Multifunctional exoskeleton robot

Abstract

The invention discloses a multifunctional exoskeleton robot. The robot comprises a basic support; the two groups of lower limb units are used for supporting legs; the lower limb units are connected with the basic support through hip driving units, and the hip driving units are used for driving the lower limb units to rotate around a vertical shaft so as to simulate internal and external rotation actions of hip joints. And when the lower limb unit rotates around the vertical shaft, the position of the rotating shaft is always unchanged, and the rotating shaft coincides with the internal and external rotation axis of the hip joint of the human body. The hip driving unit is used for connecting the lower limb unit and driving the lower limb unit to rotate so as to simulate the internal and external rotation action of the hip joint, the hip driving unit can enable the position of a rotating shaft of the lower limb unit to be unchanged all the time when the lower limb unit rotates around a vertical shaft, and the rotating shaft always coincides with the internal and external rotation axis of the hip joint of the human body. The exoskeleton robot can adjust the lower limb postures more naturally, and it is guaranteed that the motion of the human body during steering has better stability.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a multifunctional exoskeleton robot. Background Art

[0002] According to the purpose of power transmission, power-assisted exoskeletons can be divided into two situations: the exoskeleton drives the human body to move, and the human body drives the exoskeleton to move. Due to the complexity of human movements, power-assisted exoskeletons need to achieve multi-degree-of-freedom movements at each joint when simulating human movements, resulting in a relatively complex structure of the exoskeleton power-assisted device. Interference between the various moving parts is likely to occur, affecting the normal operation of the device, and it is difficult to truly accurately simulate human movements. Summary of the invention

[0003] The purpose of the present invention is to provide a multifunctional exoskeleton robot to solve the problem that the exoskeleton robot has a complex structure and is difficult to accurately simulate human body movements.

[0004] The present invention is achieved through the following technical solutions:

[0005] Multifunctional exoskeleton robot, including:

[0006] Basic support;

[0007] Two groups of lower limb units are used to support the legs; the lower limb units are connected to the basic brackets through hip drive units respectively, and the hip drive units are used to drive the lower limb units to rotate around a vertical axis to simulate the internal and external rotation of the hip joint, and can ensure that the position of the rotation axis of the lower limb unit remains unchanged when rotating around the vertical axis and the rotation axis coincides with the axis of the internal and external rotation of the human hip joint.

[0008] In some embodiments, the hip drive unit includes a first motor and a linkage mechanism;

[0009] The connecting rod mechanism includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, wherein the first connecting rod is fixedly connected to the base support, the third connecting rod and the fourth connecting rod are hinged at their middle parts to form a scissor-fork support, the first connecting rod and the second connecting rod are hinged at one end, and the other ends thereof are respectively hinged to two scissor-fork ends of the scissor-fork support, the fifth connecting rod and the sixth connecting rod are hinged at one end, and the other ends thereof are respectively hinged to the other two scissor-fork ends of the scissor-fork support, and the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod are connected to form two parallelograms;

[0010] The lower limb unit is connected to the fifth connecting rod, and the first motor is arranged on the base support to drive the second connecting rod to rotate.

[0011] In some embodiments, the hinge shaft between the first link and the second link is arranged outside the base bracket, and the first motor is arranged at the hinge shaft position to drive the hinge shaft to rotate, so that the first motor is located outside the base bracket.

[0012] In some embodiments, the lower limb unit comprises:

[0013] Thigh bar;

[0014] A hip joint mechanism, comprising a hip joint seat connected to a hip joint drive unit and a hip joint connecting rod rotatably connected to the hip joint seat at one end, the hip joint seat being provided with a second motor for driving the hip joint connecting rod to rotate around a sagittal axis, one end of the thigh rod being rotatably connected to the other end of the hip joint connecting rod, the hip joint connecting rod being provided with a third motor for driving the thigh rod to rotate around a coronal axis;

[0015] calf bar;

[0016] A knee joint mechanism, comprising a knee joint seat connected to a thigh rod, one end of the shank rod being rotatably connected to the knee joint seat, and a fourth motor for driving the shank rod to rotate around the coronal axis is disposed on the knee joint seat;

[0017] An ankle joint mechanism, comprising an ankle joint seat connected to the calf rod and an ankle joint connecting rod rotatably connected to the ankle joint seat at one end, wherein the ankle joint seat is provided with a fifth motor for driving the ankle joint connecting rod to rotate around the coronal axis;

[0018] a foot support member, rotatably connected to the other end of the ankle joint link, wherein the ankle joint link is provided with a sixth motor for driving the foot support member to rotate around the sagittal axis;

[0019] The leg wear piece is arranged on the thigh rod, the calf rod and the foot support piece.

[0020] In some embodiments, a wheelchair mechanism is also included, including:

[0021] A wheelchair support rod hinged to one end of the hip joint connecting rod, wherein the other end of the wheelchair support rod is connected to an electric drive wheel;

[0022] A wheelchair crossbar hinged to the ankle joint seat, the other end of the wheelchair crossbar being hinged to the wheelchair support rod, the thigh rod, the shank rod, the wheelchair support rod and the wheelchair crossbar forming a four-bar linkage;

[0023] A front wheel assembly, comprising a front wheel and a height adjustment member for adjusting the height of the front wheel from the ground, wherein the height adjustment member is connected to the ankle joint seat;

[0024] and a seat mechanism that can be deployed and folded.

[0025] In some embodiments, the seat mechanism comprises:

[0026] A seat base, connected to the base support;

[0027] A seat plate mechanism, comprising a scissor assembly connected to a seat base and a seat plate assembly, wherein the scissor assembly comprises a plurality of scissor units, and hinge seats are arranged at hinge points of each scissor end of the scissor assembly and one or more scissor units located in the middle, and the seat plate assembly comprises two symmetrically arranged seat plates, wherein the seat plate units are composed of a plurality of plate members hingedly connected in sequence, and the two seat plate units are respectively connected to the hinge seats located at the scissor ends through hinge rods, and one of the hinge rods is rotatably connected to the hinge seat located at the hinge point;

[0028] The seat plate driving member is used to drive the scissor assembly to expand and fold.

[0029] In some embodiments, the basic bracket includes two bracket units, the two bracket units are connected by sliding fit at one end, and the two bracket units are fixed by a locking unit.

[0030] In some embodiments, the locking unit includes a rotating rod rotatably disposed on the bracket unit, a cam disposed on the rotating rod, and a locking member, wherein the locking member and the bracket unit are slidably matched, and when the cam rotates, the locking member can be driven to press another bracket unit.

[0031] In some embodiments, an upper limb unit connected to the base support is also included, and the upper limb unit is used to support the upper limb.

[0032] In some embodiments, the upper limb unit includes an upper limb wearable device and an upper limb adjustment unit;

[0033] The upper limb adjustment unit includes multiple groups of upper limb adjustment parts, which are connected to the basic support and the upper limb wearable parts through universal joints at both ends to support the upper limb wearable parts and adjust the posture of the upper limb wearable parts.

[0034] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0035] The present invention adopts a hip drive unit to connect the lower limb unit and drives the lower limb unit to rotate to simulate the internal and external rotation movement of the hip joint. The hip drive unit can make the rotation axis position of the lower limb unit remain unchanged when it rotates around the vertical axis, and the rotation axis always coincides with the axis of the internal and external rotation of the human hip joint, so that the exoskeleton robot can better match the actual internal and external rotation movement of the human hip joint at the hip joint position, and make the exoskeleton robot adjust the lower limb posture more naturally, so as to ensure that the movement of the human body when turning has better stability.

[0036] The hip drive unit uses an RCM remote central motion mechanism to drive the lower limb unit, which has a simple structure. By optimizing the connection structure between the hip drive unit and the basic bracket, the setting of the hip drive unit and the interference of the hip drive unit with the human body during the movement are avoided.

[0037] The exoskeleton robot can simulate a single leg in six degrees of freedom, and by optimizing the structure of the lower limb unit, each joint drive motor is directly set at the rotation center of each joint of the lower limb unit, making the overall structure of the lower limb unit simpler.

[0038] The exoskeleton robot's hip joint, knee joint and ankle joint form a serial six-degree-of-freedom structure. This serial structure can achieve alignment with the human body's axis while ensuring a true simulation of the human body's six degrees of freedom, thereby ensuring the stability and coordination of the human body's assisted movement.

[0039] By utilizing the structural characteristics of the lower limb unit, only two additional rods are needed to realize the function of a wheelchair on the exoskeleton robot, thereby realizing the versatility of the exoskeleton robot. The lower limb unit can be converted from a normal standing state to a wheelchair state with the help of the joint drive motor of the lower limb exoskeleton. While achieving multi-functions, the structural complexity of the exoskeleton robot is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 This is a reference diagram for the human body position.

[0042] Figure 2 Schematic diagram of the standing posture structure of the multifunctional exoskeleton robot in an embodiment of the present invention.

[0043] Figure 3 This is a schematic diagram of the structure of the lower limb unit of the multifunctional exoskeleton robot in the external rotation state in an embodiment of the present invention.

[0044] Figure 4 This is a schematic diagram of the structure of the lower limb unit of the multifunctional exoskeleton robot in the internal rotation state in an embodiment of the present invention.

[0045] Figure 5 Schematic diagram of the principle of the linkage mechanism of the multifunctional exoskeleton robot in an embodiment of the present invention.

[0046] Figure 6Schematic diagram of the structure of the lower limb unit of the multifunctional exoskeleton robot in an embodiment of the present invention.

[0047] Figure 7 This is a schematic diagram of the posture structure of the multifunctional exoskeleton robot wheelchair in an embodiment of the present invention.

[0048] Figure 8 This is a front view of the posture structure of the multifunctional exoskeleton robot wheelchair in an embodiment of the present invention.

[0049] Fig. 9 Schematic diagram of the basic support structure of the multifunctional exoskeleton robot in an embodiment of the present invention.

[0050] Fig.10 for Fig. 9 Partial schematic diagram at point A in the middle.

[0051] Fig.11 Schematic diagram of the structure of the seat plate mechanism of the multifunctional exoskeleton robot in the expanded state in an embodiment of the present invention.

[0052] Fig.12 Schematic diagram of the folded state structure of the seat plate mechanism of the multifunctional exoskeleton robot in an embodiment of the present invention.

[0053] Fig.13 Schematic diagram of the structure of the upper limb unit of the multifunctional exoskeleton robot in an embodiment of the present invention.

[0054] in:

[0055] 10. base bracket, 11. bracket unit, 101. rotating rod, 102. cam, 103. locking member;

[0056] 20. lower limb unit, 21. second motor, 22. third motor, 23. fourth motor, 24. fifth motor, 25. sixth motor, 201. thigh rod, 202. hip joint seat, 203. hip joint connecting rod, 204. calf rod, 205. knee joint seat, 206. ankle joint seat, 207. ankle joint connecting rod, 208. foot support, 209. leg wearable component;

[0057] 30. Hip drive unit, 31. First motor, 301. First connecting rod, 302. Second connecting rod, 303. Third connecting rod, 304. Fourth connecting rod, 305. Fifth connecting rod, 306. Sixth connecting rod, 307. Rotation center;

[0058] 401, wheelchair support rod, 402, electric drive wheel, 403, wheelchair crossbar, 404, front wheel, 405, height adjustment member;

[0059] 50. seat mechanism, 51. seat base, 511. slideway, 501. scissor assembly, 502. hinged seat, 503. plate, 504. hinged rod, 505. seat plate driving member;

[0060] 60. Upper limb unit, 61. Upper limb wearable part, 611. Chain plate, 612. Fixed connecting part, 613. Scissor adjustment part, 62. Upper limb adjustment part, 63. Universal joint. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0062] The directional noun terms used in the description of the structure in the embodiments of the present invention are defined in accordance with the definition in the "Anthropometric Terminology". Figure 1 The "coronal plane" is the plane passing through the vertical axis and the horizontal axis and all planes parallel to them. These planes divide the human body into the front and back parts; the "sagittal plane" is the section plane that divides the human body into the left and right parts and the planes parallel to them. The "coronal axis" is the axis in the coronal plane parallel to the horizontal plane; the "sagittal axis" is the axis in the sagittal plane parallel to the horizontal plane, and the "vertical axis" is the axis perpendicular to the horizontal plane.

[0063] The multifunctional exoskeleton robot provided in the present invention can assist people in walking, support the upper limbs and adjust the upper limb posture, and can switch to a wheelchair state to meet the needs of different functions.

[0064] Reference Figure 2 , Figure 3 and Figure 4 In some embodiments of the present invention, the multifunctional exoskeleton robot comprises:

[0065] Basic support 10;

[0066] Two sets of lower limb units 20 for supporting the legs;

[0067] The lower limb unit 20 is connected to the base support 10 through a hip drive unit 30. The hip drive unit 30 is used to drive the lower limb unit to rotate around a vertical axis to simulate the internal and external rotation of the hip joint, and can ensure that the position of the rotation axis of the lower limb unit remains unchanged when rotating around the vertical axis and that the rotation axis coincides with the axis of internal and external rotation of the human hip joint.

[0068] The human hip joint can usually achieve three degrees of freedom of movement, namely internal and external rotation of the hip, left and right adduction and extension of the hip, and forward and backward flexion and extension of the hip.

[0069] When existing exoskeleton robots achieve internal and external rotation of the hip joint, they usually directly drive the lower limb unit to rotate around its own axis. At this time, the rotation axis of the lower limb unit obviously does not coincide with the internal and external rotation axis of the human hip joint, resulting in difficulty in achieving accurate control of the internal and external rotation of the human hip joint when controlling the lower limb walking and turning, making the human walking and turning movement unnatural, the steering movement is not stable, and the difficulty of steering control is increased.

[0070] The hip driving unit used in the embodiment of the present invention enables the lower limb unit to rotate around a fixed axis when driving the lower limb unit to rotate, and makes the fixed axis coincide with the axis of the internal and external rotation of the human hip joint. Since the hip driving unit can rotate the lower limb unit around the axis of the internal and external rotation of the hip joint when driving the lower limb unit to rotate, a more realistic simulation of the internal and external rotation movement of the hip joint can be achieved, the control of the human walking steering movement is more accurate, and the steering stability is better.

[0071] In some embodiments, the hip drive unit 30 includes a first motor 31 and a linkage mechanism;

[0072] The connecting rod mechanism includes a first connecting rod 301, a second connecting rod 302, a third connecting rod 303, a fourth connecting rod 304, a fifth connecting rod 305 and a sixth connecting rod 306. The first connecting rod 301 is fixedly connected to the base support 10, the third connecting rod 303 and the fourth connecting rod 304 are hinged in the middle to form a scissors-fork support, the first connecting rod 301 and the second connecting rod 302 are hinged at one end, and the other ends of the first connecting rod 301 and the second connecting rod 302 are respectively hinged to the two scissors-fork ends of the scissors-fork support, the fifth connecting rod 305 and the sixth connecting rod 306 are hinged at one end, and the other ends of the fifth connecting rod 305 and the sixth connecting rod 306 are respectively hinged to the other two scissors-fork ends of the scissors-fork support, and the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod are connected to form two parallelograms.

[0073] The lower limb unit 20 is connected to the fifth connecting rod 305 , and the first motor 31 is disposed on the base support 10 to drive the second connecting rod 301 to rotate.

[0074] Reference Figure 3 , Figure 4 and Figure 5 The first link, the second link, the third link, the fourth link, the fifth link and the sixth link form an RCM (remote center motion) remote center motion mechanism. The movement characteristic of this mechanism is that the fifth link always rotates around a fixed rotation center 307 during the movement process. In this way, when the lower limb unit is fixedly connected to the fifth link, the lower limb unit can be driven to rotate around a fixed rotation center through the connecting rod mechanism. Through the design of the connecting rod mechanism, the rotation center can coincide with the rotation center of the internal and external rotation of the human hip joint.

[0075] In some embodiments, the hinge shaft between the first connecting rod 301 and the second connecting rod 302 is arranged outside the base support 10, and the first motor 31 is arranged at the hinge shaft position to drive the hinge shaft to rotate, so that the first motor 31 is located outside the base support. This arrangement can reduce the interference between the connecting rod mechanism and the human body during the operation process, and the first motor is arranged outside the base support to avoid interference between the setting of the first motor and the human body.

[0076] In some embodiments, reference Figure 6 , the lower limb unit 20 comprises:

[0077] Thigh rod 201;

[0078] The hip joint mechanism comprises a hip joint seat 202 connected to the hip joint drive unit and a hip joint connecting rod 203 rotatably connected to the hip joint seat at one end, a second motor 21 for driving the hip joint connecting rod to rotate around a sagittal axis is arranged on the hip joint seat 202, one end of a thigh rod 201 is rotatably connected to the other end of the hip joint connecting rod 203, and a third motor 22 for driving the thigh rod to rotate around a coronal axis is arranged on the hip joint connecting rod 203; in this embodiment, the hip joint seat 202 is connected to a fifth connecting rod 305;

[0079] The shank bar 204;

[0080] The knee joint mechanism comprises a knee joint seat 205 connected to the thigh rod, one end of the shank rod 204 is rotatably connected to the knee joint seat 205, and a fourth motor 23 for driving the shank rod to rotate around the coronal axis is arranged on the knee joint seat 205;

[0081] An ankle joint mechanism, comprising an ankle joint seat 206 connected to the calf rod and an ankle joint connecting rod 207 rotatably connected to the ankle joint seat at one end, and a fifth motor 24 for driving the ankle joint connecting rod to rotate around the coronal axis is arranged on the ankle joint seat 206;

[0082] A foot support 208, the foot support 208 is rotatably connected to the other end of the ankle joint link 207, and the ankle joint link 207 is provided with a sixth motor 25 for driving the foot support to rotate around the sagittal axis;

[0083] The leg wear member 209 is respectively arranged on the thigh bar 201, the calf bar 204 and the foot support member 208.

[0084] The hip joint mechanism can realize the left and right extension and flexion and extension of the hip, and the hip drive unit drives the internal and external rotation of the lower limb unit, which can realize the simulation of the three degrees of freedom of the hip joint. The knee joint mechanism can realize the front and back flexion and extension of the knee, and the ankle joint mechanism can realize the left and right extension and flexion and extension of the ankle.

[0085] Therefore, based on the setting of the lower limb unit structure and the cooperation with the hip drive unit, six-degree-of-freedom movement of a single leg can be achieved.

[0086] The knee joint seat and the thigh rod, and the ankle joint seat and the calf rod are connected by an adjustable structure, that is, the length of the lower limb unit corresponding to the thigh and calf can be adjusted to adjust the knee joint seat and the ankle joint seat to the corresponding position of the human body joint to adapt to different users.

[0087] The adjustment structure between the knee joint seat and the thigh rod, and between the ankle joint seat and the calf rod can adopt the existing marble button type structure.

[0088] The leg wearable component 209 is used to connect the lower limb unit to the leg. The leg wearable component adopts a rigid-flexible hybrid structure, with an arc-shaped steel plate on the inside and a flexible strap on the outside to bind and connect the legs.

[0089] In some embodiments, the multifunctional exoskeleton robot further includes a wheelchair mechanism. Figure 7 and Figure 8 , wheelchair organizations include:

[0090] A wheelchair support rod 401 is hinged to one end of the hip joint connecting rod, and the other end of the wheelchair support rod 401 is connected to an electric driving wheel 402;

[0091] A wheelchair crossbar 403 is hinged to the ankle joint seat, and the other end of the wheelchair crossbar 403 is hinged to the wheelchair support rod 401. The thigh rod 201, the shank rod 204, the wheelchair support rod 401 and the wheelchair crossbar 403 form a four-bar linkage;

[0092] The front wheel assembly includes a front wheel 404 and a height adjustment member 405 for adjusting the height of the front wheel from the ground, wherein the height adjustment member 405 is connected to the ankle joint seat 206; in this embodiment, the height adjustment member 405 may be an electric cylinder;

[0093] and a seat mechanism 50 capable of being deployed and folded.

[0094] When the multifunctional exoskeleton robot switches from a standing state to a wheelchair state, the third motor drives the thigh rod to rotate, and the fourth motor drives the calf rod to rotate until the electric drive wheel contacts the ground, and at the same time, the height adjustment member controls the front wheel to extend and support it on the ground. In this process, the seat mechanism is controlled to unfold to form a wheelchair seat, and the multifunctional exoskeleton robot can now realize the function of an electric wheelchair.

[0095] In some embodiments, reference Fig.11 and Fig.12 , the seat mechanism 50 comprises:

[0096] A seat base 51 connected to the base support 10;

[0097] The seat plate mechanism includes a scissor assembly and a seat plate assembly connected to a seat base 51. In this embodiment, the scissor assembly includes three groups of scissor units. A hinge seat 502 is provided at each scissor end of the scissor assembly and at a hinge point of a group of scissor units located in the middle. The seat plate assembly includes two groups of symmetrically arranged seat plate units. The seat plate units are composed of a plurality of plate members 503 hingedly connected in sequence. The two groups of seat plate units are respectively connected to the hinge seats 502 located at the scissor ends through hinge rods 504, and one of the hinge rods 504 is rotatably connected to the hinge seat 502 located at the hinge point.

[0098] The seat plate driving member 505 is used to drive the scissor assembly to expand and collapse.

[0099] Reference Fig.11 As shown, two groups of seat plate units are symmetrically arranged on both sides of the scissors assembly relative to the hinge seats located on the hinge points, and each seat plate unit is composed of 10 right-angled triangular plates 503. Two plates 503 are a group of isosceles triangles hingedly connected by right-angled sides, and two adjacent isosceles triangles are hingedly connected by hypotenuses, which are connected in sequence to form a foldable structure.

[0100] The two ends of the hinged rod are rotatably connected to two hinged seats located on the same scissor support rod. At this time, the hinged rod is respectively connected to one plate member in the two sets of seat plate units and is used as a hinge axis of the two plates.

[0101] Reference Fig.11 and Fig.12 , among the two articulated seats 502 on the two scissor ends of a set of scissor fork units connected to the seat base 51, one articulated seat 502 is rotatably connected to the seat base 51, and the other articulated seat 502 is slidably connected to the seat base 51 and can rotate along its own axis. The seat plate driving member 505 is used to drive the articulated seat to move along the slide groove 511 on the seat base 51. When the articulated seat is driven to move, the scissor assembly can be unfolded and folded, thereby realizing the unfolding and folding of the seat plate assembly. In this embodiment, the seat plate driving member 505 can be an electric cylinder.

[0102] In some embodiments, reference Fig. 9 The basic support 10 includes two support units 11, which are connected by sliding fit at one end and fixed by a locking unit. The basic support is set as an adjustable connection structure, which can adapt to the leg spacing and hip joint width of different users.

[0103] Reference Fig.10The locking unit includes a rotating rod 101 rotatably arranged on the bracket unit 11, a cam 102 and a locking piece 103 arranged on the rotating rod. The locking piece 103 and the bracket unit 11 are slidably matched. When the cam rotates, the locking piece 103 can be driven to press the other bracket unit 11. In the locked state, when the cam rotates in the opposite direction, the bracket units can be unlocked, and the basic bracket is easy to adjust.

[0104] In some embodiments, the multifunctional exoskeleton robot further includes an upper limb unit 60 connected to the base support, and the upper limb unit is used to support the upper limbs.

[0105] Reference Fig.13 , the upper limb unit includes an upper limb wearable component 61 and an upper limb adjustment unit;

[0106] The upper limb adjustment unit includes multiple groups of upper limb adjustment parts 62, which are connected to the basic support 10 and the upper limb wearable parts 61 at both ends through universal joints to support the upper limb wearable parts and adjust the posture of the upper limb wearable parts.

[0107] The upper limb wearable piece can adopt a ring structure adapted to the upper limb, which can cover the upper limb and thus form a good connection with the upper limb. The upper limb wearable piece can be set to a structure that is easy to wear and can adjust the size of the circumferential dimension. The outer layer of the upper limb wearable piece can adopt a rigid structural part, and the inner layer can adopt a flexible material to ensure wearing comfort.

[0108] like Fig.13 As shown, the upper limb wearable component is composed of a chain plate 611, a fixed connecting component 612 and a scissor-type adjusting component 613, which are connected by bolts. The scissor-type adjusting component 613 is used to adjust the tightness of the upper limb wearable component, and cooperates with the arc-shaped connecting rod structure of the chain plate 611 to form a good fit with the human body.

[0109] The upper limb adjustment unit may, for example, use three upper limb adjustment members, two of which are arranged on both sides of the waist, and another upper limb adjustment member is arranged at a position corresponding to the back. By driving the upper limb wearable member with the upper limb adjustment member and cooperating with the connection method of the universal joint 63, the upper limb posture can be flexibly adjusted to achieve the effect of upper limb self-balancing.

[0110] The upper limb adjustment member adopts an electric push rod to assist the movement of the upper limb in all directions. The upper limb adjustment member 62 and the universal joints 63 at both ends form a UPU branch chain structure. The three groups of UPU branch chain structures together constitute an upper limb adjustment unit to achieve the adjustment of the upper limb posture.

[0111] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. used to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship commonly placed when the product of the invention is used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0112] In addition, if the terms "horizontal" or "vertical" appear in the description of the present invention, it does not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0113] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood in combination with specific circumstances.

[0114] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A multifunctional exoskeleton robot, characterized in that: include: Basic support; Two groups of lower limb units are used to support the legs; the lower limb units are connected to the basic brackets through hip drive units respectively, and the hip drive units are used to drive the lower limb units to rotate around a vertical axis to simulate the internal and external rotation of the hip joint, and can ensure that the position of the rotation axis of the lower limb unit remains unchanged when rotating around the vertical axis and the rotation axis coincides with the axis of the internal and external rotation of the human hip joint.

2. The multifunctional exoskeleton robot according to claim 1, characterized in that: The hip drive unit includes a first motor and a connecting rod mechanism; The connecting rod mechanism includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, wherein the first connecting rod is fixedly connected to the base support, the third connecting rod and the fourth connecting rod are hinged at their middle parts to form a scissor-fork support, the first connecting rod and the second connecting rod are hinged at one end, and the other ends thereof are respectively hinged to two scissor-fork ends of the scissor-fork support, the fifth connecting rod and the sixth connecting rod are hinged at one end, and the other ends thereof are respectively hinged to the other two scissor-fork ends of the scissor-fork support, and the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod are connected to form two parallelograms; The lower limb unit is connected to the fifth connecting rod, and the first motor is arranged on the base support to drive the second connecting rod to rotate.

3. The multifunctional exoskeleton robot according to claim 2, characterized in that: The hinge shaft between the first connecting rod and the second connecting rod is arranged outside the base bracket, and the first motor is arranged at the hinge shaft position to drive the hinge shaft to rotate, so that the first motor is located outside the base bracket.

4. The multifunctional exoskeleton robot according to claim 1 or 2, characterized in that: The lower limb unit comprises: Thigh bar; A hip joint mechanism, comprising a hip joint seat connected to a hip joint drive unit and a hip joint connecting rod rotatably connected to the hip joint seat at one end, the hip joint seat being provided with a second motor for driving the hip joint connecting rod to rotate around a sagittal axis, one end of the thigh rod being rotatably connected to the other end of the hip joint connecting rod, the hip joint connecting rod being provided with a third motor for driving the thigh rod to rotate around a coronal axis; calf bar; A knee joint mechanism, comprising a knee joint seat connected to a thigh rod, one end of the shank rod being rotatably connected to the knee joint seat, and a fourth motor for driving the shank rod to rotate around the coronal axis is disposed on the knee joint seat; An ankle joint mechanism, comprising an ankle joint seat connected to the calf rod and an ankle joint connecting rod rotatably connected to the ankle joint seat at one end, wherein the ankle joint seat is provided with a fifth motor for driving the ankle joint connecting rod to rotate around the coronal axis; A foot support member is rotatably connected to the other end of the ankle joint link, and the ankle joint link is provided with a sixth motor for driving the foot support member to rotate around the sagittal axis; The leg wear piece is arranged on the thigh rod, the calf rod and the foot support piece.

5. The multifunctional exoskeleton robot according to claim 4, characterized in that: Also included are wheelchair mechanisms, including: A wheelchair support rod hinged to one end of the hip joint connecting rod, wherein the other end of the wheelchair support rod is connected to an electric drive wheel; A wheelchair crossbar hinged to the ankle joint seat, the other end of the wheelchair crossbar being hinged to the wheelchair support rod, the thigh rod, the shank rod, the wheelchair support rod and the wheelchair crossbar forming a four-bar linkage; A front wheel assembly, comprising a front wheel and a height adjustment member for adjusting the height of the front wheel from the ground, wherein the height adjustment member is connected to the ankle joint seat; and a seat mechanism that can be deployed and folded.

6. The multifunctional exoskeleton robot according to claim 5, characterized in that: The seat mechanism comprises: A seat base, connected to the base support; A seat plate mechanism, comprising a scissor assembly connected to a seat base and a seat plate assembly, wherein the scissor assembly comprises a plurality of scissor units, and hinge seats are arranged at hinge points of each scissor end of the scissor assembly and one or more scissor units located in the middle, and the seat plate assembly comprises two symmetrically arranged seat plates, wherein the seat plate units are composed of a plurality of plate members hingedly connected in sequence, and the two seat plate units are respectively connected to the hinge seats located at the scissor ends through hinge rods, and one of the hinge rods is rotatably connected to the hinge seat located at the hinge point; The seat plate driving member is used to drive the scissor assembly to expand and fold.

7. The multifunctional exoskeleton robot according to claim 1, characterized in that: The basic bracket comprises two bracket units, the two bracket units are connected by sliding fit at one end, and the two bracket units are fixed by a locking unit.

8. The multifunctional exoskeleton robot according to claim 7, characterized in that: The locking unit comprises a rotating rod rotatably arranged on the bracket unit, a cam arranged on the rotating rod and a locking piece. The locking piece is slidably matched with the bracket unit. When the cam rotates, the locking piece can be driven to press another bracket unit.

9. The multifunctional exoskeleton robot according to claim 1, characterized in that: It also includes an upper limb unit connected to the basic support, and the upper limb unit is used to support the upper limb.

10. The multifunctional exoskeleton robot according to claim 9, characterized in that: The upper limb unit includes an upper limb wearable component and an upper limb adjustment unit; The upper limb adjustment unit includes multiple groups of upper limb adjustment parts, which are connected to the basic support and the upper limb wearable parts through universal joints at both ends to support the upper limb wearable parts and adjust the posture of the upper limb wearable parts.

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