Exoskeleton robot

Abstract

The utility model belongs to the technical field of exoskeleton robots, and particularly relates to an exoskeleton robot which is characterized in that an adjusting assembly comprises extension blocks slidably mounted in a thigh mechanism and a shank mechanism, and the extension blocks are fixedly connected with sliding blocks slidably mounted in the thigh mechanism and the shank mechanism; reciprocating screws are rotationally installed in the thigh mechanism and the shank mechanism, limiting rods fixedly installed in the thigh mechanism and the shank mechanism are arranged on one sides of the reciprocating screws, and sliding blocks are installed on the reciprocating screws in a threaded mode and installed on the limiting rods in a sliding mode. According to the exoskeleton robot, the limb length of the exoskeleton robot can be adjusted through the adjusting assembly, so that the exoskeleton robot can better adapt to different users. The length of the limbs of the exoskeleton robot is adjusted, it can be guaranteed that the whole limbs are covered with the exoskeleton, and effective assistance is provided for walking, running and other motions. The interference on the movement caused by the overlong exoskeleton is avoided. And the wearing comfort and safety are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to exoskeleton robot technical field especially relates to an exoskeleton robot. BACKGROUND

[0002] At present, the population aging and human resource shortage problem is increasingly serious, and exoskeleton robot can play an important role in rehabilitation medical treatment and walking assistance. Exoskeleton robot not only can assist the old people and patients who are inconvenient to move to complete daily activities, improve their quality of life, but also can reduce the labor intensity of physical workers, improve work efficiency, in addition, has good application prospect in military, can improve the overall combat capability of troops.

[0003] But the joint position and limb length of the existing exoskeleton robot are fixed, cannot be accurately adjusted according to the specific body shape of user. For the user with longer limbs, it can cause that the exoskeleton cannot completely cover the limbs, influence the power assistance effect, and for the user with shorter limbs, it can make the exoskeleton too long, interfere with normal limb movement, cause discomfort or increase the risk of injury. Even can affect normal movement because of inappropriate size. UTILITY MODEL CONTENT

[0004] In order to overcome the defects of the prior art pointed out above, the present inventors have made in-depth research, and after paying a lot of creative labor, the utility model is completed.

[0005] Specifically, the technical problem to be solved by the utility model is to provide an exoskeleton robot to solve the technical problem that the current exoskeleton robot cannot be accurately adjusted according to the specific body shape of user.

[0006] In order to solve the above technical problems, the utility model provides the following technical scheme:

[0007] An exoskeleton robot, comprising a back plate, a hip joint mechanism is fixedly connected on the back plate, a thigh mechanism is hinged on the hip joint mechanism, a lower leg mechanism is hinged at the end of the thigh mechanism, a foot mechanism is hinged at the end of the lower leg mechanism, and an adjusting assembly for adjusting the length of the thigh mechanism and the lower leg mechanism is arranged in the thigh mechanism and the lower leg mechanism.

[0008] The adjusting assembly comprises an extension block slidingly installed in the thigh mechanism and the shank mechanism, a sliding block fixedly connected to the extension block and slidingly installed in the thigh mechanism and the shank mechanism, a reciprocating screw rotatably installed in the thigh mechanism and the shank mechanism, a limiting rod fixedly installed in the thigh mechanism and the shank mechanism and arranged on one side of the reciprocating screw, the sliding block being threadedly installed on the reciprocating screw and slidingly installed on the limiting rod, the thigh mechanism and the shank mechanism being provided with a driving assembly for driving the reciprocating screw to rotate, and the thigh mechanism and the shank mechanism being provided with a binding assembly for fixing the positions of the thigh mechanism and the shank mechanism.

[0009] As an improved technical solution, the driving assembly comprises a first bevel gear fixedly installed on the reciprocating screw, a second bevel gear rotatably installed in the thigh mechanism and the shank mechanism and meshingly connected to the first bevel gear, and a rotating head fixedly connected to the second bevel gear and extending out of the thigh mechanism and the shank mechanism.

[0010] As an improved technical solution, the thigh mechanism and the shank mechanism are provided with grooves, and the rotating head is rotatably installed in the grooves and flush with surfaces of the grooves.

[0011] As an improved technical solution, the binding assembly comprises two groups of binding belts fixedly installed on the thigh mechanism and the shank mechanism, and the binding belts are fixedly connected with rubber layers.

[0012] As an improved technical solution, one group of the binding belts is installed near the top of the thigh mechanism and the shank mechanism, and the other group of the binding belts is installed on the extension block and located below the thigh mechanism and the shank mechanism.

[0013] As an improved technical solution, the hip joint mechanism comprises a connecting plate, the connecting plate is fixedly connected with a detachable waistband, and the waistband has a length greater than a required length of a user.

[0014] As an improved technical solution, the foot mechanism comprises a bottom plate hingedly connected to the extension block, and the bottom plate is fixedly installed with two groups of elastic belts.

[0015] As an improved technical solution, one group of the elastic belts is located near a front end of the bottom plate, and the other group of the elastic belts is located near a rear end of the bottom plate and at an ankle of the user when the user uses the device.

[0016] After the above technical solutions are adopted, the device has the following beneficial effects:

[0017] 1. The utility model discloses an exoskeleton robot, which can be adjusted in length by an adjusting assembly, so that it can better adapt to different users. For a user with a higher height, the length of the exoskeleton robot is adjusted to be longer, so that the exoskeleton can cover the whole limb, and the exoskeleton can be accurately positioned at key positions such as the knee joint and the hip joint, thereby providing effective assistance for movements such as walking and running. For a user with a lower height, the length of the exoskeleton is adjusted to be shorter, so that the exoskeleton does not interfere with the movement, and the comfort and safety of wearing are improved.

[0018] 2. The utility model discloses an exoskeleton robot, which can be adjusted in length by an adjusting assembly, so that it can better adapt to different users. For a user with a higher height, the length of the exoskeleton robot is adjusted to be longer, so that the exoskeleton can cover the whole limb, and the exoskeleton can be accurately positioned at key positions such as the knee joint and the hip joint, thereby providing effective assistance for movements such as walking and running. For a user with a lower height, the length of the exoskeleton is adjusted to be shorter, so that the exoskeleton does not interfere with the movement, and the comfort and safety of wearing are improved.

[0019] 3. The utility model discloses an exoskeleton robot, which can be adjusted in length by an adjusting assembly, so that it can better adapt to different users. For a user with a higher height, the length of the exoskeleton robot is adjusted to be longer, so that the exoskeleton can cover the whole limb, and the exoskeleton can be accurately positioned at key positions such as the knee joint and the hip joint, thereby providing effective assistance for movements such as walking and running. For a user with a lower height, the length of the exoskeleton is adjusted to be shorter, so that the exoskeleton does not interfere with the movement, and the comfort and safety of wearing are improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can also be obtained according to these drawings without creative labor for those skilled in the art. Among them:

[0021] Figure 1 It is the whole structure schematic diagram of the utility model exoskeleton robot.

[0022] Figure 2 It is the hip joint mechanism and foot mechanism and binding assembly structure schematic diagram of the utility model exoskeleton robot.

[0023] Figure 3 It is the adjusting assembly structure schematic diagram of the utility model exoskeleton robot.

[0024] BRIEF DESCRIPTION OF DRAWINGS

[0025] 1. Back plate;

[0026] 2. Hip joint mechanism;21. Connecting plate;22. Waistband;

[0027] 3. Thigh mechanism;

[0028] 4. calf mechanism;

[0029] 5. foot mechanism; 51. bottom plate; 52. elastic band;

[0030] 6. adjusting assembly; 61. extension block; 62. sliding block; 63. reciprocating screw; 64. limiting rod; 65. driving assembly; 651. first bevel gear; 652. second bevel gear; 653. rotating head; 66. binding assembly; 661. binding belt; 662. rubber layer. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0032] It should be noted that all directional indications such as up, down, left, right, front, back, etc. in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture, such as shown in the drawings, and if the certain posture changes, the directional indications will also change accordingly.

[0033] Meanwhile, "and / or" or "and / or" appearing throughout the text means that three schemes are included, taking "A and / or B" as an example, including A scheme, or B scheme, or A and B schemes are satisfied at the same time.

[0034] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present application.

[0035] As shown in Figs. 1-3, the present embodiment provides an exoskeleton robot, which comprises a back plate 1, a hip joint mechanism 2 fixedly connected to the back plate 1, a thigh mechanism 3 hingedly connected to the hip joint mechanism 2, a calf mechanism 4 hingedly connected to the end of the thigh mechanism 3, and a foot mechanism 5 hingedly connected to the end of the calf mechanism 4, and the thigh mechanism 3 and the calf mechanism 4 are both provided with an adjusting assembly 6 for adjusting the length thereof. Figure 1 and Figure 3 As shown in Figs. 1-3, the present embodiment provides an exoskeleton robot, which comprises a back plate 1, a hip joint mechanism 2 fixedly connected to the back plate 1, a thigh mechanism 3 hingedly connected to the hip joint mechanism 2, a calf mechanism 4 hingedly connected to the end of the thigh mechanism 3, and a foot mechanism 5 hingedly connected to the end of the calf mechanism 4, and the thigh mechanism 3 and the calf mechanism 4 are both provided with an adjusting assembly 6 for adjusting the length thereof.

[0036] The adjusting assembly 6 comprises an extension block 61 slidingly installed in the thigh mechanism 3 and the calf mechanism 4, which is used to extend the length of the thigh mechanism 3 and is connected with the calf mechanism 4. The extension block 61 is fixedly connected with a sliding block 62 slidingly installed in the thigh mechanism 3 and the calf mechanism 4, which is used to connect a reciprocating screw 63 and drive the extension block 61. The reciprocating screw 63 is rotatably installed in the thigh mechanism 3 and the calf mechanism 4, and one side of the reciprocating screw 63 is provided with a limiting rod 64 fixedly installed in the thigh mechanism 3 and the calf mechanism 4, which is used to limit the extension block 61 from rotating under the drive of the reciprocating screw 63. The sliding block 62 is threadedly installed on the reciprocating screw 63 and slidingly installed on the limiting rod 64. The thigh mechanism 3 and the calf mechanism 4 are provided with a driving assembly 65 for driving the reciprocating screw 63 to rotate. The thigh mechanism 3 and the calf mechanism 4 are provided with a binding assembly 66 for fixing the position thereof. The reciprocating screw 63 is driven to rotate by the driving assembly 65, so that the sliding block 62 moves the extension block 61 to slide under the limitation of the limiting rod 64 to adjust the length.

[0037] The driving assembly 65 comprises a first bevel gear 651 fixedly installed on the reciprocating screw 63. The first bevel gear 651 is meshingly connected with a second bevel gear 652 rotating in the thigh mechanism 3 and the calf mechanism 4. The second bevel gear 652 is fixedly connected with a rotating head 653 extending out of the thigh mechanism 3 and the calf mechanism 4. The rotating head 653 is rotated to drive the second bevel gear 652 to rotate, so that the first bevel gear 651 is driven to rotate, and the reciprocating screw 63 is driven to rotate.

[0038] The thigh mechanism 3 and the calf mechanism 4 are provided with recesses, and the rotating head 653 is rotatably installed in the recesses and flush with the surface of the recesses. The influence caused by the collision of the rotating head 653 in use is reduced, and the length accuracy after adjustment is improved.

[0039] As shown in the drawings, Figure 2 As shown in the drawings, the binding assembly 66 comprises two groups of binding belts 661 fixedly installed on the thigh mechanism 3 and the calf mechanism 4, and the binding belts 661 are made of elastic material. The binding belts 661 are fixedly connected with rubber layers 662. One group of the binding belts 661 is installed near the top of the thigh mechanism 3 and the calf mechanism 4, and the other group of the binding belts 661 is installed on the extension block 61 and below the thigh mechanism 3 and the calf mechanism 4. The user is connected and fixed with the thigh mechanism 3 and the calf mechanism 4 by the binding belts 661, so that the user can be supported. The influence caused by the compression of the user is reduced by the rubber layers 662, and the comfort of the user in use is improved.

[0040] The hip joint mechanism (2) comprises a connecting plate 21, and a detachable waistband 22 is fixedly connected to the connecting plate 21, and the waistband 22 has a length greater than a required length of a user. The length of the waistband 22 can be adjusted to be suitable for users with different body types.

[0041] The foot mechanism 5 comprises a bottom plate 51 hingedly connected to the extension block 61, and the bottom plate 51 is used for bearing a user. Two groups of elastic bands 52 are fixedly installed on the bottom plate 51. One group of the elastic bands 52 is located close to a front end of the bottom plate 51, and the other group of the elastic bands 52 is located close to a rear end of the bottom plate 51 and is located at an ankle of the user during use. The elastic bands 52 are used for fixing feet of different users, so that the feet of the users can be suitable for the feet of the users during use, and the safety during use is improved.

[0042] During use, the user's body is located in the connecting plate 21, and then the length of the waistband 22 is adjusted and connected to a waist of the user. Then, the second bevel gear 652 is rotated by rotating the rotating head 653, the first bevel gear 651 is driven by the second bevel gear 652, and the reciprocating screw 63 is rotated. The extension block 61 is driven by the reciprocating screw 63 to slide under the limitation of the limiting rod 64 to adjust the position, so that the length of the limb is adjusted to be suitable for different user heights and body types. Then, the thigh mechanism 3 and the calf mechanism 4 are connected and fixed to the user by the bandage 661, so that the user is supported and fixed.

[0043] It should be understood that the use of these embodiments is only for illustrating the present application and is not intended to limit the protection scope of the present application. In addition, it should also be understood that after reading the technical content of the present application, those skilled in the art can make various changes, modifications and / or variations to the present application, and all these equivalent forms also fall within the protection scope defined by the appended claims of the present application.

Claims

1. An exoskeleton robot, comprising a back plate (1), a hip joint mechanism (2) fixedly connected to the back plate (1), a thigh mechanism (3) hingedly connected to the hip joint mechanism (2), a calf mechanism (4) hingedly connected at an end of the thigh mechanism (3), and a foot mechanism (5) hingedly connected at an end of the calf mechanism (4), wherein: The thigh mechanism (3) and the calf mechanism (4) are both provided with adjustment components (6) for adjusting their lengths; The adjustment assembly (6) comprises an extension block (61) slidably mounted in the thigh mechanism (3) and the calf mechanism (4); a sliding block (62) slidably mounted in the thigh mechanism (3) and the calf mechanism (4) is fixedly connected to the extension block (61); a reciprocating screw (63) is rotatably mounted in the thigh mechanism (3) and the calf mechanism (4); a limiting rod (64) fixedly mounted in the thigh mechanism (3) and the calf mechanism (4) is provided on one side of the reciprocating screw (63); the sliding block (62) is threadedly mounted on the reciprocating screw (63) and slidably mounted on the limiting rod (64); a driving assembly (65) for driving the reciprocating screw (63) to rotate is provided on the thigh mechanism (3) and the calf mechanism (4); and a binding assembly (66) for fixing the position of the thigh mechanism (3) and the calf mechanism (4).

2. The exoskeleton robot according to claim 1, characterized in that: The driving assembly (65) comprises a first bevel gear (651) fixedly mounted on a reciprocating screw (63); the first bevel gear (651) is meshedly connected to a second bevel gear (652) rotating within the thigh mechanism (3) and the calf mechanism (4); the second bevel gear (652) is fixedly connected to a rotating head (653) extending outside the thigh mechanism (3) and the calf mechanism (4).

3. The exoskeleton robot according to claim 2, characterized in that: Grooves are provided on the thigh mechanism (3) and the calf mechanism (4), and the rotating head (653) is rotatably mounted in the grooves and is flush with the surfaces of the grooves.

4. The exoskeleton robot according to claim 1, characterized in that: The binding assembly (66) comprises two sets of binding straps (661) fixedly mounted on the thigh mechanism (3) and the calf mechanism (4), and a rubber layer (662) is fixedly connected to the binding straps (661).

5. The exoskeleton robot according to claim 4, characterized in that: One set of the straps (661) is installed near the thigh mechanism (3) and the calf mechanism (4), and the other set of the straps (661) is installed on the extension block (61) and is located below the thigh mechanism (3) and the calf mechanism (4).

6. The exoskeleton robot according to claim 1, characterized in that: The hip joint mechanism (2) comprises a connecting plate (21), to which a detachably mounted waist belt (22) is fixedly connected, and the length of the waist belt (22) is greater than the length required by the user.

7. The exoskeleton robot according to claim 1, characterized in that: The foot mechanism (5) comprises a base plate (51) hinged on an extension block (61), and two sets of elastic bands (52) are fixedly mounted on the base plate (51).

8. The exoskeleton robot according to claim 7, characterized in that: One group of the elastic bands (52) is located near the front end of the base plate (51), and the other group of the elastic bands (52) is located near the rear end of the base plate (51) and is located at the ankles of the user when in use.

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