Balance mechanism of exoskeleton robot

Abstract

The utility model discloses a balance mechanism of an exoskeleton robot, which comprises a balance seat, a horizontal detection device, a balance adjusting device and a support base, the horizontal detection device is arranged at the central position of the balance seat, the balance seat is connected with the support base through a universal shaft head, and the balance adjusting device is arranged on the support base. The universal shaft head is composed of an upper connecting structure and a lower connecting structure, the upper connecting structure is fixed to the center of the bottom of the balance seat, the upper connecting structure is of a combined structure with the spherical bottom and the circular-shaft-shaped top, and the lower connecting structure is fixed to the center of the top of the supporting base. The lower connecting structure is a combined structure with a spherical shell-shaped top and a circular shaft-shaped bottom, and the upper connecting structure is movably connected with the lower connecting structure; according to the balance mechanism, the balance seat can be inclined at multiple angles through the universal shaft head, multi-angle balance adjustment is achieved, and therefore the balance mechanism is small in overall thickness and small in occupied space during application.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a balance mechanism of an exoskeleton robot. Background Art

[0002] The treatment and rehabilitation of hemiplegia after stroke have become the research hotspots of modern rehabilitation medicine and rehabilitation engineering. Research shows that repetitive movement training on the affected side of hemiplegic patients helps to restore the control of the central nervous system over limb movement, enhance the muscle strength of patients, improve movement coordination, and can effectively prevent complications such as muscle atrophy and osteoporosis. When patients perform exoskeleton rehabilitation, rehabilitation robots are needed.

[0003] There is a balance device of an exoskeleton robot with a publication number of CN220807381U, including a base; a left - right balance mechanism for left - right balance drive. The left - right balance mechanism includes a first base plate fixedly connected to the top of the base. The center of the first base plate is installed with a first top plate through a first installation component. On both sides of the bottom of the first top plate and corresponding to the position of the first base plate, a first left - right drive component and a second left - right drive component are respectively installed. It can not only correct the left - right gravity imbalance, but also correct the front - back gravity imbalance.

[0004] In order to achieve multi - angle gravity balance correction, the above - mentioned technical solution is realized through the left - right balance mechanism and the front - back balance mechanism of the upper and lower layers. Therefore, the overall thickness is relatively large, and the occupied space is large during application. Content of the Utility Model

[0005] The purpose of the utility model is to provide a balance mechanism of an exoskeleton robot to solve the problems in the prior art.

[0006] To achieve the above purpose, the utility model provides the following technical solution: A balance mechanism of an exoskeleton robot, including a balance seat, a horizontal detection device, a balance adjustment device and a support base. The horizontal detection device is installed at the central position of the balance seat. The balance seat is connected to the support base through a universal shaft head. The universal shaft head is composed of an upper connection structure and a lower connection structure. The upper connection structure is fixed at the central position of the bottom of the balance seat. The upper connection structure is a combined structure with a spherical bottom and a cylindrical top. The lower connection structure is fixed at the central position of the top of the support base. The lower connection structure is a combined structure with a spherical shell - shaped top and a cylindrical bottom. The upper connection structure is movably connected to the lower connection structure. Three balance adjustment devices are equidistantly installed on the top side of the support base.

[0007] Preferably, the balance adjustment device comprises a machine base, a steel wire winding drum, and a motor. The motor and the steel wire winding drum are both installed on the top of the machine base, and the output end of the motor is connected to the steel wire winding drum. A steel wire is wound on the steel wire winding drum, and the head of the steel wire is fixed to the bottom of the balance seat.

[0008] Preferably, the horizontal detection device comprises a detection device housing, a touch switch mounting bracket, a touch switch, and a trigger ball. The touch switch mounting bracket is fixed to the inside of the detection device housing. The touch switch mounting bracket is in a circular ring shape. A plurality of touch switches are provided and are equidistantly installed on the inner wall of the touch switch mounting bracket. The trigger ball is placed inside the touch switch mounting bracket.

[0009] Preferably, the distance between two adjacent touch switches is less than half of the radius of the trigger ball.

[0010] Preferably, anti-slip knurling is provided at the inner bottom of the detection device housing.

[0011] Compared with the prior art, the beneficial effects of the present utility model are as follows: The universal shaft head of the present utility model is composed of an upper connection structure and a lower connection structure. The upper connection structure is a combined structure with a spherical bottom and a circular shaft top, and the lower connection structure is a combined structure with a spherical shell top and a circular shaft bottom. When the two are connected, the spherical part of the upper connection structure is stuck inside the spherical shell part of the lower connection structure. Through this universal shaft head, the balance seat can be tilted at multiple angles, realizing multi-angle balance adjustment. Therefore, the overall thickness of this balance mechanism is smaller, and less space is occupied during application.

[0012] The balance adjustment device of the present utility model comprises a machine base, a steel wire winding drum, and a motor. During operation, the motor drives the steel wire winding drum to rotate, realizing the winding and unwinding of the steel wire, thereby achieving the purpose of pulling the balance seat and adjusting the angle of the balance seat.

[0013] The horizontal detection device of the present utility model comprises a detection device housing, a touch switch mounting bracket, a touch switch, and a trigger ball. To cooperate with the universal shaft head that can realize multi-angle adjustment, the touch switch mounting bracket is designed in a circular ring shape, and the touch switches are fixed equidistantly on the inner wall of the touch switch mounting bracket. The distance between two adjacent touch switches is less than half of the radius of the trigger ball. When the balance seat is tilted at any angle, the trigger ball will touch the corresponding touch switch.

[0014] To avoid invalid actions of the device caused by slight angle tilting, anti-slip knurling is provided at the inner bottom of the detection device housing. Through the anti-slip knurling, the trigger ball will not roll due to the slight tilting of the balance seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present utility model and form a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model and do not constitute a limitation to the present utility model. In the drawings:

[0016] Figure 1 is a three-dimensional structural schematic diagram of the whole of the present utility model;

[0017] Figure 2 is a planar structural schematic diagram of the whole of the present utility model;

[0018] Figure 3 is an internal structural schematic diagram of the horizontal detection device of the present utility model.

[0019] In the figure: 1, balance seat; 2, horizontal detection device; 3, upper connection structure; 4, balance adjustment device; 5, lower connection structure; 6, support base; 7, machine base; 8, wire take-up reel; 9, motor; 10, detection device housing; 11, touch switch mounting bracket; 12, touch switch; 13, trigger ball. Detailed implementation manners

[0020] In order to make the purposes, 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 below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, 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 creative efforts shall fall within the protection scope of the present utility model. Therefore, the following detailed description of the embodiments of the present utility model provided in the accompanying drawings is not intended to limit the scope of the present utility model claimed, but merely represents selected 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 creative efforts shall fall within the protection scope of the present utility model.

[0021] Please refer to Figures 1-3, in the embodiment of the present utility model, a balance mechanism of an exoskeleton robot includes a balance seat 1, a horizontal detection device 2, a balance adjustment device 4, and a support base 6. The horizontal detection device 2 is installed at the central position of the balance seat 1. The balance seat 1 is connected to the support base 6 through a universal shaft head. The universal shaft head consists of an upper connection structure 3 and a lower connection structure 5. The upper connection structure 3 is fixed at the central position of the bottom of the balance seat 1. The upper connection structure 3 is a combined structure with a spherical bottom and a cylindrical top. The lower connection structure 5 is fixed at the central position of the top of the support base 6. The lower connection structure 5 is a combined structure with a spherical shell top and a cylindrical bottom. The upper connection structure 3 is movably connected to the lower connection structure 5. Three balance adjustment devices 4 are equidistantly installed on the top side of the support base 6. The balance adjustment device 4 consists of a machine base 7, a wire winding drum 8, and a motor 9. Both the motor 9 and the wire winding drum 8 are installed on the top of the machine base 7, and the output end of the motor 9 is connected to the wire winding drum 8. A wire is wound on the wire winding drum 8, and the head of the wire is fixed to the bottom of the balance seat 1.

[0022] The horizontal detection device 2 consists of a detection device housing 10, a touch switch mounting bracket 11, a touch switch 12, and a trigger ball 13. The touch switch mounting bracket 11 is fixed inside the detection device housing 10. The touch switch mounting bracket 11 is circular. A plurality of touch switches 12 are provided and equidistantly installed on the inner wall of the touch switch mounting bracket 11. The trigger ball 13 is placed inside the touch switch mounting bracket 11. The distance between two adjacent touch switches 12 is less than half of the radius of the trigger ball 13; an anti-slip knurl is provided at the inner bottom of the detection device housing 10.

[0023] The working principle of the present utility model is as follows: The universal shaft head of the present utility model consists of an upper connection structure 3 and a lower connection structure 5. The upper connection structure 3 is a combined structure with a spherical bottom and a cylindrical top. The lower connection structure 5 is a combined structure with a spherical shell top and a cylindrical bottom. When the two are connected, the spherical part of the upper connection structure 3 is stuck inside the spherical shell part of the lower connection structure 5. Through this universal shaft head, the balance seat 1 can be tilted at multiple angles, realizing multi-angle balance adjustment. Therefore, the overall thickness of this balance mechanism is smaller, and less space is occupied during application;

[0024] The balance adjustment device 4 of the present utility model consists of a machine base 7, a wire winding drum 8, and a motor 9. During operation, the motor 9 drives the wire winding drum 8 to rotate, realizing the winding and unwinding of the wire, so as to achieve the purpose of pulling the balance seat 1 and adjusting the angle of the balance seat 1;

[0025] The horizontal detection device 2 of the present utility model is composed of a detection device housing 10, a touch switch mounting bracket 11, a touch switch 12, and a trigger ball 13. To cooperate with a universal shaft head that can achieve multi-angle adjustment, the touch switch mounting bracket 11 is designed in a circular ring shape, and the touch switches 12 are fixed at equal intervals on the inner wall of the touch switch mounting bracket 11, and the distance between two adjacent touch switches 12 is less than half of the radius of the trigger ball 13. After the balance seat 1 is tilted at any angle, the trigger ball 13 will touch the corresponding touch switch 12;

[0026] To avoid invalid actions of the device caused by slight angle tilting, anti-slip knurling is provided at the inner bottom of the detection device housing 10. Through the anti-slip knurling, the trigger ball 13 will not roll due to the slight tilting of the balance seat 1;

[0027] When the device is running, the horizontal detection device 2 can detect the balance state of the balance seat 1 and transmit the detection data to the control device of the robot, and this control device will perform corresponding control on the three balance adjustment devices 4 according to the detection state, so as to keep the balance seat 1 in balance.

[0028] Finally, it should be noted that the above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A balancing mechanism of an exoskeleton robot, comprising a balancing seat (1), a level detection device (2), a balancing adjustment device (4) and a supporting base (6), wherein the level detection device (2) is installed at the center of the balancing seat (1), and is characterized in that: The balancing seat (1) is connected to the supporting base (6) via a universal joint, the universal joint is composed of an upper connecting structure (3) and a lower connecting structure (5), the upper connecting structure (3) is fixed to the bottom center of the balancing seat (1), the upper connecting structure (3) is a combined structure with a spherical bottom and a circular shaft top, the lower connecting structure (5) is fixed to the top center of the supporting base (6), the lower connecting structure (5) is a combined structure with a spherical shell top and a circular shaft bottom, the upper connecting structure (3) is movably connected to the lower connecting structure (5), and three balancing adjustment devices (4) are installed at equal intervals on the top side of the supporting base (6).

2. The balancing mechanism of an exoskeleton robot according to claim 1, characterized in that: The balance adjustment device (4) comprises a machine base (7), a wire winding drum (8) and a motor (9); the motor (9) and the wire winding drum (8) are both mounted on the top of the machine base (7), and the output end of the motor (9) is connected to the wire winding drum (8); a wire is wound on the wire winding drum (8), and the head of the wire is fixed to the bottom of the balance base (1).

3. The balancing mechanism of an exoskeleton robot according to claim 1, characterized in that: The horizontal detection device (2) is composed of a detection device housing (10), a touch switch mounting frame (11), a touch switch (12) and a trigger ball (13); the touch switch mounting frame (11) is fixed to the inner side of the detection device housing (10); the touch switch mounting frame (11) is in a circular ring shape; a plurality of touch switches (12) are provided and are mounted on the inner wall of the touch switch mounting frame (11) at equal intervals; and the trigger ball (13) is placed on the inner side of the touch switch mounting frame (11).

4. The balancing mechanism of an exoskeleton robot according to claim 3, characterized in that: The distance between two adjacent touch switches (12) is less than half the radius of the trigger ball (13).

5. The balancing mechanism of an exoskeleton robot according to claim 3, characterized in that: The inner bottom of the detection device housing (10) is provided with anti-skid knurling.

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