Exoskeleton robot

Abstract

The invention provides an exoskeleton robot. The exoskeleton robot comprises a wearing device and a lower limb device, the lower limb device comprises a waist structure and a pair of leg mechanisms, the pair of leg mechanisms are connected with the waist structure, and the waist structure comprises a waist fixing part connected with the wearable device; the wearable device comprises a back part, a chest part and a first connecting part; the first connecting part comprises two connecting assemblies, and each connecting assembly comprises a back pasting piece, a first connecting unit and a second connecting unit. After a human body wears the back part, the back part and the leg mechanism serve as two main supporting points, the stress contact area of the back can be effectively increased by arranging the back attaching piece, when the human body bends down to carry objects, the leg mechanism and the thighs of the human body form the supporting points, and therefore the power assisting effect is achieved; meanwhile, the back part and the front chest part are connected through the first connecting part, the front chest part integrally wraps the upper half body, the stress area is increased, and concentration of counter-acting force is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of wearable devices, and in particular to an exoskeleton robot. Background Art

[0002] An exoskeleton robot is a mechanical device that can be worn by users to provide assistance to the human body to assist in load handling and enhance human functions. It is currently being developed and applied in various fields. When workers carry objects, high frequency or long-term carrying movements will put great pressure on the waist. The waist-assisting exoskeleton can reduce the waist pressure of the wearer and provide a certain assistance effect, thereby effectively reducing the risk of musculoskeletal diseases among workers.

[0003] The Chinese invention application document with publication number CN115229767A discloses an exoskeleton robot, comprising: a back structure, including a load-bearing back frame and a hydraulic power unit arranged on the load-bearing back frame; a leg structure, including a leg cylinder and a leg rod that are slidably connected, the leg cylinder and the load-bearing back frame are hinged and connected to the hydraulic power unit through an oil pipe, and one end of the leg rod is embedded in the leg cylinder; and a foot structure, which is arranged at one end of the leg rod away from the leg cylinder.

[0004] The main feature of the waist-assisted exoskeleton robots currently on the market is that they provide additional support, but they cannot fully adapt to all types of work and working environments, and some work tasks may still be difficult to complete. At the same time, since the contact point between the waist-assisted exoskeleton robot and the human body is mainly at the waist, the contact area is small, and wearing it for a long time may still cause discomfort or fatigue. Therefore, it is necessary to design a waist-assisted exoskeleton robot with good wearing effect and good adaptability. Summary of the invention

[0005] Based on this, in order to solve the above problems, the present invention provides an exoskeleton robot, and its specific technical solution is as follows:

[0006] An exoskeleton robot comprises a wearable device and a lower limb device; the lower limb device comprises a waist structure and a pair of leg mechanisms, the pair of leg mechanisms are respectively connected to the waist structure, and the waist structure comprises a waist fixing part connected to the wearable device; the wearable device comprises a back part, a chest part, and a first connecting part connecting the back part and the chest part; the first connecting part comprises two groups of connecting components respectively arranged on both sides of the back part, and the connecting components comprise a back sticker, a first connecting unit connecting the back sticker and the back part, and a second connecting unit connecting the back sticker and the chest part.

[0007] When the human body wears the above exoskeleton robot, the back part and the leg mechanism are the two main support points. By setting the back sticker, the force contact area of ​​the back can be effectively increased. When the human body bends down to carry objects, the leg mechanism and the human thigh form a support point, thereby providing a power-assisting effect. At the same time, the back part and the front chest part are connected by the first connecting part, and the front chest part is used to cover the upper body as a whole, thereby increasing the force area and avoiding the concentration of reaction force. In addition, when the human body squats, the back part forms a support point, and the human thigh can squat and lift without interference.

[0008] Further, the leg mechanism includes a thigh component, a calf component and a foot component connected in sequence, the thigh component includes a thigh support hinged to the waist fixing component, and a first driving component driving the thigh support to swing relative to the waist fixing component, the calf component includes a calf support hinged to the thigh support, and a second driving component driving the calf support to swing, and the foot component includes a foot support hinged to the calf support, and a third driving component driving the foot support to swing.

[0009] Furthermore, the first connecting unit includes at least three elastic connecting members.

[0010] Furthermore, the wearable device also includes an arm component, which is connected to the front chest component via a third connecting unit; the second connecting unit connects the back patch and the arm component.

[0011] Furthermore, the thigh support includes a first support member, a second support member and a support structure for connecting the first support member and the second support member; the support structure includes a guide unit and an adjustment unit, the guide unit includes two guide holes respectively arranged on the first support member and the second support member, and a guide column inserted in the guide hole, and the adjustment unit is used to adjust the distance between the first support member and the second support member.

[0012] Further, the adjustment unit includes a threaded barrel rotatably connected to the second support member, a screw head arranged on the first support member, and an elastic member arranged at the center of the threaded barrel.

[0013] Furthermore, the second driving member is a driving pole; the driving pole is provided with a fixed end hinged on the first supporting member, and a telescopic end hinged on the calf support member.

[0014] Furthermore, the calf component further comprises a positioning unit, and the positioning unit comprises an arc patch provided on the calf support, and a connecting belt provided on the arc patch.

[0015] Furthermore, the first driving member and the third driving member are both driving motors.

[0016] Furthermore, the wearable device also includes a forearm component connected to the arm component. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0018] Figure 1 The structure of the exoskeleton robot according to one embodiment of the present invention is shown in FIG. Figure 1 ;

[0019] Figure 2 The structure of the exoskeleton robot according to one embodiment of the present invention is shown in FIG. Figure 2 ;

[0020] Figure 3 is a schematic diagram of the structure of a wearable device according to an embodiment of the present invention;

[0021] Figure 4 is a schematic structural diagram of a lower limb device according to an embodiment of the present invention;

[0022] Figure 5 It is a schematic structural diagram of a thigh support according to an embodiment of the present invention.

[0023] Description of reference numerals:

[0024] 1. Wearable device; 2. Lower limb device;

[0025] 11. Back part; 12. Front chest part; 13. First connecting part; 14. Connecting assembly; 15. Arm part; 16. Third connecting unit; 17. Forearm part;

[0026] 141. back sticker; 142. first connecting unit; 143. second connecting unit;

[0027] 21. Waist structure; 22. Leg mechanism; 23. Waist fixing part; 24. Thigh part; 25. Calf part; 26. Foot part;

[0028] 241. thigh support; 242. first driving member; 243. first supporting member; 244. second supporting member; 245. supporting structure; 246. guiding unit; 247. adjusting unit;

[0029] 2471. threaded barrel; 2472. screw head; 2473. elastic member;

[0030] 251. calf support; 252. second driving member; 253. positioning unit;

[0031] 261. Foot support; 262. Third driving member. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with its embodiments. It should be understood that the specific implementation methods described herein are only used to explain the present invention and do not limit the protection scope of the present invention.

[0033] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0035] The “first” and “second” mentioned in the present invention do not represent specific quantities and orders, but are merely used to distinguish names.

[0036] like Figure 1 and Figure 2 As shown, an exoskeleton robot in one embodiment of the present invention includes a wearable device 1 and a lower limb device 2; the lower limb device 2 includes a waist structure 21 and a pair of leg mechanisms 22, the pair of leg mechanisms 22 are respectively connected to the waist structure 21, and the waist structure 21 includes a waist fixing part 23 connected to the wearable device 1; the wearable device 1 includes a back part 11, a front chest part 12, and a first connecting part 13 connecting the back part 11 and the front chest part 12; the first connecting part 13 includes two groups of connecting components 14 respectively arranged on both sides of the back part 11, and the connecting component 14 includes a back sticker 141, a first connecting unit 142 connecting the back sticker 141 and the back part 11, and a second connecting unit 143 connecting the back sticker 141 and the front chest part 12.

[0037] When the human body wears the above exoskeleton robot, the back part 11 and the leg mechanism 22 are the two main support points. The back sticker 141 can effectively increase the force contact area of ​​the back. When the human body bends down to carry objects, the leg mechanism 22 and the human thigh form a support point, thereby providing a power-assisting effect. At the same time, the back part 11 and the front chest part 12 are connected by the first connecting part 13, and the front chest part 12 is used to cover the upper body as a whole, thereby increasing the force area and avoiding the concentration of reaction force. In addition, when the human body squats, the back part 11 forms a support point, and the human thigh can squat and lift without interference.

[0038] In one embodiment, the back part 11 and the waist structure 21 are connected by designing positioning holes and pins, so that the wearability of the exoskeleton robot is enhanced by being able to adjust the length of the human hip and spine.

[0039] like Figure 1 and Figure 4 As shown, in one embodiment, the leg mechanism 22 includes a thigh component 24, a calf component 25 and a foot component 26 connected in sequence, the thigh component 24 includes a thigh support 241 hinged to the waist fixing member 23, and a first driving member 242 driving the thigh support 241 to swing relative to the waist fixing member 23, the calf component 25 includes a calf support 251 hinged to the thigh support 241, and a second driving member 252 driving the calf support 251 to swing, and the foot component 26 includes a foot support 261 hinged to the calf support 251, and a third driving member 262 driving the foot support 261 to swing. In this way, three joint movements adapted to the human body can be realized through the thigh component 24, the calf component 25 and the foot component 26. When the human body wears the exoskeleton robot, the upper body is fixed, the thigh can be flexed in the sagittal plane of the human body, and squatting and thigh lifting movements can be performed.

[0040] In one embodiment, the first connection unit 142 includes at least three elastic connectors. Thus, the back patch 141 is connected to the back member 11 by using multiple elastic connectors, and the connection is stable and reliable, and is adapted to the human skeleton structure.

[0041] like Figure 1 and Figure 3 As shown, in one embodiment, the wearable device 1 further includes an arm part 15, and the arm part 15 is connected to the front chest part 12 through a third connection unit 16; the second connection unit 143 connects the back patch 141 and the arm part 15. In this way, by connecting the arm part 15 to the human arm, the contact area between the wearable device 1 and the human body can be further increased.

[0042] like Figure 4 and Figure 5 As shown, in one embodiment, the thigh support 241 includes a first support member 243, a second support member 244, and a support structure 245 for connecting the first support member 243 and the second support member 244; the support structure 245 includes a guide unit 246 and an adjustment unit 247, the guide unit 246 includes two guide holes respectively set on the first support member 243 and the second support member 244, and a guide column inserted in the guide holes, and the adjustment unit 247 is used to adjust the distance between the first support member 243 and the second support member 244. In this way, the distance between the first support member 243 and the second support member 244 is adjusted by the adjustment unit 247, and the first support member 243 and the second support member 244 are moved closer to or farther from each other along the length direction of the guide column, thereby adjusting the length of the thigh support 241 to adapt to different wearers.

[0043] In one embodiment, the adjustment unit 247 includes a threaded barrel 2471 rotatably connected to the second support member 244, a screw head 2472 disposed on the first support member 243, and an elastic member 2473 disposed at the center of the threaded barrel 2471. In this way, by rotating the threaded barrel 2471 and the screw head 2472, the thread engagement size is increased or reduced, thereby adjusting the distance between the first support member 243 and the second support member 244; at the same time, the elastic member 2473 presses the screw head 2472 away from the second support member 244, so that the threaded engagement portion between the threaded barrel 2471 and the screw head 2472 is in close contact, ensuring that the length of the thigh support member 241 is stable and reliable after adjustment.

[0044] In one embodiment, the structure of the calf support 251 is similar to the structure of the thigh support 241 .

[0045] In one embodiment, the second driving member 252 is a driving pole; the driving pole is provided with a fixed end hinged on the first supporting member 243, and a telescopic end hinged on the calf support 251. In this way, since the driving force between the thigh support 241 and the calf support 251 is relatively large, the swinging action achieved by using the driving pole is stable and reliable, which conforms to the basic concept of ergonomics.

[0046] In one embodiment, the calf component 25 further includes a positioning unit 253, and the positioning unit 253 includes an arc patch provided on the calf support 251, and a connecting belt (not shown) provided on the arc patch. Specifically, the connecting belt is a length-adjustable structure. In this way, the arc patch is attached to the calf, and the length of the connecting belt is adjusted, so that the calf support 251 is in close contact with the human calf, thereby ensuring the use effect.

[0047] In one embodiment, the first driving member 242 and the third driving member 262 are both driving motors. Thus, the third driving member 262 can drive the foot support member 261 to swing to adapt to the actual movement of the human body.

[0048] In one embodiment, the wearable device 1 further comprises a forearm component 17 connected to the arm component 15. Specifically, both the arm component 15 and the forearm component 17 are provided with an adjustable connection structure adapted to the human body.

[0049] In one embodiment, all parts of the exoskeleton robot are made of aluminum alloy, the overall structure is lightweight, and the strength and rigidity meet the requirements of use.

[0050] In one of the embodiments, nylon fabric and breathable cloth are added to the part of the exoskeleton robot that contacts the human body to reduce the pressure between the exoskeleton robot and the human body, making it easier to breathe and sweat and reduce pressure when put on.

[0051] In one embodiment, the front chest component 12 includes a front chest plate and an airbag assembly disposed on the front chest plate. Since the front chest plate often forms different contact points due to individual differences in the human body after being worn, the airbag assembly can fill the gap between the front chest plate and the front chest of the human body after the wearable device 1 is worn, avoiding the reaction force from concentrating on the contact point and causing damage to the human body, thereby improving comfort.

[0052] In one of the embodiments, the exoskeleton robot is installed with temperature sensors, humidity sensors, physiological signal sensors, etc., so as to monitor the external environment and the physiological activity status of the human body in real time, thereby effectively ensuring the safety of the wearer.

[0053] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An exoskeleton robot, characterized in that: It comprises a wearable device (1) and a lower limb device (2); The lower limb device (2) comprises a waist structure (21) and a pair of leg mechanisms (22), wherein the pair of leg mechanisms (22) are respectively connected to the waist structure (21), and the waist structure (21) comprises a waist fixing member (23) connected to the wearing device (1); The wearable device (1) comprises a back part (11), a chest part (12), and a first connecting part (13) connecting the back part (11) and the chest part (12); The first connecting component (13) includes two groups of connecting components (14) respectively arranged on both sides of the back component (11), and the connecting component (14) includes a back patch (141), a first connecting unit (142) connecting the back patch (141) and the back component (11), and a second connecting unit (143) connecting the back patch (141) and the front chest component (12).

2. An exoskeleton robot according to claim 1, characterized in that: The leg mechanism (22) comprises a thigh component (24), a calf component (25) and a foot component (26) which are connected in sequence. The thigh component (24) comprises a thigh support component (241) hinged to the waist fixing component (23), and a first driving component (242) driving the thigh support component (241) to swing relative to the waist fixing component (23). The calf component (25) comprises a calf support component (251) hinged to the thigh support component (241), and a second driving component (252) driving the calf support component (251) to swing. The foot component (26) comprises a foot support component (261) hinged to the calf support component (251), and a third driving component (262) driving the foot support component (261) to swing.

3. An exoskeleton robot according to claim 1, characterized in that: The first connecting unit (142) includes at least three elastic connecting members.

4. An exoskeleton robot according to claim 3, characterized in that: The wearable device (1) further comprises an arm component (15), wherein the arm component (15) is connected to the front chest component (12) via a third connection unit (16); The second connecting unit (143) connects the back patch (141) and the arm component (15).

5. The exoskeleton robot according to claim 2, characterized in that: The thigh support member (241) comprises a first support member (243), a second support member (244), and a support structure (245) for connecting the first support member (243) and the second support member (244); The support structure (245) comprises a guide unit (246) and an adjustment unit (247); the guide unit (246) comprises two guide holes respectively arranged on the first support member (243) and the second support member (244), and a guide column inserted into the guide holes; the adjustment unit (247) is used to adjust the distance between the first support member (243) and the second support member (244).

6. An exoskeleton robot according to claim 5, characterized in that: The adjustment unit (247) includes a threaded barrel (2471) rotatably connected to the second support member (244), a screw head (2472) disposed on the first support member (243), and an elastic member (2473) disposed at the center of the threaded barrel (2471).

7. The exoskeleton robot according to claim 5, characterized in that: The second driving member (252) is a driving pole; The driving pole is provided with a fixed end hinged on the first support member (243), and a telescopic end hinged on the calf support member (251).

8. The exoskeleton robot according to claim 5, characterized in that: The calf component (25) further comprises a positioning unit (253), wherein the positioning unit (253) comprises an arc patch arranged on the calf support (241), and a connecting belt arranged on the arc patch.

9. The exoskeleton robot according to claim 5, characterized in that: The first driving member (242) and the third driving member (262) are both driving motors.

10. An exoskeleton robot according to claim 4, characterized in that: The wearable device (1) further comprises a forearm component (17) connected to the arm component (15).

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