A high-torque electric inspection lower limb exoskeleton powered joint

Abstract

This invention discloses a high-torque electric inspection lower limb exoskeleton powered joint, relating to the field of exoskeleton robot technology. It includes a shell mechanism with a one-way opening at the front end. This invention addresses the problem that current mainstream exoskeleton powered joints use a single motor and worm gear transmission, resulting in relatively low rated torque and an inability to quickly adjust to the user's load. For example, under heavy loads, the limited torque output offers limited relief and poor assistance. This invention utilizes a two-stage planetary gear transmission structure with a primary and secondary gear carrier, leveraging the torque amplification characteristics of planetary gear transmission. Compared to existing single-motor worm gear transmission schemes, the rated torque is significantly increased, effectively reducing the lower limb load on inspection personnel when traversing complex terrain under heavy loads, thus solving the problem of insufficient torque leading to poor assistance in existing technologies.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton robot technology, specifically to a high-torque electric inspection lower limb exoskeleton powered joint. Background Technology

[0002] In the field of power line inspection, inspectors need to carry testing equipment through complex terrains such as mountains, jungles, and steps, often walking more than 10 kilometers a day, placing a tremendous strain on their lower limbs. Traditional manual inspection methods easily lead to muscle fatigue, joint damage, and even safety accidents for inspectors. As an auxiliary device, the performance of the power joints of the lower limb exoskeleton directly determines the inspection efficiency and personnel safety.

[0003] In the prior art, such as Chinese Patent Publication No. CN119770314A, a rigid dynamic lower limb exoskeleton with a dual joint is disclosed, including a lumbar support and two sets of lower limb supports respectively disposed on both sides of the lumbar support for assisting the corresponding lower limbs of the human body; the lower limb support includes a hip joint connecting component, a thigh brace, a foot support, and an electric push rod used as an actuator module, wherein: the thigh brace is connected to the lumbar support through the hip joint connecting component to accommodate the multi-degree-of-freedom movement of the human hip joint; the extension and retraction direction of the electric push rod is arranged along the length direction of the human lower leg, and the extension end of the electric push rod extends upward and crosses the human knee joint and is hinged to the rear of the thigh brace, and the fixed end of the electric push rod extends downward and crosses the human ankle joint and is hinged to the rear of the foot support; this exoskeleton has good comfort for the wearer and enhances the benefit effect of the exoskeleton on the human body, achieving a good balance between lightweight and performance.

[0004] In the existing technology, the mainstream driving method of existing exoskeleton powered joints adopts a single motor and worm gear transmission. The rated torque is relatively small, and it cannot be quickly switched and adjusted according to the user's load. For example, when the load is heavy, the small torque output can only reduce the user's burden to a limited extent, and the assistance effect is poor.

[0005] Therefore, we propose a high-torque electric inspection lower limb exoskeleton powered joint to solve the problems mentioned in the background art. Summary of the Invention

[0006] The purpose of this invention is to provide a high-torque electric inspection lower limb exoskeleton powered joint to solve the problems mentioned in the background art. The mainstream driving scheme of existing exoskeleton powered joints adopts a single motor and worm gear transmission, which has a small rated torque and cannot be quickly switched and adjusted according to the user's load. For example, when the load is large, the small torque output can only reduce the user's burden to a limited extent, resulting in poor auxiliary effect.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a high-torque electric inspection lower limb exoskeleton power joint, comprising: a shell mechanism with a one-way opening at the front end, wherein the interior of the shell mechanism is rotatably connected in a linear array with a primary gear ring and a secondary gear ring;

[0008] The front end of the housing mechanism is equipped with a cover plate mechanism. A telescopic bracket is fixedly connected to the front end face of the cover plate mechanism. There are two telescopic brackets, which are fixedly connected to the left and right sides of the front end face of the cover plate mechanism. The inner side of each telescopic bracket is provided with a longitudinal groove. A servo push rod is fixedly connected inside the longitudinal groove. The front end of the servo push rod is the output end, and a connecting component is fixedly connected to the output end of the servo push rod. A slider assembly is fixedly connected to the outer side of the connecting component. The slider assembly is a structure that protrudes from the connecting component, and there are four slider assemblies. Every two longitudinally adjacent slider assemblies form a group. Two groups of slider assemblies are fixedly connected to the left and right sides of the connecting component in a linear array. A sleeve assembly with an internal hollow structure is fixedly connected to the rear side of the connecting component. The front opening of the sleeve assembly extends forward to the connecting component. A servo motor is installed on the front end face of the connecting component. A connecting shaft is installed on the rear output shaft of the servo motor. A secondary drive gear and a primary drive gear are fixedly connected sequentially from front to back on the outer circumference of the connecting shaft.

[0009] Preferably, the front end face of the housing mechanism and the front end face of the cover plate mechanism are provided with mounting holes in a circular array, and the cover plate mechanism is installed at the front end of the housing mechanism by a fixing bolt and is used to close the front end opening of the housing mechanism.

[0010] Preferably, a cylindrical guide rod is fixedly connected to the center of the inner front face of the housing mechanism, and a through hole is provided on the rear side of the connecting shaft, which matches the connecting shaft.

[0011] Preferably, the housing mechanism and the connecting shaft together form a guide mounting structure for the connecting shaft, and a fixed support arm is fixedly connected to the top of the outer peripheral surface of the housing mechanism.

[0012] Preferably, a fixed joint is fixedly connected to the top of the fixed support arm, a pin is installed inside the fixed joint, and a connecting mechanism is fixedly connected to the rear side of the housing mechanism, and a clamp assembly is rotatably connected to the rear side of the connecting mechanism.

[0013] Preferably, the clamping assembly is used to engage with the user's leg, and the bottom of the outer peripheral surface of both the primary gear ring and the secondary gear ring is fixedly connected to a movable support arm, the bottom of which is provided with a longitudinal groove.

[0014] Preferably, an extension push rod is fixedly connected inside the longitudinal groove at the bottom end of the movable support arm. The extension push rod is arranged longitudinally, and a connecting block is fixedly connected to the bottom end surface of the extension push rod.

[0015] Preferably, a guide limiting block is fixedly connected to the outer side of the connecting block. There are two guide limiting blocks, and the two guide limiting blocks are fixedly connected to the left and right sides of the connecting block in opposite directions.

[0016] Preferably, the guide limiting block has a protruding connecting block structure, and a movable joint is fixedly connected to the bottom end surface of the connecting block and the guide limiting block.

[0017] Preferably, the inner side of the housing mechanism is provided with a primary gear carrier and a secondary gear carrier in sequence from back to front. The inner sides of the primary gear carrier and the secondary gear carrier are respectively arranged in a circular array with three primary driven gears and three secondary driven gears rotatably connected. The primary driven gear is matched with the primary gear ring and the primary drive gear, and the secondary driven gear is matched with the secondary gear ring and the secondary drive gear.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. When this invention is used, the double-stage planetary gear transmission structure of the first-stage gear carrier and the second-stage gear carrier utilizes the torque amplification characteristics of planetary gear transmission. Compared with the existing single-motor worm gear transmission scheme, the rated torque is significantly improved, which can effectively reduce the lower limb load of inspection personnel when carrying heavy loads and traversing complex terrain, and solve the problem of insufficient torque leading to poor auxiliary effect in the existing technology.

[0020] 2. When using this invention, the connecting shaft is driven to move along the guide rod by a servo push rod, realizing rapid switching between two-stage transmission and single-stage transmission modes. When the load is large, the two-stage transmission works together to output the maximum torque; when the load is small, only the single-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 prior art, and improving the adaptability and endurance of the exoskeleton under different working conditions.

[0021] 3. When this invention is used, the combination of fixed joints, movable joints and extended push rods realizes the linkage movement of the hip joint and knee joint. At the same time, the guide limit block and slider assembly limit the movement trajectory of the lower limb support structure and transmission assembly, respectively. While ensuring the flexible rotation of the joint, it avoids lateral swaying, solves the problem of single joint movement and insufficient stability of existing exoskeleton joints, and improves the safety and comfort of inspection personnel walking in complex terrain.

[0022] 4. In this invention, the shell mechanism and the cover plate mechanism are connected in a detachable manner by a combination of fixing bolts and mounting holes. When maintenance or replacement of the internal transmission system is required, the cover plate mechanism can be quickly disassembled by simply unscrewing the fixing bolts, exposing core components such as the primary gear frame and the secondary gear frame. There is no need to disassemble the entire exoskeleton structure, which greatly shortens maintenance time. The power components such as servo motors and servo push rods are connected to the connecting components, telescopic brackets and other structural components using standardized interfaces, which supports individual disassembly and replacement, reducing maintenance costs. In addition, the modular design of the movable support arm, gear ring and extension push rod allows the component parameters to be adjusted according to the leg length and gait habits of different users, or to be adapted to various models of lower limb exoskeleton platforms by replacing different specifications of movable support arms and extension push rods. This solves the problem of fixed exoskeleton structures in the prior art and difficulty in adapting to personalized needs, and significantly improves the versatility and scalability of the system. Attached Figure Description

[0023] Figure 1 This is a frontal perspective view of a high-torque electric inspection lower limb exoskeleton dynamic joint according to the present invention after disassembly.

[0024] Figure 2 This is a three-dimensional view of a high-torque electric inspection lower limb exoskeleton powered joint assembly according to the present invention;

[0025] Figure 3 This is a perspective view of the combination of a movable support arm and an extended push rod of a high-torque electric inspection lower limb exoskeleton dynamic joint according to the present invention;

[0026] Figure 4 This is a diagram of the assembly of the upright shell mechanism and the connecting mechanism of a high-torque electric inspection lower limb exoskeleton power joint according to the present invention;

[0027] Figure 5 This is a perspective view of the combination of a cover plate mechanism and a telescopic bracket for a high-torque electric inspection lower limb exoskeleton power joint according to the present invention.

[0028] Figure 6 This is a top-view perspective view of the disassembled power joint of a high-torque electric inspection lower limb exoskeleton according to the present invention.

[0029] Figure 7 This is a perspective view of the first-stage gear frame of a high-torque electric inspection lower limb exoskeleton power joint according to the present invention;

[0030] Figure 8 This is a perspective view of a two-stage gear frame for a high-torque electric inspection lower limb exoskeleton power joint according to the present invention;

[0031] In the diagram: 1. Housing mechanism; 101. Mounting hole; 1011. Guide rod; 1012. Fixed support arm; 1013. Fixed joint; 2. Connecting mechanism; 201. Clamp assembly; 3. Cover plate 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 support arm; 401. Extending push rod; 4011. Connecting block; 4012. Guide limit block; 4013. Movable joint; 5. Primary gear carrier; 501. Primary driven gear; 5011. Primary gear ring; 6. Secondary gear carrier; 601. Secondary driven gear; 6011. Secondary gear ring. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1

[0033] Please see Figures 1-8 As shown, the present invention provides a technical solution: a high-torque electric inspection lower limb exoskeleton power joint, including a shell mechanism 1 with a one-way opening at the front end, and a first-stage gear ring 5011 and a second-stage gear ring 6011 rotatably connected in a linear array inside the shell mechanism 1;

[0034] A cover plate mechanism 3 is installed at the front end of the housing mechanism 1. A telescopic bracket 3011 is fixedly connected to the front end face of the cover plate mechanism 3. There are two telescopic brackets 3011, which are fixedly connected to the left and right sides of the front end face of the cover plate mechanism 3, facing each other. A longitudinal groove is formed on the inner side of each telescopic bracket 3011. A servo push rod 3012 is fixedly connected inside 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 output end of the servo push rod 3012. A slider assembly 3014 is fixedly connected to the outer side of the connecting component 3013. The slider assembly 3014 protrudes from the connecting component 3013, and there are four slider assemblies 3014 in total. Each pair of longitudinally adjacent slider assemblies 3014 forms a group, and two groups of slider assemblies are formed. The components 3014 are fixedly connected in a linear array to the left and right sides of the connecting component 3013. The rear side of the connecting component 3013 is fixedly connected to the sleeve component 3015 with an internal hollow structure. The front opening of the sleeve component 3015 extends forward out of the connecting component 3013. The front surface of the connecting component 3013 is equipped with a servo motor 3016. The rear output shaft of the servo motor 3016 is equipped with a connecting shaft 3017. The outer circumference of the connecting shaft 3017 is fixedly connected from front to back with a secondary drive gear 3018 and a primary drive gear 3019. The front surface of the housing mechanism 1 and the front surface of the cover plate mechanism 3 are provided with mounting holes 101 in a circular array. The cover plate mechanism 3 is installed at the front end of the housing mechanism 1 by a fixing bolt 301 and is used to close the front opening of the housing mechanism 1.

[0035] In this embodiment, during use, the servo motor 3016 serves as a power source, with its front end fixed to the front face 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 the transmission hub, and the secondary drive gear 3018 and the primary drive gear 3019, which are fixed from front to back on its outer circumference, enter the rotation state synchronously.

[0036] The first-stage drive 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 difference transmission structure. The first-stage gear carrier 5 is fixed in a ring shape to the rear of the inner side of the housing mechanism 1. Its inner ring surface is uniformly connected to three first-stage driven gears 501 through bearings. When the first-stage drive 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 carrier 5. At this time, the revolve motion of the first-stage driven gear 501 is transmitted to the first-stage gear ring 5011 through the meshing of its tooth surface with the first-stage gear ring 5011. Since the inner diameter of the first-stage gear ring 5011 is much larger than that of the first-stage drive gear 3019, according to the planetary gear transmission principle, the rotational speed of the first-stage gear ring 5011 decreases, and the torque is amplified through the tooth ratio. The amplified torque is output to the outside through the movable support arm 4 at the bottom of the outer circumference of the first-stage gear ring 5011.

[0037] The secondary drive gear 3018 is located at the front end of the connecting shaft 3017. Its structure is symmetrically arranged with the primary drive gear 3019 and is matched with the transmission system in the secondary gear carrier 6. The secondary gear carrier 6 is fixed in a ring shape to the front of the inner side of the housing mechanism 1. The inner ring surface is connected to three secondary driven gears 601 evenly through bearings. When the secondary drive gear 3018 rotates with the connecting shaft 3017, it meshes with the secondary driven gear 601 and drives the secondary driven gear 601 to perform rotation and revolution. The revolution of the secondary driven gear 601 transmits the torque to the secondary gear ring 6011 through the meshing of the tooth surface with the secondary gear ring 6011. Similarly, the secondary gear ring 6011 further amplifies the torque through the gear ratio and outputs it through the movable support arm 4 at the bottom of the outer circumference.

[0038] The primary gear ring 5011 and the secondary gear ring 6011 are arranged in a straight line array inside the shell mechanism 1. Their movable support arms 4 are respectively connected to the support structures of the thigh and lower leg parts of the exoskeleton. The double-stage planetary gear transmission achieves the step-by-step amplification of torque through series connection, so that the torque finally output to the joint meets the assistance needs of power inspection personnel when carrying heavy equipment. The front end of the shell mechanism 1 is closed by the cover plate mechanism 3. The cover plate mechanism 3 and the front end face of the shell mechanism 1 are both opened with an annular array of mounting holes 101, which are fastened by fixing bolts 301 to ensure that the transmission system operates stably in a closed environment and to prevent dust and foreign objects from entering and affecting the gear meshing accuracy. Example 2

[0039] like Figures 1-5As shown, a cylindrical guide rod 1011 is fixedly connected to the center of the inner front face of the housing mechanism 1. A through hole is opened on the rear side of the connecting shaft 3017, which matches the connecting shaft 3017. The housing mechanism 1 and the connecting shaft 3017 together form a guide mounting structure for the connecting shaft 3017. A fixed support arm 1012 is fixedly connected to the top of the outer peripheral surface of the housing mechanism 1. A fixed joint 1013 is fixedly connected to the top of the fixed support arm 1012. A pin is installed inside the fixed joint 1013. A connecting mechanism 2 is fixedly connected to the rear side of the housing mechanism 1. A clamp assembly 201 is rotatably connected to the rear side of the connecting mechanism 2. The clamp assembly 201 is used to engage with the user's leg. Movable support arms 4 are fixedly connected to the bottom of the outer peripheral surfaces of the first-stage gear ring 5011 and the second-stage gear ring 6011. A longitudinal groove is opened at the bottom of the movable support arm 4.

[0040] In this embodiment, during use, two telescopic brackets 3011 are symmetrically fixed on the left and right sides of the front end face of the cover plate mechanism 3. Each 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, which is fixed at the bottom of the longitudinal groove of the telescopic bracket 3011. Its front output end is fixedly connected to the center position of the front end face of the connecting component 3013 by bolts. The connecting component 3013 is a rectangular plate structure, and two sets of slider assemblies 3014 are fixed on its left and right sides respectively. Each set includes two vertically adjacent sliders, which are T-shaped and embedded in the corresponding sliding groove of the longitudinal groove of the telescopic bracket 3011 to ensure that the connecting component 3013 can only move up and down along the longitudinal groove and restrict lateral displacement.

[0041] 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 requiring increased torque as an example, the piston rod of the servo push rod 3012 extends, pushing the connecting assembly 3013 to move backward along the longitudinal groove of the telescopic bracket 3011. The sleeve assembly 3015 fixed to the rear side of the connecting assembly 3013 is a hollow cylinder with its front opening extending forward to the front of the connecting assembly 3013. Its rear end is sleeved with the front part of the connecting shaft 3017 to form a sliding connection. The rear side of the connecting shaft 3017 has a through hole that matches the guide rod 1011 inside the housing mechanism 1. The guide rod 1011 is a cylindrical structure and is fixed at the center of the front end face inside the housing mechanism 1. After being inserted into the through hole of the connecting shaft 3017, it provides guidance for the forward and backward movement of the connecting shaft 3017, preventing it from deviating during movement.

[0042] 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 large, the primary drive gear 3019 remains engaged with the primary driven gear 501, while the secondary drive gear 3018 moves backward to engage with the secondary driven gear 601. At this time, the double-stage planetary gear transmission works simultaneously to achieve maximum torque output. When the load is small, the piston rod of the servo push rod 3012 retracts, pulling the connecting assembly 3013 forward. The secondary drive gear 3018 disengages from the secondary driven gear 601, and only the primary planetary gear transmission works, reducing the number of transmission stages to reduce energy loss. Throughout the adjustment process, the slider assembly 3014 and the slide groove of the telescopic bracket 3011 always remain in contact to ensure the smoothness of the transmission path switching and avoid gear collisions that could generate impact loads.

[0043] The telescopic bracket 3011 has limit protrusions at both ends of the longitudinal groove. When the connecting component 3013 moves to the limit position, the slider component 3014 contacts the limit protrusions to prevent it from moving further and to prevent the servo push rod 3012 from being overloaded. At the same time, the guide rod 1011 and the through hole of the connecting shaft 3017 have a small clearance, which further improves the straightness of the movement of the connecting shaft 3017, ensures the accuracy of gear meshing, and avoids transmission failure caused by position deviation. Example 3

[0044] like Figures 2-8 As shown, an extension push rod 401 is fixedly connected inside the longitudinal groove at the bottom end of the movable support arm 4. The extension push rod 401 is longitudinally arranged, and a connecting block 4011 is fixedly connected to the bottom end face of the extension push rod 401. A guide limiting block 4012 is fixedly connected to the outer side of the connecting block 4011. There are two guide limiting blocks 4012, and the two guide limiting blocks 4012 are fixedly connected to the left and right sides of the connecting block 4011 in opposite directions. The guide limiting block 4012 has a structure that protrudes from the connecting block 4011, and the connecting block 4011 is... A movable joint 4013 is fixedly connected to the bottom end surface of the guide limit block 4012. The inner side of the housing mechanism 1 is provided with a first-stage gear carrier 5 and a second-stage gear carrier 6 in sequence from back to front. The inner sides of the first-stage gear carrier 5 and the second-stage gear carrier 6 are respectively arranged in a circular array and rotatably connected with three first-stage driven gears 501 and second-stage driven gears 601. The first-stage driven gear 501 is matched with the first-stage gear ring 5011 and the first-stage drive gear 3019. The second-stage driven gear 601 is matched with the second-stage gear ring 6011 and the second-stage drive gear 3018.

[0045] In this embodiment, during use, a fixed support arm 1012 is welded to the top of the outer peripheral surface of the shell mechanism 1. The fixed support arm 1012 is T-shaped, and its top is connected to the waist support structure of the exoskeleton through a fixed joint 1013. The fixed joint 1013 is a ball joint structure with a pin installed inside, allowing the fixed support arm 1012 to rotate in three degrees of freedom: pitch, lateral, and rotation. This allows the shell mechanism 1 to swing along the movement trajectory of the human hip joint, achieving coordination between the exoskeleton and the human body. When the human body performs actions such as walking or climbing, the pin of the fixed joint 1013 serves as the rotation center. The shell mechanism 1 responds to the angle changes of the hip joint in real time through the fixed support arm 1012, avoiding motion interference caused by rigid connection.

[0046] The rear side of the shell mechanism 1 is fixedly connected to the mechanism 2 by bolts. The connection mechanism 2 is a plate-shaped structure. The rear side of the mechanism is rotatably connected to the clamp assembly 201 by bearings. The clamp assembly 201 is arc-shaped and lined with an elastic pad. It is fixed to the outside of the user's thigh by straps to realize the mechanical connection between the exoskeleton and the human body. The movable support arm 4 at the bottom of the outer peripheral surface of the first-level gear ring 5011 and the second-level gear ring 6011 are both "L"-shaped rod structures. The top of the rod is fixed to the gear ring by bolts, and the bottom has a longitudinal groove to accommodate the extension push rod 401. The extension push rod 401 is an electric push rod and is fixed longitudinally in the longitudinal groove of the movable support arm 4. The bottom of the rod is fixedly connected to the connecting block 4011 by bolts. The connecting block 4011 is a rectangular block. The left and right sides are respectively fixed with guide limit blocks 4012. The guide limit blocks 4012 are "convex" shaped and are embedded in the corresponding sliding groove of the support structure of the lower leg of the exoskeleton to form a sliding connection.

[0047] When the primary gear ring 5011 and the secondary gear ring 6011 rotate, they drive the movable support arm 4 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 extends, increasing the distance from the bottom of the movable support arm 4 to the center of the gear ring, thus increasing the joint swing amplitude; when a small stride or standing stability is required, the extension push rod 401 shortens, reducing the lever arm length and improving support stability. The bottom end of the connecting block 4011 is connected to the lower leg support structure through the movable joint 4013. The movable joint 4013 is a hinge structure, allowing the lower leg to rotate around the axis in the sagittal plane, realizing the flexion and extension of the knee joint. The protruding structure of the guide limit block 4012 cooperates with the groove of the slide to restrict the lateral movement of the connecting block 4011, ensuring that the telescoping movement of the extension push rod 401 is carried out in the vertical direction, avoiding structural deformation caused by lateral forces.

[0048] The fixed joint 1013, the movable joint 4013, and the guide limiting block 4012 together constitute a multi-dimensional limiting system: the fixed joint 1013 limits the excessive translation of the housing mechanism 1 through the pin shaft, the movable joint 4013 limits the lateral swing of the lower leg through the hinge shaft, and the guide limiting block 4012 limits the lateral displacement of the connecting block 4011 through the slide groove. This structural design ensures the flexible movement of the hip and knee joints while constraining the movement trajectory from three orthogonal directions, effectively reducing the swaying of the exoskeleton when walking on complex terrain, improving overall stability, and reducing the safety risks to inspection personnel caused by the exoskeleton losing control. 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.

[0049] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-torque electric inspection lower limb exoskeleton powered joint, comprising a housing mechanism with a one-way opening at the front end (1), characterized in that, The housing mechanism (1) has a first-stage gear ring (5011) and a second-stage gear ring (6011) arranged in a linear array for rotational connection inside. The front end of the housing mechanism (1) is equipped with a cover plate mechanism (3). A telescopic bracket (3011) is fixedly connected to the front end face of the cover plate mechanism (3). There are two telescopic brackets (3011). The two telescopic brackets (3011) are fixedly connected to the left and right sides of the front end face of the cover plate mechanism (3). The inner side of the two telescopic brackets (3011) is provided with a longitudinal groove. A servo push rod (3012) is fixedly connected inside the longitudinal groove. The front end of the servo push rod (3012) is the output end. A connecting component (3013) is fixedly connected to the front output end of the component. 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) in total. Each pair of vertically adjacent slider components (3014) forms a group. Two groups of slider components (3014) are fixedly connected in a linear array on the left and right sides of the connecting component (3013). The rear side of the connecting component (3013) is fixedly connected to a... The sleeve assembly (3015) has an internal hollow structure. The front opening of the sleeve assembly (3015) extends forward to form a connecting assembly (3013). A servo motor (3016) is mounted on the front face of the connecting assembly (3013). A connecting shaft (3017) is mounted on the rear output shaft of the servo motor (3016). A secondary drive gear (3018) and a primary drive gear (3019) are sequentially fixedly connected from front to back on the outer circumference of the connecting shaft (3017). The inner side of the housing mechanism (1) is arranged from back to front in the following order: The gear carrier is equipped with a first-stage gear carrier (5) and a second-stage gear carrier (6). The inner sides of the first-stage gear carrier (5) and the second-stage gear carrier (6) are respectively connected in a circular array with three first-stage driven gears (501) and second-stage driven gears (601). The first-stage driven gear (501) is matched with the first-stage gear ring (5011) and the first-stage drive gear (3019). The second-stage driven gear (601) is matched with the second-stage gear ring (6011) and the second-stage drive gear (3018). When the load is large, the two-stage transmission works together to output the maximum torque.When the load is small, only the first-stage transmission works to reduce energy consumption. The top of the fixed support arm (1012) is connected to the waist support structure of the exoskeleton through the fixed joint (1013). The first-stage gear ring (5011) and the second-stage gear ring (6011) are arranged in a straight line 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 lower leg parts of the exoskeleton. The top of the outer peripheral surface of the shell mechanism (1) is fixedly connected to the fixed support arm (1012). A fixed joint (1013) is fixedly connected to the top of the housing mechanism (1), and a pin is installed inside the fixed joint (1013). A connecting mechanism (2) is fixedly connected to the rear side of the housing mechanism (1). A clamp assembly (201) is rotatably connected to the rear side of the connecting mechanism (2). The clamp assembly (201) is used to engage with the user's leg. Movable arms (4) are fixedly connected to the bottom ends of the outer peripheral surfaces of the first-stage gear ring (5011) and the second-stage gear ring (6011). A longitudinal groove is provided at the bottom end of the movable arm (4).

2. The high-torque electric inspection lower limb exoskeleton powered joint according to claim 1, characterized in that: The front end face of the housing mechanism (1) and the front end face of the cover plate mechanism (3) are provided with mounting holes (101) in a ring array. The cover plate mechanism (3) is installed at the front end of the housing mechanism (1) by 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 cylindrical guide rod (1011) is fixedly connected to the center of the inner front face of the housing mechanism (1), and a through hole is provided on the rear side of the connecting shaft (3017), which 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 mounting structure for the connecting shaft (3017).

5. The high-torque electric inspection lower limb exoskeleton powered joint according to claim 1, characterized in that: An extension push rod (401) is fixedly connected inside 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).

6. The high-torque electric inspection lower limb exoskeleton powered joint according to claim 5, characterized in that: The outer side of the connecting block (4011) is fixedly connected to a guide limiting block (4012). There are two guide limiting blocks (4012), and the two guide limiting blocks (4012) are fixedly connected to the left and right sides of the connecting block (4011) in opposite directions.

7. The high-torque electric inspection lower limb exoskeleton powered joint according to claim 6, characterized in that: The guide limiting block (4012) has a structure that protrudes from the connecting block (4011), and a movable joint (4013) is fixedly connected to the bottom end surface of the connecting block (4011) and the guide limiting block (4012).

Images