Intelligent exoskeleton robot

Abstract

The invention discloses an intelligent exoskeleton robot which comprises a binding rod assembly comprising a thigh binding rod and a shank binding rod; the supporting assembly comprises a connecting seat, a power supply unit, an elastic piece, a supporting column and a supporting seat; the supporting seat comprises a base plate, a movable plate, a permanent magnet and an electromagnet, rolling pieces protruding out of the bottom face of the movable plate are arranged on the movable plate, and the power supply unit is used for providing first current and second current for the electromagnet. According to the intelligent exoskeleton robot, the connecting base is detachably connected with the big leg binding rod, the binding rod assembly and the supporting assembly are conveniently separated, the burden of a user during walking is relieved, a power supply unit provides first current for an electromagnet, a rolling piece on a movable disc makes contact with the ground, the supporting assembly is conveniently moved, and use is convenient and fast; the supporting assembly is connected with the binding rod assembly, and the power supply unit provides second current for the electromagnet, so that the chassis is in contact with the ground, the supporting stability and the use safety are guaranteed, the shanks of the user can freely move, and the use comfort is improved.

Description

Technical Field

[0001] The present invention relates to the field of mechanical technology, and in particular to an intelligent exoskeleton robot. Background Art

[0002] An intelligent exoskeleton robot is a wearable robotic device that is worn on the outside of the human body. It is designed to enhance human physical and motor abilities. Its uniqueness lies in its close cooperation with the human body and the realization of intelligent collaboration through advanced sensing, control and information processing technologies. Therefore, it is widely used in various work and life of people. For example, on automobile assembly lines, workers often need to maintain a half-squatting posture for a long time to perform assembly and handling operations. The lower limb exoskeleton robot is equipped with a seat cushion as a buffer area for the pressure exerted by the human body on the exoskeleton, and a limiter is set at the knee joint to provide an upward support force for the wearer when squatting. This can not only reduce the damage to the knees caused by squatting for a long time, but also improve the workers' work efficiency and comfort.

[0003] In the prior art, for example, a Chinese invention patent with application number CN201910734166.9 discloses an exoskeleton mechanical device that can provide support for operators in different sitting postures under relatively narrow working conditions, avoid fatigue caused by bending or squatting for a long time, reduce the labor intensity of workers, and improve work efficiency.

[0004] However, there are many inconveniences in using the above device: first, although the seat cushion can support the human thigh and buttocks, the bottom of the supporting foot is connected to the user's heel, which means that when the user squats, the heel needs to be always close to the bottom of the supporting foot and cannot move freely. After long-term use, the user cannot freely adjust the movements of the calf and foot, which causes the body to become stiff, affecting comfort. Second, the connection strength between the bottom of the supporting foot and the ground is poor and easy to loosen. In addition, since the bottom of the supporting foot is connected to the user's heel, the supporting foot is easy to loosen with the slightest movement of the heel, which affects the supporting effect of the intelligent exoskeleton mechanical device. In severe cases, it may also cause the user's lower body to become unbalanced, and the buttocks may hit the ground and fall, affecting the device. The safety of the device is improved; thirdly, when the user wears the exoskeleton device to walk, the user's lower limbs are always bound to the exoskeleton device, which increases the walking burden of the user; fourthly, when the user wears the device with his legs straight, the gas spring and the load-bearing rod of the support part are in a separated state. Although a recessed portion is provided on the abutment block, it is beneficial to promote the docking of the gas spring and the load-bearing rod when the user adjusts the posture of the lower limbs, but the docking accuracy is poor, and each time the gas spring and the load-bearing rod switch between the docking and separation states, the wear of the two will increase, resulting in further reduction of the docking accuracy of the gas spring and the load-bearing rod after long-term and multiple uses, affecting the use effect of the exoskeleton device.

[0005] Therefore, it is necessary to improve the intelligent exoskeleton robot in the prior art. Summary of the invention

[0006] The purpose of the present invention is to overcome the defects existing in the prior art and provide an intelligent exoskeleton robot that can freely adjust the posture of the lower limbs to improve the comfort of use, ensure the stability of support and the safety of use, reduce the walking burden of the user and improve the user experience.

[0007] In order to achieve the above technical effects, the technical solution of the present invention is: an intelligent exoskeleton robot, comprising:

[0008] A tie rod assembly, the tie rod assembly comprising a thigh tie rod and a calf tie rod which are rotatably connected to each other, the thigh tie rod and the calf tie rod are used to be tied to the back of the thigh and the back of the calf of the user respectively, the relative rotation axis of the thigh tie rod and the calf tie rod is perpendicular to the length direction of the two, the tie rod assembly has at least two working positions, in the first working position, the thigh tie rod and the calf tie rod have the same length direction, in the second working position, the length direction of the thigh tie rod is perpendicular to the length direction of the calf tie rod;

[0009] A support assembly, the support assembly comprising a connection seat, a power supply unit, an elastic member, a support column and a support seat arranged in sequence from top to bottom along a vertical direction, the connection seat and the thigh tie rod are detachably rotatably connected and the relative rotation axis of the two is parallel to the rotation axis of the thigh tie rod and the calf tie rod, and the total length direction of the elastic member and the total length direction of the support column are both in the vertical direction;

[0010] The support seat includes a chassis, a movable plate sliding on the chassis in a vertical direction, a permanent magnet fixed above the movable plate, and an electromagnet arranged on the support seat and located above the permanent magnet. The movable plate is provided with a rolling member protruding from its bottom surface. The power supply unit is used to provide a first current and a second current to the electromagnet. The direction of the first current is opposite to the direction of the second current. When the first current passes through the electromagnet, the electromagnet and the permanent magnet are magnetically repelled. The bottom of the rolling member is located below the horizontal plane where the bottom surface of the chassis is located. When the second current passes through the permanent magnet, the electromagnet and the permanent magnet are magnetically attracted. The rolling member is located above the horizontal plane where the bottom surface of the chassis is located.

[0011] Preferably, in order to enable the power supply unit to automatically pass the first current or the second current to the electromagnet according to the user's lower limb posture, the power supply unit includes a power supply top plate, a power supply and a power supply bottom plate arranged in sequence from top to bottom, the power supply top plate is connected to the connecting seat, the power supply is connected to the elastic member, the power supply slides between the first power supply position and the second power supply position in a vertical direction, the bottom surface of the power supply top plate and the top surface of the power supply bottom plate are both provided with two conductive contacts, the two conductive contacts are respectively electrically connected to the two ends of the electromagnet coil, the top surface and the bottom surface of the power supply are both provided with two power supply contacts, in the first power supply position, the two power supply contacts on the bottom surface of the power supply abut against the two conductive contacts on the power supply bottom plate, in the second power supply position, the two power supply contacts on the top surface of the power supply abut against the two conductive contacts on the top surface of the power supply, and the power supply unit also includes a first compression spring for causing the power supply to move toward the first power supply position.

[0012] Preferably, in order to make the power supply move synchronously with the top of the elastic part and enable the power supply base plate to be relatively slidably connected to the top of the elastic part, the elastic part includes a second compression spring, a bottom ring arranged at the bottom end of the second compression spring and connected to the top of the support column, a top plate arranged at the top of the second compression spring, and a boss fixed above the top plate and slidingly penetrated through the inner side of the power supply base plate in a vertical direction, wherein the boss is fixedly connected to the power supply.

[0013] Preferably, in order to ensure the fixed position of the support assembly when the user is squatting and prevent displacement and sliding, the chassis includes a fixed cylinder extending in the vertical direction, the movable disk is horizontally arranged in the fixed cylinder, and the circumferential outer edge of the movable disk is sealed with the circumferential inner wall of the fixed cylinder, so that after the second current passes through the permanent magnet, the circumferential inner wall of the fixed cylinder, the movable disk and the ground form a negative pressure chamber.

[0014] Preferably, in order to facilitate the fixing of the permanent magnet on the movable disk and the movement of the movable disk in any direction, the movable disk includes an upper disk, a lower disk, a ring and an elastic sleeve, the permanent magnet, the upper disk and the lower disk are sequentially fitted and connected from top to bottom, the ring includes two annular grooves that are arranged opposite to each other and fixedly connected, the upper disk, the lower disk and the elastic sleeve are all sealed and fitted with the inner bottom walls of the two annular grooves and clamped between the inner side walls facing the two annular grooves, the elastic sleeve sealing sleeve is arranged outside the ring, the circumferential outer edge of the elastic sleeve is sealed and fitted with the circumferential inner wall of the fixed cylinder, and the rolling element is a ball that rotates between the upper disk and the lower disk and protrudes from the bottom surface of the lower disk.

[0015] Preferably, in order to further ensure the position stability of the bottom surface of the chassis when it contacts the ground, the chassis also includes an outer flange fixed to the circumferential outer edge of the bottom of the fixing tube and an anti-slip pad fixed to the bottom surface of the outer flange.

[0016] Preferably, in order to facilitate the adjustment of the support inclination angle of the thigh binding rod and ensure the safe use of the second compression spring, the support column includes a lifting unit arranged above the permanent magnet, a support plate horizontally arranged on the top of the lifting unit, and a limiting column fixed to the top surface of the support plate and extending in the vertical direction, and the projection of the limiting column on the horizontal plane intersects with the projection of the top plate on the horizontal plane.

[0017] Preferably, in order to facilitate the user to adjust the support position in a squatting state, improve comfort and make the device suitable for users with different leg lengths, a sliding seat is provided on the thigh binding rod, and the sliding seat slides on the thigh binding rod along the length direction of the thigh binding rod and is detachably and rotatably connected to the connecting seat.

[0018] Preferably, in order to achieve a detachable connection between the sliding seat and the connecting seat and facilitate the sliding cooperation between the sliding seat and the thigh binding rod, a through hole is provided on the sliding seat, and the connecting seat includes support plates respectively arranged at both ends of the through hole, and a rotating rod is passed through the support plate and the through hole, one end of the rotating rod is fixed with a limiting convex plate, and the other end is coaxially connected with a threaded rod, and the threaded rod is threadedly connected with a first nut; a strip hole extending along its length direction is provided on the thigh binding rod, and the sliding seat includes a central axis passing through the inner side of the strip hole, and a roller is provided on the outer sealing sleeve of the central axis, and the wheel surface of the roller is in contact with the inner walls on both sides of the strip hole.

[0019] Preferably, in order to facilitate the user to adjust the sitting posture when squatting and improve the comfort of use, the connecting seat is rotated above the power supply unit and the rotation axis of the connecting seat extends in the vertical direction.

[0020] To sum up, compared with the prior art, the intelligent exoskeleton robot of the present invention is detachably connected to the thigh binding rod through a connecting seat, which facilitates the separation of the binding rod assembly and the support assembly, reduces the burden on the user when walking, and the power supply unit provides a first current to the electromagnet, so that the rolling parts on the movable disk contact the ground, which facilitates the movement of the support assembly and is easy to use. When squatting, the support assembly is connected to the binding rod assembly and the power supply unit provides a second current to the electromagnet, so that the chassis contacts the ground, ensuring the stability of the support and the safety of use. The user's calves can move freely, which improves the comfort of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the first working state of the present invention;

[0022] Figure 2 yes Figure 1 A front view of

[0023] Figure 3It is a structural schematic diagram of the second working state of the present invention;

[0024] Figure 4 yes Figure 3 A front view of

[0025] Figure 5 It is a structural schematic diagram of the third working state of the present invention;

[0026] Figure 6 yes Figure 5 A front view of

[0027] Figure 7 It is a structural schematic diagram of the rod binding assembly of the present invention;

[0028] Figure 8 yes Figure 7 Explosion diagram of

[0029] Fig. 9 yes Figure 7 Schematic diagram of the explosion from another perspective;

[0030] Fig.10 yes Figure 5 The structural diagram of the middle support assembly;

[0031] Fig.11 yes Fig.10 Schematic diagram of the explosion structure;

[0032] Fig.12 yes Fig.10 A schematic diagram of the structure from another perspective;

[0033] Fig.13 yes Fig.10 The structural diagram of the connecting seat and the elastic member is omitted;

[0034] Fig.14 yes Fig.13 Schematic diagram of the explosion structure;

[0035] Fig.15 yes Fig.13 Schematic diagram of the explosion from another perspective;

[0036] Fig.16 It is a schematic diagram of the connection structure between the moving disk and the permanent magnet of the present invention;

[0037] Fig.17 yes Fig.16 Explosion diagram of

[0038] Fig.18 yes Fig.16 Schematic diagram of the explosion from another perspective;

[0039] Fig.19 yes Figure 5A schematic diagram of the cross-sectional structure of the middle support assembly;

[0040] Fig. 20 yes Fig.19 A magnified view of part A;

[0041] Fig.21 yes Fig.19 A magnified view of part B;

[0042] Fig. 22 yes Figure 1 A schematic diagram of the cross-sectional structure of the middle support assembly;

[0043] Fig.23 yes Fig. 22 Enlarged view of part C;

[0044] In the figure: 1. thigh tie rod; 11. sliding seat; 111. through hole; 112. central axis; 113. roller; 12. strip hole; 2. calf tie rod; 21. round tube; 22. bolt; 23. second nut; 3. connecting seat; 31. support plate; 32. rotating rod; 321. limiting convex plate; 322. threaded rod; 33. first nut; 34. connecting bottom plate; 35. bearing; 4. power supply unit; 41. power supply top plate; 42. power supply; 421. power supply contact; 422. side plate; 43. power supply bottom plate; 44. first compression spring; 45. conductive contact; 46. sliding rod; 47. catheter; 5. elastic member; 51. second compression spring ; 52. bottom ring; 53. top plate; 54. boss; 55. corrugated hose; 6. support column; 61. lifting unit; 611. magnetic shielding plate; 612. motor; 613. screw; 614. screw sleeve; 615. sliding sleeve; 62. support plate; 63. limiting column; 64. protective cover; 7. support seat; 71. chassis; 711. fixing cylinder; 712. outer flange; 713. inner flange; 714. anti-slip pad; 72. moving plate; 721. upper plate; 722. lower plate; 723. collar; 724. annular groove; 725. elastic sleeve; 73. permanent magnet; 74. electromagnet; 75. rolling element; 76. limiting rope; 77. guide rod. DETAILED DESCRIPTION

[0045] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and embodiments. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0046] like Figure 1-Figure 23 As shown, an intelligent exoskeleton robot of the present invention comprises:

[0047] The tie rod assembly comprises a thigh tie rod 1 and a calf tie rod 2 which are rotatably connected to each other. The thigh tie rod 1 and the calf tie rod 2 are used to be tied to the back of the thigh and the back of the calf of the user respectively. The relative rotation axis of the thigh tie rod 1 and the calf tie rod 2 is perpendicular to the length direction of the two. The tie rod assembly has at least two working positions. In the first working position, the thigh tie rod 1 and the calf tie rod 2 have the same length direction. In the second working position, the length direction of the thigh tie rod 1 is perpendicular to the length direction of the calf tie rod 2.

[0048] The support assembly includes a connection seat 3, a power supply unit 4, an elastic member 5, a support column 6 and a support seat 7 which are arranged in sequence from top to bottom along the vertical direction. The connection seat 3 is detachably rotatably connected to the thigh tie rod 1 and the relative rotation axis of the two is parallel to the rotation axis of the thigh tie rod 1 and the calf tie rod 2. The total length direction of the elastic member 5 and the total length direction of the support column 6 are both in the vertical direction;

[0049] The support base 7 includes a chassis 71, a movable disk 72 that slides on the chassis 71 in a vertical direction, a permanent magnet 73 fixed above the movable disk 72, and an electromagnet 74 arranged on the support base 7 and located above the permanent magnet 73. The movable disk 72 is provided with a rolling member 75 protruding from its bottom surface. The power supply unit 4 is used to provide a first current and a second current to the electromagnet 74. The direction of the first current is opposite to the direction of the second current. When the first current passes through the electromagnet 74, the electromagnet 74 and the permanent magnet 73 are magnetically repelled, and the bottom of the rolling member 75 is located below the horizontal plane where the bottom surface of the chassis 71 is located. When the second current passes through the permanent magnet 73, the electromagnet 74 and the permanent magnet 73 are magnetically attracted, and the rolling member 75 is located above the horizontal plane where the bottom surface of the chassis 71 is located.

[0050] This intelligent exoskeleton robot is mainly used by workers on automobile assembly lines (hereinafter referred to as "users"). When in use, one exoskeleton robot is bound to the back of each of the user's left and right legs to reduce the burden on the legs and thus improve production efficiency.

[0051] The intelligent exoskeleton robot is mainly composed of two parts: a binding rod assembly and a support assembly. The binding rod assembly is mainly composed of a thigh binding rod 1 and a calf binding rod 2. When in use, the thigh binding rod 1 and the calf binding rod 2 are respectively bound to the back of the user's thigh and the back of the calf to achieve the connection between the intelligent exoskeleton robot and the user's body. There are multiple binding methods, including but not limited to the use of straps, Velcro and the like. Since the binding technology belongs to the prior art, it will not be elaborated here.

[0052] In the support assembly, the detachable connection between the connecting seat 3 and the thigh binding rod 1 is adopted. On the one hand, the connecting seat 3 and the thigh binding rod 1 are detachable. In the separated state, the binding rod assembly and the support assembly are separated, and the user's legs are directly bound to the binding rod assembly, which reduces the burden on the user's legs and facilitates walking. The power supply unit 4 can provide a first current to the electromagnet 74, so that when the first current flows through the electromagnet 74, the electromagnet 74 generates a magnetic force that repels the permanent magnet 73, pushing the permanent magnet 73 and the moving disk 72 under the permanent magnet 73 to move downward, so that the rolling element 75 on the moving disk 72 contacts the ground, lifts the chassis 71, and facilitates the movement of the support assembly through the rolling element 75. On the other hand, the connecting seat 3 and the thigh binding rod 1 are connectable. In the connected state, such as Figure 3-Figure 6 As shown, after the user's thigh is bound to the thigh binding rod 1 and the user squats, the power supply unit 4 provides a second current to the electromagnet 74. The direction of the second current is opposite to that of the first current, so that the electromagnet 74 generates magnetism that attracts the permanent magnet 73, thereby causing the permanent magnet 73 and the movable disk 72 below the permanent magnet 73 to move upward, and the movable disk 72 and the rolling element 75 on the movable disk 72 are separated from the ground and are located on the horizontal plane where the bottom surface of the chassis 71 is located, that is, above the ground. The chassis 71 is in contact with the ground to ensure the stability of the position of the support assembly, and the user's calf can move freely without being affected by the support assembly. In this way, the stability of the support assembly is guaranteed, thereby ensuring the safety of the use of the support assembly, and the user's calf movement is convenient, avoiding the relative position of the calf and the support assembly being fixed, which leads to discomfort after long-term use and increases the burden on the legs.

[0053] In the support assembly, the elastic member 5 is arranged between the support column 6 and the power supply unit 4. The overall length direction of the elastic member 5 is the vertical direction. The elastic member 5 can generate elastic support for the thigh binding rod 1 through the power supply unit 4 and the connecting seat 3, and is convenient to deform. In this way, it is convenient for users to adjust different leg postures and adjust the thigh and calf to form different angles, such as Figure 1 and Figure 2 As shown, the thigh tie bar 1 and the calf tie bar 2 are in the same length direction, that is, the tie bar assembly is in the first position, which is convenient for the user to stand upright; Figure 3 and Figure 4 As shown, the length directions of the thigh tie bar 1 and the calf tie bar 2 are perpendicular to each other, and the thigh tie bar 1 is supported by the support assembly, which is convenient for the user to sit down, and based on this posture, the user's calf can be rotated to adjust the relative angle between the thigh and the calf, thereby improving the comfort of use; Figure 5 and Figure 6 As shown, the thigh tie rod 1 and the calf tie rod 2 enclose and form an obtuse angle, which is convenient for the user to bend his knees and engage in different types of automobile assembly work.

[0054] like Figure 7-Figure 9As shown, the thigh binding rod 1 and the calf binding rod 2 of the present invention are both straight strips, and one end of the thigh binding rod 1 and one end of the calf binding rod 2 are sealed with a round tube 21 with an axial direction perpendicular to the length direction of the two. A bolt 22 is passed through the inner side of the round tube 21, and the end of the bolt 22 is threadedly connected with a second nut 23. The cap of the bolt 22 and the second nut 23 are clamped at both ends of the round tube 21 and fit with the thigh binding rod 1 and the calf binding rod 2 respectively, thereby realizing the rotational connection between the thigh binding rod 1 and the calf binding rod 2.

[0055] A further improvement is that a sliding seat 11 is provided on the thigh binding rod 1, and the sliding seat 11 slides on the thigh binding rod 1 along the length direction of the thigh binding rod 1 and is detachably rotatably connected to the connecting seat 3; a through hole 111 is provided on the sliding seat 11, and the connecting seat 3 includes support plates 31 respectively arranged at both ends of the through hole 111, and a rotating rod 32 is penetrated in the support plate 31 and the through hole 111, and one end of the rotating rod 32 is fixed with a limiting convex plate 321, and the other end is coaxially connected with a threaded rod 322, and the threaded rod 322 is threadedly connected with a first nut 33; a strip hole 12 extending along its length direction is provided on the thigh binding rod 1, and the sliding seat 11 includes a central axis 112 penetrated inside the strip hole 12, and a roller 113 is provided on the outer sealing sleeve of the central axis 112, and the wheel surface of the roller 113 is in contact with the inner walls on both sides of the strip hole 12; the connecting seat 3 rotates above the power supply unit 4 and the rotation axis of the connecting seat 3 extends along the vertical direction.

[0056] Specifically, Fig. 9 , Fig.10 and Fig.11 As shown, the connecting seat 3 also includes a horizontal connecting base plate 34 and a bearing 35 arranged below the connecting base plate 34, the inner ring of the bearing 35 is fixedly connected to the connecting base plate 34, the outer ring of the bearing 35 is arranged above the power supply unit 4, the two support plates 31 are fixed above the connecting base plate 34 and are arranged vertically, the rotating rod 32 is sealed and penetrated through the inner side of the through hole 111 of the two support plates 31 and the sliding seat 11, and one end is integrally connected to the limiting convex plate 321, and the other end is integrally connected to the threaded rod 322 coaxially, and the threaded rod 322 is threadedly connected to the first nut 33.

[0057] After adopting the above structure:

[0058] When the user wants to move the strap 322 away from the support frame 100, the strap 322 can be easily moved by the user, thereby greatly facilitating the user's mobility. When the user wants to move the strap 322 away from the support frame 100, the strap 322 can be easily moved by the user, thereby greatly facilitating the user's mobility. When the user wants to move the strap 322 away from the support frame 100, the strap 322 can be easily moved by the user, thereby greatly facilitating the user's mobility. When the user wants to move the strap 322 away from the support frame 100, the strap 322 can be easily moved by the user, thereby greatly facilitating the user's mobility.

[0059] Secondly, the connecting base plate 34 of the connecting seat 3 is connected to the power supply unit 4 through the bearing 35, so that the tie rod assembly can rotate along the axis of the bearing 35, thereby facilitating the user's sitting posture, expanding the user's range of activities in a squatting state, and improving the comfort and convenience of use;

[0060] Thirdly, the strip hole 12 provided on the thigh tie rod 1 facilitates the relative sliding of the sliding seat 11 and the thigh tie rod 1. On the one hand, even in a squatting state, the user can move forward or backward by sliding the sliding seat 11 and the thigh tie rod 1 together to adjust the squatting position, and the roller 113 sealed on the sliding seat 11 and arranged outside the central axis 112 can roll in the strip hole 12, reducing the friction force of the sliding seat 11 when it moves relative to the thigh tie rod 1, making it more convenient to use. On the other hand, it is convenient for users with different leg lengths.

[0061] Fourthly, by sliding the sliding seat 11 on the thigh binding rod 1 and rotating the connecting seat 3 under the support of the bearing 35, it is convenient to adjust the position of the sliding seat 11 and the connecting seat 3, so that the through hole 111 is aligned with the support plate 31, which facilitates the precise docking of the rotating rod 32 with the sliding seat 11 and the support plate 31.

[0062] A further improvement is that the power supply unit 4 includes a power supply top plate 41, a power supply 42 and a power supply bottom plate 43 which are arranged in sequence from top to bottom, the power supply top plate 41 is connected to the connecting seat 3, the power supply 42 is connected to the elastic member 5, the power supply 42 slides between the first power supply position and the second power supply position along the vertical direction, the bottom surface of the power supply top plate 41 and the top surface of the power supply bottom plate 43 are both provided with two conductive contacts 45, the two conductive contacts 45 are respectively electrically connected to the two ends of the coil of the electromagnet 74, the top surface and the bottom surface of the power supply 42 are both provided with two power supply contacts 421, in the first power supply position, the two power supply contacts 421 on the bottom surface of the power supply 42 abut against the two conductive contacts 45 on the power supply bottom plate 43, in the second power supply position, the two power supply contacts 421 on the top surface of the power supply 42 abut against the two conductive contacts 45 on the power supply top surface, and the power supply unit 4 also includes a first compression spring 44 for causing the power supply 42 to move toward the first power supply position.

[0063] like Fig.11 , Fig.12 , Fig. 20 and Fig.23 As shown, in the power supply unit 4, the power supply top plate 41 and the power supply bottom plate 43 are both horizontally arranged, and the two are fixedly connected by a slide bar 46 which is distributed side by side in the horizontal direction and extends in the vertical direction. The power supply 42 is arranged between the power supply top plate 41, the power supply bottom plate 43 and the two slide bars 46. Side plates 422 are fixed on both sides of the power supply 42. The side plates 422 correspond to the slide bars 46 one by one and slide in cooperation. A conduit 47 extending downward in the vertical direction is fixed below the side plate 422. A guide rod 77 extending upward in the vertical direction and corresponding to the conduit 47 one by one and slide in cooperation is fixed above the chassis 71. In this way, it is ensured that in the power supply unit 4, the power supply 42 can slide in cooperation with the power supply bottom plate 43 and the power supply top plate 41 in a stable manner in the vertical direction, and the power supply unit 4 as a whole can slide in cooperation in the vertical direction.

[0064] The two power supply contacts 421 on the top surface and the two power supply contacts 421 on the bottom surface are respectively the positive contact and the negative contact, that is, the top surface and the bottom surface of the power supply 42 are both provided with power supply electrodes, the two power supply contacts 421 on the top surface of the power supply 42 are directly opposite to the two conductive contacts 45 on the bottom surface of the power supply top plate 41, and the two power supply contacts 421 on the bottom surface of the power supply 42 are directly opposite to the two conductive contacts 45 on the top surface of the power supply bottom plate 43; the top surface of the power supply 42 is connected to the power supply top plate 41 through the first compression spring 44, and the distance between the power supply top plate 41 and the power supply bottom plate 43 is slightly larger than the height dimension of the power supply 42; the two conductive contacts 45 on the bottom surface of the power supply top plate 41 and the two conductive contacts 45 on the top surface of the power supply bottom plate 43 are distributed in the same direction, and can be electrically connected to the two ends of the coil of the electromagnet 74 through a wire (not shown in the figure).

[0065] The distribution mode of the power supply contacts 421 on the top and bottom surfaces of the power supply 42 and the mode of electrical connection between the conductive contacts 45 and the coil of the electromagnet 74 can be any of the following two modes. For convenience of description, the two ends of the coil of the electromagnet 74 are respectively the first end and the second end. In the same direction, the two conductive contacts 45 on the power supply top plate 41 are respectively the first contact and the second contact, and the two conductive contacts 45 on the power supply bottom plate 43 are respectively the third contact and the fourth contact:

[0066] In the first type, the positive contacts and the negative contacts on both sides of the power source 42 are distributed in the same direction, the first contact and the fourth contact are both electrically connected to the first end, and the second contact and the third contact are both electrically connected to the second end;

[0067] In the second type, the positive contacts and the negative contacts on both sides of the power source 42 are distributed in opposite directions, the first contact and the third contact are both electrically connected to the first end, and the second contact and the fourth contact are both electrically connected to the second end.

[0068] On the basis of the above structure, when the tie rod assembly is separated from the support assembly or the user is not in a squatting position (i.e., Figure 1 and Figure 2 As shown in the figure, when the thigh tie rod 1 and the calf tie rod 2 are in the same length direction), due to the gravity of the power source 42 itself and the elastic force of the first compression spring 44, the power source 42 slides downward to the first power supply position. At this time, the positive pole of the power source 42, the first end of the coil of the electromagnet 74, the second end of the coil of the electromagnet 74 and the negative pole of the power source 42 are connected in sequence, and the first current passes through the coil of the electromagnet 74, so that the electromagnet 74 generates magnetism that repels the permanent magnet 73, as shown in FIG. Fig. 20 and Fig.21 As shown, in this state, the permanent magnet 73 and the movable plate 72 move downward, so that the rolling member 75 supports the ground, and the bottom plate 71 is separated from the ground, which facilitates the movement of the supporting assembly.

[0069] When the user squats, the power supply top plate 41 in the power supply unit 4 is subjected to pressure, which is applied to the power supply 42 through the first compression spring 44, and the power supply 42 is supported by the elastic member 5. The supporting force of the elastic member 5 on the power supply 42 is greater than the sum of the pressure of the first compression spring 44 on the power supply 42 and the gravity of the power supply 42, so that the power supply 42 moves upward to the second power supply position relative to the power supply top plate 41. At this time, the positive pole of the power supply 42, the second end of the coil of the electromagnet 74, the first end of the coil of the electromagnet 74 and the negative pole of the power supply 42 are connected in sequence, and the second current passes through the coil of the electromagnet 74, so that the electromagnet 74 generates magnetism that attracts the permanent magnet 73, as shown in FIG. Fig. 22 As shown, in this state, the permanent magnet 73 drives the movable plate 72 to move upward and close to the electromagnet 74, so that the rolling member 75 is separated from the ground, and the bottom plate 71 is in contact with the ground, so as to achieve stable support of the thigh binding rod 1 by the support assembly.

[0070] A further improvement is that the elastic member 5 includes a second compression spring 51, a bottom ring 52 arranged at the bottom end of the second compression spring 51 and connected to the top of the support column 6, a top plate 53 arranged at the top of the second compression spring 51, and a boss 54 fixed above the top plate 53 and slidingly penetrated through the inner side of the power supply bottom plate 43 along the vertical direction, and the boss 54 is fixedly connected to the power supply 42.

[0071] like Figure 13-Figure 15 and Fig. 20 As shown, in the present invention, the axial length of the second compression spring 51 is greater than the axial length of the first compression spring 44, ensuring that the second compression spring 51 has sufficient elastic deformation, and the stiffness coefficient of the second compression spring 51 is much greater than the stiffness coefficient of the first compression spring 44, ensuring that before the power supply contact 421 on the top surface of the power supply 42 is subjected to downward pressure and does not contact the conductive contact 45 of the power supply top plate 41, the elastic deformation of the first compression spring 44 is greater than the elastic deformation of the second compression spring 51, and making Figure 5 and Figure 6The middle thigh binding rod 1 can be rotated downward to different angles to expand the range of motion and ensure that the support component can achieve different degrees of supporting force on the user's thigh position through the thigh binding rod 1 at different knee flexion angles.

[0072] The power supply base plate 43 is in the shape of a circular ring, and its circumferential inner wall is sealed to the circumferential outer edge of the boss 54, so as to ensure that after the second compression spring 51 is elastically deformed, the boss 54 and the top plate 53 remain in a horizontal state and move in the vertical direction due to the movement of the power supply base plate 43 in the vertical direction. In addition, the annular power supply base plate 43 facilitates the connection between the top of the boss 54 and the power supply 42, thereby realizing the synchronous lifting and lowering movement of the power supply 42, the boss 54 and the top plate 53.

[0073] A corrugated hose 55 with its axial direction in the vertical direction is also provided on the outer side of the second compression spring 51. The top end of the corrugated hose 55 is fixedly connected to the top plate 53, and the bottom end and the bottom ring 52 are both connected to the top end of the support column 6. The corrugated hose 55 can perform synchronous expansion and contraction deformation with the second compression spring 51, while surrounding and protecting the second compression spring 51.

[0074] A further improvement is that the chassis 71 includes a fixed cylinder 711 extending in the vertical direction, the movable disk 72 is horizontally arranged in the fixed cylinder 711, and the circumferential outer edge of the movable disk 72 is sealedly connected to the circumferential inner wall of the fixed cylinder 711, so that after the second current passes through the permanent magnet 73, the circumferential inner wall of the fixed cylinder 711 and the movable disk 72 are enclosed with the ground to form a negative pressure chamber.

[0075] After adopting this design, when the support assembly is pressurized, the power supply unit 4 outputs a second current to the electromagnet 74, so that the electromagnet 74 generates magnetism to attract the permanent magnet 73, and the permanent magnet 73 and the movable disk 72 rise, so that the chassis 71 contacts the ground. At the same time, as the rising amplitude of the permanent magnet 73 increases, the volume of the negative pressure cavity formed by the fixed cylinder 711, the movable disk 72 and the ground increases, and negative pressure is generated in the negative pressure cavity, and the pressure gradually decreases. The difference between the external air pressure and the air pressure in the negative pressure cavity gradually increases. Through the increased pressure difference, the chassis 71 is firmly adsorbed on the ground to prevent sliding and displacement, thereby ensuring the stability of the support assembly position, preventing users from falling accidents during use, and ensuring the safety of the support assembly.

[0076] A further improvement is that the movable disk 72 includes an upper disk 721, a lower disk 722, a collar 723 and an elastic sleeve 725. The permanent magnet 73, the upper disk 721 and the lower disk 722 are sequentially fitted and connected from top to bottom. The collar 723 includes two annular grooves 724 that are arranged opposite to each other and fixedly connected. The upper disk 721, the lower disk 722 and the elastic sleeve 725 are all sealed and fitted with the inner bottom walls of the two annular grooves 724 and are clamped between the inner side walls facing the two annular grooves 724. The elastic sleeve 725 is sealedly sleeved outside the collar 723. The circumferential outer edge of the elastic sleeve 725 is sealed and fitted with the circumferential inner wall of the fixed cylinder 711. The rolling element 75 is a ball that rotates between the upper disk 721 and the lower disk 722 and protrudes from the bottom surface of the lower disk 722. The chassis 71 also includes an outer flange 712 fixed to the circumferential outer edge of the bottom of the fixed cylinder 711 and an anti-slip pad 714 fixed to the bottom surface of the outer flange 712.

[0077] Specifically, Figure 14-18 , Fig.21 As shown, the bottom circumferential outer edge of the fixed cylinder 711 is also provided with an inner flange 713, the electromagnet 74 is fixed just above the inner flange 713, and the permanent magnet 73 slides just below the inner flange 713. The inner flange 713 can prevent the electromagnet 74 and the permanent magnet 73 from colliding with each other and being damaged.

[0078] The anti-skid pad 714 is a rubber pad, so that the anti-skid pad 714 is elastic, which can ensure that the negative pressure chamber formed after the moving plate 72 and the rolling element 75 move upward to the top of the anti-skid pad 714 can be isolated from the outside world, and prevent the outside air from entering the negative pressure chamber through the gap between the chassis 71 and the ground; and the elastic sleeve 725 is a rubber sleeve, which can ensure the sealing between the sleeve ring 723 and the inner wall of the fixed cylinder 711 to prevent air leakage; the two annular grooves 724 are both semicircular grooves and are arranged opposite to each other, and the two annular grooves 724 are welded The upper plate 721, the lower plate 722 and the permanent magnet 73 are fixedly connected to each other, thereby forming a sealing ring 723 which is arranged on the circumferential outer edge of the upper plate 721, the lower plate 722 and the permanent magnet 73, and the flanges on the top and bottom surfaces of the ring 723 are the side walls of the two annular grooves 724, the side wall located at the top is sealedly connected to the edge of the top surface of the permanent magnet 73, and the side wall located at the bottom is sealedly connected to the edge of the bottom surface of the chassis 71, thereby realizing the fixed connection between the upper plate 721, the lower plate 722 and the permanent magnet 73, thereby realizing the fixed connection between the permanent magnet 73 and the movable plate 72.

[0079] The rolling elements 75 are distributed in a circular array on the movable disk 72 with the axis of the upper disk 721 as the center line. A hemispherical assembly blind hole is provided on the upper disk 721. The inner diameter of the assembly blind hole is consistent with the outer diameter of the rolling element 75. The thickness of the lower disk 722 is less than the radius of the rolling element 75. The lower disk 722 is provided with assembly through holes corresponding to the assembly blind holes one by one. The curved surface where the inner wall of the assembly through hole is located is a spherical surface and the diameter of the spherical surface is consistent with the diameter of the rolling element 75. In this way, the rolling element 75 can be installed between the assembly through hole of the lower disk 722 and the assembly blind hole of the upper disk 721. After the assembly is completed, the bottom of the rolling element 75 can protrude from the bottom surface of the lower disk 722, that is, the bottom surface of the movable disk 72. The ball can rotate in any direction, so that after the rolling element 75 contacts the ground, the support assembly can be moved in any direction through the rolling of the rolling element 75, thereby improving the convenience of using the device.

[0080] The electromagnet 74 and the permanent magnet 73 are also connected by an elastic limiting rope 76 to limit the range of movement of the permanent magnet 73 and prevent the movable disk 72 connected to the permanent magnet 73 from being separated from the fixed cylinder 711 .

[0081] A further improvement is that the support column 6 includes a lifting unit 61 arranged above the permanent magnet 73, a support plate 62 horizontally arranged on the top of the lifting unit 61, and a limiting column 63 fixed to the top surface of the support plate 62 and extending in the vertical direction, and the projection of the limiting column 63 on the horizontal plane intersects with the projection of the top plate 53 on the horizontal plane.

[0082] By providing the limiting column 63 , the minimum compression amount of the second compression spring 51 can be limited to protect the second compression spring 51 . The bottom ends of the bottom ring 52 and the corrugated hose 55 are both fixed above the support plate 62 .

[0083] When the user squats using the device, the second compression spring 51 is compressed, and the top plate 53 drops to contact the top of the limiting column 63. At this time, the lifting unit 61 is actuated to adjust the height position of the support plate 62, and then adjust the height position of the upper connecting seat 3, so as to facilitate the adjustment of the user's knee flexion degree.

[0084] The lifting unit 61 includes a magnetic isolation plate 611 horizontally fixed above the electromagnet 74, an upward motor 612 is fixed above the magnetic isolation plate 611, the output end of the motor 612 is coaxially connected to an upwardly extending screw 613, the screw 613 is threadedly connected to a sleeve 614, the sleeve 614 is fixed below the support plate 62, and sliding sleeves 615 are fixed on both sides of the sleeve 614 and are slidably mounted outside the conduit 47; the support column 6 also includes a protective cover 64 fixed above the magnetic isolation plate 611, the protective cover 64, the magnetic isolation plate 611 and the sleeve 614 enclose a protective cavity surrounding the motor 612 and the screw 613.

[0085] In the present invention, the motor 612 preferably uses wireless communication methods such as infrared and Bluetooth for control connection. The motor 612 drives the screw 613 to rotate, driving the screw sleeve 614 to move stably in the vertical direction under the sliding cooperation of the sleeve 615 and the guide tube 47, thereby adjusting the height position of the support plate 62 and then adjusting the overall height size of the support column 6.

[0086] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent exoskeleton robot, characterized in that: include: A rod binding assembly, the rod binding assembly comprising a thigh binding rod (1) and a calf binding rod (2) which are rotatably connected to each other, the thigh binding rod (1) and the calf binding rod (2) being used to bind to the back of the thigh and the back of the calf of the user respectively, the relative rotation axis of the thigh binding rod (1) and the calf binding rod (2) being perpendicular to the length direction of the two, the rod binding assembly having at least two working positions, in the first working position, the thigh binding rod (1) and the calf binding rod (2) are in the same length direction, in the second working position, the length direction of the thigh binding rod (1) is perpendicular to the length direction of the calf binding rod (2); A support assembly, the support assembly comprising a connection seat (3), a power supply unit (4), an elastic member (5), a support column (6) and a support seat (7) arranged in sequence from top to bottom along a vertical direction, the connection seat (3) and the thigh binding rod (1) are detachably rotatably connected and the relative rotation axis of the two is parallel to the rotation axis of the thigh binding rod (1) and the calf binding rod (2), and the total length direction of the elastic member (5) and the total length direction of the support column (6) are both in the vertical direction; The support seat (7) comprises a chassis (71), a movable plate (72) sliding on the chassis (71) in a vertical direction, a permanent magnet (73) fixed above the movable plate (72), and an electromagnet (74) arranged on the support seat (7) and located above the permanent magnet (73); the movable plate (72) is provided with a rolling member (75) protruding from its bottom surface; the power supply unit (4) is used to provide a first current and a second current to the electromagnet (74); the direction of the first current is opposite to the direction of the second current; when the first current passes through the electromagnet (74), the electromagnet (74) and the permanent magnet (73) are magnetically repelled; the bottom of the rolling member (75) is located below the horizontal plane where the bottom surface of the chassis (71) is located; when the second current passes through the permanent magnet (73), the electromagnet (74) and the permanent magnet (73) are magnetically attracted; and the rolling member (75) is located above the horizontal plane where the bottom surface of the chassis (71) is located.

2. The intelligent exoskeleton robot according to claim 1, characterized in that: The power supply unit (4) comprises a power supply top plate (41), a power supply (42) and a power supply bottom plate (43) which are arranged in sequence from top to bottom; the power supply top plate (41) is connected to the connection seat (3); the power supply (42) is connected to the elastic member (5); the power supply (42) slides between a first power supply position and a second power supply position in a vertical direction; the bottom surface of the power supply top plate (41) and the top surface of the power supply bottom plate (43) are both provided with two conductive contacts (45); the two conductive contacts (45) are respectively connected to the coils of the electromagnet (74) The two ends are electrically connected, and two power supply contacts (421) are arranged on the top and bottom surfaces of the power supply (42). In a first power supply position, the two power supply contacts (421) on the bottom surface of the power supply (42) abut against two conductive contacts (45) on the power supply bottom plate (43); in a second power supply position, the two power supply contacts (421) on the top surface of the power supply (42) abut against two conductive contacts (45) on the power supply top surface. The power supply unit (4) further comprises a first compression spring (44) for causing the power supply (42) to move toward the first power supply position.

3. The intelligent exoskeleton robot according to claim 2, characterized in that: The elastic member (5) comprises a second compression spring (51), a bottom ring (52) arranged at the bottom end of the second compression spring (51) and connected to the top of the support column (6), a top plate (53) arranged at the top end of the second compression spring (51), and a boss (54) fixed above the top plate (53) and slidably penetrated along the vertical direction on the inner side of the power supply bottom plate (43), wherein the boss (54) is fixedly connected to the power supply (42).

4. The intelligent exoskeleton robot according to claim 1, characterized in that: The chassis (71) comprises a fixed cylinder (711) extending in a vertical direction, the movable disk (72) being horizontally arranged in the fixed cylinder (711), and the circumferential outer edge of the movable disk (72) being sealedly connected to the circumferential inner wall of the fixed cylinder (711), so that after the second current passes through the permanent magnet (73), the circumferential inner wall of the fixed cylinder (711) and the movable disk (72) are enclosed with the ground to form a negative pressure chamber.

5. The intelligent exoskeleton robot according to claim 4, characterized in that: The movable plate (72) comprises an upper plate (721), a lower plate (722), a collar (723) and an elastic sleeve (725); the permanent magnet (73), the upper plate (721) and the lower plate (722) are sequentially fitted and connected from top to bottom; the collar (723) comprises two annular grooves (724) arranged opposite to each other and fixedly connected; the upper plate (721), the lower plate (722) and the elastic sleeve (725) are all fitted with the two annular grooves (724). The bottom wall of the groove (724) is sealed and clamped between the inner side walls of the two annular grooves (724) facing each other. The elastic sleeve (725) is sealed and sleeved outside the sleeve ring (723). The circumferential outer edge of the elastic sleeve (725) is sealed and fitted with the circumferential inner wall of the fixed cylinder (711). The rolling element (75) is a ball that rotates between the upper plate (721) and the lower plate (722) and protrudes from the bottom surface of the lower plate (722).

6. The intelligent exoskeleton robot according to claim 5, characterized in that: The chassis (71) further comprises an outer flange (712) fixed to the circumferential outer edge of the bottom of the fixing tube (711) and an anti-slip pad (714) fixed to the bottom surface of the outer flange (712).

7. The intelligent exoskeleton robot according to claim 3, characterized in that: The support column (6) comprises a lifting unit (61) arranged above the permanent magnet (73), a support plate (62) horizontally arranged on the top of the lifting unit (61), and a limiting column (63) fixed to the top surface of the support plate (62) and extending in a vertical direction, wherein a projection of the limiting column (63) on a horizontal plane intersects with a projection of the top plate (53) on a horizontal plane.

8. The intelligent exoskeleton robot according to claim 1, characterized in that: The thigh binding rod (1) is provided with a sliding seat (11), and the sliding seat (11) slides on the thigh binding rod (1) along the length direction of the thigh binding rod (1) and is detachably rotatably connected to the connecting seat (3).

9. The intelligent exoskeleton robot according to claim 8, characterized in that: The sliding seat (11) is provided with a through hole (111), and the connecting seat (3) includes support plates (31) respectively arranged at both ends of the through hole (111), and a rotating rod (32) is inserted in the support plate (31) and the through hole (111), and one end of the rotating rod (32) is fixed with a limiting convex plate (321), and the other end is coaxially connected with a threaded rod (322), and the threaded rod (322) is threadedly connected with a first nut (33); the thigh binding rod (1) is provided with a strip hole (12) extending along its length direction, and the sliding seat (11) includes a central axis (112) inserted inside the strip hole (12), and a roller (113) is provided on the outer sealing sleeve of the central axis (112), and the wheel surface of the roller (113) is in contact with the inner walls of both sides of the strip hole (12).

10. The intelligent exoskeleton robot according to any one of claims 1 to 9, characterized in that: The connection seat (3) rotates above the power supply unit (4) and the rotation axis of the connection seat (3) extends in a vertical direction.

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