Elastic cushion mounting structure and exoskeleton robot

Abstract

The utility model relates to an elastic cushion mounting structure and an exoskeleton robot, and belongs to the technical field of exoskeleton robots. The mounting support is used for mounting the elastic cushion, the locking assemblies are arranged on the mounting support and used for fixing the elastic cushion, the elastic cushion comprises a deformation part and a mounting part connected with the deformation part, and the locking assemblies penetrate through the mounting part and are in locking fit with the mounting support. The device has the effect of improving the disassembly and assembly efficiency of the elastic cushion.

Description

Technical Field

[0001] The present application relates to the technical field of exoskeleton robots, and in particular to an elastic pad mounting structure and an exoskeleton robot. Background Art

[0002] An exoskeleton-assisted walking robot is a type of robot that is worn outside the human body, also known as a "wearable robot." It utilizes a high-power density drive device and is attached to the human body through non-rigid connections to assist in human limb movement.

[0003] Existing exoskeleton robots typically consist of a mechanical support structure, a power drive mechanism, a control mechanism, and protective devices. These multiple mechanisms work together to form the basic framework and functionality of the exoskeleton-assisted walking robot. To enhance the user experience, the exoskeleton is often equipped with elastic pads placed inside the mechanical support structure to ensure a conforming fit.

[0004] With respect to the above-mentioned related technologies, the existing elastic pad is usually fixed to the inner side of the bracket by means of adhesive glue or screws, which makes the disassembly and assembly of the elastic pad more complicated and inconvenient to replace and clean. Utility Model Content

[0005] In order to facilitate the disassembly and assembly of the elastic pad, the present application provides an elastic pad mounting structure and an exoskeleton robot.

[0006] The elastic pad mounting structure and exoskeleton robot provided in this application adopt the following technical solutions:

[0007] An elastic pad mounting structure and an exoskeleton robot include an elastic pad, a mounting bracket for mounting the elastic pad, and a locking assembly arranged on the mounting bracket and used to fix the elastic pad. The elastic pad includes a deformation portion and a mounting portion located at the outer edge of the deformation portion. The locking assembly and the mounting portion are locked together.

[0008] By adopting the above technical solution, the elastic pad is arranged on the mounting bracket and then locked to the exoskeleton robot through the locking assembly. Compared with the connection method using adhesives or bolts, the overall fixation of the elastic pad is achieved through the mounting part, which can reduce the impact on the deformation part and improve wearing comfort. At the same time, the above installation method only requires releasing the locking assembly to realize the disassembly and assembly of the elastic pad, making the disassembly and assembly of the elastic pad more convenient.

[0009] Optionally, the mounting bracket is provided with a limit plate, and the limit plate and the end surface of the mounting bracket are formed with a positioning groove for the mounting portion to be inserted.

[0010] By adopting the above technical solution, the positioning grooves formed on the end faces of the limiting plate and the mounting bracket enable the elastic pad to achieve a preliminary positioning effect through the positioning grooves before locking, thereby facilitating the locking operation of the locking assembly and improving installation efficiency.

[0011] Optionally, the opening direction of the positioning groove is arranged in a direction away from the back support plate of the exoskeleton robot.

[0012] By adopting the above technical solution, the opening direction of the positioning groove is limited. The exoskeleton robot is usually hoisted on the bracket. The setting of the above opening direction makes it convenient for assemblers or users to insert the elastic pad in a horizontal direction, further improving the convenience of disassembly and assembly.

[0013] Optionally, the locking assembly includes a locking rod and a locking plunger arranged on the side wall of the locking rod, the mounting portion is provided with a mounting through hole for inserting the locking rod, the mounting bracket has a locking hole corresponding to the mounting through hole, and a locking groove is provided on the side wall of the locking hole to lock with the locking plunger.

[0014] By adopting the above technical solution, the structural composition of the locking assembly is disclosed. After the elastic pad is positioned on the mounting bracket through the positioning groove, the locking rod is passed through the mounting through hole and continues to extend to the locking hole, so that the locking plunger and the locking groove cooperate to achieve locking of the locking rod and the mounting bracket, thereby fixing the elastic pad on the mounting bracket.

[0015] Optionally, the locking assembly further includes a fixing rod fixed to the mounting bracket, and a lifting rod slidably mounted on the fixing rod, and the lifting rod is fixedly connected to the side wall of the locking rod.

[0016] By adopting the above technical solution, the locking assembly as a whole is fixed to the mounting bracket through a fixed rod, and the locking rod is slidably installed on the fixed rod through a lifting rod. The locking rod and the mounting bracket are locked by sliding the lifting rod, while ensuring that the locking plunger and the locking groove can correspond to each other.

[0017] Optionally, a driving rod is also slidably installed on the locking rod to drive the locking plunger to disengage from the locking groove. The locking rod has a receiving groove for installing the locking plunger, the axial length of the receiving groove is greater than the length of the locking plunger, and the side wall of the locking plunger is provided with a first inclined surface, and the driving rod has a second inclined surface that cooperates with the first inclined surface.

[0018] By adopting the above technical solution, the setting of the drive rod makes it easy for the user to release the locking fit between the locking plunger and the locking groove, and to slide the locking rod axially out of the locking hole, thereby facilitating the removal of the elastic pad from the mounting bracket and improving the disassembly efficiency.

[0019] Optionally, the outer sleeve of the driving rod is provided with a first return spring, and the bottom wall of the accommodating groove is provided with a second return spring abutting against the locking plunger.

[0020] By adopting the above technical solution, the setting of the first return spring enables the drive rod to automatically return to its initial state after the pressure on the drive rod is released. The setting of the second return spring enables the locking plunger to return to its initial state at the same time after the drive rod is reset, so as to facilitate the next locking of the elastic pad.

[0021] Optionally, a side wall of the mounting portion is provided with a limiting groove, and an inner wall of the positioning groove has a limiting edge adapted to the limiting groove.

[0022] By adopting the above technical solution, the cooperation between the limiting groove and the limiting edge ensures that the installation through hole of the elastic pad and the locking hole of the mounting bracket can be arranged correspondingly after the elastic pad is positioned and installed, thereby improving the locking efficiency of the locking rod.

[0023] Optionally, the projection of the deformation portion on the mounting bracket covers the mounting portion.

[0024] By adopting the above technical solution, the projection of the deformation part covers the installation part, so that when the exoskeleton robot is worn, the impact of the locking component on the wearer is reduced.

[0025] An exoskeleton robot includes an exoskeleton body and the above-mentioned elastic pad mounting structure. The mounting bracket is fixed to the exoskeleton body. An inflation device connected to a deformation part is also installed on the exoskeleton body. The deformation part is provided with an exhaust valve for deflation.

[0026] By adopting the above technical solution, the exoskeleton body is installed with the above elastic pad installation structure, which makes it easy for users to disassemble and replace the elastic pad. At the same time, the deformation degree of the deformation part is adjusted through the inflation device and the exhaust valve to adapt to different user body shapes.

[0027] In summary, this application includes at least one of the following beneficial technical effects:

[0028] 1. Compared with connections using adhesives or bolts, the present invention's installation bracket and locking assembly can reduce the impact on the elastic pad's deformation, improve wearing comfort, and facilitate the disassembly, replacement, and cleaning of the elastic pad.

[0029] 2. This application realizes the positioning installation of the elastic pad on the mounting bracket by setting the limiting plate and limiting edge, ensuring the coaxial arrangement of the mounting through hole and the locking hole;

[0030] 3. The present application facilitates the disengagement of the locking plunger from the locking groove by setting a driving rod, which is easy to operate, and can be reused through a reset spring, with a long service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of Example 1.

[0032] Figure 2 Schematic cross-section of the elastic pad of Example 1 after installation.

[0033] Figure 3 It is a cross-sectional schematic diagram of the locking assembly of Example 1 in the locked state.

[0034] Figure 4 yes Figure 3 A local enlarged schematic diagram of point A in the middle.

[0035] Figure 5 Schematic diagram of the structure of the driving rod and locking plunger of Example 1.

[0036] Figure 6 It is a schematic diagram of the overall structure of Example 2.

[0037] Figure 7 It is a schematic diagram of the partial structure of Example 2.

[0038] Explanation of reference numerals: 1. elastic pad; 11. deformation portion; 12. mounting portion; 121. mounting through hole; 122. limiting groove; 13. exhaust valve; 2. mounting bracket; 21. limiting plate; 211. positioning groove; 212. limiting through hole; 213. limiting edge; 22. locking hole; 221. locking groove; 3. locking assembly; 31. locking rod; 311. receiving groove; 312. sliding hole; 32. locking plunger; 321. locking frame; 322. Locking spring; 323, locking head; 3231, guide slope; 324, abutment portion; 3241, first slope; 33, fixing rod; 34, lifting rod; 341, sliding end; 35, driving rod; 351, pressing portion; 352, driving portion; 3521, second slope; 36, first return spring; 37, second return spring; 4, exoskeleton body; 41, back support plate; 42, lumbar support plate; 5, inflation device; 51, regulating valve. DETAILED DESCRIPTION

[0039] The following is combined with Figure 1-7 This application is described in further detail.

[0040] The embodiments of the present application disclose an elastic pad mounting structure and an exoskeleton robot.

[0041] Example 1:

[0042] Reference Figure 1An elastic pad mounting structure includes an elastic pad 1, a mounting bracket 2 for placing the elastic pad 1, and a locking assembly 3 for fixing the elastic pad 1. The mounting bracket 2 is used to fix to a device, and in this application, an exoskeleton robot is used as an example of the device. The mounting bracket 2 is fixed to the support body of the exoskeleton robot and is located on the side of the support body close to the human body, so that when the user wears the exoskeleton robot, the elastic pad 1 can be in contact with the human waist, improving the wearing experience.

[0043] The elastic pad 1 comprises a deformation portion 11 and a mounting portion 12. The deformation portion 11 is made of elastic material and has a receiving chamber. The mounting portion 12 is made of hard material and is annular in shape and located at the outer edge of the deformation portion 11.

[0044] The mounting bracket 2 is generally disc-shaped, with an end surface area larger than that of the elastic pad 1. A stop plate 21 is fixedly mounted on the end surface of the mounting bracket 2. The stop plate 21 is generally an arc-shaped plate, and both the stop plate 21 and the end surface of the mounting bracket 2 form a positioning slot 211 for the sliding insertion of the mounting portion 12. This slot 211 provides initial positioning of the elastic pad 1 on the mounting bracket 2. The opening of the slot 211 is located on the side facing away from the back support plate 41 of the exoskeleton robot.

[0045] Reference Figure 2 and Figure 3 The locking assembly 3 is spaced circumferentially around the axis of the mounting bracket 2 and disposed outside the stop plate 21. The locking assembly 3 comprises a locking rod 31, a locking plunger 32, a fixed rod 33, and a lifting rod 34. The fixed rod 33 is fixedly connected to the mounting bracket 2, with the axis of the fixed rod 33 parallel to the axis of the mounting bracket 2. The lifting rod 34 is slidably mounted on the fixed rod 33. One end of the lifting rod 34 has a sliding end 341 that fits over the fixed rod 33, and the other end is fixedly connected to the outer wall of the locking rod 31.

[0046] The locking rod 31 and the limiting plate 21 are arranged correspondingly. The mounting portion 12 is provided with a mounting hole 121 extending through both end surfaces and for the locking rod 31 to pass through. The limiting plate 21 has a limiting hole 212 corresponding to the mounting hole 121. The mounting bracket 2 has a locking hole 22 on its end surface for the locking rod 31 to insert.

[0047] The limiting through-hole 212, the mounting through-hole 121, and the locking hole 22 are all coaxially arranged. To ensure that the mounting through-hole 121 aligns with the limiting through-hole 212 after the elastic pad 1 is initially positioned, the sidewall of the mounting portion 12 is provided with a limiting groove 122 along the circumference of the axis. The limiting plate 21 has a limiting rib 213 on the inner side facing the mounting bracket 2, which engages with the limiting groove 122. The arrangement of the limiting rib 213 and the limiting groove 122 ensures that, before the elastic pad 1 is positioned and installed, it is necessary to first adjust the elastic pad 1 and insert the side of the mounting portion 12 with the limiting groove 122 into the positioning groove 211 to achieve the initial positioning of the elastic pad 1.

[0048] Reference Figure 3 and Figure 4 The locking plunger 32 is mounted on the sidewall of the end of the locking rod 31. The locking rod 31 has a receiving groove 311 for the locking plunger 32. The locking plunger 32 includes a locking frame 321, a locking spring 322 disposed within the locking frame 321, and a locking head 323. The ends of the locking spring 322 are respectively fixed to the bottom wall of the locking frame 321 and the locking head 323. The locking head 323 is a rectangular block with a guiding inclined surface 3231 facing the bottom wall of the locking hole 22. The mounting bracket 2 has a locking groove 221 on the sidewall of the locking hole 22, which is locked with the locking head 323.

[0049] The locking rod 31 also has a sliding hole 312 connected to the accommodating groove 311. A driving rod 35 is mounted within the sliding hole 312, which drives the locking plunger 32 out of the locking groove 221. The sliding hole 312 extends through the end surface of the locking rod 31. The sliding hole 312 is a countersunk hole comprising a first hole and a second hole. The second hole has a larger inner diameter than the first hole, and the first hole is connected to the accommodating groove 311. The driving rod 35 matches the inner diameter of the first hole, and the end of the driving rod 35 also has a pressing portion 351. A first return spring 36 is sheathed around the outside of the driving rod 35, with its two ends respectively abutting the bottom wall of the second hole and the pressing portion 351.

[0050] Combine Figure 5 The axial length of the receiving groove 311 is greater than the length of the locking plunger 32, and a second return spring 37 connected to the locking frame 321 is fixed to the bottom wall of the receiving groove 311. Abutment portions 324 are integrally provided on opposite sides of the locking frame 321, each having a first inclined surface 3241. The end of the driving rod 35 has a driving portion 352 corresponding to the two abutment portions 324. The driving portion 352 has a second inclined surface 3521 that abuts and cooperates with the first inclined surface 3241. When the user pushes the pressing portion 351, the driving rod 35 moves axially along the sliding hole 312, causing the second inclined surface 3521 to abut the first inclined surface 3241. Continued push of the driving rod 35 causes the locking plunger 32 to slide toward the bottom wall of the receiving groove 311, thereby disengaging the locking head 323 from the locking groove 221, thereby unlocking the locking rod 31 and the mounting bracket 2.

[0051] To minimize the impact of locking rod 31 on the user, the projection of deformable portion 11 on the end surface of mounting bracket 2 overlaps mounting portion 12. This allows the outer edge of deformable portion 11 to be lifted during locking, allowing locking rod 31 to be inserted and locked. Once locked, deformable portion 11 covers locking rod 31, improving user experience and preventing dust from entering locking hole 22.

[0052] The implementation principle of the installation structure of the elastic pad 1 of the embodiment of the present application is as follows: first, the elastic pad 1 is aligned and inserted into the positioning groove 211, and the limiting edge 213 and the limiting groove 122 are fully matched to achieve the initial positioning of the elastic pad 1 and the mounting bracket 2; then, the lifting rod 34 and the locking rod 31 are pushed simultaneously, so that the locking rod 31 passes through the limiting through hole 212 and the mounting through hole 121 in sequence, and finally is inserted into the locking hole 22, so that the locking head 323 and the locking groove 221 are matched to achieve the locking rod 31 and the mounting bracket 2. That is, the elastic pad 1 is locked to the mounting bracket 2;

[0053] When the elastic pad 1 needs to be removed, it is only necessary to push the pressing part 351, and through the abutment between the second inclined surface 3521 and the first inclined surface 3241, the locking head 323 is disengaged from the locking groove 221, and then the lifting rod 34 is pulled to drive the locking rod 31 to disengage from the locking hole 22 and the mounting through hole 121, thereby unlocking the elastic pad 1 and the mounting bracket 2.

[0054] Example 2:

[0055] Reference Figure 6 and Figure 7 An exoskeleton robot includes an exoskeleton body 4, which includes a back support plate 41 and waist support plates 42 connected to both sides of the back support plate 41. The mounting bracket 2 described in Example 1 is fixed to the waist support plate 42.

[0056] An inflation device 5 is also fixed to the lumbar support plate 42. This device is a small, conventional air pump connected to the exoskeleton's control mechanism. The pump is connected to the interior of the deformable portion 11 via a pipeline. A flow control valve 51 is located at the pump's output end. The deformable portion 11 is also equipped with an exhaust valve 13 for deflation, located on the side of the deformable portion 11.

[0057] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. An elastic pad installation structure, characterized in that: The invention comprises an elastic pad (1), a mounting bracket (2) for mounting the elastic pad (1), and a plurality of locking assemblies (3) arranged on the mounting bracket (2) and used to fix the elastic pad (1); the elastic pad (1) comprises a deformation portion (11) and a mounting portion (12) connected to the deformation portion (11); the locking assemblies (3) pass through the mounting portion (12) and are locked with the mounting bracket (2).

2. The elastic pad installation structure according to claim 1, characterized in that: The mounting bracket (2) is provided with a limiting plate (21), and the limiting plate (21) and the end surface of the mounting bracket (2) are formed with a positioning groove (211) for the mounting portion (12) to be inserted.

3. The elastic pad installation structure according to claim 2, characterized in that: The opening direction of the positioning groove (211) is arranged in a direction away from the back support plate (41) of the exoskeleton robot.

4. The elastic pad installation structure according to claim 1, characterized in that: The locking assembly (3) comprises a locking rod (31) and a locking plunger (32) arranged on a side wall of the locking rod (31); the mounting portion (12) is provided with a mounting through hole (121) for inserting the locking rod (31); the mounting bracket (2) has a locking hole (22) corresponding to the mounting through hole (121); and the side wall of the locking hole (22) is provided with a locking groove (221) that is locked with the locking plunger (32).

5. The elastic pad installation structure according to claim 4, characterized in that: The locking assembly (3) further comprises a fixing rod (33) fixed to the mounting bracket (2), a lifting rod (34) slidably mounted on the fixing rod (33), and the lifting rod (34) is fixedly connected to the side wall of the locking rod (31).

6. The elastic pad installation structure according to claim 4, characterized in that: A driving rod (35) is also slidably mounted on the locking rod (31) for driving the locking plunger (32) to disengage from the locking groove (221). The locking rod (31) has a receiving groove (311) for installing the locking plunger (32). The depth of the receiving groove (311) is greater than the length of the locking plunger (32). A first inclined surface (3241) is provided on the side wall of the locking plunger (32). The driving rod (35) has a second inclined surface (3521) that cooperates with the first inclined surface (3241).

7. The elastic pad installation structure according to claim 6, characterized in that: The outer sleeve of the driving rod (35) is provided with a first return spring (36), and the bottom wall of the accommodating groove (311) is provided with a second return spring (37) that abuts against the locking plunger (32).

8. The elastic pad installation structure according to claim 2, characterized in that: A limiting groove (122) is provided on the side wall of the mounting portion (12), and an inner wall of the positioning groove (211) has a limiting edge (213) adapted to the limiting groove (122).

9. The elastic pad installation structure according to claim 1, characterized in that: The projection of the deformation portion (11) on the mounting bracket (2) covers the mounting portion (12).

10. An exoskeleton robot, comprising an exoskeleton body (4), characterized in that: The device further comprises an elastic pad mounting structure according to any one of claims 1 to 9, wherein the mounting bracket (2) is fixed to the exoskeleton body (4), an inflation device (5) connected to the deformation portion (11) is further mounted on the exoskeleton body (4), and an exhaust valve (13) for deflation is provided on the deformation portion (11).

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