Binding mechanism of walking aid robot

Abstract

The utility model relates to the technical field of exoskeleton robots, in particular to a binding mechanism of a walking aid robot, which comprises a shoulder and back binding belt, a waist binding belt and a leg binding belt, the shoulder and back binding belt is provided with a plurality of shoulder and back connecting ends used for being connected with a main body frame; connecting belts are arranged on the shoulder and back connecting ends in a one-to-one correspondence mode and detachably connected with the shoulder and back connecting ends, buckles are arranged on the connecting belts, and buckling bases used for being matched with the buckles are arranged on the main body frame; and the waist bridle and the leg bridles are detachably connected to the main body frame. The fixing structure has the effect of solving the problem that the fixed connection between the bridle and the main body frame or the joint part is inconvenient to disassemble and replace.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of exoskeleton robots, and particularly to a binding mechanism of a walking aid robot. BACKGROUND

[0002] An exoskeleton robot is a wearable mechanical device that can be attached to the outside of the human body, and through the coordinated action of various components such as power devices, sensors, and control systems, it can provide power assistance, movement correction, or movement rehabilitation functions for the human body. In recent years, walking aid robots have been widely used in the field of medical rehabilitation training. A walking aid robot generally includes a mechanical structure module for adapting to the human body, a power system module for providing power assistance, a sensor module for sensing the real-time state of the user, a control system module for receiving and processing information and outputting control instructions, and a human-computer interaction module for the patient to touch or voice operation.

[0003] In related technologies, the mechanical mechanism module of the walking aid robot includes a main frame that is adapted to the shape and contour of the human waist, a hip joint part that has a similar degree of freedom to the human joints, and a binding mechanism for fixing the exoskeleton to the patient's body. The binding mechanism mainly includes shoulder straps, waist straps, leg straps, etc. One end of the strap is used for fixed connection with the main frame or joint part, and the other end is provided with a magic tape or buckle for the patient to wear conveniently. The main body of the strap is usually made of nylon fabric or composite material with elastic fibers, which has the characteristics of softness and high elasticity to ensure the fit. If necessary, a buffer pad is added to the inside of the strap body to reduce the pressure on the human skin.

[0004] In view of the above related technologies, the strap body usually has a certain width, and the selection of the material also sacrifices part of the air permeability. In addition, the air permeability of the buffer pad is usually poor. When the patient wears the walking aid robot for a long time, the surface of the strap in contact with the patient's body is prone to leave sweat stains. If the strap needs to be cleaned or replaced, the fixed connection of the strap with the main frame or joint part will cause the strap to be inconvenient to disassemble and replace. CONTENT OF THE UTILITY MODEL

[0005] In order to improve the problem that the fixed connection of the strap with the main frame or joint part is inconvenient to disassemble and replace, the present application provides a binding mechanism of a walking aid robot.

[0006] The binding mechanism of the walking aid robot provided by the present application adopts the following technical scheme:

[0007] The binding mechanism of the walking aid robot comprises a shoulder and back strap, a waist strap and a leg strap, the shoulder and back strap has a plurality of shoulder and back connecting ends for connecting with a main body frame, a connecting band is detachably connected to each of the shoulder and back connecting ends, a buckle tongue is arranged on each of the connecting bands, a buckle receiving seat for cooperating with the buckle tongue is arranged on the main body frame, the waist strap and the leg strap are detachably connected to the main body frame.

[0008] By adopting the above technical scheme, the shoulder and back strap is detachably connected to the main body frame through the connecting band with the buckle tongue and the buckle receiving seat, and the waist strap and the leg strap can also be detachably connected to the main body frame. When the strap needs to be cleaned due to sweat stains caused by long-term use, or the strap needs to be replaced due to wear and tear or damage, the operator can easily detach the strap from the main body frame or the joint part. Compared with the traditional fixed connection mode, the strap cleaning and replacement operation process is simplified, the maintenance convenience is improved, the walking aid robot can always maintain a good use state, and the service life is prolonged.

[0009] Further, the buckle has a buckle tongue, the buckle receiving seat comprises a shell, a clamping hook arranged in the shell and a rebound button, the shell is provided with an insertion port on the outer wall for the buckle tongue to insert into, the shell is provided with a rotating shaft for the clamping hook to rotate and connect, the clamping hook has a connecting part for the rotating shaft to pass through, an abutting part for abutting with the rebound button and a clamping part for clamping the buckle tongue, the connecting part is integrally connected between the abutting part and the clamping part, a rebound torsion spring for cooperating with the abutting part is sleeved on the rotating shaft, the rebound button is slidingly installed in the shell, and the buckle tongue is provided with a locking groove for the clamping part to extend into.

[0010] By adopting the above technical scheme, the clamping hook arranged in the buckle receiving seat cooperates with the locking groove on the buckle tongue through the clamping part, and stable clamping can be achieved. When the buckle tongue is inserted into the insertion port, the clamping part of the clamping hook is clamped into the locking groove, which effectively prevents the strap from being accidentally detached due to the patient's limb movement, body shaking and other reasons during the normal use of the walking aid robot, ensures that the strap is always tightly and stably connected to the main body frame, provides continuous and reliable support and fixing for the patient, and ensures the smooth performance of the rehabilitation training or daily walking assistance activities.

[0011] Further, the shoulder and back connecting end is provided with a connecting piece for connecting with the connecting band, the shoulder and back connecting end is provided with a through hole, a metal sleeve is embedded in the through hole of the shoulder and back connecting end, and the connecting piece passes through the metal sleeve and the through hole to fixedly connect the connecting band with the shoulder and back connecting end.

[0012] By adopting the above technical scheme, since the shoulder and back strap is made of soft cloth material, opening the communication hole will cause unstable connection, and even the cloth of the shoulder and back strap at the position of the communication hole will be damaged due to force pulling. The metal sleeve embedded in the shoulder and back connecting end can provide a hard connection port for the shoulder and back strap, so that the connecting piece can be stably passed through, and the cloth is prevented from being damaged due to irregular pulling.

[0013] Further, the connecting band passes through the buckle and is folded back to have a double-layer structure, and the connecting band is provided with a gasket in the interlayer of the double-layer structure, and the gasket is provided with a through hole corresponding to the pre-opening position and for the connecting piece to pass through.

[0014] By adopting the above technical scheme, the gasket is provided in the interlayer of the double-layer structure of the connecting band, and the gasket is provided with a through hole corresponding to the pre-opening position for the connecting piece to pass through. The gasket is made of hard material and can provide support for the soft cloth connecting band. When the connecting piece passes through, the gasket can play a role in dispersing the force, so that when the connecting band is subjected to tension, the force can be more evenly distributed on the double-layer structure and the gasket, thereby enhancing the stability of the entire connecting structure.

[0015] Further, the connecting piece includes a bolt and a blind hole nut, and the bolt head end face of the bolt has an arc abutting surface.

[0016] By adopting the above technical scheme, the bolt is arranged to be inserted from the side close to the patient's body and then passed out from the side of the connecting band. The patient's body abuts against the bolt head end face, which can effectively prevent the bolt from loosening or falling due to external pressure or self-rotation during use of the walking aid robot, and ensure that the connection between the connecting band and the corresponding connecting end is always tight and stable, thereby providing reliable protection for the walking aid robot to stably play its auxiliary function. When the patient wears the walking aid robot, the arc abutting surface on the bolt head end face can avoid direct friction or scratching between the bolt head and the patient's clothes or body. Compared with a common flat bolt head, the arc abutting surface can make the contact more smooth, thereby reducing the discomfort caused by friction.

[0017] Further, the waist strap has two waist connecting ends, the connecting piece passes through the main body frame and is fixedly connected with the waist connecting ends, and the main body frame is provided with a counterbore on the side away from the waist strap, the connecting piece passes through the counterbore and is provided with a sink.

[0018] By adopting the technical scheme, the waist belt passes through the main body frame through the connecting piece and is fixedly connected with the waist connecting end, ensuring that the waist belt is closely attached to the main body frame, providing stable support and fixing effect for the waist of the patient, and the main body frame is provided with the counterbore on the side away from the waist belt for the connecting piece to pass through and is provided with a counterbore in a countersunk manner, so that the head of the connecting piece can be embedded in the counterbore, preventing the head of the connecting piece from protruding from the surface of the main body frame and avoiding that the head of the connecting piece may interfere with or collide with the patient's body, clothes or the surrounding environment during use of the walking aid robot.

[0019] Further, the outer part of the waist connecting end is sleeved with a hard connecting sleeve, and the hard connecting sleeve and the waist connecting end are both provided with mounting through holes for the connecting piece to pass through.

[0020] By adopting the technical scheme, the hard connecting sleeve is sleeved with the outer part of the waist connecting end, and a layer of hard support structure is added to the connecting part of the waist belt and the main body frame. Compared with only relying on the material of the waist connecting end for connection, the hard connecting sleeve can resist the pulling force generated by the patient's limb movement during use of the walking aid robot, preventing deformation and damage of the connecting part, ensuring the stability and reliability of the connection, and thus ensuring that the walking aid robot continuously and stably plays its auxiliary function.

[0021] Further, the leg belt is provided with the connecting piece, the leg belt is provided with the communication hole for the connecting piece to pass through, and the communication hole is embedded with the metal sleeve.

[0022] By adopting the technical scheme, the communication hole is provided on the leg belt and the metal sleeve is embedded for the connecting piece to pass through, forming a relatively stable connection mode, and the metal sleeve provides a relatively fixed and high-strength passing point for the connecting piece, so that the connecting piece can be more tightly fixed when passing through the leg belt.

[0023] Further, the leg belt is provided with a plurality of communication holes spaced apart along the length direction.

[0024] By adopting the technical scheme, the leg belt is provided with a plurality of spaced-apart communication holes, so that when the leg belt is connected with other components, different communication holes can be selected for connection according to the differences in body shape such as leg length, thickness and the like of different patients, so as to be more accurately adapted, and the applicability of the walking aid robot to patients with different body shapes is improved.

[0025] In summary, the present application includes at least one of the following beneficial technical effects:

[0026] 1. The shoulder back strap, waist strap and leg strap can be detachably connected to the main frame, and through the cooperation of the buckle seat and the connecting belt, when the strap needs to be cleaned or replaced, the operator can easily detach it from the main frame or the joint part, simplify the cleaning and replacement process, improve the maintenance convenience, and help the walking robot to maintain good use state and prolong the service life;

[0027] 2. Various connection parts adopt various stable connection designs, such as the cooperation of the clamping hook in the buckle seat and the buckle tongue locking groove to ensure that the strap will not accidentally fall off due to patient activity in use; the metal sleeve is arranged at the connecting end of the shoulder back strap, the gasket is arranged in the interlayer of the double-layer structure of the connecting belt, the specific bolt penetrating mode and the arc abutment surface are adopted, the waist strap is connected with the main frame through the connecting piece and is provided with a counterbore and a hard connecting sleeve, the leg strap is provided with a communication hole and is embedded with a metal sleeve, etc., which enhances the stability of the connection, resists various external force interference, and guarantees the walking robot to continuously and stably play the auxiliary function, and provides reliable support and fixing effect for the patient;

[0028] 3. The leg strap can flexibly adjust the strap connection position according to the body size difference of different patients, such as leg length and thickness, to improve the applicability of the walking robot to different patients. The arc abutment surface avoids the friction and scratching of the bolt head with the patient's body or clothes, prevents the interference caused by the protruding head of the connecting piece, reduces the discomfort of the patient during use, and improves the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is the overall structure schematic diagram of a binding mechanism of a walking robot according to an embodiment of the present application.

[0030] Figure 2 is the local schematic diagram of the shoulder back connecting end, connecting belt, buckle and buckle seat according to an embodiment of the present application.

[0031] Figure 3 is the overall structure schematic diagram of the buckle and buckle seat according to an embodiment of the present application.

[0032] Figure 4 is the structure explosion schematic diagram of the buckle seat according to an embodiment of the present application.

[0033] Figure 5 is the overall structure schematic diagram of the rebound button according to an embodiment of the present application.

[0034] Figure 6 is the structure explosion schematic diagram of the connecting piece and metal sleeve according to an embodiment of the present application.

[0035] Figure 7 is the structure explosion schematic diagram of the connecting belt, gasket and connecting piece according to an embodiment of the present application.

[0036] Figure 8is a sectional structure schematic view of the waist connecting end and the main body frame of the embodiment of the present application.

[0037] Figure 9 is a structural explosion schematic view of the leg strap, metal sleeve and connecting piece of the embodiment of the present application.

[0038] Legend: 1, shoulder and back strap; 11, shoulder and back connecting end; 111, communication hole; 112, metal sleeve; 12, connecting strap; 121, gasket; 1211, through hole; 122, pre-punching hole; 13, buckle; 131, buckle tongue; 1311, locking groove; 14, buckle seat; 141, shell; 1411, plug-in interface; 142, clamping hook; 1421, abutting portion; 1422, connecting portion; 1423, clamping portion; 143, rebound button; 1431, pressing block; 1432, rebound block; 1433, spring; 144, rotating shaft; 145, rebound torsion spring; 15, connecting piece; 151, bolt; 1511, arc abutting surface; 152, blind hole nut; 2, waist strap; 21, waist connecting end; 22, rigid connecting sleeve; 221, mounting through hole; 3, leg strap; 4, main body frame; 41, counterbore. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the present application more clear, the following will combine the drawings of the present application with the embodiments to make further detailed description of the present application. Figures 1-8 and embodiments, the present application will be further described in detail.

[0040] The embodiment of the present application discloses a binding mechanism of a walking robot. Referring to Figure 1 , the binding mechanism of the walking robot comprises a shoulder and back strap 1, a waist strap 2 and a leg strap 3.

[0041] Referring to Figure 1 and Figure 2 , the shoulder and back strap 1 comprises one back strap and two symmetrically arranged shoulder straps, both of the two shoulder straps are integrally connected with the back strap, and the back strap and the shoulder straps are provided with shoulder and back connecting ends 11 for connecting with the main body frame 4 at the ends away from each other. Each shoulder and back connecting end 11 is connected with a connecting strap 12 one by one, and each connecting strap 12 is detachably connected with the connecting end of the shoulder and back strap 1 for easy disassembly and replacement.

[0042] Referring to Figure 2 and Figure 3 , the buckle 13 is provided on each connecting strap 12, the buckle 13 is provided with a buckle tongue 131 at the lower end, and the main body frame 4 is provided with a buckle seat 14 for cooperating with the buckle tongue 131. Combined with Figure 4The buckle seat 14 comprises a shell 141, a clamping hook 142 arranged in the shell 141, and a rebound button 143. The shell 141 is provided with an insertion port 1411 on the upper side, which is in communication with the inside and is used for inserting the tongue 131. The inside of the shell 141 is fixedly connected with a rotating shaft 144 at a position close to the bottom, and the clamping hook 142 is rotatably connected to the rotating shaft 144. The clamping hook 142 is integrally connected with an abutting portion 1421, a connecting portion 1422, and a clamping portion 1423. The connecting portion 1422 is used for penetrating the rotating shaft 144, the abutting portion 1421 is used for abutting with the rebound button 143, and the clamping portion 1423 is used for clamping the tongue 131. The tongue 131 is provided with a locking groove 1311 on the side close to the clamping portion 1423, which is used for extending into the clamping portion 1423.

[0043] With reference to Figure 4 and Figure 5 , the rotating shaft 144 is sleeved with a rebound torsion spring 145, and the rebound button 143 is slidingly arranged in the shell 141. The rebound button 143 comprises a pressing block 1431 and a rebound block 1432. The bottom side of the pressing block 1431 is used for abutting with the abutting portion 1421 of the clamping hook 142, and the rebound block 1432 is in abutment with the pressing block 1431 and is provided with a spring 1433. The tongue 131 of the buckle 13 extends into the insertion port 1411 and causes the clamping portion 1423 to be pressed to drive the connecting portion 1422 to rotate, and then the clamping portion 1423 is reset by the rebound torsion spring 145, so that the clamping portion 1423 enters the locking groove 1311. At this time, the buckle 13 is in a locked state. The lower end surface of the rebound button 143 abuts with the upper side of the abutting portion 1421. When the rebound button 143 is pressed down, the abutting portion 1421 drives the connecting portion 1422 to rotate around the rotating shaft 144, and the clamping portion 1423 is separated from the locking groove 1311. At this time, the buckle 13 is in an unlocked state.

[0044] With reference to Figure 6 and Figure 7 , the shoulder-back connecting end 11 is provided with a connecting piece 15 for connecting with the connecting belt 12. The connecting piece 15 comprises a bolt 151 and a blind hole nut 152. The bolt 151 is provided with an arc-shaped abutting surface 1511 on the head end surface of the bolt 151, which is used for abutting with the body of the patient. The shoulder-back connecting end 11 is provided with a communication hole 111, and the communication hole 111 is embedded with a metal sleeve 112.

[0045] One end of the connecting band 12 passes through the buckle 13 and is folded back to be fixedly connected with the other end, and the connecting band 12 has a double-layer structure by being folded back. The connecting band 12 is provided with a gasket 121 in the interlayer of the double-layer structure, and the gasket 121 can be made of hard plastic or metal material to provide hard support for the connecting band 12. The connecting band 12 is provided with a pre-hole 122, and the gasket 121 is provided with a through hole 1211 corresponding to the position of the pre-hole 122 and for the connecting piece 15 to pass through. The bolt 151 passes into the metal sleeve 112 from the side of the shoulder-back connecting end 11 close to the human body, and then passes out from one side of the connecting band 12, and the blind hole nut 152 is threadedly connected to the end of the bolt 151 to lock and fix the connecting band 12 and the shoulder-back connecting end 11.

[0046] With reference to Figure 1 and Figure 8 , the waist belt 2 has two waist connecting ends 21, and the connecting piece 15 passes through the main frame 4 and is fixedly connected with the waist connecting end 21. The main frame 4 is provided with a counterbore 41 on the side away from the waist belt 2 for the connecting piece 15 to pass through and be counterbored. The outer part of the waist connecting end 21 is provided with a hard connecting sleeve 22, and the hard connecting sleeve 22 and the waist connecting end 21 are both provided with a mounting through hole 221 for the connecting piece 15 to pass through. The connecting piece 15 used by the waist connecting end 21 includes an internal hexagonal bolt 151 and a counter sunk nut, the internal hexagonal bolt 151 passes into the main frame 4 from the side close to the human body and passes out from one side of the hard connecting sleeve 22, and is threadedly connected with the counter sunk nut to lock and fix the waist connecting end 21 and the main frame 4.

[0047] With reference to Figure 9 , the end of the leg belt 3 passes through the buckle 13 and is folded back to have a double-layer structure. The leg belt 3 is provided with a plurality of communication holes 111 spaced apart along the length direction, and each communication hole 111 is embedded with a metal sleeve 112. The connecting piece 15 passes through the double-layer structure of the leg belt 3 and fixes the leg belt 3 and the buckle 13. The connecting piece 15 used by the leg belt 3 is consistent with the connecting piece 15 of the shoulder-back connecting end 11.

[0048] The implementation principle of the binding mechanism of the walking robot is that the binding mechanism is composed of a shoulder strap, a waist strap and a leg strap. The shoulder strap is connected to the connecting strap through the shoulder connecting end, the connecting strap is connected to the buckle through the buckle, and the buckle is connected to the main frame through the clamping hole. The clamping hook in the buckle is locked in the locking groove by means of the elastic torsion spring when the tongue is inserted into the insertion port, and the elastic button can be unlocked by pressing down, which is convenient for disassembly. The connecting strap is folded into double layers, and the gasket is arranged in the interlayer. The shoulder connecting end is provided with a bolt and a blind hole nut, and the head arc abutting surface of the bolt is arranged on the patient's body to prevent loosening and falling and friction. The waist connecting end of the waist strap is fixed by means of the internal hexagonal bolt and the countersunk nut through the main frame and the rigid connecting sleeve. The countersunk hole of the main frame avoids the interference caused by the protrusion of the connecting piece, and ensures the close and stable connection. The end of the leg strap is folded into double layers, and a plurality of communication holes embedded with metal sleeves are arranged on the leg strap. The connecting piece is fixed with the buckle through the connecting piece, and the connecting piece can be connected with the communication hole according to the difference of the patient's leg type, so as to accurately adapt and enhance the stability. The parts of the binding mechanism are connected at different positions, so as to realize the stable binding of the walking robot and the human body, and the functions of convenient disassembly, various adaptation and avoidance of interference are considered, so as to ensure the effective auxiliary activities of the walking robot for the user, such as action and rehabilitation training.

[0049] The above are preferred embodiments of the present application, and do not limit the protection scope of the present application. Therefore, any equivalent changes made on the basis of the structure, shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A binding mechanism for a walking robot, characterized in that: The system includes a shoulder strap (1), a waist strap (2), and a leg strap (3). The shoulder strap (1) has multiple shoulder strap connection ends (11) for connecting to the main frame (4). Each shoulder strap connection end (11) is provided with a connecting strap (12) and is detachably connected to it. Each connecting strap (12) is provided with a buckle (13). The main frame (4) is provided with a fastening seat (14) for cooperating with the buckle (13). The waist strap (2) and the leg strap (3) are detachably connected to the main frame (4). The buckle (13) has a latch (131), and the fastening seat (14) includes a housing (141), a hook (142) disposed in the housing (141), and a rebound button (143). The housing (141) has an insertion interface (1411) on its outer wall that communicates with the interior and allows the latch (131) to be inserted. The housing (141) has a rotating shaft (144) inside for the hook (142) to be rotatably connected. The hook (142) has a connecting part (1422) through which the rotating shaft (144) passes and for engaging with the rebound button. (143) Abutting part (1421) and a locking part (1423) for locking the latch (131) are connected together. The connecting part (1422) is integrally connected between the abutting part (1421) and the locking part (1423). A spring-loaded torsion spring (145) for cooperating with the abutting part (1421) is sleeved on the rotating shaft (144). The spring-loaded button (143) is slidably installed in the housing (141). A locking groove (1311) is opened on the latch (131) for the locking part (1423) to extend into.

2. The binding mechanism for a walking robot according to claim 1, characterized in that: Each of the shoulder and back connecting ends (11) is provided with a connector (15) for connecting with the connecting strap (12). The shoulder and back connecting end (11) is provided with a connecting hole (111). A metal sleeve (112) is embedded in the connecting hole (111) of the shoulder and back connecting end (11). A pre-drilled hole (122) is provided on the connecting strap (12). The connector (15) passes through the metal sleeve (112) and the pre-drilled hole (122) in sequence to fix the connecting strap (12) and the shoulder and back connecting end (11) in a fixed connection.

3. The binding mechanism for a walking robot according to claim 2, characterized in that: The connecting strip (12) passes through the buckle (13) and folds back to have a double-layer structure. The connecting strip (12) has a gasket (121) in the sandwich of the double-layer structure. The gasket (121) has a through hole (1211) that corresponds to the position of the pre-opened hole (122) and allows the connector (15) to pass through.

4. The binding mechanism for a walking robot according to claim 2, characterized in that: The connector (15) includes a bolt (151) and a blind hole nut (152), and the bolt (151) has an arc-shaped abutment surface (1511) on the end face of the bolt head.

5. The binding mechanism for a walking robot according to claim 1, characterized in that: The waist belt (2) has two waist connection ends (21), and the connector (15) passes through the main frame (4) and is fixedly connected to the waist connection ends (21). The main frame (4) has a countersunk hole (41) on the side away from the waist belt (2) for the connector (15) to pass through and countersunk.

6. The binding mechanism for a walking robot according to claim 5, characterized in that: The waist connecting end (21) is fitted with a rigid connecting sleeve (22), and both the rigid connecting sleeve (22) and the waist connecting end (21) are provided with mounting through holes (221) for the connector (15) to pass through.

7. The binding mechanism for a walking robot according to claim 1, characterized in that: A connector (15) is threaded through the leg strap (3), and a connecting hole (111) is provided on the leg strap (3) for the connector (15) to pass through. A metal sleeve (112) is embedded in each connecting hole (111).

8. The binding mechanism for a walking robot according to claim 7, characterized in that: The leg strap (3) has multiple connecting holes (111) spaced apart along its length.

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