High-torque power inspection lower limb exoskeleton power joint

Abstract

The invention discloses a high-torque power inspection lower limb exoskeleton power joint, which relates to the technical field of exoskeleton robots, comprises a shell mechanism with a one-way opening at the front end, and solves the problems that a single motor and worm and gear transmission are adopted in a mainstream scheme of a driving mode of an existing exoskeleton power joint, the rated torque is only small, and the cost is low. According to the invention, the problems that the load of a user is large, the load of the user cannot be quickly switched and adjusted according to the load condition of the user, for example, when the load is large, the load of the user can be relieved by small torque output, and the auxiliary effect is poor are solved. By means of the torque amplification characteristic of planetary gear transmission, compared with an existing single-motor worm and gear transmission scheme, the rated torque is remarkably improved, the lower limb load of an inspector can be effectively relieved when the inspector passes through a complex terrain in a load-bearing mode, and the problem that in the prior art, the torque is insufficient, and consequently the auxiliary effect is poor is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of exoskeleton robots, in particular to a high-torque power inspection lower limb exoskeleton power joint. BACKGROUND

[0002] In the field of power inspection, inspection personnel need to carry detection equipment to cross complex terrains such as mountains, jungles and stairs, and the daily walking distance often exceeds 10 kilometers, so the lower limbs are under great load. The traditional manual inspection mode is easy to cause muscle fatigue, joint injury and even safety accidents of the inspection personnel, and the performance of the power joint of the lower limb exoskeleton as auxiliary equipment directly determines the inspection efficiency and personnel safety.

[0003] In the prior art, for example, Chinese Patent Publication No. CN119770314A discloses a cross-double-joint rigid power lower limb exoskeleton, which includes a waist support and two groups of lower limb supports respectively arranged on the transverse sides of the waist support for assisting the corresponding side lower limbs of the human body; the lower limb support includes a hip joint connecting component, a thigh protector, a foot bottom support and an electric push rod as an actuator module, wherein: the thigh protector is connected with the waist support through the hip joint connecting component to adapt to the multi-degree-of-freedom movement of the human hip joint; the extension direction of the electric push rod is arranged along the length direction of the human calf, and the extension end of the electric push rod extends upward to cross the knee joint of the human body and is hinged with the rear part of the thigh protector, and the fixed end of the electric push rod extends downward to cross the ankle joint of the human body and is hinged with the rear part of the foot bottom support; the exoskeleton has good comfort for the wearer, enhances the gain effect of the exoskeleton on the human body, and can achieve good lightweight and performance balance effect.

[0004] In the prior art, the mainstream scheme of the driving mode of the existing exoskeleton power joint adopts a single motor and a worm gear transmission, and the rated torque is only small, and cannot be quickly switched and adjusted according to the load of the user, so that for example when the load is large, the small torque output can only reduce the burden of the user to a limited extent, and the assisting effect is poor.

[0005] Therefore, we propose a high-torque power inspection lower limb exoskeleton power joint to solve the problems raised in the background art. SUMMARY

[0006] The purpose of the present application is to provide a high-torque power inspection lower limb exoskeleton power joint to solve the problem that the mainstream scheme of the driving mode of the existing exoskeleton power joint adopts a single motor and a worm gear transmission, and the rated torque is only small, and cannot be quickly switched and adjusted according to the load of the user, so that for example when the load is large, the small torque output can only reduce the burden of the user to a limited extent, and the assisting effect is poor.

[0007] To achieve the above objectives, the present invention provides the following technical solutions: a high-torque electric inspection lower limb exoskeleton powered joint, comprising: a housing mechanism with a one-way opening at the front end, wherein the housing mechanism has a primary gear ring and a secondary gear ring connected in a linear array for rotation; The front end of the shell mechanism is equipped with a cover mechanism, and the front end surface of the cover mechanism is fixedly connected with a telescopic bracket, and the telescopic bracket is provided with two places, and the two telescopic brackets are fixedly connected to the left and right sides of the front end surface of the cover mechanism in opposite directions, and a longitudinal groove is opened on the inner sides of the two telescopic brackets, and a servo push rod is fixedly connected to the inside of the longitudinal groove, and the front end of the servo push rod is the output end, and the front end output end of the servo push rod is fixedly connected to the outside of the connecting assembly. The slider assembly is a structure of a protruding connecting assembly, and the slider assembly is provided with four places, wherein every two longitudinally adjacent slider assemblies form a group, and the two groups of slider assemblies are fixedly connected to the left and right sides of the connecting assembly in a linear array, and the rear side of the connecting assembly is fixedly connected with a sleeve assembly with an internal hollow structure, and the front end opening of the sleeve assembly extends to the front side of the connecting assembly, and a servo motor is installed on the front end surface of the connecting assembly, and a connecting shaft is installed on the rear output shaft of the servo motor, and the outer circumferential surface of the connecting shaft is fixedly connected with a secondary drive gear and a primary drive gear in sequence from front to back.

[0008] Preferably, the front end surfaces of the shell mechanism and the cover mechanism are both provided with mounting holes in a circular array, and the cover mechanism is mounted on the front end of the shell mechanism through a fixing bolt and is used to close the front end opening of the shell mechanism.

[0009] Preferably, a guide rod with a cylindrical structure is fixedly connected to the center of the inner front end surface of the housing mechanism, and a through hole is opened on the rear side of the connecting shaft, and the through hole matches the connecting shaft.

[0010] Preferably, the housing mechanism and the connecting shaft together constitute a guide installation structure for the connecting shaft, and a fixed support arm is fixedly connected to the top end of the outer peripheral surface of the housing mechanism.

[0011] Preferably, the top end of the fixed arm is fixedly connected to a fixed joint, a pin is installed inside the fixed joint, and the rear side of the shell mechanism is fixedly connected to a connecting mechanism, and the rear side of the connecting mechanism is rotatably connected to a clamp assembly.

[0012] Preferably, the clamp assembly is used to clamp with the user's legs, and the bottom ends of the outer circumferences of the primary gear ring and the secondary gear ring are fixedly connected with movable arms, and the bottom ends of the movable arms are provided with longitudinal grooves.

[0013] Preferably, an extension push rod is fixedly connected to the interior of the longitudinal groove at the bottom end of the movable support arm. The extension push rod is longitudinally arranged, and a connecting block is fixedly connected to the bottom end surface of the extension push rod.

[0014] Preferably, a guide limit block is fixedly connected to the outer side of the connecting block, and there are two guide limit blocks in total, and the two guide limit blocks are fixedly connected to the left and right side surfaces of the connecting block in opposite directions.

[0015] Preferably, the guide limit block is a structure protruding from the connecting block, and a movable joint is fixedly connected to the bottom end surface of the connecting block and the guide limit block.

[0016] Preferably, a first-stage gear rack and a second-stage gear rack are sequentially arranged on the inner side of the housing mechanism from back to front, and the inner sides of the first-stage gear rack and the second-stage gear rack are respectively rotatably connected with three first-stage driven gears and second-stage driven gears in a circular array, the first-stage driven gear matches the first-stage ring gear and the first-stage drive gear, and the second-stage driven gear matches the second-stage ring gear and the second-stage drive gear.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. When the present invention is used, the double-stage planetary gear transmission structure of the first-stage gear rack and the second-stage gear rack utilizes the torque amplification characteristics of the planetary gear transmission. Compared with the existing single-motor worm gear transmission solution, the rated torque is significantly improved, which can effectively reduce the load on the lower limbs of patrol personnel when carrying loads and crossing complex terrain, and solve the problem of poor auxiliary effect caused by insufficient torque in the existing technology.

[0018] 2. When the present invention is in use, the servo push rod drives the connecting shaft to move along the guide rod, thereby realizing rapid switching between the two-stage transmission mode and the single-stage transmission mode. When the load is heavy, the two-stage transmission works together to output the maximum torque; when the load is light, only the one-stage transmission works to reduce energy consumption, avoiding the energy waste caused by the inability to adjust the drive mode according to the load in the existing technology, and improving the adaptability and endurance of the exoskeleton under different working conditions.

[0019] 3. When the present invention is used, the coordinated movement of the hip joint and the knee joint is achieved through the combination of fixed joints, movable joints and extended push rods. At the same time, the guide limit blocks and slider components respectively limit the movement trajectories of the lower limb support structure and the transmission component, while ensuring the flexible rotation of the joints and avoiding lateral shaking. This solves the problems of single movement and insufficient stability of existing exoskeleton joints, and improves the walking safety and comfort of patrol personnel in complex terrains.

[0020] 4. In the present invention, a detachable connection is formed between the shell mechanism and the cover mechanism through a combination of fixing bolts and mounting holes. When the internal transmission system needs to be maintained or replaced, the cover mechanism can be quickly disassembled by unscrewing the fixing bolts to expose core components such as the first-stage gear rack and the second-stage gear rack. There is no need to disassemble the exoskeleton structure as a whole, which greatly shortens the maintenance time. Power components such as servo motors and servo push rods are connected to structural parts such as connecting components and telescopic brackets using standardized interfaces, which support separate disassembly and replacement, reducing maintenance costs. In addition, the modular design of the movable support arm, gear ring, and extension push rod allows the adjustment of component parameters according to the leg length and gait habits of different users, or by replacing movable support arms and extension push rods of different specifications, it can adapt to various models of lower limb exoskeleton platforms, solving the problem of fixed exoskeleton structure and difficulty in adapting to personalized needs in the existing technology, and significantly improving the versatility and scalability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a front and side perspective view of a disassembled high-torque electric inspection lower limb exoskeleton power joint of the present invention; Figure 2 This is a combined stereoscopic diagram of a high-torque electric inspection lower limb exoskeleton power joint of the present invention; Figure 3 A three-dimensional diagram of the combination of the movable arm and the extended push rod of the power joint of the high-torque electric inspection lower limb exoskeleton of the present invention; Figure 4 This is a diagram of a three-dimensional shell structure and connecting mechanism assembly of a high-torque electric inspection lower limb exoskeleton power joint of the present invention; Figure 5 This is a three-dimensional diagram of the combination of a cover mechanism and a telescopic bracket of a high-torque electric inspection lower limb exoskeleton power joint of the present invention; Figure 6 This is a top perspective view of a disassembled high-torque electric inspection lower limb exoskeleton power joint according to the present invention; Figure 7 This is a three-dimensional diagram of the first-stage gear rack of a high-torque electric inspection lower limb exoskeleton power joint of the present invention; Figure 8 A three-dimensional diagram of a secondary gear rack of a high-torque electric inspection lower limb exoskeleton power joint according to the present invention; In the figure: 1. Shell mechanism; 101. Mounting hole; 1011. Guide rod; 1012. Fixed arm; 1013. Fixed joint; 2. Connecting mechanism; 201. Fixture assembly; 3. Cover mechanism; 301. Fixing bolt; 3011. Telescopic bracket; 3012. Servo push rod; 3013. Connecting assembly; 3014. Slider assembly; 3015. Sleeve assembly; 3016. Servo motor; 3017. Connecting shaft; 3018. Secondary drive gear; 3019. Primary drive gear; 4. Movable arm; 401. Extension push rod; 4011. Connecting block; 4012. Guide limit block; 4013. Movable joint; 5. Primary gear rack; 501. Primary driven gear; 5011. Primary ring gear; 6. Secondary gear rack; 601. Secondary driven gear; 6011. Secondary ring gear. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention. Example 1

[0023] See also Figures 1-8 As shown, the present invention provides a technical solution: a high-torque electric inspection lower limb exoskeleton power joint, comprising a shell mechanism 1 with a one-way opening at the front end, wherein the shell mechanism 1 has a first-stage ring gear 5011 and a second-stage ring gear 6011 connected in a linear array for rotation; A cover mechanism 3 is installed at the front end of the shell mechanism 1, and a telescopic bracket 3011 is fixedly connected to the front end surface of the cover mechanism 3. There are two telescopic brackets 3011, and the two telescopic brackets 3011 are fixedly connected to the left and right sides of the front end surface of the cover mechanism 3 in opposite directions. A longitudinal groove is provided on the inner side of the two telescopic brackets 3011, and a servo push rod 3012 is fixedly connected to the inside of the longitudinal groove. The front end of the servo push rod 3012 is the output end, and a connecting component 3013 is fixedly connected to the front end output end of the servo push rod 3012, and a slider component 3014 is fixedly connected to the outside of the connecting component 3013. The slider component 3014 is a structure that protrudes from the connecting component 3013, and there are four slider components 3014, wherein every two longitudinally adjacent slider components 3014 form a group, and two groups of slider groups Parts 3014 are fixedly connected to the left and right sides of the connecting component 3013 in a linear array, and the rear side of the connecting component 3013 is fixedly connected to the sleeve component 3015 with an internal hollow structure, and the front end opening of the sleeve component 3015 extends the connecting component 3013 to the front side, and a servo motor 3016 is installed on the front end surface of the connecting component 3013, and a connecting shaft 3017 is installed on the rear output shaft of the servo motor 3016. The outer peripheral surface of the connecting shaft 3017 is fixedly connected with a secondary drive gear 3018 and a primary drive gear 3019 in sequence from front to back. The front end surface of the shell mechanism 1 and the front end surface of the cover mechanism 3 are both provided with mounting holes 101 in a circular array, and the cover mechanism 3 is installed on the front end of the shell mechanism 1 through a fixing bolt 301 and is used to close the front end opening of the shell mechanism 1.

[0024] In this embodiment, when in use, the servo motor 3016 serves as a power source. Its front end is fixed to the front end surface of the connecting assembly 3013 by bolts. The rear output shaft and the connecting shaft 3017 are connected by a key to achieve power transmission. When the servo motor 3016 is powered on and started, the output shaft drives the connecting shaft 3017 to rotate clockwise at the rated speed. The connecting shaft 3017 serves as a transmission hub, and the secondary drive gear 3018 and the primary drive gear 3019 fixed on its outer circumference from front to back enter a synchronous rotation state. The first-stage driving gear 3019 serves as the sun gear of the first-stage planetary gear transmission. Its outer diameter is smaller than that of the first-stage driven gear 501, forming a tooth number difference transmission structure. The first-stage gear frame 5 is fixed to the inner rear part of the housing mechanism 1 in an annular shape. Its inner ring surface is evenly connected to three first-stage driven gears 501 through bearings. When the first-stage driving gear 3019 rotates, its tooth surface meshes with the tooth surface of the first-stage driven gear 501, driving the first-stage driven gear 501 to rotate around its own axis and revolve along the inner ring surface of the first-stage gear frame 5. At this time, the orbital motion of the first-stage driven gear 501 is transmitted to the first-stage ring gear 5011 through the meshing of the tooth surface and the first-stage ring gear 5011. Since the inner diameter of the first-stage ring gear 5011 is much larger than that of the first-stage driving gear 3019, according to the principle of planetary gear transmission, the rotation speed of the first-stage ring gear 5011 is reduced, and the torque is amplified by the gear ratio. The amplified torque is output to the outside through the movable support arm 4 at the bottom end of the outer circumference of the first-stage ring gear 5011; The secondary drive gear 3018 is located at the front end of the connecting shaft 3017. Its structure is symmetrical with the primary drive gear 3019, corresponding to the transmission system in the secondary gear rack 6. The secondary gear rack 6 is fixed to the front inner side of the housing mechanism 1 in an annular shape. The inner ring surface is evenly connected to three secondary driven gears 601 through bearings. When the secondary drive gear 3018 rotates with the connecting shaft 3017, it meshes with the secondary driven gear 601, driving the secondary driven gear 601 to rotate and revolve. The revolving motion of the secondary driven gear 601 is meshed with the secondary ring gear 6011 through the tooth surface, transmitting the torque to the secondary ring gear 6011. Similarly, the secondary ring gear 6011 further amplifies the torque through the gear ratio and outputs it through the movable support arm 4 at the bottom end of the outer circumference. The first-stage ring gear 5011 and the second-stage ring gear 6011 are distributed in a front-to-back linear array inside the shell mechanism 1. The movable support arms 4 of the two are respectively connected to the support structures of the thigh and calf parts of the exoskeleton. The two-stage planetary gear transmission realizes step-by-step amplification of torque through series connection, so that the torque finally output to the joints meets the assistance needs of power inspection personnel when carrying heavy equipment. The front end of the shell mechanism 1 is closed by a cover mechanism 3. The cover mechanism 3 and the front end surface of the shell mechanism 1 both have an annular array of mounting holes 101, which are fastened together by fixing bolts 301 to ensure that the transmission system operates stably in a closed environment and prevent dust and foreign matter from entering and affecting the gear meshing accuracy. Example 2

[0025] like Figures 1-5As shown, a guide rod 1011 of a cylindrical structure is fixedly connected to the center position of the internal front end face of the shell mechanism 1, and a through hole is provided on the rear side of the connecting shaft 3017, which matches the connecting shaft 3017. The shell mechanism 1 and the connecting shaft 3017 together constitute a guide installation structure for the connecting shaft 3017, and a fixed support arm 1012 is fixedly connected to the top end of the outer circumference of the shell mechanism 1, and a fixed joint 1013 is fixedly connected to the top end of the fixed support arm 1012, and a pin is installed inside the fixed joint 1013, and the rear side of the shell mechanism 1 is fixedly connected to the connecting mechanism 2, and the rear side of the connecting mechanism 2 is rotatably connected to the clamp assembly 201, which is used to clamp with the user's legs, and the outer circumference bottom ends of the first-stage gear ring 5011 and the second-stage gear ring 6011 are fixedly connected to the movable support arm 4, and the bottom end of the movable support arm 4 is provided with a longitudinal groove.

[0026] In this embodiment, when in use, two telescopic brackets 3011 are symmetrically fixed on the left and right sides of the front end surface of the cover mechanism 3. The single telescopic bracket 3011 is "L"-shaped, and the width of its inner longitudinal groove matches the thickness of the connecting component 3013 to form a sliding guide structure. The servo push rod 3012 is an electric linear push rod, fixed to the bottom of the longitudinal groove of the telescopic bracket 3011, and its front output end is fixedly connected to the center position of the front end surface of the connecting component 3013 by a bolt. The connecting component 3013 is a rectangular plate-shaped structure, and two groups of slider assemblies 3014 are fixed on its left and right sides respectively, each group including two longitudinally adjacent sliders in the upper and lower positions. The sliders are T-shaped and embedded in the corresponding slide grooves of the longitudinal grooves of the telescopic bracket 3011, ensuring that the connecting component 3013 can only move up and down along the longitudinal groove, limiting lateral displacement; When the user's load changes, the control system sends a command to the servo push rod 3012 to extend or retract its piston rod. Taking the increase in load and the need to increase torque as an example, the servo push rod 3012 piston rod extends, pushing the connecting assembly 3013 to move backward along the longitudinal groove of the telescopic bracket 3011. The sleeve assembly 3015 fixed on the rear side of the connecting assembly 3013 is a hollow cylinder with its front end opening extending forward to the front of the connecting assembly 3013. The rear end is sleeved with the front part of the connecting shaft 3017 to form a sliding connection. A through hole is provided on the rear side of the connecting shaft 3017 to match the internal guide rod 1011 of the shell mechanism 1. The guide rod 1011 is a cylindrical structure and is fixed at the center position of the front end surface of the shell mechanism 1. After being inserted into the through hole of the connecting shaft 3017, it provides a guiding effect for the connecting shaft 3017 to move back and forth, thereby preventing it from deflecting during movement; As the connecting assembly 3013 moves backward, the connecting shaft 3017 drives the secondary drive gear 3018 and the primary drive gear 3019 to move backward synchronously. When the load is heavy, the primary drive gear 3019 remains in meshing state with the primary driven gear 501, and at the same time, the secondary drive gear 3018 moves backward to mesh with the secondary driven gear 601. At this time, the two-stage planetary gear transmission works simultaneously to achieve maximum torque output; when the load is light, the piston rod of the servo push rod 3012 retracts, pulling the connecting assembly 3013 forward, and the secondary drive gear 3018 disengages from the meshing with the secondary driven gear 601. Only the primary planetary gear transmission works, reducing the number of transmission stages to reduce energy loss. During the entire adjustment process, the slider assembly 3014 always keeps in contact with the slide groove of the telescopic bracket 3011, ensuring the smooth switching of the transmission path and avoiding impact loads caused by gear collisions; Limiting protrusions are provided at the upper and lower ends of the longitudinal groove of the telescopic bracket 3011. When the connecting component 3013 moves to the extreme position, the slider component 3014 contacts the limiting protrusion to prevent it from continuing to move, thereby preventing the servo push rod 3012 from overloading. At the same time, the clearance between the guide rod 1011 and the through hole of the connecting shaft 3017 is small, which further improves the straightness of the movement of the connecting shaft 3017, ensures the accuracy of the gear meshing, and avoids transmission failure due to position offset. Example 3

[0027] like Figures 2-8 As shown, the interior of the longitudinal groove at the bottom end of the movable support arm 4 is fixedly connected with an extension push rod 401, the extension push rod 401 is longitudinally arranged, and the bottom end surface of the extension push rod 401 is fixedly connected with a connecting block 4011, and the outer side of the connecting block 4011 is fixedly connected with a guide limit block 4012. There are two guide limit blocks 4012, and the two guide limit blocks 4012 are fixedly connected to the left and right side positions of the connecting block 4011 in opposite directions. The guide limit blocks 4012 are a structure that protrudes from the connecting block 4011, and the connecting block 4011 is fixed with a guide limit block 4012. A movable joint 4013 is fixedly connected to the bottom end surface of the guide limit block 4012, and a first-level gear rack 5 and a second-level gear rack 6 are sequentially arranged on the inner side of the shell mechanism 1 from back to front. The inner sides of the first-level gear rack 5 and the second-level gear rack 6 are respectively connected in a circular array with three first-level driven gears 501 and second-level driven gears 601. The first-level driven gear 501 matches the first-level ring gear 5011 and the first-level driving gear 3019, and the second-level driven gear 601 matches the second-level ring gear 6011 and the second-level driving gear 3018.

[0028] In this embodiment, when in use, a fixed arm 1012 is fixed to the top of the outer peripheral surface of the shell mechanism 1 by welding. The fixed arm 1012 is "T"-shaped, and its top end is connected to the waist support structure of the exoskeleton via a fixed joint 1013. The fixed joint 1013 is a ball joint structure with a pin installed inside, allowing the fixed arm 1012 to rotate in three degrees of freedom: pitch, roll, and rotation. This allows the shell mechanism 1 to swing along the motion trajectory of the human hip joint, achieving synergy between the exoskeleton and the human body. When the human body performs actions such as walking and climbing, the pin of the fixed joint 1013 serves as the rotation center, and the shell mechanism 1 responds to the angle changes of the hip joint in real time through the fixed arm 1012, avoiding motion interference caused by a rigid connection. The rear side of the shell mechanism 1 is fixed with a connecting mechanism 2 by bolts. The connecting mechanism 2 is a plate-like structure, and its rear side is rotatably connected to the clamp assembly 201 through a bearing. The clamp assembly 201 is arc-shaped and lined with an elastic pad inside. It is fixed to the outer side of the user's thigh through a strap to realize the mechanical connection between the exoskeleton and the human body. The movable support arm 4 at the bottom end of the outer circumference of the first-level gear ring 5011 and the second-level gear ring 6011 is an "L"-shaped rod structure, the top end of which is fixed to the gear ring by bolts, and the bottom end is provided with a longitudinal groove, which accommodates the extension push rod 401 inside. The extension push rod 401 is an electric push rod, which is longitudinally fixed in the longitudinal groove of the movable support arm 4. The bottom end is fixedly connected to the connecting block 4011 by bolts. The connecting block 4011 is a rectangular block, and guide limit blocks 4012 are respectively fixed on the left and right sides. The guide limit block 4012 is "convex" shaped and embedded in the corresponding slide groove of the support structure of the exoskeleton calf part to form a sliding connection; When the primary gear ring 5011 and the secondary gear ring 6011 rotate, the movable support arm 4 is driven to swing around the central axis of the gear ring, simulating the flexion and extension movement of the human knee joint. The extension push rod 401 adjusts the overall length of the movable support arm 4 by telescoping: when the human body needs to walk with a large stride, the extension push rod 401 is extended, increasing the distance from the bottom end of the movable support arm 4 to the center of the gear ring, thereby increasing the swing amplitude of the joint; when a small stride or stable standing is required, the extension push rod 401 is shortened, reducing the length of the force arm and improving the support stability. The bottom end of the connecting block 4011 is connected to the calf support structure through the movable joint 4013. The movable joint 4013 is a hinge structure, allowing the calf to rotate around the axis in the sagittal plane to achieve flexion and extension of the knee joint. The protruding structure of the guide limit block 4012 cooperates with the groove of the slide slot to limit the lateral movement of the connecting block 4011, ensuring that the telescopic movement of the extension push rod 401 is carried out in the vertical direction, thereby avoiding structural deformation caused by lateral force; The fixed joint 1013, the movable joint 4013 and the guide limit block 4012 together constitute a multi-dimensional limit system: the fixed joint 1013 limits the excessive translation of the shell mechanism 1 through the pin shaft, the movable joint 4013 limits the lateral swing of the calf through the hinge shaft, and the guide limit block 4012 limits the lateral displacement of the connecting block 4011 through the slide groove. This structural design not only ensures the flexible movement of the hip and knee joints, but also constrains the movement trajectory from three orthogonal directions, effectively reducing the shaking of the exoskeleton when walking on complex terrain, improving the overall stability, and reducing the safety risks of patrol personnel caused by the loss of control of the exoskeleton. In addition, the elastic connection between the clamp assembly 201 and the thigh can buffer the impact force during movement and further enhance the wearing comfort.

[0029] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high-torque electric inspection lower limb exoskeleton power joint, comprising a housing mechanism (1) with a one-way opening at the front end, characterized in that: The housing mechanism (1) is internally connected to a primary gear ring (5011) and a secondary gear ring (6011) in a linear array; A cover mechanism (3) is installed at the front end of the housing mechanism (1), and a telescopic bracket (3011) is fixedly connected to the front end surface of the cover mechanism (3). There are two telescopic brackets (3011) in total, and the two telescopic brackets (3011) are fixedly connected to the left and right sides of the front end surface of the cover mechanism (3) in opposite directions. A longitudinal groove is provided on the inner side of each of the two telescopic brackets (3011), and a servo push rod (3012) is fixedly connected to the inside of the longitudinal groove. The front end of the servo push rod (3012) is an output end, and a connecting component (3013) is fixedly connected to the front end output end of the servo push rod (3012). A slider component (3014) is fixedly connected to the outer side of the connecting component (3013), and the slider component (3014) is a structure protruding from the connecting component (3013). The slider assemblies (3014) are provided at four locations, wherein two longitudinally adjacent slider assemblies (3014) form a group. The two groups of slider assemblies (3014) are fixedly connected to the left and right sides of the connecting assembly (3013) in a linear array, and a sleeve assembly (3015) with an internal hollow structure is fixedly connected to the rear side of the connecting assembly (3013). The front end opening of the sleeve assembly (3015) extends out of the connecting assembly (3013) toward the front side. A servo motor (3016) is installed on the front end surface of the connecting assembly (3013). A connecting shaft (3017) is installed on the rear output shaft of the servo motor (3016). The outer peripheral surface of the connecting shaft (3017) is fixedly connected to a secondary drive gear (3018) and a primary drive gear (3019) in sequence from front to back.

2. The high-torque electric inspection lower limb exoskeleton powered joint according to claim 1, characterized in that: The front end surfaces of the housing mechanism (1) and the cover mechanism (3) are both provided with mounting holes (101) in a circular array, and the cover mechanism (3) is mounted on the front end of the housing mechanism (1) via a fixing bolt (301) and is used to close the front end opening of the housing mechanism (1).

3. The high-torque electric inspection lower limb exoskeleton powered joint according to claim 2, characterized in that: A guide rod (1011) with a cylindrical structure is fixedly connected to the center of the inner front end surface of the housing mechanism (1), and a through hole is provided on the rear side of the connecting shaft (3017), and the through hole matches the connecting shaft (3017).

4. The high-torque electric inspection lower limb exoskeleton powered joint according to claim 3, characterized in that: The housing mechanism (1) and the connecting shaft (3017) together form a guide installation structure for the connecting shaft (3017), and a fixed support arm (1012) is fixedly connected to the top end of the outer peripheral surface of the housing mechanism (1).

5. The high-torque electric inspection lower limb exoskeleton powered joint according to claim 4, characterized in that: The top end of the fixed support arm (1012) is fixedly connected to a fixed joint (1013), a pin is installed inside the fixed joint (1013), and the rear side of the housing mechanism (1) is fixedly connected to a connecting mechanism (2), and the rear side of the connecting mechanism (2) is rotatably connected to a clamp assembly (201).

6. The high-torque electric inspection lower limb exoskeleton powered joint according to claim 5, characterized in that: The clamp assembly (201) is used for clamping with the user's legs, and the bottom ends of the outer peripheral surfaces of the primary gear ring (5011) and the secondary gear ring (6011) are fixedly connected to a movable support arm (4), and the bottom ends of the movable support arm (4) are provided with a longitudinal groove.

7. The high-torque electric inspection lower limb exoskeleton powered joint according to claim 6, characterized in that: An extension push rod (401) is fixedly connected to the interior of the longitudinal groove at the bottom end of the movable support arm (4). The extension push rod (401) is arranged longitudinally, and a connecting block (4011) is fixedly connected to the bottom end surface of the extension push rod (401).

8. The high-torque electric inspection lower limb exoskeleton powered joint according to claim 7, characterized in that: A guide limit block (4012) is fixedly connected to the outer side of the connecting block (4011), and two guide limit blocks (4012) are provided, and the two guide limit blocks (4012) are fixedly connected to the left and right side surfaces of the connecting block (4011) in opposite directions.

9. The high-torque electric inspection lower limb exoskeleton powered joint according to claim 8, characterized in that: The guide limit block (4012) is a structure protruding from the connecting block (4011), and a movable joint (4013) is fixedly connected to the bottom end surfaces of the connecting block (4011) and the guide limit block (4012).

10. The high-torque electric inspection lower limb exoskeleton powered joint according to claim 1, characterized in that: The inner side of the housing mechanism (1) is provided with a first-stage gear rack (5) and a second-stage gear rack (6) in sequence from back to front. The inner sides of the first-stage gear rack (5) and the second-stage gear rack (6) are respectively connected in a circular array with three first-stage driven gears (501) and three second-stage driven gears (601). The first-stage driven gear (501) matches the first-stage ring gear (5011) and the first-stage driving gear (3019), and the second-stage driven gear (601) matches the second-stage ring gear (6011) and the second-stage driving gear (3018).

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