Explosion-proof exoskeleton robot
By adopting a combined stabilization mechanism of damping rods and springs in exoskeleton robots, combined with micro motors and transmission gear systems, the problems of insufficient rigidity and poor stability of existing exoskeleton robots are solved, achieving higher wearable experience and safety.
Patent Information
- Application Number
- CN202422141683.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-02
- Publication Date
- 2025-06-17
- Estimated Expiration
- 2034-09-02
AI Technical Summary
The existing exoskeleton robots lack sufficient rigidity and support due to the use of soft materials, resulting in excessive deformation and instability of the exoskeleton, and poor stability.
An explosion-proof exoskeleton robot is designed, using a combined stabilization mechanism of damping rod and spring, which absorbs impact through the spring. The damping rod reduces the interaction force of motion, improves the wearable experience, and achieves precise control and deceleration through micro motors and transmission gear systems.
It significantly reduces the wearer's interaction during the wearable exoskeleton movement, improves the wearable experience and stability, and enhances the explosion-proof performance and overall safety of the exoskeleton robot.
Smart Images
Figure CN222986936U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of exoskeleton equipment, in particular to an explosion-proof exoskeleton robot. Background Technique
[0002] In environments with explosion risks such as chemical plants, oil depots, and mines, workers face great safety hazards. An exoskeleton is an electromechanical system that is connected in parallel to the outside of the user's body for assisting in strength and walking. As a power-assisted exoskeleton, it can enhance the limb ability of humans and complete actions that humans themselves cannot complete. The emergence of wearable power-assisted exoskeleton robots, combined with artificial intelligence and good human-computer interaction, can help reduce the burden on the human body to achieve the purpose of improving work efficiency and help workers reduce physical burden.
[0003] Based on the above, the inventor found the following problems: During the actual wearing and use of current exoskeleton robots, since flexible exoskeletons use soft materials, they often do not have sufficient rigidity and support force, which can lead to excessive deformation and unstable movement of the exoskeleton, resulting in poor stability.
[0004] Therefore, in view of this, research and improvement are carried out on the existing structure and deficiencies, and an explosion-proof exoskeleton robot is provided in order to achieve a more practical value. Content of the Utility Model
[0005] The purpose of the utility model is to provide an explosion-proof exoskeleton robot to solve the problem that during the actual wearing and use of the exoskeleton robot, due to the use of soft materials, it often does not have sufficient rigidity and support force, which can lead to excessive deformation and unstable movement of the exoskeleton as mentioned in the above background technique.
[0006] In view of the above problems, the technical solution proposed by the utility model is:
[0007] An explosion-proof exoskeleton robot, comprising a main body, the main body includes a back component, hip joint connecting seats are connected to both outer sides of the back component, a thigh connecting plate is arranged on one side of the outer wall of the hip joint connecting seat, a first T-shaped plate is movably inserted into the interior of the thigh connecting plate, a knee joint connecting seat is arranged on one side of the first T-shaped plate, a calf connecting plate is arranged on one side of the knee joint connecting seat, a second T-shaped plate is movably inserted into the interior of the calf connecting plate, an ankle joint connecting seat is arranged on one side of the second T-shaped plate, a second micro motor is connected to one side of the outer wall of the ankle joint connecting seat, the output end of the second micro motor penetrates through the ankle joint connecting seat and is drivingly connected with a pedal, stabilizing mechanisms are arranged in the interiors of the thigh connecting plate and the calf connecting plate, and both of the pair of stabilizing mechanisms include damping rods. One ends of the pair of damping rods are respectively connected to the upper interior of the thigh connecting plate and the upper interior of the calf connecting plate, and the other ends of the pair of damping rods are respectively connected to the upper end surfaces of the first T-shaped plate and the second T-shaped plate.
[0008] Further, springs are movably sleeved on the exteriors of the pair of damping rods. One ends of the pair of springs are respectively connected to the upper interior of the thigh connecting plate and the upper interior of the calf connecting plate, and the other ends of the pair of springs are respectively connected to the upper end surfaces of the first T-shaped plate and the second T-shaped plate.
[0009] The beneficial effect of adopting the above further scheme is that through the combined use of the damping rods and the springs, the springs absorb impacts. The application of the springs and the damping rods can significantly reduce the interaction force of the wearer during the movement of wearing the exoskeleton, and improve the wearing experience of the wearer.
[0010] Further, rotating shafts are rotatably inserted into the interiors of the hip joint connecting seat and the knee joint connecting seat. One ends of the pair of rotating shafts are respectively connected to the thigh connecting plate and the calf connecting plate, sun gears are sleeved on the exteriors of the pair of rotating shafts, internal gear rings are connected to the inner walls of the hip joint connecting seat and the knee joint connecting seat through bearings, a plurality of transmission shafts are rotatably connected to one side of the inner walls of the hip joint connecting seat and the knee joint connecting seat, planet gears are sleeved on the exteriors of the plurality of transmission shafts, one sides of the plurality of planet gears are meshed with the external teeth of the sun gears, and the sides of the plurality of planet gears away from the sun gears are meshed with the internal teeth of the internal gear rings.
[0011] The beneficial effect of adopting the above further scheme is that when the rotating shaft rotates, the sun gear rotates, causing the planet gears to drive the internal gear ring to rotate, achieving the transmission effect of driving a large one from a small one, thereby achieving the purpose of speed reduction. When the purpose of reducing the speed of the rotating shaft is achieved, the thigh connecting plate and the calf connecting plate can be more precisely controlled.
[0012] Further, first micro-motors are connected to the outer sides of the hip joint connector and the knee joint connector, and the output end of each first micro-motor is in transmission connection with a rotating shaft through a coupling.
[0013] The beneficial effect of adopting the above further solution is that by arranging the first micro-motor, a driver is arranged inside the first micro-motor, so as to facilitate the rotation of the rotating shaft when driving the first micro-motor to work subsequently.
[0014] Further, a plurality of first bolt holes are provided on the first T-shaped plate, and a first threaded hole is provided on the knee joint connector. A first bolt is connected between one of the first bolt holes and the first threaded hole.
[0015] The beneficial effect of adopting the above further solution is that by arranging the first bolt holes and the first threaded hole, and connecting a first bolt between one of the first bolt holes and the first threaded hole, the fixation of the first T-shaped plate and the knee joint connector is realized. When the first bolt is removed, the length of the knee joint connector can be adjusted by aligning the first threaded hole with the remaining first bolt holes.
[0016] Further, a plurality of second bolt holes are provided on the second T-shaped plate, and a second threaded hole is provided on the ankle joint connector. A second bolt is connected between one of the second bolt holes and the second threaded hole.
[0017] The beneficial effect of adopting the above further solution is that by arranging the second bolt holes and the second threaded hole, and connecting a second bolt between one of the second bolt holes and the second threaded hole, the fixation of the second T-shaped plate and the ankle joint connector is realized. When the second bolt is removed, the length of the ankle joint connector can be adjusted by aligning the second threaded hole with the remaining second bolt holes.
[0018] Further, a rechargeable battery and a microcontroller are arranged inside the back assembly. A power interface is provided on the upper end surface of the back assembly. The power interface is connected to the input end of the rechargeable battery. An explosion-proof sensor and an alarm are connected to one side of the outer wall of the back assembly, and the explosion-proof sensor and the alarm are electrically connected.
[0019] The beneficial effect of adopting the above further solution is that by arranging the rechargeable battery, and connecting the input end of the rechargeable battery to the power interface, it is convenient to charge the inside of the rechargeable battery. Connecting the rechargeable battery to the controller to supply power to the controller. At the same time, the output end of the controller is connected to the input end of the driver, so as to facilitate the controller to control the first micro-motor and the second micro-motor to work through the driver. By arranging the explosion-proof sensor, and the explosion-proof sensor is electrically connected to the alarm, the concentration of explosive gas in the environment is monitored in real time. Once a potential dangerous situation is detected, the alarm will be triggered to issue an alarm.
[0020] Further, sensor assemblies are embedded inside one side of the thigh connecting plate, the calf connecting plate, and the pedal. The sensor assemblies are sensor matrices combined by pressure sensors and angle sensors, and the output ends of the sensor assemblies are connected to the input ends of the microcontroller.
[0021] The beneficial effect of adopting the above further solution is that by setting the sensor assemblies, when the sensor assemblies receive signals, the signals will be transmitted to the inside of the controller for monitoring the movement state and the applied force of the wearer.
[0022] Further, flexible straps are provided on the back assembly, the thigh connecting plate, the calf connecting plate, and the pedal. Anti-static protection shells are provided on the outer walls of one side of the hip joint connecting seat, the knee joint connecting seat, and the ankle joint connecting seat outside the first micro-motor and the second micro-motor. The outer side walls of the hip joint connecting seat, the knee joint connecting seat, and the ankle joint connecting seat are respectively connected to their corresponding anti-static protection shells through fastening bolts. A sealing groove is provided on one side of each of the anti-static protection shells close to the hip joint connecting seat, the knee joint connecting seat, and the ankle joint connecting seat, and a sealing gasket is clamped in the sealing groove. The sealing gasket is made of silicone rubber.
[0023] The beneficial effect of adopting the above further solution is that by setting flexible straps on the back assembly, the thigh connecting plate, the calf connecting plate, and the pedal, it is convenient to wear. At the same time, by setting anti-static protection shells outside the first micro-motor and the second micro-motor at the hip joint connecting seat, the knee joint connecting seat, and the ankle joint connecting seat, the explosion-proof performance of the exoskeleton robot can be enhanced to prevent potential dangers caused by static electricity accumulation, and to improve the overall safety and reliability of the exoskeleton robot to a certain extent. At the same time, the anti-static protection shells at the hip joint connecting seat, the knee joint connecting seat, and the ankle joint connecting seat are respectively connected to the hip joint connecting seat, the knee joint connecting seat, and the ankle joint connecting seat through fastening bolts, so as to facilitate the disassembly and replacement of the anti-static protection shells. At the same time, a sealing groove is provided on one side of the anti-static protection shell, and a sealing gasket is clamped in the sealing groove. After the anti-static protection shell is installed, the sealing gaskets in the anti-static protection shells at the hip joint connecting seat, the knee joint connecting seat, and the ankle joint connecting seat are respectively pressed and fitted with the outer side walls of the hip joint connecting seat, the knee joint connecting seat, and the ankle joint connecting seat, so as to provide waterproof and dust-proof sealing protection for the joint connections of the exoskeleton robot.
[0024] Compared with the prior art, the beneficial effects of the present utility model are as follows: for this explosion-proof exoskeleton robot, by arranging cavities inside the thigh connecting plate and the calf connecting plate, it is convenient for a buffer space to exist between the first T-shaped plate and the thigh connecting plate and between the second T-shaped plate and the calf connecting plate respectively. Thus, it is convenient for the first T-shaped plate and the second T-shaped plate to drive the knee joint connecting seat and the ankle joint respectively. With the combined use of the damping rod and the spring, the spring absorbs the impact. The application of the spring and the damping rod can significantly reduce the interaction force of the wearer during the movement of wearing the exoskeleton, improving the wearing experience of the wearer. By setting the second micro-motor, a driver is also arranged inside the second micro-motor as in the first micro-motor. When the sensor assembly receives a signal, it will transmit the signal to the inside of the controller. Then, the controller controls the first micro-motor and the second micro-motor to work respectively through the driver. When the first micro-motor works, when the rotating shaft rotates, the sun gear rotates, causing the planetary gear to rotate and drive the internal gear ring to rotate, achieving the transmission effect of driving a large gear with a small gear, thus achieving the purpose of speed reduction. When the purpose of reducing the speed of the rotating shaft is achieved, the thigh connecting plate and the calf connecting plate can be controlled more precisely, thereby improving the stability. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 FIG. 6 is a three-dimensional structural schematic diagram of an explosion-proof exoskeleton robot provided by the present utility model;
[0026] Figure 2 FIG. 10 is a partial three-dimensional structural schematic diagram of an explosion-proof exoskeleton robot provided by the present utility model;
[0027] Figure 3 FIG. 14 is an exploded three-dimensional structural schematic diagram of the hip joint connecting seat and the thigh connecting plate of an explosion-proof exoskeleton robot provided by the present utility model;
[0028] Figure 4 FIG. 18 is a three-dimensional structural schematic diagram of the inside of the thigh connecting plate and the calf connecting plate of an explosion-proof exoskeleton robot provided by the present utility model;
[0029] Figure 5 FIG. 22 is a side sectional structural schematic diagram of the hip joint connecting seat and the knee joint connecting seat of an explosion-proof exoskeleton robot provided by the present utility model.
[0030] In the figure: 100, main body; 1001, back component; 1002, hip joint connecting seat; 1003, thigh connecting plate; 1004, first T-shaped plate; 1005, knee joint connecting seat; 1006, first bolt; 1007, calf connecting plate; 1008, second T-shaped plate; 1009, second bolt; 1010, ankle joint connecting seat; 1011, second micro motor; 1012, pedal; 1013, power interface; 1014, sensor assembly; 1015, flexible strap; 1016, explosion-proof sensor; 1017, alarm; 2001, rotating shaft; 2002, sun gear; 2003, internal gear ring; 2004, planetary gear; 2005, first micro motor; 3001, damping rod; 3002, spring. Detailed implementation manner
[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0032] Please refer to Figures 1 - 5, the present utility model provides a technical solution: an explosion-proof exoskeleton robot, including a main body 100, the main body 100 includes a back component 1001, hip joint connecting seats 1002 are connected to both outer sides of the back component 1001, a thigh connecting plate 1003 is provided on one outer wall side of the hip joint connecting seat 1002, a first T-shaped plate 1004 is movably inserted into the interior of the thigh connecting plate 1003, a knee joint connecting seat 1005 is provided on one side of the first T-shaped plate 1004, a calf connecting plate 1007 is provided on one side of the knee joint connecting seat 1005, a second T-shaped plate 1008 is movably inserted into the interior of the calf connecting plate 1007, an ankle joint connecting seat 1010 is provided on one side of the second T-shaped plate 1008, a second micro motor 1011 is connected to one outer wall side of the ankle joint connecting seat 1010, the output end of the second micro motor 1011 penetrates through the ankle joint connecting seat 1010 and is drivingly connected to a pedal 1012, stabilizing mechanisms are provided inside both the thigh connecting plate 1003 and the calf connecting plate 1007, and a pair of stabilizing mechanisms each include a damping rod 3001. One ends of the pair of damping rods 3001 are respectively connected to the upper interior of the thigh connecting plate 1003 and the upper interior of the calf connecting plate 1007, and the other ends of the pair of damping rods 3001 are respectively connected to the upper end surfaces of the first T-shaped plate 1004 and the second T-shaped plate 1008. By providing cavities inside the thigh connecting plate 1003 and the calf connecting plate 1007, it is convenient for a buffer space to exist between the first T-shaped plate 1004 and the second T-shaped plate 1008 and the thigh connecting plate 1003 and the calf connecting plate 1007 respectively, so that it is convenient for the first T-shaped plate 1004 and the second T-shaped plate 1008 to drive the knee joint connecting seat 1005 and the ankle joint connecting seat 1010 respectively to reduce the energy transfer caused by other motion forms under the action of the damping rods 3001, thereby improving stability. At the same time, a driver is provided inside the second micro motor 1011, which is convenient for the subsequent driver to drive the second micro motor 1011 to work and realize the movement of the pedal 1012.
[0033] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.
[0034] Please refer to Figures 1 - 5, the present utility model provides a technical solution: Springs 3002 are movably sleeved outside a pair of damping rods 3001. One end of each of the pair of springs 3002 is respectively connected to the upper inner part of the thigh connecting plate 1003 and the upper inner part of the calf connecting plate 1007, and the other end of each of the pair of springs 3002 is respectively connected to the upper end surface of the first T-shaped plate 1004 and the upper end surface of the second T-shaped plate 1008. By the combined use of the damping rods 3001 and the springs 3002, the springs 3002 absorb impacts. The application of the springs 3002 and the damping rods 3001 can significantly reduce the interaction force of the wearer during the movement of wearing the exoskeleton, improving the wearing experience of the wearer. Rotating shafts 2001 are rotatably inserted inside the hip joint connecting seat 1002 and the knee joint connecting seat 1005. One end of each of the pair of rotating shafts 2001 is respectively connected to the thigh connecting plate 1003 and the calf connecting plate 1007. Sun gears 2002 are sleeved outside the pair of rotating shafts 2001. Inner gear rings 2003 are connected to the inner walls of the hip joint connecting seat 1002 and the knee joint connecting seat 1005 through bearings. On one side of the inner walls of the hip joint connecting seat 1002 and the knee joint connecting seat 1005, a plurality of transmission shafts are rotatably connected. Planet gears 2004 are sleeved outside each of the plurality of transmission shafts. One side of each of the plurality of planet gears 2004 meshes with the external teeth of the sun gear 2002, and the side of each of the plurality of planet gears 2004 away from the sun gear 2002 meshes with the internal teeth of the inner gear ring 2003. When the rotating shaft 2001 rotates, the sun gear 2002 rotates, causing the planet gears 2004 to rotate and drive the inner gear ring 2003 to rotate. The transmission effect from small to large drives the large, so as to achieve the purpose of deceleration. When the purpose of decelerating the rotating shaft 2001 is achieved, the thigh connecting plate 1003 and the calf connecting plate 1007 can be more precisely controlled. First micro motors 2005 are connected to the outside of the hip joint connecting seat 1002 and the knee joint connecting seat 1005. The output end of the first micro motor 2005 is in transmission connection with the rotating shaft 2001 through a coupling. By providing the first micro motor 2005, a driver is provided inside the first micro motor 2005, which is convenient for driving the rotating shaft 2001 to rotate when the first micro motor 2005 works subsequently.
[0035] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0036] Please refer to Figures 1 - 5, the present utility model provides a technical solution: a plurality of first bolt holes are provided on the first T-shaped plate 1004, and first threaded holes are provided on the knee joint connecting seat 1005. A first bolt 1006 is connected between one of the first bolt holes and the first threaded hole. After removing the first bolt 1006, aligning the first threaded hole with the remaining first bolt holes can achieve the length adjustment of the knee joint connecting seat 1005. A plurality of second bolt holes are provided on the second T-shaped plate 1008, and second threaded holes are provided on the ankle joint connecting seat 1010. A second bolt 1009 is connected between one of the second bolt holes and the second threaded hole. After removing the second bolt 1009, aligning the second threaded hole with the remaining second bolt holes can achieve the length adjustment of the ankle joint connecting seat 1010. A rechargeable battery and a microcontroller are provided inside the back assembly 1001. A power interface 1013 is provided on the upper end face of the back assembly 1001, and the power interface 1013 is connected to the input end of the rechargeable battery. An explosion-proof sensor 1016 and an alarm 1017 are connected to one side of the outer wall of the back assembly 1001, and the explosion-proof sensor 1016 and the alarm 1017 are electrically connected. By providing a rechargeable battery and connecting the input end of the rechargeable battery to the power interface 1013, it is convenient to charge the inside of the rechargeable battery. Connecting the rechargeable battery to the controller can supply power to the controller. At the same time, the output end of the controller is connected to the input end of the driver, so that it is convenient for the controller to control the operation of the first micro-motor 2005 and the second micro-motor 1011 through the driver.By setting the explosion-proof sensor 1016, and the explosion-proof sensor 1016 is electrically connected to the alarm 1017, the concentration of explosive gas in the environment is monitored in real time. Once a potential dangerous situation is detected, the alarm 1017 will be triggered to sound an alarm. Sensor components 1014 are embedded inside one side of the thigh connecting plate 1003, the calf connecting plate 1007, and the pedal 1012. The sensor components 1014 are a sensor matrix composed of a combination of a pressure sensor and an angle sensor, and the output end of the sensor components 1014 is connected to the input end of the microcontroller. By setting the sensor components 1014, when the sensor components 1014 receive signals, the signals will be transmitted to the inside of the controller to monitor the movement state and the applied force of the wearer. Flexible straps 1015 are provided on the back component 1001, the thigh connecting plate 1003, the calf connecting plate 1007, and the pedal 1012. Anti-static protection shells are provided on the outer wall sides of the hip joint connecting seat 1002, the knee joint connecting seat 1005, and the ankle joint connecting seat 1010 outside the first micro-motor 2005 and the second micro-motor 1011. The outer side walls of the hip joint connecting seat 1002, the knee joint connecting seat 1005, and the ankle joint connecting seat 1010 are respectively connected to their corresponding anti-static protection shells through fastening bolts. A plurality of anti-static protection shells are respectively provided with sealing grooves on the side close to the hip joint connecting seat 1002, the knee joint connecting seat 1005, and the ankle joint connecting seat 1010. Sealing gaskets are clamped in the sealing grooves. The sealing gaskets are made of silicone rubber. By setting the flexible straps 1015 on the back component 1001, the thigh connecting plate 1003, the calf connecting plate 1007, and the pedal 1012, it is convenient to wear. By setting anti-static protection shells outside the first micro-motor 2005 and the second micro-motor 1011 at the hip joint connecting seat 1002, the knee joint connecting seat 1005, and the ankle joint connecting seat 1010, the explosion-proof performance of the exoskeleton robot is enhanced, potential dangers caused by static electricity accumulation can be prevented, and the overall safety and reliability of the exoskeleton robot are improved to a certain extent. At the same time, the anti-static protection shells at the hip joint connecting seat 1002, the knee joint connecting seat 1005, and the ankle joint connecting seat 1010 are respectively connected to the hip joint connecting seat 1002, the knee joint connecting seat 1005, and the ankle joint connecting seat 1010 through fastening bolts, so as to facilitate the disassembly and replacement of the anti-static protection shells. At the same time, sealing grooves are opened on one side of the anti-static protection shells, and sealing gaskets are clamped in the sealing grooves. After the anti-static protection shells are installed, the sealing gaskets in the anti-static protection shells at the hip joint connecting seat 1002, the knee joint connecting seat 1005, and the ankle joint connecting seat 1010 are respectively in extrusion fit with the outer side walls of the hip joint connecting seat 1002, the knee joint connecting seat 1005, and the ankle joint connecting seat 1010, so as to provide waterproof and dust-proof sealing protection for the joint connections of the exoskeleton robot.,
[0037] Specifically, the working principle of this explosion-proof exoskeleton robot: When in use, the overall material of this exoskeleton robot is composed of carbon fiber composite material and titanium alloy material. The carbon fiber composite material has the characteristics of light weight and high strength, which can significantly reduce the weight of the exoskeleton. At the same time, in cooperation with the titanium alloy material, the exoskeleton robot has explosion-proof performance. By setting flexible straps 1015 on the back component 1001, thigh connecting plate 1003, calf connecting plate 1007 and pedal 1012, it is convenient for wearing. During the movement process of the user after wearing this exoskeleton equipment, through the combined use of the damping rod 3001 and the spring 3002, the spring 3002 absorbs the impact. The application of the spring 3002 and the damping rod 3001 can significantly reduce the interaction force of the wearer during the movement of wearing the exoskeleton, improve stability, and enhance the wearing experience of the wearer. By setting a rechargeable battery, and the input end of the rechargeable battery is connected to the power interface 1013, so as to facilitate the internal charging of the rechargeable battery. Connect the rechargeable battery to the controller to supply power to the controller. At the same time, the output end of the controller is connected to the input end of the driver. By setting the sensor component 1014, when the sensor component 1014 receives a signal, it will transmit the signal to the inside of the controller for monitoring the movement state and the applied force of the wearer, so as to facilitate the controller to control the first micro-motor 2005 and the second micro-motor 1011 to work through the driver. The second micro-motor 1011 works to realize the movement of the pedal 1012. There is a driver inside the first micro-motor 2005, so as to facilitate the subsequent rotation of the rotating shaft 2001 when driving the first micro-motor 2005 to work, and the sun gear 2002 rotates, so that the planetary gear 2004 rotates to drive the internal gear ring 2003 to rotate, realizing the transmission effect of small driving large, so as to achieve the purpose of speed reduction. When the purpose of reducing the speed of the rotating shaft 2001 is achieved, the thigh connecting plate 1003 and the calf connecting plate 1007 can be controlled more precisely. By setting the first bolt 1006 and the second bolt 1009, after removing the first bolt 1006, aligning the first threaded hole with the remaining first bolt holes can realize the length adjustment of the knee joint connecting seat 1005. After removing the second bolt 1009, aligning the second threaded hole with the remaining second bolt holes can realize the length adjustment of the ankle joint connecting seat 1010.
Claims
1. An explosion-proof exoskeleton robot, characterized in that: The invention comprises a main body (100), wherein the main body (100) comprises a back component (1001), both sides of the outside of the back component (1001) are connected to a hip joint connection seat (1002), a thigh connection plate (1003) is provided on one side of the outer wall of the hip joint connection seat (1002), a first T-shaped plate (1004) is movably inserted inside the thigh connection plate (1003), a knee joint connection seat (1005) is provided on one side of the first T-shaped plate (1004), a calf connection plate (1007) is provided on one side of the knee joint connection seat (1005), a second T-shaped plate (1008) is movably inserted inside the calf connection plate (1007), and an ankle joint connection seat (1010) is provided on one side of the second T-shaped plate (1008). ), a second micro motor (1011) is connected to one side of the outer wall of the ankle joint connection seat (1010), the output end of the second micro motor (1011) passes through the ankle joint connection seat (1010) and is connected to the pedal (1012) in a transmission manner, and a stabilizing mechanism is provided inside the thigh connection plate (1003) and the calf connection plate (1007), and a pair of the stabilizing mechanisms each include a damping rod (3001), one end of the pair of damping rods (3001) is respectively connected to the inner upper end of the thigh connection plate (1003) and the inner upper end of the calf connection plate (1007), and the other end of the pair of damping rods (3001) is respectively connected to the upper end surface of the first T-shaped plate (1004) and the upper end surface of the second T-shaped plate (1008).
2. An explosion-proof exoskeleton robot according to claim 1, characterized in that: A pair of damping rods (3001) are movably sleeved with springs (3002) on their exteriors, one end of the pair of springs (3002) being respectively connected to the inner upper end of the thigh connecting plate (1003) and the inner upper end of the calf connecting plate (1007), and the other end of the pair of springs (3002) being respectively connected to the upper end surface of the first T-shaped plate (1004) and the upper end surface of the second T-shaped plate (1008).
3. The explosion-proof exoskeleton robot according to claim 2, characterized in that: The hip joint connection seat (1002) and the knee joint connection seat (1005) are both rotatably inserted with a rotating shaft (2001), one end of a pair of the rotating shafts (2001) is respectively connected to the thigh connection plate (1003) and the calf connection plate (1007), and the outer surface of the pair of rotating shafts (2001) is sleeved with a sun gear (2002), and the inner walls of the hip joint connection seat (1002) and the knee joint connection seat (1005) are both connected to the inner wall through a bearing. The inner walls of the hip joint connection seat (1002) and the knee joint connection seat (1005) are rotatably connected to a plurality of transmission shafts, and the outer parts of the plurality of transmission shafts are sleeved with planetary gears (2004), one side of the plurality of planetary gears (2004) is meshed with the outer teeth of the sun gear (2002), and the side of the plurality of planetary gears (2004) away from the sun gear (2002) is meshed with the inner teeth of the inner gear ring (2003).
4. The explosion-proof exoskeleton robot according to claim 3, characterized in that: The outer sides of the hip joint connection seat (1002) and the knee joint connection seat (1005) are both connected to a first micro motor (2005), and the output end of the first micro motor (2005) is transmission-connected to the rotating shaft (2001) via a coupling.
5. The explosion-proof exoskeleton robot according to claim 4, characterized in that: The first T-shaped plate (1004) is provided with a plurality of first bolt holes, and the knee joint connection seat (1005) is provided with a first threaded hole, wherein a first bolt (1006) is connected between one of the first bolt holes and the first threaded hole.
6. The explosion-proof exoskeleton robot according to claim 5, characterized in that: The second T-shaped plate (1008) is provided with a plurality of second bolt holes, and the ankle joint connecting seat (1010) is provided with a second threaded hole, wherein a second bolt (1009) is connected between one of the second bolt holes and the second threaded hole.
7. The explosion-proof exoskeleton robot according to claim 6, characterized in that: A rechargeable battery and a microcontroller are arranged inside the back component (1001); a power interface (1013) is provided on the upper end surface of the back component (1001); the power interface (1013) is connected to the input end of the rechargeable battery; an explosion-proof sensor (1016) and an alarm (1017) are connected to one side of the outer wall of the back component (1001); the explosion-proof sensor (1016) and the alarm (1017) are electrically connected.
8. The explosion-proof exoskeleton robot according to claim 7, characterized in that: A sensor assembly (1014) is embedded in one side of the thigh connecting plate (1003), the calf connecting plate (1007) and the pedal (1012); the sensor assembly (1014) is a sensor matrix composed of a pressure sensor and an angle sensor, and the output end of the sensor assembly (1014) is connected to the input end of the microcontroller.
9. The explosion-proof exoskeleton robot according to claim 8, characterized in that: The back component (1001), the thigh connecting plate (1003), the calf connecting plate (1007) and the pedal (1012) are all provided with flexible straps (1015); one side of the outer wall of the hip joint connecting seat (1002), the knee joint connecting seat (1005) and the ankle joint connecting seat (1010) located outside the first micro motor (2005) and the second micro motor (1011) is provided with an anti-static protective shell; the outer side walls of the hip joint connecting seat (1002), the knee joint connecting seat (1005) and the ankle joint connecting seat (1010) are respectively connected to the corresponding anti-static protective shells through fastening bolts; a plurality of anti-static protective shells are respectively provided with sealing grooves on one side close to the hip joint connecting seat (1002), the knee joint connecting seat (1005) and the ankle joint connecting seat (1010); a sealing gasket is clamped in the sealing groove, and the sealing gasket is made of silicone rubber.