binding controller then sends a signal to the tension drive 133 to trigger the automatic tightening mechanism, thereby tightening the binding section until the preset tightness is reached. When it is necessary to remove the exoskeleton robot, the user unplugs the plug 1313. The voltage levels of the quick-release male connector 13131 and the quick-release female connector 13132 change again. The binding controller then sends a signal to the binding controller, and the binding controller stops working. The binding controller detects the state change and sends a signal to stop or start the process of relaxing the flexible binding body 131. For example, when the insert 1313 is in the unlocked state, i.e., when the quick-release male connector 13131 and quick-release female connector 13132 are disconnected, the pin at the insert 1313 is set to a high level, and when the insert 1313 is in the locked state, it is set to a low level. Of course, it can also be set in reverse, and this embodiment does not impose any limitations on it. This locking state detection utilizes an electronic control system to automate the traditional physical operation process, thereby simplifying the user's operation and improving the efficiency and convenience of the entire system. Furthermore, through the intelligent interaction between the binding controller and the insert 1313, the skeletal robot will only begin the automatic binding action after the user has finished wearing it. When the insert 1313 is in the unlocked state, the skeletal robot is in a waiting state and will not start, allowing the user to quickly adjust to a suitable locking state after wearing it, and also simplifying the operation process when removing it, making the wearing process both safe and convenient.

[0069] In another embodiment of this invention, the flexible binding body 131 can also be an annular flexible strap structure, used to be fitted around the waist of the human body to bind it at the waist position. Alternatively, in yet another embodiment, the flexible binding body 131 can be a strip-shaped structure, with both ends connected to a fixed frame. The strip-shaped structure and the fixed frame can form an annular structure to cover the waist of the human body. In other words, the flexible binding body 131 can be fitted around the waist of the human body, and the tension drive 133 is mounted on the fixed frame, i.e., the back main support frame 11. The tension points of the flexible binding body 131 are spaced apart from the ends of the strip-shaped structure, or the tension points of the flexible binding body 131 are spaced apart from the positions where the annular flexible strap structure is connected to the fixed frame, so that the binding tension member 132 can stretch and tighten the flexible binding body 131.

[0070] See also Figure 7 and Figure 9 The tension drive 133 includes a tightening motor 1331 and a tightening shaft 1332; wherein the tightening shaft 1332 is connected to the tightening motor 1331 and is used to rotate under the action of the tightening motor 1331 to realize the winding and release of the binding tension member 132.

[0071] Specifically, the tightening shaft 1332 is mounted on the tightening motor 1331, and the winding end of the binding tension member 132 is connected to the tightening shaft 1332. The tightening motor 1331 is the core of the tension drive member 133, responsible for providing power to drive the binding tension member 132 to automatically tighten or loosen the waist belt 13. Typically, this motor needs to have sufficient torque to pull the binding tension member 132 and the flexible binding body 131, and be able to reliably control the magnitude of the tension. The tightening shaft 1332 is mounted on the tightening motor 1331. When the motor is running, the tightening shaft 1332 rotates accordingly, which can wind or release the binding tension member 132 so that the other end of the binding tension member 132 moves towards or away from the tightening shaft 1332, thereby driving the insert 1313 to move towards or away from the tightening shaft 1332, realizing the tightening or loosening of the flexible binding body 131. In this embodiment, after the binding controller detects a change in the connection state of the pin at the insert 1313 (i.e., a change in the connection state of the insert 1313), it sends a command to the tightening motor 1331. The tightening motor 1331 responds to the command and starts. After the tightening motor 1331 starts, it can drive the tightening shaft 1332 to rotate, thereby achieving the winding of the binding tension member 132. When it is necessary to remove the exoskeleton robot, the tightening motor 1331 drives the tightening shaft 1332 to rotate in the opposite direction, releasing the binding tension member 132 and loosening the flexible binding body 131. This simplifies the wearing process of the exoskeleton robot, improves the user experience through automation, and significantly enhances the ease of use and rapid response capability of the exoskeleton robot. The tightening motor 1331 uses a worm gear motor, which can achieve self-locking after power failure to ensure that the binding strap 1321 does not loosen.

[0072] See also Figure 9 and Figure 10To ensure the stability of the tightening shaft 1332, preferably, the tightening motor 1331 may also be provided with a shaft bracket 1333 to support the tightening shaft 1332, preventing bending and deformation of the tightening shaft 1332, thus avoiding skewing or damage due to overload, and ensuring that the tightening shaft 1332 can properly release or wind the binding tension member 132. Preferably, the shaft bracket 1333 also has a shock absorption function to absorb vibrations that may be generated during rotation, thereby reducing noise and extending the service life of the device. In this embodiment, the tightening motor 1331 is a worm gear motor. Worm gear drive is a mechanical transmission method with a very high reduction ratio, which can provide very precise motion control, and is very useful for exoskeleton devices that require precise control of binding force. The worm gear drive has a certain self-locking capability, meaning that without motor drive, external force is unlikely to drive the worm wheel to rotate in the opposite direction via the worm. This self-locking mechanism ensures that the binding tension member 132 will not loosen when the motor is powered off, maintaining a continuously tightened state, thus providing a safety feature for the system. The worm gear motor operates very smoothly and with low noise, effectively improving user comfort. Due to its high reduction ratio, this motor can be designed to be compact, facilitating integration into various exoskeleton designs. The worm gear motor can output a large torque, allowing the tightening motor 1331 to effectively tighten or loosen the flexible binding body 131 without applying excessive force.

[0073] See also Figure 9The binding and tensioning member 132 includes multiple straps 1321; wherein, the tightening shaft 1332 is provided with a storage groove 13321 corresponding to each strap 1321, one end of each strap 1321 is placed in the corresponding storage groove 13321, and the other end is connected to the insert 1313, especially the quick-release male connector 13131. Specifically, the multiple storage grooves 13321 enable the straps 1321 to remain orderly during winding, and when the tightening motor 1331 is working, it can ensure that each strap 1321 is evenly wound and tightened or unwound and relaxed, thereby providing uniform support and pressure distribution. The storage groove 13321 provides designated storage space for each strap 1321, preventing mutual interference or tangling between the straps 1321 during fixing and management. This is crucial for ensuring the stability and reliability of the equipment. Users or operators can easily maintain or adjust the binding tension member 132, and can also conveniently replace the straps 1321 if necessary. At the same time, since each strap 1321 has a corresponding storage groove 13321, individual adjustments can be made to each strap 1321 to suit different user body shapes or specific needs. In addition, the straps 1321 are fixed in the storage groove 13321, which ensures that the straps 1321 will not fall off when the tightening shaft 1332 rotates, enhancing the overall stability and safety of the system.

[0074] In this embodiment, the binding controller, control button, or mobile terminal can be connected to the tightening motor 1331 to control the tightening motor 1331, including its forward and reverse rotation and stopping. Specifically, the binding controller can control the corresponding pressure data obtained by the pressure sensor 8. When the pressure data is less than a preset low pressure, the binding controller can control the tightening motor 1331 to rotate forward, thereby driving the tightening shaft 1332 to rotate forward. This allows the binding straps 1321 to wind simultaneously, causing the quick-release male head 13131 to pull the end of the first binding section 1311 along the outer periphery of the waist towards the back main support frame 11, thus stretching and tightening the second binding section 1312 until the pressure data is greater than or equal to the preset low pressure. At this point, the binding controller controls the tightening motor 1331 to stop running, completing the automatic tightening function of the binding. Of course, it can also be controlled by human body recognition, and the rotation and stopping of the tightening motor 1331 can be controlled by buttons or mobile terminal apps to control the waist binding mechanism to automatically bind. For example, when the tightness is adjusted to a suitable level, the adjustment can be stopped by buttons or mobile apps, and the tightness adjustment is completed.

[0075] Other binding mechanisms may also adopt the structure of the waist binding mechanism described above. For example, the shoulder strap binding mechanism, chest binding mechanism, leg binding mechanism 5 inside the thigh length adjustment mechanism 2, leg binding mechanism 5 inside the calf length adjustment mechanism 3, or foot binding mechanism on the foot support mechanism 4 may all refer to the structure of the waist binding mechanism described above, and their adjustment methods may also refer to each other. Here, the structure and automatic binding method of the shoulder strap binding mechanism, chest binding mechanism, leg binding mechanism 5 inside the thigh length adjustment mechanism 2, leg binding mechanism 5 inside the calf length adjustment mechanism 3, or foot binding mechanism on the foot support mechanism 4 are not limited.

[0076] In the first embodiment of the leg binding mechanism 5 in this example, the structure and automatic binding method of the leg binding mechanism 5 can refer to the structure and automatic binding method of the waist binding mechanism described above, and will not be repeated here. Of course, other binding mechanisms, such as the shoulder strap binding mechanism, the chest binding mechanism, and the foot binding mechanism on the foot support mechanism 4, can refer to the waist binding mechanism described above, and their structures and adjustment methods can also refer to each other.

[0077] In a second embodiment of the leg binding mechanism in this example, see [link to second embodiment]. Figure 11 This is a schematic diagram of the leg binding mechanism 5 provided in an embodiment of the present invention. As shown in the figure, the leg binding mechanism 5 may include: a binding fixation body 51, a flexible binding member 52, a connecting piece 53, a binding tension rope 54, and a winding knob mechanism 55; wherein, the fixing part of the flexible binding member 52 is disposed on the inner wall of the binding fixation body 51, and the adjusting part extends to one side of the binding fixation body 51 for binding to the outer periphery of the human leg; the connecting piece 53 is detachably connected to the first end of the binding fixation body 51, and the connecting piece 53 is provided with a winding knob mechanism 55, and the winding knob mechanism 55 is provided with a binding tension rope 54, binding... One end of the binding tension rope 54 is set at the other end of the binding fixation body 51, and after passing around the outside of the flexible binding member 52, the other end is wrapped around the winding knob mechanism 55. When the connecting piece 53 is installed on the binding fixation body 51, the binding tension rope 54, the connecting piece 53 and the binding fixation body 51 form a ring structure that surrounds the outer periphery of the flexible binding member 52. The binding tension rope 54 can be wound or released by the winding knob mechanism 55, thereby adjusting the binding tightness of the flexible binding member 52 to adapt to people with different leg sizes and achieve automatic binding.

[0078] Specifically, the binding and fixing body 51 can be an arc-shaped structure, and can be set on the sliding adjustment part 22 on the thigh length adjustment mechanism 2 or the calf length adjustment mechanism, which can support the flexible binding member 52. The flexible binding member 52 is set on the inner side of the binding and fixing body 51, that is, the side closer to the human body. The fixing part is fixedly installed on the inner wall of the binding and fixing body 51, and the adjustment part extends on one side of the binding and fixing body 51, which can form an arc-shaped structure to bind to the outer periphery of the human leg. The connecting piece 53 is detachably connected to the first end of the binding and fixing body 51 (e.g., Figure 11 The lower end shown is connected to the connecting piece 53, and a winding knob mechanism 55 is provided on the connecting piece 53. A binding tension rope 54 is provided on the winding knob mechanism 55. The fixed end of the binding tension rope 54 is located at the second end of the binding and fixing body 51 (as shown). Figure 11 The upper end of the flexible binding member 52 is shown, and after passing around the outside of the flexible binding member 52, the winding end is wound around the winding knob mechanism 55. The connecting piece 53 is installed on the first end of the binding fixation body 51, so that the binding tension rope 54, the connecting piece 53 and the binding fixation body 51 form a ring structure, and the flexible binding member 52 is placed inside the ring structure. The binding tension rope 54 can be wound by the winding knob mechanism 55 to pull the flexible binding member 52 towards the human leg to tighten it, and the tightening force can be increased to achieve automatic binding; the binding tension rope 54 can also be released by the winding knob mechanism 55 to loosen the tension on the flexible binding member 52 and reduce the tightening force. The flexible binding member 52 can be a protective strap or other flexible strip structure, which can be wrapped around the outer periphery of the leg to achieve binding and fixation. In this embodiment, the connecting piece 53 and the binding fixation body 51 can be connected by Velcro, buckle, or magnetic attraction.

[0079] See also Figure 11A pressure sensor 8 is provided on the inner wall of the flexible binding member 52. The binding controller can be connected to the winding knob mechanism 55 to control the winding and releasing of the binding tension rope 54. Specifically, the binding controller can control the winding knob mechanism 55 based on the pressure data obtained by the pressure sensor 8. For example, when the pressure data is less than the preset low pressure, i.e., when the binding is loose, the binding controller can control the winding knob mechanism 55 to run in the forward direction, so that the winding end of the binding tension rope 54 is wound, i.e., the binding tension rope 54 is shortened at the protruding part and tightened, so that the flexible binding member 52 is tightened accordingly, until the pressure data is greater than or equal to the preset low pressure. Then, the binding controller controls the winding knob mechanism 55 to stop running, completing the automatic tightening function of the binding. In other words, the binding tension rope 54, the winding knob mechanism 55, and the binding controller serve as automatic tightening components. These components are responsible for automatically adjusting the tightness of the flexible binding member 52. The winding knob mechanism 55 controls the winding or releasing of the binding tension rope 54, allowing the flexible binding member 52 to automatically tighten or loosen. Alternatively, a control button or mobile terminal can be connected to the winding knob mechanism 55 to control its winding and releasing of the binding tension rope 54, thereby achieving binding control of the flexible binding member 52.

[0080] See Figure 12 This is a schematic diagram of the winding knob mechanism 55 provided in an embodiment of the present invention. As shown in the figure, the winding knob mechanism 55 includes: a support limiting member 551, an annular winding disc 552, a locking member 553, and a buckle 554; wherein, the support limiting member 551 is provided with a rotation limiting groove 5511; the annular winding disc 552 is rotatably disposed in the rotation limiting groove 5511 for winding or releasing the binding tension rope 54 wound around its outer periphery; the outer wall of the locking member 553 engages with the inner wall of the annular winding disc 552 to drive the annular winding disc 552 to rotate synchronously, thereby realizing the winding or releasing of the binding tension rope 54; the buckle 554 is fastened to the open end of the rotation limiting groove 5511 (e.g., Figure 12 As shown at the upper end), the swivel 554 is rotatably connected to the support limit member 551, and the swivel 554 is also connected to the locking member 553 to drive the locking member 553 to rotate relative to the support limit member 551, so that the annular winding disc 552 rotates synchronously with the locking member 553, so as to realize the winding or release of the binding tension rope 54.

[0081] Specifically, the support limiting member 551 can be a cylindrical structure with a bottom support plate. The hollow interior of the cylindrical structure can serve as a rotation limiting groove 5511 to limit the annular winding disc 552. The lower part of the bottom support plate of the support limiting member 551 is also provided with a motor clearance groove 5512 so that the binding adjustment motor 555 can be located in the motor clearance groove 5512, making the structure compact. At the same time, the side plate of the support limiting member 551 is provided with a rope outlet hole so that the binding tension rope 54 on the internal annular winding disc 552 can extend from the rope outlet hole to the outside to connect to the binding fixing body 51, thereby tightening the flexible binding member 52. The annular winding reel 552 is rotatably disposed within the rotation limiting groove 5511. The annular winding reel 552 can be a ring-shaped structure with a rotating shaft hole inside, through which the rotating shaft of the binding adjustment motor 555 can pass and connect to the locking fastener 553, so that the binding adjustment motor 555 can drive the locking fastener 553 to rotate. The outer wall of the annular winding reel 552 has a winding groove 5521 along its circumference, so that the binding tension rope 54 can be wound around the winding groove 5521 and wound around the outer wall of the annular winding reel 552. The locking fastener 553 is disposed within the rotating shaft hole of the annular winding reel 552 and engages with the inner wall of the annular winding reel 552, so as to drive the annular winding reel 552 to rotate synchronously. The swivel buckle 554 is fastened to the open end of the rotating limiting groove 5511, which not only closes the rotating limiting groove 5511, that is, seals the annular winding disc 552 and the locking fastener 553 within the rotating limiting groove 5511, but also... Figure 12 The bottom wall shown is connected to the locking fastener 553. The swivel 554 can also rotate relative to the supporting limit member 551 to drive the locking fastener 553 to rotate synchronously, thereby driving the annular winding disc 552 to rotate synchronously, realizing the winding and release of the binding tension rope 54. The outer wall of the locking fastener 553 may be provided with a first engagement structure, and the inner wall of the annular winding disc 552 may be provided with a second engagement structure adapted to the first engagement structure to achieve locking and ensure synchronous rotation after engagement. In this embodiment, the first and second engagement structures can be toothed structures or other structures.

[0082] In this embodiment, the locking fastener 553 is also connected to a binding adjustment motor 555, which drives the locking fastener 553 to rotate, thereby realizing the electric rotation of the annular winding disc 552, and thus realizing the electric winding or unwinding of the binding tension rope 54. Specifically, the winding and unwinding of the binding tension rope 54 can be realized by the buckle 554 and the binding adjustment motor 555. In particular, the binding adjustment motor 555 enables electric binding, especially automatic binding.

[0083] In this embodiment, the swivel 554 is along the axial direction of the rotation limiting groove 5511 (e.g., Figure 12The vertical direction shown is connected to the support limit member 551 in a position-adjustable manner. The locking fastener 553 is slidably disposed inside the annular winding disc 552, i.e., in the rotating shaft hole, along the axial direction of the annular winding disc 552. This is used to lock and unlock the locking fastener 553 and the annular winding disc 552. When the locking fastener 553 moves down into the annular winding disc 552 and engages with and locks with the annular winding disc 552, the locking fastener 553 and the annular winding disc 552 can rotate synchronously. When the locking fastener 553 is unlocked from the annular winding disc 552, the locking fastener 553 can rotate freely. This allows the binding tension rope 54 to be released under external force and drive the annular winding disc 552 to rotate in the opposite direction. It also prevents the locking fastener 553 from interfering with or affecting the rotation of the annular winding disc 552 when the annular winding disc 552 is reversed under external force. The first and second engagement structures can be pawl structures. Through the pawl structure, the locking fastener 553 can drive the annular winding disc 552 to move in one direction; that is, the locking fastener 553 is a locking pawl structure. Specifically, the locking fastener 553 is disposed within the rotating shaft hole of the annular winding disc 552 and engages with the inner wall of the annular winding disc 552. Furthermore, the locking fastener 553 and the annular winding disc 552 are slidably connected along the axial direction of the annular winding disc 552, allowing the fastener 553 to slide above the annular winding disc 552 and disengage from it, or slide into the interior of the annular winding disc 552, i.e., within the rotating shaft hole, to engage and lock with the annular winding disc 552. Alternatively, the latch 554 can be connected to an engagement drive member to drive the latch 554 to move up and down, thereby switching the state between the locking fastener 553 and the annular winding disc 552—that is, engaging or disengaging.

[0084] In this embodiment, the leg binding mechanism 5 may also be equipped with a sensor to obtain the connection status between the connecting piece 53 and the binding fixation body 51. The sensor can be connected to the binding controller. When the connecting piece 53 and the binding fixation body 51 are in the connected state, the binding controller controls the engagement drive to drive the swivel buckle 554 and the locking fastener 553 to move downwards so that the locking fastener 553 engages and locks with the annular winding disc 552. When the pressure data is less than the preset low pressure, the binding adjustment motor 555 is controlled to rotate forward to drive the locking fastener 553 to rotate forward and drive the annular winding disc 552 to rotate forward, thereby winding the binding tension rope 54 and tightening the binding fixation body 51 until the pressure data is greater than or equal to the preset low pressure. The binding controller then controls the binding adjustment motor 555 to stop running, completing the automatic tightening function of the binding. Alternatively, the buckle 554 can be manually pulled upwards, or the binding controller can be used to control the drive mechanism to move the buckle 554 and locking fastener 553 upwards, causing the locking fastener 553 to disengage from the annular winding disc 552. The annular winding disc 552 can then rotate freely, releasing the binding tension rope 54 and loosening the binding fixation body 51. Of course, the tightening force can also be controlled via a mobile app, and the operating status and related parameters can be monitored and uploaded to the cloud.

[0085] Of course, the structure and adjustment method of other binding mechanisms, such as shoulder strap binding mechanism, chest binding mechanism, foot binding mechanism on foot support mechanism 4, and waist binding mechanism, can also refer to the structure and adjustment method of leg binding mechanism 5 in this embodiment.

[0086] In a third embodiment of the leg binding mechanism in this example, the leg binding mechanism may include: a binding fixation body, a flexible binding member, a connecting piece, a binding tension rope, and a winding knob mechanism; wherein, the fixing part of the flexible binding member is disposed on the binding fixation body, and the adjusting part extends to one side of the binding fixation body for binding around the outer periphery of the human leg; and, the end of the adjusting part away from the fixing part is provided with a winding hole; the connecting piece is detachably disposed on the binding fixation body, and the connecting piece is provided with a winding knob mechanism for winding... The button mechanism is equipped with a binding tension rope. One end of the binding tension rope is wound around the winding knob mechanism, passes through the winding hole and then folds back. The other end is connected to the connecting piece or the fixing part of the winding knob mechanism. When the connecting piece is installed on the binding fixing body, the flexible binding member, the binding tension rope, the connecting piece and the binding fixing body form a ring structure. The binding tension rope can be wound or released by the winding knob mechanism, thereby stretching the flexible binding member to adjust the binding tightness of the flexible binding member and realize automatic binding.

[0087] In this embodiment, the binding and fixing body, the flexible binding member, and the winding knob mechanism can refer to the structure of the leg binding mechanism 5 in the second embodiment, and other structures can also be referred to. The flexible binding member is different in that the end of the adjusting part away from the fixing part of the flexible binding member is a free end, and one or more winding holes are provided at the free end. The end of the connector near the free end can also be provided with winding holes. Furthermore, the number of winding holes on the connector is one less than the number of winding holes at the free end of the flexible binding member, and they are staggered. Meanwhile, unlike the second embodiment, the binding tension rope in this embodiment is arranged as follows: one end of the binding tension rope is wound around the winding knob mechanism, i.e., the outer circumference of the annular winding rope of the winding knob mechanism, and then extends towards the free end of the flexible binding member. After passing through the winding hole at the upper or lower end of the free end of the flexible binding member, it folds back and passes around the winding hole at the same end of the connecting piece, then folds back again, and so on until it passes through the winding hole at the other end of the free end of the flexible binding member, then folds back and extends towards the connecting piece, and is fixed to the connecting piece or to the fixing part of the winding knob mechanism, such as the support limiting member. The automatic binding method of the leg binding mechanism can also refer to the binding method in the second embodiment of the leg binding mechanism. The difference is that in the second embodiment of the leg binding mechanism, the binding tension rope tightens the flexible binding member from the outside, while in this embodiment, the binding tension rope can stretch the free end of the flexible binding member to achieve tightening.

[0088] Of course, the structure and adjustment method of other binding mechanisms, such as shoulder strap binding mechanisms, chest binding mechanisms, foot binding mechanisms on foot support mechanisms, and waist binding mechanisms, can also refer to the structure and adjustment method of the leg binding mechanism in this embodiment.

[0089] In the fourth embodiment of the leg binding mechanism in this example, the leg binding mechanism can also be a strap-type structure to bind the legs.

[0090] In summary, the exoskeleton robot provided in this embodiment is supported by a back support mechanism 1; two thigh length adjustment mechanisms 2 are installed on the human thighs, and their lengths can be adjusted to fit the length of the human thigh rods; and two calf length adjustment mechanisms 3 are installed on the human calves, and their lengths can be adjusted to fit the length of the human calf rods. This allows the exoskeleton robot to adapt to people of different heights. At the same time, the lengths of the thigh length adjustment mechanisms 2 and the calf length adjustment mechanisms 3 are easy to adjust without the need for human assistance, simplifying the adjustment operation and greatly shortening the wearing and adjustment time. This solves the problems of long time-consuming and cumbersome wearing and adjustment of existing exoskeleton robots to adapt to human height.

[0091] Furthermore, the automatic binding of corresponding positions through the binding mechanism simplifies the binding operation and improves the efficiency and convenience of the entire system, as well as further enhancing the wearing efficiency.

[0092] Method Implementation Examples:

[0093] See Figure 13 This is a flowchart illustrating the wearing and adjustment method for the exoskeleton robot provided in this embodiment of the invention. As shown in the figure, this method is used to implement the wearing and adjustment of the exoskeleton robot, and includes the following steps:

[0094] Step S1: After the exoskeleton robot is put on and the human body is standing, the angle between the thigh length adjustment mechanism 2 and the human thigh rod, and the angle between the calf length adjustment mechanism 3 and the human calf rod are obtained by the angle sensor 7 set on the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3.

[0095] Specifically, the exoskeleton robot is first worn on the human body, especially the back main support frame 11 and the foot support structure are installed in place. It can be worn while standing or sitting. The exoskeleton robot is put on, and the back main support frame 11 is fitted. The various binding mechanisms are then fastened in sequence, particularly the leg binding mechanisms 5 at the thighs and calves, the waist binding mechanism, and the shoulder strap binding mechanism. For example, the inserts 1313 on the first binding segment 1311 and the second binding segment 1312 are inserted together. Then, the wearer stands up, and the angle sensors 7 installed on the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3 are used to obtain the angle between the thigh length adjustment mechanism 2 and the human thigh member, and the angle between the calf length adjustment mechanism 3 and the human calf member. Before wearing, the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3 can be in their longest state, or longer than the wearer's.

[0096] Step S2: Based on the angle between the thigh length adjustment mechanism 2 and the human thigh rod, and the angle between the calf length adjustment mechanism 3 and the human calf rod, the thigh length adjustment mechanism 2 and the calf length adjustment mechanism 3 are controlled to adjust their lengths respectively.

[0097] Specifically, based on the angle between the thigh length adjustment mechanism 2 and the human thigh rod, and the angle between the calf length adjustment mechanism 3 and the human calf rod, when the angle between the thigh length adjustment mechanism 2 and the human thigh rod, and / or the angle between the calf length adjustment mechanism 3 and the human calf rod is greater than a preset angle, the length adjustment controller controls the thigh length adjustment mechanism 2 and / or the calf length adjustment mechanism 3 to adjust the length until the angle between the thigh length adjustment mechanism and the human thigh rod and / or the calf length adjustment mechanism and the human calf rod are both less than or equal to the preset angle. The length adjustment controller controls the length adjustment motor to rotate forward, driving the gear 2321 and rack 2322 mechanism to move forward. This converts the rotational motion of the length adjustment motor into the linear motion of the rack 2322, thereby achieving vertical length adjustment of the sliding adjustment part 22. Specifically, it moves the sliding adjustment part 22 downwards to shorten the thigh length adjustment mechanism 2 until it matches the length of the human thigh rod. At this point, the angle between the thigh length adjustment component and the human thigh rod is less than or equal to a preset angle. The same applies to the calf length adjustment mechanism 3. When the angle between the thigh length adjustment component and the human thigh rod is less than or equal to the preset angle, the length adjustment controller stops the length adjustment motor, stopping the thigh length adjustment mechanism 2 and completing the rod length adjustment. Alternatively, when the adjustment reaches a comfortable length, the adjustment can be stopped via a button or a mobile app (such as a mobile app), completing the rod length adjustment.

[0098] Step S3: After the leg length is adjusted to the correct position, control each binding mechanism on the exoskeleton robot to tighten it after the binding mechanism is inserted into place. The binding mechanisms are: waist binding mechanism on back support mechanism 1, shoulder strap binding mechanism on back support mechanism 1, chest binding mechanism on back support mechanism 1, leg binding mechanism 5 inside thigh length adjustment mechanism 2, leg binding mechanism 5 inside calf length adjustment mechanism 3, or foot binding mechanism on foot support mechanism 4.

[0099] Specifically, the voltage level of the pin at the insertion device 1313 is continuously monitored. For example, the pin can be set to a high level when the insertion device 1313 is in the unlocked state and set to a low level when the insertion device 1313 is in the inserted state. After the leg length is adjusted to the correct position, when the voltage level of the pin at this location is detected to be low, it is determined that the insertion device 1313 is in the inserted state, i.e., the quick-release female connector 13132 and the quick-release male connector 13131 are connected. When the pressure between the binding device and the corresponding position on the human body is less than the preset low pressure, the binding device is controlled to tighten towards the human body until the pressure between the binding device and the corresponding position on the human body reaches the preset low pressure. Alternatively, when the pressure between the binding device and the corresponding position on the human body is greater than the preset high pressure, the binding device is controlled to loosen towards the human body until the pressure between the binding device and the corresponding position on the human body is less than or equal to the preset high pressure. The preset low pressure and preset high pressure can be determined according to the actual situation, and are not limited in this embodiment. In this embodiment, the waist binding mechanism, shoulder strap binding mechanism, and arm and leg binding mechanisms 5 can be automatically bound sequentially. The tightness of the binding can also be adjusted at any time via APP, control screen, or buttons. For example, for the waist binding mechanism, when the exoskeleton robot is worn on the human body in step S1, the quick-release buckle is inserted and the level state of this pin is detected. When the level state of this pin is low, it indicates that the user has completed the wearing. After the thigh length adjustment mechanism 2 and calf length adjustment mechanism 3 are adjusted, when the pressure data is less than the preset low pressure, the microcontroller acts and sends a command to the driver of the tightening motor 1331. The tightening motor 1331 drives the tightening shaft 1332 to rotate and tighten the binding strap 1321. When the pressure reaches the preset low pressure, the microcontroller sends a stop signal to the driver, and the tightening motor 1331 stops moving.

[0100] Since the wearing adjustment method of the exoskeleton robot is used to adjust the wearing of the exoskeleton robot as described above; and since the exoskeleton robot has the aforementioned effects, the wearing adjustment method of the exoskeleton robot also has corresponding technical effects.

[0101] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0102] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0103] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An exoskeleton robot capable of adapting to different heights, characterized in that, include: A back support mechanism for carrying on the back of a person so that the back support mechanism can fit snugly against the back of the person. Two thigh length adjustment mechanisms are arranged opposite each other below the back support mechanism, and the top ends of the two thigh length adjustment mechanisms are rotatably connected to the back support mechanism. The thigh length adjustment mechanisms are used to adjust the length to fit the human thigh length. Two calf length adjustment mechanisms are arranged opposite each other below the two thigh length adjustment mechanisms, and the top ends of the two calf length adjustment mechanisms are rotatably connected to the two thigh length adjustment mechanisms. The calf length adjustment mechanisms are used to adjust the length to fit the length of the human calf. The thigh length adjustment mechanism is equipped with an angle sensor to obtain the angle between the thigh length adjustment mechanism and the human thigh rod; and / or, the calf length adjustment mechanism is equipped with an angle sensor to obtain the angle between the calf length adjustment mechanism and the human calf rod. The angle sensor is connected to a length adjustment controller. The length adjustment controller is used to receive the corresponding included angle data acquired by the angle sensor, and control the thigh length adjustment mechanism or the calf length adjustment mechanism to adjust the length according to the corresponding included angle data, until the corresponding included angle data is less than a preset angle. The thigh length adjustment mechanism and / or calf length adjustment mechanism are also connected to at least one of a control button and a mobile terminal. The control button or the mobile terminal is used to control the operation of the thigh length adjustment mechanism and / or calf length adjustment mechanism to control the length adjustment of the thigh length adjustment mechanism and / or calf length adjustment mechanism.

2. The exoskeleton robot capable of adapting to different heights according to claim 1, characterized in that, The thigh length adjustment mechanism and / or the calf length adjustment mechanism include: Support card unit; A sliding adjustment part is slidably disposed on the support and locking part along the length direction of the support and locking part, and is used to adjust the protruding length of the sliding adjustment part extending to one side of the support and locking part, so as to adjust the total extension length of the support and locking part and the sliding adjustment part; one end of the support and locking part is provided with a relief groove, and the support and locking part is also provided with locking grooves on both sides of the relief groove, which are connected to the relief groove, for making way and guiding the sliding of the sliding adjustment part; The drive unit has a power output end connected to the sliding adjustment part, and is used to drive the sliding adjustment part to slide along the length direction of the support and locking part.

3. The exoskeleton robot capable of adapting to different heights according to claim 2, characterized in that, The driving unit includes: Length adjustment motor; The transmission component has a power input end connected to the length adjusting motor and a power output end connected to the sliding adjusting part. It is used to convert the rotation output by the length adjusting motor into the reciprocating linear motion of the sliding adjusting part along the length direction of the support locking part, so as to realize the adjustment of the total extension length of the support locking part and the sliding adjusting part. The transmission component is a gear and rack mechanism, a worm gear mechanism or a ball screw mechanism.

4. The exoskeleton robot capable of adapting to different heights according to any one of claims 1 to 3, characterized in that, The inner side of the thigh length adjustment mechanism and / or the calf length adjustment mechanism is further provided with a leg binding mechanism for binding to the corresponding leg position on the human body; and / or, The end of the calf length adjustment mechanism facing away from the thigh length adjustment mechanism is further provided with a foot support mechanism, which is equipped with a foot binding mechanism for binding to the human foot; and / or, The back support mechanism is equipped with a waist binding mechanism for binding to the waist of the human body; and / or, The back support mechanism is equipped with a shoulder strap binding mechanism for binding to the shoulders; and / or, The back support mechanism is equipped with a chest binding mechanism for binding to the chest area of ​​the human body.

5. The exoskeleton robot capable of adapting to different heights according to claim 4, characterized in that, The leg binding mechanism, the foot binding mechanism, the waist binding mechanism, and / or the chest binding mechanism include: Binding and fixing body; A flexible binding member, with a fixing part disposed on the binding and fixing body and an adjusting part extending on one side of the binding and fixing body, is used to bind to the outer periphery of the human leg; A connecting piece is detachably connected to the first end of the binding and fixing body. The connecting piece is provided with a winding knob mechanism, and the winding knob mechanism is provided with a binding tension rope. The fixed end of the binding tension rope is located at the second end of the binding and fixing body, and after passing around the outside of the flexible binding member, the winding end is wound around the winding knob mechanism. When the connecting piece is installed on the binding and fixing body, the binding tension rope, the connecting piece, and the binding and fixing body form an annular structure that surrounds the outer periphery of the flexible binding member. The winding knob mechanism can be used to wind or release the binding tension rope, thereby adjusting the binding tightness of the flexible binding member to achieve automatic binding.

6. The exoskeleton robot capable of adapting to different heights according to claim 5, characterized in that, The winding knob mechanism includes: A support limiting member is provided with a rotation limiting groove; An annular winding reel is rotatably disposed within the rotating limiting groove for winding or releasing the binding tension ropes wound around its outer periphery. The locking fastener has an outer wall that engages with the inner wall of the annular winding disc, which drives the annular winding disc to rotate synchronously, thereby enabling the winding or release of the binding tension rope. A swivel buckle is fastened to the opening end of the rotating limiting groove. The swivel buckle is rotatably connected to the supporting limiting member and is also connected to the locking member. This allows the locking member to rotate relative to the supporting limiting member, and the annular winding reel rotates synchronously with the locking member to wind or release the binding tension rope. The swivel buckle is axially adjustable along the rotating limiting groove and connected to the supporting limiting member. The locking member is slidably disposed inside the annular winding reel along its axial direction, enabling locking and unlocking between the locking member and the annular winding reel. When locked, the locking member and the annular winding reel rotate synchronously, and when unlocked, the locking member can rotate freely.

7. The exoskeleton robot capable of adapting to different heights according to claim 4, characterized in that, The leg binding mechanism, the foot binding mechanism, the waist binding mechanism, and / or the chest binding mechanism include: Flexible binding of the body; A binding tension member is disposed on the outer side of the flexible binding body along the arrangement direction of the flexible binding body. The winding end of the binding tension member is disposed on the binding fixation body on which the flexible binding body is located in a winding manner. The stretching end of the binding tension member is connected to a stretching point on the flexible binding body. The stretching points are spaced apart from the connection points between the flexible binding body and the binding fixation body. The binding fixation body is disposed on the thigh length adjustment mechanism, the calf length adjustment mechanism, or the back support mechanism to support the corresponding binding mechanism. The stretching drive has its power output end connected to the winding end of the binding stretching member, and is used to drive the binding stretching member to wind or release, so as to tighten or loosen the flexible binding body, so that the flexible binding body can be bound to the corresponding position of the human body.

8. The exoskeleton robot capable of adapting to different heights according to claim 4, characterized in that, The binding mechanism is equipped with a pressure sensor on its inner side to obtain the pressure between the binding mechanism and the human body; wherein, the binding mechanism is a leg binding mechanism, a foot binding mechanism, a waist binding mechanism, or a chest binding mechanism. The pressure sensor is connected to a binding controller, which is used to receive the pressure between the binding mechanism and the human body, and to control the binding mechanism based on the pressure data, so as to control the tightening, tightening force and unbinding of the binding mechanism. The binding mechanism is also connected to at least one of a control button and a mobile terminal. The control button or the mobile terminal is used to control the operation of the binding mechanism, such as the tightening, tightening force, and unbinding of the binding mechanism.

9. A method for adjusting the wear of an exoskeleton robot, used to control an exoskeleton robot as described in any one of claims 1 to 8, capable of adapting to different heights, characterized in that... Includes the following steps: After the exoskeleton robot is put on and the human body stands up, the angle between the thigh length adjustment mechanism and the human thigh rod and the angle between the calf length adjustment mechanism and the human calf rod are obtained by angle sensors set on the thigh length adjustment mechanism and the calf length adjustment mechanism. Based on the angle between the thigh length adjustment mechanism and the thigh rod of the human body, and the angle between the calf length adjustment mechanism and the calf rod of the human body, the thigh length adjustment mechanism and the calf length adjustment mechanism are controlled to adjust the length respectively; After the leg length is adjusted to the correct position, the various binding mechanisms on the exoskeleton robot are controlled to tighten them after they are properly inserted. The binding mechanisms include the waist binding mechanism on the back support mechanism, the shoulder strap binding mechanism on the back support mechanism, the chest binding mechanism on the back support mechanism, the leg binding mechanism inside the thigh length adjustment mechanism, the leg binding mechanism inside the calf length adjustment mechanism, or the foot binding mechanism on the foot support mechanism.

Images