An intelligent exoskeleton robot

Abstract

The present invention discloses an intelligent exoskeleton robot, comprising: a binding rod assembly, including a thigh binding rod and a calf binding rod; a support assembly, including a connecting seat, a power supply unit, an elastic member, a support column and a support seat; the support seat includes a chassis, a movable plate, a permanent magnet and an electromagnet, the movable plate is provided with a rolling member protruding from its bottom surface, and the power supply unit is used to provide a first current and a second current to the electromagnet. The intelligent exoskeleton robot is detachably connected to the thigh binding rod through the connecting seat, which facilitates the separation of the binding rod assembly and the support assembly, reducing the burden on the user when walking, and the power supply unit provides the first current to the electromagnet, so that the rolling member on the movable plate contacts the ground, facilitating the movement of the support assembly and being convenient to use. When squatting, the support assembly is connected to the binding rod assembly and the power supply unit provides the second current to the electromagnet, so that the chassis contacts the ground, ensuring the support stability and safety of use, and the user's calf can move freely, improving the comfort of use.

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 intelligent collaboration achieved through advanced sensing, control and information processing technologies. Therefore, it is widely used in various aspects of people's work and life. For example, on automobile assembly lines, workers often need to maintain a half-squatting position 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, Chinese invention patent application number CN201910734166.9 discloses an exoskeleton mechanical device that can provide support for operators in different sitting postures in a relatively narrow working environment, avoiding fatigue caused by bending or squatting for a long time, reducing workers' labor intensity, and improving work efficiency.

[0004] However, the above device has many inconveniences when in use: 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 always be 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, resulting in body stiffness, affecting comfort; second, the connection strength between the bottom of the supporting foot and the ground is poor and easy to loosen, and because 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, thereby affecting the supporting effect of the intelligent exoskeleton mechanical device. In severe cases, it may also cause the user's lower body to become unbalanced, the buttocks to touch the ground and fall, affecting the device. Fourthly, when the user wears the exoskeleton device and walks, 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 and straightens his legs, 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 helpful to promote the docking of the gas spring and the load-bearing rod when the user adjusts the posture of the lower limbs, 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 a further reduction in 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 of the prior art and provide an intelligent exoskeleton robot that can freely adjust the posture of the lower limbs to improve usage comfort, ensure support stability and safety of use, reduce the user's walking burden and improve user experience.

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

[0008] The tie rod assembly includes a thigh tie rod and a calf tie rod that are rotatably connected to each other, the thigh tie rod and the calf tie rod being 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 being perpendicular to the length direction of the two, the tie rod assembly having at least two working positions, the thigh tie rod and the calf tie rod being in the same length direction in the first working position, and the length direction of the thigh tie rod being perpendicular to the length direction of the calf tie rod in the second working position;

[0009] A support assembly, the support assembly comprising a connecting base, a power supply unit, an elastic member, a support column, and a support base arranged in sequence from top to bottom along a vertical direction, the connecting base being detachably rotatably connected to the thigh tie rod and the relative rotation axis of the two being 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 being 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 magnetically repel each other. 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 magnetically attract each other. 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, and the power supply slides between the first power supply position and the second power supply position in the vertical direction, and the bottom surface of the power supply top plate and the top surface of the power supply bottom plate are each provided with two conductive contacts, and the two conductive contacts are respectively electrically connected to the two ends of the electromagnet coil, and the top surface and bottom surface of the power supply are each 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, and 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 power supply top plate, 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 and the top of the elastic part move synchronously and the power supply base plate be able to be slidably connected to the top of the elastic part relative to each other, 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 end of the second compression spring, and a boss fixed above the top plate and slidingly passing through the inner side of the power supply base plate in a vertical direction, and 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 in a squatting state and prevent displacement and sliding, the chassis includes a fixed cylinder extending in a 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 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 each other of 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 further includes an outer flange fixed to the circumferential outer edge of the bottom of the fixing cylinder 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 users 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 rotatably connected to the connecting seat.

[0018] Preferably, in order to achieve a detachable connection between the sliding seat and the connecting seat, and to 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 connected to a threaded rod coaxially, and the threaded rod is threadedly connected to 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 sealing sleeve outside the central axis is provided with a roller, 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 rotatably arranged 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 the 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, 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, improving 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 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 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 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] Figure 9 yes Figure 7 Explosion diagram from another perspective;

[0030] Figure 10 yes Figure 5 Schematic diagram of the structure of the middle support assembly;

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

[0032] Figure 12 yes Figure 10 Structural diagram from another perspective;

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

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

[0035] Figure 15 yes Figure 13 Explosion diagram from another perspective;

[0036] Figure 16 This is a schematic diagram of the connection structure between the movable disk and the permanent magnet of the present invention;

[0037] Figure 17 yes Figure 16 Explosion diagram of

[0038] Figure 18 yes Figure 16 Explosion diagram from another perspective;

[0039] Figure 19 yes Figure 5Schematic diagram of the cross-sectional structure of the middle support assembly;

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

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

[0042] Figure 22 yes Figure 1 Schematic diagram of the cross-sectional structure of the middle support assembly;

[0043] Figure 23 yes Figure 22 Magnified 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. Conduit; 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 isolation 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. Fixed cylinder;712. Outer flange;713. Inner flange;714. Anti-slip pad;72. Moving plate;721. Upper plate;722. Lower plate;723. Ring;724. Annular groove;725. Elastic sleeve;73. Permanent magnet;74. Electromagnet;75. Rolling element;76. Limiting rope;77. Guide rod. DETAILED DESCRIPTION

[0045] The following embodiments are further described in conjunction with the accompanying drawings and examples. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection 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 includes a thigh tie rod 1 and a calf tie rod 2 that are rotatably connected. The thigh tie rod 1 and the calf tie rod 2 are used to be tied to the back of the user's thigh and the back of the calf, 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 connecting base 3, a power supply unit 4, an elastic member 5, a support column 6 and a support base 7 arranged in sequence from top to bottom along the vertical direction. The connecting base 3 is detachably 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 sliding 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 and the direction of the second current are opposite. When the first current passes through the electromagnet 74, the electromagnet 74 and the permanent magnet 73 magnetically repel each other, 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 realize 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, etc. Since the binding technology belongs to the existing technology, it will not be described in detail here.

[0052] In the support assembly, the connection seat 3 is detachably connected to the thigh tie rod 1. By adopting this connection method, on the one hand, the connection seat 3 and the thigh tie rod 1 can be separated. In the separated state, the tie rod assembly and the support assembly are separated, and the user's legs are directly bound to the tie 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 movable disk 72 under the permanent magnet 73 to move downward, so that the rolling element 75 on the movable 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 connection seat 3 and the thigh tie rod 1 can be connected. In the connected state, as shown Figure 3-Figure 6 As shown, after the user's thigh is tied to the thigh tie 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 position stability 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 safe 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, resulting in discomfort after long-term use and increased leg burden.

[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 plumb direction. The elastic member 5 can generate elastic support for the thigh tie rod 1 through the power supply unit 4 and the connecting seat 3, and is convenient for deformation. In this way, it is convenient for the user 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 makes it 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 calf to improve the comfort of use; Figure 5 and Figure 6 As shown, the thigh tie bar 1 and the calf tie bar 2 enclose an obtuse angle, which makes it convenient for users to bend their 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 bars, 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 whose axial direction is perpendicular to the length direction of the two. A bolt 22 is passed through the inside 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, which 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 passed through the support plate 31 and the through-hole 111, one end of the rotating rod 32 is fixed with a limiting convex plate 321, and the other end is connected to a threaded rod 322 coaxially, and the threaded rod 322 is threadedly connected to 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 passed through the inner side of 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, such as Figure 9 、 Figure 10 and Figure 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, and 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 penetrates 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 lifting lever 322 to the left, the lifting lever 322 is tightened and the lifting lever 323 is tightened, so that the lifting lever 322 can be tightened and the lifting lever 323 is tightened.

[0059] Secondly, the connecting base 34 of the connecting seat 3 is connected to the power supply unit 4 through the bearing 35, which facilitates the rotation of the tie rod assembly about the axis of the bearing 35, thereby facilitating the user's sitting posture, expanding the user's range of movement 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. The roller 113 of the sliding seat 11, which is sealed and arranged outside the central axis 112, can roll in the strip hole 12, reducing the friction force on 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 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, and 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, and the two conductive contacts 45 are respectively electrically connected to the two ends of the electromagnet 74 coil. The top surface and 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 plate 41. 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 Figure 11 、 Figure 12 、 Figure 20 and Figure 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 distributed side by side in the horizontal direction and extending 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 together. A conduit 47 extending downward in the vertical direction is fixed below the side plate 422, and a guide rod 77 extending upward in the vertical direction and corresponding to the conduit 47 one by one and slide together is fixed above the chassis 71. In this way, it is ensured that in the power supply unit 4, the power supply 42 can stably slide together in the vertical direction relative to the power supply bottom plate 43 and the power supply top plate 41, and the power supply unit 4 as a whole can slide together in the vertical direction.

[0064] The two power supply contacts 421 on the top surface of the power supply 42 and the two power supply contacts 421 on the bottom surface are respectively positive contacts and negative contacts, that is, the top and bottom surfaces of the power supply 42 are provided with power supply electrodes, the two power supply contacts 421 on the top surface of the power supply 42 are 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 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 wires (not shown in the figure).

[0065] The distribution of the power supply contacts 421 on the top and bottom surfaces of the power supply 42 and the electrical connection between the conductive contacts 45 and the coil of the electromagnet 74 can be either of the following two methods. For ease of description, the two ends of the coil of the electromagnet 74 are respectively the first end and the second end. Along 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 supply 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 supply 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 supply 42 itself and the elastic force of the first compression spring 44, the power supply 42 slides downward to the first power supply position. At this time, the positive pole of the power supply 42, the first end of the electromagnet 74 coil, the second end of the electromagnet 74 coil and the negative pole of the power supply 42 are connected in sequence, and the first current passes through the electromagnet 74 coil, so that the electromagnet 74 generates magnetism that repels the permanent magnet 73, as shown in the figure. Figure 20 and Figure 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 chassis 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 relative to the power supply top plate 41 to the second power supply position. 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. Figure 22 As shown, in this state, the permanent magnet 73 drives the movable plate 72 to move upward and closer to the electromagnet 74, so that the rolling member 75 is separated from the ground, and the chassis 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 end of the second compression spring 51, and a boss 54 fixed above the top plate 53 and sliding along the vertical direction through the inner side of the power supply bottom plate 43, and the boss 54 is fixedly connected to the power supply 42.

[0071] like Figure 13-15 and Figure 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 spring constant of the second compression spring 51 is much greater than the spring constant of the first compression spring 44, ensuring that when subjected to downward pressure and before the power supply contact 421 on the top surface of the power supply 42 contacts the conductive contact 45 on 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 annular, 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 power supply base plate 43 moves in the vertical direction, and the boss 54 and the top plate 53 remain horizontal and move in the vertical direction. Moreover, through the annular power supply base plate 43, the top of the boss 54 is conveniently connected to 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 an axial direction in the vertical direction is also provided on the outside of the second compression spring 51. The top 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 of the support column 6. The corrugated hose 55 can be synchronously expanded and contracted 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, causing the electromagnet 74 to generate magnetism that attracts the permanent magnet 73. The permanent magnet 73 and the movable disk 72 rise, causing the chassis 71 to contact 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 a negative pressure is generated in the negative pressure cavity. The pressure gradually decreases, and 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 plate 72 includes 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 includes two annular grooves 724 that are arranged opposite and fixedly connected. The upper plate 721, the lower plate 722 and the elastic sleeve 725 are all sealed and fitted with the bottom walls of the two annular grooves 724 and are clamped between the two annular grooves 724. Between the opposing inner walls, the elastic sleeve 725 sealing sleeve is arranged outside the ring 723, and the circumferential outer edge of the elastic sleeve 725 is sealed to the circumferential inner wall of the fixed cylinder 711. The rolling member 75 is a ball that is rotatably arranged between the upper plate 721 and the lower plate 722 and protrudes from the bottom surface of the lower plate 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, such as Figures 14-18 、 Figure 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 directly above the inner flange 713, and the permanent magnet 73 slides directly 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, which makes the anti-skid pad 714 elastic and can ensure that the negative pressure cavity formed after the movable 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, preventing the outside air from entering the negative pressure cavity 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 collar 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 and lower plates 721 and 722 are connected in a fixed manner to form 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 upper side wall is sealed to the edge of the top surface of the permanent magnet 73, and the lower side wall is sealed to the edge of the bottom surface of the chassis 71, thereby achieving a fixed connection between the upper plate 721, the lower plate 722 and the permanent magnet 73, thereby achieving a 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 an assembly through hole corresponding to the assembly blind hole one by one. The curved surface on the inner wall of the assembly through hole 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 move 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 further connected via 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 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 limit 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 fixed horizontally above the electromagnet 74, an upward motor 612 is fixed above the magnetic isolation plate 611, the output end of the motor 612 is connected to an upward extending screw 613 coaxially, the screw 613 is threadedly connected to a sleeve 614, the sleeve 614 is fixed below the support plate 62, and sliding sleeves 615 slidingly mounted on the outside of the conduit 47 are fixed on both sides of the sleeve 614; 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 within the scope of protection of the present invention.

Claims

1. An intelligent exoskeleton robot, characterized in that: include: A tie rod assembly, the tie rod assembly comprising a thigh tie rod (1) and a calf tie rod (2) connected to each other in rotation, the thigh tie rod (1) and the calf tie rod (2) being 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) being perpendicular to the length direction of the two, the tie rod assembly having at least two working positions, in the first working position, the thigh tie rod (1) and the calf tie rod (2) are in 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); A support assembly, the support assembly comprising a connecting 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 connecting seat (3) and the thigh binding rod (1) being detachably rotatably connected and the relative rotation axis of the two being 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 disk (72) sliding 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 seat (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) magnetically repel each other; 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) magnetically attract each other; the rolling member (75) is located above the horizontal plane where the bottom surface of the chassis (71) is located; The chassis (71) includes a fixed cylinder (711) extending in a 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), the movable disk (72) and the ground are enclosed to form a negative pressure cavity; 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 connected from top to bottom. The collar (723) includes two annular grooves (724) arranged opposite to each other and fixedly connected. The upper disk (721), the lower disk (722) and the elastic sleeve (725) are all connected to 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 outside the 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).

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) 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 along a vertical direction, and two conductive contacts (45) are provided on the bottom surface of the power supply top plate (41) and the top surface of the power supply bottom plate (43), and the two conductive contacts (45) are respectively connected to the two ends of the coil of the electromagnet (74). The power supply (42) is electrically connected, and two power supply contacts (421) are provided 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 plate (41). The power supply unit (4) further includes 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) 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 end of the second compression spring (51), and a boss (54) fixed above the top plate (53) and slidingly penetrating the inner side of the power supply bottom plate (43) in a vertical direction, 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) further comprises an outer flange (712) fixed to the circumferential outer edge of the bottom of the fixing cylinder (711) and an anti-slip pad (714) fixed to the bottom surface of the outer flange (712).

5. 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 the projection of the limiting column (63) on the horizontal plane intersects with the projection of the top plate (53) on the horizontal plane.

6. 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).

7. The intelligent exoskeleton robot according to claim 6, characterized in that: The sliding seat (11) is provided with a through hole (111), and the connecting seat (3) includes support plates (31) respectively provided at both ends of the through hole (111), and a rotating rod (32) is provided 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 connected to a threaded rod (322) coaxially, and the threaded rod (322) is threadedly connected to 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) provided 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).

8. The intelligent exoskeleton robot according to any one of claims 1 to 7, characterized in that: The connecting seat (3) is rotatably arranged above the power supply unit (4), and the rotation axis of the connecting seat (3) extends in a vertical direction.

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