Binding structure connecting device for wearable robot

Abstract

The binding structure connecting device for the wearable robot comprises a clamping groove type sliding rail, and the clamping groove type sliding rail is fixedly connected with a robot body; and the sliding base is connected with the binding structure, the sliding base is matched with the clamping groove type sliding rail, the sliding base slides in or out from one end or the other end of the clamping groove type sliding rail, and the binding structure is separated from or connected with the robot body. Through cooperative use of the clamping groove type sliding rail and the sliding base, quick disassembly and assembly between the binding structure of the wearable robot and the robot body can be achieved, and maintenance and replacement of the binding structure are facilitated; by arranging the clamping groove type sliding rails with different lengths, large-range adjustment of the position of the wearable robot binding structure relative to the robot body can be achieved, and therefore the wearable robot binding structure is better suitable for people of different body types to use; through the locking deflector rod on the sliding base, position locking of the binding structure of the wearable robot relative to the robot body can be achieved, and the advantage of stable and reliable force transmission is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical manufacturing and wearable robots, and in particular to a binding structure connection device for a wearable robot. Background Art

[0002] At present, wearable robots are closely connected to the human body through a binding structure, which applies the driving force of the robot to the human body, drives the limbs to move, provides assistance to operators or helps patients achieve rehabilitation training. The binding structure of a wearable robot is generally made of fabric materials, which are consumable parts and require regular maintenance and replacement. In addition, in order to achieve a better assistance effect, the connection position between the binding structure and the robot needs to be adjusted accordingly according to the body shape differences of different users.

[0003] In the prior art, the binding structure of wearable robots is mostly fixedly connected to the robot body, and usually requires special tools for maintenance and replacement, which makes disassembly difficult and time-consuming; the installation position of the binding structure relative to the robot body is fixed, and it is impossible to quickly adjust the binding position between the user and the robot.

[0004] In summary, there is at least one of the following technical problems:

[0005] The binding structure of the wearable robot is fixedly connected to the robot body, which results in a long time-consuming maintenance and replacement, and the inability to quickly adjust the binding position. Summary of the invention

[0006] The main purpose of the present invention is to provide a binding structure connection device for a wearable robot to solve the problem in the prior art that the binding structure of the wearable robot is fixedly connected to the robot body, resulting in a long maintenance and replacement time and the inability to quickly adjust the binding position.

[0007] In order to achieve the above object, according to one aspect of the present invention, a binding structure connection device for a wearable robot is provided, comprising:

[0008] A slot-type slide rail, wherein the slot-type slide rail is fixedly connected to the robot body;

[0009] A sliding base is connected to the binding structure, the sliding base cooperates with the slot-type slide rail, and the sliding base slides in or out from one end or the other end of the slot-type slide rail to separate and connect the binding structure with the robot body.

[0010] Preferably, the sliding base comprises:

[0011] A sliding sleeve, wherein a guide groove is provided on the sliding sleeve, and the sliding sleeve slides along the slot-type guide rail;

[0012] A base cover plate, wherein the base cover plate is fixedly mounted on the sliding sleeve;

[0013] The card slot locking blocks are arranged in pairs, symmetrically mounted on the sliding sleeve, and slide in a direction perpendicular to the card slot guide rail respectively;

[0014] Compression springs are arranged in pairs and are respectively arranged between corresponding card slot locking blocks and base cover plates;

[0015] A locking lever, the locking lever being installed between the sliding sleeve and the base cover plate;

[0016] The switch reed is symmetrically installed between the sliding sleeve and the base cover.

[0017] Preferably, the slot-type slide rail has an array of trapezoidal slot structures.

[0018] Preferably, the sliding sleeve is provided with a double-sided locking and limiting structure.

[0019] Preferably, the slot locking block is forced to shrink into the interior of the sliding base through the trapezoidal inclined surface during the sliding process of the sliding base along the slot type slide rail, thereby ensuring that the sliding base can slide freely on the slot type slide rail.

[0020] Preferably, when the sliding base slides to a certain gear position along the slot-type slide rail, the slot locking block pops out into the trapezoidal groove of the slot-type slide rail under the action of the compression spring to achieve gear position adjustment.

[0021] Preferably, when the locking lever is in the unlocking position, the slot locking block can be retracted into the interior of the sliding base, so that the sliding base can slide freely on the slot-type guide rail.

[0022] Preferably, when the locking lever is moved to the locking position, it can block the contraction movement of the card slot locking block. At this time, the sliding base is fixed at a certain gear position of the card slot guide rail to achieve locking.

[0023] Preferably, when the locking lever is toggled to switch between the locked and unlocked states, the switch reed is compressed in the first half, and the elastic force of the switch reed helps the locking lever slide into place in the second half.

[0024] Preferably, the base cover is fixedly connected to the sliding sleeve by screws.

[0025] The application of the technical solution of the present invention has the following technical effects:

[0026] By using the slot-type slide rails in conjunction with the sliding base, the wearable robot binding structure and the robot body can be quickly disassembled and assembled, making it easier to repair and replace the binding structure. By setting slot-type slide rails of different lengths, the position of the wearable robot binding structure relative to the robot body can be adjusted over a wide range, thereby better adapting to the use of people of different body shapes. By using the locking lever on the sliding base, the position of the wearable robot binding structure relative to the robot body can be locked, achieving a stable and reliable force transmission effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0028] Figure 1 A schematic structural diagram of a binding structure connection device for a wearable robot according to the present invention is shown;

[0029] Figure 2 Shows Figure 1 An exploded view of a binding structure connection device for a wearable robot;

[0030] Figure 3 Shows Figure 1 A cross-sectional view of a binding structure connection device for a wearable robot;

[0031] Figure 4 Shows Figure 1 An internal view of an unlocked state of a binding structure connection device for a wearable robot;

[0032] Figure 5 Shows Figure 1 An internal view of the locked state of the binding structure connection device for a wearable robot.

[0033] The above drawings include the following reference numerals:

[0034] The card slot type slide rail 1; the sliding base 2; the sliding sleeve 21; the switch spring 22; the locking lever 23; the base cover 24; the card slot locking block 25; and the compression spring 26. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] like Figures 1 to 5As shown, an embodiment of the present invention provides a binding structure connection device for a wearable robot, comprising: a slot-type slide rail 1, which is fixedly connected to the robot body; a sliding base 2, which is connected to the binding structure, and the sliding base 2 cooperates with the slot-type slide rail 1. The sliding base 2 is inserted into or slid out from one end or the other end of the slot-type slide rail 1 to separate and connect the binding structure to the robot body.

[0037] In this embodiment, the slotted slide rail 1 plays a guiding role, and the slotted slide rail 1 is fixedly connected to the robot body to achieve connection with the robot. The sliding base 2 plays a supporting role, and the sliding base 2 is connected to the binding structure. The sliding base 2 cooperates with the slotted slide rail 1 to achieve sliding connection. The sliding base 2 slides in or out from one end or the other end of the slotted slide rail 1 to separate and connect the binding structure with the robot body, and achieves quick connection and separation from both ends.

[0038] In this embodiment, the sliding base 2 includes: a sliding sleeve 21, a base cover plate 24, a card slot locking block 25, a compression spring 26, a locking lever 23 and a switch spring 22. The sliding sleeve 21 is used to cooperate with the card slot type slide rail 1. The sliding sleeve 21 is provided with a guide groove, which plays a guiding role, and the sliding sleeve 21 slides along the card slot type guide rail.

[0039] The base cover 24 plays a sealing role, and the base cover 24 is fixedly installed on the sliding sleeve 21; the slot locking blocks 25 play a locking role, and the slot locking blocks 25 are arranged in pairs, symmetrically installed on the sliding sleeve 21, and slide respectively in a direction perpendicular to the slot guide rail; the compression springs 26, the compression springs 26 are arranged in pairs, and are respectively arranged between the corresponding slot locking blocks 25 and the base cover 24; the locking lever, the locking lever 23 is installed between the sliding sleeve 21 and the base cover 24; the switch reed 22, the switch reed 22 is symmetrically installed between the sliding sleeve 21 and the base cover 24.

[0040] In this embodiment, the slot-type slide rail 1 has an array of trapezoidal slot structures. The sliding sleeve 21 is provided with a double-sided locking limit structure. When the sliding base 2 slides along the slot-type slide rail 1, the slot locking block 25 is forced to shrink to the inside of the sliding base 2 through the trapezoidal inclined surface, ensuring that the sliding base 2 can slide freely on the slot-type slide rail 1. When the sliding base 2 slides to a certain gear position along the slot-type slide rail 1, the slot locking block 25 pops out into the trapezoidal slot of the slot-type slide rail 1 under the action of the compression spring 26 to achieve gear adjustment. When the locking lever 23 is in the unlocking position, the slot locking block 25 can shrink to the inside of the sliding base 2, so that the sliding base 2 can slide freely on the slot-type guide rail.

[0041] In this embodiment, when the locking lever 23 is moved to the locking position, it can block the contraction movement of the card slot locking block 25. At this time, the sliding base 2 is fixed to a certain gear position of the card slot guide rail to achieve locking. When the locking lever 23 is moved to switch the locking and unlocking states, the switch spring 22 is compressed in the first half, and the locking lever 23 is assisted to slide into place under the elastic force of the switch spring 22 in the second half. The base cover 24 is fixedly connected to the sliding sleeve 21 by screws.

[0042] Specifically, the slot-type guide rail is installed on the wearable robot body, the slot-type slide rail 1 has an array of trapezoidal grooves, the sliding base 2 is connected to the binding structure, and the sliding base 2 is provided with a sliding sleeve 21, and the sliding sleeve 21 has a guide groove that cooperates with the slot-type slide rail 1, so that the sliding base 2 can slide in or out from any end of the slot-type slide rail 1; a slot locking block 25 is provided on the sliding base 2; a compression spring 26 is provided between the slot locking block 25 and the base cover 24; the slot locking block 25 maintains a certain pop-up force under the action of the compression spring 26; when the sliding base 2 slides relative to the slot-type slide rail 1, the slot locking block 25 can be retracted to the inside of the sliding base 2 by the trapezoidal inclined surface, ensuring that the sliding base 2 can be in the The card slot type slide rail 1 can slide freely; when the sliding base 2 slides to a certain gear, the card slot locking block 25 is ejected into the trapezoidal groove of the card slot type slide rail 1 under the action of the compression spring 26 to complete the gear adjustment; a locking lever 23 is provided on the sliding base 2, and the locking lever 23 can slide in the space formed by the sliding sleeve 21 and the base cover 24; when the locking lever 23 is in the unlocked state, the card slot locking block 25 can be compressed into the inside of the sliding base 2, so that the sliding base 2 can slide freely on the card slot type guide rail; when the locking lever 23 is in the locked state, the locking lever 23 limits the contraction space of the card slot locking block 25, so that the sliding base 2 is fixed in a certain gear of the card slot type guide rail to realize the locking function. The card slot type slide rail 1 can be extended to different lengths according to the needs of the user, so as to realize a wide range of adjustment of the position of the binding structure relative to the robot body. The sliding base 2 is provided with a guide structure in the installation space of the slot locking block 25 to ensure that the slot locking block 25 can only move in a direction perpendicular to the slot type slide rail 1. The sliding base 2 is provided with a limiting structure in the installation space of the slot locking block 25 to ensure that the slot locking block 25 will not fall out of the sliding base 2. The sliding base 2 is provided with two symmetrical installation spaces for the slot locking blocks 25, and a stable and reliable connection is achieved by installing two slot locking blocks 25. Two symmetrical switch springs 22 are provided inside the sliding base 2, so that the locking lever 23 has a certain resilience when the state is switched, and remains in the locked or unlocked state without being pushed by external force. The sliding sleeve 21 is provided with a double-sided locking limiting structure, so that the locking lever 23 reaches the limiting position in the locked or unlocked state, ensuring the accuracy of the action position of the locking lever 23. The base cover plate 24 is fixedly connected to the sliding sleeve 21 by screws, providing an installation space for the compression spring 26 and maintaining the compression state of the compression spring 26.

[0043] like Figure 1 As shown, it includes a slotted slide rail 1 and a sliding base 2. The slotted slide rail 1 is fixedly connected to the robot body, and the sliding base 2 is fixedly connected to the binding structure. The sliding base 2 can slide in or out from any end of the slotted slide rail 1 to separate the binding structure from the robot body.

[0044] like Figure 2 As shown, in this embodiment, the sliding base 2 includes a sliding sleeve 21, a switch spring 22, a locking lever 23, a base cover 24, a slot locking block 25 and a compression spring 26. Among them, the sliding sleeve 21 is provided with a guide groove, which can slide along the slot-type guide rail; the slot locking blocks 25 are symmetrically mounted on the sliding sleeve 21, and can slide in a direction perpendicular to the guide rail respectively; the base cover 24 is fixedly mounted on the sliding sleeve 21; two compression springs 26 are connected between each slot locking block 25 and the base cover 24, so that the slot locking block 25 maintains a certain ejection force under the action of the compression spring 26; the locking lever 23 is mounted between the sliding sleeve 21 and the base cover 24, so that it can slide along the guide rail direction; the switch spring 22 is symmetrically mounted between the sliding sleeve 21 and the base cover 24, and provides a certain rebound force during the sliding process of the locking lever 23.

[0045] like Figure 3 As shown, in this embodiment, the slot-type slide rail 1 has an array of trapezoidal slot structures. When the sliding base 2 slides along the slot-type slide rail 1, the slot locking block 25 can be forced to shrink to the inside of the sliding base 2 through the trapezoidal inclined surface, thereby ensuring that the sliding base 2 can slide freely on the slot-type slide rail 1; when the sliding base 2 slides along the slot-type slide rail 1 to a certain gear position, the slot locking block 25 pops out into the trapezoidal slot of the slot-type slide rail 1 under the action of the compression spring 26, thereby realizing gear adjustment.

[0046] like Figure 4 and Figure 5 As shown, in this embodiment, when the locking lever 23 is in the unlocking position, the card slot locking block 25 can be retracted into the inside of the sliding base 2, so that the sliding base 2 can slide freely on the card slot guide rail; by moving the locking lever 23 to the locking position, it blocks the retracting movement of the card slot locking block 25, and at this time, the sliding base 2 is fixed in a certain gear position of the card slot guide rail to achieve the locking function. In the process of switching the locking lever 23 between the locked and unlocked states, the switch reed 22 is compressed in the first half, and the elastic force of the switch reed 22 in the second half helps the locking lever 23 slide into place, preventing the locking lever 23 from being stuck in the middle state, causing the locking and unlocking states to switch unsmoothly.

[0047] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0048] By using the slot-type slide rail 1 and the sliding base 2 in combination, the wearable robot binding structure and the robot body can be quickly disassembled and assembled, which is convenient for the maintenance and replacement of the binding structure; by setting the slot-type slide rail 1 of different lengths, the position of the wearable robot binding structure relative to the robot body can be adjusted over a wide range, so as to better adapt to the use of people of different body shapes; by using the locking lever 23 on the sliding base 2, the position of the wearable robot binding structure relative to the robot body can be locked, so as to achieve a stable and reliable force transmission effect.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A binding structure connection device for a wearable robot, characterized in that: include: A slot-type slide rail, wherein the slot-type slide rail is fixedly connected to the robot body; A sliding base is connected to the binding structure, the sliding base cooperates with the slot-type slide rail, and the sliding base slides in or out from one end or the other end of the slot-type slide rail to separate and connect the binding structure with the robot body.

2. The binding structure connection device for a wearable robot according to claim 1, characterized in that: The sliding base comprises: A sliding sleeve, wherein a guide groove is provided on the sliding sleeve, and the sliding sleeve slides along the slot-type guide rail; A base cover plate, wherein the base cover plate is fixedly mounted on the sliding sleeve; The card slot locking blocks are arranged in pairs, symmetrically mounted on the sliding sleeve, and slide in a direction perpendicular to the card slot guide rail respectively; Compression springs are arranged in pairs and are respectively arranged between corresponding card slot locking blocks and base cover plates; A locking lever, the locking lever being installed between the sliding sleeve and the base cover plate; The switch reed is symmetrically installed between the sliding sleeve and the base cover.

3. The binding structure connection device for a wearable robot according to claim 1, characterized in that: The slot-type slide rail has an array of trapezoidal slot structures.

4. The binding structure connection device for a wearable robot according to claim 1, characterized in that: The sliding sleeve is provided with a double-sided locking and limiting structure.

5. The binding structure connection device for a wearable robot according to claim 1, characterized in that: When the sliding base slides along the slot-type slide rail, the slot locking block is forced to shrink into the interior of the sliding base through the trapezoidal inclined surface, thereby ensuring that the sliding base can slide freely on the slot-type slide rail.

6. The binding structure connection device for a wearable robot according to claim 1, characterized in that: When the sliding base slides to a certain gear position along the slot-type slide rail, the slot locking block pops out into the trapezoidal groove of the slot-type slide rail under the action of the compression spring, thereby realizing gear position adjustment.

7. The binding structure connection device for a wearable robot according to claim 1, characterized in that: When the locking lever is in the unlocking position, the card slot locking block can be retracted into the interior of the sliding base, so that the sliding base can slide freely on the card slot type guide rail.

8. The binding structure connection device for a wearable robot according to claim 1, characterized in that: When the locking lever is moved to the locking position, it can block the contraction movement of the card slot locking block. At this time, the sliding base is fixed at a certain gear position of the card slot guide rail to achieve locking.

9. The binding structure connection device for a wearable robot according to claim 1, characterized in that: When the lock lever is moved to switch between the locked and unlocked states, the first half of the stroke compresses the switch reed, and the second half of the stroke, under the elastic force of the switch reed, helps the lock lever slide into place.

10. The binding structure connection device for a wearable robot according to claim 1, characterized in that: The base cover plate is fixedly connected to the sliding sleeve via screws.

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