Thigh joint structure of exoskeleton

Abstract

The invention provides a thigh joint structure of an exoskeleton, and belongs to the technical field of exoskeletons.The thigh joint structure of the exoskeleton specifically comprises a waist connecting piece and a thigh connecting piece, the waist connecting piece and the thigh connecting piece are connected through a ball joint, the ball joint comprises a bearing ball and an outer ring shell, and the bearing ball comprises a first end and a second end which are opposite; the first end is fixedly connected with a waist connecting piece, and the second end is provided with a first matching surface; a sliding pressing block is slidably arranged at the end, away from the waist module, of the outer ring shell, the end face, facing the bearing ball, of the sliding pressing block is a second matching face, an elastic piece is arranged between the sliding pressing block and the bearing ball, and the elastic piece applies acting force away from the first matching face to the sliding pressing block; a force application assembly is arranged at the end, back to the waist module, of the outer ring shell and used for applying acting force towards the first matching face to the sliding pressing block. According to the treatment scheme, the flexibility and reliability of locking and unlocking of the thigh joint are improved.

Description

Technical Field

[0001] The present application relates to the field of exoskeletons, and in particular to a thigh joint structure of an exoskeleton. Background Art

[0002] As a human-assisting device, the joint structure of the exoskeleton robot must take into account both flexible movement and stable support. In the prior art, the thigh joints of exoskeletons mostly use rigid hinges or simple ball joint structures, which have the following problems:

[0003] Unreliable locking: Traditional joint locking mechanisms rely on manual fixing with bolts or buckles, which is cumbersome to operate and can easily loosen due to vibration or external force after locking;

[0004] Lack of flexibility: Rigid locking mechanisms still have frictional resistance when unlocking, affecting the wearer’s natural movement;

[0005] Complex structure: Some joints are locked by hydraulic or motor drive, which leads to large size and increased weight, affecting wearing comfort.

[0006] Therefore, there is an urgent need for a thigh joint structure that can be flexibly adjusted during exercise, quickly locked, and has a compact structure. Summary of the invention

[0007] In view of this, the present application provides a thigh joint structure of an exoskeleton, which solves the technical problems of complex locking structure and poor locking reliability of thigh and waist modules in the prior art, and improves the flexibility and reliability of locking and unlocking of the thigh joint.

[0008] The thigh joint structure of an exoskeleton provided in this application adopts the following technical solution:

[0009] A thigh joint structure of an exoskeleton, comprising a waist connector and a thigh connector, wherein the waist connector is used to connect to a waist module of the exoskeleton, and the thigh connector is used to connect to a thigh of the exoskeleton;

[0010] The waist connecting member and the thigh connecting member are connected via a ball joint, the ball joint comprises a load-bearing ball and an outer ring housing, the load-bearing ball comprises a first end and a second end opposite to each other, the first end is used for fixed connection with the waist connecting member, the second end is located in the outer ring housing, and the second end is provided with a first mating surface;

[0011] A sliding pressure block is provided on one end of the outer ring housing away from the waist module, and the end surface of the sliding pressure block facing the bearing ball is a second matching surface. An elastic member is provided between the sliding pressure block and the bearing ball, and the elastic member applies a force on the sliding pressure block away from the first matching surface;

[0012] The outer ring shell is provided with a force-applying component at one end facing away from the waist module, and the force-applying component is used to apply a force to the sliding pressure block toward the first mating surface so that the sliding pressure block slides and the first mating surface and the second mating surface form a mating, so as to limit the rotation of the load-bearing ball.

[0013] Optionally, the force-applying assembly includes a mounting frame and an eccentric structure, the mounting frame and the outer ring housing are fixedly connected, the mounting frame and the eccentric structure are located at an end of the sliding pressure block away from the load-bearing ball, the eccentric structure and the mounting frame are rotatably connected, the two sides of the eccentric structure relative to the connecting shaft of the eccentric structure and the mounting frame are respectively a distal end and a proximal end, the distance between the side of the distal end facing away from the proximal end knot and the connecting shaft is a first distance, the distance between the end of the proximal end facing away from the distal end knot and the connecting shaft is a second distance, the first distance is greater than the second distance, and the mounting frame is provided with a through slot for the distal end to pass through, and the distal end is used to abut the sliding pressure block after passing through the through slot;

[0014] When the proximal end faces the sliding pressing block, the sliding pressing block and the first matching surface are separated;

[0015] When the distal end faces the sliding pressure block and abuts against the sliding pressure block, the first matching surface and the second matching surface form a match.

[0016] Optionally, the force-applying assembly further includes a handle, and the handle is fixedly connected to the eccentric structural member.

[0017] Optionally, when the proximal end faces the sliding pressing block, the handle is located on a side of the eccentric structure away from the knee joint, and the length direction of the handle is parallel to the length direction of the thigh;

[0018] When the point on the distal end that is farthest from the connecting shaft abuts against the sliding pressing block, the handle is located on a side of the eccentric structural member close to the knee joint;

[0019] The mounting frame is provided with a limit block on one side of the eccentric structure close to the knee joint. When the handle abuts against the limit block, the point on the distal end farthest from the connecting shaft abuts against the sliding pressure block, and the length direction of the handle is parallel to the length direction of the thigh.

[0020] Optionally, the eccentric structural member includes a distal structural block and a proximal structural block located on opposite sides of the connecting shaft, the side of the proximal structure facing away from the distal structural block is a plane, the side of the distal structural block facing away from the proximal structural block is a curved surface, and the concave surface of the curved surface faces the connecting shaft, and the outer contours of the proximal structural block and the annular segment structure are connected by an arc surface transition.

[0021] Optionally, the sliding direction of the sliding pressure block is a first direction, and the end of the sliding pressure block facing away from the load-bearing ball is provided with a first abutment surface abutting against the distal end, the angle between the first abutment surface and the first direction is greater than 0 degrees and less than 90 degrees, and the end of the first abutment surface away from the knee joint is closer to the load-bearing ball than the end close to the knee joint, and the side of the proximal structure away from the distal structure is parallel to the first abutment surface.

[0022] Optionally, the opening contour of the outer ring housing close to the first end is a first circumference, the sliding direction of the sliding pressure block is perpendicular to the radial direction of the first circumference, a plurality of clamping grooves distributed along the circumferential direction of the second circumference are provided on the end surface of the second end, and a clamping protrusion distributed along the circumferential direction of the first circumference is provided on the end surface of the sliding pressure block facing the second end;

[0023] When the second circumference is parallel to the first circumference and the front-rear angle of the thigh of the exoskeleton relative to the waist module is a preset angle, the snap-fitting protrusions and the snap-fitting grooves correspond one to one.

[0024] Optionally, the end of the clamping protrusion facing the load-bearing ball is a conical block, and the small end of the conical block faces the load-bearing ball.

[0025] Optionally, the thigh joint structure of the exoskeleton further comprises a wrapping sleeve, one end of the wrapping sleeve is fixedly connected to one end of the outer ring shell away from the waist connector, the sliding pressure block is located in the wrapping sleeve, the sliding pressure block slides along the length direction of the wrapping sleeve, and the force-applying assembly is installed at one end of the wrapping sleeve away from the outer ring shell;

[0026] A guide convex strip is arranged in the wrapping sleeve, and the length direction of the guide convex strip is parallel to the length direction of the wrapping sleeve. A guide groove cooperating with the guide convex strip is arranged on the sliding pressure block.

[0027] In summary, this application includes the following beneficial technical effects:

[0028] The present application controls the sliding pressure block to apply pressure to and release pressure on the load-bearing ball through a force-applying component. When the sliding pressure block is pressed tightly against the load-bearing ball, the load-bearing ball cannot rotate freely, thereby locking the thigh joint, and the thigh cannot rotate freely relative to the waist module. After the force-applying component cancels the force applied to the sliding pressure block, the sliding pressure block automatically resets under the action of the elastic part. When the sliding pressure block is away from the load-bearing ball, the load-bearing ball can rotate freely, thereby unlocking the thigh joint, and the thigh can rotate freely relative to the waist module.

[0029] The force-applying assembly of the present application is composed of a handle and an eccentric structural member, and the distal and proximal surfaces of the eccentric structural member and the first abutting surface of the sliding pressure block are matched. After the handle is rotated into place, the position of the eccentric structural member can be stabilized through the cooperation of the eccentric structure and the sliding pressure block, avoiding random rotation of the eccentric structural member and the handle, improving the stability and reliability of the control of the sliding pressure block, and improving the reliability of locking and unlocking the thigh joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 This is a schematic diagram of the overall structure of the thigh joint structure of the exoskeleton of the present application;

[0032] Figure 2 A schematic diagram of the structure of the thigh joint of the exoskeleton of the present application from another perspective;

[0033] Figure 3 This is a schematic diagram of the structure of the thigh joint when locked in this application;

[0034] Figure 4 This is a schematic diagram of the structure when the thigh joint is unlocked in this application;

[0035] Figure 5 This is a schematic diagram of the exploded structure of the ball joint, sliding pressure block and force-applying assembly of the present application;

[0036] Figure 6 Schematic diagram of the exploded structure of the ball joint, sliding pressure block and force-applying component of this application from another perspective

[0037] Explanation of the accompanying drawings: 1. Waist connector; 2. Thigh connector; 3. Ball joint; 31. Load-bearing ball; 32. Outer ring shell; 33. First mating surface; 34. Snap-in groove; 4. Sliding pressure block; 41. Second mating surface; 42. First abutting surface; 43. Snap-in protrusion; 44. Mating groove; 5. Force-applying assembly; 51. Mounting frame; 52. Eccentric structural member; 53. Distal end; 54. Proximal end; 55. Handle; 56. Plane; 57. Curved surface; 58. Ring segment structure; 59. Arc-shaped protrusion structure; 6. Wrapping sleeve; 61. Guide protrusion; 62. Guide groove; 63. Accommodating groove; 64. Spring. DETAILED DESCRIPTION

[0038] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0039] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0040] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0041] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show the components related to the present application rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0042] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0043] An embodiment of the present application provides a thigh joint structure of an exoskeleton.

[0044] like Figure 1 and Figure 2 As shown, a thigh joint structure of an exoskeleton includes a waist connector 1 and a thigh connector 2, wherein the waist connector 1 is used to connect to the waist module of the exoskeleton, and the thigh connector 2 is used to connect to the thigh of the exoskeleton.

[0045] like Figure 3 and Figure 4As shown, the waist connection part 1 and the thigh connection part 2 are connected by a ball joint 3, and the ball joint 3 includes a load-bearing ball 31 and an outer ring shell 32. The load-bearing ball 31 includes a first end and a second end relative to each other, and the first end is used for fixed connection with the waist connection part 1, and the second end is located in the outer ring shell 32, and the second end is provided with a first mating surface 33, and the load-bearing ball 21 can roll freely within a certain range in the outer ring shell 32.

[0046] A sliding pressure block 4 is provided at one end of the outer ring shell 32 that slides away from the waist module, and the end face of the sliding pressure block 4 facing the load-bearing ball 31 is a second mating surface 41. An elastic member is provided between the sliding pressure block 4 and the load-bearing ball 31, and the elastic member applies a force on the sliding pressure block 4 away from the first mating surface 33; wherein the elastic member can be a spring sheet or a spring 64. In the embodiment of the present application, the elastic member is a spring 64, and an accommodating groove 63 is provided at the center of the first mating surface 33 or the center of the second mating surface 41. The end of the spring 64 is placed in the accommodating groove 63, and the end of the spring 64 can be assembled with the accommodating groove 63 in a simple contact manner to ensure that the spring 64 provides elastic force while the setting of the spring 64 does not affect the rotation of the load-bearing ball 31. Alternatively, the end of the spring 64 can be rotatably connected to the accommodating groove 63 through a bearing.

[0047] The outer ring shell 32 is provided with a force-applying component 5 at one end facing away from the waist module, and the force-applying component 5 is used to apply a force to the sliding pressure block 4 toward the first mating surface 33 to make the sliding pressure block 4 slide and make the first mating surface 33 and the second mating surface 41 form a fit to limit the rotation of the load-bearing ball 31.

[0048] The present application controls the sliding pressure block 4 to apply pressure to and release pressure on the load-bearing ball 31 through the force-applying component 5. When the sliding pressure block 4 is pressed tightly against the load-bearing ball 31, the load-bearing ball 31 cannot rotate freely to lock the thigh joint, and the thigh cannot rotate freely relative to the waist module; when the sliding pressure block 4 is away from the load-bearing ball 31, the load-bearing ball 31 can rotate freely to unlock the thigh joint, and the thigh can rotate freely relative to the waist module.

[0049] like Figure 3 and Figure 4As shown, the force-applying assembly 5 includes a mounting frame 51 and an eccentric structural member 52, the mounting frame 51 and the outer ring housing 32 are fixedly connected, the mounting frame 51 and the eccentric structural member 52 are located at one end of the sliding pressure block 4 away from the bearing ball 31, the eccentric structural member 52 and the mounting frame 51 are rotatably connected, the two sides of the eccentric structural member 52 relative to the connecting shaft of the eccentric structural member 52 and the mounting frame 51 are respectively a distal end 53 and a proximal end 54, the distance between the side of the distal end 53 facing away from the proximal end 54 junction and the connecting shaft is a first distance, the distance between the end of the proximal end 54 facing away from the distal end 53 junction and the connecting shaft is a second distance, the first distance is greater than the second distance, a through slot for the distal end 53 to pass through is provided on the mounting frame 51, the distal end 53 is used to abut the sliding pressure block 4 after passing through the through slot, and the distal end 53 or the proximal end 54 of the eccentric structural member 52 is rotated to face the sliding pressure block 4, so as to realize the control of the position of the sliding pressure block 4.

[0050] When the proximal end 54 faces the sliding pressure block 4, the space between the proximal end 54 and the load-bearing ball 31 is larger. Under the action of the elastic member, the sliding pressure block 4 moves away from the load-bearing ball 31, the sliding pressure block 4 is separated from the first mating surface 33, and the load-bearing ball 31 can rotate freely, thereby unlocking the thigh joint.

[0051] When the distal end 53 faces the sliding pressure block 4 and abuts against the sliding pressure block 4, the distal end 53 presses the sliding pressure block 4 to move toward the load-bearing ball 31 until the first mating surface 33 and the second mating surface 41 form a match, and the load-bearing ball 31 cannot rotate freely, thereby achieving locking of the thigh joint.

[0052] The rotation of the eccentric structural member 52 controls the pressing of the sliding pressure block 4 on the bearing ball 31 to achieve one-touch locking. When unlocking, the eccentric structural member 52 is reset, and the sliding pressure block 4 automatically moves away from the bearing ball 31 under the action of the elastic member, thereby achieving quick unlocking and reducing manual intervention.

[0053] Regarding the specific structure of the eccentric structural member 52: In the embodiment of the present application, the eccentric structural member 52 includes a distal structural block and a proximal structural block located on opposite sides of the connecting shaft, the side of the proximal structural block facing away from the distal structural block is a plane 56, the side of the distal structural block facing away from the proximal structural block is a curved surface 57, and the concave surface of the curved surface 57 faces the connecting shaft, and the outer contours of the proximal structural block and the annular segment structure 58 are connected by an arc surface transition. Among them, the curved surface 57 can be a single arc curved surface, or a combination of multiple arc curved surfaces, the flat surface 56 of the end structure facing away from the distal structural block is the proximal end 54, and the curved surface 57 on the distal structural block is the distal end 53. In the embodiment of the present application, the distal structural block is a ring segment structure 58, the inner ring of the ring segment structure 58 is fixedly connected to the middle structural block, the ring segment structure 58 is coaxial with the connecting shaft, the diameter segment end faces of the proximal structural block and the ring segment structure 58 are butted, the outer contours of the proximal structural block and the ring segment structure 58 are transitionally connected by an arc surface, the arc surface and the outer ring of the ring segment structure 58 are coaxial and have the same radius. In addition, in the embodiment of the present application, an arc-shaped protruding structure 59 protruding outward along the radial direction of the ring segment structure 58 is provided on the ring segment structure 58, and the position of the arc-shaped protruding structure 59 and the proximal end 54 are located at opposite ends of the connecting shaft, that is, the outer ring of the ring segment structure 58 is the distal end 53, and the arc-shaped protruding structure 59 is the farthest end of the eccentric structural member 52 that is farthest from the connecting shaft.

[0054] In other embodiments, the eccentric structural member 52 is a cam or an eccentric wheel, the cam or the eccentric wheel is rotatably connected to the mounting frame 51, the distal end 53 of the cam or the eccentric wheel serves as the distal structural block, the proximal end 54 of the cam or the eccentric wheel serves as the proximal structural block, and the middle part of the cam or the eccentric wheel serves as the intermediate structural block.

[0055] The force applying assembly 5 further includes a handle 55 , and the handle 55 is fixedly connected to the eccentric structural member 52 .

[0056] When the proximal end 54 faces the sliding pressure block 4, the handle 55 is located on the side of the eccentric structure 52 away from the knee joint, and the length direction of the handle 55 is parallel to the length direction of the thigh. In the embodiment of the present application, the outer ring housing 32 is extended along the inner and outer directions of the thigh, the sliding direction of the sliding pressure block 4 is extended along the inner and outer directions of the thigh, and the connecting shaft is extended along the front and rear directions of the thigh. The above directions are specifically explained as follows: when wearing a standing posture, the side where the two thighs are close to each other is the inner side of the thigh, and the other side is the outer side. The front side of the thigh corresponds to the front of the wearer's thigh, and the back side of the thigh corresponds to the back of the wearer's thigh. In the embodiment of the present application, the handle 55 is located on the outer side of the thigh.

[0057] When the point on the distal end 53 that is farthest from the connecting shaft abuts against the sliding pressing block 4 , the handle 55 is located on a side of the eccentric structural component 52 close to the knee joint.

[0058] The mounting frame 51 is provided with a stop block on the side of the eccentric structural member 52 close to the knee joint. When the handle 55 abuts against the stop block, the point on the distal end 53 farthest from the connecting shaft abuts against the sliding pressure block 4, and the length direction of the handle 55 is parallel to the length direction of the thigh. In the embodiment of the present application, when the handle 55 abuts against the stop block, the point where the distal end 53 contacts the first abutting surface 42 and the axis of the connecting shaft are perpendicular to the length direction of the handle 55, and the contact position between the distal end 53 and the first abutting surface 42 corresponds to the central axis of the sliding pressure block 4 along its own sliding direction.

[0059] The person wearing the exoskeleton with the thigh joint structure of the present application is the wearer. Taking the standing posture of the wearer as an example, when the wearer needs to lock the thigh joint, the handle 55 is pushed downward and the handle 55 is rotated until the handle 55 abuts the limit block, and the point on the distal end 53 farthest from the connecting shaft abuts the sliding pressure block 4. At this time, the end of the handle 55 away from the eccentric structural member 52 is located below the eccentric structural member 52, that is, on the side close to the knee joint; when the wearer needs to unlock the thigh joint, the handle 55 is pulled upward and the handle 55 is rotated to drive the proximal end 54 of the eccentric structural member 52 toward the sliding pressure block 4. The sliding pressure block 4 moves away from the load-bearing ball 31 under the action of the elastic member. At this time, the end of the handle 55 away from the eccentric structural member 52 is located above the eccentric structural member 52, that is, on the side away from the knee joint.

[0060] like Figure 3 and Figure 4 As shown, the sliding direction of the sliding block 4 is the first direction, and the end of the sliding block 4 facing away from the bearing ball 31 is provided with a first abutting surface 42 abutting against the distal end 53, the angle between the first abutting surface 42 and the first direction is greater than 0 degrees and less than 90 degrees, and the end of the first abutting surface 42 away from the knee joint is closer to the bearing ball 31 than the end close to the knee joint, and the side of the proximal structural block away from the distal structural block is parallel to the first abutting surface 42. In the embodiment of the present application, when the wearer is in a standing posture, the upper end of the first abutting surface 42 is closer to the bearing ball 31 than the lower end.

[0061] In the embodiment of the present application, the angle between the first abutting surface 42 and the first direction is 80 degrees. Taking the standing posture of the wearer as an example, when the distal end 53 abuts the first abutting surface 42, the force exerted by the first abutting surface 42 on the distal end 53 is inclined upward relative to the horizontal direction, that is, the eccentric structure 52 exerts a force on the handle 55 to make the end of the handle 55 away from the eccentric structure 52 continue to approach the limit block, but under the action of the limit block, the handle 55 cannot continue to rotate, so that the handle 55 and the eccentric structure 52 are stable, that is, the sliding pressure block 4 can be stably pressed on the bearing ball 31. When the proximal end 54 is toward the first abutting surface 42, under the action of the elastic member, the first abutting surface 42 of the sliding pressure block 4 and the side of the proximal structural block away from the distal structural block fit together, and the force exerted by the lower end of the first abutting surface 42 on the proximal end 54 is inclined upward, so that the lower end of the proximal end 54 has a tendency to move away from the sliding pressure block 4, that is, the end of the handle 55 away from the eccentric structural member 52 has a tendency to approach the inner side of the thigh, and the handle 55 cannot continue to rotate under the restriction of the mounting frame 51 structure, thereby stabilizing the handle 55 and preventing the handle 55 from moving at will.

[0062] like Figure 5 and Figure 6 As shown, in one embodiment, a mating groove 44 is opened in the middle of the first abutting surface 42, and the mating groove 44 is arranged corresponding to the distal end 53. When the distal end 53 of the eccentric structural member 52 is close to the first abutment, the distal end 53 and the mating groove 44 enter the first abutting surface 42, and the mating groove 44 guides and limits the rotating eccentric structural member 52 to ensure the stable rotation of the eccentric structural member 52. In addition, a rubber pad is attached to the mating groove 44 for wear resistance.

[0063] The opening contour of the outer ring housing 32 near the first end is the first circumference, the sliding direction of the sliding pressure block 4 is perpendicular to the radial direction of the first circumference, the end surface of the second end is provided with a plurality of snap-in grooves 34 distributed along the circumference of the second circumference, and the end surface of the sliding pressure block 4 facing the second end is provided with snap-in protrusions 43 distributed along the circumference of the first circumference; when the second circumference is parallel to the first circumference and the front-back angle of the thigh of the exoskeleton relative to the waist module is a preset angle, the snap-in protrusions 43 correspond to the snap-in grooves 34 one by one, and the preset angle is a standing posture. In this embodiment, the second section end surface of the load-bearing ball 31 with the snap-in groove 34 constitutes the first mating surface 33, and the end surface of the sliding pressure block 4 with the snap-in protrusion 43 constitutes the second mating surface 41. In other embodiments, friction plates are attached to the end surfaces of the load-bearing ball 31 and the sliding pressure block 4 that are butted against each other, and the end surfaces of the friction plates serve as the first mating surface 33 and the second mating surface 41.

[0064] One end of the clamping protrusion 43 facing the bearing ball 31 is a conical block, and the small end of the conical block faces the bearing ball 31 .

[0065] For the specific installation of the sliding pressure block 4, the thigh joint structure of the exoskeleton also includes a wrapping sleeve 6, one end of the wrapping sleeve 6 is fixedly connected to the end of the outer ring shell 32 away from the waist connector 1, the sliding pressure block 4 is located in the wrapping sleeve 6, the sliding pressure block 4 slides along the length direction of the wrapping sleeve 6, and the force-applying assembly 5 is installed at the end of the wrapping sleeve 6 away from the outer ring shell 32; a guide ridge 61 is provided in the wrapping sleeve 6, and the length direction of the guide ridge 61 is parallel to the length direction of the wrapping sleeve 6, and a guide groove 62 cooperating with the guide ridge 61 is provided on the sliding pressure block 4.

[0066] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A thigh joint structure of an exoskeleton, characterized in that: It comprises a waist connection piece (1) and a thigh connection piece (2), wherein the waist connection piece (1) is used to connect to the waist module of the exoskeleton, and the thigh connection piece (2) is used to connect to the thigh of the exoskeleton; The waist connecting member (1) and the thigh connecting member (2) are connected via a ball joint (3), wherein the ball joint (3) comprises a load-bearing ball (31) and an outer ring housing (32), wherein the load-bearing ball (31) comprises a first end and a second end opposite to each other, wherein the first end is used for being fixedly connected to the waist connecting member (1), and the second end is located in the outer ring housing (32), and the second end is provided with a first mating surface (33); A sliding pressure block (4) is provided at one end of the outer ring housing (32) that is away from the waist module, and the end surface of the sliding pressure block (4) facing the bearing ball (31) is a second matching surface (41). An elastic member is provided between the sliding pressure block (4) and the bearing ball (31), and the elastic member applies a force to the sliding pressure block (4) away from the first matching surface (33); The outer ring shell (32) is provided with a force-applying component (5) at one end facing away from the waist module, and the force-applying component (5) is used to apply a force to the sliding pressure block (4) toward the first matching surface (33) so that the sliding pressure block (4) slides and the first matching surface (33) and the second matching surface (41) are matched to limit the rotation of the load-bearing ball (31).

2. The thigh joint structure of the exoskeleton according to claim 1, characterized in that: The force-applying assembly (5) comprises a mounting frame (51) and an eccentric structural member (52); the mounting frame (51) and the outer ring housing (32) are fixedly connected; the mounting frame (51) and the eccentric structural member (52) are located at one end of the sliding pressure block (4) away from the bearing ball (31); the eccentric structural member (52) and the mounting frame (51) are rotatably connected; the eccentric structural member (52) is relatively connected to the connecting shaft of the eccentric structural member (52) and the mounting frame (51); The two sides are respectively a distal end (53) and a proximal end (54); the distance between the side of the distal end (53) facing away from the proximal end (54) and the connecting shaft is a first distance; the distance between the end of the proximal end (54) facing away from the distal end (53) and the connecting shaft is a second distance; the first distance is greater than the second distance; a through slot for the distal end (53) to pass through is provided on the mounting frame (51); the distal end (53) is used to abut against the sliding pressing block (4) after passing through the through slot; When the proximal end (54) faces the sliding pressing block (4), the sliding pressing block (4) and the first matching surface (33) are separated; When the distal end (53) faces the sliding pressure block (4) and abuts against the sliding pressure block (4), the first matching surface (33) and the second matching surface (41) form a match.

3. The thigh joint structure of the exoskeleton according to claim 2, characterized in that: The force applying assembly (5) further comprises a handle (55), wherein the handle (55) is fixedly connected to the eccentric structural member (52).

4. The thigh joint structure of the exoskeleton according to claim 3, characterized in that: When the proximal end (54) faces the sliding pressing block (4), the handle (55) is located on a side of the eccentric structure (52) away from the knee joint, and the length direction of the handle (55) is parallel to the length direction of the thigh; When the point on the distal end (53) that is farthest from the connecting shaft abuts against the sliding pressing block (4), the handle (55) is located on a side of the eccentric structural member (52) close to the knee joint; The mounting frame (51) is provided with a limit block on the side of the eccentric structural member (52) close to the knee joint, and when the handle (55) abuts against the limit block, the point on the distal end (53) farthest from the connecting shaft abuts against the sliding pressure block (4), and the length direction of the handle (55) is parallel to the length direction of the thigh.

5. The thigh joint structure of the exoskeleton according to claim 2, characterized in that: The eccentric structural member (52) comprises a distal end (53) structural block and a proximal end (54) structural block located on opposite sides of the connecting shaft, the side of the proximal end (54) structure facing away from the distal end (53) structural block is a plane (56), the side of the distal end (53) structural block facing away from the proximal end (54) structural block is a curved surface (57), and the concave surface of the curved surface (57) faces the connecting shaft, and the outer contours of the proximal end (54) structural block and the annular segment structure (58) are connected by an arcuate surface transition.

6. The thigh joint structure of the exoskeleton according to claim 5, characterized in that: The sliding direction of the sliding pressure block (4) is a first direction. The end of the sliding pressure block (4) facing away from the load-bearing ball (31) is provided with a first abutting surface (42) abutting against the distal end (53). The angle between the first abutting surface (42) and the first direction is greater than 0 degrees and less than 90 degrees. The end of the first abutting surface (42) away from the knee joint is closer to the load-bearing ball (31) than the end close to the knee joint. The side of the proximal end (54) structure away from the distal end (53) structure is parallel to the first abutting surface (42).

7. The thigh joint structure of the exoskeleton according to claim 1, characterized in that: The opening contour of the outer ring housing (32) close to the first end is a first circumference, the sliding direction of the sliding pressure block (4) is perpendicular to the radial direction of the first circumference, the end surface of the second end is provided with a plurality of clamping grooves (34) distributed along the circumference of the second circumference, and the end surface of the sliding pressure block (4) facing the second end is provided with clamping protrusions (43) distributed along the circumference of the first circumference; When the second circumference is parallel to the first circumference and the front-rear angle of the thigh of the exoskeleton relative to the waist module is a preset angle, the clamping protrusions (43) and the clamping grooves (34) correspond one to one.

8. The thigh joint structure of the exoskeleton according to claim 7, characterized in that: One end of the clamping protrusion (43) facing the bearing ball (31) is a conical block, and the small end of the conical block faces the bearing ball (31).

9. The thigh joint structure of the exoskeleton according to claim 7, characterized in that: The thigh joint structure of the exoskeleton also includes a wrapping sleeve (6), one end of the wrapping sleeve (6) is fixedly connected to an end of the outer ring shell (32) away from the waist connector (1), the sliding pressure block (4) is located in the wrapping sleeve (6), the sliding pressure block (4) slides along the length direction of the wrapping sleeve (6), and the force-applying component (5) is installed at an end of the wrapping sleeve (6) away from the outer ring shell (32); A guide convex strip (61) is provided inside the wrapping sleeve (6), the length direction of the guide convex strip (61) is parallel to the length direction of the wrapping sleeve (6), and a guide groove (62) cooperating with the guide convex strip (61) is provided on the sliding pressure block (4).

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