Drive rod assembly and exoskeleton device

Abstract

This application provides a drive rod assembly and an exoskeleton device, belonging to the field of exoskeleton technology. The drive rod assembly includes: a first rod, a second rod, and a locking member; the first rod has a guide groove on its side, and a guide protrusion on the inner wall of the guide groove, the guide groove and the guide protrusion extending along the length direction of the first rod; the second rod has a guide slider on its side, and a guide groove on the outer wall of the guide slider, the guide slider and the guide groove slidingly engaging along the length direction of the drive rod assembly, the guide protrusion and the guide groove slidingly engaging along the length direction of the drive rod assembly; the locking member is located on the first rod, and the locking member and the guide groove are respectively located on opposite sides of the first rod; the locking member is used to extend into the guide groove and connect with the guide slider to lock the position of the guide slider within the guide groove. The drive rod assembly of this application helps to improve operational reliability.

Description

Technical Field

[0001] This application relates to the field of exoskeleton technology, and in particular to a drive rod assembly and an exoskeleton device. Background Technology

[0002] In related technologies, in order to cope with the different application scenarios and functional requirements that mechanical exoskeletons may face, mechanical exoskeletons have been given the ability to adjust their size. The main solutions to achieve size adjustment include telescopic rods, telescopic slides, and replacing accessories of different sizes.

[0003] However, the above-mentioned size adjustment methods generally suffer from problems such as insufficient stability, limited service life, and inconvenient operation. Utility Model Content

[0004] This application provides a drive rod assembly and an exoskeleton device that can solve the problems existing in related technologies.

[0005] The technical solution is as follows:

[0006] On the one hand, a drive lever assembly is provided, the drive lever assembly comprising: a first lever, a second lever, and at least one locking member;

[0007] The first rod has a guide groove on its side, and at least one guide protrusion on the inner wall of the guide groove. The guide groove and the at least one guide protrusion extend along the length direction of the first rod. The second rod has a guide slider on its side, and at least one guide groove on the outer wall of the guide slider. The guide slider and the guide groove slide in cooperation along the length direction of the drive rod assembly, and the at least one guide protrusion and the at least one guide groove slide in cooperation along the length direction of the drive rod assembly.

[0008] The at least one locking member is located on the first rod, and the at least one locking member and the guide groove are respectively located on opposite sides of the first rod;

[0009] The at least one locking member is used to extend into the guide groove and abut against the guide slider to lock the position of the guide slider within the guide groove.

[0010] In some embodiments, the at least one locking member is threadedly connected to the first rod member, and the at least one locking member is axially abutting against the guide slider. At least one sliding mating surface of the at least one guide protrusion is arranged at an angle to the axial direction of the at least one locking member. The at least one sliding mating surface is capable of applying a supporting force to the at least one guide groove in the opposite direction to the abutting force of the at least one locking member.

[0011] In some embodiments, the guide slider includes a top abutment surface facing the at least one locking member, and two side abutment surfaces symmetrically connected to the two side edges of the top abutment surface;

[0012] The at least one guide groove is located on at least one of the two side abutments.

[0013] In some embodiments, the number of guide grooves is two, with one guide groove on each side abutment surface, and the two guide grooves are positioned opposite each other.

[0014] In some embodiments, the guide groove includes an opening located on a first side of the first rod; the at least one guide protrusion is located on a side wall inside the opening.

[0015] In some embodiments, the number of guide protrusions is two, and the two guide protrusions are respectively located on two sidewalls inside the opening, and the two guide protrusions are positioned opposite each other.

[0016] In some embodiments, the locking member is a screw fastener, and the side of the first rod is provided with at least one screw support boss, each of the screw support bosses being used to arrange one of the locking members.

[0017] In some embodiments, the number of locking elements is at least two, and the at least two locking elements are arranged at intervals along the length direction of the first rod.

[0018] On the other hand, an exoskeleton device is provided, which includes the drive rod assembly described in this application.

[0019] In some embodiments, the exoskeleton device further includes a drive module and a wearable module;

[0020] The drive module is connected to one of the first rod and the second rod, and the wearable module is connected to the other of the first rod and the second rod;

[0021] The drive module is used to drive the wearable module to move through the drive rod assembly. The wearable module is worn on the user's limbs to drive the user's limbs to move.

[0022] The beneficial effects of the technical solution provided in this application include at least the following:

[0023] The drive rod assembly of this application utilizes a guide groove and a guide slider to achieve a concave-convex sliding connection. The lengths of the first and second rods can be adjusted slidably according to usage requirements. Under the combined action of the guide groove, the guide slider, the guide protrusion on the inner wall of the guide groove, and the guide groove of the guide slider, the first and second rods have only one degree of freedom in the length direction. This helps ensure the reliability of the drive rod assembly when transmitting the driving force of the exoskeleton device. Furthermore, the locking device can lock the first and second rods together, fixing them at the target length and ensuring that the drive rod assembly cannot extend or retract arbitrarily during operation, further improving operational reliability. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the drive rod assembly provided in the embodiment of this application in the retracted state;

[0026] Figure 2 This is a schematic diagram of the drive rod assembly provided in the embodiment of this application in the extended state;

[0027] Figure 3 This is a partial structural cross-sectional view of the drive rod assembly provided in an embodiment of this application;

[0028] Figure 4 This is an exploded view of the drive rod assembly provided in the embodiments of this application;

[0029] Figure 5 This is another exploded view of the drive rod assembly provided in the embodiments of this application.

[0030] The reference numerals in the figure are respectively:

[0031] 1. First member;

[0032] 11. Guide groove; 111. Opening; 12. Guide protrusion; 13. Screw support boss;

[0033] 2. The second member;

[0034] 21. Guide slider; 21a. Top abutment surface; 21b. Side abutment surface; 22. Guide groove;

[0035] 3. Locking components. Detailed Implementation

[0036] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0037] In the description of this application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the purpose of facilitating and simplifying the description of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0038] It should be understood that "connection" and "connected" can both refer to a mechanical or physical connection. That is, A and B being connected or connected can mean that there are fastened components (such as screws, bolts, rivets, etc.) between A and B, or that A and B are in contact with each other and are difficult to separate.

[0039] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art.

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0041] On the one hand, combined with Figure 1 , Figure 2 and Figure 3 As shown, this embodiment provides a drive rod assembly, which includes: a first rod 1, a second rod 2, and at least one locking member 3.

[0042] The first rod 1 has a guide groove 11 on its side, and at least one guide protrusion 12 on the inner wall of the guide groove 11. The guide groove 11 and the at least one guide protrusion 12 extend along the length direction of the first rod 1. The second rod 2 has a guide slider 21 on its side, and at least one guide groove 22 on the outer wall of the guide slider 21. The guide slider 21 and the guide groove 11 slide in cooperation along the length direction of the drive rod assembly, and at least one guide protrusion 12 and at least one guide groove 22 slide in cooperation along the length direction of the drive rod assembly.

[0043] At least one locking member 3 is located on the first rod 1, and at least one locking member 3 and the guide groove 11 are located on opposite sides of the first rod 1 respectively; at least one locking member 3 is used to extend into the guide groove 11 and abut against the guide slider 21 to lock the position of the guide slider 21 in the guide groove 11.

[0044] In this embodiment, the drive rod assembly uses a guide groove 11 and a guide slider 21 to achieve a concave-convex sliding connection. The lengths of the first rod 1 and the second rod 2 can be adjusted according to usage requirements. Under the combined action of the guide groove 11, the guide slider 21, the guide protrusion 12 on the inner wall of the guide groove 11, and the guide groove 22 of the guide slider 21, the first rod 1 and the second rod 2 have only one degree of freedom in the length direction. This helps to ensure the reliability of the drive rod assembly when transmitting the driving force of the exoskeleton device. Moreover, the locking member 3 can lock the first rod 1 and the second rod 2 together, fixing the first rod 1 and the second rod 2 at the target length, ensuring that the drive rod assembly cannot extend or retract arbitrarily during operation, further improving the reliability of operation.

[0045] refer to Figure 1 and Figure 2 As shown, Figure 1 A schematic diagram of the drive rod assembly in the retracted state is shown. Figure 2 A schematic diagram of the drive rod assembly in its extended state is shown.

[0046] When it is necessary to adjust the drive lever assembly Figure 1 and Figure 2 When switching between the two states shown, it is only necessary to disconnect the connection between the locking member 3 and the guide slider 21 of the second rod 2, and then pull out or compress the second rod 2 and the first rod 1 along the length direction. After adjusting to the expected length, the locking member 3 and the guide slider 21 are reconnected. The operation is simple and the adjustment process is convenient.

[0047] The connection methods between the locking component 3 and the guide slider 21 include, but are not limited to, threaded connection, snap-fit ​​connection, abutment, etc.

[0048] In some possible implementations, the number of locking elements 3 can be one, two, three, etc.

[0049] It should be noted that in this embodiment, the guide groove 11 is located on the first rod 1 and the guide slider 21 is located on the second rod 2. Alternatively, the guide slider 21 may be located on the first rod 1 and the guide groove 11 may be located on the second rod 2.

[0050] Similarly, in this embodiment, the guide protrusion 12 is located on the inner wall of the guide groove 11, and the guide groove 22 is located on the outer wall of the guide slider 21. Alternatively, the guide groove 22 can be located on the inner wall of the guide groove 11, and the guide protrusion 12 can be located on the outer wall of the guide slider 21. The above examples are all simple variations of the embodiments of this application, have the same inventive concept, and are within the scope of this embodiment.

[0051] In some possible implementations, the number of guide protrusions 12 is the same as the number of guide grooves 22, and the guide protrusions 12 and guide grooves 22 correspond one-to-one. The number of guide protrusions 12 and guide grooves 22 can be one, two, three, etc.

[0052] Combination Figure 3 As shown, in some embodiments, at least one locking member 3 is threadedly connected to the first rod 1, and at least one locking member 3 is axially abutting against the guide slider 21. At least one sliding mating surface of at least one guide protrusion 12 is arranged at an angle to the axial direction of at least one locking member 3. At least one sliding mating surface can apply a supporting force to at least one guide groove 22 in the opposite direction to the abutting force of at least one locking member 3.

[0053] With the above arrangement, the locking member 3 is threadedly connected to the first rod 1. The thread can generate an inward squeezing force. This squeezing force has a relative positional relationship with the supporting force of the guide protrusion 12 and the guide groove 11. Therefore, the locking member 3 and the guide protrusion 12 can apply a pair of opposite forces to the guide slider 21, clamping the guide slider 21 between them. This squeezing force will generate a large frictional force between the locking member 3 and the guide slider 21, and between the guide protrusion 12 and the guide groove 22. This frictional force can prevent the guide slider 21 from sliding relative to the guide groove 22, thereby locking the first rod 1 and the second rod 2 together.

[0054] Combination Figure 4 and Figure 5 As shown, in some embodiments, the guide slider 21 includes a top abutment surface 21a facing at least one locking member 3, and two side abutment surfaces 21b, which are symmetrically connected to the two side edges of the top abutment surface 21a.

[0055] At least one guide groove 22 is located on at least one of the two side abutments 21b.

[0056] With the above arrangement, the guide slider 21 can be connected to the locking member 3 by the top abutment surface 21a. The sliding mating surface of the guide groove 22 located on the side abutment surface 21b can be arranged at an angle close to perpendicular to the abutment force direction of the locking member 3. Thus, the locking member 3 and the guide protrusion 12 can apply a pair of opposite forces to the guide slider 21, clamping the guide slider 21 between the two.

[0057] In some possible implementations, the distance between the two side abutments 21b gradually increases in the direction away from the top abutment 21a. (See reference) Figure 3 As can be seen from the provided sectional view, the cross-sectional width of the guide slider 21 gradually narrows along the direction from the second rod 2 toward the locking member 3.

[0058] Combination Figure 5 As shown, in some embodiments, there are two guide grooves 22, with each side abutment surface 21b having a guide groove 22, and the two guide grooves 22 are positioned opposite each other.

[0059] With the above arrangement, a guide groove 22 is arranged on each of the two side abutting surfaces 21b on opposite sides of the guide slider 21, and the two guide grooves 22 are positioned opposite each other. When the two guide grooves 22 generate abutting force with the corresponding guide slider 21, the abutting force on the two guide grooves 22 is symmetrically distributed from left to right. In this way, the force distribution of the second rod 2 is symmetrical, which can reduce internal stress and improve the service life and working reliability of the second rod 2.

[0060] Combination Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, the guide groove 11 includes an opening 111 located on a first side of the first rod 1; at least one guide protrusion 12 is located on the side wall inside the opening 111.

[0061] With the above arrangement, the guide slider 21 can be connected to the body of the second rod 2 through the opening 111. The guide protrusion 12 is arranged on the side wall inside the opening 111, which can limit the guide slider 21 in the guide groove 11 and prevent the guide slider 21 from coming out of the opening 111 of the guide groove 11.

[0062] Combination Figure 5 As shown, in some embodiments, there are two guide protrusions 12, which are located on two sidewalls inside the opening 111, and the two guide protrusions 12 are positioned opposite each other.

[0063] With the above arrangement, the two guide protrusions 12 can provide symmetrically distributed abutting forces to the guide slider 21, and can provide stable and reliable abutting support to the second rod 2.

[0064] Combination Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, the locking member 3 is a screw fastener, and the side of the first rod 1 is provided with at least one screw support boss 13, and each screw support boss 13 is used to arrange a locking member 3.

[0065] With the above arrangement, screw fasteners are used as locking components 3, and screw support bosses 13 are arranged on the side of the first rod 1. The locking component 3 passes through the screw support bosses 13 and then enters the guide groove 11. In this way, the screw support bosses 13 can be used to increase the thread engagement length between the first rod 1 and the locking component 3, thereby improving the connection reliability between the locking component 3 and the first rod 1. As a result, the locking component 3 can provide a reliable abutting force to the guide slider 21.

[0066] Combination Figure 1 and Figure 3 As shown, in some embodiments, the number of locking members 3 is at least two, and the at least two locking members 3 are arranged at intervals along the length direction of the first rod 1.

[0067] With the above arrangement, at least two locking members 3 arranged along the length direction of the first rod 1 can be connected to the guide slider 21 at multiple points along the length direction, providing locking and fixing of the guide slider 21 at multiple points. As a result, the locking effect between the guide slider 21 and the first rod 1 is better, and the working reliability of the drive rod assembly is higher.

[0068] On the other hand, this embodiment provides an exoskeleton device, which includes the drive rod assembly of this application. The exoskeleton device of this embodiment uses the drive rod assembly of this application and possesses all the beneficial technical effects of all embodiments herein.

[0069] In some embodiments, the exoskeleton device further includes a drive module and a wearable module.

[0070] The drive module is connected to one of the first and second rods, and the wearable module is connected to the other of the first and second rods; the drive module is used to drive the wearable module to move through the drive rod assembly, and the wearable module is used to be worn on the user's limbs to drive the user's limbs to move.

[0071] In this embodiment, the wearable module can be worn and connected to the user's limbs (e.g., arms, thighs, or calves), and the drive module can be fixed to the user's limb joints (e.g., shoulder joints, elbow joints, hip joints, knee joints, etc.). The distance between the wearable module and the drive module is adjusted by the drive rod assembly, so that the mechanical exoskeleton can adapt to the user's body shape and wearing scenario (e.g., arm wearing scenario, leg wearing scenario, etc.). The drive module drives the drive rod assembly to move around the limb joints, and the drive rod assembly drives the limb movement through the wearable module, realizing the mechanical exoskeleton product to assist the user's limb movement.

[0072] For example, the drive module is positioned at the user's hip joint, the wearable module is worn on the lower middle part of the user's thigh, and the drive rod assembly extends downward along the user's thigh (i.e., the length direction is parallel to the user's thigh direction). The top is connected to the drive module, and the bottom is connected to the transmission module. By adjusting the size of the drive rod assembly, the vertical position of the wearable module can be adjusted to accommodate the needs of users of different heights.

[0073] In some possible implementations, the wearable module is connected to the middle of the second rod, the bottom end of which extends downward to the user's knee joint, which can be used to extend the installation of a mechanical exoskeleton that can assist the user's lower leg movement. This mechanical exoskeleton that assists the lower leg movement can also adopt the drive rod assembly of this application.

[0074] It should be noted that, in the description of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0075] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0076] Unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0077] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this application.

[0078] The above description is merely an embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A drive rod assembly, characterized by, The drive rod assembly includes: a first rod (1), a second rod (2), and at least one locking member (3); The first rod (1) has a guide groove (11) on its side, and at least one guide protrusion (12) on the inner wall of the guide groove (11). The guide groove (11) and the at least one guide protrusion (12) extend along the length direction of the first rod (1). The second rod (2) has a guide slider (21) on its side, and at least one guide groove (22) on the outer wall of the guide slider (21). The guide slider (21) and the guide groove (11) slide in cooperation along the length direction of the drive rod assembly, and the at least one guide protrusion (12) and the at least one guide groove (22) slide in cooperation along the length direction of the drive rod assembly. The at least one locking member (3) is located on the first rod (1), and the at least one locking member (3) and the guide groove (11) are located on opposite sides of the first rod (1); The at least one locking member (3) is used to extend into the guide groove (11) and abut against the guide slider (21) to lock the position of the guide slider (21) within the guide groove (11).

2. The drive lever assembly according to claim 1, characterized in that, The at least one locking member (3) is threadedly connected to the first rod (1), and the at least one locking member (3) is axially abutting against the guide slider (21). At least one sliding mating surface of the at least one guide protrusion (12) is arranged at an angle to the axial direction of the at least one locking member (3). The at least one sliding mating surface can apply a supporting force to the at least one guide groove (22) in the opposite direction to the abutting force of the at least one locking member (3).

3. The drive lever assembly according to claim 2, characterized in that, The guide slider (21) includes a top abutment surface (21a) facing the at least one locking member (3) and two side abutment surfaces (21b), the two side abutment surfaces (21b) being symmetrically connected to the two side edges of the top abutment surface (21a); The at least one guide groove (22) is located on at least one of the two side abutments (21b).

4. The drive lever assembly according to claim 3, characterized in that, The number of guide grooves (22) is two, and each of the side abutment surfaces (21b) is provided with a guide groove (22), and the two guide grooves (22) are positioned opposite each other.

5. The drive lever assembly according to any one of claims 1 to 4, characterized in that, The guide groove (11) includes an opening (111) located on a first side of the first rod (1); the at least one guide protrusion (12) is located on the side wall inside the opening (111).

6. The drive lever assembly according to claim 5, characterized in that, There are two guide protrusions (12), which are located on the two side walls inside the opening (111) and are positioned opposite each other.

7. The drive lever assembly according to any one of claims 1 to 4, characterized in that, The locking member (3) is a screw fastener. The side of the first rod (1) is provided with at least one screw support boss (13), and each screw support boss (13) is used to arrange one locking member (3).

8. The drive lever assembly according to claim 7, characterized in that, The number of locking elements (3) is at least two, and the at least two locking elements (3) are arranged at intervals along the length direction of the first rod (1).

9. An exoskeleton device, characterized in that, The exoskeleton device includes the drive rod assembly as described in any one of claims 1 to 8.

10. The exoskeleton device according to claim 9, characterized in that, The exoskeleton device also includes a drive module and a wearable module; The drive module is connected to one of the first rod (1) and the second rod (2), and the wearable module is connected to the other of the first rod (1) and the second rod (2); The drive module is used to drive the wearable module to move through the drive rod assembly. The wearable module is worn on the user's limbs to drive the user's limbs to move.

Images