Flexible binding device for exoskeleton robot

Abstract

The utility model provides a flexible binding device for an exoskeleton robot. The device comprises a binding fixing body; a fixing part of the flexible binding piece is arranged on the binding fixing body, and an adjusting part of the flexible binding piece is arranged on one side of the binding fixing body in an extending mode; the connecting piece is detachably connected with the first end of the binding fixing body, a winding knob mechanism is arranged on the connecting piece, a binding stretching rope is arranged on the winding knob mechanism, the binding stretching rope is wound or released through the winding knob mechanism, and then the binding tightening degree of the flexible binding piece is adjusted. Therefore, automatic binding is realized. According to the flexible binding device, the winding end of the binding stretching rope is wound or released through the winding knob mechanism, then the flexible binding piece arranged between the binding stretching rope and the human body is driven to be tightened towards the human body or loosened away from the human body, and the tightening or loosening action of the flexible binding device is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of exoskeleton robots, and in particular to a flexible binding device for exoskeleton robots. Background Art

[0002] Exoskeletons are assistive mechanical structures designed to enhance human strength, improve movement or provide rehabilitation. They are often used in the medical field, military applications or industrial work to provide additional support and protection to the user.

[0003] Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, fusion, and mobile computing to provide a wearable mechanical mechanism for people as operators. This article briefly introduces the development status and trends of exoskeleton world robot technology in the military field. Exoskeleton robot refers to a robot that is worn outside the human body, also known as a "wearable robot."

[0004] Although existing exoskeleton robots have made many technological breakthroughs, some devices still have shortcomings, one of which is that the length of the belt on the quick-release buckle needs to be manually adjusted to achieve the tightness of the device on the human body. This requirement is cumbersome and inconvenient, and may require users to try and adjust multiple times to achieve the ideal comfort and support. This situation may be time-consuming and inconvenient for users to put on and take off the exoskeleton robot or adapt to different usage scenarios. Utility Model Content

[0005] In view of this, the utility model proposes a flexible binding device for an exoskeleton robot, aiming to solve the problem that the existing exoskeleton robot needs to manually adjust the length of the binding parts on the quick-release buckle to achieve the tightness of the exoskeleton robot at the corresponding position of the human body.

[0006] The utility model proposes a flexible binding device for an exoskeleton robot, the device comprising: a binding fixture; a flexible binding piece, a fixing portion being arranged on the binding fixture, an adjusting portion being extended on one side of the binding fixture, and being used for binding around the periphery of a human leg; a connecting piece, connected to a first end of the binding fixture in a detachable manner, and a winding knob mechanism being arranged on the connecting piece, a binding stretching rope being arranged on the winding knob mechanism, the binding stretching rope being wound or released by the winding knob mechanism, and then adjusting the binding tightness of the flexible binding piece to achieve automatic binding.

[0007] Furthermore, in the above-mentioned flexible binding device for an exoskeleton robot, the winding knob mechanism includes: a support limit member, a rotation limit groove is provided on the support limit member; an annular winding disk is rotatably arranged in the rotation limit groove, and is used to wind or release the binding stretch rope wound around the periphery; a locking member, the outer wall of the locking member is meshed with the inner wall of the annular winding disk, and is used to drive the annular winding disk to rotate synchronously to achieve the winding or release of the binding stretch rope; a buckle is buckled at the open end of the rotation limit groove, the buckle is rotatably connected to the support limit member, and the buckle is also connected to the locking member, and is used to drive the locking member to rotate relative to the support limit member, and the annular winding disk rotates synchronously with the locking member to achieve the winding or release of the binding stretch rope.

[0008] Furthermore, in the above-mentioned flexible binding device for an exoskeleton robot, the turn buckle is connected to the support limit member in a manner that can be position-adjusted along the axial direction of the rotation limit groove, and the locking piece is slidably arranged inside the annular winding disk along the axial direction of the annular winding disk, for realizing locking and disengagement and unlocking between the locking piece and the annular winding disk, so that when the locking piece is locked between the annular winding disk, the locking piece and the annular winding disk can rotate synchronously, and when the locking piece is disengaged and unlocked from the annular winding disk, the locking piece can idle.

[0009] Furthermore, in the above-mentioned flexible binding device for an exoskeleton robot, the locking piece is also connected to a binding adjustment motor for driving the locking piece to rotate, so as to realize the electric rotation of the annular winding drum, and further realize the electric winding or release of the binding stretch rope.

[0010] Furthermore, in the above-mentioned flexible binding device for an exoskeleton robot, the outer wall of the locking piece is provided with a first engaging structure, and the inner wall of the annular winding drum may be provided with a second engaging structure adapted to the first engaging structure.

[0011] Furthermore, in the above-mentioned flexible binding device for an exoskeleton robot, the first meshing structure and the second meshing structure are bidirectional rotating tooth structures or unidirectional rotating pawl structures.

[0012] Furthermore, in the above-mentioned flexible binding device for an exoskeleton robot, the fixed end of the binding stretch rope is arranged at the second end of the binding fixed body, and after being wound around the outside of the flexible binding piece, the winding end is wound around the winding knob mechanism, and is used to form an annular structure sleeved on the outer periphery of the flexible binding piece between the binding stretch rope, the connecting piece and the binding fixed body when the connecting piece is installed on the binding fixed body, so that the binding stretch rope can be wound or released through the winding knob mechanism, thereby adjusting the binding tightening degree of the flexible binding piece to achieve automatic Binding; or, one end of the binding stretch rope is wound around the winding knob mechanism, and is turned back after winding around the winding hole, and the other end is connected to the connecting piece or the fixed part of the winding knob mechanism, and is used to form an annular structure between the flexible binding part, the binding stretch rope, the connecting piece and the binding fixed body when the connecting piece is installed on the binding fixed body, so that the binding stretch rope can be wound or released through the winding knob mechanism, and then the flexible binding part is stretched to adjust the binding tightness of the flexible binding part to achieve automatic binding.

[0013] Furthermore, in the above-mentioned flexible binding device for an exoskeleton robot, a pressure sensor is provided on the inner side of the flexible binding member for obtaining the pressure between the flexible binding member and the human body.

[0014] Furthermore, in the above-mentioned flexible binding device for an exoskeleton robot, the pressure sensor is connected to a binding controller for receiving the pressure between the flexible binding member and the human body, and controlling the winding knob mechanism according to the pressure data to control the tightening, tightening force and unbinding of the flexible binding member.

[0015] Furthermore, in the above-mentioned flexible binding device for an exoskeleton robot, the winding knob mechanism is also connected to at least one of a control button and a mobile terminal, and the control button or the mobile terminal is used to control the operation of the winding knob mechanism to control the tightening, tightening force and unbinding of the flexible binding member.

[0016] The flexible binding device for an exoskeleton robot provided by the utility model winds or releases the winding end of the binding stretch rope through a winding knob mechanism, so that the length of the binding stretch rope extending outside the winding knob mechanism is shortened or lengthened, so that the binding stretch rope is gradually tightened toward the human body or relaxed away from the human body, thereby driving the flexible binding member placed between the binding stretch rope and the human body to tighten toward the human body or relax away from the human body, or driving the flexible binding member to tighten or relax along with the binding stretch rope, so that the flexible binding member can be bound to the corresponding position of the human body or untied, that is, the tightening or loosening action of the flexible binding device is realized, thereby realizing the tightening action of the exoskeleton device on the human body, and the user does not need to manually adjust the binding device, which saves time and speeds up the speed of wearing and taking off the device. In addition, the device can also automatically perform tightening adjustment according to the physical condition and needs, provide comfortable support and fit for the user, and solves the problem that the existing exoskeleton robot needs to manually adjust the length of the binding member on the quick-release lock buckle to achieve the tightness of the exoskeleton robot at the corresponding position of the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] By reading the detailed description of the preferred embodiment below, various other advantages and benefits will become clear to those of ordinary skill in the art. The accompanying drawings are only used for the purpose of illustrating the preferred embodiment and are not considered to be limiting of the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0018] Figure 1 A schematic diagram of the structure of a flexible binding device for an exoskeleton robot provided in an embodiment of the utility model;

[0019] Figure 2 A schematic diagram of the structure of a winding knob mechanism provided in an embodiment of the utility model;

[0020] Description of reference numerals:

[0021] 1-binding fixing body, 2-flexible binding part, 3-connecting piece, 4-binding stretching rope, 5-winding knob mechanism, 51-support limiting part, 511-rotation limiting groove, 512-motor giving way groove, 52-annular winding disk, 521-winding groove, 53-locking part, 54-turn buckle, 55-binding adjustment motor, 6-pressure sensor. DETAILED DESCRIPTION

[0022] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] First embodiment:

[0024] See also Figure 1 , which is a structural schematic diagram of a flexible binding device for an exoskeleton robot provided by an embodiment of the utility model. As shown in the figure, the flexible binding device is described in detail by taking the leg strap as an example. The device includes: a binding fixture 1, a flexible binding member 2, a connecting piece 3, a binding stretching rope 4 and a winding knob mechanism 5; wherein, the fixing portion of the flexible binding member 2 is arranged on the inner wall of the binding fixture 1, and the adjustment portion is extended on one side of the binding fixture 1, and is used to be bound to the periphery of the human leg; the connecting piece 3 is connected to the first end of the binding fixture 1 in a detachable manner, and a winding knob mechanism 5 is provided on the connecting piece 3, and a binding stretching rope 4 is provided on the winding knob mechanism 5, and the binding stretching rope is wound or released by the winding knob mechanism, so that the binding stretching rope is gradually tightened toward the human body or relaxed away from the human body, and then the binding tightening degree of the flexible binding member is adjusted to achieve automatic binding. Among them, one end of the binding stretch rope 4 is arranged at the other end of the binding fixed body 1, and after passing through the outside of the flexible binding part 2, the other end is wound on the winding knob mechanism 5, which is used to form an annular structure that is sleeved on the outer periphery of the flexible binding part 2 between the binding stretch rope 4, the connecting piece 3 and the binding fixed body 1 when the connecting piece 3 is installed on the binding fixed body 1, so as to wind or release the binding stretch rope 4 through the winding knob mechanism 5, and then adjust the binding tightness of the flexible binding part 2 to achieve automatic binding.

[0025] Specifically, the binding fixture 1 can be an arc-shaped structure, which can be arranged on the sliding adjustment part 22 on the thigh length adjustment mechanism 2 or the calf length adjustment mechanism, and can support the flexible binding member 2. The flexible binding member 2 is arranged on the inner side of the binding fixture 1, that is, on the side close to the human body, and the fixing part is fixedly installed on the inner wall of the binding fixture 1. The adjustment part is extended on one side of the binding fixture 1, and can form an arc-shaped structure to be bound on the periphery of the human leg. The connecting piece 3 is connected to the first end (such as the leg) of the binding fixture 1 in a detachable manner. Figure 1The connecting piece 3 is provided with a winding knob mechanism 5, and the winding knob mechanism 5 is provided with a binding stretching rope 4, and the fixed end of the binding stretching rope 4 is arranged at the second end of the binding fixed body 1 (as shown in Figure 1 The upper end shown in the figure), and after winding around the outside of the flexible binding member 2, the winding end is wound on the winding knob mechanism 5. The connecting piece 3 is installed on the first end of the binding fixed body 1, so that the binding stretch rope 4, the connecting piece 3 and the binding fixed body 1 are surrounded to form an annular structure, and the flexible binding member 2 is placed inside the annular structure, and the binding stretch rope 4 can be wound by the winding knob mechanism 5 to pull the flexible binding member 2 against the human leg to tighten, and the tightening force can also be increased to achieve automatic binding; and the binding stretch rope 4 can be released by the winding knob mechanism 5 to loosen the stretch on the flexible binding member 2 and reduce the tightening force. Among them, the flexible binding member 2 can be a protective gear belt, or other flexible belt-like structures, which can be wrapped around the outer periphery of the leg to achieve binding and fixation. In this embodiment, the connecting piece 3 and the binding fixed body 1 can be connected by Velcro, a lock, or by magnet attraction.

[0026] Continue to see Figure 1 , a pressure sensor 6 is provided on the inner wall of the flexible binding part 2, and the binding controller can be connected to the winding knob mechanism 5 to control the winding knob mechanism 5, so as to control the winding and releasing of the binding stretch rope 4. Specifically, the binding controller can control the winding knob mechanism 5 according to the pressure data obtained by the pressure sensor 6. For example, when the pressure data is less than the preset low pressure, that is, when the binding is loose, the binding controller can control the winding knob mechanism 5 to run forward, so that the winding end of the binding stretch rope 4 is wound, that is, the binding stretch rope 4 is shortened at the extended part, and tightened, so that the flexible binding part 2 is tightened accordingly, until the pressure data is greater than or equal to the preset low pressure, and the binding controller controls the winding knob mechanism 5 to stop running, completing the automatic tightening function of the binding. That is to say, the binding stretch rope 4, the winding knob mechanism 5, the binding controller, etc. serve as the binding automatic tightening components, which are responsible for automatically adjusting the tightening degree of the flexible binding member 2, and controlling the winding or releasing of the binding stretch rope 4 through the winding knob mechanism 5, so that the flexible binding member 2 can be automatically tightened or relaxed. Of course, the control button or mobile terminal can also be connected to the winding knob mechanism 5 to control the winding knob mechanism 5 respectively, so as to control the winding and releasing of the binding stretch rope 4 by the winding knob mechanism 5, thereby realizing the binding control of the flexible binding member 2.

[0027] See also Figure 2, which is a schematic diagram of the structure of the winding knob mechanism 5 provided by the embodiment of the utility model. As shown in the figure, the winding knob mechanism 5 includes: a support limiter 51, an annular winding disk 52, a locking piece 53 and a turn buckle 54; wherein, a rotation limiter groove 511 is provided on the support limiter 51; the annular winding disk 52 is rotatably arranged in the rotation limiter groove 511, and is used for winding or releasing the binding stretch rope 4 wound around the periphery; the outer wall of the locking piece 53 is meshed with the inner wall of the annular winding disk 52, and is used for driving the annular winding disk 52 to rotate synchronously, so as to realize the winding or releasing of the binding stretch rope 4; the turn buckle 54 is buckled at the open end of the rotation limiter groove 511 (such as Figure 2 As shown in the upper end of the figure, the turn buckle 54 is connected to the support limit member 51 in a rotatable manner, and the turn buckle 54 is also connected to the locking member 53, which is used to drive the locking member 53 to rotate relative to the support limit member 51, so that the annular winding drum 52 rotates synchronously with the locking member 53 to realize the winding or release of the binding stretch rope 4.

[0028] Specifically, the support and limit member 51 can be a cylindrical structure with a bottom support plate, and the hollow interior of the cylindrical structure can be used as a rotation limit groove 511 to limit the annular winding drum 52; the lower part of the bottom support plate of the support and limit member 51 is also provided with a motor clearance groove 512, so that the binding adjustment motor 55 can be located at the motor clearance groove 512, making the structure compact; at the same time, a rope outlet hole is provided on the side plate of the support and limit member 51, so that the binding stretching rope 4 on the internal annular winding drum 52 can extend from the rope outlet hole to the outside to be connected to the binding fixing body 1, so as to realize the tightening of the flexible binding member 2. The annular winding disk 52 is rotatably disposed in the rotation limit groove 511. The annular winding disk 52 may be an annular structure with a rotation shaft hole disposed therein, so that the rotation shaft of the binding adjustment motor 55 can be passed through the rotation shaft hole and connected to the locking piece 53, so that the locking piece 53 can be driven to rotate by the binding adjustment motor 55. The outer wall of the annular winding disk 52 is provided with a winding groove 521 along its circumference, so that the binding stretch rope 4 can be wound in the winding groove 521 and wound around the outer wall of the annular winding disk 52. The locking piece 53 is disposed in the rotation shaft hole of the annular winding disk 52 and meshes with the inner wall of the annular winding disk 52, so as to drive the annular winding disk 52 to rotate synchronously. The turn buckle 54 is buckled at the open end of the rotation limit groove 511, which can not only realize the closure of the rotation limit groove 511, that is, the annular winding disk 52 and the locking piece 53 are blocked in the rotation limit groove 511, but also the inner wall of the turn buckle 54 (such as Figure 2The bottom wall of the annular winding disk 52 is connected to the locking member 53, and the turn button 54 can also rotate relative to the support stopper 51 to drive the locking member 53 to rotate synchronously, thereby driving the annular winding disk 52 to rotate synchronously, thereby realizing the winding and release of the binding stretch rope 4. Among them, the outer wall of the locking member 53 can be provided with a first meshing structure, and the inner wall of the annular winding disk 52 can be provided with a second meshing structure adapted to the first meshing structure, so as to realize the combined locking of the two, thereby ensuring the synchronous rotation of the two after the combination. In this embodiment, the first meshing structure and the second meshing structure can be tooth structures, or other structures.

[0029] In this embodiment, the locking member 53 is also connected to a binding adjustment motor 55, which is used to drive the locking member 53 to rotate, so as to realize the electric rotation of the annular winding disk 52, and then realize the electric winding or release of the binding stretch rope 4. Specifically, the binding adjustment motor 55 is arranged at the motor clearance groove 512, and the winding and release of the binding stretch rope 4 can be realized through the turn buckle 54 and the binding adjustment motor 55. In particular, the setting of the binding adjustment motor 55 can realize electric binding, especially automatic binding.

[0030] In this embodiment, the knob 54 rotates along the axial direction of the limiting groove 511 (eg Figure 2The locking piece 53 is connected to the supporting limit piece 51 in a manner that can be adjusted in position (in the vertical direction shown), and the locking piece 53 is slidably arranged in the interior of the annular winding disk 52, i.e., in the rotating shaft hole, along the axial direction of the annular winding disk 52, for realizing locking and disengaging and unlocking between the locking piece 53 and the annular winding disk 52, so that the locking piece 53 can move down to the interior of the annular winding disk 52 and lock with the annular winding disk 52, so that the locking piece 53 and the annular winding disk 52 can rotate synchronously, and when the locking piece 53 is disengaged and unlocked from the annular winding disk 52, the locking piece 53 can idle, and the binding stretch rope 4 can be released under the action of external force, and the annular winding disk 52 can be driven to rotate in the opposite direction, and the locking piece 53 and the like can be prevented from interfering with or affecting the flipping of the annular winding disk 52 when the annular winding disk 52 is reversed under the action of external force. Among them, the first meshing structure and the second meshing structure can be a pawl structure, through which the locking piece 53 can drive the annular winding disk 52 to move in one direction, that is, the locking piece 53 is a locking pawl structure. Specifically, the locking piece 53 is arranged in the rotating shaft hole of the annular winding disk 52 and meshes with the inner wall of the annular winding disk 52, and the locking piece 53 is connected to the annular winding disk 52 in a slidable manner along the axial direction of the annular winding disk 52, so that it can slide to the top of the annular winding disk 52 and disengage from the annular winding disk 52, and can also slide to the inside of the annular winding disk 52, that is, the rotating shaft hole, so as to be combined and locked with the annular winding disk 52, that is, meshed. Of course, the turn button 54 can also be connected with a combined driving member to drive the turn button 54 to move up and down, so as to realize the state switching between the locking piece 53 and the annular winding disk 52, that is, combined locking or disengagement, and of course it can also be received Switching.

[0031] In this embodiment, the binding fixing body 1 may also be provided with an installation sensor for obtaining the connection status between the connecting piece 3 and the binding fixing body 1; the installation sensor can be connected to the binding controller, and the binding controller is used to control the combined driving member when the connecting piece 3 and the binding fixing body 1 are in a connected state, so as to drive the turn buckle 54 and the locking piece 53 to move downward, so that the locking piece 53 is combined and locked with the annular winding disk 52; when the pressure data is less than the preset low pressure, the binding adjustment motor 55 is controlled to rotate forward to drive the locking piece 53 to rotate forward, and drive the annular winding disk 52 to rotate forward, so as to realize the winding of the binding stretch rope 4, and then realize the tightening of the flexible binding member 2, until the pressure data is greater than or equal to the preset low pressure, and the binding controller controls the binding adjustment motor 55 to stop running, thereby completing the automatic tightening function of the binding. In addition, the knob 54 can be manually pulled upward, or the binding controller can be used to control the combined driving member to drive the knob 54 and the locking member 53 to move upward, so that the locking member 53 is separated from the annular winding disk 52, the annular winding disk 52 can rotate freely, and the binding stretch rope 4 can be released, so that the flexible binding member 2 can be loosened or untied. Of course, the tightening force can also be controlled through the mobile terminal APP, and the operating status and related parameters can also be observed through the mobile terminal, and can be uploaded to the cloud.

[0032] Of course, the structures and adjustment methods of other binding mechanisms such as the shoulder strap binding mechanism, the chest binding mechanism, the foot binding mechanism on the foot support mechanism, and the waist binding mechanism can also refer to the structure and adjustment method of the flexible binding device in the first embodiment.

[0033] In summary, the flexible binding device provided in this embodiment can wind or release the winding end of the binding stretch rope through the winding knob mechanism, so that the length of the binding stretch rope extending outside the winding knob mechanism can be shortened or lengthened, that is, the binding stretch rope can be gradually tightened toward the human body or relaxed away from the human body, and then the flexible binding part placed between the binding stretch rope and the human body can be tightened toward the human body or relaxed away from the human body, so that the flexible binding part can be bound to the corresponding position of the human body or untied, that is, the tightening or loosening action of the flexible binding device is realized, thereby realizing the tightening and loosening action of the exoskeleton device on the human body. The user does not need to manually adjust the binding device, which saves time and speeds up the speed of wearing and taking off the device. Moreover, the device can also automatically adjust the tightening according to the physical condition and needs, provide the user with comfortable support and fit, and solve the problem that the existing exoskeleton robot needs to manually adjust the length of the binding part on the quick-release lock to achieve the tightness of the exoskeleton robot at the corresponding position of the human body.

[0034] Second embodiment:

[0035] In this embodiment, the leg binding mechanism may include: a binding fixing body, a flexible binding member, a connecting piece, a binding stretch rope and a winding knob mechanism; wherein, the fixing portion of the flexible binding member is arranged on the binding fixing body, and the adjusting portion is extended on one side of the binding fixing body, and is used for binding on the periphery of the human leg; and a winding hole is provided at the end of the adjusting portion away from the fixing portion; the connecting piece is arranged on the binding fixing body in a detachable manner, and a winding knob mechanism is provided on the connecting piece, and a binding stretch rope is provided on the winding knob mechanism, and the binding stretch rope is wound or released by the winding knob mechanism, so that the binding stretch rope is gradually tightened toward the human body or relaxed away from the human body, thereby adjusting the binding tightness of the flexible binding member to achieve automatic binding. Among them, one end of the binding stretch rope is wound on the winding knob mechanism, and is turned back after winding around the winding hole, and the other end is connected to the connecting piece or the fixed part of the winding knob mechanism. When the connecting piece is installed on the binding fixed body, a ring structure is formed between the flexible binding part, the binding stretch rope, the connecting piece and the binding fixed body, so that the binding stretch rope can be wound or released through the winding knob mechanism, and then the flexible binding part can be stretched to adjust the binding tightness of the flexible binding part to achieve automatic binding.

[0036] In this embodiment, the binding fixing body, the flexible binding member, and the winding knob mechanism can refer to the structure of the second embodiment of the flexible binding device. The flexible binding member is different in that the adjustment portion of the flexible binding member is away from the end of the fixing portion, for example Figure 1 The lower end shown is a free end, and one or more winding holes are provided at the free end. The end of the connecting piece close to the free end may also be provided with a winding hole, and the number of the winding holes on the connecting piece is one less than the number of the winding holes on the free end of the flexible binding piece, and the winding holes are arranged in a staggered manner. At the same time, the difference between this embodiment and the second embodiment lies in the arrangement of the binding stretch rope; in this embodiment, one end of the binding stretch rope is wound on the winding knob mechanism, that is, the outer periphery of the annular winding rope of the winding knob mechanism, and then extends to the free end of the flexible binding piece, and passes through the winding hole at the upper or lower end of the free end of the flexible binding piece, then turns back and passes through the winding hole at the same end of the connecting piece, turns back again, passes through and winds in sequence until the winding hole at the other end of the free end of the flexible binding piece, then turns back, extends to the connecting piece, and is fixed on the connecting piece or fixed on the fixed part of the winding knob mechanism, such as the support limit piece. The automatic binding method can also refer to the binding method in the second embodiment. The difference is that in the second embodiment, the binding stretch rope tightens the flexible binding member from the outside thereof, while in this embodiment, the binding stretch rope can stretch the free end of the flexible binding member to achieve tightening.

[0037] Of course, the structures and adjustment methods of other binding mechanisms such as the shoulder strap binding mechanism, the chest binding mechanism, the foot binding mechanism on the foot support mechanism, and the waist binding mechanism can also refer to the structure and adjustment method of the leg binding mechanism in this embodiment.

[0038] In summary, the flexible binding device provided in this embodiment can wind or release the winding end of the binding stretch rope through the winding knob mechanism, so that the length of the binding stretch rope extending outside the winding knob mechanism can be shortened or lengthened, and then the flexible binding member can be stretched or released through the fixed end of the binding stretch rope, and the flexible binding member can be tightened toward the human body or relaxed away from the human body, so that the flexible binding member can be bound to the corresponding position of the human body or untied, that is, the tightening or loosening action of the flexible binding device is realized, thereby realizing the tightening and loosening action of the exoskeleton device on the human body. The user does not need to manually adjust the binding device, which saves time and speeds up the speed of wearing and taking off the device. Moreover, the device can also automatically adjust the tightening according to the physical condition and needs, providing the user with comfortable support and fit, and solving the problem that the existing exoskeleton robot needs to manually adjust the length of the binding member on the quick-release lock to achieve the tightness of the exoskeleton robot at the corresponding position of the human body.

[0039] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0040] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A flexible binding device for an exoskeleton robot, characterized in that: include: Binding fixed body; A flexible binding member, wherein the fixing portion is arranged on the binding fixing body, and the adjusting portion is extended on one side of the binding fixing body, and is used for binding on the periphery of the human leg; The connecting piece is detachably connected to the first end of the binding fixed body, and a winding knob mechanism is provided on the connecting piece, and a binding stretch rope is provided on the winding knob mechanism. The binding stretch rope is wound or released by the winding knob mechanism, so that the binding stretch rope is gradually tightened toward the human body or relaxed away from the human body, thereby adjusting the binding tightening degree of the flexible binding member to achieve automatic binding.

2. The flexible binding device for an exoskeleton robot according to claim 1, characterized in that: The winding knob mechanism comprises: A support limiter, wherein the support limiter is provided with a rotation limiter groove; An annular winding drum is rotatably arranged in the rotation limit groove, and is used for winding or releasing the binding stretch rope wound around the periphery; A locking piece, the outer wall of which is engaged with the inner wall of the annular winding drum, and is used to drive the annular winding drum to rotate synchronously to achieve winding or releasing of the binding stretch rope; A turn buckle is buckled at the open end of the rotation limit groove, and the turn buckle is connected to the support limit member in a rotatable manner. The turn buckle is also connected to the locking member to drive the locking member to rotate relative to the support limit member. The annular winding disk rotates synchronously with the locking member to achieve winding or releasing of the binding stretch rope.

3. The flexible binding device for an exoskeleton robot according to claim 2, characterized in that: The turn buckle is connected to the support limit member in a manner that can be adjusted in position along the axial direction of the rotation limit groove, and the locking piece is slidably arranged inside the annular winding disk along the axial direction of the annular winding disk, for realizing locking and disengagement and unlocking between the locking piece and the annular winding disk, so that when the locking piece is locked between the annular winding disk, the locking piece and the annular winding disk can rotate synchronously, and when the locking piece is disengaged and unlocked from the annular winding disk, the locking piece can idle.

4. The flexible binding device for an exoskeleton robot according to claim 2, characterized in that: The locking piece is also connected to a binding adjustment motor for driving the locking piece to rotate, so as to realize the electric rotation of the annular winding drum, and further realize the electric winding or release of the binding stretch rope.

5. The flexible binding device for an exoskeleton robot according to claim 2, characterized in that: The outer wall of the locking element is provided with a first engaging structure, and the inner wall of the annular winding disk may be provided with a second engaging structure matched with the first engaging structure.

6. The flexible binding device for an exoskeleton robot according to claim 5, characterized in that: The first meshing structure and the second meshing structure are bidirectional rotating tooth structures or unidirectional rotating pawl structures.

7. The flexible binding device for an exoskeleton robot according to any one of claims 1 to 6, characterized in that: The fixed end of the binding stretch rope is arranged at the second end of the binding fixed body, and after being wound around the outside of the flexible binding piece, the winding end is wound around the winding knob mechanism, so that when the connecting piece is installed on the binding fixed body, the binding stretch rope, the connecting piece and the binding fixed body form an annular structure sleeved on the outer periphery of the flexible binding piece, so that the binding stretch rope can be wound or released through the winding knob mechanism, thereby adjusting the binding tightening degree of the flexible binding piece to achieve automatic binding; or, A winding hole is provided at the end of the adjusting part away from the fixed part in the flexible binding part, one end of the binding stretch rope is wound around the winding knob mechanism, and turns back after winding around the winding hole, and the other end is connected to the connecting piece or the fixed part of the winding knob mechanism, so that when the connecting piece is installed on the binding fixed body, the flexible binding part, the binding stretch rope, the connecting piece and the binding fixed body form an annular structure, so that the binding stretch rope can be wound or released by the winding knob mechanism, and then the flexible binding part is stretched to adjust the binding tightness of the flexible binding part to achieve automatic binding.

8. The flexible binding device for an exoskeleton robot according to any one of claims 1 to 6, characterized in that: A pressure sensor is provided on the inner side of the flexible binding member for obtaining the pressure between the flexible binding member and the human body.

9. The flexible binding device for an exoskeleton robot according to claim 8, characterized in that: The pressure sensor is connected to a binding controller for receiving the pressure between the flexible binding member and the human body, and controlling the winding knob mechanism according to the pressure data to control the tightening, tightening force and unbinding of the flexible binding member.

10. The flexible binding device for an exoskeleton robot according to any one of claims 1 to 6, characterized in that: The winding knob mechanism is also connected to at least one of a control button and a mobile terminal, and the control button or the mobile terminal is used to control the operation of the winding knob mechanism to control the tightening, tightening force and unbinding of the flexible binding member.

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