Explosion-proof joint assembly and exoskeleton robot

Abstract

The invention provides a novel explosion-proof joint assembly, and aims to improve the safety and reliability of exoskeleton equipment. Internal pressure is kept higher than the outside through the pressure air bag, and the positive pressure effect is achieved. And electric isolation between the whole body and the outside is ensured through wireless communication and wireless downloading. Through modularization, the explosion-proof exoskeleton is quickly formed. Safe operation of equipment is ensured through explosion-proof design and electrical isolation, the maintenance cost is reduced through modular design, the flexibility and reliability of the system are improved through wireless charging and transmission, the portability and durability of the equipment are improved through high-performance materials, and the functions of real-time monitoring and the like are provided through multifunctional integration.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation medicine, and in particular to an explosion-proof joint assembly and an exoskeleton robot. Background Art

[0002] With the advancement of science and technology and the development of society, exoskeleton technology, as an emerging auxiliary device, has received widespread attention and application in the fields of medical rehabilitation, industrial production and military applications. Especially in industrial environments, exoskeleton technology can help workers reduce the intensity of physical labor and improve work efficiency. It can also help patients recover their mobility faster in the field of medical rehabilitation. However, exoskeleton technology faces a series of challenges in practical applications, especially how to ensure the safety and reliability of the equipment, especially in dangerous environments with explosion risks.

[0003] Traditional exoskeleton devices are usually composed of multiple joints, which are connected together by mechanical structures to form a complete motion system. However, traditional exoskeleton designs have the following problems:

[0004] Insufficient safety: In some special working environments, such as chemical plants and mines, there is a risk of explosion. Traditional exoskeleton equipment often does not have explosion-proof functions, and once an accident occurs, it may cause serious safety accidents.

[0005] Inadequate protection of electrical components: The electrical components in exoskeleton devices are easily affected by the external environment. Especially in humid, hot or dusty environments, the electrical components may fail or short-circuit, thus affecting the overall performance of the device.

[0006] Poor connection stability: Traditional exoskeleton devices usually use simple mechanical connections at the joints, which can easily loosen after long-term use, causing the device to be unstable. Summary of the invention

[0007] In order to solve the above problems, the present invention proposes a novel explosion-proof joint assembly, which aims to improve the safety and reliability of exoskeleton robot equipment under special working conditions.

[0008] The explosion-proof joint assembly has the following features:

[0009] Explosion-proof design: By setting up a positive pressure isolation chamber inside the joint and using a pressure airbag to maintain the positive pressure state of the positive pressure isolation chamber, the external environment is effectively isolated and explosive gas is prevented from entering the interior of the equipment.

[0010] Electrical isolation: Place electrical components in a sealed positive pressure isolation chamber to isolate them from the outside world and ensure that the electrical components are not affected by the external environment.

[0011] Modular design: The upper connection part, power module part and lower connection part are designed as independent modules. Each module can be maintained and replaced separately, which reduces maintenance costs.

[0012] Wireless charging and transmission: The wireless charging module is used to power the device, avoiding the safety hazards caused by traditional wired charging. At the same time, the wireless transmission module is used to achieve wireless communication between devices, improving the flexibility and reliability of the system.

[0013] Environmental monitoring: Equipped with an environmental detection module, including a pressure sensor and a relay. When it detects that the pressure in the cavity is lower than the threshold, the power supply is automatically cut off to ensure the safe operation of the equipment.

[0014] High-performance materials: The use of high-performance materials such as carbon fiber to make the shell not only reduces the weight of the equipment, but also improves the strength and corrosion resistance of the equipment.

[0015] The specific content of the invention is:

[0016] An explosion-proof joint assembly comprises: an upper connection part, a power module part and a lower connection part, wherein the power module part is mounted on a module fixing plate arranged at the lower part of the upper connection part; cavities are arranged inside the upper connection part and the power module part, namely, a shell cavity and a joint module cavity, which are connected through a connecting hole, so that a connected positive pressure isolation cavity is formed inside the entire joint assembly; a joint module is built in the joint module cavity, and the joint module drives the lower connection part through an output end; an electric control component and a battery pack are accommodated in the shell cavity, wherein the electric control component includes a distributed controller; the explosion-proof joint assembly is provided with an external pressure airbag, which is connected to the positive pressure isolation cavity and maintains the positive pressure state of the positive pressure isolation cavity through the internal compressed gas, so that the positive pressure isolation cavity of the explosion-proof joint assembly is relatively isolated from the outside world, ensuring that the internal electrical components are in a stable working environment.

[0017] As a preferred solution, an upper connecting male head is provided at the upper end of the explosion-proof joint assembly, and a lower connecting female head is provided at the lower end. The structural design of the upper connecting male head and the lower connecting female head meets the assembly requirements, that is, the explosion-proof joint assembly can be assembled with the lower connecting female head and the upper connecting male head on the adjacent equipment through the upper connecting male head and the lower connecting female head provided by itself, so each module can be maintained and replaced separately, reducing maintenance costs.

[0018] As a preferred solution, the electronic control component also includes a wireless charging module, which charges the battery pack through a wireless charging receiver. First, it can avoid the charging hole from reducing the airtightness of the positive pressure isolation chamber. At the same time, since there is no need to plug in for charging, the electrical components of the entire explosion-proof joint assembly are not in contact with the outside world, and there are no jacks or plugs exposed. Therefore, it can effectively avoid the safety hazards of traditional wired charging under special working conditions.

[0019] As a preferred embodiment, the pressure airbag contains compressed inert gas or carbon dioxide or nitrogen or air.

[0020] As a preferred solution, a plurality of length adjustment holes are arranged on the upper connecting male head, and a plurality of length adjustment hole sockets facing the length adjustment holes are arranged on the lower connecting female head; the length adjustment holes and the length adjustment hole sockets are equally spaced along the length direction of the upper connecting male head and the lower connecting female head, respectively, and the hole spacing between the length adjustment holes and the length adjustment hole sockets is the same, so the insertion length of the upper connecting male head can be adjusted according to actual needs to meet the usage needs of different groups of people.

[0021] As a preferred solution, the electronic control component also includes an environmental monitoring module, and is equipped with a pressure sensor and a relay. When the pressure sensor detects that the pressure in the positive pressure isolation chamber is lower than a threshold value, the relay disconnects the electrical connection between the battery pack and other electronic control components to prevent the electrical components from operating in a non-positive pressure protection state, thereby avoiding accidents.

[0022] As a preferred embodiment, the joint module includes a hollow frameless motor, a reducer and a motor driver placed in the hollow part of the frameless motor, and also includes a torque sensor placed between the output end of the joint module and the module fixing plate.

[0023] As a preferred solution, the shell of the upper connecting part and the shell of the joint module of the power module part are both made of carbon fiber.

[0024] As a preferred solution, the control panel includes a wireless transmission module and a wireless debugging module; the wireless transmission module is used for wireless transmission with other electronic control components, and the transmission includes but is not limited to control instructions, status information, configuration information, log information, diagnostic information, task scheduling, sensor data, communication protocols, security information, software information, and energy management; the wireless debugging module is used for developers to interact with the target device through wireless communication, including but not limited to realizing device monitoring, configuration changes, and firmware updates.

[0025] Another object of the present invention is to provide an exoskeleton robot that can effectively prevent explosions in special environments and ensure that it is in a stable working state. The exoskeleton robot includes: a hip component, a knee component, an ankle component and a back component, wherein the back component is used for the user to wear the exoskeleton robot. The hip component and the knee component use an explosion-proof joint assembly with the above characteristics, and the back component has the lower connecting female head, the ankle component has the upper connecting male head, the upper connecting male head of the hip component is installed in conjunction with the lower connecting female head of the back component, the upper connecting male head of the knee component is installed in conjunction with the lower connecting female head of the hip component, and the lower connecting female head of the knee component is installed in conjunction with the upper connecting male head of the ankle component.

[0026] The beneficial effects of the present invention are:

[0027] 1. Significantly improve security

[0028] Explosion-proof design: By setting a pressure airbag inside the joint and using compressed gas to maintain positive pressure in the cavity, the external environment is effectively isolated to prevent explosive gas from entering the equipment, ensuring the safe operation of the equipment in an environment with explosion risks;

[0029] Electrical isolation: electrical components are placed in a sealed housing cavity and isolated from the outside world through a module fixing plate to ensure that the electrical components are not affected by the external environment and can still work normally even in humid, high temperature or dusty conditions;

[0030] Environmental monitoring: The equipped pressure sensor and relay can automatically disconnect the power supply when the pressure in the cavity is lower than the preset threshold, further enhancing the safety of the equipment and preventing safety accidents caused by low pressure.

[0031] 2. Improve reliability and maintenance convenience

[0032] Modular design: The upper connection part, power module part and lower connection part are designed as independent modules. Each module can be maintained and replaced separately, which reduces maintenance costs and simplifies troubleshooting and repair processes.

[0033] Wireless charging and transmission: The wireless charging module is used to power the device, avoiding the safety hazards of traditional wired charging; at the same time, the wireless transmission module is used to achieve wireless communication between devices, improving the flexibility and reliability of the system.

[0034] 3. Improve user experience and functionality

[0035] High-performance materials: Use high-performance materials such as carbon fiber to make the shell, reduce the weight of the device and improve strength and corrosion resistance, making the device more portable and increasing user comfort;

[0036] Multifunctional integration: The present invention integrates multiple functions such as wireless charging, wireless transmission, and environmental monitoring. It not only has basic sports assisting functions, but also can monitor the status of the device in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the overall structure of the explosion-proof joint assembly of the embodiment provided by the present invention;

[0038] Figure 2 yes Figure 1 The internal structure diagram of the explosion-proof joint assembly is shown;

[0039] Figure 3 It is a schematic diagram of the electronic control components in the explosion-proof joint assembly;

[0040] Figure 4 It is a schematic diagram of the overall structure of the exoskeleton robot according to the embodiment of the present invention.

[0041] In the figure:

[0042] 100-upper connection part,

[0043] 300-Power module department,

[0044] 500-lower connection part,

[0045] 1000 - Hip components,

[0046] 2000 - Knee parts,

[0047] 3000 - ankle parts,

[0048] 4000 - back parts,

[0049] 1- Shell,

[0050] 2-Inner cavity of the shell,

[0051] 3- Shell connection fastening position,

[0052] 4- Wireless charging station,

[0053] 5-Upper connection male connector,

[0054] 6-Adjust the length of the hole,

[0055] 7-Module fixing plate,

[0056] 8-Sealing strip,

[0057] 9-Connecting hole,

[0058] 10-Control panel,

[0059] 11-Battery pack,

[0060] 12-Wireless charging receiver,

[0061] 13-Isolation layer,

[0062] 20-pressure airbag,

[0063] 31-Joint module housing,

[0064] 32-joint module,

[0065] 33-Inner cavity of joint module,

[0066] 51-Module output connection board,

[0067] 52 - connection end,

[0068] 53 Connect the female connector,

[0069] 54-Adjust the length of the hole socket. DETAILED DESCRIPTION

[0070] Figure 1 The explosion-proof joint assembly provided by the present invention comprises: an upper connecting part (100), a power module part (300) and a lower connecting part (500). The power module part (300) is installed on a module fixing plate (7) arranged at the lower part of the upper connecting part (100); the upper connecting part (100) and the power module part (300) respectively have a shell (1) and a joint module shell (31) made of carbon fiber material, wherein the shell (1) is a structure composed of two symmetrical half shells assembled from Figure 2 It can be seen that symmetrically fitting shell connection fastening positions (3) are provided at the edges of the two half shells and are fixedly installed by fixing bolts. After assembly, a shell cavity 2 is formed in the shell (1). In order to ensure the airtightness of the joint of the half shells, a sealing strip 8 is provided at the joint of the two half shells.

[0071] The joint module housing (31) is a shell-like structure with an open left end face, and the interior thereof is a joint module inner cavity 33. A module fixing plate 7 is fixedly installed on the left side face of the joint module housing (31). The module fixing plate 7 not only seals the joint module inner cavity 33, but also plays a role in fixing the entire power module part (300) on the upper connecting part (100). Figure 1 and Figure 2 In the structure shown, the module fixing plate 7 extends downward from the lower part of the housing (1), and the joint module housing (31) is fixedly mounted on the right side of the module fixing plate 7. Therefore, the module fixing plate 7 blocks the open opening on the left end face of the joint module housing (31), so that the joint module inner cavity 33 also becomes a closed space. Figure 2 It can be seen that the shell cavity 2 and the joint module cavity 33 are connected through the connecting hole 9 at the bottom of the shell (1), ensuring the pressure balance and gas circulation between the two cavities, so that the shell cavity 2 and the joint module cavity 33 become a connected positive pressure isolation cavity; in order to further improve the isolation effect of the positive pressure isolation cavity, an isolation layer (13) is set on the inner wall of the entire positive pressure isolation cavity, and the isolation layer is selected from an insulating material.

[0072] Regarding the positive pressure isolation chamber, an external high-pressure gas source is required to supply gas thereto. In this embodiment, a pressure air bag 20 filled with high-pressure air (or one or a mixture of inert gas, carbon dioxide and nitrogen) is used as the high-pressure gas source. Figure 1 and 2, the bottle mouth of the pressure airbag 20 is installed at the air port set on the joint module shell (31), so the gas in the pressure airbag 20 enters the positive pressure isolation chamber, so that the positive pressure isolation chamber maintains a positive pressure state, so that the positive pressure isolation chamber of the explosion-proof joint assembly is relatively isolated from the outside world, ensuring that the internal electrical components are in a stable working environment. In a general explosion environment, the use of compressed air is sufficient to meet the explosion-proof requirements; regarding the amount of gas or pressure stored in the pressure airbag (20), an explosion-proof carbon fiber bottle with a volume of 0.42L can be used. The volume of the airbag with a working pressure of 30Mpa when released to normal pressure (1atm) is about 119 liters (L). The above capacity has taken into account the situation that the entire cavity will slowly leak gas due to various reasons, which is sufficient to maintain the pressure inside the cavity for a period of time. Calculated based on the total endurance of the entire explosion-proof joint assembly of 3H, the pressure airbag (20) of the above capacity is sufficient to maintain the positive pressure state in the positive pressure isolation wall within the endurance range.

[0073] The positive pressure isolation chamber is used to install all electrical components, wherein the joint module inner cavity 33 is used to install the joint module 32, the joint module 32 includes a hollow frameless motor, a reducer placed in the hollow part of the frameless motor, and a motor driver. The joint module 32 installed in the joint module inner cavity 33 is isolated from the outside world under the action of the module fixing plate 7, ensuring that the electrical components are not affected by the external environment, so that they can still work normally even under humid, high temperature or dusty conditions; the output end of the joint module 32 passes through the module fixing plate 7 and is in sealing contact with the module fixing plate 7, and then connects the module output connecting plate (51), the module output connecting plate (51) is fixedly connected to the lower connecting part (500), so that the joint module 32 can drive the lower connecting part (500) to deflect. In addition, a torque sensor is arranged between the output end of the joint module (32) and the module fixing plate (7).

[0074] The inner cavity 2 of the housing is used to install the electronic control components and the battery pack (11) and other key components, such as Figure 3 As shown, the electric control components include a distributed controller and a control panel (10). The inner cavity 2 of the housing can be disassembled to facilitate the installation of various components, and the sealing strip (8) ensures that the components are isolated from the outside world after installation, ensuring the relative isolation of the internal components from the external environment.

[0075] Regarding the electrical components in the body cavity 2:

[0076] First, the present embodiment adopts wireless charging technology, and the electric control components used include a wireless charging module, which charges the battery pack (11) through a wireless charging receiver (12), and a power control module is set on the control panel (10). For the explosion-proof joint assembly, the built-in wireless charging module can first avoid the setting of the charging hole (wired charging requires a charging hole) to reduce the airtightness of the positive pressure isolation chamber. At the same time, since there is no need to plug in for charging, the electrical components of the entire explosion-proof joint assembly are not in contact with the outside world, and there are no jacks or plugs exposed. Its significance to the actual situation is that it can avoid the danger of charging with wire connectors in explosive and dangerous environments, or the larger volume caused by using explosion-proof wire connectors, so it can effectively avoid the safety hazards of traditional wired charging under special working conditions. And Figure 2 It can be seen that a recessed wireless charging position (4) is provided on the outer surface of the housing 1 at a position directly opposite to the wireless charging receiver (12), so as to facilitate the placement and identification of the wireless charging transmitter.

[0077] Secondly, this embodiment adopts internal environment monitoring technology, such as Figure 3 As shown, the control panel (10) is provided with an environmental monitoring module and is equipped with electronic control components including a pressure sensor and a relay. When the pressure sensor detects that the pressure in the positive pressure isolation chamber is lower than a preset threshold, the relay automatically disconnects the electrical connection between the battery and other electronic control components, cutting off the risk of explosion, thereby further providing protection for the explosion-proof design.

[0078] In addition, if Figure 3 As shown, the control panel (10) used also includes a wireless transmission module and a wireless debugging module; wherein the wireless transmission module is used to perform wireless transmission with other electronic control components, and the transmission includes but is not limited to control instructions, status information, configuration information, log information, diagnostic information, task scheduling, sensor data, communication protocols, security information, software information, and energy management;

[0079] The wireless debugging module is used for developers to interact with the target device through wireless communication, including but not limited to monitoring the device, changing configurations, and updating firmware.

[0080] For the explosion-proof joint assembly with the above structure, this embodiment shows its modular assembly structure. Figure 2It can be seen that both ends of the explosion-proof joint assembly have a quick-install structure. Specifically, an upper connecting male head (5) is arranged at the upper end of the upper connecting part, and a lower connecting female head (53) is arranged at the lower end of the lower connecting part, wherein the upper connecting male head (5) can be inserted into the socket of the lower connecting female head (53) to meet the assembly requirements of the lower connecting female head (53) and the adjacent upper connecting male head (5). At the same time, the upper connecting male head (5) is provided with a plurality of length adjustment holes (6), and the lower connecting female head (53) is provided with a plurality of length adjustment hole sockets (54) facing the length adjustment holes (6). The length adjustment holes (6) and the length adjustment hole sockets (54) are respectively distributed at equal intervals along the length direction of the upper connecting male head (5) and the lower connecting female head (53), and the hole spacing of the length adjustment holes (6) and the length adjustment hole sockets (54) is the same, so the insertion length of the upper connecting male head (5) can be adjusted according to actual needs, and then a latch mechanism is used to penetrate the facing length adjustment holes (6) and the length adjustment hole sockets (54), so as to achieve size adjustment. This design can not only achieve rapid assembly, but also allow for individual maintenance and replacement of each module, which can effectively reduce maintenance costs.

[0081] Based on the above content, the explosion-proof joint assembly uses high-performance materials such as carbon fiber to make the shell. As a wearable device component, lightweight is an important reference indicator to ensure battery life, wearing comfort, etc. Carbon fiber is not only light in weight, but also has high structural strength and insulation properties, which can perfectly match the explosion-proof application scenarios of the present invention. On this basis, by setting a positive pressure isolation chamber inside the joint and using a pressure airbag to maintain the positive pressure state of the positive pressure isolation chamber, the external environment is effectively isolated, explosive gas is prevented from entering the interior of the equipment, and a safe and stable working environment is provided for the built-in electrical components, thereby effectively avoiding the influence of special working conditions on the explosion-proof joint assembly; at the same time, the built-in environmental monitoring module automatically cuts off the power supply when it detects that the pressure in the positive pressure isolation chamber is lower than the threshold, ensuring that the equipment stops working in time to avoid dangerous accidents; in addition, the explosion-proof joint assembly powers the device through a wireless charging module, avoiding the safety hazards brought by traditional wired charging. The wireless transmission module used can realize wireless communication between devices, improving the flexibility and reliability of the system; finally, the explosion-proof joint assembly of the above structure can be used for various moving joints of the exoskeleton. It adopts a modular design, and the upper connection part, the power module part and the lower connection part are designed as independent modules. Each module can be maintained and replaced separately, reducing maintenance costs and simplifying troubleshooting and repair processes.

[0082] The explosion-proof joint assembly of the above characteristics ensures that the explosion-proof joint assembly of the present invention is self-contained and does not require any direct hardware electrical connection with other control components, which facilitates distributed control and is controlled by the main control part. Based on the above characteristics, this embodiment also provides an exoskeleton robot using this explosion-proof joint assembly, such as Figure 4As shown, the exoskeleton robot comprises: a hip component (1000), a knee component (2000), an ankle component (3000) and a back component (4000), wherein the back component (4000) is used for a user to wear the exoskeleton robot. The hip component (1000) and the knee component (2000) use the explosion-proof joint assembly with the above-mentioned characteristics, and the back component (4000) has the lower connecting female head (53), and the ankle component (3000) has the upper connecting male head (5). The upper connecting male head (5) of the hip component (1000) is installed in cooperation with the lower connecting female head (53) of the back component (4000), the upper connecting male head (5) of the knee component (2000) is installed in cooperation with the lower connecting female head (53) of the hip component (1000), and the lower connecting female head (53) of the knee component (2000) is installed in cooperation with the upper connecting male head (5) of the ankle component (3000). In the above-mentioned exoskeleton robot, both the hip component (1000) and the knee component (2000) are provided with a pressure airbag (20). According to actual needs, a manual or program-controlled switch is usually provided at the port position of the pressure airbag (20) to control the speed of releasing gas into the cavity. If it is a program-controlled switch, it is controlled by the main control unit according to the pressure sensing data of the cavity internal pressure.

[0083] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An explosion-proof joint assembly, comprising: An upper connecting portion (100), A power module unit (300), The lower connecting part (500), wherein the power module part (300) is fixedly mounted on a module fixing plate (7) arranged at the lower part of the upper connecting part (100), is characterized in that: The upper connecting part (100) and the power module part (300) respectively have a shell (1) and a joint module shell (31), and the two shells are respectively provided with a shell inner cavity (2) and a joint module inner cavity (33), and the two inner cavities are connected through a connecting hole (9), so that a sealed positive pressure isolation cavity is formed in the structure composed of the shell (1) and the joint module shell (31); The joint module inner cavity (33) accommodates the joint module (32), and the joint module (32) drives the lower connection part (500) via the output end; The housing inner cavity (2) contains an electric control component and a battery pack (11), wherein the electric control component includes a distributed controller and a control panel (10); The joint assembly further comprises a pressure airbag (20), which is connected to the positive pressure isolation chamber and maintains the positive pressure state of the positive pressure isolation chamber through the compressed gas inside the pressure airbag (20).

2. The explosion-proof joint assembly according to claim 1, characterized in that: An upper connecting male connector (5) is provided at one end of the upper connecting portion (100) away from the power module portion (300). A lower connecting female connector (53) is provided at one end of the lower connecting portion (500) away from the power module portion (300). The structural design of the upper connecting male head (5) and the lower connecting female head (53) meets the requirements of assembling the two.

3. The explosion-proof joint assembly according to claim 1, characterized in that: The electric control component also includes a wireless charging module for charging the battery pack (11), and the wireless charging module includes a wireless charging receiver (12).

4. The explosion-proof joint assembly according to claim 1, characterized in that: The pressure airbag (20) contains compressed inert gas or carbon dioxide or nitrogen or air.

5. The explosion-proof joint assembly according to claim 2, characterized in that: The upper connecting male head (5) is provided with a plurality of length-adjusting holes (6). The lower connecting female head (53) is provided with a plurality of length adjustment hole sockets (54) directly facing the length adjustment holes (6); The length-adjusting holes (6) and the length-adjusting hole sockets (54) are respectively distributed at equal intervals along the length direction of the upper connecting male head (5) and the lower connecting female head (53), and the hole spacings of the length-adjusting holes (6) and the length-adjusting hole sockets (54) are the same.

6. The explosion-proof joint assembly according to claim 1, characterized in that: The electric control component also includes an environment monitoring module and is equipped with a pressure sensor and a relay. When the pressure sensor detects that the pressure in the positive pressure isolation chamber is lower than a threshold value, the relay disconnects the electrical connection between the battery pack (11) and other electric control components.

7. The explosion-proof joint assembly according to claim 1, characterized in that: The joint module (32) comprises a hollow frameless motor, a reducer and a motor driver arranged in the hollow part of the frameless motor, and also comprises a torque sensor arranged between the output end of the joint module (32) and the module fixing plate (7).

8. The explosion-proof joint assembly according to claim 1, characterized in that: The shell (1) of the upper connecting part (100) and the joint module shell (31) of the power module part (300) are both made of carbon fiber.

9. The explosion-proof joint assembly according to claim 1 or 8, characterized in that: The control panel (10) of the electric control component comprises a wireless transmission module and a wireless debugging module; The wireless transmission module is used for wireless transmission with other electronic control components. The wireless transmission information includes control instructions, status information, configuration information, log information, diagnostic information, task scheduling, sensor data, communication protocol, security information, software information, and energy management. The wireless debugging module is used by developers to interact with the target device through wireless communication, including device monitoring, configuration changes, and firmware updates.

10. An exoskeleton robot, comprising: Hip component (1000), Knee Parts (2000), Ankle component (3000), A back component (4000), wherein the back component (4000) is used for a user to wear the exoskeleton, characterized in that: the hip component (1000) and the knee component (2000) use the explosion-proof joint assembly with the above characteristics, and the back component (4000) has the lower connecting female head (53), and the ankle component (3000) has the upper connecting male head (5); the upper connecting male head (5) of the hip component (1000) is installed in cooperation with the lower connecting female head (53) of the back component (4000), the upper connecting male head (5) of the knee component (2000) is installed in cooperation with the lower connecting female head (53) of the hip component (1000), and the lower connecting female head (53) of the knee component (2000) is installed in cooperation with the upper connecting male head (5) of the ankle component (3000).

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