Exoskeleton robot adjusting mechanism

Abstract

The utility model discloses an exoskeleton robot adjusting mechanism which comprises an arm exoskeleton, an inner framework is inserted in a sliding groove in one end of the arm exoskeleton in a sliding mode, a machine claw is arranged at one end of the inner framework through a connecting base, a lead screw used for adjusting the inner framework in a telescopic mode is further arranged in the middle of the interior of the sliding groove, and one end of the inner framework is in threaded connection with the lead screw. A sliding groove is formed in one end of the arm exoskeleton, a locking air cylinder is arranged at one end of the arm exoskeleton, locking pressing pieces are arranged at the two ends of the locking air cylinder, and the locking pressing pieces are parallel to the inner wall of the inner framework. And the inner framework is driven by the lead screw to stretch, move and adjust, the transmission stability is high, operation is convenient and fast, and the stretching adjusting precision is high.

Description

Technical Field

[0001] This utility model relates to the field of robot accessories technology, specifically an adjustment mechanism for an exoskeleton robot. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots can perform tasks such as manual labor or movement through programming and automatic control. During operation, robots require the extension and retraction of their arms or legs.

[0003] The prior art, application number 202222413183.2, describes a leg length adjustment mechanism for a lower limb exoskeleton robot, comprising a thigh sleeve and a leg rod. A thigh connecting plate is provided at the upper end of the thigh sleeve. The upper end of the leg rod is inserted into the thigh sleeve through an opening at the lower end of the thigh sleeve. A clamp for locking the leg rod is provided at the lower opening of the thigh sleeve. The lower end of the leg rod is located outside the thigh sleeve and is provided with a lower leg connecting plate. A linear guide rail and a constant force spring are provided on the outer wall of the thigh sleeve. The slide of the linear guide rail is connected to the positioning mechanism via a leg rod connector. The leg rod is connected inside the thigh sleeve, and a limiting port is formed on the side wall of the thigh sleeve. The limiting port is used to connect the leg rod connector to the leg rod located inside the thigh sleeve. The free end of the constant force spring is connected to the slide of the linear guide. This utility model uses a constant force spring to balance the weight of the lower leg. No obvious resistance is felt when adjusting the leg length. The therapist feels relaxed and effortless, which greatly relieves the therapist's fatigue and boredom. However, it cannot perform positioning treatment on the internal skeleton after the extension and retraction adjustment, resulting in poor structural stability of the internal skeleton after extension and retraction. Utility Model Content

[0004] The purpose of this invention is to provide an adjustment mechanism for an exoskeleton robot to solve the problem in the prior art that the internal skeleton cannot be positioned after telescopic adjustment, resulting in poor structural stability of the internal skeleton after telescopic movement.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an exoskeleton robot adjustment mechanism, including an arm exoskeleton, an inner skeleton slidably inserted into a groove inside one end of the arm exoskeleton, and a robotic claw provided at one end of the inner skeleton via a connecting seat; a lead screw for telescopic adjustment of the inner skeleton is also provided in the middle of the groove, and one end of the inner skeleton is threadedly connected to the lead screw; a locking cylinder is provided at one end of the arm exoskeleton, and locking pressure plates are provided at both ends of the locking cylinder, the locking pressure plates being arranged parallel to the inner wall of the inner skeleton.

[0006] Furthermore, the inner frame is a U-shaped bracket, and one end of the inner frame is welded perpendicularly to the connecting seat.

[0007] Furthermore, the lead screw includes a lead rod rotatably disposed in the middle of the slide groove, one end of the lead rod is connected to an electric motor via a gear set, and the middle of one end of the inner frame is threadedly connected to the lead rod.

[0008] Furthermore, the electric motor is fixedly installed inside a cavity at one end of the arm exoskeleton, the gear set includes a driven gear at one end of the lead screw, and the electric motor has a driving gear at one end that meshes with the driven gear.

[0009] Furthermore, the inner wall of the chute is also provided with a guide groove, and the outer side of the inner frame is slidably set with the guide groove through a guide block.

[0010] Furthermore, the outer side of the locking plate is provided with locking teeth, and the inner wall of the inner skeleton is also provided with tooth grooves that mesh with the locking teeth.

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

[0012] 1. This utility model has an inner skeleton that is slidably inserted into a groove inside one end of the arm exoskeleton. A screw is also provided in the middle of the groove for adjusting the extension and retraction of the inner skeleton. This allows the inner skeleton to be moved and adjusted by the screw, resulting in strong transmission stability, convenient and quick operation, and high precision in extension and retraction adjustment.

[0013] 2. This utility model has a locking cylinder at one end of the arm exoskeleton, and locking plates at both ends of the locking cylinder. The locking plates are arranged parallel to the inner wall of the inner skeleton, so that the locking cylinder drives the two locking plates to press against the inner wall of the inner skeleton, which can perform positioning processing on the inner skeleton after telescopic adjustment, and improve the structural stability of the inner skeleton after telescopic movement.

[0014] 3. The present invention has locking teeth on the outer side of the locking plate and tooth grooves on the inner wall of the inner frame that mesh with the locking teeth, so that the locking teeth on the outer side of the locking plate and the tooth grooves on the inner wall of the inner frame are connected by meshing, which is beneficial to further improve the structural stability of the inner frame after telescoping and moving. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the internal structure of the arm exoskeleton of this utility model;

[0018] Figure 3 This is an enlarged schematic diagram of the structure at point A of this utility model.

[0019] In the diagram: 1. Arm exoskeleton; 2. Inner skeleton; 3. Connecting seat; 4. Robotic claw; 5. Slide groove; 6. Lead screw; 7. Electric motor; 8. Driven gear; 9. Guide groove; 10. Guide block; 11. Drive gear; 12. Locking cylinder; 13. Locking pressure plate; 14. Locking tooth; 15. Tooth groove. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please see Figure 1 , Figure 2 , Figure 3 In this embodiment of the invention, an exoskeleton robot adjustment mechanism includes an arm exoskeleton 1. An inner skeleton 2 is slidably inserted into a groove 5 inside one end of the arm exoskeleton 1. A robotic claw 4 is provided at one end of the inner skeleton 2 via a connecting seat 3. The inner skeleton 2 is a U-shaped bracket, and one end of the inner skeleton 2 is perpendicularly welded to the connecting seat 3. A lead screw for telescopic adjustment of the inner skeleton 2 is also provided in the middle of the groove 5, and one end of the inner skeleton 2 is threadedly connected to the lead screw. The lead screw includes a lead rod 6 rotatably disposed in the middle of the groove 5. One end of the lead rod 6 is connected to a motor 7 via a gear set. 2. One end of the inner skeleton 2 is threadedly connected to the lead screw 6. The motor 7 is fixedly installed in the cavity inside one end of the arm exoskeleton 1. The gear set includes a driven gear 8 set at one end of the lead screw 6 and a driving gear 11 that meshes with the driven gear 8 at one end of the motor 7. This allows the inner skeleton 2 to be moved and adjusted by the lead screw, resulting in strong transmission stability, convenient and quick operation, and high precision in telescopic adjustment. The inner wall of the slide groove 5 is also provided with a guide groove 9, and the outer side of the inner skeleton 2 is slidably set with the guide block 10 and the guide groove 9, which is used for sliding guidance during the telescopic adjustment of the inner skeleton 2.

[0022] like Figure 2 and Figure 3 As shown, in order to position the extended and adjusted inner skeleton 2, a locking cylinder 12 is provided at one end of the arm exoskeleton 1, and locking pressure plates 13 are provided at both ends of the locking cylinder 12. The locking pressure plates 13 are arranged parallel to the inner wall of the inner skeleton 2, so that the two locking pressure plates 13 are pressed against the inner wall of the inner skeleton 2 by the locking cylinder 12, which can position the extended and adjusted inner skeleton 2 and improve the structural stability of the inner skeleton 2 after extension and retraction.

[0023] Figure 2 and Figure 3 As shown, in order to further improve the structural stability of the inner frame 2 after telescopic movement, a locking tooth 14 is provided on the outer side of the locking plate 13, and a tooth groove 15 that meshes with the locking tooth 14 is provided on the inner wall of the inner frame 2, so that the locking tooth 14 on the outer side of the locking plate 13 meshes with the tooth groove 15 on the inner wall of the inner frame 2, which is beneficial to further improve the structural stability of the inner frame 2 after telescopic movement.

[0024] The working principle and usage process of this utility model are as follows: In use, the inner skeleton 2 is slidably inserted into the groove 5 inside one end of the arm exoskeleton 1. The middle of the groove 5 is also provided with a screw for adjusting the extension and retraction of the inner skeleton 2. The extension and retraction of the inner skeleton 2 is driven by the screw, which has strong transmission stability, is convenient and quick to operate, and has high precision in extension and retraction adjustment. Moreover, a locking cylinder 12 is provided at one end of the arm exoskeleton 1, and locking pressure plates 13 are provided at both ends of the locking cylinder 12. The locking pressure plates 13 are arranged parallel to the inner wall of the inner skeleton 2. The locking cylinder 12 drives the two locking pressure plates 13 to press against the inner wall of the inner skeleton 2, which can perform positioning processing on the inner skeleton 2 after extension and retraction adjustment, thereby improving the structural stability of the inner skeleton 2 after extension and retraction.

[0025] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An exoskeleton robot adjustment mechanism, comprising an arm exoskeleton (1), characterized in that: An inner skeleton (2) is slidably inserted into a groove (5) inside one end of the arm exoskeleton (1), and a machine claw (4) is provided at one end of the inner skeleton (2) via a connecting seat (3). A screw for telescopic adjustment of the inner skeleton (2) is also provided in the middle of the groove (5), and one end of the inner skeleton (2) is threadedly connected to the screw. A locking cylinder (12) is provided at one end of the arm exoskeleton (1), and locking pressure plates (13) are provided at both ends of the locking cylinder (12). The locking pressure plates (13) are arranged parallel to the inner wall of the inner skeleton (2).

2. The exoskeleton robot adjustment mechanism according to claim 1, characterized in that: The inner frame (2) is a U-shaped bracket, and one end of the inner frame (2) is welded perpendicularly to the connecting seat (3).

3. The exoskeleton robot adjustment mechanism according to claim 1, characterized in that: The lead screw includes a lead screw (6) rotatably disposed in the middle of the slide groove (5), one end of the lead screw (6) is connected to an electric motor (7) via a gear set, and the middle of one end of the inner frame (2) is threadedly connected to the lead screw (6).

4. The exoskeleton robot adjustment mechanism according to claim 3, characterized in that: The electric motor (7) is fixedly installed in the cavity inside one end of the arm exoskeleton (1). The gear set includes a driven gear (8) set at one end of the lead screw (6). The electric motor (7) is provided with a driving gear (11) that meshes with the driven gear (8) at one end.

5. The exoskeleton robot adjustment mechanism according to claim 3, characterized in that: The inner wall of the slide groove (5) is also provided with a guide groove (9), and the outer side of the inner frame (2) is slidably set with the guide groove (9) through the guide block (10).

6. The exoskeleton robot adjustment mechanism according to claim 1, characterized in that: The locking plate (13) is provided with locking teeth (14) on the outside, and the inner wall of the inner skeleton (2) is also provided with tooth grooves (15) that mesh with the locking teeth (14).

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