Exoskeleton supporting device of transfer robot

Abstract

The utility model belongs to the technical field of robot exoskeletons, and relates to a transfer robot exoskeleton supporting device which comprises a thigh upper ring, a thigh lower ring, a shank ring, a protruding side plate and a connecting and fixing assembly. According to the utility model, the two sides of the upper thigh ring, the two sides of the lower thigh ring and the two sides of the shank ring are respectively provided with the son hook-and-loop fastener and the mother hook-and-loop fastener, so that the thigh and the shank of a user can be fixedly sleeved with the thigh and the shank through the son hook-and-loop fastener and the mother hook-and-loop fastener; the electric push rod can be started to move with the fixing rod as the center to abut against the transmission rod to move along with the electric push rod, the transmission rod can drive the T-shaped connecting rod to rotate as the limiting rod, the limiting rod is installed in the limiting groove to move, the other end of the T-shaped connecting rod is rotationally provided with the installation rods, and the hydraulic telescopic rod is installed between the two installation rods. And a user can be assisted in carrying work.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot exoskeletons, and particularly relates to a support device for a handling robot exoskeleton. Background Art

[0002] A handling robot is an automated product that uses the movement trajectory of a robot to replace manual handling. An exoskeleton is a hard external structure that can provide configuration, construction, and protection for the soft internal organs of a living being. Generally, the tough chitinous skeletons on the surfaces of arthropods such as shrimps, crabs, and insects are called exoskeletons, which have the functions of protecting and supporting internal structures, preventing a large amount of evaporation of body moisture, and having strong self-repair ability.

[0003] The problems existing in the existing technical solutions are as follows: During the use of the existing exoskeleton, due to the cumbersome installation steps and complex support structure, when the user carries an item, it will cause inconvenience in wearing the exoskeleton support device, consume a long time, and reduce the practicability of the exoskeleton support device. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is to overcome the deficiencies of the existing technology and provide a support device for a handling robot exoskeleton that can overcome or at least partially solve the above problems.

[0005] To solve the above technical problem, the basic concept of the technical solution adopted by the utility model is as follows: A support device for a handling robot exoskeleton includes an upper thigh ring, a lower thigh ring, a calf ring, a protruding side plate, and a connection and fixation component. The connection and fixation component includes a fixing plate, the fixing plate is fixedly connected to the outer surface of each protruding side plate, a limiting groove is arranged inside the fixing plate, a limiting rod is installed in each limiting groove, and T-shaped connecting rods are fixedly connected to the lower surfaces of both ends of the limiting rod; the lower thigh ring is arranged below the upper thigh ring, the calf ring is arranged below the lower thigh ring, the upper thigh ring, the lower thigh ring, and the calf ring are arranged in a semicircular shape, each of the upper thigh ring, the lower thigh ring, and the calf ring is rotatably installed together through a connecting piece, and a connecting belt is fixedly connected between the upper thigh ring and the lower thigh ring.

[0006] Preferably, a first mounting block is fixedly connected to one side of each of the upper thigh ring, the lower thigh ring, and the calf ring, a sub-magic tape is fixedly connected to one side of each first mounting block, a mother-magic tape is fixedly connected to the other side of each of the upper thigh ring, the lower thigh ring, and the calf ring, and the sub-magic tape is installed on the mother-magic tape.

[0007] Preferably, protruding side plates are fixedly connected to one side of the lower thigh ring and the calf ring, a connection and fixation component is installed between the protruding side plates, and second mounting blocks are fixedly connected to the inner edges of the lower thigh ring and the calf ring.

[0008] Preferably, a connecting block is rotatably installed in each of the second mounting blocks, and a telescopic block is rotatably installed between each of the connecting blocks.

[0009] Preferably, a mounting rod is rotatably mounted on one side of the lower end of the T-shaped connecting rod, a hydraulic telescopic rod is fixedly connected between the upper and lower mounting rods, and a transmission rod is rotatably mounted on the other side of the lower end of the T-shaped connecting rod.

[0010] Preferably, a connecting seat is rotatably mounted on the transmission rod, an electric push rod output shaft is fixedly connected to the upper surface of the connecting seat, a fixing rod is mounted on the electric push rod, and the fixing rod is rotatably mounted between the protruding side plates.

[0011] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0012] The utility model has child Velcro and mother Velcro installed on both sides of the upper thigh ring, the lower thigh ring and the calf ring, so that the sleeve can be fixed on the thigh and calf of the user through the child Velcro and mother Velcro, and a connecting block is installed through the No. 2 mounting block between the lower thigh ring and the calf ring, and a telescopic block is rotatably installed between the connecting blocks, so as to limit the position between the lower thigh ring and the calf ring, and then a connecting and fixing component is installed in the protruding side plate between the lower thigh ring and the calf ring, and when the electric push rod is started, it can move with the fixing rod as the center to support the transmission rod and move with the electric push rod, and the T-shaped connecting rod can be driven by the transmission rod to rotate with the limiting rod, and the limiting rod is installed in the limiting groove to move, and the other end of the T-shaped connecting rod is rotatably installed with a mounting rod, and a hydraulic telescopic rod is installed between the two mounting rods to assist the user in carrying work. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic three-dimensional diagram of the overall structure provided by an embodiment of the utility model;

[0014] Figure 2 It is a schematic three-dimensional diagram of the lower thigh ring structure provided by an embodiment of the utility model;

[0015] Figure 3 It is a schematic three-dimensional diagram of the structure of the lower thigh ring, the calf ring and the connecting and fixing assembly provided by the embodiment of the utility model;

[0016] Figure 4 It is a schematic three-dimensional diagram of the connection and fixing component structure provided by an embodiment of the utility model.

[0017] In the figure: 1. Upper thigh ring; 2. Connecting piece; 3. First mounting block; 4. Male magic tape; 5. Female magic tape; 6. Connecting belt; 7. Lower thigh ring; 8. Convex side plate; 9. Connecting and fixing assembly; 10. Second mounting block; 11. Connecting block; 12. Telescopic block; 13. Lower leg ring; 901. Fixed plate; 902. Limiting groove; 903. Limiting rod; 904. T-shaped connecting rod; 905. Mounting rod; 906. Transmission rod; 907. Connecting seat; 908. Electric push rod; 909. Fixed rod; 910. Hydraulic telescopic rod. Detailed implementation manners

[0018] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. The following embodiments are used to illustrate the present utility model, but are not used to limit the scope of the present utility model.

[0019] The structure of the present utility model will be described in detail below with reference to the drawings.

[0020] As Figures 1 to 4 shown, a support device for an exoskeleton of a handling robot provided by an embodiment of the present utility model includes an upper thigh ring 1, a lower thigh ring 7, a lower leg ring 13, a convex side plate 8 and a connecting and fixing assembly 9. The connecting and fixing assembly 9 includes a fixed plate 901 which is fixedly connected to the outer surface of each convex side plate 8. A limiting groove 902 is arranged inside the fixed plate 901, and a limiting rod 903 is installed in each limiting groove 902. The lower surfaces of both ends of the limiting rod 903 are fixedly connected with a T-shaped connecting rod 904. The lower thigh ring 7 is arranged below the upper thigh ring 1, and the lower leg ring 13 is arranged below the lower thigh ring 7. The upper thigh ring 1, the lower thigh ring 7 and the lower leg ring 13 are arranged in a semi-circular shape. Each of the upper thigh ring 1, the lower thigh ring 7 and the lower leg ring 13 is rotatably installed together through a connecting piece 2. A connecting belt 6 is fixedly connected between the upper thigh ring 1 and the lower thigh ring 7.

[0021] One side of the upper thigh ring 1, the lower thigh ring 7 and the calf ring 13 are all fixedly connected to a No. 1 mounting block 3, one side of each of the No. 1 mounting blocks 3 is fixedly connected to a sub-Velcro 4, the other sides of the upper thigh ring 1, the lower thigh ring 7 and the calf ring 13 are all fixedly connected to a mother Velcro 5, the sub-Velcro 4 is installed on the mother Velcro 5, one side of the lower thigh ring 7 and the calf ring 13 are all fixedly connected to a protruding side plate 8, a connecting and fixing component 9 is installed between the protruding side plates 8, a No. 2 mounting block 10 is fixedly connected to the inner edge of the lower thigh ring 7 and the calf ring 13, a connecting block 11 is rotatably installed in each of the No. 2 mounting blocks 10, and a connecting block 11 is rotatably installed between each of the connecting blocks 11. It is equipped with a telescopic block 12, and child Velcro 4 and parent Velcro 5 are installed on both sides of the upper thigh ring 1, the lower thigh ring 7 and the calf ring 13, so that it can be fixedly mounted on the user's thigh and calf through the child Velcro 4 and the parent Velcro 5, and a connecting block 11 is installed through the No. 2 mounting block 10 between the lower thigh ring 7 and the calf ring 13, and the telescopic block 12 is rotatably installed between the connecting blocks 11, which can limit the position between the lower thigh ring 7 and the calf ring 13, and then a connecting and fixing component 9 is installed in the protruding side plate 8 between the lower thigh ring 7 and the calf ring 13, and the lower thigh ring 7 and the calf ring 13 can be supported by the connecting and fixing component 9, which is more conducive to carrying work.

[0022] A mounting rod 905 is rotatably mounted on one side of the lower end of the T-shaped connecting rod 904, and a hydraulic telescopic rod 910 is fixedly connected between the upper and lower mounting rods 905. A transmission rod 906 is rotatably mounted on the other side of the lower end of the T-shaped connecting rod 904, and a connecting seat 907 is rotatably mounted on the transmission rod 906. The output shaft of an electric push rod 908 is fixedly connected to the upper surface of the connecting seat 907, and a fixing rod 909 is installed on the electric push rod 908. The fixing rod 909 is rotatably mounted between the protruding side plates 8. When the electric push rod 908 is started, the fixing rod 909 can be moved around the fixing rod 909 as the center to support the transmission rod 906 and follow the movement of the electric push rod 908. The T-shaped connecting rod 904 can be driven by the transmission rod 906 to rotate with the limit rod 903. The limit rod 903 is installed in the limit groove 902 for movement, and the mounting rod 905 is rotatably mounted on the other end of the T-shaped connecting rod 904. A hydraulic telescopic rod 910 is installed between the two mounting rods 905 to assist the user in carrying work.

[0023] The working principle of this utility model:

[0024] During use, the male magic tape 4 and the female magic tape 5 are installed on both sides of the upper thigh ring 1, the lower thigh ring 7 and the lower leg ring 13, so that it can be fixed on the user's thigh and lower leg through the male magic tape 4 and the female magic tape 5. A connecting block 11 is installed through the second mounting block 10 between the lower thigh ring 7 and the lower leg ring 13. A telescopic block 12 is rotatably installed between the connecting blocks 11, which can limit the space between the lower thigh ring 7 and the lower leg ring 13. Then, a connection and fixation assembly 9 is installed inside the protruding side plate 8 between the lower thigh ring 7 and the lower leg ring 13. When the electric push rod 908 is started, it can move with the fixed rod 909 as the center and push against the transmission rod 906 to move along with the electric push rod 908. Through the transmission rod 906, the T-shaped connecting rod 904 can be driven to rotate around the limit rod 903. The limit rod 903 is installed to move in the limit groove 902, and the other end of the T-shaped connecting rod 904 is rotatably installed with a mounting rod 905. A hydraulic telescopic rod 910 is installed between the two mounting rods 905, realizing assisting the user in carrying work.

[0025] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art of this patent, within the scope of the technical solution of the present invention.

Claims

1. An exoskeleton support device for a handling robot, comprising an upper thigh ring (1), a lower thigh ring (7), a calf ring (13), a protruding side plate (8) and a connecting and fixing assembly (9), characterized in that: The connecting and fixing assembly (9) includes a fixing plate (901), the fixing plate (901) is fixedly connected to the outer surface of each protruding side plate (8), a limiting groove (902) is arranged inside the fixing plate (901), a limiting rod (903) is installed in each limiting groove (902), and T-shaped connecting rods (904) are fixedly connected to the lower surfaces of both ends of the limiting rod (903); The lower thigh ring (7) is arranged below the upper thigh ring (1), the calf ring (13) is arranged below the lower thigh ring (7), the upper thigh ring (1), the lower thigh ring (7) and the calf ring (13) are arranged in a semicircular shape, and each of the upper thigh ring (1), the lower thigh ring (7) and the calf ring (13) is rotatably installed together through a connecting piece (2), and a connecting belt (6) is fixedly connected between the upper thigh ring (1) and the lower thigh ring (7).

2. The exoskeleton support device for a handling robot according to claim 1, characterized in that: One side of each of the upper thigh ring (1), the lower thigh ring (7) and the calf ring (13) is fixedly connected with a first mounting block (3), a sub-magic tape (4) is fixedly connected to one side of each first mounting block (3), and a mother magic tape (5) is fixedly connected to the other side of each of the upper thigh ring (1), the lower thigh ring (7) and the calf ring (13), and the sub-magic tape (4) is installed on the mother magic tape (5).

3. The exoskeleton support device for a handling robot according to claim 2, characterized in that: Protruding side plates (8) are fixedly connected to one side of each of the lower thigh ring (7) and the calf ring (13), a connecting and fixing assembly (9) is installed between the protruding side plates (8), and second mounting blocks (10) are fixedly connected to the inner edges of the lower thigh ring (7) and the calf ring (13).

4. The external skeleton support device for a handling robot according to claim 3, characterized in that: A connecting block (11) is rotatably installed in each second mounting block (10), and a telescopic block (12) is rotatably installed between each connecting block (11).

5. The external skeleton support device of a handling robot according to claim 1, wherein: An installation rod (905) is rotatably installed on one side of the lower end of the T-shaped connecting rod (904), a hydraulic telescopic rod (910) is fixedly connected between the upper and lower installation rods (905), and a transmission rod (906) is rotatably installed on the other side of the lower end of the T-shaped connecting rod (904).

6. The exoskeleton support device for a handling robot according to claim 5, wherein: A connecting seat (907) is rotatably installed on the transmission rod (906), the output shaft of an electric push rod (908) is fixedly connected to the upper surface of the connecting seat (907), a fixing rod (909) is installed on the electric push rod (908), and the fixing rod (909) is rotatably installed between the protruding side plates (8).

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