An active exoskeleton robot hip joint module transmission device with quick-release function

Abstract

The present invention relates to an active exoskeleton robot hip joint module transmission device and an assembly method with a quick-release function, which belongs to the technical field of exoskeleton robots and solves the problem in the prior art that the active exoskeleton robot hip joint module transmission device is inconvenient to replace. The present invention includes a hip cover, a quick-release assembly and a joint module component; the joint module component is detachably installed in the hip cover through the quick-release assembly; the quick-release assembly includes a sleeve cup, a guide post and a spring, and the sleeve cup is axially movably sleeved on the outer peripheral surface of the joint module component; one end of the guide post is fixedly connected to the joint module component, and the other end of the guide post is inserted into the positioning hole on the sleeve cup, and the spring is sleeved on the guide post, and one end of the spring abuts the joint module component, and the other end abuts the sleeve cup. The present invention adopts a quick-release assembly to set the joint module component, so that the assembly and disassembly operations of the exoskeleton robot hip joint module transmission device are simple, and the parts are easy to replace.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robot transmission systems, and in particular to an active exoskeleton robot hip joint module transmission device with a quick-release function and an assembly method. Background Art

[0002] Maintenance and upgrades are common requirements for exoskeleton robots. However, existing hip joint transmission systems use screws and threaded holes at the ends to secure the joint module to the hip housing. Due to their complex structure and heavy weight, installation and removal are difficult, and they lack quick-change functionality. Summary of the Invention

[0003] In view of the above analysis, the present invention aims to provide an active exoskeleton robot hip joint module transmission device with a quick-release function to solve the problem that the existing active exoskeleton robot hip joint module transmission device is inconvenient to replace.

[0004] On the one hand, the present invention provides an active exoskeleton robot hip joint module transmission device with a quick-release function, comprising a hip cover, a quick-release assembly and a joint module component; the joint module component is detachably installed in the hip cover through the quick-release assembly; the quick-release assembly comprises a sleeve cup, a guide column and a spring, and the sleeve cup is axially movably sleeved on the outer peripheral surface of the joint module component; one end of the guide column is fixedly connected to the joint module component, and the other end of the guide column is inserted into the positioning hole on the sleeve cup, and the spring is sleeved on the guide column, and one end of the spring abuts the joint module component, and the other end abuts the sleeve cup.

[0005] Furthermore, the sleeve cup includes an annular circumferential wall and an end surface located at a first end of the circumferential wall, the end surface is annular, and the positioning hole is provided on the end surface.

[0006] Furthermore, the outer periphery of the joint module component has a stepped surface, and an axially extending threaded mounting hole is provided on the stepped surface, and the threaded mounting hole is used to install the guide column.

[0007] Furthermore, it is characterized in that the second end of the circumferential wall is provided with a foldable clip edge.

[0008] Furthermore, a mounting plate is provided at the first end of the hip cover, a first through hole is provided in the middle of the mounting plate, and a first radial protrusion extending radially inward is provided on the side wall of the first through hole.

[0009] Furthermore, a first slide is provided on the outer peripheral surface of the first end of the joint module component, and the first slide extends along the axial direction of the joint module component; a second radial protrusion is provided on the first end of the cup; the first radial protrusion and the second radial protrusion can both be inserted into the first slide and can move back and forth along the first slide.

[0010] Furthermore, a second slide is provided on the outer peripheral surface of the first end of the joint module component. The second slide extends from the middle of one side of the first slide along the circumference of the joint module component. The first radial protrusion can enter the second slide from the first slide.

[0011] Furthermore, the dimension of the second slideway along the axial direction of the joint module component is smaller than the dimension of the second radial protrusion along the axial direction of the joint module component, and is larger than the dimension of the first radial protrusion along the axial direction of the joint module component.

[0012] Furthermore, the second end of the sleeve cup is provided with at least two mounting holes.

[0013] Furthermore, a drawstring is passed through the mounting hole.

[0014] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0015] (1) The active exoskeleton robot hip joint module transmission device with quick-release function of the present invention adopts quick-release components to set up modular joint module components, so that the joint module components can be installed stably and reliably, and the assembly and disassembly are easy to operate, thereby improving the stability and maintainability of the system;

[0016] (2) The quick-release assembly of the present invention connects the cup and the joint module component through a guide post and a spring, which can not only guide the movement between the two so that they will not be twisted and dislocated, but also provide elastic force to automatically reset them, and can also keep the cup in a position that can lock the hip cover and the joint module component, ensuring the stability and reliability of the entire structure.

[0017] In the present invention, the above-mentioned technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of the present invention will be described in the following description, and some advantages will become apparent from the description or be learned through practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. Throughout the drawings, the same reference symbols denote the same components.

[0019] Figure 1 This is a schematic diagram of the assembly structure of the transmission device of the hip joint module of an active exoskeleton robot with quick-release function;

[0020] Figure 2 for Figure 1 An exploded diagram of the assembly structure of the transmission device of the hip joint module of the active exoskeleton robot with quick-release function;

[0021] Figure 3 A schematic diagram of the partial structure of a hip cover in the hip joint module transmission device of an active exoskeleton robot with a quick-release function according to the present invention;

[0022] Figure 4 This is a schematic structural diagram of the cup of the active exoskeleton robot hip joint module transmission device with quick-release function of the present invention;

[0023] Figure 5 for Figure 4 A schematic diagram of the structure of the cup from another perspective;

[0024] Figure 6 A schematic diagram of the partial structure of a joint module component in a hip joint module transmission device of an active exoskeleton robot with a quick-release function;

[0025] Figure 7 Schematic diagram of the structure of the joint module component located within the quick-release assembly, where (a) shows the state where the cup is driven to the extreme position, and (b) shows the natural state.

[0026] Reference numerals:

[0027] 1- Hip cover; 2- Quick release assembly; 3- Joint module components; 4- Joint force output plate; 5- Screws;

[0028] 11-mounting plate; 12-first through hole; 13-first radial protrusion; 21-cup; 211-circumferential wall; 213-edge; 214-mounting hole; 215-rectangular hole; 212-end face; 216-second through hole; 217-second radial protrusion; 218-positioning hole; 22-guide column; 23-spring; 24-pull rope; 31-base; 311-first slide; 312-second slide; 313-threaded mounting hole. DETAILED DESCRIPTION

[0029] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0030] Example 1

[0031] A specific embodiment of the present invention, as Figure 1 and Figure 2 As shown, an active exoskeleton robot hip joint module transmission device with a quick-release function is disclosed.

[0032] The active exoskeleton robot hip joint module transmission device with quick-release function of this embodiment 1 includes a hip cover 1, a quick-release assembly 2, and a joint module component 3. The joint module component 3 is detachably mounted within the hip cover 1 via the quick-release assembly 2. The quick-release assembly 2 can reciprocate axially relative to the joint module component 3 to achieve installation or removal of the joint module component 3.

[0033] Specifically, the structure of the hip cover 1 is as follows: Figure 1-Figure 3 As shown. The head of the hip cover 1 has an arc-shaped shell, and a accommodating cavity is formed in the shell, and the accommodating cavity is used to set the joint module component 3. A mounting plate 11 is provided at the first end of the shell, and the mounting plate 11 is an annular plate. The middle part of the mounting plate 11 has a first through hole 12, and the side wall of the first through hole 12 is provided with a radially inward first radial protrusion 13, and the first radial protrusion 13 can be stuck in the first slide 311 of the joint module component 3 and can enter the second slide 312 from the first slide 311, thereby realizing axial limitation between the joint module component 3 and the hip cover 1.

[0034] See also Figure 2 The quick-release assembly 2 includes a sleeve cup 21, a guide post 22, and a spring 23. The sleeve cup 21 is axially movable and sleeved on the outer peripheral surface of the joint module 3. One end of the guide post 22 is fixedly connected to the joint module 3, and the other end of the guide post 22 is inserted into the positioning hole 218 on the sleeve cup 21. The spring 23 is sleeved on the guide post 22, with one end of the spring 23 abutting the joint module 3 and the other end abutting the sleeve cup 21.

[0035] In a preferred embodiment, one end of the guide post 22 is provided with a thread, and the other end is a polished rod. A limit platform stage is provided between the thread and the polished rod, and the diameter of the limit platform stage is larger than the diameters of the threaded end and the polished rod end. The threaded end of the guide post 22 is screwed to the threaded hole on the joint module component 3, and the polished rod end is inserted into the positioning hole 218 on the sleeve cup 21 and can move back and forth relative to the positioning hole 218. The spring 23 is sleeved on the guide post 22, and one end of the spring 23 abuts the limit platform stage, and the other end abuts the sleeve cup 21. By providing the limit platform stage, the support of the spring 23 can be achieved more stably, and the axial positioning of the guide post 22 can be conveniently performed.

[0036] The structure of the cup 21 is as follows Figure 4 、 Figure 5 As shown, it includes an annular circumferential wall 211 and an end surface 212 located at a first end of the circumferential wall 211 .

[0037] A plurality of rectangular holes 215 are evenly distributed on the circumference of the circumferential wall 211 . The rectangular holes 215 can reduce the amount of raw materials used and reduce the overall weight.

[0038] The second end of the circumferential wall 211 is provided with a foldable clamping edge 213. The clamping edge 213 can be obtained by cutting two parallel and spaced slits on the edge of the circumferential wall 211. The clamping edge 213 can be folded inward by hand or with a tool. The folded clamping edge 213 can clamp the end face of the second end of the joint module component 3, thereby achieving axial limitation of the sleeve cup 21. The joint module component 3 will not fall out of the second end of the sleeve cup 21. Two or more clamping edges 213 can be provided, and they can be evenly distributed along the circumference so that the overall force is uniform.

[0039] In a preferred embodiment, the clamping edges 213 are staggered with the rectangular holes 215. This arrangement can reduce weight to the greatest extent without affecting the overall strength of the sleeve cup 21.

[0040] The second end of the circumferential wall 211 is further provided with at least two mounting holes 214 . The mounting holes 214 are arranged away from the clamping edge 213 and are also evenly distributed around the circumference.

[0041] In one embodiment, a pull rope 24 is passed through the mounting hole 214. Figure 1 、 Figure 2 By pulling the pull rope 24 , the cup 21 can be driven to move axially to the left extreme position relative to the joint module component 3 , so as to facilitate the installation or removal of the joint module component 3 .

[0042] In another solution, the pull rope 24 is not provided in the mounting hole 214 , and a specific tool (such as a tool similar to a rake) can be directly inserted into the mounting hole 214 , and then the sleeve cup 21 is pulled by the tool.

[0043] See also Figure 4 、 Figure 5 The end face 212 of the sleeve cup 21 is annular, and the positioning holes 218 are provided on the end face 212. The positioning holes 218 are through holes, and a plurality of positioning holes 218 are provided and evenly distributed around the circumference. The positioning holes 218 are used for the guide posts 22 to pass through.

[0044] The center of the end surface 212 is a second through hole 216 , which is used to expose the first end of the joint module component 3 to facilitate connection with the joint force output disk 4 via screws 5 .

[0045] On the circumferential wall of the second through hole 216, be provided with the second radial protrusion 217 that extends radially inward, and the second radial protrusion 217 is provided with a plurality of, and is evenly distributed along the circumference.In the axial direction of the joint module component 3, this second radial protrusion 217 outwardly protrudes from the end face 212 a distance D.This distance D is preferably greater than the axial length of the first radial protrusion 13 in the joint module component 3. It is so arranged that after the joint module component 3 is installed in the hip cover 1 by the quick-release assembly 2, the end face 212 of the sleeve cup 21 fits with the mounting plate 11 of the hip cover 1, and the second radial protrusion 217 can block the first radial protrusion 13 completely, so that the circumferential positioning between the joint module component 3 and the hip cover 1 is more stable and reliable.

[0046] The second radial protrusion 217 is axially reciprocatingly movable along the first slideway 311. The length of the first slideway 311 is greater than the sum of the axial lengths of the first radial protrusion 13 and the second radial protrusion 217. This arrangement ensures that when the joint module 3 is installed in the hip shield 1 via the quick-release assembly 2, the second radial protrusion 217 and the first radial protrusion 13 can be simultaneously located within the first slideway 311.

[0047] See also Figure 6 A first slideway 311 is provided on the outer peripheral surface of the first end of the joint module 3. The first slideway 311 extends axially from the end toward the other end. A second slideway 312 extends from the middle of the first slideway 311 along the circumference of the joint module 3 to one side of the first slideway 311.

[0048] In a preferred embodiment, the dimension of the second slide 312 along the axial direction of the joint module component 3 is smaller than the dimension of the second radial protrusion 217 along the axial direction of the joint module component 3 and is larger than the dimension of the first radial protrusion 13 along the axial direction of the joint module component 3. Accordingly, the dimension of the first radial protrusion 13 along the axial direction of the joint module component 3 is smaller than the dimension of the second radial protrusion 217 along the axial direction of the joint module component 3. With such an arrangement, the first radial protrusion 13 can enter the second slide 312 from the first slide 311, thereby realizing a snap-fit ​​connection between the hip cover 1 and the joint module component 3; the second radial protrusion 217 can only reciprocate along the first slide 311 and cannot enter the second slide 312, thereby avoiding damage to the guide column 22 due to misoperation.

[0049] Furthermore, the dimension of the second slideway 312 along the circumferential direction of the joint module component 3 is greater than the dimension of the first radial protrusion 13 along the circumferential direction of the joint module component 3. This configuration enables the first radial protrusion 13 to fully enter the second slideway 312 without interfering with the movement of the second radial protrusion 217.

[0050] The joint module component 3 adopts conventional components in the prior art, including a motor, a cycloid roller reducer, a driver, an encoder, etc., which are all fixedly arranged on the base to form an integral joint module component 3.

[0051] Joint Module 3 features an integrated motor-mounted, first-stage cycloid roller reducer. The motor rotor is glued to the input shaft, then keyed to the crankshaft. A cycloid gear and rollers then transmit torque to the output through differential gearing, reducing speed and increasing torque. Crossed roller bearings are incorporated to withstand both radial and axial forces. The modular and lightweight design of Joint Module 3 offers high cost-effectiveness, flexible functionality, and strong maintainability and adaptability.

[0052] The active exoskeleton robot hip joint module transmission device with quick release function in this embodiment 1 also includes a joint force output disk 4, see Figure 1 、 Figure 2 The joint force output disk 4 is fixed to the end of the first end of the joint module component 3 by screws and is located outside the first end of the hip cover 1. The power of the joint module component 3 is output by the joint force output disk 4 to drive the exoskeleton robot to move.

[0053] Example 2

[0054] This embodiment 2 relates to an assembly method for an active exoskeleton robot hip joint module transmission device, which is used to install or disassemble the active exoskeleton robot hip joint module transmission device with a quick-release function in embodiment 1.

[0055] The assembly method includes the following steps:

[0056] S1: Assemble the joint module component 3 and the quick-release component 2 into an integral unit;

[0057] S2: Place the entire unit into the hip mask 1, align the first radial protrusion 13 with the first slideway 311, and squeeze the entire unit;

[0058] S3: The whole unit and the hip cover 1 are rotated relative to each other, so that the first radial protrusion 13 enters the second slideway 312 from the first slideway 311;

[0059] S4: Loosen the entire unit and complete the assembly.

[0060] Step S1 is as follows: fix the guide post 22 to the threaded mounting hole 313 of the joint module 3, put the spring 23 onto the guide post 22, insert the joint module 3 into the sleeve cup 21, and make the second radial protrusion 217 of the sleeve cup 21 snap into the first slide 311, then fold the clamping edge 213 and install the pull rope 24 to the mounting hole 214 of the sleeve cup 21. At this time, the relative position between the joint module 3 and the quick release assembly 2 is as follows: Figure 7 (b) The state shown.

[0061] In step S2, the whole unit is squeezed so that the first radial protrusion 13 enters the first slideway 311, and the cup 21 of the quick release assembly 2 is pushed to move axially relative to the joint module component 3 by squeezing the second radial protrusion 217 to reach the position shown in FIG. Figure 7 (b) The state shown.

[0062] Step S3 specifically includes: rotating the hip cover 1 toward the second slideway 312 , so that the first radial protrusion 13 enters the second slideway 312 from the first slideway 311 .

[0063] In step S4, the entire unit is released, and the cup 21 is reset under the action of the spring 23, driving the second radial protrusion 217 to move along the first slide 311 toward the first end until the end surface 212 of the cup 21 abuts against the mounting plate 11 of the hip shield 1. At this point, the second radial protrusion 217 blocks the second slide 312, so that the joint module component 3 is fixedly mounted on the hip shield 1.

[0064] If it is necessary to disassemble the whole unit from the hip shield 1, the steps are opposite to the assembly method, specifically: pull the drawstring 24 or use a special tool to drive the cup 21 to reach the Figure 7 In the position shown in (a), the hip cover 1 or the entire unit is rotated in the opposite direction so that the first radial protrusion 13 enters the first slide 311 from the second slide 312, and the entire unit can be taken out of the hip cover 1.

[0065] Compared with the prior art, the method provided in this embodiment is simple and easy to implement, and can improve the efficiency of assembly and disassembly while ensuring stable and reliable connection.

[0066] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. An active exoskeleton robot hip joint module transmission device with quick release function, characterized in that: The invention comprises a hip cover (1), a quick-release assembly (2) and a joint module component (3); the joint module component (3) is detachably mounted in the hip cover (1) through the quick-release assembly (2); the quick-release assembly (2) comprises a sleeve cup (21), a guide post (22) and a spring (23); the sleeve cup (21) is axially movable and sleeved on the outer peripheral surface of the joint module component (3); one end of the guide post (22) is fixedly connected to the joint module component (3), and the other end of the guide post (22) is inserted into the sleeve cup. (21), the spring (23) is sleeved on the guide column (22), and one end of the spring (23) abuts the joint module component (3), and the other end abuts the sleeve cup (21); the first end of the hip cover (1) is provided with a mounting plate (11), the middle part of the mounting plate (11) is provided with a first through hole (12), and the side wall of the first through hole (12) is provided with a first radial protrusion (13) extending radially inward; on the outer peripheral surface of the first end of the joint module component (3), A first slideway (311) is provided, and the first slideway (311) extends along the axial direction of the joint module component (3); a second radial protrusion (217) is provided at the first end of the sleeve cup (21); the first radial protrusion (13) and the second radial protrusion (217) can both be inserted into the first slideway (311) and can reciprocate along the first slideway (311); a second slideway (312) is further provided on the outer peripheral surface of the first end of the joint module component (3), and the second slideway (312) is provided from The middle portion of one side of the first slideway (311) extends along the circumference of the joint module component (3), and the first radial protrusion (13) can enter the second slideway (312) from the first slideway (311); the size of the second slideway (312) along the axial direction of the joint module component (3) is smaller than the size of the second radial protrusion (217) along the axial direction of the joint module component (3), and is larger than the size of the first radial protrusion (13) along the axial direction of the joint module component (3).

2. The active exoskeleton robot hip joint module transmission device with quick release function according to claim 1, characterized in that: The sleeve cup (21) comprises an annular circumferential wall (211) and an end surface (212) located at a first end of the circumferential wall (211); the end surface (212) is annular, and the positioning hole (218) is provided on the end surface (212).

3. The active exoskeleton robot hip joint module transmission device with quick release function according to claim 2, characterized in that: The outer periphery of the joint module component (3) has a stepped surface, and an axially extending threaded mounting hole (313) is provided on the stepped surface. The threaded mounting hole (313) is used to mount the guide column (22).

4. The active exoskeleton robot hip joint module transmission device with quick release function according to claim 3, characterized in that: The second end of the circumferential wall (211) is provided with a foldable clamping edge (213).

5. The active exoskeleton robot hip joint module transmission device with quick release function according to claim 1, characterized in that: The second end of the sleeve cup (21) is provided with at least two mounting holes (214).

6. The active exoskeleton robot hip joint module transmission device with quick release function according to claim 5, characterized in that: A drawstring (24) is passed through the mounting hole (214).

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