Exoskeleton joint limiting structure

Abstract

The utility model relates to the technical field of exoskeleton equipment, in particular to an exoskeleton joint limiting structure which comprises a first movable arm and a second movable arm. The driving component comprises a fixed part and a driving part, the fixed part is connected to the first movable arm, and the driving part is connected to the second movable arm and can drive the second movable arm to rotate around a first axis relative to the first movable arm. The limit angle of the first movable arm and the limit angle of the second movable arm are limited in a mechanical limiting mode of the limiting block and the limiting groove, the limiting groove is composed of the high-strength limiting sleeve body, the strength of structural parts can be improved while the light weight of the joint structure is kept, larger collision impact force can be borne, and the service life of the joint structure is prolonged. And meanwhile, the double insurance of electronic and mechanical limiting is adopted, so that the safety and the reliability are higher.

Description

TECHNICAL FIELD

[0001] The utility model relates to exoskeleton device technical field, and specifically relates to exoskeleton joint limiting structure. BACKGROUND

[0002] The limitation of human exoskeleton joint rotation angle is one of the key factors to ensure the safety, comfort and effective use of exoskeleton. Therefore, in order to prevent the joint rotation angle from being too large, the exoskeleton is designed with a limiting device at the joint. These devices can limit the rotation range of the joint to ensure its work within the normal range.

[0003] Modern exoskeleton systems are usually equipped with sensors and control systems to monitor the rotation angle and speed of the joint in real time. When the joint rotation angle approaches the limit value, the control system will issue a warning or automatically adjust the motion state of the joint to prevent excessive rotation. However, software systems may have vulnerabilities or faults, causing the limiting function to fail. In addition, the update and maintenance of the software system may also bring additional challenges and costs.

[0004] As exoskeletons develop towards lightweight, they usually use lightweight materials such as aluminum alloy and carbon fiber. Such materials are relatively brittle, and when using mechanical limiting structures, the limiting device may fail under strong external impact or when the wearer suddenly changes the motion state. Therefore, it is necessary to propose a limiting structure that meets both strength requirements and lightweight requirements. SUMMARY

[0005] In view of the technical problems existing in the joint limiting structure in the prior art, the utility model provides an exoskeleton joint limiting structure, comprising:

[0006] a first movable arm and a second movable arm;

[0007] a drive component, including a fixed part and a drive part, the fixed part is connected to the first movable arm, the drive part is connected to the second movable arm, and can drive the second movable arm to rotate around the first axis relative to the first movable arm;

[0008] wherein, the first movable arm is provided with a limiting block on one side of the second movable arm, the second movable arm is provided with a limiting sleeve on one side of the first movable arm, a limiting groove is formed in the limiting sleeve, the limiting block is arranged in the limiting groove, and the relative rotation angle of the first movable arm and the second movable arm is limited;

[0009] The strength of the limiting sleeve is greater than that of the first movable arm and the second movable arm.

[0010] Preferably, the limiting sleeve comprises a stainless steel sleeve.

[0011] Preferably, the limiting groove is an arc-shaped groove, the center of the arc-shaped groove is located on the first axis, and the limiting block is configured in an arc-shaped block shape; when the limiting block moves to the first end of the limiting groove, the first movable arm moves to a first limiting position relative to the second movable arm; and when the limiting block moves to the second end of the limiting groove, the first movable arm moves to a second limiting position relative to the second movable arm.

[0012] Preferably, the two ends of the limiting block are configured in a circular arc shape, and the two ends of the limiting groove are configured to match the profile of the two ends of the limiting block.

[0013] Preferably, the first movable arm is provided with a mounting area, the mounting area is provided with M first mounting holes, the limiting block is provided with N second mounting holes, M > N, and the N second mounting holes of the limiting block are correspondingly mounted with N first mounting holes of the M first mounting holes.

[0014] Preferably, the mounting area of the first movable arm is further provided with a plurality of third mounting holes, the fixed part is provided with fourth mounting holes corresponding to the third mounting holes, and the fixed part is mounted to the mounting area.

[0015] Preferably, the second movable arm is provided with a groove on one side of the first movable arm, and the limiting sleeve body is located in the groove.

[0016] Preferably, the second movable arm is provided with a plurality of fifth mounting holes on one side of the first movable arm, and the driving part is provided with a plurality of sixth mounting holes matched with the fifth mounting holes.

[0017] Preferably, the first movable arm is provided with a first position switch and a second position switch, and the first position switch and the second position switch are electrically connected with the driving part.

[0018] Preferably, the second movable arm is provided with a protrusion, and when the second movable arm rotates relative to the first movable arm, the movement trajectory of the protrusion passes through the first position switch and the second position switch.

[0019] Compared with the prior art, the utility model has the advantages that:

[0020] The utility model discloses a mechanical limiting mode of limiting block and limiting groove is used to limit the limit angle of the first movable arm and the second movable arm, the limiting groove is composed of the limiting sleeve body with high strength, the strength of the structural member can be improved while keeping the joint structure lightweight, and greater impact force can be borne to avoid limiting failure when external impact or sudden change of movement direction, and the double insurance of electronic and mechanical limiting is safer and more reliable. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures can be represented by a like numeral. For purposes of clarity, not every component can be called out in every drawing. There is now being described by way of example various embodiments of aspects of the present application, with reference to the accompanying drawings, in which:

[0022] Figure 1 is a structural schematic view of the exoskeleton joint limiting structure shown in the present application;

[0023] Figure 2 is a structural schematic view of the first movable arm and the second movable arm shown in the present application;

[0024] Figure 3 is a structural schematic view of the driving component shown in the present application;

[0025] Figure 4 is a structural schematic view of the limiting sleeve body mounted to the second movable arm shown in the present application;

[0026] Figure 5 is a structural schematic view of the second movable arm shown in the present application;

[0027] Figure 6 is a structural schematic view of the limiting sleeve body shown in the present application. DETAILED DESCRIPTION

[0028] In order to better understand the technical content of the present application, specific embodiments are described below with the accompanying drawings.

[0029] In combination with Figure 1 and Figure 2 shown, the present application proposes an exoskeleton joint limiting structure, mainly comprising a first movable arm 10, a second movable arm 20 and a driving component 30. Among them, the first movable arm 10 and the second movable arm 20 are assembled together and can rotate relative to each other, forming a joint.

[0030] Optionally, the first movable arm 10 especially refers to a large arm exoskeleton, and the second movable arm 20 especially refers to an elbow exoskeleton, that is, the first movable arm 10 and the second movable arm 20 constitute an elbow joint.

[0031] In other embodiments, the first movable arm 10 and the second movable arm 20 can also be other joints including two movable parts, such as knee joints, hip joints, ankle joints, etc.

[0032] Further, in combination with Figure 3As shown, the driving component 30 comprises a fixed part 31 connected to the first movable arm 10 and a driving part 32 connected to the second movable arm 20 and capable of driving the second movable arm 20 to rotate around the first axis relative to the first movable arm 10.

[0033] Specifically, the driving component 30 comprises a motor, the fixed part 31 is a housing of the motor, and the driving part 32 is a shaft structure of the motor or an accessory connected to the shaft structure.

[0034] In this way, the driving part 32 can drive the second movable arm 20 to rotate by a target angle.

[0035] Further, in order to avoid the rotation of the second movable arm 20 out of control, in combination with Figures 4 to 6 As shown, the first movable arm 10 is provided with a limiting block 14 on a side facing the second movable arm 20, and the second movable arm 20 is provided with a limiting sleeve 50 on a side facing the first movable arm 10, the limiting sleeve 50 is formed with a limiting groove 52, and the limiting block 14 is arranged in the limiting groove 52 and limits the relative rotation angle of the first movable arm 10 and the second movable arm 20.

[0036] In an optional embodiment, the second movable arm 20 is provided with a recess 2a on a side facing the first movable arm 10, and the limiting sleeve 50 is located in the recess 2a.

[0037] In this way, when the second movable arm 20 is driven to rotate by the driving part 32, the limiting sleeve 50 also synchronously moves with the second movable arm 20, and when the end of the limiting groove 52 moves to contact the limiting block 14, the limiting block 14 plays a limiting role to avoid the second movable arm 20 moving to a range beyond the predetermined angle.

[0038] Based on the development trend of lightweight, the first movable arm 10 and the second movable arm 20 are made of lightweight materials such as aluminum alloy or carbon fiber, and in order to withstand greater impact force, the strength of the limiting sleeve 50 is greater than that of the first movable arm 10 and the second movable arm 20.

[0039] Preferably, the limiting sleeve 50 comprises a stainless steel sleeve 51.

[0040] It should be understood that this mechanical limiting mode is mainly realized through the collision of the structure, and the stainless steel sleeve 51 made of stainless steel material has better toughness and strength than brittle materials such as aluminum alloy and is not easy to break, so it can play a better limiting role and also make the joint maintain the advantage of lightweight.

[0041] In combination with Figure 4As shown, the limiting groove 52 is an arc-shaped groove, the center of the arc-shaped groove is located at the first axis, and the limiting block 14 is configured as an arc-shaped block. When the limiting block 14 moves to the first end of the limiting groove 52, the first movable arm 10 moves to the first limiting position relative to the second movable arm 20. When the limiting block 14 moves to the second end of the limiting groove 52, the first movable arm 10 moves to the second limiting position relative to the second movable arm 20.

[0042] When the second movable arm 20 rotates, the limiting sleeve 50 also rotates around the first axis. At this time, the limiting block 14 moves relative to the limiting groove 52. When the limiting sleeve 50 rotates downward to the upper end of the limiting sleeve 50 and the limiting block 14 touches, the second movable arm 20 cannot continue to rotate, reaching the first limiting position. When the limiting sleeve 50 rotates upward to the lower end of the limiting sleeve 50 and the limiting block 14 touches, the second movable arm 20 cannot continue to rotate, reaching the second limiting position.

[0043] Preferably, the two ends of the limiting block 14 are provided as circular arcs, and the two ends of the limiting groove 52 are provided to match the profiles of the two ends of the limiting block 14. By designing the two ends of the limiting block 14 as circular arcs, the stress caused by the collision can be reduced, and the collision damage can be avoided.

[0044] Specifically, in combination with Figure 2 As shown, the first movable arm 10 includes a first extension portion 11 and a first connecting portion 12. The first connecting portion 12 is configured as a ring, and the inside is provided with a mounting area 13. The end surface of the mounting area 13 is provided with M first mounting holes 131 and a plurality of third mounting holes 132 arranged in a circular array.

[0045] Further, the limiting block 14 is provided with N second mounting holes, wherein M>N, and the N second mounting holes of the limiting block 14 are correspondingly mounted in the N first mounting holes 131 of the M first mounting holes 131. Specifically, screws are mounted into the first mounting holes 131 and the second mounting holes, so that the limiting block 14 is fixed.

[0046] Because the number of first mounting holes 131 is large, the limiting block 14 can change the position of installation in the mounting area 13, that is, the initial limiting angle is changed. For example, the arc length of the limiting groove 52 of the limiting sleeve 50 is 90°, and the arc length of the limiting block 14 is 30°. Through the change of the initial position, the movement angle of the second movable arm 20 can be limited to 0-60° or 30-60°.

[0047] Further, in combination with Figure 2 and Figure 3 As shown, the fixed portion 31 is provided with a fourth mounting hole 311 corresponding to the third mounting hole 132, and the fixed portion 31 is mounted to the mounting area 13.

[0048] In this way, the first movable arm 10 and the fixed part 31 can be connected together.

[0049] In combination Figure 5 As shown, the second movable arm 20 comprises a second extension part 22 and a second connecting part 21, the second connecting part 21 and the first connecting part 12 can be attached together, the second connecting part 21 has an outer ring area 211 and an inner ring area 212, the inner ring area 212 of the second connecting part 21 is provided with a plurality of fifth mounting holes 2b towards one side of the first movable arm 10, the driving part 32 is provided with a plurality of sixth mounting holes 321 matched with the fifth mounting holes 2b.

[0050] In this way, the driving part 32 can be connected to the inner ring area 212 of the second connecting part 21, ensuring that the connection between the driving part 32 and the second connecting part 21 is reliable.

[0051] In combination Figure 1 As shown, in order to further increase the reliability of the limit, an electronic limit structure is added, the first movable arm 10 is provided with a first position switch 41 and a second position switch 42, the first position switch 41 and the second position switch 42 are electrically connected with the driving part 30.

[0052] Optionally, the first position switch 41 and the second position switch 42 are photoelectric switches or contact switches.

[0053] Further, the second movable arm 20 is provided with a protrusion, when the second movable arm 20 rotates relative to the first movable arm 10, the movement track of the protrusion passes through the first position switch 41 and the second position switch 42.

[0054] Specifically, the outer wall of the second movable arm 20 is provided with two protrusions.

[0055] In this way, when the protrusion on the left side moves to the second position switch 42, the second position switch 42 detects the protrusion, at this time, the first limit position is reached, when the protrusion on the right side moves to the first position switch 41, the first position switch 41 detects the protrusion, at this time, the second limit position is reached, when the first limit position or the second limit position is reached, the driving part 30 no longer continues to drive, that is, the first limit position and the second limit position can be limited through electrical signals.

[0056] Optionally, the first position switch 41 and the second position switch 42 can change their initial positions on the second movable arm 20, that is, change the positions of the first limit position and the second limit position.

[0057] In combination with the above embodiments, the mechanical limiting mode of the limiting block and the limiting slot is used to limit the limit angle of the first movable arm and the second movable arm, the limiting slot is composed of the limiting sleeve body with high strength, the strength of the structural member can be improved while keeping the joint structure lightweight, a greater impact force can be borne, so that the limiting failure is avoided when an external impact or a sudden change of the movement direction occurs, meanwhile, the double insurance of the electronic and mechanical limiting is more safe and reliable.

[0058] Although the present application has been disclosed with reference to the preferred embodiments, it is not intended to limit the present application. Those skilled in the art can make various modifications and improvements without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application shall be subject to the definition of the claims.

Claims

1. An exoskeleton joint stop, comprising: The utility model relates to a kind of movable arm device, including: First movable arm (10) and second movable arm (20); Driving component (30), including fixed part (31) and drive part (32), the fixed part (31) is connected to the first movable arm (10), the drive part (32) is connected to the second movable arm (20), and the second movable arm (20) can be driven around the first axis relative to the first movable arm (10) rotation; Wherein, the first movable arm (10) is provided with limit block (14) to the side of the second movable arm (20), the second movable arm (20) is provided with limit sleeve body (50) to the side of the first movable arm (10), limit groove (52) is formed in the limit sleeve body (50), the limit block (14) is arranged in the limit groove (52), and the relative rotation angle of first movable arm (10) and second movable arm (20) is limited; The strength of the limit sleeve body (50) is greater than the strength of the first movable arm (10) and the second movable arm (20).

2. The exoskeleton joint stop structure of claim 1, wherein, The limit sleeve body (50) includes stainless steel sleeve body (51).

3. The exoskeleton joint stop of claim 1, wherein, The limit groove (52) is arc slot, the center of the arc slot is located on the first axis, the limit block (14) is configured as arc block, when the limit block (14) moves to the first end of the limit groove (52), the first movable arm (10) moves to the first limit position relative to the second movable arm (20), when the limit block (14) moves to the second end of the limit groove (52), the first movable arm (10) moves to the second limit position relative to the second movable arm (20).

4. The exoskeleton joint stop of claim 1, wherein, Two ends of the limit block (14) are set as circular arc, and two ends of the limit groove (52) are set as matching the profile of two ends of the limit block (14).

5. The exoskeleton joint stop of claim 1, wherein, The first movable arm (10) is provided with mounting area (13), the mounting area (13) is provided with M first mounting holes (131), the limit block (14) is provided with N second mounting holes, wherein M>N, the N second mounting holes of the limit block (14) are installed with N first mounting holes (131) of M first mounting holes (131) correspondingly.

6. The exoskeleton joint stop of claim 5, wherein, The mounting area (13) of the first movable arm (10) is further provided with a plurality of third mounting holes (132), the fixed part (31) is provided with fourth mounting hole (311) corresponding to the third mounting hole (132), and the fixed part (31) is installed to the mounting area (13).

7. The exoskeleton joint stop of claim 1, wherein, The second movable arm (20) is provided with recess (2a) to the side of the first movable arm (10), and the limit sleeve body (50) is located in the recess (2a).

8. The exoskeleton joint stop of claim 1, wherein, The second movable arm (20) is provided with a plurality of fifth mounting holes (2b) to the side of the first movable arm (10), and the drive part (32) is provided with a plurality of sixth mounting holes (321) matched with the fifth mounting holes (2b).

9. The exoskeleton joint stop of any of claims 1-8, wherein, The first movable arm (10) is provided with a first position switch (41) and a second position switch (42), which are electrically connected with the driving part (30).

10. The exoskeleton joint stop of claim 9, wherein, The second movable arm (20) is provided with a protrusion, and when the second movable arm (20) rotates relative to the first movable arm (10), the movement track of the protrusion passes through the first position switch (41) and the second position switch (42).

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