A powerless weight compensation device for exoskeleton robots

Abstract

The present invention belongs to the technical field of exoskeleton robots, and provides a weight compensation device for an exoskeleton robot in a non-powered manner, comprising a back frame, a first leg and a second leg connected to the back frame and extending from the bottom thereof and having the same structure; the first leg comprises a first connecting rod connected to the back frame at the upper end, a weight compensation module connected to the lower end of the first connecting rod at the upper end, and a second connecting rod rotatably connected to the lower end of the weight compensation module. The weight compensation device provided by the present invention does not require power (no battery is used to provide power), that is, it can reduce the fatigue felt by the user when wearing and moving the device by dispersing the force application point, and can freely adjust the auxiliary force or release the auxiliary force, achieving strong flexibility and user-friendliness.

Description

Technical Field

[0001] The invention belongs to the technical field of exoskeleton robots, and in particular relates to a weight compensation device in an unpowered manner applied to exoskeleton robots. Background Art

[0002] In recent years, with the development of robot technology, exoskeleton devices that assist human movement are being developed. Most exoskeleton devices use the rotation of motors to generate movement power.

[0003] For example, Korean Patent Publication No. 10-2019-0004854 discloses a wearable device and a control method thereof. In the above Korean Patent Publication No. 10-2019-0004854, the weight compensation device includes a main body supporting the upper body of the wearer, a plurality of leg pulleys respectively arranged on both sides of the main body, and a plurality of wire parts respectively connected to the leg pulleys, and provides tension to the plurality of wire parts to provide a driving force to rotate each leg pulley.

[0004] However, such devices must be equipped with batteries, reducers, pulleys, etc. to replace human joints to reduce the speed of the motor. These components further increase the weight of the device, and the user must support a considerable weight during use and continuous action. Summary of the invention

[0005] The purpose of the present invention is to provide a weight compensation device in an unpowered manner for an exoskeleton robot to solve the technical problems existing in the prior art.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A weight compensation device in an unpowered manner applied to an exoskeleton robot comprises a back frame, a first leg connected to the back frame and extending from the bottom thereof and having the same structure as a second leg; the first leg comprises a first connecting rod whose upper end is connected to the back frame, a weight compensation module whose upper end is connected to the lower end of the first connecting rod, and a second connecting rod rotatably connected to the lower end of the weight compensation module;

[0008] The weight compensation module comprises a main body and a cover covering the main body, the main body comprises a frame, a first rotating member, a second rotating member and an actuator are sequentially arranged in the frame from front to back, the second connecting rod is connected to the first rotating member through a first rotating shaft and can rotate together with the first rotating shaft; the lower end of the second rotating member is rotationally connected to the frame through a second rotating shaft, and the outer side thereof keeps in contact with the first rotating member, the rear end of the actuator is rotationally connected to the frame through a third rotating shaft, and the front end is connected to the second rotating member;

[0009] When the user moves the joint in the initial position, the second link, the first rotation axis and the second rotation member rotate in one direction and compress the actuator; when the user returns to the initial position, the second link rotates in the opposite direction and releases the force compressing the actuator, and when the actuator returns to the initial state, the rotation force of the second link is enhanced by pushing the second rotation member.

[0010] In one embodiment, the first rotating member includes a first curved contact surface and a second curved contact surface that are arranged adjacent to each other and have different curvatures, and a sliding member is provided on the second rotating member, the sliding member contacts with any one of the first curved contact surface and the second curved contact surface, and the sliding member can slide along the contact surface in contact with the sliding member.

[0011] In one embodiment, the first curvilinear contact surface includes a first curved surface and a second curved surface forming a smoothly connected curved surface; the second curvilinear contact surface includes a third curved surface and a fourth curved surface forming a smoothly connected curved surface;

[0012] The second curved surface and the fourth curved surface have the same curvature; the first curved surface and the third curved surface have different curvatures, so that a step is formed between the first curved contact surface and the second curved contact surface.

[0013] In one embodiment, the actuator includes a cylinder component and a rod inserted into the cylinder component and retractable relative to the cylinder component; the rear end of the cylinder component is rotationally connected to the frame via the third rotating axis, and the front end of the cylinder component is connected to the frame via a coil spring.

[0014] In one embodiment, the second rotating member includes two oppositely arranged side plates, the sliding member is installed between the two side plates through a fourth rotating axis and can rotate around the fourth rotating axis, a hook-shaped hanging protrusion is provided at the upper end of the side plate, the inner side of the hanging protrusion constitutes a hanging groove, a connector is provided at the end of the rod, and a hanging rod matching the hanging groove is provided on the connector, and the actuator is connected to the second rotating member through the matching of the hanging groove and the hanging rod; when the rear end of the actuator rotates clockwise around the third rotating axis, the hanging rod disengages from the hanging groove.

[0015] In one embodiment, the weight compensation module further includes an auxiliary force adjustment mechanism for operating the sliding member to move between the first curved contact surface and the second curved contact surface so that the sliding member contacts the first curved contact surface or the second curved contact surface.

[0016] In one embodiment, the auxiliary force adjustment mechanism includes a screw member, a first connecting member, a second connecting member and a lever; one end of the second connecting member is sleeved on the screw member and the other end is connected to the first connecting member, the first connecting member is connected across the second rotating axis and the screw member, and can move along the length direction of the second rotating axis and the screw member; the lever is connected to the right end of the screw member and exposed to the outside of the frame.

[0017] In one embodiment, the weight compensation module also includes an auxiliary force release mechanism; the auxiliary force release mechanism adopts a lever component, a middle portion of which is connected to the frame through a fifth rotation axis and can rotate around the fifth rotation axis, and the lever component has a first leg, a second leg and a third leg; wherein the end of the third leg contacts the side of the cylinder component of the actuator; when in the auxiliary force operation state, the second leg protrudes out of the frame, and when the auxiliary force is released, the second leg is pressed into the frame, and the third leg lifts the actuator upward.

[0018] In one embodiment, the front end of the frame is provided with a first fixing portion and a second fixing portion, and the first rotating member is arranged between the first fixing portion and the second fixing portion; the end of the second connecting rod is provided with a U-shaped socket surrounding the first fixing portion and the second fixing portion, and the first rotating axis is transversely arranged on the U-shaped socket and connected to the frame through the first fixing portion and the second fixing portion.

[0019] In one embodiment, the weight compensation module also includes an angle adjustment mechanism, which includes gear portions arranged on both sides of the first rotating component and respectively located on the first fixed portion and the second fixed portion, and gear meshing portions arranged at both ends of the first rotating shaft and respectively meshed with the two gear portions; when the gear portion is meshed with the gear meshing portion, the second connecting rod rotates together with the first rotating component, and when the meshing of the gear portion and the gear meshing portion is released, the second connecting rod can rotate freely relative to the first rotating component.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The weight compensation device provided by the present invention does not require power supply (no battery is used for power supply), that is, it can reduce the fatigue felt by the user when wearing and moving the device by dispersing the force application points, and can freely adjust the auxiliary force or release the auxiliary force, thereby achieving strong flexibility and user-friendliness. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a perspective view of a weight compensation device according to an embodiment.

[0023] Figure 2 2 is a diagram showing a state of wearing the weight compensation device.

[0024] Figure 3 2 is a diagram showing another state of wearing the weight compensation device.

[0025] Figure 4 A perspective view of the weight compensation module Figure 1 .

[0026] Figure 5 A perspective view of the weight compensation module Figure 2 .

[0027] Figure 6 is a side view of the weight compensation module (actuator extended state).

[0028] Figure 7 is a side view of the weight compensation module (actuator compressed state).

[0029] Figure 8 It is a diagram of the assist force adjustment mechanism.

[0030] Fig. 9 It is a side view of the weight compensation module (assisting force released state).

[0031] Fig.10 is a diagram showing an angle adjustment mechanism of a weight compensation module.

[0032] The names corresponding to the reference numerals are as follows: 1-weight compensation device; 2-back frame; 3-wire harness;

[0033] 10-first leg, 20-second leg;

[0034] 11-first connecting rod, 12-second connecting rod, 13-support member, 100-weight compensation module;

[0035] 101-main part, 102-cover part;

[0036] 110 - frame, 120 -, 130 - first rotating member, 140 - second rotating member, 150 - actuator, 160 - auxiliary force adjustment mechanism, 170 - connecting member, 180 - auxiliary force release mechanism;

[0037] 111 - first fixing part, 112 - second fixing part, 113 - bearing, 114 - gear part, 115 - gear meshing part;

[0038] 123 - U-shaped socket, 124 - first rotation axis, 125 - second rotation axis, 126 - fourth rotation axis, 127 - fifth rotation axis, 128 - third rotation axis;

[0039] 131-first curved contact surface, 132-second curved contact surface; 1311-first curved surface, 1312-second curved surface, 1321-third curved surface, 1322-fourth curved surface;

[0040] 141 - side plate, 142 - hanging protrusion, 143 - hanging groove, 144 - lever, 145 - sliding member, 146 - first connecting member, 147 - screw member, 148 - second connecting member;

[0041] 151-cylinder member, 152-rod, 153-connector, 154-suspension rod, 155-coil spring;

[0042] 181-first leg, 182-second leg, 183-third leg, 184-roller;

[0043] 191-first spring, 192-second spring;

[0044] C1 - first rotation axis, C2 - second rotation axis, C3 - third rotation axis. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to have a clearer understanding and knowledge of the present invention, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described below are only used to explain the present invention, and are convenient for understanding. The technical solutions provided by the present invention are not limited to the technical solutions provided by the following embodiments, and the technical solutions provided by the embodiments should not limit the protection scope of the present invention.

[0046] Unless otherwise defined, the technical terms or scientific terms used in the disclosure of this application shall have the usual meanings understood by persons with ordinary skills in the field to which the disclosure belongs. The words "include" or "comprise" and the like used in this application mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. The positional relationship words "upper", "lower", "left", "right", "front", "back", etc. are determined according to the layout direction of the drawings in the specification, and are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0047] Example

[0048] like Figures 1 to 10 As shown, this embodiment provides a non-powered weight compensation device for an exoskeleton robot. The weight compensation device 1 includes a back frame 2 and two legs extending from the bottom of the back frame. The two legs are arranged in a mirror-symmetrical manner relative to the back frame 2, and the two have the same structure. For the convenience of distinction, the legs are named the first leg 10 and the leg 20 is named the second leg 10.

[0049] In this embodiment, the first leg 10 and the second leg 20 both include the following structure: including a first connecting rod 11, the upper end of the first connecting rod 11 is connected to the back frame 2, the lower end of the first connecting rod 11 is connected to the upper end of the weight compensation module 100, and the upper end of the second connecting rod 12 is rotatably connected to the lower end of the weight compensation module 100.

[0050] It should be noted that the term "connected" used herein is intended to include a state where two components are fastened to each other directly or indirectly through another component so that they are interlocked with each other and substantially prevent relative movement, as well as a state where they are interlocked and fixed to allow relative movement to each other.

[0051] The first link 11 is connected to the back frame 2 by a hinge and is bent outward from the back frame 2; the first link 11 and the weight compensation module 100 are connected by a connecting member 170, which has a spring with very large stiffness. In the case that the weight compensation device 1 cannot work normally due to a defect of the weight compensation module 100, there is a risk of injury if the user moves the joint unreasonably. Therefore, when a large force is applied to the connecting part 170, relative rotation can occur between the first link 11 and the weight compensation module 100; the disconnection of the connecting part 170 is carried out in an emergency, and under the strength allowed by the inherent spring, the first link 11 and the weight compensation module 100 can be regarded as basically fixed.

[0052] The second connecting rod 11 can rotate relative to the weight compensation module 100. The lower end of the second connecting rod 11 is bent inwardly, and a support member 13 is provided at the end thereof. Specifically, the support member 13 is connected to the end of the second connecting rod 11 at the inwardly bent end.

[0053] The weight compensation device 1 provided in this embodiment is worn on the legs of the user to reduce the muscle strength required by the user when performing tasks such as sitting, bending legs to grab objects and standing, thereby performing the function of compensating for the weight felt by the user.

[0054] like Figure 2 As shown, when the user stands, the back frame 2 abuts against the user's back to support the back. The back frame 2 is combined with a harness 3, which is tied around the user's abdomen to fix the back frame 2 on the user's torso.

[0055] like Figure 2As shown, the first link 11 extends to the left side so that the weight compensation module 100 passes roughly diagonally through the outside of the user's hip joint. The weight compensation module 100 is located on the outside of the human thigh, and the auxiliary leg meets the front and back of the outside of the human thigh. The lower end of the second link 12 is bent inward and extended so that the support member 13 at its end is located just above the user's knee to support the front of the thigh. The support member 13 naturally rotates relative to the second link 12 in response to the user's movement (such as Figure 2 ), which is connected to the second link 12 so as to be rotatable counterclockwise.

[0056] Regarding the setting of the harness: the weight compensation module 100 is connected to the harness 3, and the harness 3 and the harness 3 connected to the back frame 2 are both harness structures. The harness 3 connected to the weight compensation module 100 is used to connect to the user's buttocks to fix the weight compensation module 110 to the user's body. The harness 3 connected to the weight compensation module 100 can be connected to the weight compensation module 100 of each of the legs 10 and the legs 20 respectively. In short, each weight compensation module is connected to a corresponding harness 3 to fix the corresponding weight compensation module 110 to the user's body; one harness 3 can span the weight compensation modules of the two legs in the form of completely wrapping the user's buttocks. The support member 13 is also connected to the harness 3, which connects the thigh part of the user and fixes the end of the second connecting rod 12 to the user's leg.

[0057] When the human body stands, it will not cause any harm to the waist and knee joints. However, when the human body tries to lift or put down an object, the waist and knees of the body need to support most of the weight.

[0058] like Figure 3 As shown in FIG. 1 , when the user bends his knees, according to the human body structure, the thigh is at a position relative to the hip joint. Figure 3 Therefore, in Figure 3 , the second connecting rod 12 rotates in a clockwise direction relative to the weight compensation module 100 .

[0059] According to the present embodiment, as the second link 12 rotates, the compressive force and the restoring force generated by the weight compensation module 100 reduce the load applied to the waist and the knee joints.

[0060] Figure 4 and Figure 5 1 and 2 are perspective views showing the weight compensation module 100 from different angles.

[0061] In this embodiment, the weight compensation module 100 includes a main body 101 and a cover 102 covering the internal structure of the main body 101 (see Figure 1 ). For ease of description and explanation, Figure 4In the following drawings, a state in which the cover portion 102 of the weight compensation module 100 is removed is shown.

[0062] like Figures 4 to 6 As shown, the main body 101 of the weight compensation module 100 includes a frame 110, a first rotating member 130, a second rotating member 140 and an actuator 150; in this embodiment, for the sake of convenience of explanation, the side where the second connecting rod 12 is located is called the "front", and the side where the first connecting rod 11 is located is called the "rear", and the first rotating member 130, the second rotating member 140 and the actuator 150 are arranged in sequence from front to back in the internal space of the frame 110.

[0063] Two fixing parts are formed at the front part of the frame 110, which ensure the area for connecting the second connecting rod 12. The two fixing parts have the same structure and are symmetrically arranged. For the convenience of distinction, they are named as follows: a first fixing part 111 and a second fixing part 112. The first rotating member 130 is arranged in the space between the first fixing part 111 and the second fixing part 112.

[0064] The end of the second connecting rod 12 is provided with a U-shaped socket 123, and the U-shaped socket 123 is arranged to surround the outside of the first fixing portion 111 and the second fixing portion 112. The first rotating shaft 124 is transversely arranged on the U-shaped socket 123, and the first rotating shaft 124 is connected to the frame 110 through the first fixing portion 111 and the second fixing portion 112, and the connection structure is connected through the bearing 113. The first rotating shaft 124 of the second connecting rod 12 extends in the direction of the first rotating axis C1, so the first rotating shaft 124 of the second connecting rod 12 can rotate relative to the frame 110 around the first rotating axis C1.

[0065] The U-shaped connection seat 122 is arranged in front of the U-shaped socket 123 of the second connecting rod 12, and the main body 121 of the second connecting rod 12 is rotatably connected to the U-shaped connection seat 122, and the rotation direction relative to the U-shaped connection seat 122 is orthogonal to the rotation direction relative to the U-shaped socket 123. Therefore, the second connecting rod 12 has two degrees of freedom of rotation direction relative to the weight compensation module 100 to ensure the freedom of joint movement when the user takes actions such as sitting down.

[0066] The first rotating member 130 is connected to the first rotating shaft 124 of the second connecting rod 12, and can rotate around the first rotating axis C1 together with the first rotating shaft 124; the second rotating member 140 is connected to the frame 110, so that the second rotating shaft 125 can rotate around the second rotating axis C2 through the second rotating shaft 125 set at the rear relative to the first rotating shaft 124; according to this embodiment, the first rotating axis C1 and the second rotating axis C2 are parallel to each other.

[0067] like Figure 6As shown, the second rotation member 140 is biased in the counterclockwise direction by the spring member 191 and is maintained in contact with the first rotation member 130 .

[0068] The actuator 150 is connected to the second rotating member 140. In the present embodiment, the actuator 150 adopts a cylinder type actuator, which includes a cylinder member 151 and a rod 152 inserted into the cylinder member 151. Its working principle is as follows: when the actuator 150 pushes the rod 152 into the cylinder member 151, the air in the cylinder member 151 is compressed to store the compression force, and when the force pushing the rod 152 is released, the force is applied to the rod 152 by the air pressure to provide the push-back force. It should be noted that the actuator adopts a cylinder type actuator is only one embodiment, but is not limited to this. The actuator can be other types of actuators such as a hydraulic cylinder, and if the compressed and stored compression force is configured to provide a restoring force, it can be used as the actuator 150 according to the present embodiment.

[0069] The first rotating member 130 has curved contact surfaces 131 , 132 having a predetermined curvature to be convex rearward.

[0070] According to this embodiment, the first rotating member 130 has a plurality of curved contact surfaces 131 and 132 with different curvatures, which are named as follows for the convenience of distinction: a first curved contact surface 131 and a second curved contact surface 132. The first curved contact surface 131 and the second curved contact surface 132 are arranged adjacent to each other in the length direction of the first rotating axis C1, and the structures of the two are as follows:

[0071] The first curved contact surface 131 includes a first curved surface 1311 and a second curved surface 1312, and the first curved surface 1311 and the second curved surface 1312 form a smoothly connected curved surface; the second curved contact surface 132 includes a third curved surface 1321 and a fourth curved surface 1322, and the third curved surface 1321 and the fourth curved surface 1322 form a smoothly connected curved surface.

[0072] The second curved surface 1312 of the first curved contact surface 131 and the fourth curved surface 1322 of the second curved contact surface 132 have the same curvature, so the second curved surface 1312 and the fourth curved surface 1322 are formed to be continuous with each other in the length direction of the first rotation axis C1 without interruption; on the other hand, the first curved surface 1311 of the first curved contact surface 131 and the third curved surface 1321 of the second curved contact surface 132 have different curvatures, thereby forming a step between the first curved contact surface 131 and the second curved contact surface 132. Since the first curved surface 1311 of the first curved contact surface 131 and the third curved surface 1321 of the second curved contact surface 132 have different curvatures, the first curved contact surface 131 and the second curved contact surface 132 have different curvatures as a whole.

[0073] The second rotating member 140 has a sliding member 145 , which contacts any one of the first curved contact surface 131 and the second curved contact surface 132 and can slide along the contact surface. Preferably, the sliding member 145 is a rolling roller structure.

[0074] According to the present embodiment, the sliding member 145 may rotate about a fourth rotation axis 126 (see Figure 8 ) can rotate freely and can roll along the first curved contact surface 131 and the second curved contact surface 132 that it contacts. Figure 6 The state in which the sliding member 145 is in contact with the first curved contact surface 131 is shown.

[0075] like Figure 4 As shown, the second rotating member 140 has two side plates 141 spaced apart in the direction of the second rotating axis C2. According to this embodiment, the distance between the two side plates 141 is greater than the thickness of the first rotating member 130, and the second rotating shaft 125 and the fourth rotating shaft 126 are connected by the two side plates 141 (see Figure 8 ).

[0076] Hook-shaped hanging protrusions 142 are formed at the ends of the two side plates 141 , and a hanging groove 143 is formed inside the hanging protrusion 142 .

[0077] A connector 153 is provided at the end of the rod 152 of the actuator 150. A suspension rod 154 extending in the direction of the second rotation axis C2 is provided on the connector 153. Figure 6 As shown, the two hanging rods 154 are hung in the hanging grooves 143 in the two side plates 141 respectively.

[0078] refer to Figure 6 and Figure 7 , describing the operation of the weight compensation module 100. Figure 6 shows the state in which the actuator 150 of the weight compensation module 100 is extended (restored), Figure 7 The compressed state of the actuator 150 of the weight compensation module 100 is shown.

[0079] When the user moves the joint to Figure 2 The initial posture (the user's standing posture) is transformed to Figure 3 When the user is in a sitting position, the second connecting rod 12 rotates clockwise around the first rotation axis C1 through the movement of the thigh. Figure 6As shown. In this embodiment, the initial posture is described as the user's upright posture, but is not limited thereto. The "initial posture" does not necessarily refer to a specific working posture, but refers to the posture before the actuator is compressed and fired. Following the above, the first rotating shaft 124 and the first rotating member 130 rotate together around the first rotating axis C1 and contact the first curved contact surface 131.

[0080] The second rotating member 140 is pushed, the second rotating member 140 rotates about the second rotation axis C2 , and the hanging protrusion 142 on the side plate 141 moves and compresses the rod 152 .

[0081] like Figure 6 As shown, the rear end of the actuator 150 is connected to the frame 110 through the third rotation shaft 128. The actuator 150 is rotatable relative to the frame 110 about the rotation center of the third rotation shaft 128, that is, the third rotation axis C3.

[0082] like Figure 7 As shown, when the second rotation member 140 pushes the rod 152 , the actuator 150 rotates clockwise around the third rotation axis C3 , and the rod 152 is pushed into the cylinder member 151 . At this time, the actuator 150 stores the compressive force.

[0083] According to the present embodiment, when the user moves the joint at the initial position, the second link 12 , the first rotating member 130 , and the second rotating member 140 rotate interlockingly in one direction, compressing the actuator 150 and storing the compressive force.

[0084] On the contrary, when the user Figure 3 The posture towards Figure 2 When the force is applied in the posture, the second link 12 rotates in the opposite direction (counterclockwise), maintaining Figure 7 The force of the second connecting rod 12 in the state of the first rotating member 130 shown is released, and therefore, the force constraining the first rotating member 130 and the second rotating member 140 is released; at this time, the force of the compression actuator 150 is released, and the actuator 150 returns along the direction of the rod 152 leaving the cylinder member 151 through the restoring force of the air pressure.

[0085] During the recovery of the actuator 150, the rod 152 pushes the second rotating member 140, and the second rotating member 140 pushes the first rotating member 130, thereby strengthening the rotation force of the second link 12. When the rod 152 of the actuator 150 withdraws and returns, the actuator 150 is pulled toward the frame 110 by the coil spring 156 and returns to the Figure 6 Initial position shown.

[0086] According to such a configuration, when a user (worker) attempts to lift an object, a compressive force is generated at the actuator 150 when bending, and this compressive force can prevent the waist and elbow joints from being strained during sitting movements. Moreover, when the user makes a lifting movement, the object can be lifted more easily by virtue of the restoring force of the compressor.

[0087] In addition, according to the present embodiment, the first rotating member 130 rotates by the rotation of the second link 12, and the second rotating member 140 rotates by the first rotating member 130, so that the actuator 150 can be compressed with a small force due to the dispersion of the force application points.

[0088] refer to Figure 6 , 7 The weight compensation module 100 has an auxiliary force adjustment mechanism 160 . Figure 8 1 is a diagram showing the structure of the assist force adjustment mechanism 160 .

[0089] The auxiliary force adjustment mechanism 160 is connected across the second rotation axis 125 and the fourth rotation axis 126, and can move along the length direction of the second rotation axis 125 and the fourth rotation axis 126. It includes: a screw member 147 extending parallel to the second rotation center axis C2, a first connector 146, a second connector 148, and a lever 149. The second connector 148 is sleeved on the screw member 147. The first connector 146 is connected across the second rotation axis 125 and the screw member 147, and can move along the length direction of the second rotation axis 125 and the screw member 147. The two ends of the first connector 146 respectively form an outer enclosure for the sliding member 145 and the second connector 148. The lever 149 is connected to the right end of the screw member 147 and exposed outside the frame 110.

[0090] When the user rotates the lever 149, the screw member 147 rotates, so that the second connector 148 moves along the length direction of the screw member 148 on the screw member 147. As the position of the second connector 148 moves, the position of the first connector 146 connected thereto moves, and the first connector 146 moves the position of the sliding member 145 on the fourth rotation axis 126. That is, the moving direction of the sliding member 145 is the same as the arrangement direction of the first curved contact surface 131 and the second curved contact surface 132.

[0091] As described above, the second curved surface 1312 of the first curved contact surface 131 and the fourth curved surface 1322 of the second curved contact surface 132 are formed to be connected to each other substantially without a gap in the length direction of the first rotation axis C1 (movement direction of the sliding member).

[0092] Therefore, by operating the assist force adjustment mechanism 160, the sliding member 145 can freely move between the first curved contact surface 131 and the second curved contact surface 132. When the sliding member 145 moves along the second rotation axis C2, the sliding member 145 can be selectively located at a position in contact with one of the first curved contact surface 131 and the second curved contact surface 132.

[0093] In this embodiment, the curvature of the first curved surface 1311 of the first curved contact surface 131 is smaller than the curvature of the third curved surface 1321 of the second curved contact surface 132. Therefore, when the weight compensation device 1 is operated with the sliding member 145 in contact with the first curved contact surface 131, the actuator 150 is relatively more compressible when the first rotating member 130 is fully rotated, compared with the opposite situation (i.e., the situation where the sliding member 145 is in contact with the second curved contact surface 132); in other words, it means that the state where the sliding member 145 is in contact with the first curved contact surface 131 can provide a greater restoring force than the state where the sliding member 145 is in contact with the second curved contact surface 132.

[0094] Based on the above settings, it can be seen that the compression length (degree) of the actuator changes according to the curvature of the contact surface, and the auxiliary force adjustment mechanism is used to adjust the contact between the sliding member 145 and the first curved contact surface 131 or the second curved contact surface 132. If the user wants to obtain muscle strength assistance with a greater restoring force under the same conditions, the auxiliary force adjustment mechanism 160 can be used to operate the sliding member 145 in a state of contact with the first curved contact surface 131. Through the auxiliary force adjustment mechanism 160, active and effective muscle strength assistance can be obtained according to the user's muscle strength, working environment, etc., rather than fixed muscle strength assistance.

[0095] In this embodiment, the first rotating member 130 has two contact surfaces (a first curved contact surface 131 and a second curved contact surface 132), but the present invention is not limited thereto. According to the need, three or more contact surfaces with different curvatures can be arranged, and through the muscle-assisted force adjustment, the sliding member can contact any of the contact surfaces to achieve more detailed muscle-assisted force adjustment.

[0096] In this embodiment, the first rotating member 130 has a structure in which two contact surfaces are formed on one member, but is not limited thereto. The first rotating member 130 can be formed into one rotating member by separately forming a member having a first curved contact surface 131 and a member having a second curved contact surface 132 and assembling the two members into one.

[0097] In addition, refer to Figure 6 , the weight compensation module 100 also includes an auxiliary force release mechanism. Fig. 9 2 is a diagram showing the structure of the assist force releasing device 180 .

[0098] like Fig. 9 As shown, the auxiliary release mechanism 180 is a triangular lever member, the middle of which is connected to the fifth rotation axis 127 provided on the frame 110 and can rotate around the fifth rotation axis 127. The lever member has three legs: a first leg 181, a second leg 182 and a third leg 183.

[0099] In the auxiliary force operation state, if Figure 6 As shown, the second leg 182 protrudes out of the frame 110. Fig. 9 As shown, in order to release the auxiliary force, when the second leg 182 is pressed into the frame 110, the lever member rotates. When the third leg 183 in contact with the actuator 150 moves to the vicinity of the third rotation axis 128, which is the hinge point of the actuator 150, the actuator 150 is lifted. The end of the third leg 183 in contact with the actuator 150 is provided with a roller 184 to reduce the friction with the actuator 150. By the rotation of the lever member, the first leg 181 protrudes out of the frame 110.

[0100] By such action, the suspension rod 154 of the actuator 150 is disengaged from the suspension groove 143, as shown in FIG. Fig. 9 At this time, even if the connection of the actuator 150 is disconnected, the position of the second rotating member 140 is fixed by the action of the first spring 191, one end of the first spring 191 is fixed to the frame, and the other end forms a mating connection with the second rotating member, so that when the second rotating member 140 is switched to the connected state again, the correct position of the second rotating member 140 is ensured.

[0101] In this case, even if the second link 12 rotates and the second rotating member 140 rotates, the actuator 150 is not compressed, so when the user bends the knee, the user can move freely without feeling the resistance of the actuator 150. Therefore, in a situation or action where muscle assistance is not required, the user can release muscle assistance by pressing the second leg 182 protruding outside the frame 110. Again, in a situation where muscle assistance is required, when the first leg 181 is pressed in the initial position of standing, the actuator 150 descends under the action of the coil spring 156, and the suspension rod 154 is stuck in the suspension groove 143.

[0102] The weight compensation module 100 has an angle adjustment mechanism. Fig.10 It is a diagram for explaining the structure of the angle adjustment mechanism.

[0103] The angle adjustment mechanism includes: a gear portion 114 and a gear meshing portion 115 meshing with the gear portion 114, two gear portions 114 are arranged on both sides of the first rotating member 130 and are respectively located on the first fixing portion 111 and the second fixing portion 112, and two gear meshing portions 115 are respectively arranged at both ends of the first rotating shaft 124. The gear portion 114 adopts an internal tooth structure and is located on the inner ring side of the annular structure portion, and the gear meshing portion 115 adopts an external tooth structure and is located on the outer side wall of the first rotating shaft.

[0104] exist Figure 4 In the illustrated operating state, the gear portion 114 of the first rotating member 130 meshes with the gear meshing portion 115 of the first rotating shaft 124 , and through the meshing of the gears, when the first rotating shaft 124 rotates, the second link 12 rotates together with the first rotating member 130 .

[0105] On the other hand, the second link 12 is configured to be movable in the length direction of the first rotation axis 124. Fig.10 When the second link 12 moves along the length direction of the first rotation axis 124, the meshing between the gear portion 114 and the gear meshing portion 115 is released.

[0106] When the gear meshing of the gear portion 114 and the gear meshing portion 115 is released, the second link 12 can freely rotate relative to the first rotating member 130. At this time, even if the gear meshing is released, the first rotating member 130 is also held by the second spring 192 (see Figure 6 ) is fixed in an appropriate position, one end of the second spring 192 is fixed to the frame, and the other end forms a mating connection with the first rotating member 130.

[0107] Angle adjustment principle: When the second link 12 is freely rotated relative to the first rotating member 130 when the gear engagement between the gear portion 114 and the gear engaging portion 115 is released, the angle of the second link 12 relative to the weight compensation module 100 can be adjusted at the initial position, and the user's body standing upright or with the knees slightly bent is the initial posture.

[0108] When necessary, the angle of the second link 12 relative to the weight compensation module 100 can be adjusted from the initial position by the angle adjustment mechanism to ensure the desired initial position.

[0109] The weight compensation device 1 according to this embodiment reduces the fatigue felt by the user when wearing and moving the device by dispersing the force application points, and can freely adjust the auxiliary force or release the auxiliary force.

[0110] The above is the preferred embodiment of the present invention. It should be noted that those skilled in the art can make several improvements without departing from the design principle and technical solution of the present invention, and these improvements should also be regarded as the protection scope of the present invention.

Claims

1. A weight compensation device in an unpowered manner for an exoskeleton robot, characterized in that: The device comprises a back frame (2), a first leg (10) and a second leg (20) connected to the back frame (2) and extending from the bottom thereof and having the same structure; the first leg (10) comprises a first connecting rod (11) whose upper end is connected to the back frame (2), a weight compensation module (100) whose upper end is connected to the lower end of the first connecting rod (11), and a second connecting rod (12) rotatably connected to the lower end of the weight compensation module (100); The weight compensation module (100) comprises a main body (101) and a cover (102) covering the main body (101); the main body (101) comprises a frame (110); a first rotating member (130), a second rotating member (140) and an actuator (150) are arranged in sequence from front to back in the frame (110); the second connecting rod (12) is connected to the first rotating member (130) via a first rotating shaft (124) and can rotate together with the first rotating shaft (124); the lower end of the second rotating member (140) is rotationally connected to the frame (110) via a second rotating shaft (125), and the outer side of the second rotating member (140) is in contact with the first rotating member (130); the rear end of the actuator (150) is rotationally connected to the frame (110) via a third rotating shaft (128), and the front end is connected to the second rotating member (140); When the user moves the joint in the initial position, the second link (12), the first rotation axis (124) and the second rotation member (140) rotate in one direction and compress the actuator (150); when the user returns to the initial position, the second link (12) rotates in the opposite direction and releases the force compressing the actuator (150); when the actuator (150) returns to the initial state, the rotation force of the second link (12) is enhanced by pushing the second rotation member (140).

2. The unpowered weight compensation device for an exoskeleton robot according to claim 1, characterized in that: The first rotating member (130) comprises a first curved contact surface (131) and a second curved contact surface (132) which are arranged adjacent to each other and have different curvatures. The second rotating member (140) is provided with a sliding member (145). The sliding member (145) contacts any one of the first curved contact surface (131) and the second curved contact surface (132), and the sliding member (145) can slide along the contact surface in contact with the sliding member (145).

3. The unpowered weight compensation device for an exoskeleton robot according to claim 2, characterized in that: The first curved contact surface (131) comprises a first curved surface (1311) and a second curved surface (1312) forming a smoothly connected curved surface; the second curved contact surface (132) comprises a third curved surface (1321) and a fourth curved surface (1322) forming a smoothly connected curved surface; The second curved surface (1312) and the fourth curved surface (1322) have the same curvature; the first curved surface (1311) and the third curved surface (1321) have different curvatures, so that a step is formed between the first curved contact surface (131) and the second curved contact surface (132).

4. The unpowered weight compensation device for an exoskeleton robot according to claim 3 is characterized in that: The actuator (150) comprises a cylinder component (151) and a rod (152) inserted into the cylinder component (151) and capable of being extended and retracted relative to the cylinder component (151); the rear end of the cylinder component (151) is rotationally connected to the frame (110) via the third rotating shaft (128), and the front end of the cylinder component (151) is connected to the frame (110) via a coil spring (156).

5. The unpowered weight compensation device for an exoskeleton robot according to claim 4, characterized in that: The second rotating member (140) comprises two side plates (141) arranged opposite to each other. The sliding member (145) is installed between the two side plates (141) via a fourth rotating shaft (126) and can rotate around the fourth rotating shaft (126). A hook-shaped hanging protrusion (142) is arranged at the upper end of the side plate (141). The inner side of the hanging protrusion (142) forms a hanging groove (143). A connector (153) is arranged at the end of the rod (152). A hanging rod (154) matched with the hanging groove (143) is arranged on the connector (153). The actuator (150) is connected to the second rotating member (140) through the matching of the hanging groove (143) and the hanging rod (154). When the rear end of the actuator (150) rotates clockwise around the third rotating shaft (128), the hanging rod (154) is separated from the hanging groove (143).

6. The unpowered weight compensation device for an exoskeleton robot according to claim 5, characterized in that: The weight compensation module (100) further comprises an auxiliary force adjustment mechanism (160) for operating the sliding member (145) to move between the first curved contact surface (131) and the second curved contact surface (132), so that the sliding member (145) contacts the first curved contact surface (131) or the second curved contact surface (132).

7. The unpowered weight compensation device for an exoskeleton robot according to claim 6, characterized in that: The auxiliary force adjustment mechanism (160) comprises a screw member (147), a first connecting member (146), a second connecting member (148) and a lever (149); one end of the second connecting member (148) is sleeved on the screw member (147) and the other end is connected to the first connecting member (146); the first connecting member (146) is connected across the second rotating shaft (125) and the screw member (147) and can move along the length direction of the second rotating shaft (125) and the screw member (147); the lever (149) is connected to the right end of the screw member (147) and is exposed outside the frame (110).

8. The unpowered weight compensation device for an exoskeleton robot according to claim 7, characterized in that: The weight compensation module (100) further comprises an auxiliary force release mechanism (180); the auxiliary force release mechanism (180) adopts a lever member, the middle portion of which is connected to the frame (110) via a fifth rotation axis (127) and can rotate around the fifth rotation axis (127); the lever member comprises a first leg (181), a second leg (182) and a third leg (183); wherein the end of the third leg (183) contacts the side of the cylinder member (151) of the actuator (150); when in an auxiliary force operation state, the second leg (182) protrudes out of the frame (110); when the auxiliary force is released, the second leg (182) is pressed into the frame (110), and the third leg (183) lifts the actuator (150) upward.

9. The unpowered weight compensation device for an exoskeleton robot according to claim 8, characterized in that: The front end of the frame (110) is provided with a first fixing portion (111) and a second fixing portion (112), and the first rotating member (130) is arranged between the first fixing portion (111) and the second fixing portion (112); the end of the second connecting rod (12) is provided with a U-shaped socket (123) surrounding the first fixing portion (111) and the second fixing portion (112), and the first rotating shaft (124) is transversely arranged on the U-shaped socket (123) and connected to the frame (110) through the first fixing portion (111) and the second fixing portion (112).

10. The unpowered weight compensation device for an exoskeleton robot according to claim 9, characterized in that: The weight compensation module (100) further comprises an angle adjustment mechanism, the angle adjustment mechanism comprising gear parts (114) arranged on both sides of the first rotating component (130) and respectively located on the first fixed part (111) and the second fixed part (112), and gear meshing parts (115) arranged at both ends of the first rotating shaft (124) and respectively meshing with the two gear parts (114); when the gear parts (114) are meshed with the gear meshing parts (115), the second connecting rod (12) rotates together with the first rotating component (130); when the meshing between the gear parts (114) and the gear meshing parts (115) is released, the second connecting rod (12) can rotate freely relative to the first rotating component (130).

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