Exoskeleton power-assisted robot

Abstract

The invention relates to an exoskeleton robot, and provides an exoskeleton power-assisted robot, which comprises a back integration module for providing a power supply; the two groups of waist connecting modules are oppositely arranged at intervals; the two groups of thigh driving modules are used for generating assisting moments to the corresponding thighs according to the human motion intention; the two groups of waist connecting modules are in one-to-one correspondence with the two groups of thigh driving modules, each thigh driving module is connected to the back integration module through the corresponding waist connecting module, and a wire of the back integration module extends to the corresponding thigh driving module along the waist connecting modules. According to the robot provided by the invention, a modular structure is adopted, so that the overall structural form is relatively simplified, the robot and a human body have a relatively good adaptation degree by combining two groups of waist connecting modules, in addition, a light-weight material and a back integration module are combined to transmit reactive force, the additional burden of the robot on a user during use can be greatly reduced, and the use experience of the robot is improved. And the effectiveness of the assisting torque is ensured.

Description

Technical Field

[0001] The present invention relates to an exoskeleton robot, in particular to an exoskeleton power-assisted robot. Background Art

[0002] An exoskeleton robot is a typical human-machine interaction device. Its core task is to ensure that the exoskeleton can provide safe and effective auxiliary torque to the wearer under different circumstances. Among them, the active assisted exoskeleton robot provides assistance through power module drive during actions such as walking, bending over to lift heavy objects, and standing up after lifting heavy objects, thereby alleviating work fatigue and reducing work intensity.

[0003] However, the current lower limb exoskeleton robots have a relatively complex structure, are heavy, and have a low compatibility with the human body. This is especially true for some complex operations, such as power grid operations, where workers need to carry certain work tools. When wearing lower limb exoskeleton robots, they not only fail to provide effective assistance, but on the contrary affect normal operations. Summary of the Invention

[0004] The purpose of the present invention is to provide an exoskeleton-assisted robot that can at least solve some of the defects in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solutions: an exoskeleton-assisted robot, comprising:

[0006] Back integrated module for providing power supply;

[0007] Two sets of waist connection modules are arranged at relative intervals;

[0008] Two sets of thigh drive modules generate assist torque to the corresponding thighs according to the human body's movement intention;

[0009] The two groups of waist connection modules correspond one to one with the two groups of thigh drive modules. Each thigh drive module is connected to the back integration module through the corresponding waist connection module. The electrical circuit of the back integration module extends along the waist connection module to the corresponding thigh drive module.

[0010] Furthermore, the waist connection module includes a waist-hip connection part, a waist-back connection part and a back-waist connection part. The back-waist connection part is installed on the back integrated module. The waist-back connection part is rotatably connected to the back-waist connection part. One end of the waist-hip connection part is connected to the waist-back connection part, and the other end is connected to the corresponding thigh drive module.

[0011] Furthermore, a first threading hole is provided on the back waist connector, and a built-in wire groove and a second threading hole are provided on the waist-hip connector. One end of the built-in wire groove is connected to the second threading hole, and the other end extends to the connection of the corresponding thigh drive module, and the first threading hole and the second threading hole are arranged adjacent to each other.

[0012] Furthermore, the thigh drive module includes a hip-waist connector, a motor, a thigh body, a belt body, and a motor output. The hip-waist connector is connected to the corresponding waist connection module. The motor is installed on the hip-waist connector and electrically connected to the back integrated module, and is connected to the thigh body through the motor output. The belt body is installed on the thigh body.

[0013] Furthermore, the thigh drive module also includes a leg rotation joint, which includes a first part and a second part. The motor output is connected to the first part, and the thigh body is connected to the second part through a thigh connecting member. The first part and the second part are rotatably connected, and the rotation axis is perpendicular to the length extension direction of the thigh body.

[0014] Furthermore, when it is detected that the spatial positions of the two motors both have a certain angle change, one of the motors operates and provides assist torque.

[0015] Furthermore, when the motor rotates in the forward direction, if the motor reading is between -20° and 0°, the motor transmits a small positive torque; if the motor reading is between 0° and 30°, the motor transmits a large positive torque to drive the human body to lift the legs forward; when the motor rotates in the negative direction, if the motor reading is between 30° and 0°, the motor transmits a small negative torque to help the human body's center of gravity move forward; if the motor reading is between 0° and -20°, the motor transmits a small negative torque to drive the human body to swing the legs backward.

[0016] Furthermore, the back integrated module includes a lumbar backboard, a power supply and a control panel, the power supply and the control panel are both installed on the lumbar backboard, the two sets of lumbar connection modules are both connected to the lumbar backboard, and the control panel and the thigh drive module are both electrically connected to the power supply.

[0017] Furthermore, the back integrated module also includes a voltage divider, which divides the 24V power supply into one 5V circuit and two 24V circuits. The 5V circuit is connected to the control board, and the two 24V circuits are respectively connected to the thigh drive module one by one.

[0018] Furthermore, it also includes a shoulder strap module, which is installed on the two sets of waist connection modules.

[0019] Compared with the existing technology, the present invention has the following advantages: the robot adopts a modular structure, and the modules are spliced ​​together, making the overall structure very simple. By providing two sets of spaced waist connection modules, the robot can be better adapted to the human body, so that when the user wears the robot, the robot fits the human body more closely, and the simplified structure will not make the robot a burden on the human body. In addition, due to the provision of a back integrated module, when the thigh drive module generates a power torque, the reaction force generated by the human thigh can be transmitted to the back integrated module through the waist connection module, and then act on the human back. The force is relatively dispersed, which can greatly reduce the impact of the reaction force. In terms of materials, the robot is mostly made of lightweight materials such as carbon fiber and nylon 3D printing materials. At the same time, aluminum alloy materials are used in key locations to ensure the structural strength of the robot, making the robot light and avoiding a large additional burden on the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic structural diagram of an exoskeleton-assisted robot provided in an embodiment of the present invention;

[0021] Figure 2 A schematic structural diagram of a back integrated module of an exoskeleton-assisted robot provided in an embodiment of the present invention;

[0022] Figure 3 A schematic structural diagram of the waist connection module of the exoskeleton-assisted robot provided in an embodiment of the present invention;

[0023] Figure 4 A schematic structural diagram of the thigh drive module of the exoskeleton-assisted robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] See also Figure 1 as well as Figure 2 An embodiment of the present invention provides an exoskeleton power-assisting robot that can be worn by a user and can generate a power-assisting torque on the human thigh. Specifically, the robot includes a back integration module 1, two sets of waist connection modules 2, and two sets of thigh drive modules 3.

[0026] The back integrated module 1 primarily provides a power source 11. The back integrated module 1 includes the power source 11, which supplies power to the entire robot. Two sets of waist connection modules 2 are spaced apart from each other and serve as connecting components between the back integrated module 1 and the thigh drive modules 3. When worn, the human waist fits neatly between the two sets of waist connection modules 2, securing the waist and ensuring the robot's wearability. The two sets of waist connection modules 2 correspond one-to-one with the two sets of thigh drive modules 3. Each thigh drive module 3 is connected to the back integrated module 1 via its corresponding waist connection module 2. When worn, the two thigh drive modules 3 correspond to the human thighs and can generate assist torques to the corresponding thighs based on the user's intended movements. This requires the back integrated module 1 to supply power to the two thigh drive modules 3 and provide a certain degree of control over them. The electrical wiring between the waist connection modules 2 and the thigh drive modules 3 is routed along the waist connection modules 2.

[0027] In this invention, the main components of the back integration module 1, waist connection module 2, and thigh drive module 3 are all made of lightweight materials, such as carbon fiber and nylon 3D-printed materials. Aluminum alloy is used in key locations to ensure structural strength, making the robot lightweight and avoiding any additional burden on the user. Furthermore, the robot's modular structure simplifies the overall structure. The two sets of spaced waist connection modules 2 allow for a better fit between the robot and the human body, ensuring a close fit when worn by the user. This simplified structure prevents the robot from becoming a burden.

[0028] See also Figure 1 as well as Figure 3The embodiment of the present invention provides a waist connection module 2, which can be applied to the above-mentioned robot. The waist connection module 2 includes a waist-hip connection part 21, a waist-back connection part 221, a screw 222, a ball bearing 223, a waist axis housing 23, a back waist connection part 24, a flange bearing 224, and a nut 225; the waist-hip connection part 21 is used to realize the connection between the back integrated module 1 and the thigh drive module 3, and the waist-back connection part 221, the screw 222, two ball bearings 223, the back waist connection part 24, two flange bearings 224 and the nut 225 together form a waist rotation joint 22, and the waist-hip connection part 21 is connected to the back integrated module 1 through the waist rotation joint 22 to realize the internal and external rotation freedom of the waist-hip connection part 21 in the horizontal plane, thereby making the waist connection module 2 have a very good adaptability to the human waist. The waist connection modules 2 also include a connecting buckle 25, located on the waist-hip connection 21, away from the corresponding waist rotation joint 22. The buckle 25 can be mounted on either the waist-hip connection 21 or the thigh drive module 3. When the robot is worn on a person, the two connecting buckles 25 of the two waist connection modules 2 can be locked together, forming a closed loop with the back integrated module 1. Both waist connection modules 2 are equipped with a harness module to enhance wearer comfort.

[0029] The above embodiment is optimized, a first threading hole 241 is provided on the back waist connector 24, and a built-in wire groove and a second threading hole 211 are provided on the waist-hip connector 21, and one end of the built-in wire groove is connected to the second threading hole 211, and the other end extends to the connection of the corresponding thigh drive module 3, and the first threading hole 241 and the second threading hole 211 are arranged adjacent to each other. The so-called built-in wire groove is the enclosed space between the waist-hip connector 21 and the waist axis shell 23, that is, the waist axis shell 23 is used to ensure that the connecting wire is exposed. In addition, by using this enclosed space, part of the length of the electric circuit can be stored in the enclosed space, ensuring the length redundancy of the electric circuit, and avoiding the electric circuit affecting the rotation of the waist rotation joint 22. In this embodiment, the waist and back connector 221 is partially mounted on the back integrated module 1. The electrical wiring between the back integrated module 1 and the thigh drive module 3 enters the waist and back connector 24 and then extends out of the first threading hole 241. Alternatively, the first threading hole 241 connects to the back integrated module 1, and the electrical wiring within the back integrated module 1 is directly led out of the first threading hole 241 and enters the internal wire trough through the second threading hole 211. The electrical wiring is then routed to the thigh drive module 3 through the internal wire trough. In this manner, only the portion of the electrical wiring between the first threading hole 241 and the second threading hole 211 is exposed, while the rest of the wiring is concealed. Furthermore, because the first threading hole 241 and the second threading hole 211 are located adjacent to each other, both near the rotation axis of the waist rotation joint 22, the exposed portion of the electrical wiring is minimized, preventing the electrical wiring from affecting the wearer's comfort and the rotational performance of the waist rotation joint 22.

[0030] See also Figure 3 as well as Figure 4The embodiment of the present invention also provides a thigh drive module 3, which can be applied to the above-mentioned robot. Specifically, the thigh drive module 3 includes a hip waist connector 31, a motor 32, a thigh body 33, a belt body 34 and a motor output part 321, wherein the motor 32 is a power component, and the other end of the aforementioned electrical circuit is connected to the motor 32, and the motor 32 is powered and controlled by the back integrated module 1. The output end of the motor 32 is connected to the motor output part 321, and when working, the motor output part 321 can be rotated; the hip waist connector 31 is connected to the corresponding waist connection module 2, specifically connected to the end of the waist and hip connector 21 having a connecting buckle 25, and the motor 32 is installed on the hip waist connector. 31, the aforementioned connecting buckle 25 can also be installed on the hip-waist connecting member 31; the motor output member 321 is also connected to the thigh body 33. When worn, the thigh body 33 extends downward from the motor output member 321 along the corresponding thigh of the human body. The belt body 34 is installed at the end of the thigh body 33 away from the motor output member 321. The belt body 34 can be tied to the corresponding thigh of the human body, thereby keeping the thigh body 33 in contact with the thigh. The rotation of the motor output member 321 is transmitted to the thigh body 33, and then from the thigh body 33 to the belt body 34, thereby transmitting torque to the human body. In addition, the belt body 34 is connected to the thigh body 33 via the belt connector 341. The belt body 34 is provided with a belt rotation joint 342. The belt body 34, the belt connector 341, and the belt rotation joint 342 form the belt portion. The belt portion is connected to the human body using a flexible strap, and the robot transmits torque to the human body through the belt portion.

[0031] Optimizing the above embodiment, the thigh drive module 3 also includes a leg rotation joint 35, which includes a first portion and a second portion. The motor output member 321 is connected to the first portion, and the thigh body 33 is connected to the second portion via a thigh connector 331. The first and second portions are rotatably connected, and the axis of rotation is perpendicular to the length extension direction of the thigh body 33. The leg rotation joint 35 is consistent with the waist rotation joint 22, and is used to achieve the robot's adduction and abduction degrees of freedom in the frontal plane. In addition, the thigh connector 331 is connected to the motor output member 321 and the thigh body 33, and serves as an intermediate piece that can be disassembled to accommodate people of different heights by using thigh bodies 33 of different lengths.

[0032] See also Figure 2-Figure 4The present invention also provides a back-integrated module 1, which can be used in the aforementioned robot. The back-integrated module 1 includes a waist back panel 12 and a control board 13. Both a power supply 11 and the control board 13 are mounted on the waist back panel 12. Specifically, the power supply 11 is mounted on the waist back panel 12 via a power supply mounting bracket 15. Two sets of waist connection modules 2 are connected to the waist back panel 12, and the control board 13 and the thigh drive module 3 are electrically connected to the power supply 11. In this embodiment, the waist back panel 12 is a flat plate. When the robot is worn on a person, the waist back panel 12 conforms to the person's back. The control board 13, power supply 11, and power supply mounting bracket 15 are all located on the side of the waist back panel 12 facing away from the person. When the thigh drive module 3 generates an assist torque, the reaction force generated by the person's thigh can be transmitted through the waist connection module 2 to the waist back panel 12, and then act on the person's back. This disperses the force, significantly reducing the impact of the reaction force. The two back waist connectors 24 are both mounted on the waist back plate 12 , and a wire hole is also provided on the waist back plate 12 , and the wire hole corresponds to the first wire hole 241 for leading out electrical circuits.

[0033] In a preferred embodiment, the back integrated module 1 also includes a voltage divider 14, which divides the 24V power supply 11 into one 5V circuit and two 24V circuits. The 5V circuit is connected to the control board 13, while the two 24V circuits are connected to the thigh drive modules 3 in a one-to-one correspondence. The control board 13 also connects signal lines to the voltage divider 14 via a high-speed 485 conversion module. The signal lines and the two 24V circuits are combined to power and control the two motors 32.

[0034] See also Figure 2 as well as Figure 4In one embodiment, the assistance requirement for human walking is analyzed. The movement of a leg during a gait cycle is as follows: from the moment the heel touches the ground, the thigh and hip joints retract the leg, and the person moves forward as a whole, until the entire foot touches the ground. At this point, the leg is essentially in an upright position. The thigh and hip joints then move backward, and the person continues to move forward, until only the toes touch the ground. At this point, the leg has essentially swung back to its furthest position. The leg begins to swing forward, passes through the upright position, reaches its furthest forward position, and retracts the leg backward to achieve heel contact, completing the entire movement of the leg. An assistance analysis is performed on the entire process. During normal walking, the angle of the leg swinging backward is generally within 20°, while the forward leg lift can reach over 30°. Considering the work done by gravity, the process that primarily requires assistance is the forward leg lift from 0° to 30°. Based on this, the robot's assistance is initiated by switching on power supply 11. Initially, the person is in an upright standing position, which is defined as the zero position of motor 32. It is also stipulated that motor 32 rotates in the forward direction when the person lifts their leg. The robot starts assisting when both motors 32 show a certain angle change. This is to eliminate the influence of leg shaking and single-leg activities. The assist is adjusted according to the rotation direction of motor 32. When motor 32 rotates in the positive direction, if the motor 32 reading is between -20° and 0°, motor 32 transmits a small positive torque. If the motor 32 reading is between 0° and 30°, motor 32 transmits a large positive torque to drive the human body to lift the leg forward. When motor 32 rotates in the negative direction, if the motor 32 reading is between 30° and 0°, motor 32 transmits a small negative torque to help the human body's center of gravity move forward. If the motor 32 reading is between 0° and -20°, motor 32 transmits a small negative torque to drive the human body to swing the leg backward. Considering that different people swing their legs backward with different amplitudes, the influence of the robot's assist on the human's walking gait is minimized as much as possible. Therefore, the assist torque of the robot should be reduced during the leg swing process. The assist torque can be a fixed value or can be automatically and flexibly adjusted according to the motor 32 reading.

[0035] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An exoskeleton-assisted robot, characterized in that: include: Back integrated module for providing power supply; Two sets of waist connection modules are arranged at relative intervals; Two sets of thigh drive modules generate assist torque to the corresponding thighs according to the human body's movement intention; The two groups of waist connection modules correspond one to one with the two groups of thigh drive modules. Each thigh drive module is connected to the back integrated module through the corresponding waist connection module. The electrical circuit of the back integrated module extends along the waist connection module to the corresponding thigh drive module.

2. The exoskeleton-assisted robot according to claim 1, characterized in that: The waist connection module includes a waist-hip connection part, a waist-back connection part and a back-waist connection part. The back-waist connection part is installed on the back integrated module. The waist-back connection part is rotatably connected to the back-waist connection part. One end of the waist-hip connection part is connected to the waist-back connection part, and the other end is connected to the corresponding thigh driving module.

3. The exoskeleton-assisted robot according to claim 2, characterized in that: The back waist connector is provided with a first threading hole, the waist and hip connector is provided with a built-in wire groove and a second threading hole, one end of the built-in wire groove is connected to the second threading hole, and the other end extends to the connection point of the corresponding thigh drive module, and the first threading hole and the second threading hole are arranged adjacent to each other.

4. The exoskeleton-assisted robot according to claim 1, characterized in that: The thigh driving module includes a hip-waist connecting piece, a motor, a thigh body, a belt body and a motor output piece. The waist-hip connecting piece is connected to the corresponding waist connecting module. The motor is installed on the waist-hip connecting piece and is electrically connected to the back integrated module, and is connected to the thigh body through the motor output piece. The belt body is installed on the thigh body.

5. The exoskeleton-assisted robot according to claim 4, characterized in that: The thigh driving module also includes a leg rotation joint, which includes a first part and a second part. The motor output is connected to the first part, and the thigh body is connected to the second part through a thigh connecting member. The first part and the second part are rotatably connected, and the rotation axis is perpendicular to the length extension direction of the thigh body.

6. The exoskeleton-assisted robot according to claim 4, characterized in that: When it is detected that the spatial positions of the two motors both have a certain angle change, one of the motors starts working and provides assist torque.

7. The exoskeleton-assisted robot according to claim 6, characterized in that: When the motor rotates forward, if the motor reading is between -20° and 0°, the motor transmits a small positive torque; if the motor reading is between 0° and 30°, the motor transmits a large positive torque to drive the human body to lift the legs forward; when the motor rotates negatively, if the motor reading is between 30° and 0°, the motor transmits a small negative torque to help the human body move the center of gravity forward; if the motor reading is between 0° and -20°, the motor transmits a small negative torque to drive the human body to swing the legs backward.

8. The exoskeleton-assisted robot according to claim 1, characterized in that: The back integrated module includes a lumbar backboard, a power supply and a control panel, wherein the power supply and the control panel are both installed on the lumbar backboard, the two groups of lumbar connection modules are both connected to the lumbar backboard, and the control panel and the thigh drive module are both electrically connected to the power supply.

9. The exoskeleton-assisted robot according to claim 8, characterized in that: The back integrated module also includes a voltage divider, through which the 24V power supply is divided into one 5V circuit and two 24V circuits, and the 5V circuit is connected to the control board, and the two 24V circuits are respectively connected to the thigh drive module one by one.

10. The exoskeleton-assisted robot according to claim 1, characterized in that: It also includes a shoulder belt module, which is arranged on the two sets of waist connection modules.

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