Exoskeleton device

Abstract

The application discloses an exoskeleton device, and relates to the field of exoskeleton devices, a plurality of joint mechanisms are sequentially connected in transmission; a support structure comprises a support base and a connecting seat, the support base defines a containing space and is used for being placed on a bearing surface, the connecting seat is located above the support base and is connected with the support base, both ends of the connecting seat are connected with mechanical arms, a controller is contained in the containing space and is connected with the mechanical arms at both ends of the connecting seat, and the controller is further configured to receive data sent by the mechanical arms and output control signals to the mechanical arms. Thus, the exoskeleton device can be directly placed on a desktop by arranging the support base which can be placed on the bearing surface, and the exoskeleton device is suitable for the work of an operator in a sitting position at a desk. Moreover, the controller is contained in the containing space of the support base and is connected with the mechanical arms on both sides, so that unified collection and processing of data of the two arms can be realized, the debugging process is simple, the motion data of the two arms is highly synchronous, and the work demand of fine control of the two arms can be met.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton devices, and more particularly to an exoskeleton device. Background Technology

[0002] With the rapid development of robotics technology, various exoskeleton devices with robotic arms have been widely used in industrial production and daily life. In some scenarios, exoskeleton devices can serve as an important tool for human-computer interaction, allowing them to remotely control robots to perform actions by collecting user activity information.

[0003] However, the current design of exoskeleton devices is not suitable for some special application scenarios. Most existing exoskeleton devices are wearable or floor-standing structures, which are only suitable for standing work and are difficult for operators to use while sitting at a table. Moreover, traditional dual-arm exoskeleton devices have poor dual-arm collaborative control effects and cannot meet the operational needs of precise dual-arm operation. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide an exoskeleton device that, by setting a support base that can be placed on a bearing surface, allows the exoskeleton device to be placed directly on a table, adapting to the operator's seated tabletop work. Moreover, the controller is housed in the receiving space of the support base and connected to both robotic arms, facilitating unified data collection and processing of both arms, simplifying the debugging process, and ensuring high synchronization of the movement data of both arms, which is beneficial to meeting the operational requirements of precise control of both arms.

[0005] The exoskeleton device according to the present invention includes: a robotic arm including: a plurality of joint mechanisms, the plurality of joint mechanisms being sequentially and drively connected; a support structure including: a support base and a connecting seat, the support base defining a receiving space and configured for placement on a bearing surface, the connecting seat being located above and connected to the support base along the height direction of the exoskeleton device, and the robotic arm being connected to both ends of the connecting seat along a first direction, the first direction being perpendicular to the height direction of the exoskeleton device; and a controller, the controller being received within the receiving space and configured to be connected to both ends of the robotic arm of the connecting seat, the controller being further configured to receive data sent by the robotic arm and to output control signals to the robotic arm.

[0006] According to the exoskeleton device of the present invention, by providing a support base that can be placed on a bearing surface, the exoskeleton device can be placed directly on a table, which is suitable for operators to work in a seated position at a table. Moreover, the controller is housed in the receiving space of the support base and is connected to both robotic arms, which facilitates the unified collection and processing of data from both arms, simplifies the debugging process, and ensures high synchronization of motion data between the two arms, which is beneficial to meeting the operational requirements of precise control of both arms.

[0007] In some examples of the present invention, the connecting seat includes: a cross brace and two connecting parts, the cross brace extending along the first direction, the two connecting parts extending along the height direction of the exoskeleton device and having their lower ends connected to the two ends of the cross brace respectively, and the two connecting parts being connected to the two robotic arms respectively.

[0008] In some examples of the invention, both of the connecting portions are formed with mounting grooves that are open to each other along the first direction, and the portion of the joint mechanism of the robotic arm closest to the corresponding connecting portion is received in the mounting groove.

[0009] In some examples of the present invention, the support structure further includes a support member connected between the support base and the connecting seat.

[0010] In some examples of the present invention, the end of the support base facing the support member and the end of the connecting seat facing the support member are both formed with a sleeve portion, the support member is inserted through the sleeve portion, and the cross-sectional area of ​​the sleeve portion gradually decreases from the end of one sleeve portion away from the other sleeve portion to the end closer to the other sleeve portion.

[0011] In some examples of the present invention, at least one pair of adjacent joint mechanisms are configured as a first type of mechanism group, in which, along the power transmission direction, the upstream joint mechanism is used to drive the downstream joint mechanism to rotate about an axis parallel to its own centerline; at least one pair of adjacent joint mechanisms are configured as a second type of mechanism group, in which, along the power transmission direction, the upstream joint mechanism is used to drive the downstream joint mechanism to swing about an axis perpendicular to its own centerline.

[0012] In some examples of the present invention, the first type of mechanism group and the second type of mechanism group are arranged alternately along the power transmission direction and from upstream to downstream.

[0013] In some examples of the present invention, the number of joint mechanisms is seven, and the seven joint mechanisms are respectively a first joint mechanism, a second joint mechanism, a third joint mechanism, a fourth joint mechanism, a fifth joint mechanism, a sixth joint mechanism, and a seventh joint mechanism that are connected in sequence.

[0014] In some examples of the present invention, the joint mechanism includes: a mounting housing and a drive member, at least a portion of the drive member being housed within a respective mounting housing and being drively connected to the mounting housing of an adjacent downstream joint mechanism.

[0015] In some examples of the present invention, the exoskeleton device further includes a wheel structure, wherein in the first type of mechanism group, the wheel structure is drively connected between the drive member of the upstream joint mechanism and the mounting shell of the downstream joint mechanism.

[0016] In some examples of the present invention, in the first type of mechanism group, the mounting shell of the downstream joint mechanism has a receiving groove open toward the upstream joint mechanism at one end near the upstream joint mechanism, and at least a portion of the wheel structure is received in the adjacent receiving groove.

[0017] In some examples of the present invention, at least one of the joint mechanisms has a sidewall of the mounting housing formed with a wire-avoiding through hole communicating between the interior of the mounting housing and the outside of the robotic arm, the wire-avoiding through hole being configured to allow the passage of a conductive line.

[0018] In some examples of the present invention, the plurality of joint mechanisms include a first joint mechanism, a second joint mechanism, and a third joint mechanism that are sequentially connected along the power transmission direction. The first joint mechanism is connected to the connecting seat. Along the radial direction of the mounting shell of the second joint mechanism, a portion of the driving member of the second joint mechanism extends out of the corresponding mounting shell and is connected to the mounting shell of the third joint mechanism. The mounting shell of the third joint mechanism is located on one radial side of the mounting shell of the second joint mechanism. The mounting shells of the first joint mechanism and the third joint mechanism are both formed with the wire-avoiding through hole. The driving members of the first joint mechanism and the second joint mechanism are connected through the wire-avoiding through hole of the mounting shell of the first joint mechanism. The driving members of the third joint mechanism and the second joint mechanism are connected through the wire-avoiding through hole of the mounting shell of the third joint mechanism.

[0019] In some examples of the present invention, the mounting shell of the third joint mechanism has two shell connecting portions at one end facing the second joint structure, and the two shell connecting portions are disposed at both ends of the driving member of the second joint mechanism and are connected to the driving member in a transmission manner.

[0020] In some examples of the present invention, the plurality of joint mechanisms further include: a fourth joint mechanism, a fifth joint mechanism, and a sixth joint mechanism. Along the power transmission direction, the third joint mechanism, the fourth joint mechanism, the fifth joint mechanism, and the sixth joint mechanism are sequentially connected. Along the end of the fourth joint mechanism near the third joint mechanism to the end away from the third joint mechanism, at least a portion of the cross-sectional area of ​​the mounting shell of the fourth joint mechanism gradually decreases. The third joint mechanism and the fifth joint mechanism have the same structure, and the fourth joint mechanism and the sixth joint mechanism have the same structure.

[0021] In some examples of the present invention, the driving member of the fourth joint mechanism is disposed at one end of the corresponding mounting shell near the fifth joint mechanism, a portion of the driving member of the fourth joint mechanism extends out of the corresponding mounting shell, the two shell connecting portions of the mounting shell of the fifth joint mechanism are drively connected to the exposed portion of the driving member of the fourth joint mechanism, and the fourth joint mechanism and the driving member of the fifth joint mechanism are connected through the wire-avoiding through hole provided in the mounting shell of the fifth joint mechanism.

[0022] In some examples of the present invention, the plurality of joint mechanisms further include: a seventh joint mechanism, which is located downstream of the sixth joint mechanism and is drive-connected to the sixth joint mechanism along the power transmission direction, wherein the connection method between the mounting shell of the seventh joint mechanism and the drive member of the sixth joint mechanism is the same as the connection method between the mounting shell of the fifth joint mechanism and the drive member of the fourth joint mechanism.

[0023] In some examples of the present invention, the opposite side walls of the mounting housing are formed with the wire-avoiding through holes; and / or, the driving members of the plurality of joint mechanisms are connected in series through the conductive lines.

[0024] In some examples of the present invention, the wheel structure includes: a first connector and a second connector, which are arranged and connected along the axial direction of the wheel structure. The first connector is configured to mate with the drive member of the upstream joint mechanism in a pair of adjacent joint mechanisms, and the second connector is configured to mate with the mounting shell of the downstream joint mechanism.

[0025] In some examples of the present invention, the first connector has a plurality of first mounting portions arranged circumferentially along the wheel structure and configured to cooperate with the drive member; the second connector has a plurality of second mounting portions arranged circumferentially along the wheel structure and configured to cooperate with the mounting shell; and the plurality of second mounting portions surround the outer side of the plurality of first mounting portions.

[0026] In some examples of the present invention, the second connector is formed with a plurality of weight-reduction notches, which are arranged circumferentially along the disc structure so that the second connector is constructed as a plurality of intersecting sub-connectors.

[0027] In some examples of the present invention, the sub-connector includes: a first sub-part and a second sub-part, both ends of the first sub-part are connected to the second sub-part, the radial width of the second sub-part gradually decreases from the end of the second sub-part away from the first sub-part to the end of the second sub-part close to the first sub-part, and the second sub-part forms the second mounting portion; And / or, the sub-connector is formed with a reinforcing portion that protrudes circumferentially along the disc structure; And / or, at least a portion of the second connector is configured to be housed within the corresponding mounting housing and the second mounting portion extends radially along the disc structure.

[0028] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the exoskeleton device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the support structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the robotic arm according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the mounting shell and wheel structure according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the mounting shell according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the wheel structure according to an embodiment of the present invention; Figure 7This is a schematic diagram of the joint mechanism and wheel structure according to an embodiment of the present invention.

[0030] Figure label: 1000 robotic arms; 2000 exoskeleton devices; Joint mechanism 100; First joint mechanism 101; Second joint mechanism 102; Third joint mechanism 103; Fourth joint mechanism 104; Fifth joint mechanism 105; Sixth joint mechanism 106; Seventh joint mechanism 107; Mounting housing 10; wire-avoiding through hole 11; receiving groove 12; housing connection part 1172; Drive component 20; Wheel structure 30; First connector 32; First mounting part 321; Second connector 33; second mounting part 331; weight reduction notch 332; sub-connector 333; first sub-part 3331; second sub-part 3332; reinforcing part 3333; Support structure 200; Support base 40; Sleeve part 41; Base plate 42; Connecting seat 50; cross brace 51; connecting part 52; mounting groove 521; Support component 60. Detailed Implementation

[0031] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0032] The following is for reference. Figures 1-7 An exoskeleton device 2000 according to an embodiment of the present invention is described.

[0033] like Figures 1-7 As shown, the exoskeleton device 2000 according to an embodiment of the present invention includes: a robotic arm 1000, a support structure 200, and a controller.

[0034] The robotic arm 1000 includes multiple joint mechanisms 100, which are sequentially connected. Each joint mechanism 100's drive component 20 can drive the mounting housing 10 of the next joint mechanism 100 to rotate, giving the robotic arm 1000 multiple degrees of freedom. The robotic arm 1000 can be used as a crank arm. Specifically, as the wearer's arm moves, the sensors built into the drive component 20 of each joint mechanism 100 can detect the relative rotation information between the corresponding joint mechanism 100 and adjacent joint mechanisms 100 and transmit it to the controller. The controller can then interact with the controlled robotic arm based on the sensor detection information, causing the controlled robotic arm to move synchronously with the wearer's arm.

[0035] The support structure 200 includes a support base 40 and a connecting seat 50. The support base 40 defines a receiving space and is configured to be placed on a bearing surface. Specifically, the support base 40 can be constructed as a closed box-shaped structure. The support base 40 can have a base plate 42 (only the base plate 42 of the support base 40 is shown in the figure; the overall structure of the support base 40 is not shown). The base plate 42 is used to place on the bearing surface, which can be a tabletop, i.e., the upper surface of a table. Along the height direction of the exoskeleton device 2000 (i.e., along the height direction of the exoskeleton device 2000) Figure 1 (As shown in the Z direction), the connecting seat 50 is located above and connected to the support base 40. The connecting seat 50 can be directly connected to the support base 40, or the connecting seat 50 can be indirectly connected to the support base 40 through other components.

[0036] Along the first direction (i.e.) Figure 1 As shown in the X direction), both ends of the connecting base 50 are connected to robotic arms 1000, meaning there are two robotic arms 1000, along the first direction (i.e., Figure 1 (As shown in the X direction), the two robotic arms 1000 are respectively located at both ends of the connecting base 50 and are both connected to the connecting base 50, in the first direction (i.e. Figure 1 The X-direction shown is parallel to the height direction of the exoskeleton device 2000 (i.e., the direction of the X-direction shown). Figure 1 (The Z direction shown is perpendicular to the Z direction). As some embodiments of this application, the robotic arm 1000 and the corresponding connecting seat 50 can be connected by means of, but not limited to, welding, bolting, snap-fitting, etc.

[0037] The controller is housed within a receiving space and configured to connect to both ends of the robotic arms 1000 at the connecting base 50. The controller is also configured to receive data transmitted by the robotic arms 1000 and to output control signals to the robotic arms 1000. Specifically, a drive unit 20 may be installed within the robotic arm 1000, and the drive unit 20 has a built-in sensor. The controller can be connected to the drive unit 20 of the robotic arm 1000 via conductive lines. The controller can receive data transmitted by the sensor within the robotic arm 1000 and can output control signals to the drive unit 20 to control the drive unit 20 to output torque, thereby achieving a force feedback function. The conductive lines connecting the controller and the robotic arms 1000 can be housed within the support structure 200.

[0038] It should be noted that by setting up the support structure 200 and configuring the support base 40 of the support structure 200 to be placed on the bearing surface, the entire exoskeleton device 2000 can be placed directly on the table to accommodate operators working in a seated position, such as on production lines where workers need to work in a seated position. Furthermore, by placing the controller within the receiving space and connecting the controller to the robotic arms 1000 at both ends of the connecting base 50, one controller can support two robotic arms 1000. This means that two robotic arms 1000 can share the controller housed in the receiving space, enabling information transmission and control of both robotic arms 1000 through a single controller. This saves hardware resources, reduces costs, facilitates unified data aggregation and processing of both arms, simplifies the debugging process, and ensures high synchronization of the two-arm motion data. In addition, the conductive lines connecting the controller and the robotic arm 1000 can be built into the support structure 200, avoiding the problem of a large number of exposed conductive lines. This allows the conductive lines to be completely contained within the support structure 200, resulting in neat and orderly wiring, and reducing the risk of pulling on these conductive lines when the human body moves.

[0039] Therefore, by setting a support base 40 that can be placed on a bearing surface, this application allows the exoskeleton device 2000 to be placed directly on a desktop, adapting to the operator's seated work at the table. Moreover, the controller is housed in the receiving space of the support base 40 and is connected to both robotic arms 1000, which facilitates unified data collection and processing of both arms, simplifies the debugging process, and ensures high synchronization of the movement data of both arms, which is beneficial to meeting the operational needs of precise control of both arms.

[0040] In some embodiments of the present invention, such as Figures 1-2 As shown, the connecting seat 50 includes: a cross brace 51 and two connecting parts, the cross brace 51 being along a first direction (i.e., Figure 1 The two connecting parts extend along the height direction of the exoskeleton device 2000 (as shown in the X direction), and both connecting parts extend along the height direction of the exoskeleton device 2000 (i.e., the X direction). Figure 1The two connecting parts extend in the Z direction as shown, and the lower ends of the two connecting parts are respectively connected to the two ends of the cross brace 51. The two connecting parts are respectively connected to the two robotic arms 1000.

[0041] Specifically, along the height direction of the exoskeleton device 2000 (i.e. Figure 1 (as shown in the Z direction), the lower ends of the two connecting parts are respectively connected to the cross brace 51 along the first direction (i.e. Figure 1 The two ends of the connecting seat 50 (in the X direction shown) are in a U-shaped structure. As some embodiments of this application, the connecting part and the cross brace 51 can be connected by means of, but not limited to, bolt connection, snap-fit, welding, etc., or the connecting part and the cross brace 51 can be integrally formed.

[0042] The two connecting parts are respectively connected to two robotic arms 1000. As some embodiments of this application, along the height direction of the exoskeleton device 2000 (i.e. Figure 1 (As shown in the Z direction), the upper middle parts of the two connecting parts are respectively connected to the two robotic arms 1000.

[0043] By connecting the lower ends of the two connecting parts to the cross brace 51 along the first direction (i.e. Figure 1 At both ends of the connection point (shown in the X direction), the connecting part can be raised to elevate the robotic arm 1000 connected to the connection point, reducing the risk of the robotic arm 1000 contacting the support surface (e.g., a desktop) when the exoskeleton device 2000 is placed on the support surface. Furthermore, the conductive lines connecting the two robotic arms 1000 can extend from the corresponding connection point towards the controller to connect with it, reducing the risk of the two conductive lines becoming tangled or intertwined, reducing wiring difficulty, and improving wiring neatness.

[0044] In some embodiments of the present invention, such as Figure 2 As shown, the two connecting parts are along the first direction (i.e. Figure 1 In the X direction shown, mounting grooves 521 are formed that are open to each other. That is, each connecting part has a mounting groove 521 formed along the first direction (i.e., Figure 1 (As shown in the X direction), the mounting groove 521 formed by the connecting part is open at one end away from the other connecting part.

[0045] The portion of the joint mechanism 100 closest to the corresponding connection part of the robotic arm 1000 is housed in the mounting groove 521. Specifically, the robotic arm 1000 includes a plurality of joint mechanisms 100, which are sequentially connected in a transmission manner. Along the power transmission direction of the plurality of joint mechanisms 100, the portion of the uppermost joint mechanism 100 is housed in the mounting groove 521.

[0046] This arrangement allows the proximal joint mechanism 100 of the robotic arm 1000 (the joint mechanism 100 closest to the connecting part) to be housed within the corresponding mounting slot 521, achieving embedded limiting assembly. This precise assembly and positioning reduces the wobbling gap during the robotic arm 1000's operation, improving the control precision of both arms. Furthermore, the embedded arrangement of the joint mechanism 100 reduces the exposed volume of the robotic arm 1000, resulting in a compact structure that facilitates the miniaturization of the exoskeleton device 2000, making it compatible with desktop exoskeleton devices 2000.

[0047] In some embodiments of the present invention, such as Figures 1-2 As shown, the support structure 200 also includes a support member 60, which is connected between the support base 40 and the connecting seat 50.

[0048] Among them, the support member 60 can be along the height direction of the exoskeleton device 2000 (i.e. Figure 1 The support member 60 can be constructed as a rod-like structure, extending along the height direction of the exoskeleton device 2000 (i.e., the Z-direction shown). Figure 1 (As shown in the Z direction), the lower end of the support member 60 can be connected to the support base 40, and the upper end of the support member 60 can be connected to the connecting seat 50. As some embodiments of this application, the support member 60, the support base 40, and the connecting seat 50 can all be connected by means of, but not limited to, bolt connection, snap-fit, welding, etc.

[0049] By adding a support member 60 between the support base 40 and the connecting seat 50, the connecting seat 50 and the robotic arm 1000 mounted on the connecting seat 50 can be raised, further increasing the distance between the robotic arm 1000 and the bearing surface. This effectively avoids the problem of the robotic arm 1000 scraping or touching the table surface when the exoskeleton device 2000 is placed on the bearing surface for operation. Furthermore, it is understood that the support member 60 is hollow to connect the receiving space with the internal channel of the connecting seat 50. The conductive lines connecting the controller and the robotic arms 1000 on both sides can be routed through the inside of the support member 60, improving the overall wiring neatness.

[0050] In some embodiments of the present invention, such as Figures 1-2 As shown, both the end of the support base 40 facing the support member 60 and the end of the connecting seat 50 facing the support member 60 have a sleeve portion 41. The support member 60 passes through the sleeve portion 41. Specifically, along the height direction of the exoskeleton device 2000 (i.e., Figure 1 (As shown in the Z direction), the upper end of the support member 60 passes through the sleeve portion 41 formed by the connecting seat 50, and the lower end of the support member 60 passes through the sleeve portion 41 formed by the support base 40.

[0051] Along the height direction of the exoskeleton device 2000 (i.e. Figure 1(as shown in the Z direction), and from the end of one socket 41 away from the other socket 41 to the end closer to the other socket 41, the cross-sectional area of ​​the socket 41 gradually decreases. As some embodiments of this application, the cross-section of the socket 41 can be constructed as an annulus, and the diameter of the socket 41 gradually decreases from the end of one socket 41 away from the other socket 41 to the end closer to the other socket 41.

[0052] By forming socket portions 41 in both the support base 40 and the connecting seat 50, the support member 60 can be aligned and assembled vertically through the two socket portions 41, ensuring reliable assembly positioning. Furthermore, the cooperation between the support member 60 and the socket portions 41 restricts lateral displacement, improving the overall stability of the support structure 200. In addition, the gradually decreasing cross-sectional area of ​​the socket portions 41 facilitates demolding, reduces the difficulty of one-piece injection molding or casting, and simplifies the mold structure, thereby simplifying production processes and reducing manufacturing and mold-making costs.

[0053] In some embodiments of the present invention, such as Figure 1 , Figure 3 As shown, at least one pair of adjacent joint mechanisms 100 are configured as a first type of mechanism group. The number of first type mechanism groups can be one or more. In the first type of mechanism group, along the power transmission direction, the upstream joint mechanism 100 is used to drive the downstream joint mechanism 100 to rotate about an axis parallel to its own centerline. That is, along the power transmission direction, the upstream joint mechanism 100 is used to drive the downstream joint mechanism 100 to rotate about an axis parallel to the centerline of the downstream joint mechanism 100.

[0054] At least one pair of adjacent joint mechanisms 100 are configured as a second type of mechanism group. The number of second type mechanism groups can be one or more. In the second type of mechanism group, along the power transmission direction, the upstream joint mechanism 100 is used to drive the downstream joint mechanism 100 to swing about an axis perpendicular to its own centerline. That is, the upstream joint mechanism 100 is used to drive the downstream joint mechanism 100 to swing about an axis perpendicular to the centerline of the downstream joint mechanism 100.

[0055] It should be noted that the robotic arm 1000 proposed in this application has two different types of mechanism groups: a first type and a second type. The motion forms of these two types of mechanism groups are slightly different. Specifically, in the first type of mechanism group, the upstream joint mechanism 100 is used to drive the downstream joint mechanism 100 to rotate around an axis parallel to its own center line. In the second type of mechanism group, the upstream joint mechanism 100 is used to drive the downstream joint mechanism 100 to swing around an axis perpendicular to its own center line. By combining the two different types of mechanism groups, the robotic arm 1000 can achieve multi-degree-of-freedom motion and has better flexibility, which is beneficial to improving the flexibility of wearable following.

[0056] In some embodiments of the present invention, such as Figure 1 , Figure 3 As shown, along the power transmission direction from upstream to downstream, the first type of mechanism group and the second type of mechanism group are arranged alternately. For example, there are seven joint mechanisms 100. Along the power transmission direction from upstream to downstream, the seven joint mechanisms 100 are the first joint mechanism 101, the second joint mechanism 102, the third joint mechanism 103, the fourth joint mechanism 104, the fifth joint mechanism 105, the sixth joint mechanism 106, and the seventh joint mechanism 107. The first joint mechanism 101 and the second joint mechanism 102 constitute the first type of mechanism group, the second joint mechanism 102 and the third joint mechanism 103 constitute the second type of mechanism group, the third joint mechanism 103 and the fourth joint mechanism 104 constitute the first type of mechanism group, the fourth joint mechanism 104 and the fifth joint mechanism 105 constitute the second type of mechanism group, the fifth joint mechanism 105 and the sixth joint mechanism 106 constitute the first type of mechanism group, and the sixth joint mechanism 106 and the seventh joint mechanism 107 constitute the second type of mechanism group.

[0057] By alternating the arrangement of the first and second type of mechanism groups, rotation and swinging movements can be achieved alternately, allowing the robotic arm 1000 to conform to the physiological motion trajectory of the human arm's rotation and swinging combined linkage, which is beneficial to improving the motion capture accuracy of the robotic arm 1000.

[0058] In some embodiments of the present invention, such as Figure 1 , Figure 3 As shown, there are seven joint mechanisms 100, which are sequentially connected as a first joint mechanism 101, a second joint mechanism 102, a third joint mechanism 103, a fourth joint mechanism 104, a fifth joint mechanism 105, a sixth joint mechanism 106, and a seventh joint mechanism 107. In some embodiments of this application, the first joint mechanism 101 and the second joint mechanism 102 are configured as a first type of mechanism group; the second joint mechanism 102 and the third joint mechanism 103 are configured as a second type of mechanism group; the third joint mechanism 103 and the fourth joint mechanism 104 are configured as a first type of mechanism group; the fourth joint mechanism 104 and the fifth joint mechanism 105 are configured as a second type of mechanism group; the fifth joint mechanism 105 and the sixth joint mechanism 106 are configured as a first type of mechanism group; and the sixth joint mechanism 106 and the seventh joint mechanism 107 are configured as a second type of mechanism group.

[0059] Thus, by setting up seven sequentially connected joint mechanisms 100, it can simulate the complete multi-segment limb structure of the human arm, including the shoulder, upper arm, forearm, and wrist, and realize seven-degree-of-freedom compound motion. It can completely replicate all the original movements of the human arm, such as twisting, raising, flexing, and rotating, which greatly improves the bionic matching degree and movement following flexibility when wearing the device, and improves the accuracy of human-computer interaction.

[0060] In some embodiments of the present invention, such as Figure 1 , Figures 3-5 As shown, the joint mechanism 100 includes: a mounting housing 10 and a drive member 20, at least a portion of which is housed within a corresponding mounting housing 10 and is drively connected to the mounting housing 10 of an adjacent downstream joint mechanism 100.

[0061] As some embodiments of this application, a portion of the structure of the drive member 20 is housed within a corresponding mounting housing 10. As some embodiments of this application, the entire structure of the drive member 20 is housed within a corresponding mounting housing 10. The drive member 20 is drive-connected to the mounting housing 10 of the adjacent downstream joint mechanism 100. That is, along the power transmission direction, the drive member 20 of the upstream joint mechanism 100 is drive-connected to the mounting housing 10 of the downstream joint mechanism 100.

[0062] This arrangement allows at least a portion of the drive unit 20 to be housed within the corresponding mounting housing 10, improving the compactness of the joint mechanism 100, reducing the volume of the joint mechanism 100, achieving a miniaturized design of the joint mechanism 100, and thus achieving a miniaturized design of the robotic arm 1000.

[0063] As some embodiments of this application, each joint mechanism 100 has a mounting shell 10 with a alignment portion formed at one end near the adjacent joint mechanism 100. When the alignment portion of each mounting shell 10 corresponds to the adjacent alignment portion in the adjacent mounting shell 10, the robotic arm 1000 is in a placed state.

[0064] Along the power transmission direction, the mounting shell 10 of the first joint mechanism 100 has a alignment portion formed at the end near the next joint mechanism 100, the mounting shell 10 of the last joint mechanism 100 has an alignment portion formed at the end near the previous joint mechanism 100, and the mounting shell 10 of the remaining joint mechanisms 100 and the end near the two adjacent joint mechanisms 100 all have alignment portions formed. When the alignment portion of each mounting shell 10 corresponds to the adjacent alignment portion of the adjacent mounting shell 10, the robotic arm 1000 is in a placed state. Specifically, the alignment portion of the mounting shell 10 of the first joint mechanism 10 corresponds to the alignment portion of the next joint mechanism 100 near its first end, and the alignment portion of the mounting shell 10 of the last joint mechanism 10 corresponds to the alignment portion of the previous joint mechanism 100 near its last end. Furthermore, when the alignment portions of the mounting shells 10 of the remaining joint mechanisms 100 correspond to the adjacent alignment portions of the mounting shells 10 of the adjacent joint mechanisms 100, the robotic arm 1000 is in a placed state. This arrangement provides a reference for adjusting the robotic arm 1000, facilitating quick and accurate adjustment of the robotic arm 100 to the placed state.

[0065] In some embodiments of the present invention, such as Figure 3 , Figure 4 , Figures 6-7 As shown, the exoskeleton device 2000 also includes a wheel structure 30. In the first type of mechanism group, the wheel structure 30 is driveably connected between the drive member 20 of the upstream joint mechanism 100 and the mounting shell 10 of the downstream joint mechanism 100. That is, in the first type of mechanism group, the wheel structure 30 is driveably connected between the two joint mechanisms 100. Along the power transmission direction, the drive member 20 of the upstream joint mechanism 100 drives the wheel structure 30 to rotate, so as to drive the mounting shell 10 of the downstream joint mechanism 100 to rotate through the wheel structure 30. In short, the upstream joint mechanism 100 drives the wheel structure 30 to rotate, and the rotation of the wheel structure 30 drives the rotation of the downstream joint mechanism 100. It can be understood that the centerline of the wheel structure 30 is collinear and parallel to the centerline of the connected downstream joint mechanism 100. By connecting the drive component 20 and the mounting housing 10 through the wheel structure 30, the power output by the drive component 20 can be transmitted to the corresponding mounting housing 10 through the wheel structure 30. This can improve the torque output by the drive component 20, reduce the risk of structural torsion and breakage of the drive component 20, and also improve the driving accuracy of the drive component 20 and the accuracy of remote control.

[0066] In some embodiments of the present invention, such as Figure 5As shown, in the first type of mechanism group, the mounting shell 10 of the downstream joint mechanism 100 has a receiving groove 12 that opens toward the upstream joint mechanism 100 at one end near the upstream joint mechanism 100, and at least a portion of the wheel structure 30 is received in the adjacent receiving groove 12.

[0067] Specifically, in the first type of mechanism group, the mounting shell 10 of the downstream joint mechanism 100 has a receiving groove 12 formed at one end near the upstream joint mechanism 100, and the receiving groove 12 is open toward the upstream joint mechanism 100. At least a portion of the wheel structure 30 is received in the adjacent receiving groove 12, that is, a portion of the wheel structure 30 is received in the adjacent receiving groove 12, or the entire wheel structure 30 is received in the adjacent receiving groove 12.

[0068] This design provides lateral restraint and protection for the wheel structure 30, reducing the risk of the exposed wheel structure 30 being bumped by external forces or jammed by foreign objects, ensuring the smooth rotation of the wheel structure 30. Furthermore, the embedded arrangement of the wheel structure 30 reduces the size of the robotic arm 1000, making it more compact and facilitating the miniaturization of the exoskeleton device 2000 to accommodate desktop exoskeleton devices 2000.

[0069] In some embodiments of the present invention, such as Figures 3-5 As shown, at least one joint mechanism 100 has a mounting housing 10 with a wire-avoiding through hole 11 on its side wall, which connects the interior of the mounting housing 10 to the outside of the robotic arm 1000. The wire-avoiding through hole 11 is configured to allow a conductive wire to pass through. Specifically, at least one joint mechanism 100 has a mounting housing 10 with a wire-avoiding through hole 11 on its side wall, which penetrates the side wall of the mounting housing 10 to connect the interior of the mounting housing 10 to the outside of the robotic arm 1000. The wire-avoiding through hole 11 is configured to allow a conductive wire to pass through.

[0070] It should be noted that by forming a wire-avoiding through hole 11 on the side wall of the mounting shell 10 of the joint mechanism 100, which connects the interior of the mounting shell 10 to the outside of the robotic arm 1000, when the driving members 20 of two adjacent joint mechanisms 100 are electrically connected through conductive lines, one end of the conductive line can be extended into the interior of the corresponding mounting shell 10 through the wire-avoiding through hole 11 to be electrically connected with the driving member 20 inside the mounting shell 10, so as to realize the electrical connection of the two driving members 20. Moreover, the mounting shell 10 can accommodate at least a part of the conductive line, or even the vast majority of the conductive line, to solve the problem of a large amount of exposed conductive line.

[0071] In some embodiments of the present invention, such as Figure 1 , Figure 3As shown, the multiple joint mechanisms 100 include a first joint mechanism 101, a second joint mechanism 102, and a third joint mechanism 103 that are sequentially connected along the power transmission direction. The first joint mechanism 101 is connected to the connecting seat 50. The first joint mechanism 101 and the second joint mechanism 102 are configured as a first type of mechanism group, and the second joint mechanism 102 and the third joint mechanism 103 are configured as a second type of mechanism group.

[0072] Along the radial direction of the mounting shell 10 of the second joint mechanism 102, a portion of the drive member 20 of the second joint mechanism 102 extends out of the corresponding mounting shell 10 and is drivenly connected to the mounting shell 10 of the third joint mechanism 103. That is, a portion of the drive member 20 of the second joint mechanism 102 is exposed outside the corresponding mounting shell 10 and is drivenly connected to the mounting shell 10 of the third joint mechanism 103.

[0073] The mounting shell 10 of the third joint mechanism 103 is located on the radial side of the mounting shell 10 of the second joint mechanism 102. The mounting shells 10 of the first joint mechanism 101 and the third joint mechanism 103 are both formed with wire-avoiding through holes 11. The driving members 20 of the first joint mechanism 101 and the second joint mechanism 102 are connected through the wire-avoiding through holes 11 in the mounting shell 10 of the first joint mechanism 101. The driving members 20 of the third joint mechanism 103 and the second joint mechanism 102 are connected through the wire-avoiding through holes 11 in the mounting shell 10 of the third joint mechanism 103.

[0074] Thus, the first joint mechanism 101 and the second joint mechanism 102 constitute the first type of mechanism group, and the second joint mechanism 102 and the third joint mechanism 103 constitute the second type of mechanism group. The two types of mechanism groups are arranged in an orderly manner, taking into account the coaxial rotation and lateral swing dual-degree-of-freedom motion of the robotic arm 1000, which is conducive to improving the flexibility and wearability of the robotic arm 1000.

[0075] Furthermore, the drive member 20 of the second joint mechanism 102 extends radially along the mounting shell 10 of the second joint mechanism 102, and the mounting shell 10 of the third joint mechanism 103 is located on the radial side of the mounting shell 10 of the second joint mechanism 102 and is connected to the drive member 20 of the second joint mechanism 102. This allows the arrangement of the second joint mechanism 102 and the third joint mechanism 103 to be reasonable, adapting to the swinging motion of the third joint mechanism 103, providing a larger swinging space for the third joint mechanism 103, and increasing the maximum swing range.

[0076] Furthermore, by forming wire-avoiding through holes 11 in the mounting shells 10 of the first joint mechanism 101 and the third joint mechanism 103, at least part of the conductive lines, or even most of the conductive lines, can be accommodated in the mounting shells 10, thus solving the problem of a large number of exposed conductive lines. In addition, the conductive lines between adjacent drive members 20 are connected and connected in series through the wire-avoiding through holes 11 of the corresponding mounting shells 10, which can unify and standardize the independent routing paths of the two conductive lines, distinguish the directions of the front and rear conductive lines, and reduce the risk of the two conductive lines intertwining outside the joint mechanism 100.

[0077] In some embodiments of the present invention, such as Figure 1 , Figures 3-5 As shown, the mounting shell 10 of the third joint mechanism 103 has two shell connecting portions 1172 at one end facing the second joint structure. The two shell connecting portions 1172 are spaced apart and are located at both ends of the driving member 20 of the second joint mechanism 102, and are both connected to the driving member 20 in a transmission manner. Specifically, the free ends of the two shell connecting portions 1172 are located at both ends of the driving member 20 and are both connected to the driving member 20 in a transmission manner. This arrangement allows for bilateral limiting and centering of the driving member 20 extending from the second joint mechanism 102, ensuring stable connection, improving the coaxiality of the swing, and reducing the swing gap.

[0078] In some embodiments of the present invention, such as Figure 1 , Figure 3 As shown, the multiple joint mechanisms 100 also include a fourth joint mechanism 104, a fifth joint mechanism 105, and a sixth joint mechanism 106. Along the power transmission direction, the third joint mechanism 103, the fourth joint mechanism 104, the fifth joint mechanism 105, and the sixth joint mechanism 106 are sequentially connected in a driving connection. Specifically, the driving member 20 of the third joint mechanism 103 is drivingly connected to the mounting housing 10 of the fourth joint mechanism 104; the driving member 20 of the fourth joint mechanism 104 is drivingly connected to the mounting housing 10 of the fifth joint mechanism 105; and the driving member 20 of the fifth joint mechanism 105 is drivingly connected to the mounting housing 10 of the sixth joint mechanism 106.

[0079] Along the end of the fourth joint mechanism 104 near the third joint mechanism 103 to the end away from the third joint mechanism 103, at least a portion of the cross-sectional area of ​​the mounting shell 10 of the fourth joint mechanism 104 gradually decreases. As some embodiments of this application, along the end of the fourth joint mechanism 104 near the third joint mechanism 103 to the end away from the third joint mechanism 103, the cross-sectional area of ​​the mounting shell 10 of the fourth joint mechanism 104 gradually decreases. It should be noted that the second joint mechanism 102 can correspond to the shoulder of a human body, and the fourth joint mechanism 104 can correspond to the upper arm of a human body. By gradually reducing at least a portion of the cross-sectional area of ​​the mounting shell 10 of the fourth joint mechanism 104, the outer contour of the mounting shell 10 of the fourth joint mechanism 104 can be made smaller, making it less likely to collide or interfere with surrounding objects during movement, resulting in greater flexibility of movement, adaptability to confined space operation scenarios, and better fit for the shape of the upper arm of the real human body, with a high degree of adaptability to the human body.

[0080] The third joint mechanism 103 and the fifth joint mechanism 105 have the same structure, the fourth joint mechanism 104 and the sixth joint mechanism 106 have the same structure, the fourth joint mechanism 104 and the fifth joint mechanism 105 are constructed as a second type of mechanism group, and the fifth joint mechanism 105 and the sixth joint mechanism 106 are constructed as a first type of mechanism group.

[0081] By sequentially arranging the fourth joint mechanism 104, the fifth joint mechanism 105, and the sixth joint mechanism 106 downstream of the third joint mechanism 103, the degrees of freedom of the robotic arm 1000 can be enriched, accurately replicating the multi-level linkage structure of the upper arm, forearm, and wrist of the human arm. This significantly improves the following and fit of the robotic arm 1000 when worn. Furthermore, the third joint mechanism 103 and the fifth joint mechanism 105 have the same structure, and the fourth joint mechanism 104 and the sixth joint mechanism 106 have the same structure, enabling modular design. Joint mechanisms 100 with the same structure can share a set of processing molds, reducing the types of molds and lowering the mold opening and manufacturing costs of parts. At the same time, the parts have strong versatility, and the parts can be interchanged during assembly and maintenance, making inspection and replacement more convenient.

[0082] In some embodiments of the present invention, such as Figure 2 , Figure 4As shown, the drive member 20 of the fourth joint mechanism 104 is located at the end of the corresponding mounting shell 10 near the fifth joint mechanism 105. That is, the drive member 20 of the fourth joint mechanism 104 is located at the end of the mounting shell 10 of the fourth joint mechanism 104 near the fifth joint mechanism 105. A portion of the drive member 20 of the fourth joint mechanism 104 extends out of the corresponding mounting shell 10, meaning a portion of the drive member 20 of the fourth joint mechanism 104 is exposed. The two shell connecting portions 1172 of the mounting shell 10 of the fifth joint mechanism 105 are connected to the exposed portion of the drive member 20 of the fourth joint mechanism 104 (since the fifth joint mechanism 105 is the same as the third joint mechanism 103, the mounting shell 10 of the fifth joint mechanism 105 also has shell connecting portions 1172). The drive members 20 of the fourth joint mechanism 104 and the fifth joint mechanism 105 are connected through a through-hole 11 in the mounting shell 10 of the fifth joint mechanism 105.

[0083] By arranging the drive member 20 of the fourth joint mechanism 104 at one end of the mounting shell 10 of the fourth joint mechanism 104 near the fifth joint mechanism 105, it is convenient to connect the drive member 20 of the fourth joint mechanism 104 to the mounting shell 10 of the fifth joint mechanism 105. By partially exposing the drive member 20 of the fourth joint mechanism 104, it is convenient for the two shell connecting portions 1172 of the mounting shell 10 of the fifth joint mechanism 105 to directly engage and transmit power with the exposed part of the drive member 20. Moreover, the double-sided clamping and limiting assembly method can improve the transmission fit accuracy and reduce the swing clearance.

[0084] In some embodiments of the present invention, such as Figure 1 , Figure 3 As shown, the multiple joint mechanisms 100 also include a seventh joint mechanism 107. Along the power transmission direction, the seventh joint mechanism 107 is located downstream of the sixth joint mechanism 106 and is connected to the sixth joint mechanism 106 in a transmission manner. Specifically, the drive member 20 of the sixth joint mechanism 106 is connected to the mounting shell 10 of the seventh joint mechanism 107 in a transmission manner.

[0085] The connection method between the mounting shell 10 of the seventh joint mechanism 107 and the drive member 20 of the sixth joint mechanism 106 is the same as the connection method between the mounting shell 10 of the fifth joint mechanism 105 and the drive member 20 of the fourth joint mechanism 104. That is to say, the seventh joint mechanism 107 and the sixth joint mechanism 106 are constructed as a second type of mechanism group. The mounting shell 10 of the seventh joint mechanism 107 also has two shell connecting portions 1172. The drive member 20 of the sixth joint mechanism 106 is located at the end of the corresponding mounting shell 10 near the seventh joint mechanism 107. Part of the drive member 20 of the sixth joint mechanism 106 is exposed. The two shell connecting portions 1172 of the mounting shell 10 of the seventh joint mechanism 107 are connected to the exposed portion of the drive member 20 of the sixth joint mechanism 106.

[0086] By setting a seventh joint mechanism 107 downstream of the sixth joint mechanism 106, the degrees of freedom of the robotic arm 1000 can be increased, accurately replicating the wrist of the human arm and improving the flexibility of the robotic arm 1000 in wearing and following. By making the connection method between the mounting shell 10 of the seventh joint mechanism 107 and the drive component 20 of the sixth joint mechanism 106 the same as the connection method between the mounting shell 10 of the fifth joint mechanism 105 and the drive component 20 of the fourth joint mechanism 104, the assembly method of multiple parts of the robotic arm 1000 can be the same, which facilitates assembly.

[0087] In some embodiments of the present invention, the mounting housing 10 has through holes 11 formed on both opposite side walls. This arrangement allows the mounting housing 10 to be adapted to both the left and right robotic arms 1000, thereby enabling the left and right robotic arms 1000 to share the same mounting housing 10, improving the versatility of the mounting housing 10 and reducing manufacturing costs.

[0088] In some embodiments of the present invention, the drive member 20 of the seventh joint mechanism 107 is configured for transmission connection with the glove and for driving the glove to rotate about an axis perpendicular to the center line of the seventh joint mechanism 107. The glove can be a regular glove or an exoskeleton glove. The drive member 20 of the seventh joint mechanism 107 drives the glove to rotate about an axis perpendicular to the center line of the seventh joint mechanism 107. This configuration improves the driving degree of freedom of the robotic arm 1000 end effector, fully replicates the wrist rotation movement of a human, and provides a higher degree of accuracy in following the wearer's hand movements.

[0089] As some embodiments of this application, the drive member 20 of the seventh joint mechanism 107 and the glove can be detachably connected via a quick-release structure.

[0090] In some embodiments of the present invention, the mounting shell 10 of the fourth joint mechanism 104 has at least one mounting hole, which is configured to allow a fixing strap to pass through. The mounting shell 10 of the fourth joint mechanism 104, together with the fixing strap, defines a wearing space. As some embodiments of this application, the mounting shell 10 of the fourth joint mechanism 104 has one mounting hole, or multiple mounting holes. The fixing strap can pass through the mounting hole and, together with the mounting shell 10 of the fourth joint mechanism 104, define a wearing space. The wearing space formed by the mounting shell 10 of the fourth joint mechanism 104 and the corresponding fixing strap is used to accommodate the upper arm of the human arm, and the wearing space formed by the mounting shell 10 of the sixth joint mechanism 106 and the corresponding fixing strap is used to accommodate the forearm of the human arm. This arrangement can improve the stability of the wearing and is beneficial to improving the following accuracy of the robotic arm 1000.

[0091] In some embodiments of the present invention, the driving components 20 of multiple joint mechanisms 100 are connected in series via conductive lines. This series connection of the driving components 20 of each joint mechanism 100 simplifies the wiring layout of the robotic arm 1000, eliminating the need for separate power supply and signal transmission lines for each driving component 20, significantly reducing the total amount of conductive lines used and lowering the probability of messy or tangled wiring. Furthermore, the uniform and orderly routing of the series-connected lines allows for centralized storage within the mounting housings 10 and housing connection holes of each joint mechanism 100, further reducing exposed wiring and improving wiring neatness. Simultaneously, the series-connected wiring simplifies the assembly process; during assembly, only a single continuous threading is required to complete the electrical connection of all driving components 20, shortening assembly time and improving mass production efficiency. In addition, fewer overall wiring nodes reduce the probability of signal interruptions and drive failures caused by loose connections or poor contact.

[0092] In some embodiments of the present invention, such as Figures 6-7 As shown, the wheel structure 30 includes a first connecting body 32 and a second connecting body 33. The first connecting body 32 and the second connecting body 33 are arranged and connected along the axial direction of the wheel structure 30. The first connecting body 32 and the second connecting body 33 can be connected by means of welding, bonding, snap-fitting, etc., or the first connecting body 32 and the second connecting body 33 can be integrally formed.

[0093] The first connector 32 is configured to mate with the drive element 20 of the upstream joint mechanism 100 in a pair of adjacent joint mechanisms 100, and the second connector 33 is configured to mate with the mounting shell 10 of the downstream joint mechanism 100. Connecting the drive element 20 and the mounting shell 10 via the wheel structure 30 allows the power output by the drive element 20 to be transmitted to the corresponding mounting shell 10, thereby increasing the torque output by the drive element 20, reducing the risk of structural twisting and breakage, and improving the driving accuracy of the drive element 20 and the precision of remote control. By providing the first connector 32 and the second connector 33, it is easy to mate the first connector 32 with the corresponding drive element 20 and the second connector 33 with the corresponding mounting shell 10, thereby reducing the assembly difficulty of the robotic arm 1000 and improving assembly efficiency.

[0094] As some embodiments of this application, the first connector 32 and the second connector 33 are coaxially arranged.

[0095] In some embodiments of the present invention, such as Figures 6-7As shown, the first connecting body 32 has a plurality of first mounting portions 321. These first mounting portions 321 are arranged circumferentially along the wheel structure 30 and are all configured to mate with the drive member 20. In some embodiments of this application, the first mounting portions 321 can be constructed as mounting holes, all of which are formed in the first connecting body 32. For example, the plurality of first mounting portions 321 are evenly spaced circumferentially along the wheel structure 30. The first mounting portions 321 are configured to mate with the drive member 20. In some embodiments of this application, components such as screws extending axially along the wheel structure 30 can pass through the first mounting portions 321 and the drive member 20 to mate with the drive member 20. This arrangement allows for smooth torque transmission between the drive member 20 and the first connecting body 32.

[0096] The second connecting body 33 has a plurality of second mounting portions 331. These second mounting portions 331 are arranged circumferentially along the wheel structure 30 and are all configured to mate with the mounting housing 10. In some embodiments of this application, the second mounting portions 331 can be constructed as mounting holes, all of which are formed in the second connecting body 33. For example, the plurality of second mounting portions 331 are evenly spaced circumferentially along the wheel structure 30. The second mounting portions 331 are configured to mate with the corresponding mounting housing 10. In some embodiments of this application, screws or other components can pass through the corresponding mounting housing 10 and connect to the second mounting portion 331 to mate with it. This arrangement allows for smooth torque transmission between the second connecting body 33 and the corresponding mounting housing 10.

[0097] Multiple second mounting parts 331 surround multiple first mounting parts 321. This arrangement allows for a reasonable placement of the multiple first mounting parts 321 and multiple second mounting parts 331. The inner ring of first mounting parts 321 connects to the drive component 20, and the outer ring of second mounting parts 331 connects to the corresponding mounting shell 10. The inner and outer double-layer rings are connected at multiple points. The torque is transmitted from the central drive component 20 through the inner first mounting parts 321 to the entire wheel structure 30, and then evenly distributed to the corresponding mounting shell 10 through the outer ring of second mounting parts 331. The force is distributed throughout the entire wheel structure 30, which significantly reduces the risk of local stress concentration and can withstand greater output torque to stably ensure the driving accuracy of remote control.

[0098] In some embodiments of the present invention, such as Figure 6As shown, the second connector 33 has multiple weight-reduction notches 332, which are arranged circumferentially along the wheel structure 30 so that the second connector 33 is constructed as multiple intersecting sub-connectors 333. As some embodiments of this application, the number of sub-connectors 333 is two, and the two sub-connectors 333 are orthogonally arranged.

[0099] By setting the weight reduction notch 332, the overall material usage of the wheel structure 30 can be significantly reduced, saving the cost of processing raw materials and reducing the weight of the wheel structure 30 itself, which is conducive to the lightweight design of the wheel structure 30. Moreover, the cross-set sub-connectors 333 can reliably form a load-bearing frame, improve the rigidity of the wheel structure 30, reduce the risk of twisting and breaking of the wheel structure 30 during transmission, and improve the driving accuracy and remote control accuracy.

[0100] In some embodiments of the present invention, such as Figures 6-7 As shown, the sub-connector 333 includes a first sub-part 3331 and a second sub-part 3332. Both ends of the first sub-part 3331 are connected to the second sub-part 3332. Specifically, along the extending direction of the first sub-part 3331, both ends of the first sub-part 3331 are connected to the second sub-part 3332. The first sub-part 3331 can be connected to the second sub-part 3332 by means of, but not limited to, welding, bonding, or snap-fitting. Alternatively, the first sub-part 3331 and the second sub-part 3332 can be integrally formed. From the end of the second sub-part 3332 away from the first sub-part 3331 to the end closer to the first sub-part 3331, the radial width of the second sub-part 3332 gradually decreases. The radial width of the first sub-part 3331 can remain unchanged, and the radial width of the first sub-part 3331 can be the same as the minimum radial width of the second sub-part 3332. The second sub-part 3332 forms a second mounting portion 331.

[0101] By constructing the second sub-part 3332 as a gradually narrowing structure with a wider outer edge, a smooth-transitioning load-bearing support surface can be formed. The torque load transmitted by the mounting shell 10 of the lower-level joint mechanism 100 through the second mounting part 331 can be evenly and smoothly distributed and transmitted to the first sub-part 3331, which can stably transmit larger torque, reduce the risk of twisting and breakage of the wheel structure 30, and ensure the driving accuracy of remote control. Moreover, multiple second mounting parts 331 are distributed on the second sub-part 3332. Since the radial dimension of the second sub-part 3332 is larger, it is beneficial to increase the locking contact area between the second mounting parts 331 and the mounting shell 10 of the lower-level joint mechanism 100. With the multi-point locking of multiple second mounting parts 331 arranged in a ring, the assembly centering effect is good, and the radial runout and eccentric gap during rotation are effectively reduced, improving the rotation positioning accuracy.

[0102] As some embodiments of this application, the radial width of the sub-connector 333 remains unchanged along the extending direction of the sub-connector 333.

[0103] In some embodiments of the present invention, such as Figure 7 As shown, the sub-connector 333 has a reinforcing portion 3333 protruding circumferentially along the wheel structure 30. In some embodiments of this application, a protruding reinforcing portion 3333 is formed on one side of the sub-connector 333 along the circumferential direction of the wheel structure 30. In some embodiments of this application, protruding reinforcing portions 3333 are formed on both sides of the sub-connector 333 along the circumferential direction of the wheel structure 30. This configuration can locally thicken and reinforce the sub-connector 333, significantly improving its bending and torsional resistance without significantly increasing the overall weight of the wheel structure 30. This reduces the risk of torsional deformation and cracking in the sub-connector 333, ensuring the wheel structure 30's ability to transmit large output torque.

[0104] In some embodiments of the present invention, such as Figure 3 As shown, at least a portion of the second connector 33 is configured to be housed in the corresponding mounting housing 10. As some embodiments of this application, after the second connector 33 is assembled with the corresponding mounting housing 10, a portion of the structure of the second connector 33 is housed in the corresponding mounting housing 10, or the entire structure of the second connector 33 is housed in the corresponding mounting housing 10. The second mounting portion 331 extends radially along the wheel structure 30.

[0105] By housing at least a portion of the second connector 33 within the corresponding mounting housing 10, the second connector 33 can be embedded into the mounting housing 10 to achieve embedded docking. This effectively reduces the overall space occupied by the wheel structure 30 and the adjacent joint mechanism 100, adapting to the miniaturized design of the robotic arm 1000. Furthermore, since the second mounting portion 331 extends radially along the wheel structure 30, the locking point converges towards the center of the wheel, without increasing the outer diameter of the wheel structure 30, resulting in a more compact overall structure. In addition, this arrangement allows the second connector 33 to directly extend into the mounting housing 10 for pre-positioning, and screws and other fasteners can be directly installed radially, facilitating assembly.

[0106] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0107] In the description of this invention, "first feature" and "second feature" may include one or more of the features.

[0108] In the description of this invention, "a plurality of" means two or more.

[0109] In the description of this invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0110] In the description of this invention, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature.

[0111] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0112] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An exoskeleton device, characterized in that, include: A robotic arm includes: multiple joint mechanisms, wherein the multiple joint mechanisms are sequentially connected in a transmission manner; The support structure includes: a support base and a connecting seat. The support base defines a receiving space and is configured to be placed on a bearing surface. Along the height direction of the exoskeleton device, the connecting seat is located above the support base and connected to the support base. Along a first direction, both ends of the connecting seat are connected to the robotic arm. The first direction is perpendicular to the height direction of the exoskeleton device. A controller, which is housed within the housing space and configured to be connected to both ends of the robotic arm of the connector, is further configured to receive data sent by the robotic arm and to output control signals to the robotic arm.

2. The exoskeleton device according to claim 1, characterized in that, The connecting base includes: a horizontal support portion and two connecting portions. The horizontal support portion extends along the first direction, and the two connecting portions extend along the height direction of the exoskeleton device and their lower ends are respectively connected to the two ends of the horizontal support portion. The two connecting portions are respectively connected to the two robotic arms.

3. The exoskeleton device according to claim 2, characterized in that, Both of the connecting portions are formed with mounting grooves that are open to each other along the first direction, and the portion of the joint mechanism of the robotic arm closest to the corresponding connecting portion is received in the mounting groove.

4. The exoskeleton device according to claim 1, characterized in that, The support structure further includes a support member, which is connected between the support base and the connecting seat.

5. The exoskeleton device according to claim 4, characterized in that, The support base has a sleeve portion at one end facing the support member, and the connecting seat has a sleeve portion at one end facing the support member. The support member passes through the sleeve portion. The cross-sectional area of ​​the sleeve portion gradually decreases from one end of the sleeve portion away from the other sleeve portion to the end of the sleeve portion closer to the other sleeve portion.

6. The exoskeleton device according to claim 1, characterized in that, At least one pair of adjacent joint mechanisms are configured as a first type of mechanism group, in which, along the power transmission direction, the upstream joint mechanism is used to drive the downstream joint mechanism to rotate about an axis parallel to its own centerline. At least one pair of adjacent joint mechanisms are configured as a second type of mechanism group, in which, along the power transmission direction, the upstream joint mechanism is used to drive the downstream joint mechanism to swing about an axis perpendicular to its own centerline.

7. The exoskeleton device according to claim 6, characterized in that, Along the direction of power transmission and from upstream to downstream, the first type of mechanism group and the second type of mechanism group are arranged alternately.

8. The exoskeleton device according to claim 7, characterized in that, The number of joint mechanisms is seven, and the seven joint mechanisms are the first joint mechanism, the second joint mechanism, the third joint mechanism, the fourth joint mechanism, the fifth joint mechanism, the sixth joint mechanism, and the seventh joint mechanism, which are connected in sequence.

9. The exoskeleton device according to claim 6, characterized in that, The joint mechanism includes: a mounting housing and a drive member, at least a portion of which is housed within a corresponding mounting housing and is drively connected to the mounting housing of an adjacent downstream joint mechanism.

10. The exoskeleton device according to claim 9, characterized in that, Also includes: In the first type of mechanism group, the wheel structure is drive-connected between the drive member of the upstream joint mechanism and the mounting housing of the downstream joint mechanism.

11. The exoskeleton device according to claim 10, characterized in that, In the first type of mechanism group, the mounting shell of the downstream joint mechanism has a receiving groove open toward the upstream joint mechanism at one end, and at least a portion of the wheel structure is received in the adjacent receiving groove.

12. The exoskeleton device according to claim 9, characterized in that, At least one of the joint mechanisms has a sidewall of the mounting housing with a wire-avoiding through hole that connects the interior of the mounting housing to the outside of the robotic arm, the wire-avoiding through hole being configured to allow a conductive line to pass through.

13. The exoskeleton device according to claim 12, characterized in that, The plurality of joint mechanisms include a first joint mechanism, a second joint mechanism, and a third joint mechanism that are sequentially connected along the power transmission direction. The first joint mechanism is connected to the connecting seat. Along the radial direction of the mounting shell of the second joint mechanism, a portion of the driving member of the second joint mechanism extends out of the corresponding mounting shell and is connected to the mounting shell of the third joint mechanism. The mounting shell of the third joint mechanism is located on one radial side of the mounting shell of the second joint mechanism. The mounting shells of the first joint mechanism and the third joint mechanism are both formed with the wire-avoiding through hole. The driving members of the first joint mechanism and the second joint mechanism are connected through the wire-avoiding through hole of the mounting shell of the first joint mechanism. The driving members of the third joint mechanism and the second joint mechanism are connected through the wire-avoiding through hole of the mounting shell of the third joint mechanism.

14. The exoskeleton device according to claim 13, characterized in that, The mounting shell of the third joint mechanism has two shell connecting portions at one end facing the second joint structure. The two shell connecting portions are located at both ends of the driving member of the second joint mechanism and are connected to the driving member in a transmission manner.

15. The exoskeleton device according to claim 14, characterized in that, The plurality of joint mechanisms further include: a fourth joint mechanism, a fifth joint mechanism, and a sixth joint mechanism. Along the power transmission direction, the third joint mechanism, the fourth joint mechanism, the fifth joint mechanism, and the sixth joint mechanism are sequentially connected in a transmission manner. Along the end of the fourth joint mechanism near the third joint mechanism to the end away from the third joint mechanism, at least a portion of the cross-sectional area of ​​the mounting shell of the fourth joint mechanism gradually decreases. The third joint mechanism and the fifth joint mechanism have the same structure, and the fourth joint mechanism and the sixth joint mechanism have the same structure.

16. The exoskeleton device according to claim 15, characterized in that, The driving member of the fourth joint mechanism is disposed at one end of the corresponding mounting shell near the fifth joint mechanism. A portion of the driving member of the fourth joint mechanism extends out of the corresponding mounting shell. The two shell connecting portions of the mounting shell of the fifth joint mechanism are connected to the exposed portion of the driving member of the fourth joint mechanism. The driving members of the fourth joint mechanism and the fifth joint mechanism are connected through the wire-avoiding through hole in the mounting shell of the fifth joint mechanism.

17. The exoskeleton device according to claim 15, characterized in that, The plurality of joint mechanisms further include: a seventh joint mechanism, which is located downstream of the sixth joint mechanism and is connected to the sixth joint mechanism in the power transmission direction. The connection method between the mounting shell of the seventh joint mechanism and the drive member of the sixth joint mechanism is the same as the connection method between the mounting shell of the fifth joint mechanism and the drive member of the fourth joint mechanism.

18. The exoskeleton device according to any one of claims 12-17, characterized in that, The mounting housing has the wire-avoiding through holes formed on both opposite side walls. And / or, the drive components of the plurality of said joint mechanisms are connected in series via the conductive lines.

19. The exoskeleton device according to claim 10 or 11, characterized in that, The wheel structure includes a first connecting body and a second connecting body. The first connecting body and the second connecting body are arranged and connected along the axial direction of the wheel structure. The first connecting body is configured to cooperate with the drive member of the upstream joint mechanism in a pair of adjacent joint mechanisms. The second connecting body is configured to cooperate with the mounting shell of the downstream joint mechanism.

20. The exoskeleton device according to claim 19, characterized in that, The first connector has a plurality of first mounting portions arranged circumferentially along the wheel structure and configured to mate with the drive component. The second connector has a plurality of second mounting portions arranged circumferentially along the wheel structure and configured to mate with the mounting shell. The plurality of second mounting portions surround the outer side of the plurality of first mounting portions.

21. The exoskeleton device according to claim 20, characterized in that, The second connector has multiple weight-reduction notches, which are arranged circumferentially along the wheel structure to make the second connector a plurality of intersecting sub-connectors.

22. The exoskeleton device according to claim 21, characterized in that, The sub-connector includes: a first sub-part and a second sub-part. Both ends of the first sub-part are connected to the second sub-part. The radial width of the second sub-part gradually decreases from the end of the second sub-part away from the first sub-part to the end of the second sub-part close to the first sub-part. The second sub-part forms the second mounting part. And / or, the sub-connector is formed with a reinforcing portion that protrudes circumferentially along the disc structure; And / or, at least a portion of the second connector is configured to be housed within the corresponding mounting housing and the second mounting portion extends radially along the disc structure.

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