Exoskeleton robot

Abstract

The exoskeleton robot comprises a leg module and a foot module, the leg module comprises a leg skeleton and a fixing piece for a wearer to wear, and the fixing piece is connected with the leg skeleton; the foot module comprises a pedal assembly, a first anti-skid assembly and a second anti-skid assembly, the pedal assembly is connected with the leg framework, the first anti-skid assembly comprises an anti-skid plate, the anti-skid plate is arranged on the lower side of the pedal assembly and connected with the pedal assembly, and the second anti-skid assembly comprises an adjusting plate and a plurality of anti-skid columns connected to the adjusting plate; the adjusting plate is movably connected with the pedal assembly, so that the foot module is switched between the first anti-skid mode and the second anti-skid mode. According to the exoskeleton robot, when the ground is covered with sludge, the foot modules are adjusted to be in the second anti-skid mode, the anti-skid plates and the anti-skid columns abut against the ground at the same time, the multiple anti-skid columns can be inserted into the sludge on the ground, the friction force and the road holding force of the foot modules are increased, and the probability that rescue workers slip in the rescue process is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of mine emergency rescue equipment, and particularly relates to an exoskeleton robot. Background Art

[0002] Mine emergency rescue is a high-risk and high-intensity task. Rescue personnel need to perform operations such as search and rescue, handling, and demolition in complex and dangerous environments. As a wearable intelligent device, an exoskeleton robot can significantly enhance the physical strength, endurance, and safety of rescue personnel.

[0003] In related technologies, an anti-slip structure, such as anti-slip patterns, is usually provided at the bottom of the pedal of an exoskeleton robot. However, due to the complexity of the mine environment, some ground may be covered with silt, resulting in a relatively serious wet and slippery situation. During the process of walking with the help of the exoskeleton robot, rescue personnel are extremely likely to slip, posing a threat to the safety of rescue personnel. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems in the related technologies to some extent.

[0005] To this end, an embodiment of the present invention provides an exoskeleton robot. When the ground is covered with silt and the wet and slippery situation is relatively serious, the foot module is adjusted to the second anti-slip mode. The anti-slip plate and the anti-slip columns of the foot module simultaneously abut against the ground. While the anti-slip patterns of the anti-slip plate are in contact with the ground, multiple anti-slip columns can be inserted into the silt on the ground, greatly increasing the friction and grip of the foot module, reducing the probability of rescue personnel slipping during the rescue process, and improving the safety of rescue personnel during the rescue process.

[0006] The exoskeleton robot according to an embodiment of the present invention includes a leg module and a foot module. The leg module includes a leg skeleton and a fixing member for a wearer to wear, and the fixing member is connected to the leg skeleton; the foot module includes a pedal assembly, a first anti-slip assembly, and a second anti-slip assembly. The pedal assembly is connected to the leg skeleton. The first anti-slip assembly includes an anti-slip plate, and the lower side of the anti-slip plate has anti-slip patterns. The anti-slip plate is disposed on the lower side of the pedal assembly and is connected to the pedal assembly. The anti-slip plate and the pedal assembly are arranged at intervals to form an installation space. The second anti-slip assembly is disposed in the installation space. The second anti-slip assembly includes an adjustment plate and a plurality of anti-slip columns connected to the adjustment plate. The adjustment plate is movably connected to the pedal assembly to enable the foot module to switch between a first anti-slip mode and a second anti-slip mode; in the first anti-slip mode, the anti-slip columns abut against the upper side surface of the anti-slip plate, and in the second anti-slip mode, both the anti-slip columns and the anti-slip plate can abut against the ground..

[0007] In some embodiments, an elastic telescopic component is provided between the anti-slip plate and the pedal assembly, and the anti-slip plate is slidably connected to the pedal assembly in the vertical direction through the elastic telescopic component.

[0008] In some embodiments, the anti-slip column includes a sleeve body and a column body. The sleeve body is connected to the adjusting plate, the column body is slidably disposed in the sleeve body in the vertical direction, and a spring is provided between the sleeve body and the column body. The spring is used to apply an elastic force that moves the sleeve body and the column body away from each other.

[0009] In some embodiments, the adjusting plate is slidably connected to the pedal assembly, and the sliding direction of the adjusting plate relative to the pedal assembly is perpendicular to the sliding direction of the anti-slip plate relative to the pedal assembly; the anti-slip plate has a plurality of through grooves. In the second anti-slip mode, the anti-slip columns are aligned with the through grooves so that the anti-slip columns can pass through the through grooves and abut against the ground.

[0010] In some embodiments, the exoskeleton robot further includes a driving assembly. The driving assembly includes a pneumatic component and a telescopic rod. The telescopic rod includes a cylinder body and a rod body. The cylinder body is connected to the pedal assembly. The cylinder body has an air cavity. The rod body is slidably disposed in the air cavity. The adjusting plate is connected to the rod body. The pneumatic component is used to inflate or deflate the air cavity to drive the rod body to move relative to the cylinder body.

[0011] In some embodiments, the driving assembly further includes a connecting plate. The adjusting plate is connected to the connecting plate. The number of the telescopic rods is multiple. At least two of the telescopic rods are spaced apart. At least two of the rod bodies are both connected to the connecting plate.

[0012] In some embodiments, the exoskeleton robot further includes a backpack assembly. The backpack assembly is connected to the leg skeleton. The backpack assembly includes a backpack. The backpack has a receiving cavity. The pneumatic component is disposed in the receiving cavity. The pneumatic component has an inlet and an outlet; the driving assembly further includes a diversion pipe. One end of the diversion pipe is connected to the inlet and outlet of the pneumatic component, and the other end is connected to the air cavity.

[0013] In some embodiments, the pedal assembly includes a first pedal for supporting the front sole part of the wearer, a second pedal for supporting the heel part of the wearer, and a transition plate. A part of the transition plate is slidably connected to the first pedal, and another part is hinged to the second pedal. The anti-slip plate is disposed on the lower side of the first pedal and is connected to the first pedal.

[0014] In some embodiments, an elastic foot pad is provided on the lower side of the second pedal. The elastic foot pad has an elastic cavity, and a buffer pad is provided in the elastic cavity. The buffer pad has a plurality of buffer air grooves, and the buffer air grooves communicate with the elastic cavity.

[0015] In some embodiments, an air injection valve for injecting gas into the elastic cavity is provided on the elastic foot pad.

[0016] The exoskeleton robot according to the embodiment of the present invention is suitable for rescue personnel to wear in mine emergency rescue to increase the physical strength, endurance and safety of the rescue personnel. First, the exoskeleton robot is worn and fixed through a fixing member. The leg module can support the legs of the rescue personnel, and the foot module can support the feet of the rescue personnel.

[0017] Subsequently, the rescue personnel (i.e., the wearer) can control the movement of the adjusting plate relative to the pedal assembly according to the wet and slippery condition of the walking ground, so that the foot module can be switched between the first anti-slip mode and the second anti-slip mode; specifically, when the ground is dry and the wet and slippery condition is not serious, the foot module is adjusted to the first anti-slip mode. At this time, the anti-slip pattern of the anti-slip plate contacts the ground, so that the foot module has a certain anti-slip ability; when the ground is covered with silt and the wet and slippery condition is relatively serious, the foot module is adjusted to the second anti-slip mode. At this time, the anti-slip plate and the anti-slip columns of the foot module simultaneously abut against the ground, and a plurality of anti-slip columns can be inserted into the silt on the ground, greatly increasing the friction and grip of the foot module, reducing the probability of the rescue personnel slipping during the rescue process, and improving the safety of the rescue personnel during the rescue process. Description of the Drawings

[0018] Figure 1 is a schematic diagram of the overall structure of the exoskeleton robot according to an embodiment of the present invention.

[0019] Figure 2 is a schematic diagram of the overall structure of the exoskeleton robot from another angle according to an embodiment of the present invention.

[0020] Figure 3 is a schematic diagram of the structures of the leg module and the foot module of the exoskeleton robot according to an embodiment of the present invention.

[0021] Figure 4 is a schematic diagram of the foot module of the exoskeleton robot according to an embodiment of the present invention.

[0022] Figure 5 is a schematic diagram of the foot module of the exoskeleton robot according to an embodiment of the present invention being cut open.

[0023] Figure 6 is a schematic diagram of the second anti-slip assembly of the exoskeleton robot according to an embodiment of the present invention.

[0024] Figure 7 It is a schematic diagram of the connection structure of the telescopic rod and the diversion pipe of the exoskeleton robot according to an embodiment of the present invention.

[0025] Figure 8 It is a schematic diagram of the structure of the elastic foot pad of the exoskeleton robot according to an embodiment of the present invention.

[0026] Reference numerals:

[0027] 100, exoskeleton robot;

[0028] 1, leg module; 11, leg skeleton; 111, first skeleton; 112, second skeleton; 113, third skeleton; 12, leg fixing belt;

[0029] 2, foot module; 21, pedal assembly; 211, first pedal; 212, second pedal; 213, transition plate; 214, sliding sleeve; 215, hinge plate; 216, telescopic cover plate; 217, elastic foot pad; 2171, air injection valve; 218, buffer pad; 2181, buffer air groove; 219, bottom pedal; 22, first anti-slip component; 221, anti-slip plate; 2211, anti-slip pattern; 2212, through groove; 23, second anti-slip component; 231, adjusting plate; 232, anti-slip column; 2321, sleeve body; 2322, column body; 2323, spring; 2324, baffle; 24, limiting sleeve; 25, foot fixing belt; 26, elastic telescopic component;

[0030] 3, backpack assembly; 31, backpack; 32, waist belt; 33, shoulder strap;

[0031] 4, drive assembly; 41, pneumatic component; 411, control switch; 42, telescopic rod; 421, cylinder body; 422, rod body; 423, mounting seat; 43, connecting plate; 44, diversion pipe; 45, connecting pipe. Detailed implementation manners

[0032] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as a limitation to the present invention.

[0033] As Figures 1 to 4As shown in the figure, the exoskeleton robot 100 according to an embodiment of the present invention includes a leg module 1 and a foot module 2. The leg module 1 includes a leg skeleton 11 and a fixing member for a wearer to wear, and the fixing member is connected to the leg skeleton 11. The foot module 2 includes a pedal assembly 21, a first anti-slip assembly 22, and a second anti-slip assembly 23. The pedal assembly 21 is connected to the leg skeleton 11. The first anti-slip assembly 22 includes an anti-slip plate 221. The lower side of the anti-slip plate 221 has anti-slip lines 2211. The anti-slip plate 221 is disposed on the lower side of the pedal assembly 21 and connected to the pedal assembly 21. The anti-slip plate 221 and the pedal assembly 21 are arranged at intervals to form an installation space. The second anti-slip assembly 23 is disposed in the installation space. The second anti-slip assembly 23 includes an adjustment plate 231 and a plurality of anti-slip columns 232 connected to the adjustment plate 231. The adjustment plate 231 is movably connected to the pedal assembly 21 so that the foot module 2 can switch between a first anti-slip mode and a second anti-slip mode. In the first anti-slip mode, the anti-slip columns 232 abut against the upper side surface of the anti-slip plate 221. In the second anti-slip mode, both the anti-slip columns 232 and the anti-slip plate 221 can abut against the ground.

[0034] The exoskeleton robot 100 according to an embodiment of the present invention is suitable for being worn by rescue personnel in mine emergency rescue to increase the physical strength, endurance and safety of the rescue personnel. First, the exoskeleton robot 100 is worn and fixed through the fixing member. The leg module 1 can support the legs of the rescue personnel, and the foot module 2 can support the feet of the rescue personnel.

[0035] Subsequently, the rescue personnel (i.e., the wearer) can control the relative movement of the adjustment plate 231 with respect to the pedal assembly 21 according to the wet and slippery condition of the walking ground, so that the foot module 2 can switch between the first anti-slip mode and the second anti-slip mode. Specifically, when the ground is dry and the wet and slippery condition is not serious, the foot module 2 is adjusted to the first anti-slip mode. At this time, the anti-slip lines 2211 of the anti-slip plate 221 are in contact with the ground, so that the foot module 2 has a certain anti-slip ability. When the ground is covered with silt and the wet and slippery condition is relatively serious, the foot module 2 is adjusted to the second anti-slip mode. At this time, the anti-slip plate 221 and the anti-slip columns 232 of the foot module 2 simultaneously abut against the ground, and the plurality of anti-slip columns 232 can be inserted into the silt on the ground, greatly increasing the friction and grip of the foot module 2, reducing the probability of the rescue personnel slipping during the rescue process, and improving the safety of the rescue personnel during the rescue process.

[0036] In addition, by switching the foot module 2 between the first anti-slip mode and the second anti-slip mode, the exoskeleton robot 100 is suitable for road surfaces with different wet and slippery degrees, and the applicability of the exoskeleton robot 100 to different road surfaces can be improved.

[0037] Specifically, as Figure 1 and Figure 2As shown in the figure, the leg module 1 includes two leg skeletons 11 and multiple fixing parts. The leg skeleton 11 includes a first skeleton 111 and a second skeleton 112. The second skeleton 112 is disposed below the first skeleton 111. The first skeleton 111 corresponds to the thigh part of the rescuer, and the second skeleton 112 corresponds to the calf part of the rescuer. The second skeleton 112 is hinged to the first skeleton 111, so that the thigh part and the calf part of the wearer can be bent relatively; the fixing parts are leg fixing straps 12. The leg fixing straps 12 are disposed inside the leg skeleton 11. The number of leg fixing straps 12 is four, corresponding to two first skeletons 111 and two second skeletons 112 respectively. The connection between the leg bracket and the leg of the wearer can be realized through the leg fixing straps 12.

[0038] The pedal assembly 21 is disposed below the second skeleton 112 and is hinged to the second skeleton 112, so that the foot of the wearer can be bent relative to the calf; the foot module 2 further includes a limit sleeve 24 disposed above the pedal assembly 21 and two foot fixing straps 25. The limit sleeve 24 corresponds to the heel part of the wearer, and the foot fixing straps 25 correspond to the front sole part of the wearer. The two foot fixing straps 25 are arranged at intervals in the front-back direction of the wearer's foot. The shapes of the limit sleeve 24 and the foot fixing straps 25 respectively match the shape of the wearer's foot, and are used to connect the foot module 2 to the foot of the wearer.

[0039] Thus, the connection and fixation of the exoskeleton robot 100 with the thigh part, calf part and foot of the rescuer can be realized, and the wearing of the exoskeleton robot 100 can be realized.

[0040] Optionally, as Figure 3 and Figure 4 shown, the lower side of the anti-slip plate 221 has multiple anti-slip grooves. The cross-section of the anti-slip grooves is V-shaped. The multiple anti-slip grooves are arranged side by side in the front-back direction to form an anti-slip pattern 2211.

[0041] Optionally, as Figure 1 and Figure 2 shown, the exoskeleton robot 100 further includes a backpack assembly 3. The backpack assembly 3 is connected to the leg skeleton 11. The backpack assembly 3 includes a backpack 31, and the backpack 31 has an accommodation cavity.

[0042] Thus, the rescuer can place the materials required for the rescue in the backpack 31 for the progress of the rescue mission.

[0043] As an example, as Figure 1 and Figure 2As shown, the leg skeleton 11 further includes a third skeleton 113. The third skeleton 113 is hinged to the upper end of the first skeleton 111 and extends backward from the first skeleton 111. The third skeleton 113 has a certain angle with the first skeleton 111. The backpack 31 is disposed on the side of the third skeleton 113 away from the first skeleton 111, and the two are hinged to each other.

[0044] The backpack assembly 3 further includes a waist belt 32 and two shoulder straps 33. The two shoulder straps 33 are for the wearer to carry the backpack 31. The waist belt 32 is disposed close to the third skeleton 113 and is used to fix the waist of the wearer to ensure the stability of the backpack 31 during the rescue operation.

[0045] In some embodiments, as Figure 4 and Figure 5 shown, an elastic telescopic assembly 26 is provided between the anti-slip plate 221 and the pedal assembly 21. The anti-slip plate 221 is slidably connected to the pedal assembly 21 in the up and down direction through the elastic telescopic assembly 26.

[0046] The anti-slip plate 221 is slidably connected to the pedal assembly 21 through the elastic telescopic assembly 26. When the wearer steps on the pedal assembly 21, the distance between the anti-slip plate 221 and the pedal assembly 21 is reduced, and the elastic telescopic assembly 26 is compressed. When the wearer lifts the foot, the elastic telescopic assembly 26 exerts an upward elastic force on the pedal assembly 21 to assist the wearer in lifting the foot, thereby reducing the physical exertion of the rescue personnel during the rescue process and facilitating the continuous progress of the rescue task.

[0047] Optionally, the elastic telescopic assembly 26 is an elastic telescopic rod assembly, including a first rod, a second rod, and an elastic member. The elastic member is a spring. The first rod has a cavity, the second rod is slidably disposed in the first rod, and the elastic member is disposed inside the first rod and is used to exert an elastic force along its length direction on the first rod and the second rod.

[0048] Thus, when the wearer steps on the pedal assembly 21, the first rod and the second rod approach each other relatively, and the elastic member is compressed. When the wearer lifts the foot, the elastic member can provide an upward force to the wearer to assist the wearer in lifting the foot, thereby reducing the physical exertion of the wearer and being more conducive to the continuous progress of the rescue task.

[0049] As Figure 4 and Figure 5 shown, an installation space is formed between the anti-slip plate 221 and the pedal assembly 21. The elastic telescopic assembly 26 is disposed in this installation space. The number of the elastic telescopic assemblies 26 is at least four. At least two elastic telescopic assemblies 26 are arranged on the front side of the anti-slip plate 221, and at least two elastic telescopic assemblies 26 are arranged on the rear side of the anti-slip plate 221. The anti-slip plate 221 is stably connected to the pedal assembly 21 through a plurality of elastic telescopic assemblies 26.

[0050] In some embodiments, such as Figure 5 and Figure 6 shown, the anti-slip column 232 includes a sleeve body 2321 and a column body 2322. The sleeve body 2321 is connected to the adjusting plate 231. The column body 2322 is slidably disposed through the sleeve body 2321 in the up and down direction. A spring 2323 is provided between the sleeve body 2321 and the column body 2322. The spring 2323 is used to apply an elastic force to the sleeve body 2321 and the column body 2322 to move them away from each other.

[0051] With the above settings, when the foot module 2 is in the first anti-slip mode, the column body 2322 of the anti-slip column 232 abuts against the upper side surface of the anti-slip plate 221. When the wearer steps on the pedal assembly 21, the anti-slip pattern 2211 on the lower side of the anti-slip plate 221 abuts against the ground to play an anti-slip role. The elastic telescopic assembly 26 and the anti-slip column 232 are compressed simultaneously. When the wearer lifts the foot, the elastic telescopic assembly 26 and the spring 2323 in the anti-slip column 232 can simultaneously provide an upward force to the wearer to assist the wearer in lifting the foot. When the foot module 2 is in the second anti-slip mode, when the wearer steps on the pedal assembly 21, the anti-slip column 232 and the anti-slip plate 221 simultaneously abut against the ground. The anti-slip column 232 is directly compressed by the ground, and the elastic compression assembly is compressed through the anti-slip plate 221. When the wearer lifts the foot, the elastic telescopic assembly 26 and the anti-slip column 232 can simultaneously provide an upward force to the wearer, thereby reducing the physical exertion of the wearer.

[0052] In some embodiments, the adjusting plate 231 is slidably connected to the pedal assembly 21. The sliding direction of the adjusting plate 231 relative to the pedal assembly 21 is perpendicular to the sliding direction of the anti-slip plate 221 relative to the pedal assembly 21. The anti-slip plate 221 has a plurality of through grooves 2212 provided therethrough. In the second anti-slip mode, the anti-slip column 232 is aligned with the through grooves 2212 so that the anti-slip column 232 can pass through the through grooves 2212 and abut against the ground.

[0053] When the foot module 2 is in the first anti-slip mode, the anti-slip column 232 and the through grooves 2212 are misaligned with each other, that is, the anti-slip column 232 abuts against the upper side surface of the anti-slip plate 221. When the foot module 2 is in the second anti-slip mode, the anti-slip column 232 is aligned with the through grooves 2212. When the wearer steps on the ground, the anti-slip plate 221 first fits against the ground, and then the anti-slip column 232 passes through the through grooves 2212 and abuts against the ground. If there is mud on the ground, the lower end of the anti-slip column 232 can be inserted into the mud to improve the grip of the foot module 2 and increase the friction with the ground to prevent the wearer from slipping.

[0054] As an example, such as Figure 5 and Figure 6As shown in the figure, the adjusting plate 231 is arranged in the installation space formed by the anti-slip plate 221 and the pedal assembly 21. The adjusting plate 231 is slidably connected to the pedal assembly 21 in the front-rear direction. The number of anti-slip columns 232 is multiple, and the multiple anti-slip columns 232 are distributed in multiple rows and columns on the lower side of the adjusting plate 231. The cross-section of the through groove 2212 is circular, and its diameter matches the diameter of the sleeve body 2321 of the anti-slip column 232. The through groove 2212 corresponds to the anti-slip column 232 one by one. By controlling the movement of the adjusting plate 231 in the front-rear direction, the foot module 2 can be switched between the first anti-slip mode and the second anti-slip mode. When the foot module 2 is in the second anti-slip mode, the anti-slip column 232 is aligned with the through groove 2212. When the wearer steps on the ground, the anti-slip column 232 passes through the through groove 2212, and the column body 2322 is first squeezed and retracted into the sleeve body 2321. If the column body 2322 is completely retracted into the sleeve body 2321, the lower end of the sleeve body 2321 directly contacts the ground to improve the friction and grip force.

[0055] One end of the sleeve body 2321 is fixedly connected to the lower side surface of the adjusting plate 231, and the column body 2322 is slidably disposed in the sleeve body 2321. One end of the sleeve body 2321 away from the adjusting plate 231 is conical, and its cross-section gradually decreases along the direction away from the adjusting plate 231. A baffle 2324 is provided at one end of the column body 2322 disposed in the sleeve body 2321. The cross-sectional area of the baffle 2324 is smaller than the cross-sectional area of the column body 2322. Through the cooperation of the baffle 2324 and the conical structure at the end of the sleeve body 2321, the column body 2322 can be prevented from detaching from the sleeve body 2321. The spring 2323 is disposed in the sleeve body 2321, and one end is fixedly connected to the end wall of the sleeve body 2321 close to the adjusting plate 231, and the other end is fixedly connected to the baffle 2324. When the wearer steps on the pedal assembly 21, the spring 2323 in the sleeve body 2321 is compressed, and the spring 2323 can provide an upward force to the wearer to assist the wearer in lifting the foot.

[0056] Optionally, when both the elastic contraction assembly and the spring 2323 in the anti-slip column 232 are in the natural state, the end surface of the column body 2322 away from the adjusting plate 231 is located in the installation space formed by the anti-slip plate 221 and the pedal assembly 21.

[0057] Thus, after the wearer lifts the foot, the adjusting plate 231 and the multiple anti-slip columns 232 are both located in the installation space formed by the anti-slip plate 221 and the pedal assembly 21. At this time, by controlling the movement of the adjusting plate 231 relative to the pedal assembly 21 in the front-rear direction, the foot module 2 can be controlled to switch between the first anti-slip mode and the second anti-slip mode.

[0058] In some embodiments, such as Figure 2 and Figure 7As shown, the exoskeleton robot 100 further includes a driving assembly 4. The driving assembly 4 includes a pneumatic component 41 and a telescopic rod 42. The telescopic rod 42 includes a cylinder body 421 and a rod body 422. The cylinder body 421 is connected to the pedal assembly 21. The cylinder body 421 has an air cavity. The rod body 422 is slidably disposed in the air cavity. The adjusting plate 231 is connected to the rod body 422. The pneumatic component 41 is used to inflate or deflate the air cavity to drive the rod body 422 to move relative to the cylinder body 421.

[0059] The pneumatic component 41 can inflate or deflate the air cavity. By changing the air pressure in the air cavity, the rod body 422 is driven to extend or retract relative to the cylinder body 421, and then the adjusting plate 231 is driven to move in the front-back direction, so as to control the foot module 2 to switch between the first anti-slip mode and the second anti-slip mode.

[0060] In some embodiments, as Figure 6 and Figure 7 shown, the driving assembly 4 further includes a connecting plate 43. The adjusting plate 231 is connected to the connecting plate 43. The number of telescopic rods 42 is multiple. At least two telescopic rods 42 are arranged at intervals. At least two rod bodies 422 are both connected to the connecting plate 43.

[0061] By driving the adjusting plate 231 to move simultaneously by multiple telescopic rods 42, a greater driving force can be provided for the adjusting plate 231. At the same time, multiple telescopic rods 42 can apply driving forces to different positions of the adjusting plate 231, improving the smoothness of the movement process of the adjusting plate 231.

[0062] Optionally, the number of telescopic rods 42 is two. The length directions of the two telescopic rods 42 are parallel to each other and are oppositely arranged on both sides of the adjusting plate 231.

[0063] Thus, the telescopic rods 42 apply driving forces simultaneously from both sides of the adjusting plate 231, making the force on the adjusting plate 231 relatively uniform, thereby improving the smoothness of the movement of the adjusting plate 231.

[0064] In some embodiments, as Figure 2 shown, the backpack 31 has a receiving cavity. The pneumatic component 41 is disposed in the receiving cavity. The pneumatic component 41 has an inlet and an outlet. The driving assembly 4 further includes a diversion pipe 44. One end of the diversion pipe 44 is connected to the inlet and outlet of the pneumatic component 41, and the other end is connected to the air cavity.

[0065] The inlet and outlet of the pneumatic component 41 are connected to the air cavity of the telescopic rod 42 through the diversion pipe 44. By controlling the operating state of the pneumatic component 41, the switching between air extraction and air blowing can be realized, and then the rod body 422 of the telescopic rod 42 can be controlled to extend or retract. In addition, disposing the pneumatic component 41 in the backpack 31 is more conducive to the wearer to carry.

[0066] Optionally, the pneumatic component 41 is a blower.

[0067] Exemplarily, as Figure 2 shown, the accommodation cavity of the backpack 31 includes a storage cavity and an installation cavity. The storage cavity is used to place rescue supplies. The installation cavity is provided on the lower side of the storage cavity, and the fan is provided in the installation cavity; the control switch 411 of the fan is provided on the side of the backpack 31, and the wearer can control the fan to switch between three states: forward operation, reverse operation, and stop operation through the control switch 411 of the fan.

[0068] As Figure 5 and Figure 7 shown, when the fan operates forward, it inflates the air cavity of the telescopic rod 42 through the guide pipe 44, and the rod body 422 extends, thereby pushing the adjustment plate 231 forward, so that the anti-slip column 232 is aligned with the through groove 2212 on the anti-slip plate 221. The anti-slip column 232 can pass through the anti-slip plate 221 and be inserted into the sludge on the ground. At this time, the foot module 2 is in the second anti-slip mode, which is suitable for the rescuer to walk when the ground is severely slippery, and can improve the friction and grip of the foot module 2, reducing the probability of the rescuer slipping.

[0069] When the fan operates in reverse, it evacuates the air cavity of the telescopic rod 42 through the guide pipe 44, and the rod body 422 retracts, thereby pushing the adjustment plate 231 backward, so that the anti-slip column 232 is misaligned with the through groove 2212 on the anti-slip plate 221, and the lower end of the anti-slip column 232 abuts against the anti-slip plate 221. At this time, the foot module 2 is in the first anti-slip mode, which is suitable for the rescuer to walk when the ground is not severely slippery.

[0070] As Figure 5 and Figure 7 shown, an installation seat 423 is fixedly connected to the cylinder body 421 of the telescopic rod 42, and the installation seat 423 is fixedly connected to the pedal assembly 21, which can realize the installation of the telescopic rod 42; the number of telescopic rods 42 is two, and the ends of the two cylinder bodies 421 away from the rod body 422 are connected with a communicating pipe 45, so that the air cavities of the two cylinder bodies 421 communicate with each other.

[0071] As Figure 3 and Figure 4 shown, the guide pipe 44 is arranged on the outside of one of the leg skeletons 11 and extends along the first skeleton 111, the second skeleton 112 and the third skeleton 113 in sequence. The guide pipe 44 is connected to the first skeleton 111, the second skeleton 112 and the third skeleton 113 through a plurality of clamps in sequence; one end of the guide pipe 44 is connected to the inlet and outlet of the fan, and the other end is connected to the end of the communicating pipe 45. Thus, the fan can control the actions of the two telescopic rods 42 through the guide pipe 44 at the same time.

[0072] In some embodiments, as Figure 5 and Figure 8As shown, the pedal assembly 21 includes a first pedal 211 for supporting the front sole part of the wearer, a second pedal 212 for supporting the heel part of the wearer, and a transition plate 213. A part of the transition plate 213 is slidably connected to the first pedal 211, and another part is hinged to the second pedal 212. An anti-slip plate 221 is provided on the lower side of the first pedal 211 and is connected to the first pedal 211.

[0073] With the above settings, the first pedal 211 and the second pedal 212 can slide and bend relative to each other, that is, the pedal assembly 21 can be extended and bent in the front-back direction. Therefore, during the walking process of the wearer, the shape of the pedal assembly 21 fits more closely to the bending state of the wearer's foot, thereby reducing the situation of the wearer's sole being sore after walking for a long time and improving comfort.

[0074] Specifically, as Figure 5 shown, a sliding sleeve 214 is fixedly connected to the side of the first pedal 211 close to the second pedal 212. The sliding sleeve 214 has a chute, and a part of the transition plate 213 is arranged in the chute and is in sliding fit with the chute; a hinge plate 215 is fixedly connected to the side of the second pedal 212 close to the first pedal 211, and the end of the transition plate 213 far from the first pedal 211 is hinged to the hinge plate 215; thus, the first pedal 211 and the second pedal 212 can slide and bend relative to each other, and during the walking process of the wearer, the shape of the pedal assembly 21 fits more closely to the bending state of the wearer's foot, which can improve comfort.

[0075] In some embodiments, as Figure 8 shown, an elastic foot pad 217 is provided on the lower side of the second pedal 212. The elastic foot pad 217 has an elastic cavity, and a buffer pad 218 is arranged in the elastic cavity. The buffer pad 218 has a plurality of buffer air grooves 2181, and the buffer air grooves 2181 communicate with the elastic cavity.

[0076] With the above settings, the elastic foot pad 217 and the plurality of buffer air grooves 2181 of the buffer pad 218 can play a buffering role when the wearer steps on the sole, improve comfort, and can provide a reaction force when the wearer's sole is lifted, providing power for the wearer to lift the foot, thereby reducing the physical consumption of the rescue personnel during mine emergency rescue.

[0077] Optionally, as Figure 8 shown, the buffer air grooves 2181 are arranged in a through manner, and the cross-section of the buffer air grooves 2181 is a regular hexagon.

[0078] As an example, as Figure 8As shown, a bottom pedal 219 is further provided on the lower side of the elastic foot pad 217. The bottom pedal 219 matches the shape of the second pedal 212. The elastic foot pad 217 is arranged between the second pedal 212 and the bottom pedal 219; the outer side surface of the elastic foot pad 217 is arc-shaped and recessed inward.

[0079] Optionally, as Figure 5 shown, the pedal assembly 21 further includes two telescopic cover plates 216 made of a soft material, for example, a bellows-type telescopic rubber plate; one telescopic cover plate 216 is arranged on the upper side of the second pedal 212 and is respectively connected to the first pedal 211 and the second pedal 212 at both ends, and the other telescopic cover plate 216 is arranged on the lower side of the bottom pedal 219 and is respectively connected to the bottom pedal 219 and the anti-slip plate 221 at both ends.

[0080] Thus, the telescopic pedal has a telescopic function and can cooperate with the pedal assembly 21 to complete the extension and bending actions; at the same time, one telescopic pedal covers the upper sides of the transition plate 213, the hinge plate 215 and the sliding sleeve 214 and directly contacts the foot of the wearer, which can improve the wearing comfort of the wearer. The other pedal is arranged at the bottom of the foot module 2 and can prevent mud from getting stuck in the gap between the anti-slip plate 221 and the elastic foot pad 217.

[0081] Of course, in other embodiments, a baffle 2324 can also be arranged on the outer side of the installation space formed by the first pedal 211 and the anti-slip plate 221. The baffle 2324 is a bellows-type telescopic rubber plate, so that the installation space is closed, thereby reducing the probability of mud entering between the anti-slip plate 221 and the first pedal 211.

[0082] In some embodiments, as Figure 8 shown, an air injection valve 2171 for injecting gas into the elastic cavity is provided on the elastic foot pad 217.

[0083] Thus, there is sufficient air in both the elastic cavity and the plurality of buffer air grooves 2181 for buffering, thereby improving the wearing comfort of the wearer.

[0084] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An exoskeleton robot, characterized in that: include: A leg module, the leg module comprising a leg frame and a fixing piece for a wearer to wear, the fixing piece being connected to the leg frame; A foot module, the foot module comprising a pedal assembly, a first anti-skid assembly and a second anti-skid assembly, the pedal assembly being connected to the leg frame, the first anti-skid assembly comprising an anti-skid plate, the lower side of the anti-skid plate having anti-skid patterns, the anti-skid plate being arranged at the lower side of the pedal assembly and connected to the pedal assembly, the anti-skid plate and the pedal assembly being arranged at intervals to form an installation space, the second anti-skid assembly being arranged in the installation space, the second anti-skid assembly comprising an adjustment plate and a plurality of anti-skid columns connected to the adjustment plate, the adjustment plate being movably connected to the pedal assembly so that the foot module can be switched between a first anti-skid mode and a second anti-skid mode; In the first anti-skid mode, the anti-skid column stops at the upper side of the anti-skid plate, and in the second anti-skid mode, both the anti-skid column and the anti-skid plate can stop at the ground.

2. The exoskeleton robot according to claim 1, characterized in that: An elastic telescopic component is provided between the anti-slip plate and the pedal component, and the anti-slip plate is slidably connected to the pedal component along the up-and-down direction through the elastic telescopic component.

3. The exoskeleton robot according to claim 2, characterized in that: The anti-slip column includes a sleeve and a column, wherein the sleeve is connected to the adjustment plate, and the column is slidably inserted into the sleeve along the up-down direction. A spring is provided between the sleeve and the column, and the spring is used to apply an elastic force to the sleeve and the column to move them away from each other.

4. The exoskeleton robot according to claim 3, characterized in that: The adjustment plate is slidably connected to the pedal assembly, and the sliding direction of the adjustment plate relative to the pedal assembly is perpendicular to the sliding direction of the anti-slip plate relative to the pedal assembly; The anti-slip plate has a plurality of through slots arranged therethrough. In the second anti-slip mode, the anti-slip column is aligned with the through slots so that the anti-slip column can pass through the through slots and stop at the ground.

5. The exoskeleton robot according to claim 4, characterized in that: It also includes a driving assembly, which includes a pneumatic part and a telescopic rod, the telescopic rod includes a cylinder and a rod body, the cylinder is connected to the pedal assembly, the cylinder has an air cavity, the rod body is slidably inserted into the air cavity, the adjustment plate is connected to the rod body, and the pneumatic part is used to inflate or exhaust the air cavity to drive the rod body to move relative to the cylinder.

6. The exoskeleton robot according to claim 5, characterized in that: The driving assembly further comprises a connecting plate, the adjusting plate is connected to the connecting plate, there are a plurality of telescopic rods, at least two of the telescopic rods are arranged at intervals, and at least two of the rod bodies are connected to the connecting plate.

7. The exoskeleton robot according to claim 5, characterized in that: It also includes a backpack component, which is connected to the leg frame. The backpack component includes a backpack, which has a accommodating cavity. The pneumatic part is arranged in the accommodating cavity, and the pneumatic part has an inlet and outlet. The drive component also includes a guide tube, one end of which is connected to the inlet and outlet of the pneumatic part, and the other end is connected to the air cavity.

8. The exoskeleton robot according to any one of claims 1 to 7, characterized in that: The pedal assembly includes a first pedal for supporting the forefoot of the wearer, a second pedal for supporting the heel of the wearer, and a transition plate, a portion of the transition plate is slidably connected to the first pedal, and the other portion is hinged to the second pedal, and the anti-skid plate is arranged on the lower side of the first pedal and connected to the first pedal.

9. The exoskeleton robot according to claim 8, characterized in that: An elastic foot pad is provided at the lower side of the second pedal. The elastic foot pad has an elastic cavity. A buffer pad is provided in the elastic cavity. The buffer pad has a plurality of buffer air grooves. The buffer air grooves are communicated with the elastic cavity.

10. The exoskeleton robot according to claim 9, characterized in that: The elastic foot pad is provided with a gas injection valve for injecting gas into the bullet cavity.

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