Exoskeleton robot

Abstract

The application discloses an exoskeleton robot, which comprises a leg module and a foot module, the leg module comprises a leg skeleton and a fixing part for a wearer, and the fixing part 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 skeleton, 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, the second anti-skid assembly comprises an adjusting plate and a plurality of anti-skid columns connected with the adjusting plate, and the adjusting plate is movably connected with the pedal assembly, so that the foot module is switched between a first anti-skid mode and a second anti-skid mode. When the ground is covered with sludge, the foot module is adjusted to the second anti-skid mode, so that the anti-skid plate and the anti-skid columns are simultaneously abutted against the ground, the plurality of anti-skid columns can be inserted into the sludge on the ground, the friction and the grip of the foot module are increased, and the probability of falling down of a rescuer in a rescue process is reduced.

Description

TECHNICAL FIELD

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

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

[0003] In related technologies, the bottom of the pedal of the exoskeleton robot is usually provided with an anti-skid structure, such as anti-skid lines. However, due to the complexity of the mine environment, part of the ground may be covered with silt, resulting in a serious wet and slippery ground. Rescue personnel are prone to slipping when walking with the help of the exoskeleton robot, which poses a threat to the safety of the rescue personnel. SUMMARY

[0004] The present application aims to at least partially solve one of the technical problems in the related art.

[0005] To this end, an embodiment of the present application proposes an exoskeleton robot that, when the ground is covered with silt and the wet and slippery condition is serious, adjusts the foot module to a second anti-skid mode, and the anti-skid plate and the anti-skid column of the foot module are simultaneously abutted against the ground. At the same time that the anti-skid lines of the anti-skid plate are in contact with the ground, the plurality of anti-skid columns can be inserted into the silt of 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.

[0006] The exoskeleton robot of the embodiment of the present application comprises a leg module and a foot module. The leg module comprises a leg skeleton and a fixing member for a wearer to wear, and the fixing member 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 skeleton. The first anti-skid assembly comprises an anti-skid plate, and the lower side of the anti-skid plate has anti-skid lines. The anti-skid plate is arranged on the lower side of the pedal assembly and connected with the pedal assembly. The anti-skid plate and the pedal assembly are spaced apart to form a mounting space. The second anti-skid assembly is arranged in the mounting space. 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 a first anti-skid mode and a second anti-skid mode. In the first anti-skid mode, the anti-skid columns are abutted against the upper side of the anti-skid plate. In the second anti-skid mode, the anti-skid columns and the anti-skid plate can be abutted against the ground.

[0007] In some embodiments, an elastic extension assembly is arranged between the anti-skid plate and the pedal assembly, and the anti-skid plate is slidably connected with the pedal assembly in the up-down direction through the elastic extension assembly.

[0008] In some embodiments, the anti-skid column comprises a sleeve and a column body, the sleeve is connected with the adjusting plate, the column body is slidably arranged in the sleeve in the up-down direction, and a spring is arranged between the sleeve and the column body to apply elastic force to the sleeve and the column body to move away from each other.

[0009] In some embodiments, the adjusting plate is slidably connected with 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-skid plate relative to the pedal assembly; the anti-skid plate has a plurality of through grooves, and in the second anti-skid mode, the anti-skid column is aligned with the through grooves so that the anti-skid column can pass through the through grooves and stop on the ground.

[0010] In some embodiments, the exoskeleton robot further comprises a driving assembly, the driving assembly comprises a pneumatic device and a telescopic rod, the telescopic rod comprises a cylinder and a rod body, the cylinder is connected with the pedal assembly, the cylinder has a gas cavity, the rod body is slidably arranged in the gas cavity, the adjusting plate is connected with the rod body, and the pneumatic device is used to inflate or deflate the gas cavity to drive the rod body to move relative to the cylinder.

[0011] In some embodiments, the driving assembly further comprises a connecting plate, the adjusting plate is connected with the connecting plate, and the number of the telescopic rods is a plurality, at least two of the telescopic rods are arranged at intervals, and at least two of the rod bodies are connected with the connecting plate.

[0012] In some embodiments, the exoskeleton robot further comprises a backpack assembly, the backpack assembly is connected with the leg skeleton, the backpack assembly comprises a backpack, the backpack has a containing cavity, the pneumatic device is arranged in the containing cavity, and the pneumatic device has an inlet and an outlet; the driving assembly further comprises a flow guide pipe, one end of the flow guide pipe is connected with the inlet and the outlet of the pneumatic device, and the other end is connected with the gas cavity.

[0013] In some embodiments, the pedal assembly comprises a first pedal for supporting the forefoot of a wearer, a second pedal for supporting the heel of the wearer, and a transition plate, a part of the transition plate is slidably connected with the first pedal, and the other part is hingedly connected with the second pedal, and the anti-skid plate is arranged on the lower side of the first pedal and connected with the first pedal.

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

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

[0016] The exoskeleton robot of the embodiment of the present application is suitable for being worn by a rescuer in mine emergency rescue to increase the physical strength, endurance and safety of the rescuer. First, the wearing and fixing of the exoskeleton robot are performed through a fixing member, the leg module can support the legs of the rescuer, and the foot module can support the feet of the rescuer.

[0017] Subsequently, the rescuer (i.e., the wearer) can control the adjusting plate to move relative to the pedal assembly according to the wet and slippery condition of the walking ground, so that the foot module is switched between the first anti-skid mode and the second anti-skid 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-skid mode, at this time, the anti-skid lines of the anti-skid plate are in contact with the ground, so that the foot module has a certain anti-skid ability; when the ground is covered with sludge and the wet and slippery condition is relatively serious, the foot module is adjusted to the second anti-skid mode, at this time, the anti-skid plate and the anti-skid column of the foot module are simultaneously abutted on the ground, and the plurality of anti-skid columns can be inserted into the sludge of the ground, greatly increasing the friction and grip of the foot module, reducing the probability of the rescuer falling down during the rescue process, and improving the safety of the rescuer during the rescue process. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0020] Figure 3 is a schematic diagram of the structure of the leg module and the foot module of the exoskeleton robot of an embodiment of the present application.

[0021] Figure 4 is a schematic diagram of the structure of the foot module of the exoskeleton robot of an embodiment of the present application.

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

[0023] Figure 6 is a schematic diagram of the structure of the second anti-skid assembly of the exoskeleton robot of an embodiment of the present application.

[0024] Figure 7 Figure 1 is a schematic view of a connection structure of an exoskeleton robot according to an embodiment of the present application.

[0025] Figure 8 Figure 2 is a schematic view of a structure of an elastic foot pad of an exoskeleton robot according to an embodiment of the present application.

[0026] Reference signs:

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

[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; 422, rod; 423, mounting seat; 43, connecting plate; 44, flow guide pipe; 45, communication pipe. DETAILED DESCRIPTION

[0032] The embodiments of the present application are described in detail below, examples of which 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 application, and cannot be understood as a limitation of the present application.

[0033] As Figures 1 to 4As shown, the exoskeleton robot 100 of the embodiment of the present application comprises a leg module 1 and a foot module 2, the leg module 1 comprises a leg skeleton 11 and a fixing member for a wearer to wear, the fixing member is connected with the leg skeleton 11; the foot module 2 comprises a pedal assembly 21, a first anti-skid assembly 22 and a second anti-skid assembly 23, the pedal assembly 21 is connected with the leg skeleton 11, the first anti-skid assembly 22 comprises an anti-skid plate 221, the lower side of the anti-skid plate 221 is provided with anti-skid lines 2211, the anti-skid plate 221 is arranged on the lower side of the pedal assembly 21 and connected with the pedal assembly 21, the anti-skid plate 221 is arranged in a spaced manner with the pedal assembly 21 to form a mounting space, the second anti-skid assembly 23 is arranged in the mounting space, the second anti-skid assembly 23 comprises an adjusting plate 231 and a plurality of anti-skid columns 232 connected with the adjusting plate 231, the adjusting plate 231 is movably connected with the pedal assembly 21, so that the foot module 2 is switched between a first anti-skid mode and a second anti-skid mode; in the first anti-skid mode, the anti-skid columns 232 abut against the upper side of the anti-skid plate 221, in the second anti-skid mode, the anti-skid columns 232 and the anti-skid plate 221 can both abut against the ground.

[0034] The exoskeleton robot 100 of the embodiment of the present application is suitable for being worn by a rescuer in mine emergency rescue, so as to increase the physical strength, endurance and safety of the rescuer, first, the wearing and fixing of the exoskeleton robot 100 are performed through the fixing member, the leg module 1 can support the legs of the rescuer, and the foot module 2 can support the feet of the rescuer.

[0035] Then, the rescuer (i.e. the wearer) can control the adjusting plate 231 to move relative to the pedal assembly 21 according to the wet and slippery condition of the walking ground, so that the foot module 2 is switched between the first anti-skid mode and the second anti-skid 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-skid mode, at this time, the anti-skid lines 2211 of the anti-skid plate 221 are in contact with the ground, so that the foot module 2 has a certain anti-skid ability; when the ground is covered with sludge and the wet and slippery condition is relatively serious, the foot module 2 is adjusted to the second anti-skid mode, at this time, the anti-skid plate 221 and the anti-skid columns 232 of the foot module 2 simultaneously abut against the ground, and the plurality of anti-skid columns 232 can be inserted into the sludge of the ground, greatly increasing the friction and grip of the foot module 2, reducing the probability of the rescuer falling down in the rescue process, and improving the safety of the rescuer in the rescue process.

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

[0037] Specifically, as shown in FIG. 1, Figure 1 and Figure 2As shown, the leg module 1 comprises two leg skeletons 11 and a plurality of fixing members, the leg skeletons 11 comprise a first skeleton 111 and a second skeleton 112, the second skeleton 112 is arranged at the lower side of the first skeleton 111, the first skeleton 111 corresponds to the thigh part of the rescuer, the second skeleton 112 corresponds to the lower leg part of the rescuer, the second skeleton 112 is hinged with the first skeleton 111, so that the thigh part and the lower leg part of the wearer can be relatively bent; the fixing member is a leg fixing belt 12, the leg fixing belt 12 is arranged at the inner side of the leg skeleton 11, the number of the leg fixing belt 12 is four, which respectively corresponds to two first skeletons 111 and two second skeletons 112, and the leg support and the leg of the wearer can be connected through the leg fixing belt 12.

[0038] The pedal assembly 21 is arranged at the lower side of the second skeleton 112 and is hinged with the second skeleton 112, so that the foot of the wearer can be relatively bent with the lower leg; the foot module 2 further comprises a limiting sleeve 24 arranged at the upper side of the pedal assembly 21 and two foot fixing belts 25, the limiting sleeve 24 corresponds to the heel part of the wearer, the foot fixing belt 25 corresponds to the forefoot part of the wearer, the two foot fixing belts 25 are arranged along the front-rear direction of the foot of the wearer, and the shapes of the limiting sleeve 24 and the foot fixing belt 25 respectively match the shape of the foot of the wearer, so as to connect the foot module 2 with the foot of the wearer.

[0039] Therefore, the connection and fixation of the exoskeleton robot 100 and the thigh part, the lower leg part and the foot of the rescuer can be realized, and the wearing of the exoskeleton robot 100 can be realized.

[0040] Optionally, as shown in Figure 3 and Figure 4 The lower side of the anti-skid plate 221 has a plurality of anti-skid grooves, the cross section of the anti-skid groove is V-shaped, and the plurality of anti-skid grooves are arranged in sequence along the front-rear direction to form an anti-skid line 2211.

[0041] Optionally, as shown in Figure 1 and Figure 2 The exoskeleton robot 100 further comprises a backpack assembly 3, the backpack assembly 3 is connected with the leg skeleton 11, and the backpack assembly 3 comprises a backpack 31, the backpack 31 has a containing cavity.

[0042] Therefore, the rescuer can place the rescue required materials in the backpack 31, so as to carry out the rescue task.

[0043] As an example, as shown in Figure 1 and Figure 2As shown, the leg frame 11 further comprises a third frame 113, which is hinged to the upper end of the first frame 111 and extends to the rear side from the first frame 111, and the third frame 113 has an angle with the first frame 111; the backpack 31 is arranged on the side of the third frame 113 away from the first frame 111, and the two are hinged to each other.

[0044] The backpack assembly 3 further comprises a waistband 32 and two shoulder straps 33, the two shoulder straps 33 are used for the wearer to carry the backpack 31, and the waistband 32 is arranged close to the third frame 113 and is used for fixing the waist of the wearer to ensure the stability of the backpack 31 during the rescue work.

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

[0046] The anti-skid plate 221 is slidably connected with the pedal assembly 21 through the elastic telescopic assembly 26, when the wearer steps on the pedal assembly 21, the distance between the anti-skid 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 to lift the foot, thereby reducing the physical consumption of the rescuer during the rescue process, so as to continue the rescue task.

[0047] Optionally, the elastic telescopic assembly 26 is a telescopic rod assembly with elasticity, comprising 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 arranged in the first rod, and the elastic member is arranged inside the first rod and is used for exerting an elastic force on the first rod and the second rod in the length direction thereof.

[0048] In this way, when the wearer steps on the pedal assembly 21, the first rod and the second rod are relatively close, and the elastic member is compressed, when the wearer lifts the foot, the elastic member can provide an upward power to the wearer to assist the wearer to lift the foot, thereby reducing the physical consumption of the wearer and being more conducive to the continuous performance of the rescue task.

[0049] As shown in Figure 4 and Figure 5 As shown, the anti-skid plate 221 and the pedal assembly 21 form a mounting space therebetween, the elastic telescopic assembly 26 is arranged in the mounting space, the number of the elastic telescopic assembly 26 is at least four, at least two elastic telescopic assemblies 26 are arranged on the front side of the anti-skid plate 221, and at least two elastic telescopic assemblies 26 are arranged on the rear side of the anti-skid plate 221, and the anti-skid plate 221 is stably connected with the pedal assembly 21 through the plurality of elastic telescopic assemblies 26.

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

[0051] In the first anti-skid mode, the column 2322 of the anti-skid column 232 stops against the upper side of the anti-skid plate 221, and the anti-skid lines 2211 on the lower side of the anti-skid plate 221 stop against the ground when the wearer steps on the pedal assembly 21, thereby playing an anti-skid role. At the same time, the elastic extension assembly 26 and the anti-skid column 232 are compressed. When the wearer lifts the foot, the spring 2323 in the elastic extension assembly 26 and the anti-skid column 232 can simultaneously provide upward power to the wearer to assist the wearer to lift the foot. In the second anti-skid mode, the anti-skid column 232 and the anti-skid plate 221 stop against the ground at the same time when the wearer steps on the pedal assembly 21. The anti-skid column 232 is directly compressed by the ground, and the elastic extension assembly is compressed through the anti-skid plate 221. When the wearer lifts the foot, the elastic extension assembly 26 and the anti-skid column 232 can simultaneously provide upward power to the wearer, thereby reducing the physical exertion of the wearer.

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

[0053] In the first anti-skid mode, the anti-skid column 232 is misaligned with the through grooves 2212, i.e., the anti-skid column 232 stops against the upper side of the anti-skid plate 221. In the second anti-skid mode, the anti-skid column 232 is aligned with the through grooves 2212. When the wearer steps on the ground, the anti-skid plate 221 first adheres to the ground, and then the anti-skid column 232 passes through the through grooves 2212 and stops against the ground. If the ground has mud, the lower end of the anti-skid column 232 can be inserted into the mud to improve the grip of the foot module 2 and increase the friction between the foot module 2 and the ground to prevent the wearer from slipping.

[0054] As an example, as shown in Figure 5 and Figure 6As shown, the adjusting plate 231 is arranged in the mounting space formed by the anti-skid plate 221 and the pedal assembly 21, and is in sliding connection with the pedal assembly 21 in the front-rear direction; the plurality of anti-skid columns 232 are arranged in multiple rows and multiple columns on the lower side of the adjusting plate 231; the through slot 2212 has a circular cross section, and its diameter matches the diameter of the sleeve body 2321 of the anti-skid column 232; the through slot 2212 corresponds to the anti-skid column 232 in one-to-one correspondence; 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-skid mode and the second anti-skid mode; when the foot module 2 is in the second anti-skid mode, the anti-skid column 232 is aligned with the through slot 2212; when the wearer steps on the ground, the anti-skid column 232 passes through the through slot 2212, and the column body 2322 is first subjected to extrusion 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 the grip.

[0055] One end of the sleeve body 2321 is fixedly connected to the lower side of the adjusting plate 231, and the column body 2322 is slidably arranged in the sleeve body 2321; the end of the sleeve body 2321 away from the adjusting plate 231 is conical, and its cross section gradually decreases in the direction away from the adjusting plate 231; one end of the column body 2322 arranged in the sleeve body 2321 is provided with a baffle 2324, and the cross-sectional area of the baffle 2324 is smaller than that of the column body 2322; by cooperation of the baffle 2324 and the conical structure of the end of the sleeve body 2321, the column body 2322 can be prevented from being separated from the sleeve body 2321; the spring 2323 is arranged in the sleeve body 2321, and one end of the spring 2323 is fixedly connected to the end wall of the sleeve body 2321 close to the adjusting plate 231, and the other end of the spring 2323 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 upward power to the wearer to assist the wearer in performing the foot lifting action.

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

[0057] Therefore, after the wearer lifts the foot, the adjusting plate 231 and the plurality of anti-skid columns 232 are located in the mounting space formed by the anti-skid 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 switched between the first anti-skid mode and the second anti-skid mode.

[0058] In some embodiments, as Figure 2 and Figure 7As shown, the exoskeleton robot 100 further comprises a driving assembly 4, the driving assembly 4 comprises a pneumatic component 41 and a telescopic rod 42, the telescopic rod 42 comprises a barrel 421 and a rod body 422, the barrel 421 is connected with the pedal assembly 21, the barrel 421 has a gas cavity, the rod body 422 is slidably arranged in the gas cavity, the adjusting plate 231 is connected with the rod body 422, and the pneumatic component 41 is used for inflating or exhausting the gas cavity to drive the rod body 422 to move relative to the barrel 421.

[0059] The pneumatic component 41 can inflate or exhaust the gas cavity, change the air pressure of the gas cavity to drive the rod body 422 to extend or retract relative to the barrel 421, and then drive the adjusting plate 231 to move in the front-rear direction, so as to control the foot module 2 to switch between the first anti-skid mode and the second anti-skid mode.

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

[0061] By simultaneously driving the adjusting plate 231 to move through multiple telescopic rods 42, greater driving force can be provided for the adjusting plate 231, and at the same time, multiple telescopic rods 42 can apply driving force to different positions of the adjusting plate 231, thereby improving the stability of the movement of the adjusting plate 231.

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

[0063] In this way, the telescopic rods 42 are simultaneously driven by the two sides of the adjusting plate 231, so that the adjusting plate 231 is subjected to relatively uniform force, thereby improving the stability of the movement of the adjusting plate 231.

[0064] In some embodiments, as shown in Figure 2 As shown, the backpack 31 has a containing cavity, the pneumatic component 41 is arranged in the containing cavity, the pneumatic component 41 has an inlet and outlet, and the driving assembly 4 further comprises a flow guide pipe 44, one end of the flow guide pipe 44 is connected with the inlet and outlet of the pneumatic component 41, and the other end of the flow guide pipe 44 is connected with the gas cavity.

[0065] The inlet and outlet of the pneumatic component 41 are connected with the gas cavity of the telescopic rod 42 through the flow guide pipe 44, the running state of the pneumatic component 41 can be controlled to switch between air exhaust and air blowing, thereby controlling the rod body 422 of the telescopic rod 42 to extend or retract, and in addition, arranging the pneumatic component 41 in the backpack 31 is more conducive to carrying by the wearer.

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

[0067] As shown in Figure 2 , the containing cavity of the backpack 31 includes a storage cavity for placing rescue supplies and a mounting cavity provided at the lower side of the storage cavity, and the fan is provided in the mounting 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 the three states of forward operation, reverse operation and stop operation through the control switch 411 of the fan.

[0068] As shown in Figure 5 and Figure 7 , when the fan is in forward operation, the air cavity of the telescopic rod 42 is inflated through the flow guide pipe 44, the rod body 422 is extended, and then the adjusting plate 231 is pushed to the front side, so that the anti-skid column 232 is aligned with the through slot 2212 on the anti-skid plate 221, the anti-skid column 232 can pass through the anti-skid plate 221 and be inserted into the sludge on the ground, at this time, the foot module 2 is in the second anti-skid mode, which is suitable for the rescue personnel to walk in the case that the ground is wet and slippery, and can improve the friction and grip of the foot module 2, and reduce the probability of falling down of the rescue personnel.

[0069] When the fan is in reverse operation, the air cavity of the telescopic rod 42 is exhausted through the flow guide pipe 44, the rod body 422 is retracted, and then the adjusting plate 231 is pushed to the rear side, so that the anti-skid column 232 is misaligned with the through slot 2212 on the anti-skid plate 221, and the lower end of the anti-skid column 232 abuts against the anti-skid plate 221, at this time, the foot module 2 is in the first anti-skid mode, which is suitable for the rescue personnel to walk in the case that the ground is not wet and slippery.

[0070] As shown in Figure 5 and Figure 7 , the telescopic rod 42 is fixedly connected with the mounting seat 423 on the barrel 421, and the mounting seat 423 is fixedly connected with the pedal assembly 21, so as to realize the mounting of the telescopic rod 42; the number of the telescopic rods 42 is two, and the two barrels 421 are connected with the communication pipe 45 at the ends away from the rod body 422, so that the air cavities of the two barrels 421 are communicated with each other.

[0071] As shown in Figure 3 and Figure 4 , the flow guide pipe 44 is provided 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, and is connected with the first skeleton 111, the second skeleton 112 and the third skeleton 113 in sequence through a plurality of clamps; one end of the flow guide pipe 44 is connected with the inlet and outlet of the fan, and the other end is connected with the end of the communication pipe 45, so that the fan can control the actions of the two telescopic rods 42 through the flow guide pipe 44.

[0072] In some embodiments, as shown in Figure 5 and Figure 8As shown, the pedal assembly 21 comprises a first pedal 211 for supporting the forefoot of the wearer, a second pedal 212 for supporting the heel of the wearer, and a transition plate 213, a portion of which is in sliding connection with the first pedal 211 and another portion of which is hingedly connected with the second pedal 212, and an anti-skid plate 221 is arranged on the lower side of the first pedal 211 and connected with the first pedal 211.

[0073] Through the above arrangement, the first pedal 211 and the second pedal 212 can slide and bend relative to each other, i.e. the pedal assembly 21 can be extended and bent in the front-rear direction, so that the shape of the pedal assembly 21 is more in line with the bending state of the wearer's foot during walking, thereby reducing the soreness of the wearer's foot during long-time walking and improving comfort.

[0074] Specifically, as shown, Figure 5 the first pedal 211 is fixedly connected with a sliding sleeve 214 on the side close to the second pedal 212, the sliding sleeve 214 has a sliding groove, and a portion of the transition plate 213 is arranged in the sliding groove and in sliding cooperation with the sliding groove; the second pedal 212 is fixedly connected with a hinge plate 215 on the side close to the first pedal 211, and the end of the transition plate 213 away from the first pedal 211 is hingedly connected with the hinge plate 215; thus, the first pedal 211 and the second pedal 212 can slide and bend relative to each other, and the shape of the pedal assembly 21 is more in line with the bending state of the wearer's foot during walking, thereby improving comfort.

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

[0076] Through the above arrangement, 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's foot is stepped on, thereby improving comfort, and can provide a reaction force when the wearer's foot is lifted, thereby providing power for the wearer to perform the lifting action, thereby reducing the physical exertion of the rescuer during mine emergency rescue.

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

[0078] As an example, as shown, Figure 8As shown, the lower side of the elastic foot pad 217 is also provided with a bottom step 219, which is matched with the shape of the second step 212, and the elastic foot pad 217 is arranged between the second step 212 and the bottom step 219; the outer side of the elastic foot pad 217 is arc-shaped and concave inward.

[0079] Optionally, as shown in FIG. 6, the step assembly 21 further comprises two stretchable cover plates 216 made of soft material, for example, accordion stretchable rubber plates; one stretchable cover plate 216 is arranged on the upper side of the second step 212 and connected to the first step 211 and the second step 212 at both ends, and the other stretchable cover plate 216 is arranged on the lower side of the bottom step 219 and connected to the bottom step 219 and the anti-skid plate 221 at both ends. Figure 5

[0080] Thus, the stretchable steps have the function of stretching and folding, and can complete the stretching and folding actions in cooperation with the step assembly 21; at the same time, one stretchable step covers the upper side 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, and the other step is arranged at the bottom of the foot module 2, which can prevent the mud from being stuck in the gap between the anti-skid plate 221 and the elastic foot pad 217.

[0081] Of course, in other embodiments, a surrounding plate 2324 can also be arranged outside the mounting space formed by the first step 211 and the anti-skid plate 221, which is an accordion stretchable rubber plate, so that the mounting space is closed, thereby reducing the probability of mud entering between the anti-skid plate 221 and the first step 211.

[0082] In some embodiments, as shown in FIG. 6, the elastic foot pad 217 is provided with a gas injection valve 2171 for injecting gas into the elastic cavity. Figure 8

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

[0084] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.​​

Claims

1. An exoskeleton robot, characterized in that, include: A leg module, comprising a leg frame and a fastener for a wearer to wear, the fastener being connected to the leg frame; 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 frame. The first anti-slip assembly includes an anti-slip plate with anti-slip texture on its underside. The anti-slip plate is located on the underside of the pedal assembly and connected to it. The anti-slip plate and the pedal assembly are spaced apart to form an installation space. The second anti-slip assembly is located in the installation space and includes an adjustment plate and a plurality of anti-slip posts connected to the adjustment plate. The adjustment plate is movably connected to the pedal assembly to allow 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 post abuts against the upper side of the anti-slip plate; in the second anti-slip mode, both the anti-slip post and the anti-slip plate abut against 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 assembly, and the anti-slip plate is slidably connected to the pedal assembly in the vertical direction through the elastic telescopic component.

3. The exoskeleton robot according to claim 2, characterized in that, The anti-slip post includes a sleeve and a post. The sleeve is connected to the adjusting plate. The post is slidably inserted through the sleeve in the vertical direction. A spring is provided between the sleeve and the post. The spring is used to apply an elastic force to the sleeve and the post to move them away from each other.

4. The exoskeleton robot according to claim 3, characterized in that, 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 multiple through slots. In the second anti-slip mode, the anti-slip post is aligned with the through slots so that the anti-slip post can pass through the through slots and stop against the ground.

5. The exoskeleton robot according to claim 4, characterized in that, It also includes a drive assembly, which includes a pneumatic component and a telescopic rod. The telescopic rod includes a cylinder and a rod. The cylinder is connected to the pedal assembly. The cylinder has an air chamber. The rod is slidably inserted through the air chamber. The adjusting plate is connected to the rod. The pneumatic component is used to inflate or de-inflate the air chamber to drive the rod to move relative to the cylinder.

6. The exoskeleton robot according to claim 5, characterized in that, The drive assembly also includes a connecting plate, the adjusting plate is connected to the connecting plate, and there are multiple telescopic rods, with at least two telescopic rods spaced apart, and at least two rods are connected to the connecting plate.

7. The exoskeleton robot according to claim 5, characterized in that, It also includes a backpack assembly connected to the leg frame, the backpack assembly including a backpack having a receiving cavity, the pneumatic component disposed in the receiving cavity, the pneumatic component having an inlet and outlet; the drive assembly also includes a guide tube, one end of the guide tube being connected to the inlet and outlet of the pneumatic component, and the other end being connected to the air cavity.

8. The exoskeleton robot according to any one of claims 1-7, 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 another portion is hinged to the second pedal. The anti-slip plate is located on the underside of the first pedal and is connected to the first pedal.

9. The exoskeleton robot according to claim 8, characterized in that, The second pedal has an elastic foot pad on its lower side. The elastic foot pad has a spring cavity, and a buffer pad is provided inside the spring cavity. The buffer pad has multiple buffer air grooves, and the buffer air grooves are connected to the spring cavity.

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

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