Shank structure for exoskeleton robot

Abstract

The utility model discloses a shank structure for an exoskeleton robot, and relates to the field of exoskeleton robot mechanical devices. The shank structure for the exoskeleton robot comprises a shank assembly, and the shank assembly comprises an upper shank and a lower shank; the lower shank is movably inserted into the bottom of the upper shank, a plurality of groups of first screw holes are formed in the side wall of the upper shank, a plurality of groups of second screw holes are formed in the side wall of the lower shank, and the first screw holes correspond to the second screw holes in position. According to the crus structure for the exoskeleton robot, the crus assembly with the length of the crus convenient to adjust is arranged, the crus assembly is inserted into a clamping groove in the bottom of an upper crus, and a bolt sequentially penetrates through screw holes in the crus assembly and the upper crus to be fixed, so that the length between the upper crus and the lower crus can be adjusted; and meanwhile, three screw holes in one row can improve the fixing stability, and the use safety is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of skeleton robots, in particular to a calf structure for an exoskeleton robot. Background Technique

[0002] Ergonomics is a discipline that studies human-related factors to ensure issues such as human health, safety, and comfort. As a mechanical device that is worn on the human body for a long time, the exoskeleton needs to correctly plan the structural dimensions and range of motion to avoid becoming an obstacle to human movement, and it can be used to ensure the comfort of people wearing the exoskeleton, improve the human-machine cooperation ability between humans and the exoskeleton, so as to achieve the purpose of reducing the burden on the human body.

[0003] Currently, the calf structures on existing exoskeleton robots are mostly integrally formed, which is not convenient for adjusting according to people of different heights and uses, and it is difficult to be extremely adapted to the human body. Long-term wearing may cause a sense of compression and have a negative impact on health.

[0004] The reasons for this problem are as follows. Firstly, elderly patients already have varying degrees of physical injuries, so the exoskeleton robot must be closely connected to the human body to prevent secondary injuries. Secondly, the exoskeleton robot is designed based on human-computer interaction, driving the limbs to move flexibly close to the body. However, the materials of current exoskeleton robots have strong rigidity, and the calf structures are mostly integrally formed, which is not convenient for adjusting according to people of different heights and uses, and it is difficult to be extremely adapted to the human body. Long-term wearing may cause a sense of compression and have a negative impact on health. In view of the deficiencies of the existing technology, we propose a calf structure for an exoskeleton robot to solve the above problems. Content of the Utility Model

[0005] In view of the deficiencies of the existing technology, the utility model provides a calf structure for an exoskeleton robot, which solves the problems that the calf structures on existing exoskeleton robots are mostly integrally formed, not convenient for adjusting according to people of different heights and uses, difficult to be extremely adapted to the human body, and long-term wearing may cause a sense of compression and have a negative impact on health.

[0006] To achieve the above objectives, the utility model is realized through the following technical solutions: A calf structure for an exoskeleton robot, including a calf assembly, and the calf assembly includes an upper calf and a lower calf;

[0007] The lower calf is movably inserted into the bottom of the upper calf. A plurality of groups of first screw holes are provided on the side wall of the upper calf, and a plurality of groups of second screw holes are provided on the side wall of the lower calf. The positions of the first screw holes and the second screw holes correspond to each other.

[0008] Preferably, a card slot is provided at the bottom of the upper calf, and the lower calf is movably inserted into the inside of the card slot.

[0009] Preferably, a leg is fixedly connected to the bottom of the lower calf, and an arc-shaped member is fixedly connected to the bottom of the leg.

[0010] Preferably, a connection groove is formed at the top of the upper calf, and the connection groove has the same width as the card slot.

[0011] Preferably, a knee joint member is rotatably connected inside the connection groove, and circular grooves are formed on the top side of the upper calf and the side wall of the knee joint member, and the positions of the two groups of circular grooves correspond to each other.

[0012] Preferably, an arc-shaped plate is fixedly connected to the side wall of the upper calf, an arc-shaped groove member is fixedly connected to the side wall of the knee joint member, and the arc-shaped plate is movably inserted into the inside of the arc-shaped groove member.

[0013] Preferably, a limiting angle is provided on the side wall of the upper calf.

[0014] The utility model discloses a calf structure for an exoskeleton robot, and the beneficial effects thereof are as follows: The calf structure for the exoskeleton robot is provided with a calf assembly convenient for adjusting the calf length. By inserting the calf assembly into the card slot at the bottom of the upper calf and respectively fixing the three second screw holes on the calf assembly and the four rows of first screw holes at the lower part of the upper calf with bolts, the length dimension between the upper calf and the upper calf can be adjusted to meet the usage requirements of different people. At the same time, the three rows of screw holes can increase the fixing stability and ensure the safety of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 It is a schematic diagram of the overall structure of the calf assembly of the present invention;

[0017] Figure 2 It is a schematic diagram of the structure of the upper calf of the present invention;

[0018] Figure 3 It is a schematic diagram of the structure of the lower calf of the present invention;

[0019] Figure 4 It is a schematic diagram of the structure of the knee joint member of the present invention.

[0020] In the figure: 1. Lower leg assembly; 101. Upper lower leg; 102. Connecting groove; 103. Card slot; 104. First screw hole; 105. Arc-shaped plate; 106. Limiting angle; 2. Lower lower leg; 201. Second screw hole; 202. Leg; 203. Arc-shaped part; 3. Knee joint part; 301. Arc-shaped groove part; 302. Round groove. Detailed implementation manners

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts shall fall within the protection scope of the present utility model.

[0022] By providing a lower leg structure for an exoskeleton robot in the embodiments of the present application, the problems that the structures of the lower leg parts on current exoskeleton robots are mostly integrally formed, are not convenient for adjusting according to different heights of different users, are difficult to be extremely adapted to the human body, and may cause a sense of compression and have a negative impact on health when worn for a long time are solved.

[0023] To better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0024] Embodiments of the present utility model disclose a lower leg structure for an exoskeleton robot.

[0025] As shown in the attached Figures 1-4 The lower leg structure for an exoskeleton robot includes a lower leg assembly 1. The lower leg assembly 1 includes an upper lower leg 101 and a lower lower leg 2. The lower lower leg 2 is movably inserted into the bottom of the upper lower leg 101. Multiple groups of first screw holes 104 are provided on the side wall of the upper lower leg 101, and multiple groups of second screw holes 201 are provided on the side wall of the lower lower leg 2. The positions of the first screw holes 104 and the second screw holes 201 correspond to each other. The lower leg assembly 1 is divided into an upper lower leg 101 and a lower lower leg 2. The two parts are set to freely adjust the length of the lower leg.

[0026] The full length of the upper lower leg 101 is 27 cm, the width is 10 cm (excluding the arc-shaped piston), and the full thickness is 5 cm. The middle layer is hollowed out, and only a part in the middle is connected. The upper and lower parts are both hollowed out into a two-layer structure. The hollowing out of the lower part is for connecting the lower lower leg 2 and freely adjusting the length of the lower leg. The hollowing out of the upper part is for connecting the thigh part and serving as a part of the knee joint.

[0027] The lower part of the upper calf 101 is provided with four rows of first screw holes 104, three in each row, corresponding to three second screw holes 201 on the lower calf 2, for adjusting the length. Bolts can be added to fix at the appropriate length. The three through holes in each row can increase the stability of the fixation between the upper calf 101 and the lower calf 2, ensuring absolute safety. In order to allow each through hole to function, the length of the lower hollow area should be at least 13 cm (4 holes with a diameter of 2 cm each, 1 cm between each hole, plus 1 cm on each outermost side, totaling 13 cm; the center of the leftmost and rightmost through holes is 2 cm away from the side line, and the center of the lowermost through hole is 3 cm away from the bottom of the part).

[0028] A clamping groove 103 is provided at the bottom of the upper calf 101, and the lower calf 2 is movably inserted inside the clamping groove 103.

[0029] A leg 202 is fixedly connected to the bottom of the lower calf 2, and an arc-shaped member 203 is fixedly connected to the bottom of the leg 202. The full length of the lower calf 2 is 30 cm (excluding the closed tube), and the width is 10 cm (excluding the closed tube). The thickness of the leg 202 is 2 cm, the length is 10 cm, the middle thickness is 6 cm (symmetrical front and back), the length is 5.5 cm, the upper thickness is 2 cm, and the length is 14.5 cm; all edges of each component of the lower calf 2 are rounded with a radius of 1 cm to prevent the user from being injured.

[0030] A connection groove 102 is provided at the top of the upper calf 101. The connection groove 102 has the same width as the clamping groove 103. The thickness of each layer of the connection groove 102 and the clamping groove 103 is 1.5 cm, and the thickness of the hollow part is 2 cm.

[0031] A knee joint member 3 is rotatably connected inside the connection groove 102. Circular grooves 302 are provided on the top side of the upper calf 101 and the side wall of the knee joint member 3, and the positions of the two groups of circular grooves 302 correspond to each other. The circular grooves 302 are convenient for fixing the knee joint. The connection groove 102 is convenient for inserting the knee joint member 3 with the same circular groove 302 and fixing it with bolts, facilitating the movement of the knee joint member 3 around the bolts.

[0032] The side wall of the upper calf 101 is fixedly connected with an arc plate 105, and the side wall of the knee joint part 3 is fixedly connected with an arc groove part 301. The arc plate 105 is movably inserted into the inside of the arc groove part 301. The knee joint is only provided with one degree of freedom, namely the degree of flexion and extension, which is actively driven. The movable range of the knee joint is -70 degrees to 0 degrees, and the other angles are set with limits. According to common sense, the movement within this range is within the safe movement range of human joints; so 70 degrees and 0 degrees are tested respectively. If it is 70 degrees, 180°+70°<130°+130°, so there will still be 10 degrees of overlap, and the piston will not completely fall out of the closed tube; if it is 0 degrees, the straight state is 130°<180°, and the piston length cannot hit the other side of the closed tube, so it is appropriate to take a limit angle 106 of -70 degrees to 0 degrees.

[0033] The side wall of the upper calf 101 is provided with a limit angle 106. The upper left corner of the upper calf 101 is specially processed. Instead of rounding one side, a 2.5cm chamfer is made. In this way, the knee joint cannot be reversed after being straightened. A straight line at an angle of 70 degrees to the horizontal is used as a tangent to a circle (the circle takes the center of the through hole as the center and 10cm as the diameter), and a 1cm high -70 degree angle limit is raised on the outside of the straight line. The same treatment is done on both sides. In this way, every time the knee joint moves to an angle of -70 degrees, it will hit the limit.

[0034] When the utility model is in use, the knee joint component 3 is first inserted into the connecting groove 102 at the top of the upper calf 101, and the arc plate 105 on the side wall of the upper calf 101 is clamped in the arc groove component 301 on the side wall of the knee joint component 3, and then the two groups of circular grooves 302 on the knee joint component 3 and the upper calf 101 are penetrated by bolts in sequence to fix them, and then the lower calf 2 is inserted into the clamping groove 103 at the bottom of the upper calf 101, and the first screw hole 104 and the second screw hole 201 on the lower calf 2 and the upper calf 101 are penetrated by bolts in sequence to fix them.

[0035] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. The technicians in this industry should understand that the utility model is not limited by the above embodiments. The above embodiments and the description only illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model will have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. A calf structure for an exoskeleton robot, comprising a calf assembly (1), characterized in that: The calf assembly (1) comprises an upper calf (101) and a lower calf (2); The lower calf (2) is movably plugged into the bottom of the upper calf (101); the side wall of the upper calf (101) is provided with a plurality of first screw holes (104); the side wall of the lower calf (2) is provided with a plurality of second screw holes (201); the positions of the first screw holes (104) and the second screw holes (201) correspond to each other.

2. The lower leg structure for an exoskeleton robot according to claim 1, characterized in that: A slot (103) is provided at the bottom of the upper calf (101), and the lower calf (2) is movably inserted into the slot (103).

3. The lower leg structure for an exoskeleton robot according to claim 1, characterized in that: The bottom of the lower leg (2) is fixedly connected to a supporting leg (202), and the bottom of the supporting leg (202) is fixedly connected to an arc-shaped member (203).

4. The lower leg structure for an exoskeleton robot according to claim 1, characterized in that: A connecting groove (102) is provided at the top of the upper calf (101), and the connecting groove (102) has the same width as the clamping groove (103).

5. The lower leg structure for an exoskeleton robot according to claim 4, characterized in that: The connection groove (102) is rotatably connected to the inside of the knee joint component (3), and the top side of the upper calf (101) and the side wall of the knee joint component (3) are both provided with circular grooves (302), and the positions of the two groups of circular grooves (302) correspond to each other.

6. The lower leg structure for an exoskeleton robot according to claim 5, characterized in that: The side wall of the upper calf (101) is fixedly connected with an arc-shaped plate (105), the side wall of the knee joint component (3) is fixedly connected with an arc-shaped groove component (301), and the arc-shaped plate (105) is movably inserted into the interior of the arc-shaped groove component (301).

7. The lower leg structure for an exoskeleton robot according to claim 1, characterized in that: The side wall of the upper calf (101) is provided with a limited angle (106).

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