Quick release structure for conversion between outer limb and exoskeleton of lower limb and wearable robot
By combining a quick-release structure with a hip joint drive system, the exoskeleton and exolimb modes can be quickly switched, solving the problem that existing exoskeleton robots cannot meet the requirements of walking on complex terrain and exploring special environments, and providing flexible assistance and support functions.
Patent Information
- Application Number
- CN202610103740.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-26
- Publication Date
- 2026-04-24
AI Technical Summary
Existing exoskeleton robots cannot surpass human movement capabilities and cannot meet special needs such as walking on complex terrain and exploring special environments.
Design a quick-release structure for converting between lower limb exoskeleton and exoskeleton. Utilize magnets and spiral wedges to achieve rapid switching between exoskeleton and exoskeleton. Combined with hip joint structure and leg drive system, it provides assisted walking and support functions.
It enables flexible switching between exoskeleton and exolimb modes, broadens the application scenarios, provides effective support and assistance in complex environments, and enhances the robot's functional adaptability.
Smart Images
Figure CN121912346A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of robotics technology and relates to a wearable device, specifically a quick-release structure for converting a lower limb exoskeleton into an exoskeleton and a wearable robot. Background Technology
[0002] With the rapid development of science and technology, humans have placed higher demands on the functionality of wearable devices. Exoskeleton robots, as wearable devices that assist human movement and load-bearing, are now widely used in medical rehabilitation, industry, and rescue. However, their current functionality is limited to assisting human movements and cannot exceed human capabilities to meet more complex needs. For example, they cannot assist in walking on complex terrain, exploring special environments, or providing support—tasks with specific requirements. Summary of the Invention
[0003] To overcome the shortcomings of existing technologies, this invention proposes a quick-release structure for converting lower limb exoskeletons and exoskeletons, as well as a wearable robot, to solve the problem of limitations imposed by human mobility.
[0004] A quick-release structure for converting between a lower limb exoskeleton and an exoskeleton includes a push rod, a push cover, and a plug cover. The push cover contains a receiving space I for arranging magnets I. The push rod has a horizontal axis portion positioned within the receiving space I, with a helical wedge surface I on the end face of the horizontal axis portion. The plug cover contains a receiving space II for arranging magnets II, with a helical wedge surface II on the center end face of the plug cover. In the exoskeleton state, the push cover and plug cover are inserted and cannot rotate relative to each other circumferentially. Magnets I and II attract each other, and the helical wedge surface I1 engages with the wedge surface of the helical wedge surface II. When the push rod is pushed circumferentially, the circumferential constraint prevents the push cover and plug cover from rotating relative to each other, the tangential component of the normal force is canceled out, and the axial component of the force pushes the push cover and plug cover to produce relative displacement in the axial direction. The magnetic force weakens, and after the push cover and plug cover separate, the exoskeleton state is converted to the exoskeleton state.
[0005] A wearable robot includes a hip joint structure, two legs, two ankle structures, and two feet; characterized in that: the quick-release structure enables the conversion between exoskeleton and exoskeleton; the push cover is connected to the feet, and the plug cover is connected to the legs; when switching modes, the quick-release structure can be disassembled to achieve rapid switching between exoskeleton and exoskeleton; in exoskeleton mode, it provides support when the human body makes movements; in exoskeleton mode, the hip joint structure controls the rotation of the legs, and the legs cooperate with the human body's gait to achieve follow-up assisted walking.
[0006] Furthermore, the hip joint structure includes a coronal plane drive motor, a hip linkage, a hip joint winding disc, a sagittal plane drive motor, a sagittal plane thread disc, and Bowden's wire. There are two coronal plane drive motors and two sagittal plane drive motors, each mounted on a backplate. The outputs of the two coronal plane drive motors are connected to the legs via the hip linkage to achieve adduction / abduction of the two legs. The core of the Bowden's wire is wound around the hip joint winding disc and the sagittal plane thread disc. The hip joint winding disc is connected to the legs, and the sagittal plane thread disc is mounted on the output of the sagittal plane drive motor. The sagittal plane drive motor drives the Bowden's wire to achieve flexion / extension of the two legs.
[0007] Furthermore, a magnetic encoder for measuring the flexion / extension angles of the two legs is arranged between the hip joint winding disc and the upper end of the hip linkage.
[0008] Furthermore, the coronal drive motor housing is equipped with a motor magnetic encoder for measuring the adduction / extension angle of the two legs.
[0009] Furthermore, the leg includes a flange winding roller, a leg motor, an upper cross bushing, a leg fixing link, a leg sliding link, a lower cross bushing, and an ankle link; the output end of the leg motor is equipped with a flange winding roller, one end of a pair of leg fixing links is connected to the leg motor housing, and the other end is connected to the lower cross bushing, a pair of leg sliding links are slidably disposed on the lower cross bushing, one end of a pair of leg sliding links is connected to the upper cross bushing, and the other end is connected to the ankle structure, the upper cross bushing is slidably disposed on a pair of leg fixing links, and the leg fixing link and the leg sliding link can only perform relative translational motion along the axial direction under the constraint of the upper cross bushing and the lower cross bushing.
[0010] Furthermore, the relative translational movement of the upper and lower cross bushings along the axial direction is achieved by the winding and unwinding of four steel wire ropes wound around the flange winding rollers. Two of the steel wire ropes are connected to the upper surface of the upper cross bushing, and the remaining two steel wire ropes pass through the inside of the leg fixing link, pass around pulleys respectively, and are connected together to the lower surface of the upper cross bushing. The pulleys are installed on the lower surface of the lower cross bushing. The winding direction of the two steel wire ropes is opposite to that of the remaining two steel wire ropes, so that the leg motor pulls the winding and unwinding of the four steel wire ropes to control the sliding of the upper cross bushing, thereby realizing the extension and retraction of the leg.
[0011] Furthermore, the ankle structure includes an ankle link, an ankle base, a photoelectric switch, and a photoelectric slider; the plug cover is rotatably connected to the ankle base, the upper end of the ankle link is connected to the leg, the lower end of the ankle link is connected to the ankle base, the photoelectric switch is installed on the ankle base, and the photoelectric slider is slidably disposed at the bottom of the ankle base. The ankle base has an inner cavity to accommodate a spring, and the two ends of the spring abut against the top of the photoelectric slider and the top of the inner cavity of the ankle base. In exoskeleton mode, the photoelectric slider does not contact the ground and is pushed to the lowest point by the spring. The light path of the photoelectric switch can pass through the hole on the photoelectric slider. After switching to exoskeleton mode, the photoelectric slider contacts the ground and moves upward, and the light path is blocked by the photoelectric slider.
[0012] Furthermore, the foot includes a foot fixing part, a foot moving part, and a strap; the foot fixing part is connected to the push cover, the foot fixing part is connected to the foot moving part and the two can slide relative to each other, and the strap is disposed on the foot fixing part and the foot moving part.
[0013] The advantages of this invention compared to the prior art are:
[0014] 1. The quick-release structure at the ankle uses strong magnets to ensure the device remains firmly connected to the ankle and leg in exoskeleton mode. The combined use of lever and helical transmission principles amplifies the pushing force, allowing the user to overcome the magnetic force of the strong magnets with minimal effort, enabling one-handed operation to detach the device and switch modes.
[0015] 2. This robot can flexibly switch between exolimb and exoskeleton modes according to different usage needs, integrating the functions of two wearable devices. It can not only provide assistance to the lower limbs and share the load of the human body when walking and standing, but also provide effective support in complex environments, thus expanding the application scenarios of the robot.
[0016] The present application will be further described below with reference to the accompanying drawings and embodiments: Attached Figure Description
[0017] Figure 1 A schematic diagram of a quick-release structure for converting between lower limb exoskeletons and exoskeletons;
[0018] Figure 2 This is an exploded view of the quick-release structure;
[0019] Figure 3 This is a schematic diagram of a quick-release structure.
[0020] Figure 4 Schematic diagram of the structure of a wearable robot Figure 1 ;
[0021] Figure 5 Schematic diagram of the structure of a wearable robot Figure 2 ;
[0022] Figure 6 This is a schematic diagram of the hip joint structure;
[0023] Figure 7 Schematic diagram of magnetic encoder layout;
[0024] Figure 8 A schematic diagram of the leg structure;
[0025] Figure 9 Example diagram showing the routing of the steel wire rope for the legs;
[0026] Figure 10 A schematic diagram of the ankle structure;
[0027] Figure 11 This is a schematic diagram illustrating the working principle of photoelectric triggering.
[0028] Figure 12 A schematic diagram of assisted walking in an exoskeleton configuration;
[0029] Figure 13 This is a schematic diagram of support in the form of external limbs.
[0030] In the diagram: 1. Coronal drive motor; 2. Motor housing; 3. Hip link; 4. Hip joint winding reel; 5. Reel base; 6. Leg motor housing; 7. Flange winding roller; 8. Leg motor; 9. Upper cross bushing; 10. Leg fixing link; 11. Leg sliding link; 12. Lower cross bushing; 13. Transition bushing; 14. Ankle link; 15. Ankle base; 16. Photoelectric switch; 17. Photoelectric slider; 18. Quick-release structure; 19. Push rod; 20. Foot; 21. Foot adjustment end; 22. Strap; 23. Sagittal drive motor. 24. Sagittal plane wire reel; 25. Connecting movable plate; 26. Linkage wire frame; 27. Motor wire frame; 28. Fixing plate; 29. Double shoulder frame; 30. Force sensor; 31. Radial joint bearing; 34. Bowden wire; 35. Wire reel magnetic encoder; 36. Motor magnetic encoder; 37. Pulley; 39. Spring; 181. Push cover; 182. Plug cover; 191. Helical wedge surface I; 192. Helical wedge surface II; 201. Foot fixing part; 202. Foot moving part; 203. Strap; 381. Magnet I; 382. Detailed Implementation
[0031] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. Unless otherwise stated, the technical or scientific terms used in this application have the ordinary meanings understood by those skilled in the art.
[0032] Example 1, Parameters Figures 1-5This embodiment provides a wearable robot that can quickly switch between lower limb exoskeleton and exoskeleton modes. The robot adopts a quick-release structure 18, which can quickly switch between exoskeleton mode and exoskeleton mode. It uses the same set of devices to enhance the basic capabilities of the exoskeleton and expand the special functions of the exoskeleton, thereby enhancing its flexibility as a wearable device and broadening its application scenarios.
[0033] The robot comprises a hip joint structure A, two legs B, two ankle structures C, two quick-release structures 18, and two feet 20. During mode switching, the quick-release structures 18 can be disassembled to achieve rapid switching between the exoskeleton and exolimb modes. In exoskeleton mode, when the human lower limbs are walking, the hip joint structure controls leg rotation, and the leg structure coordinates with the human gait extension and contraction to provide follow-up assistance. In exolimb mode, triggered by a photoelectric switch, it can provide effective support when the human body performs movements, assisting in tasks with special needs such as walking on complex terrain and exploring special environments.
[0034] Reference Figure 1 and Figure 2 The quick-release structure includes a push rod 19, a push cover 181, and a plug cover 182. The push cover 181 is connected to the foot 20, and the plug cover 182 is connected to the leg. The push cover 181 has a receiving space I for arranging magnets I381. The push rod 19 has a horizontal axis portion placed in the receiving space I, and the end face of the horizontal axis portion has a helical wedge surface I191. The plug cover 182 has a receiving space II for arranging magnets II382, and the center end face of the plug cover 182 has a helical wedge surface II192. In exoskeleton mode, the push cover 181... 1. The push cover 181 and plug cover 182 are inserted and cannot rotate relative to each other in the circumferential direction. Magnets I381 and II382 attract each other. The wedge surface of spiral wedge I191 and spiral wedge surface II192 are engaged. When the push rod 19 is pushed in the circumferential direction, the push cover 181 and plug cover 182 are constrained in the circumferential direction and cannot rotate relative to each other. The tangential component of the positive pressure is canceled out. The axial component pushes the push cover 181 and plug cover 182 to produce relative displacement in the axial direction. The magnetic force weakens. After the push cover 181 and plug cover 182 are separated, the exoskeleton state is converted into the exolimb state.
[0035] The quick-release structure utilizes the lever principle and the screw drive principle. The principle of the quick-release structure is as follows: Figure 8As shown, the structure is divided into two parts, connected to the foot and ankle respectively. The push rod 19 can rotate within the part fixed to the foot. In the exoskeleton state, the two parts are attracted by the magnetic force of the internal magnets. During disassembly, pushing the push rod 19 rotates the horizontal axis with the central helical wedge surface I191. The plug cover 182 fixed to the leg has a matching helical wedge surface II192, which exerts a normal force on the push rod 19 when pushed. Due to the constraint created by the matching, the two parts of the structure cannot rotate relative to each other, so the tangential component of the normal force is canceled out, while the axial component pushes the two parts of the structure to produce relative displacement in the axial direction. The magnetic force is thus weakened, and the structure can be separated, transforming into the exoskeleton state.
[0036] Among them, the thrust F and the axial component F when pushing the push rod n The following relationship must be satisfied:
[0037]
[0038] Where l0 is the distance between the point of force application and the axis of rotation, l1 is the distance between the point of force application on the helical surface and the axis of rotation, and γ is the lead angle of the helical surface.
[0039] Example 2: To achieve stable walking assistance, refer to... Figure 8 The leg B shown includes a winding roller 7, a leg motor 8, an upper cross bushing 9, a leg fixing link 10, a leg sliding link 11, a lower cross bushing 12, and an ankle link 14.
[0040] The leg motor 8 is fixed to the leg motor housing 6 by screws, and its rotor is fixed to the flange winding roller 7. One end of a pair of leg fixing links 10 is fixed to the leg motor housing 6, and the other end is fixed to the lower cross bushing 12. A pair of leg sliding links 11 are slidably disposed on the lower cross bushing 12. One end of the pair of leg sliding links 11 is fixed to the upper cross bushing 9, and the other end is sequentially connected to the transition bushing 13 and the ankle link 14. The upper cross bushing 9 is slidably disposed on the pair of leg fixing links 10. Under the constraint of the upper cross bushing 9 and the lower cross bushing 12, the leg fixing links 10 and the leg sliding links 11 can only perform relative translational motion along the axial direction.
[0041] Reference Figure 9For example, there are four steel wire ropes in the leg section. The relative translation of the upper cross bushing 9 and the lower cross bushing 12 along the axial direction is achieved by the winding and unwinding of the four steel wire ropes wound around the winding roller 7. Two of the steel wire ropes (such as green and blue steel wire ropes) are connected to the upper surface of the upper cross bushing 9, and the remaining two steel wire ropes (such as yellow and red steel wire ropes) pass through the inside of the leg fixing link 10, pass around a pulley 37 respectively, and are connected to the lower surface of the upper cross bushing 9. The two pulleys 37 are installed on the lower surface of the lower cross bushing 12. The first two steel wire ropes (such as green and blue steel wire ropes) move in the same direction, and the remaining two steel wire ropes (such as yellow and red steel wire ropes) move in the same direction, but two of the steel wire ropes have opposite winding directions to the remaining two steel wire ropes. By setting four steel wire ropes in this way, the pair of leg sliding links 11 can be evenly stressed during bidirectional stretching or release. The leg motor 8 pulls the four steel wire ropes to retract and extend, controlling the upper cross bushing 9 to slide, thereby realizing the movement of the pair of leg sliding links 11, transition bushing 13 and ankle link 14, and realizing the extension and shortening of the leg.
[0042] Reference Figure 6 and Figure 7 The hip joint structure A includes a coronal drive motor 1, a hip linkage 3, a hip joint winding disc 4, a sagittal drive motor 23, a sagittal cable disc 24, and a Bowden cable 34.
[0043] Two coronal drive motors 1 and two sagittal drive motors 23 are mounted on the backplate frame D. The backplate frame D includes a connecting movable plate 25, a wire frame, a fixing plate 28, and a double shoulder frame 29. The fixing plate 28 is mounted on the double shoulder frame 29, and the connecting movable plate 25 is mounted on the fixing plate 28. Bowden wire 34 is fixed to the hip linkage 3 and the motor wire frame 27 through the connecting rod wire frame 26. The output ends of the two coronal drive motors 1 are respectively connected to the leg motor housing 6 of the legs through the hip linkage 3 to realize the adduction / abduction of the two legs. The core of Bowden wire 34 is wound around the hip joint winding disc 4 and the sagittal wire disc 24. The hip joint winding disc 4 is connected to the legs, and the sagittal wire disc 24 is mounted on the output end of the sagittal drive motor 23. The sagittal drive motor 23 drives the Bowden wire 34 to realize the flexion / extension of the two legs.
[0044] For example, the connecting movable plate 25 is adjustable left and right and locked to the fixed plate 28 by screws. The coronal plane drive motor 1 and the sagittal plane drive motor 23 are fixed to the connecting movable plate 25 by screws. The hip linkage 3 is connected to the output shaft of the coronal plane drive motor 1 through the motor housing 2, and can realize the adduction / abduction rotation of the legs around the shaft of the coronal plane drive motor 1 in the coronal plane. The adduction / abduction rotation angle of the two legs is measured by the motor magnetic encoder 36 between the motor housing 2 and the motor lead frame 27 (see reference). Figure 7Bowden wire 34 is fixed to hip link 3 and motor lead frame 27 via connecting rod lead frame 26. The core wire passes through Bowden wire 34 and connects to sagittal plane wire reel 24. Sagittal plane drive motor 23 drives sagittal plane wire reel 24 to pull the core wire of Bowden wire, thereby controlling the leg motor housing 6 to rotate in the sagittal plane in flexion / extension. Wire reel base 5 is fixed to hip link 3 by screws. Hip joint winding reel 4 is fixed to leg motor housing 6 and rotates in reel base 5 driven by a pair of core wires of Bowden wire 34, realizing leg flexion / extension movement. The flexion / extension rotation angle of the two legs is measured by wire reel magnetic encoder 35 between hip joint wire reel 4 and wire reel base 5 (see reference). Figure 7 ).
[0045] This robot is based on the principle of motion assist, and can provide assistance in conjunction with lower limb movements when in exoskeleton mode. Figure 12 The illustration uses the right leg during walking as an example. The hip joint cable is at the same height as the hip joint, and the quick-release structure 18 is connected to the ankle via a strap. During the transition from gait 1 to gait 2 and then to gait 3, the entire leg B is driven by the sagittal plane drive motor 23, which pulls the core of the Bowden cable 34 to rotate the leg motor housing 6. The telescopic leg sliding link 11 is retracted by the leg motor 8. During the transition from gait 3 to gait 4 and then to gait 5, leg B continues to rotate, and the telescopic leg sliding link 11 is extended by the leg motor 8, providing assistance in conjunction with lower limb movements.
[0046] like Figure 13 As shown, in the external limb state, since the linkage is not connected to the human ankle, this robot can control the leg linkage and ankle linkage structure to move independently of the lower limb through the coronal plane drive motor 1, the sagittal plane drive motor 23, and the leg motor 8. This allows it to play a role in providing auxiliary support and bearing additional loads in complex environments.
[0047] Reference Figure 10 The ankle structure C includes an ankle link 14, an ankle base 15, a photoelectric switch 16, and a photoelectric slider 17. The plug cover 182 is rotatably connected to the ankle base 15. The upper end of the ankle link 14 is connected to the leg sliding link 11 through a transition bushing 13, and the lower end of the ankle link 14 is connected to the ankle base 15. The photoelectric switch 16 is installed on the ankle base 15. The photoelectric slider 17 is slidably disposed at the bottom of the ankle base 15. The ankle base 15 has an inner cavity that accommodates a spring 39. The two ends of the spring 39 abut against the top of the photoelectric slider 17 and the top of the inner cavity of the ankle base 15. In exoskeleton mode, the photoelectric slider 17 does not contact the ground and is pushed to the lowest point by the spring 39. The light path of the photoelectric switch 16 can pass through the hole on the photoelectric slider 17. After switching to exoskeleton mode, the photoelectric slider 17 contacts the ground and moves upward, and the light path is blocked by the photoelectric slider 17.
[0048] In exoskeleton mode, the photoelectric slider 17 is not in contact with the ground and is pushed to its lowest point by the spring 39, thus activating the optical path of the photoelectric switch 16 (e.g., ...). Figure 11 (Red) can pass through the hole on the photoelectric slider 17. After switching to the external limb mode, the photoelectric slider 17 contacts the ground and moves upward, and the light path (such as...) can pass through the hole on the photoelectric slider 17. Figure 11 When the red (red) component is blocked by the slider, the controller can determine whether to enter the external limb mode. The overall photoelectric triggering working principle is as follows: Figure 11 As shown.
[0049] Force sensor 30 is connected to ankle linkage 14 via screws and mounted on ankle base 15. Photoelectric switch 16 is fixed to ankle base 15 via bolts and nuts. Photoelectric slider 17 can slide up and down within ankle base 15. Ankle base 15 is connected to plug cover 182 of quick-release structure 18 via internally embedded radial joint bearing 31, ensuring three rotational degrees of freedom of foot 20. Foot 20 includes foot fixing part 201, foot moving part 202, and strap 203; foot fixing part 201 is connected to push cover 181, foot fixing part 201 is connected to foot moving part 202 and the two can slide relative to each other, and the distance between the two can be adjusted. Strap 203 is set on foot fixing part 201 and foot moving part 202 for easy wearing.
[0050] Furthermore, the main components of the above-described embodiments (such as the backplate and leg links) are made of lightweight carbon fiber, while smaller parts such as the motor housing and base are made of high-strength nylon. The joint components are made of aluminum alloy, resulting in an overall weight of no more than 9 kg, reducing the robot's overall weight while ensuring structural strength. The waist, leg links, and feet feature an adjustable design, allowing the device to be adjusted to suit individual body sizes and needs.
[0051] This application has disclosed the preferred embodiments as above, but it is not intended to limit this application. Any person skilled in the art who can make some changes or modifications to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.
Claims
1. A quick-release structure for converting between a lower limb exoskeleton and an exoskeleton, characterized in that: Includes a push rod, a push cover, and a plug cover; The push cover has a receiving space I for arranging magnet I, the push rod has a horizontal axis portion placed in the receiving space I, and the end face of the horizontal axis portion has a spiral wedge surface I. The plug cover has a receiving space II for arranging magnet II, and the center end face of the plug cover has a spiral wedge surface II. In exoskeleton mode, the push cover and plug cover are inserted and cannot rotate relative to each other in the circumferential direction. Magnets I and II attract each other, and the wedge surfaces of spiral wedge I and spiral wedge II engage. When the push rod is pushed in the circumferential direction, the push cover and plug cover are constrained in the circumferential direction and cannot rotate relative to each other. The tangential component of the normal pressure is canceled out, and the axial component of the force pushes the push cover and plug cover to produce relative displacement in the axial direction. The magnetic force weakens, and after the push cover and plug cover separate, the exoskeleton mode is converted into the exolimb mode.
2. A wearable robot comprising a hip joint structure, two legs, two ankle structures, and two feet; characterized in that: Based on the quick-release structure described in claim 1, the conversion between exoskeleton and exoskeleton is realized. The push cover is connected to the foot, and the plug cover is connected to the leg. When switching modes, the quick-release structure can be disassembled to realize the rapid switching between exoskeleton and exoskeleton. In exoskeleton mode, it provides support when the human body makes movements. In exoskeleton mode, the hip joint structure controls the rotation of the leg, and the leg cooperates with the human body's gait to realize follow-up assisted walking.
3. The wearable robot according to claim 2, characterized in that: The hip joint structure includes coronal drive electrical systems. The device consists of a machine, a hip linkage, a hip joint winding reel, a sagittal plane drive motor, a sagittal plane wire reel, and Bowden wire. Two coronal plane drive motors and two sagittal plane drive motors are mounted on the backplate frame. The outputs of the two coronal plane drive motors are connected to the legs via the hip linkage to achieve adduction / abduction of the two legs. The core of the Bowden wire is wound around the hip joint winding reel and the sagittal plane wire reel. The hip joint winding reel is connected to the legs, and the sagittal plane wire reel is mounted on the output of the sagittal plane drive motor. The Bowden wire is driven by the sagittal plane drive motor to achieve flexion / extension of the two legs.
4. The wearable robot according to claim 3, characterized in that: A magnetic encoder for measuring the flexion / extension angles of the two legs is arranged between the hip joint winding reel and the upper end of the hip connecting rod.
5. A wearable robot according to claim 3, characterized in that: The coronal plane drive motor housing is equipped with a motor magnetic encoder for measuring the adduction / abduction angle of the two legs.
6. A wearable robot according to claim 2, characterized in that: The leg assembly includes a flange winding roller, a leg motor, an upper cross bushing, a leg fixing link, a leg sliding link, a lower cross bushing, and an ankle link. The output end of the leg motor is equipped with a flange winding roller. One end of a pair of leg fixing links is connected to the leg motor housing, and the other end is connected to the lower cross bushing. A pair of leg sliding links are slidably mounted on the lower cross bushing. One end of a pair of leg sliding links is connected to the upper cross bushing, and the other end is connected to the ankle structure. The upper cross bushing is slidably mounted on a pair of leg fixing links. Under the constraint of the upper and lower cross bushings, the leg fixing link and the leg sliding link can only perform relative translational motion along the axial direction.
7. A wearable robot according to claim 6, characterized in that: The relative axial translation of the upper and lower cross bushings is achieved by the winding and unwinding of four steel wire ropes wound around the flange winding rollers. Two of the steel wire ropes are connected to the upper surface of the upper cross bushing, and the remaining two steel wire ropes pass through the inside of the leg fixing rod, pass around pulleys respectively, and are connected to the lower surface of the upper cross bushing. The pulleys are installed on the lower surface of the lower cross bushing. The winding direction of the two steel wire ropes is opposite to that of the remaining two steel wire ropes, so that the leg motor pulls the winding and unwinding of the four steel wire ropes to control the sliding of the upper cross bushing and realize the extension and retraction of the leg.
8. A wearable robot according to claim 2, characterized in that: The ankle structure includes an ankle link, an ankle base, a photoelectric switch, and a photoelectric slider. The plug cover is rotatably connected to the ankle base. The upper end of the ankle link is connected to the leg, and the lower end of the ankle link is connected to the ankle base. The photoelectric switch is installed on the ankle base, and the photoelectric slider is slidably disposed at the bottom of the ankle base. The ankle base has an inner cavity to accommodate a spring. The two ends of the spring abut against the top of the photoelectric slider and the top of the inner cavity of the ankle base. In exoskeleton mode, the photoelectric slider does not contact the ground and is pushed to the lowest point by the spring. The light path of the photoelectric switch can pass through the hole on the photoelectric slider. After switching to exoskeleton mode, the photoelectric slider contacts the ground and moves upward, and the light path is blocked by the photoelectric slider.
9. A wearable robot according to claim 2, characterized in that: The foot includes a foot fixing part, a foot moving part, and a strap; the foot fixing part is connected to the push cover, the foot fixing part is connected to the foot moving part and the two can slide relative to each other, and the strap is provided on the foot fixing part and the foot moving part.
10. A wearable robot according to claim 3, characterized in that: The back panel frame includes a connecting movable plate, a wire frame, a fixed plate, and a double shoulder frame; the fixed plate is installed on the double shoulder frame, the connecting movable plate is installed on the fixed plate, and the Bowden wire is fixed to the hip link and the motor wire frame through the connecting rod wire frame.