A multi-angle leg exoskeleton drive joint for robots

Abstract

The present application belongs to the technical field of robot leg exoskeleton drive joint design, and specifically relates to a multi-angle leg exoskeleton drive joint for a robot. The horizontal connecting column and the upper joint are designed to be detachably connected by a connecting assembly, which is convenient for disassembly and assembly, maintenance and replacement of components, and can achieve stable adjustment of the robot's walking direction, achieve stable steering during walking, and provide support during the robot's walking process to ensure walking stability and prevent it from tipping over.

Description

Technical Field

[0001] The present application belongs to the technical field of robot leg exoskeleton drive joint design, and specifically relates to a multi-angle leg exoskeleton drive joint for a robot. Background Art

[0002] The movement of the human lower limbs is mainly achieved by the movement of the hip joint, knee joint and ankle joint. Each joint ensures the stability of the movement through multiple degrees of freedom. Among them, the hip joint is a joint similar to a ball and socket, which can move along the center of different basic sections and has three degrees of freedom. The knee joint has two degrees of freedom, but rotation along the cross section can only be seen when the knee joint is bent. The daily walking movement of the human body mainly depends on the flexion and extension movement of the knee joint in the sagittal plane. It is worth noting that the knee joint is the basis of human walking and standing, and it bears a large movement torque. The exoskeleton needs to provide active assistance to obtain the required force.

[0003] At present, when the robot's leg exoskeleton drives the joints to walk, although it can provide a certain degree of support for the legs and achieve a certain angle of rotation, it is inconvenient to disassemble after installation, it is not convenient to disassemble and replace components, and it is not convenient to provide support during walking, resulting in low stability during walking, and it is difficult to change direction on the spot during walking.

[0004] This application is proposed in view of the above-mentioned technical defects. Summary of the Invention

[0005] The purpose of this application is to provide a multi-angle leg exoskeleton drive joint for a robot to overcome or alleviate at least one of the known technical deficiencies.

[0006] The technical solution of this application is:

[0007] The technical solution of this application is:

[0008] A multi-angle leg exoskeleton drive joint for a robot, comprising a transverse connecting column, an upper joint, a lower joint, an extension joint, and a leg;

[0009] The upper joint is attached above the transverse connecting column;

[0010] The extension joint is attached below the lower joint;

[0011] The legs are connected below the extension joints through a direction adjustment mechanism;

[0012] The direction adjustment mechanism includes a direction adjustment worm, a direction adjustment worm wheel, a locking control ring, a locking driving gear, a locking driven gear, a locking control cylinder, a sliding rod, a sliding plate, a pressure control spring, a vent pipe, a suction cup, and a gas pressure rod;

[0013] The direction adjustment worm is arranged in a direction adjustment cavity provided in the extension joint, and its rotating shaft is connected to a direction adjustment motor arranged in the extension joint;

[0014] The direction adjustment worm wheel is arranged in the direction adjustment cavity and meshes with the direction adjustment worm, and its rotation axis passes through the bottom end of the extension joint and is connected to the top end of the support leg;

[0015] The locking control ring is arranged in a locking control ring cavity provided in the extension joint;

[0016] The locking driving gear is arranged in the locking control ring cavity and meshes with the inner teeth of the locking control ring. Its rotating shaft is connected to the locking control motor arranged in the extension joint.

[0017] There are multiple locking driven gears, which are arranged in the locking control ring cavity and mesh with the outer teeth of the locking control ring. The rotating shafts thereof extend downward into the multiple locking control grooves provided at the bottom end of the extension joint.

[0018] There are multiple locking control cylinders, one end of which extends into each locking control groove and is threadedly connected to the outer side of the locking driven gear shaft, and the other end extends into multiple locking control matching grooves opened at the top of the support leg;

[0019] There are multiple slide bars, one end of which extends into each locking control matching groove, and the other end extends into the gas pressure spring cavity opened in the support leg;

[0020] The slide plate is arranged in the gas pressure spring cavity, dividing the gas pressure spring cavity into an upper gas pressure cavity and a lower spring cavity, wherein the gas pressure cavity is filled with gas;

[0021] There are multiple pressure control springs, which are arranged in the spring cavity, with both ends resting against the bottom wall of the gas spring cavity and the slide plate. Relying on elastic force, each slide rod is pressed against the locking control cylinder;

[0022] The vent pipe is arranged in the gas pressure spring cavity, passes through the slide plate, and the bottom end is connected to the bottom wall of the gas pressure spring cavity;

[0023] The suction cup is installed in the installation opening opened on the foot plate connected to the bottom end of the leg;

[0024] One end of the pneumatic rod extends into the installation port and is connected to the suction cup, and the other end extends into the installation hole opened at the bottom end of the support leg, is connected to the top wall of the installation hole, and is communicated with the ventilation pipe through the ventilation hole opened in the support leg.

[0025] Optionally, in the multi-angle leg exoskeleton drive joint for the robot, the direction adjustment mechanism further includes a stabilizing ring;

[0026] The stabilizing ring is clamped in an annular stabilizing groove provided at the bottom end of the extension joint and the top end of the support leg.

[0027] Optionally, in the multi-angle leg exoskeleton driving joint of the robot, a support mechanism is connected to the extension joint;

[0028] The supporting mechanism includes an annular support plate, an electric rotating shaft, an electric push rod, a hemispherical block, and a spherical block;

[0029] The annular support plate is sleeved on the outside of the extension joint, and the outer edge has a plurality of support notches distributed along the circumference;

[0030] There are multiple electric rotating shafts, which are installed in various supporting slots;

[0031] There are multiple electric push rods, one end of which is connected to each electric shaft;

[0032] There are multiple hemispherical blocks, which are connected to the other end of each electric push rod;

[0033] There are multiple spherical blocks, which are universally connected to each hemispherical block.

[0034] Optionally, in the multi-angle leg exoskeleton driving joints of the above-mentioned robot,

[0035] The upper joint is connected to the upper side of the transverse connecting column through a connecting assembly;

[0036] The connecting assembly includes a rectangular frame, connecting bolts, and stop bolts;

[0037] The bottom edge of the rectangular frame is connected to the top of the transverse connecting column, and the top edge is connected to the bottom end of the upper joint through a connecting bolt. There are two corresponding thread grooves on the connecting bolt and the bottom end of the upper joint;

[0038] There are two stop bolts, which connect the heads of the two connecting bolts to the edges of both sides of the rectangular frame.

[0039] Optionally, in the multi-angle leg exoskeleton drive joint for the robot, the connection assembly further includes a fixed tube, a thrust spring, and a push rod;

[0040] There are multiple groups of fixed tubes, thrust springs and push rods. One end of each push rod in each group is connected to the fixed tube through the thrust spring, and the other end is formed with a tapered head.

[0041] The screw rods of the two connecting bolts are provided with multiple groups of tapered grooves distributed along the axial direction; the two threaded grooves on the bottom end of the upper joint are provided with multiple groups of fixed grooves distributed along the axial direction; each group of fixed tubes is arranged in each group of fixed grooves, and under the elastic force of the thrust spring, one end of each group of push rods with a tapered head is inserted into each group of tapered grooves.

[0042] Optionally, in the multi-angle leg exoskeleton drive joint for the robot, the connection component further comprises an elastic pad;

[0043] The elastic pad is arranged between the top edge of the rectangular frame and the bottom end of the upper joint.

[0044] Optionally, in the multi-angle leg exoskeleton drive joint for the robot, the lower joint is connected to the bottom of the transverse connecting column through an angle adjustment mechanism;

[0045] The angle adjustment mechanism includes an angle adjustment ring, an angle adjustment connecting plate, an angle adjustment drive motor, an angle adjustment gear, an angle adjustment drive shaft, a brake adsorption ring, and a brake electromagnet;

[0046] There are two angle adjustment rings, which are placed in the annular gaps opened at both ends of the horizontal connecting column;

[0047] There are two angle adjustment connecting plates, one end of which is connected to the outside of the two angle adjustment rings, and the other end is bent inwards relative to each other. The bent part is connected to the top of the lower joint through bolts; the two angle adjustment connecting plates are connected with bolts;

[0048] The angle adjustment drive motor is connected to one end of the transverse connecting column;

[0049] There are two angle adjustment gears, which are set in the two gear mounting grooves on the side walls of the horizontal connecting column and mesh with the teeth on the inner side of the angle adjustment ring;

[0050] The angle adjustment drive shaft is arranged in the transverse connecting column, with two ends connected to the two angle adjustment gears, and one end thereof extends from the end of one end of the transverse connecting column where the angle adjustment drive motor is located, and is connected to the angle adjustment drive motor;

[0051] The brake adsorption ring is arranged in a brake cavity provided in the transverse connecting column. The brake cavity is located between the two gear mounting grooves. The angle adjustment drive shaft is arranged through the brake cavity. The brake adsorption ring is sleeved on the angle adjustment drive shaft.

[0052] The brake electromagnet is connected to the inner wall of the brake chamber and surrounds the brake adsorption ring.

[0053] Optionally, in the multi-angle leg exoskeleton driving joint of the robot, an angle limiting mechanism is provided between the lower joint and the transverse connecting column;

[0054] The angle limiting mechanism includes an angle limiting ring, a fixed connecting piece, and an angle limiting rod;

[0055] There are two angle limiting rings, which are arranged at both ends of the transverse connecting column and have arc-shaped angle limiting grooves;

[0056] There are two sets of fixed connecting plates, one end of which is connected to the two angle limit rings, and the other end is connected to the two ends of the transverse connecting column through bolts;

[0057] There are two angle limiting rods, one end of which is arranged in two arc-shaped angle limiting grooves, and the other end is connected to the outer sides of the two angle adjustment connecting plates.

[0058] Optionally, in the multi-angle leg exoskeleton driving joint of the robot, an angle adjustment ring anti-slip mechanism is provided on the transverse connecting column;

[0059] The angle adjustment ring anti-slip mechanism includes an anti-slip active bevel gear, an anti-slip driven bevel gear, an anti-slip slider, an anti-slip roller, a brake disc, and a brake bolt;

[0060] There are two anti-dropping active bevel gears, which are arranged in the bevel gear installation cavity opened in the two ends of the transverse connecting column. The upper rotating shaft extends out of the two ends of the transverse connecting column, and the ends have inner corner holes;

[0061] There are two sets of anti-slip driven bevel gears, which are arranged in the two bevel gear mounting cavities and mesh with the two anti-slip active bevel gears. The upper rotating shafts thereof extend radially outward into the two sets of anti-slip grooves provided on the side walls of the transverse connecting column.

[0062] The anti-slip sliders are arranged in the two sets of anti-slip grooves and are threadedly connected to the rotating shafts of the two sets of anti-slip driven bevel gears. The inward side walls of the two sets of anti-slip sliders are provided with roller mounting notches.

[0063] There are two sets of anti-slip rollers, which are installed in the installation gaps of the two sets of rollers through the rotating shaft;

[0064] There are two brake discs, which are sleeved on the rotating shafts of the two anti-dropping active bevel gears and are located outside the two ends of the transverse connecting column. There are multiple brake bolt holes distributed along the circumference on them;

[0065] There are two brake bolts, which are screwed into a brake bolt hole on the two brake discs. The two brake bolt holes are aligned with the brake matching holes opened at both ends of the transverse connecting column, and the two brake bolts are screwed into the two brake matching holes at the same time.

[0066] Optionally, in the multi-angle leg exoskeleton drive joint for the robot, the extension joint is connected below the lower joint via a telescopic mechanism;

[0067] The telescopic mechanism includes an electric screw rod and a telescopic cylinder;

[0068] One end of the electric screw is connected to the bottom wall of the telescopic slot opened at the bottom end of the lower joint;

[0069] One end of the telescopic cylinder extends into the telescopic slot and is threadedly connected to the outside of the electric lead screw, and the other end is connected to the top of the extension joint.

[0070] This application has at least the following beneficial technical effects:

[0071] A multi-angle leg exoskeleton drive joint for a robot is provided. The horizontal connecting columns and the upper joints are designed to be detachably connected by connecting components, which facilitates disassembly and assembly, maintenance and replacement of components, and can stably adjust the robot's walking direction, achieve stable steering during walking, and provide support during walking to ensure walking stability and prevent tipping over. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 This is a view of a multi-angle leg exoskeleton driving joint for a robot provided by an embodiment of the present application at one angle;

[0073] Figure 2 This is a view of a multi-angle leg exoskeleton driving joint for a robot provided by an embodiment of the present application from another angle;

[0074] Figure 3 yes Figure 2 A partial view of;

[0075] Figure 4 This is a view of a multi-angle leg exoskeleton driving joint for a robot provided by an embodiment of the present application at another angle;

[0076] Figure 5 is a cross-sectional view of a multi-angle leg exoskeleton drive joint for a robot provided by an embodiment of the present application;

[0077] Figure 6 yes Figure 5 B partial view;

[0078] Figure 7 yes Figure 5 C partial view;

[0079] Figure 8 is another cross-sectional view of a multi-angle leg exoskeleton drive joint for a robot provided by an embodiment of the present application;

[0080] Figure 9 This is a schematic diagram of a multi-angle leg exoskeleton driving joint for a robot provided in an embodiment of the present application, with some structures removed;

[0081] in:

[0082] 1- Horizontal connecting column; 2- Upper joint; 3- Lower joint; 4- Extension joint; 5- Leg; 6- Connecting assembly; 7- Magnetic encoder; 8- Angle adjustment mechanism; 9- Angle limit mechanism; 10- Angle adjustment ring anti-drop mechanism; 11- Telescopic mechanism; 12- Direction adjustment mechanism; 13- Support mechanism; 14- IMU module;

[0083] 501-footboard;

[0084] 601-rectangular frame; 602-connecting bolt; 603-stop bolt; 604-fixing tube; 605-thrust spring; 606-push rod; 607-elastic pad;

[0085] 801-angle adjustment ring; 802-angle adjustment connecting plate; 803-angle adjustment drive motor; 804-angle adjustment gear; 805-angle adjustment drive shaft; 806-brake adsorption ring; 807-brake electromagnet;

[0086] 901-angle limiting ring; 902-fixed connecting piece; 903-angle limiting rod;

[0087] 1001 - Anti-slip driving bevel gear; 1002 - Anti-slip driven bevel gear; 1003 - Anti-slip slider; 1004 - Anti-slip roller; 1005 - Brake disc; 1006 - Brake bolt;

[0088] 1101-electric screw; 1102-telescopic cylinder;

[0089] 1201 - Direction adjustment worm; 1202 - Direction adjustment worm wheel; 1203 - Locking control ring; 1204 - Locking driving gear; 1205 - Locking driven gear; 1206 - Locking control cylinder; 1207 - Sliding rod; 1208 - Slide plate; 1209 - Pressure control spring; 1210 - Ventilation pipe; 1211 - Suction cup; 1212 - Gas rod; 1213 - Stabilizing ring;

[0090] 1301-annular support plate; 1302-electric rotating shaft; 1303-electric push rod; 1304-hemispherical block; 1305-spherical block.

[0091] In order to better illustrate this embodiment, some contents of the drawings may be omitted, enlarged or reduced, which is only used for illustrative purposes and should not be construed as limiting the present application. DETAILED DESCRIPTION

[0092] To make the technical solution and its advantages of this application more clear, the technical solution of this application will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described here are only some of the embodiments of this application and are only used to explain this application, not to limit this application. It should be noted that for ease of description, only the parts relevant to this application are shown in the accompanying drawings, and other relevant parts can refer to the general design.

[0093] In addition, unless otherwise defined, the technical or scientific terms used in the description of this application shall have the ordinary meanings understood by those skilled in the art to which this application belongs. The term "include" as used in the description of this application means that the concepts preceding the term include the concepts listed after the term and their equivalents, without excluding other related concepts.

[0094] In addition, the words used in the description of this application to indicate orientation are only used to indicate relative directions or positional relationships. When the absolute position of the object being described changes, its relative positional relationship may also change accordingly. It should also be noted that, unless otherwise clearly specified and limited, the words "installation", "connection" and similar words used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand their specific meanings in this application based on the specific circumstances.

[0095] A multi-angle leg exoskeleton drive joint for a robot, such as Figures 1-9 As shown, it includes a transverse connecting column 1, an upper joint 2, a lower joint 3, an extension joint 4, and a support leg 5.

[0096] The upper joint 2 is connected above the transverse connecting column 1 , specifically through a connecting assembly 6 .

[0097] The connecting assembly 6 includes a rectangular frame 601 , a connecting bolt 602 , a stop bolt 603 , a fixing tube 604 , a thrust spring 605 , a push rod 606 , and an elastic pad 607 .

[0098] The bottom edge of the rectangular frame 601 is connected to the top of the transverse connecting column 1, which can be specifically welded, and the top edge is connected to the bottom end of the upper joint 2 through a connecting bolt 602. There are two corresponding threaded grooves on the connecting bolt 602 and the bottom end of the upper joint 2.

[0099] There are two stop bolts 603 , which connect the heads of the two connecting bolts 602 to the edges of both sides of the rectangular frame 601 , thereby locking the two connecting bolts 602 to prevent loosening.

[0100] There are multiple groups of fixed tubes 604, thrust springs 605 and push rods 606. One end of each push rod 606 in each group is connected to the fixed tube 604 through the thrust spring 605, and the other end is formed with a tapered head.

[0101] The screw rods of the two connecting bolts 602 have multiple groups of tapered grooves distributed along the axial direction; the two threaded grooves on the bottom end of the upper joint 2 have multiple groups of fixed grooves distributed along the axial direction; each group of fixing tubes 604 is arranged in each group of fixed grooves, and each group of push rods 606 is inserted into each group of tapered grooves at one end formed with a tapered head under the elastic force of the thrust spring 605. In this way, the connection bolts 602 and the threaded grooves can be prevented from slipping and wearing, shaking, and detachment, thereby ensuring the reliability of the connection.

[0102] During assembly, the two connecting bolts 602 can be directly screwed into the two threaded grooves on the bottom end of the upper joint 2 from the inside of the rectangular frame 601. After tightening into place, each group of push rods 606, under the elastic force of the thrust spring 605, has a conical head formed at one end and adaptively inserted into each group of conical grooves. Afterwards, the heads of the two connecting bolts 602 are connected to the edges on both sides of the rectangular frame 601 with two stop bolts 603.

[0103] The elastic pad 607 is arranged between the top edge of the rectangular frame 601 and the bottom end of the upper joint 2 to achieve a vibration reduction effect during the driving walking process.

[0104] The lower joint 3 is connected to the bottom of the transverse connecting column 1 , specifically through an angle adjustment mechanism 8 , which is used to adjust the angle of the lower joint 3 .

[0105] The angle adjustment mechanism includes an angle adjustment ring 801 , an angle adjustment connecting plate 802 , an angle adjustment drive motor 803 , an angle adjustment gear 804 , an angle adjustment drive shaft 805 , a brake adsorption ring 806 , and a brake electromagnet 807 .

[0106] There are two angle adjustment rings 801 , which are sleeved into the annular gaps formed at both ends of the transverse connecting column 1 .

[0107] There are two angle adjustment connecting plates 802, one end of which is connected to the outside of the two angle adjustment rings 801 and can be designed to be integrally formed on the angle adjustment rings 801. The other end is bent inward and connected to the top of the lower joint 3 via bolts to facilitate assembly and disassembly. The two angle adjustment connecting plates 802 are connected by bolts, which lock the two angle adjustment connecting plates 802 and the angle adjustment rings 801.

[0108] The angle adjustment drive motor 803 is connected to one end of the transverse connecting column 1 .

[0109] There are two angle adjustment gears 804 , which are arranged in two gear mounting grooves opened on the side wall of the transverse connecting column 1 and mesh with the inner teeth of the angle adjustment ring 801 .

[0110] The angle adjustment drive shaft 805 is set in the transverse connecting column 1, with two angle adjustment gears 804 connected at both ends, and one end extends from the end of one end of the transverse connecting column 1 where the angle adjustment drive motor 803 is located, and is connected to the angle adjustment drive motor 803.

[0111] The brake adsorption ring 806 is set in the brake cavity opened in the transverse connecting column 1. The brake cavity is located between the two gear mounting grooves. The angle adjustment drive shaft 805 is set through the brake cavity, and the brake adsorption ring 806 is sleeved on the angle adjustment drive shaft 805.

[0112] The brake electromagnet 807 is connected to the inner wall of the brake chamber and surrounds the brake adsorption ring 806.

[0113] When adjusting the angle of the lower joint 3, the angle adjustment drive motor 803 can be started, and the two angle adjustment gears 804 can be driven to rotate through the angle adjustment drive shaft 805, driving the two angle adjustment rings 801 to rotate, and then the lower joint 3 can be driven to rotate through the two angle adjustment connecting plates 802 to achieve the adjustment of the angle of the lower joint 3. After the angle of the lower joint 3 is adjusted to the right position, the angle adjustment drive motor 803 can be turned off, and the brake electromagnet 807 can be energized at the same time to adsorb and fix the brake adsorption ring 806, and brake the angle adjustment drive shaft 805, thereby achieving reliable fixation of the angle of the lower joint 3.

[0114] An angle limiting mechanism 9 is provided between the lower joint 3 and the transverse connecting column 1 to limit the rotation angle of the lower joint 3 .

[0115] The angle limiting mechanism 9 includes an angle limiting ring 901 , a fixed connecting piece 902 , and an angle limiting rod 903 .

[0116] There are two angle limiting rings 901, which are arranged at both ends of the transverse connecting column 1, and have arc-shaped angle limiting grooves. The size of the arc angle is specifically designed according to the adjustment range of the angle of the lower joint 3.

[0117] There are two groups of fixed connecting pieces 902, one end of which is connected to the two angle limiting rings 901, and can be specifically designed to be integrally formed inside the angle limiting ring 901, and the other end is connected to the two ends of the transverse connecting column 1 by bolts.

[0118] There are two angle limiting rods 903, one end of which is set in two arc-shaped angle limiting grooves, and the other end is connected to the outside of the two angle adjustment connecting plates 802. Specifically, it can be designed to be integrally formed with the angle adjustment connecting plates 802.

[0119] When adjusting the angle of the lower joint 3, the two angle limiting rods 903 will slide in the arc angle limiting groove following the angle adjustment connecting plate 802, so that the adjustment range of the angle of the lower joint 3 is limited by the angle of the arc angle limiting groove.

[0120] An angle adjustment ring anti-slip mechanism 10 is provided on the transverse connecting column 1 to prevent the two angle adjustment rings 801 from slipping outward.

[0121] The angle adjustment ring anti-slip mechanism 10 includes an anti-slip active bevel gear 1001 , an anti-slip driven bevel gear 1002 , an anti-slip slider 1003 , an anti-slip roller 1004 , a brake disc 1005 , and a brake bolt 1006 .

[0122] There are two anti-dropping active bevel gears 1001, which are arranged in the bevel gear installation cavities opened in the two ends of the horizontal connecting column 1. The upper rotating shaft extends out of the two ends of the horizontal connecting column 1, and the ends have inner corner holes.

[0123] There are two sets of anti-slip driven bevel gears 1002, which are arranged in two bevel gear installation cavities and mesh with two anti-slip active bevel gears 1001. Their upper rotating shafts extend radially outward into two sets of anti-slip grooves opened on the side walls of the transverse connecting column 1.

[0124] The anti-slip sliders 1003 are arranged in the two sets of anti-slip grooves and are threadedly connected to the rotating shafts of the two sets of anti-slip driven bevel gears 1002. The inward side walls of the two sets of anti-slip sliders 1003 are provided with roller installation notches.

[0125] There are two groups of anti-slip rollers 1004, which are installed in the two groups of roller installation gaps through rotating shafts.

[0126] There are two brake discs 1005, which are sleeved on the rotating shafts of the two anti-slip active bevel gears 1001 and are located outside the two ends of the transverse connecting column 1. There are multiple brake bolt holes distributed along the circumferential direction on them.

[0127] There are two brake bolts 1006, which are screwed into a brake bolt hole on the two brake discs 1005. The two brake bolt holes are aligned with the brake matching holes opened at both ends of the transverse connecting column 1. The two brake bolts 1006 are screwed into the two brake matching holes at the same time to brake the anti-slip active bevel gear 1001 and its anti-slip driven bevel gear 1002 and the anti-slip slider 1003.

[0128] Initially, two sets of anti-slip sliders 1003 and their anti-slip rollers 1004 can be set to retract into the anti-slip sliding groove. After the angle adjustment ring 801 is installed, the brake bolt 1006 can be loosened, and an internal angle wrench can be inserted into the internal angle hole at the end of the rotating shaft of the two anti-slip active bevel gears 1001 to drive the anti-slip active bevel gear 1001, driving the two sets of anti-slip driven bevel gears 1002 to rotate, and then the two sets of anti-slip sliders 1003 and their anti-slip rollers 1004 are extended from the anti-slip sliding groove, so that the two sets of anti-slip rollers 1004 are abutted against the outside of the two angle adjustment rings 801, thereby preventing the two angle adjustment rings 801 from slipping outward. Afterwards, the two brake bolts 1006 are screwed into the corresponding brake bolt holes and brake matching holes for braking.

[0129] The extension joint 4 is connected below the lower joint 3 , specifically through a telescopic mechanism 11 , which is used to adjust the distance between the extension joint 4 and the lower joint 3 .

[0130] The telescopic mechanism 11 includes an electric screw rod 1101 and a telescopic cylinder 1102 .

[0131] One end of the electric screw rod 1101 is connected to the bottom wall of the telescopic slot opened at the bottom end of the lower joint 3.

[0132] One end of the telescopic cylinder 1102 extends into the telescopic slot and is threadedly connected to the outside of the electric screw rod 1101 , and the other end is connected to the top of the extension joint 4 .

[0133] When the distance between the extension joint 4 and the lower joint 3 needs to be adjusted, the electric screw 1101 can be energized to rotate the electric screw 1101, driving the telescopic cylinder 1102 to extend and retract in the telescopic groove, thereby driving the extension joint 4 to move, thereby adjusting the distance between the extension joint 4 and the lower joint 3.

[0134] The legs 5 are connected below the extension joint 4, specifically through a direction adjustment mechanism 12, which is used to adjust the walking direction of the robot.

[0135] The direction adjustment mechanism 12 includes a direction adjustment worm 1201, a direction adjustment worm wheel 1202, a locking control ring 1203, a locking driving gear 1204, a locking driven gear 1205, a locking control cylinder 1206, a sliding rod 1207, a slide plate 1208, a pressure control spring 1209, a vent pipe 1210, a suction cup 1211, a pneumatic rod 1212, and a stabilizing ring 1213.

[0136] The direction adjustment worm 1201 is arranged in the direction adjustment cavity provided in the extension joint 4, and its rotating shaft is connected to the direction adjustment motor provided in the extension joint 4. The direction adjustment cavity can be provided in the top end of the extension joint 4.

[0137] The direction adjustment worm wheel 1202 is arranged in the direction adjustment cavity and engages with the direction adjustment worm 1201. Its rotating shaft passes through the bottom end of the extension joint 4 and is connected to the top end of the support leg 5. Specifically, it can be inserted into the connecting hole opened at the top end of the support leg 5 for connection.

[0138] The locking control ring 1203 is arranged in a locking control ring cavity opened in the extension joint 4. The locking control ring cavity can be opened below the direction adjustment cavity.

[0139] The locking driving gear 1204 is arranged in the locking control ring cavity and meshes with the inner teeth of the locking control ring 1203. Its rotating shaft is connected to the locking control motor arranged in the extension joint 4.

[0140] There are multiple locking driven gears 1205, which are arranged in the locking control ring cavity and mesh with the outer teeth of the locking control ring 1203. Their rotating shafts extend downward into multiple locking control grooves opened at the bottom end of the extension joint 4.

[0141] There are multiple locking control cylinders 1206, one end of which extends into each locking control groove and is threadedly connected to the outside of the rotating shaft of the locking driven gear 1205, and the other end extends into multiple locking control matching grooves opened at the top of the support leg 5.

[0142] There are multiple slide rods 1207, one end of which extends into each locking control matching groove, and the other end extends into the gas pressure spring cavity opened in the support leg 5.

[0143] The slide plate 1208 is arranged in the gas pressure spring cavity, dividing the gas pressure spring cavity into a gas pressure cavity located at the top and a spring cavity located at the bottom, wherein the gas pressure cavity is filled with gas, for example, air or nitrogen, to form air pressure in the gas pressure cavity.

[0144] There are multiple pressure control springs 1209, which are arranged in the spring cavity, with both ends resting on the bottom wall of the gas spring cavity and the slide plate 1208. Relying on elastic force, each slide rod 1207 is pressed against the locking control cylinder 1206.

[0145] The vent pipe 1210 is arranged in the gas pressure spring cavity, passes through the slide plate 1208, and the bottom end is connected to the bottom wall of the gas pressure spring cavity.

[0146] The suction cup 1211 is installed in the installation opening opened on the foot plate 501 connected to the bottom end of the leg 5. The bottom end of the leg 5 can be set to be conical and connected to the center of the foot plate 501. The installation opening is also located in the center of the foot plate 501.

[0147] One end of the pneumatic rod 1212 extends into the mounting port and connects to the suction cup 1211, and the other end extends into the mounting hole opened at the bottom end of the support leg 5, is connected to the top wall of the mounting hole, and is connected to the vent pipe 1210 through the vent hole opened in the support leg 5. The vent hole connects the bottom of the pneumatic spring cavity and the top of the mounting hole.

[0148] The stabilizing ring 1213 is stuck in the annular stabilizing groove provided at the bottom end of the extension joint 4 and the top end of the support leg 5, which can ensure the stability of the relative rotation between the extension joint 4 and the support leg 5 when adjusting the walking direction of the robot.

[0149] In the initial state, each locking control cylinder 1206 is connected between the multiple locking control grooves opened at the bottom end of the extension joint 4 and the multiple locking control matching grooves opened at the top end of the support leg 5, locking the extension joint 4 and the support leg 5, and preventing the extension joint 4 and the support leg 5 from rotating when the robot is walking.

[0150] When adjusting the walking direction of the robot, the locking control motor can be started first to drive the locking active gear 1204 to rotate, and the locking driven gears 1205 are driven to rotate through the locking control ring 1203, so that each locking control cylinder 1206 moves upward, disengages from the locking control matching groove, and retracts into the locking control groove, thereby releasing the lock on the extension joint 4 and the support leg 5, and separating from the slide bar 1207, so that each slide bar 1207 and its slide plate 1208 can slide upward under the push of each pressure control spring 1209, compressing the air pressure chamber space, so that the gas in the air pressure chamber enters the air pressure rod 1212 through the vent pipe 1210, and the air pressure rod 1212 pushes the suction cup 1211 It moves downward and is adsorbed on the ground and fixed to ensure the stability of the steering control robot. Afterwards, the direction adjustment motor is started to drive the direction adjustment worm 1201 to rotate, and then the direction adjustment worm wheel 1202 is driven to rotate, so that the extension joint 4 is rotated relative to the support leg 5 to adjust the walking direction of the robot. After the adjustment is in place, the locking control motor is started again to drive the locking active gear 1204 to rotate, and the locking driven gears 1205 are driven to rotate through the locking control ring 1203, so that the locking control cylinders 1206 move downward, extend from the locking control groove, and insert into the locking control matching groove, thereby locking the extension joint 4 and the support leg 5 and restoring the initial state.

[0151] The extension joint 4 is connected to a support mechanism 13 for supporting the extension joint 4 when adjusting the walking direction of the robot, so as to further ensure the stability of the robot's walking and the adjustment of the robot's walking direction.

[0152] The supporting mechanism 13 includes an annular support plate 1301 , an electric rotating shaft 1302 , an electric push rod 1303 , a hemispherical block 1304 , and a spherical block 1305 .

[0153] The annular support plate 1301 is sleeved on the outside of the extension joint 4, and the outer edge has a plurality of support notches distributed along the circumference.

[0154] There are multiple electric rotating shafts 1302, which are installed in each supporting slot.

[0155] There are multiple electric push rods 1303 , one end of which is connected to each electric rotating shaft 1302 .

[0156] There are multiple hemispherical blocks 1304 connected to the other end of each electric push rod 1303.

[0157] There are multiple spherical blocks 1305, which are universally connected to each hemispherical block 1304.

[0158] When adjusting the walking direction of the robot, each electric push rod 1303 can be charged to push each hemispherical block 1304 and its spherical block 1305 downward, so that each spherical block 1305 contacts the ground to form support, ensuring the stability of the relative rotation between the extension joint 4 and the support leg 5, and each electric shaft 1302 can be used to drive the electric push rod 1303 to adjust the angle of each electric push rod 1303 to prevent it from being affected by other extension joints 4 and related mechanisms during rotation, and to provide support when the robot is walking to ensure stability.

[0159] A magnetic encoder 7 is provided on the transverse connecting column 1 for measuring the rotation angle of the lower joint 3 and the movement speed of the robot, and an IMU module 14 is provided on an angle adjustment connecting plate 802 for detecting the movement state and spatial posture of the multi-angle leg exoskeleton driving joint used by the robot.

[0160] The multi-angle leg exoskeleton drive joint for the robot disclosed in the above embodiment has a detachable connection between the transverse connecting column 1 and the upper joint 2 by a connecting component 6, which is convenient for disassembly and assembly, maintenance and replacement of components, and can achieve stable adjustment of the robot's walking direction, achieve stable steering during walking, and provide support during the robot's walking to ensure walking stability and prevent it from tipping over.

[0161] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. Those skilled in the art should understand that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or replacements to the relevant technical features, and the technical solutions after these changes or replacements will fall within the scope of protection of the present application.

Claims

1. A multi-angle leg exoskeleton drive joint for a robot, characterized in that: It includes a transverse connecting column (1), an upper joint (2), a lower joint (3), an extension joint (4), and a supporting leg (5); The upper joint (2) is connected above the transverse connecting column (1); The extension joint (4) is connected below the lower joint (3); The support leg (5) is connected to the lower portion of the extension joint (4) via a direction adjustment mechanism (12); The direction adjustment mechanism (12) includes a direction adjustment worm (1201), a direction adjustment worm wheel (1202), a locking control ring (1203), a locking driving gear (1204), a locking driven gear (1205), a locking control cylinder (1206), a sliding rod (1207), a slide plate (1208), a pressure control spring (1209), a vent pipe (1210), a suction cup (1211), and a pneumatic rod (1212); The direction adjustment worm (1201) is arranged in a direction adjustment cavity provided in the extension joint (4), and its rotating shaft is connected to a direction adjustment motor provided in the extension joint (4); The direction adjustment worm wheel (1202) is arranged in the direction adjustment cavity and meshes with the direction adjustment worm (1201), and its rotation axis passes through the bottom end of the extension joint (4) and is connected to the top end of the support leg (5); The locking control ring (1203) is arranged in a locking control ring cavity opened in the extension joint (4); The locking driving gear (1204) is arranged in the locking control ring cavity and meshes with the inner teeth of the locking control ring (1203), and its rotating shaft is connected to the locking control motor arranged in the extension joint (4); There are multiple locking driven gears (1205), which are arranged in the locking control ring cavity and mesh with the outer teeth of the locking control ring (1203), and their rotating shafts extend downward into multiple locking control grooves opened at the bottom end of the extension joint (4); There are multiple locking control cylinders (1206), one end of which extends into each locking control groove and is threadedly connected to the outer side of the rotating shaft of the locking driven gear (1205), and the other end of which extends into multiple locking control matching grooves provided at the top of the support leg (5); There are multiple slide bars (1207), one end of which extends into each locking control matching groove, and the other end extends into the gas pressure spring cavity opened in the support leg (5); The slide plate (1208) is arranged in the gas pressure spring cavity, dividing the gas pressure spring cavity into an upper gas pressure cavity and a lower spring cavity, wherein the gas pressure cavity is filled with gas; There are multiple pressure control springs (1209) arranged in the spring cavity, with both ends resting against the bottom wall of the gas pressure spring cavity and the slide plate (1208). Relying on elastic force, each slide rod (1207) is pressed against the locking control cylinder (1206); The vent pipe (1210) is arranged in the gas pressure spring cavity, passes through the slide plate (1208), and the bottom end is connected to the bottom wall of the gas pressure spring cavity; The suction cup (1211) is installed in a mounting opening provided on a foot plate (501) connected to the bottom end of the support leg (5); One end of the pneumatic rod (1212) extends into the mounting opening and is connected to the suction cup (1211), and the other end extends into the mounting hole opened at the bottom end of the support leg (5), is connected to the top wall of the mounting hole, and is communicated with the vent pipe (1210) through the vent hole opened in the support leg (5).

2. The multi-angle leg exoskeleton driving joint for a robot according to claim 1, characterized in that: The direction adjustment mechanism (12) further includes a stabilizing ring (1213); The stabilizing ring (1213) is stuck in an annular stabilizing groove provided at the bottom end of the extension joint (4) and the top end of the support leg (5).

3. The multi-angle leg exoskeleton driving joint for a robot according to claim 2, characterized in that: The extension joint (4) is connected to a support mechanism (13); The supporting mechanism (13) includes an annular support plate (1301), an electric rotating shaft (1302), an electric push rod (1303), a hemispherical block (1304), and a spherical block (1305); The annular support plate (1301) is sleeved on the outside of the extension joint (4), and the outer edge has a plurality of support notches distributed along the circumference; There are multiple electric rotating shafts (1302), which are installed in each supporting slot; There are multiple electric push rods (1303), one end of which is connected to each electric rotating shaft (1302); There are multiple hemispherical blocks (1304), which are connected to the other end of each electric push rod (1303); There are multiple spherical blocks (1305), which are universally connected to each hemispherical block (1304).

4. The multi-angle leg exoskeleton drive joint for a robot according to claim 3, characterized in that: The upper joint (2) is connected to the upper side of the transverse connecting column (1) through a connecting component (6); The connecting assembly (6) includes a rectangular frame (601), a connecting bolt (602), and a stop bolt (603); The bottom edge of the rectangular frame (601) is connected to the top of the transverse connecting column (1), and the top edge is connected to the bottom end of the upper joint (2) via a connecting bolt (602). There are two corresponding threaded grooves on the connecting bolt (602) and the bottom end of the upper joint (2); There are two stop bolts (603), which connect the heads of the two connecting bolts (602) to the edges on both sides of the rectangular frame (601).

5. The multi-angle leg exoskeleton driving joint for a robot according to claim 4, characterized in that: The connecting assembly (6) further includes a fixing tube (604), a thrust spring (605), and a push rod (606); There are multiple groups of fixed tubes (604), thrust springs (605) and push rods (606), and each push rod (606) in each group has one end connected to the fixed tube (604) through the thrust spring (605) and the other end is formed with a conical head; The screw rods of the two connecting bolts (602) have multiple groups of tapered grooves distributed along the axial direction; the two threaded grooves on the bottom end of the upper joint (2) have multiple groups of fixed grooves distributed along the axial direction; each group of fixed tubes (604) is arranged in each group of fixed grooves, and each group of push rods (606) is inserted into each group of tapered grooves at one end thereof under the elastic force of the thrust spring (605).

6. The multi-angle leg exoskeleton driving joint for a robot according to claim 5, characterized in that: The connecting assembly (6) further includes an elastic pad (607); The elastic pad (607) is arranged between the top edge of the rectangular frame (601) and the bottom end of the upper joint (2).

7. The multi-angle leg exoskeleton drive joint for a robot according to claim 6, characterized in that: The lower joint (3) is connected to the lower side of the transverse connecting column (1) through an angle adjustment mechanism (8); The angle adjustment mechanism comprises an angle adjustment ring (801), an angle adjustment connecting plate (802), an angle adjustment driving motor (803), an angle adjustment gear (804), an angle adjustment driving shaft (805), a braking adsorption ring (806), and a braking electromagnet (807); There are two angle adjustment rings (801), which are sleeved in the annular gaps opened at both ends of the transverse connecting column (1); There are two angle adjustment connecting plates (802), one end of which is connected to the outside of the two angle adjustment rings (801), and the other end is bent inwards relative to each other, and the bent part is connected to the top of the lower joint (3) through a bolt; the two angle adjustment connecting plates (802) are connected by bolts; The angle adjustment drive motor (803) is connected to one end of the transverse connecting column (1); There are two angle adjustment gears (804), which are arranged in two gear mounting grooves provided on the side wall of the transverse connecting column (1) and mesh with the inner teeth of the angle adjustment ring (801); The angle adjustment drive shaft (805) is arranged in the transverse connecting column (1), and is connected to two angle adjustment gears (804) at both ends, and one end thereof extends from the end of one end of the transverse connecting column (1) where the angle adjustment drive motor (803) is located, and is connected to the angle adjustment drive motor (803); The brake adsorption ring (806) is arranged in a brake cavity opened in the transverse connecting column (1), the brake cavity is located between the two gear mounting grooves, the angle adjustment drive shaft (805) is arranged to pass through the brake cavity, and the brake adsorption ring (806) is sleeved on the angle adjustment drive shaft (805); The brake electromagnet (807) is connected to the inner wall of the brake chamber and surrounds the brake adsorption ring (806).

8. The multi-angle leg exoskeleton driving joint for a robot according to claim 7, characterized in that: An angle limiting mechanism (9) is provided between the lower joint (3) and the transverse connecting column (1); The angle limiting mechanism (9) comprises an angle limiting ring (901), a fixed connecting piece (902), and an angle limiting rod (903); There are two angle limiting rings (901), which are arranged at both ends of the transverse connecting column (1) and have arc-shaped angle limiting grooves thereon; There are two sets of fixed connecting pieces (902), one end of which is connected to the two angle limiting rings (901), and the other end is connected to the two ends of the transverse connecting column (1) through bolts; There are two angle limiting rods (903), one end of which is arranged in the two arc-shaped angle limiting grooves, and the other end is connected to the outside of the two angle adjustment connecting plates (802).

9. The multi-angle leg exoskeleton driving joint for a robot according to claim 8, characterized in that: An angle adjustment ring anti-slip mechanism (10) is provided on the transverse connecting column (1); The angle adjustment ring anti-slip mechanism (10) comprises an anti-slip active bevel gear (1001), an anti-slip driven bevel gear (1002), an anti-slip slider (1003), an anti-slip roller (1004), a brake disc (1005), and a brake bolt (1006); There are two anti-drop active bevel gears (1001), which are arranged in the bevel gear installation cavities opened in the two ends of the transverse connecting column (1), and the upper rotating shafts extend out of the two ends of the transverse connecting column (1), and the ends have inner corner holes; There are two sets of anti-slip driven bevel gears (1002), which are arranged in two bevel gear mounting cavities and mesh with the two anti-slip active bevel gears (1001). The upper rotating shafts thereof extend radially outward into the two sets of anti-slip sliding grooves provided on the side walls of the transverse connecting column (1); The anti-slip sliders (1003) are arranged in the two sets of anti-slip grooves and are threadedly connected to the rotating shafts of the two sets of anti-slip driven bevel gears (1002). The inward side walls of the two sets of anti-slip sliders (1003) are provided with roller mounting notches. There are two sets of anti-slip rollers (1004), which are installed in the installation gaps of the two sets of rollers through the rotating shaft; There are two brake discs (1005), which are sleeved on the rotating shafts of the two anti-slip active bevel gears (1001) and are located outside the two ends of the transverse connecting column (1). There are multiple brake bolt holes distributed along the circumference. There are two brake bolts (1006), which are screwed into a brake bolt hole on the two brake discs (1005). The two brake bolt holes are aligned with the brake matching holes opened at both ends of the transverse connecting column (1), and the two brake bolts (1006) are screwed into the two brake matching holes at the same time.

10. The multi-angle leg exoskeleton driving joint for a robot according to claim 9, characterized in that: The extension joint (4) is connected below the lower joint (3) via a telescopic mechanism (11); The telescopic mechanism (11) comprises an electric screw (1101) and a telescopic cylinder (1102); One end of the electric screw rod (1101) is connected to the bottom wall of the telescopic slot opened at the bottom end of the lower joint (3); One end of the telescopic cylinder (1102) extends into the telescopic slot and is threadedly connected to the outside of the electric screw rod (1101), and the other end is connected to the top of the extension joint (4).

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