Fatigue test loading device for lower extremity exoskeleton robot

Abstract

The utility model relates to robot fatigue test technical field, concretely is the fatigue test loading device of lower limbs exoskeleton robot, including outer frame and mounting bracket, the inner wall of mounting bracket fixed connection in outer frame, the surface fixed connection of mounting bracket has exoskeleton robot body, the inside installation of outer frame has two first winding machine and second winding machine, the surface fixed connection of two first winding machine and second winding machine all has telescopic support leg, telescopic support leg fixed connection is in the inner wall of outer frame, the output of two first winding machine and second winding machine is fixed connection respectively with second tension sensor and first tension sensor, the side fixed connection of first tension sensor close to exoskeleton robot body has first connecting rope. The utility model, solved the problem that the connecting rope is installed to exoskeleton robot usually with the mode of binding in the prior art, makes the connection process of connecting rope more cumbersome.

Description

Technical Field

[0001] This utility model relates to the field of robot fatigue testing technology, and in particular to a fatigue testing loading device for a lower limb exoskeleton robot. Background Technology

[0002] Exoskeleton robots are a comprehensive technology that integrates sensing, control, information, and mobile computing technologies to provide users with wearable mechanical mechanisms. In order to evaluate the service life and durability of exoskeleton robots, fatigue testing is required.

[0003] A Chinese patent with publication number CN115741788B discloses an exoskeleton robot testing device. The key technical points of the device are: a frame; two sets of lateral cooperative tension mechanisms, each including a side plate and a first movable block that can actively move along the plane of the side plate. The side plate is configured such that its upper end can rotate around an axis in the YZ plane under the action of a traction mechanism. A first cable is provided between the first movable block and the lower end of the mechanical leg, and a first sensor for detecting lateral tension is provided on the first cable; and two sets of bottom cooperative tension mechanisms, each including a second movable block that can actively move in the XY plane. A second cable is provided between the second movable block and a pedal, and a second sensor for detecting longitudinal tension is provided on the second cable. This invention is convenient to use, low in cost, and can simulate movement postures that are closer to real human movement, thereby obtaining more accurate detection data.

[0004] Existing technologies often have the following drawbacks: When using a fatigue testing loading device for lower limb exoskeleton robots to conduct fatigue tests on the exoskeleton robot, it is necessary to connect the connecting rope that provides tension to the exoskeleton robot. However, existing technologies typically use a binding method to install the connecting rope onto the exoskeleton robot, making the connection process quite cumbersome.

[0005] Therefore, this utility model provides a fatigue testing loading device for a lower limb exoskeleton robot. Utility Model Content

[0006] The purpose of this invention is to address the shortcomings of existing technologies, which typically use a binding method to install connecting ropes onto exoskeleton robots, making the connection process cumbersome. Therefore, this invention proposes a fatigue testing loading device for lower limb exoskeleton robots.

[0007] To achieve the above objectives, this utility model adopts the following technical solution: a fatigue testing loading device for a lower limb exoskeleton robot, comprising an outer frame and a mounting bracket. The mounting bracket is fixedly connected to the inner wall of the outer frame, and the exoskeleton robot body is fixedly connected to the surface of the mounting bracket. Two first winding machines and a second winding machine are installed inside the outer frame. Retractable support legs are fixedly connected to the surfaces of both the first and second winding machines. The retractable support legs are fixedly connected to the inner wall of the outer frame. A second tension sensor and a first tension sensor are respectively fixedly connected to the output ends of the two first and second winding machines. A first connecting rope is fixedly connected to the side of the sensor near the exoskeleton robot body, and a second connecting rope is fixedly connected to the side of the second tension sensor near the exoskeleton robot body. A coupling device is provided at the ends of the first and second connecting ropes that are close to each other. The coupling device includes two "U"-shaped clamps. Both "U"-shaped clamps are fixedly connected to the end of the first connecting rope near the exoskeleton robot body. A "U"-shaped docking rod is fixedly connected to the end of the second connecting rope near the exoskeleton robot body. Sliding rods are fixedly connected to both ends of the "U"-shaped docking rods, and the sliding rods are slidably connected to the inner wall of the "U"-shaped clamps.

[0008] The effects achieved by the above components are as follows: the efficiency of connecting the first connecting rope, the second connecting rope, and the exoskeleton robot body can be improved by setting the "U"-shaped locking rod, sliding rod, and "U"-shaped docking rod; the position of the first winding machine and the second winding machine can be adjusted by setting the retractable support leg, thereby allowing for flexible fatigue testing of the ankle and knee joints of the exoskeleton robot.

[0009] Preferably, both sides of the two "U"-shaped clamps are fixedly connected to limit plates, and both sides of the "U"-shaped connecting rods are equipped with connecting rods. An arc-shaped block is fixedly connected to the end of the connecting rod near the limit plate, and the side of the arc-shaped block near the limit plate is an arc surface.

[0010] The effect achieved by the above components is that during the process of the limiting plate and the arc-shaped block moving closer to each other, the limiting plate and the arc surface of the arc-shaped block come into contact, thereby pushing the arc-shaped block to drive the connecting rod to move, improving the convenience of connection.

[0011] Preferably, both sides of the "U"-shaped connecting rod are fixedly connected to "L"-shaped plates, the "L"-shaped plates are slidably connected to the surface of the connecting rod, and the inner walls of the "U"-shaped connecting rod and the "U"-shaped clamping rod are fixedly connected to pads.

[0012] The effect achieved by the above components is that the connecting rod can be connected to the U-shaped docking rod by the "L" shaped plate, and the pad can reduce the frictional damage caused to the exoskeleton robot during testing.

[0013] Preferably, the surface of the connecting rod is fitted with a spring, and the two ends of the spring are fixedly connected to the "L"-shaped plate and the arc-shaped block, respectively.

[0014] The effect achieved by the above components is as follows: the position of the spring can be restricted by the connecting rod, so as to avoid positional deviation during its extension and contraction as much as possible; the position of the arc-shaped block can be restricted by the spring.

[0015] Preferably, the surface of the mounting frame is provided with a limiting device, the limiting device including two support plates, both of which are fixedly connected to the surface of the mounting frame, both of which are closely fitted to the exoskeleton robot body, and side plates are fixedly connected to the sides of the two support plates that are far apart from each other, and abutment plates are slidably connected to the upper surface of the side plates.

[0016] The aforementioned components achieve the following effects: when installing the exoskeleton robot body onto the mounting frame, the support plate and side plate can support it, while the abutment plate can restrict its position, making it easier to fix it to the mounting frame later.

[0017] Preferably, a groove is provided on the side of the side plate near the abutment plate, and a "T"-shaped block is slidably connected to the surface of the groove on the side plate. The "T"-shaped block is fixedly connected to the abutment plate, and a rubber pad is fixedly connected to the side of the abutment plate near the exoskeleton robot body.

[0018] The effects achieved by the above components are as follows: the "T" block ensures that the support plate can move while allowing the support plate to be stably connected to the side plate, and the rubber pads can improve the restraint effect on the exoskeleton robot body.

[0019] Preferably, a fixing plate is fixedly connected to the side of the side plate near the abutment plate, and an adjusting screw is threaded into the inner wall of the fixing plate, the adjusting screw being rotatably connected to the abutment plate.

[0020] The effect achieved by the above components is that the adjusting screw can be installed using the fixing plate, thereby allowing the position of the backing plate to be adjusted by adjusting the adjusting screw.

[0021] Preferably, the height of the retractable support leg can be adjusted to match the height of the ankle joint rotation center or knee joint rotation center of the exoskeleton robot body.

[0022] The effect achieved by the above components is as follows: by adjusting the height of the retractable support leg to match the height of the ankle joint rotation center or knee joint rotation center of the exoskeleton robot body, active mode and fatigue testing of the entire leg or thigh joint of the exoskeleton robot body can be performed, thereby realizing active mode and fatigue testing of the lower limbs of the exoskeleton robot body.

[0023] In summary: 1. In this utility model, by means of a connecting device, when using the fatigue testing loading device for the lower limb exoskeleton robot to perform fatigue testing on the exoskeleton robot, the first connecting rope and the second connecting rope can be connected to the exoskeleton robot body using a "U"-shaped clamp and a "U"-shaped docking rod. This improves the efficiency of connecting the first winding machine, the second winding machine, and the tension sensor to the exoskeleton robot body, and facilitates the connection and separation of the exoskeleton robot body from the mounting frame inside the outer frame. Through the provided retractable support legs, the positions of the first winding machine and the second winding machine can be adjusted, thereby allowing for flexible fatigue testing of the ankle and knee joints of the exoskeleton robot.

[0024] 2. In this utility model, by setting a limiting device, when connecting the exoskeleton robot body to the mounting frame, the support plate can support the exoskeleton robot body, and at the same time, the abutment plate can restrict the position of the exoskeleton robot body, which facilitates the subsequent fixing of the exoskeleton robot body. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the exploded structure of this utility model; Figure 3 This is a schematic diagram of the jointing device of this utility model; Figure 4 This utility model Figure 3 A partial structural diagram; Figure 5 This utility model Figure 2 Enlarged view of point A.

[0026] Legend: 1. Outer frame; 2. Mounting frame; 3. Exoskeleton robot body; 4. First winding machine; 5. Second winding machine; 6. First tension sensor; 7. First connecting rope; 8. Joining device; 81. "U" shaped clamp; 82. "U" shaped docking rod; 83. Pad; 84. Limiting plate; 85. Sliding rod; 86. "L" shaped plate; 87. Arc-shaped block; 88. Connecting rod; 89. Spring; 9. Limiting device; 91. Support plate; 92. Side plate; 93. Support plate; 94. Rubber pad; 95. "T" shaped block; 96. Fixing plate; 97. Adjusting screw; 10. Second connecting rope; 11. Second tension sensor; 12. Telescopic support leg. Detailed Implementation

[0027] Reference Figure 1 and Figure 2As shown, this utility model provides a technical solution: a fatigue testing loading device for a lower limb exoskeleton robot, including an outer frame 1 and a mounting frame 2. The mounting frame 2 is fixedly connected to the inner wall of the outer frame 1. The exoskeleton robot body 3 is fixedly connected to the surface of the mounting frame 2. Two first winding machines 4 and a second winding machine 5 are fixedly connected to the inner wall of the outer frame 1. Retractable support legs 12 are fixedly connected to the surfaces of the two first winding machines 4 and the second winding machine 5. The retractable support legs 12 are fixedly connected to the inner wall of the outer frame 1. A second tension sensor 11 and a first tension sensor 6 are fixedly connected to the output ends of the two first winding machines 4 and the second winding machine 5, respectively. A first connecting rope 7 is fixedly connected to the side of the first tension sensor 6 near the exoskeleton robot body 3. A second connecting rope 10 is fixedly connected to the side of the second tension sensor 11 near the exoskeleton robot body 3. A connecting device 8 is provided at the ends of the first connecting rope 7 and the second connecting rope 10 that are close to each other. A limiting device 9 is provided on the surface of the mounting frame 2.

[0028] The specific configuration and function of its engagement device 8 and limiting device 9 will be explained in detail below.

[0029] Reference Figures 1-4 As shown in this embodiment, the joining device 8 includes two U-shaped clamps 81. Both U-shaped clamps 81 are fixedly connected to the end of the first connecting rope 7 near the exoskeleton robot body 3. A U-shaped docking rod 82 is fixedly connected to the end of the second connecting rope 10 near the exoskeleton robot body 3. Sliding rods 85 are fixedly connected to both ends of the U-shaped docking rod 82, and the sliding rods 85 are slidably connected to the inner wall of the U-shaped clamps 81. The U-shaped clamps 81, sliding rods 85, and U-shaped docking rods 82 improve the efficiency of connecting the first connecting rope 7, the second connecting rope 10, and the exoskeleton robot body 3. The retractable support leg 12 allows for adjustment of the positions of the first winding machine 4 and the second winding machine 5, enabling flexible fatigue testing of the exoskeleton robot's ankle and knee joints. Both sides of the two "U"-shaped locking rods 81 are fixedly connected to limiting plates 84, and both sides of the "U"-shaped connecting rods 82 are equipped with connecting rods 88. An arc-shaped block 87 is fixedly connected to the end of the connecting rod 88 near the limiting plate 84, and the side of the arc-shaped block 87 near the limiting plate 84 is curved. As the limiting plate 84 and the arc-shaped block 87 move closer to each other, the limiting plate 84 contacts the curved surface of the arc-shaped block 87, thereby pushing the arc-shaped block 87 to move the connecting rod 88, improving the convenience of connection.

[0030] Both sides of the "U"-shaped docking rod 82 are fixedly connected to "L"-shaped plates 86, which are slidably connected to the surface of the connecting rod 88. Pads 83 are fixedly connected to the inner walls of both the "U"-shaped docking rod 82 and the "U"-shaped locking rod 81. The "L"-shaped plates 86 connect the connecting rod 88 to the "U"-shaped docking rod 82, while the pads 83 reduce frictional damage during testing of the exoskeleton robot. A spring 89 is fitted onto the surface of the connecting rod 88, with its two ends fixedly connected to the "L"-shaped plates 86 and the arc-shaped block 87, respectively. The connecting rod 88 restricts the position of the spring 89, minimizing positional shift during extension and retraction. The spring 89 also restricts the position of the arc-shaped block 87.

[0031] Reference Figure 2 and Figure 5 As shown, specifically, the limiting device 9 includes two support plates 91, both of which are fixedly connected to the surface of the mounting frame 2. Both support plates 91 are tightly fitted to the exoskeleton robot body 3. Side plates 92 are fixedly connected to the sides of the two support plates 91 that are far apart from each other. A stop plate 93 is slidably connected to the upper surface of the side plate 92. When the exoskeleton robot body 3 is installed onto the mounting frame 2, the support plates 91 and side plates 92 provide support, while the stop plate 93 restricts its position, facilitating subsequent fixation to the mounting frame 2.

[0032] A groove is provided on the side plate 92 near the base plate 93. A T-shaped block 95 is slidably connected to the surface of the groove on the side plate 92. The T-shaped block 95 is fixedly connected to the base plate 93. A rubber pad 94 is fixedly connected to the side of the base plate 93 near the exoskeleton robot body 3. The T-shaped block 95 ensures that the base plate 93 can move while maintaining a stable connection with the side plate 92. The rubber pad 94 improves the restraint effect on the exoskeleton robot body 3. A fixing plate 96 is fixedly connected to the side plate 92 near the base plate 93. An adjusting screw 97 is threaded into the inner wall of the fixing plate 96 and is rotatably connected to the base plate 93. The adjusting screw 97 can be installed using the fixing plate 96, allowing the position of the base plate 93 to be adjusted. The height of the retractable support leg 12 can be adjusted to match the height of the ankle joint rotation center or knee joint rotation center of the exoskeleton robot body 3. By adjusting the height of the retractable support leg 12 to match the height of the ankle joint rotation center or knee joint rotation center of the exoskeleton robot body 3, active mode and fatigue testing of the entire leg or thigh joint of the exoskeleton robot body 3 can be performed, thereby realizing active mode and fatigue testing of the lower limbs of the exoskeleton robot body 3.

[0033] Working principle: When using the fatigue testing loading device for the lower limb exoskeleton robot to conduct fatigue tests, the exoskeleton robot body 3 is first connected to the mounting frame 2. Then, the second connecting rope 10 and the first connecting rope 7 on the first winding machine 4 and the second winding machine 5 are moved closer to the exoskeleton robot body 3, thereby moving the "U"-shaped docking rod 82 closer to the "U"-shaped locking rod 81, so that the sliding rod 85 is locked into the "U"-shaped locking rod 81. During this process, the limiting plate 84 pushes the arc-shaped block 87, causing it to drive the connecting rod 88 to slide on the inner wall of the "L"-shaped plate 86. When the "U"-shaped docking rod 82 moves close to the "U"-shaped clamping rod 81, under the action of the spring force 89, the arc-shaped block 87 moves close to the limiting plate 84, connecting the limiting plate 84 and the "L"-shaped plate 86. Thus, the "U"-shaped docking rod 82 and the "U"-shaped clamping rod 81, together with the pad plate 83, connect the first connecting rope 7 and the second connecting rope 10 to the exoskeleton robot body 3. Then, the first winding machine 4 and the second winding machine 5 are started to load the exoskeleton robot body 3. At the same time, the first tension sensor 6 and the second tension sensor 11 can be used to monitor and collect the tension. By using the coupling device 8, when performing fatigue testing on the exoskeleton robot using the fatigue testing loading device for the lower limb exoskeleton robot, the first connecting rope 7 and the second connecting rope 10 can be connected to the exoskeleton robot body 3 using the "U"-shaped clamp 81 and the "U" docking rod. This improves the efficiency of connecting the first winding machine 4, the second winding machine 5, the first tension sensor 6, and the second tension sensor 11 to the exoskeleton robot body 3, and facilitates the connection and separation of the exoskeleton robot body 3 from the mounting frame 2 inside the outer frame 1. The position of the first winding machine 4 and the second winding machine 5 can be adjusted by the telescopic support leg 12, thereby allowing for flexible fatigue testing of the ankle and knee joints of the exoskeleton robot.

[0034] When it is necessary to install the exoskeleton robot body 3 onto the mounting frame 2, first move the exoskeleton robot body 3 closer to the support plate 91 so that the support plate 91 supports it. Then, control the exoskeleton robot body 3 to slide on the surface of the support plate 91, bringing it closer to the mounting frame 2. Rotate the adjusting screw 97 to rotate it on the inner wall of the fixing plate 96 and the surface of the abutment plate 93, thereby controlling the abutment plate 93 to drive the "T"-shaped block 95 to slide on the surface of the groove on the side plate 92, so that the abutment plate 93 and the rubber pad 94 are close to the exoskeleton robot body 3, restricting its position. Then, fix the exoskeleton robot body 3 onto the mounting frame 2. With the setting limiting device 9, when connecting the exoskeleton robot body 3 to the mounting frame 2, the support plate 91 can support the exoskeleton robot body 3, and the abutment plate 93 can restrict the position of the exoskeleton robot body 3, which facilitates the subsequent fixation of the exoskeleton robot body 3.

[0035] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

Claims

1. A fatigue testing loading device for a lower limb exoskeleton robot, comprising an outer frame (1) and a mounting bracket (2), wherein the mounting bracket (2) is fixedly connected to the inner wall of the outer frame (1), and an exoskeleton robot body (3) is fixedly connected to the surface of the mounting bracket (2), characterized in that: Inside the outer frame (1), two first winding machines (4) and a second winding machine (5) are installed. Retractable support legs (12) are fixedly connected to the surfaces of both the first winding machines (4) and the second winding machine (5). The retractable support legs (12) are fixedly connected to the inner wall of the outer frame (1). A second tension sensor (11) and a first tension sensor (6) are fixedly connected to the output ends of the two first winding machines (4) and the second winding machine (5), respectively. A first connecting rope (7) is fixedly connected to the side of the first tension sensor (6) closest to the exoskeleton robot body (3). The second tension sensor (11) is located close to the exoskeleton robot body (3). A second connecting rope (10) is fixedly connected to one side of the first connecting rope (7) and the second connecting rope (10) are provided with a connecting device (8) at the ends of the first connecting rope (7) and the second connecting rope (10) that are close to each other. The connecting device (8) includes two "U"-shaped clamps (81). The two "U"-shaped clamps (81) are fixedly connected to the end of the first connecting rope (7) near the exoskeleton robot body (3). A "U"-shaped docking rod (82) is fixedly connected to the end of the second connecting rope (10) near the exoskeleton robot body (3). A sliding rod (85) is fixedly connected to both ends of the "U"-shaped docking rod (82). The sliding rod (85) is slidably connected to the inner wall of the "U"-shaped clamp (81).

2. The fatigue testing loading device for the lower limb exoskeleton robot according to claim 1, characterized in that: Both sides of the two "U"-shaped clamps (81) are fixedly connected to limit plates (84), and both sides of the "U"-shaped connecting rods (82) are equipped with connecting rods (88). An arc-shaped block (87) is fixedly connected to one end of the connecting rod (88) near the limit plate (84). The side of the arc-shaped block (87) near the limit plate (84) is an arc surface.

3. The fatigue testing loading device for the lower limb exoskeleton robot according to claim 2, characterized in that: Both sides of the "U"-shaped connecting rod (82) are fixedly connected to "L"-shaped plates (86), the "L"-shaped plates (86) are slidably connected to the surface of the connecting rod (88), and the inner walls of the "U"-shaped connecting rod (82) and the "U"-shaped clamping rod (81) are fixedly connected to pads (83).

4. The fatigue testing loading device for the lower limb exoskeleton robot according to claim 3, characterized in that: The surface of the connecting rod (88) is fitted with a spring (89), and the two ends of the spring (89) are fixedly connected to the "L"-shaped plate (86) and the arc-shaped block (87) respectively.

5. The fatigue testing loading device for the lower limb exoskeleton robot according to claim 1, characterized in that: The mounting frame (2) is provided with a limiting device (9) on its surface. The limiting device (9) includes two support plates (91). Both support plates (91) are fixedly connected to the surface of the mounting frame (2). Both support plates (91) are tightly fitted to the exoskeleton robot body (3). Side plates (92) are fixedly connected to the side of the two support plates (91) that are far apart from each other. A stop plate (93) is slidably connected to the upper surface of the side plate (92).

6. The fatigue testing loading device for the lower limb exoskeleton robot according to claim 5, characterized in that: The side plate (92) has a groove on the side near the abutment plate (93). A "T" block (95) is slidably connected to the surface of the groove on the side plate (92). The "T" block (95) is fixedly connected to the abutment plate (93). A rubber pad (94) is fixedly connected to the side of the abutment plate (93) near the exoskeleton robot body (3).

7. The fatigue testing loading device for the lower limb exoskeleton robot according to claim 5, characterized in that: A fixing plate (96) is fixedly connected to the side of the side plate (92) near the abutment plate (93). An adjusting screw (97) is threaded into the inner wall of the fixing plate (96), and the adjusting screw (97) is rotatably connected to the abutment plate (93).

8. The fatigue testing loading device for the lower limb exoskeleton robot according to claim 1, characterized in that: The height of the retractable support leg (12) can be adjusted to match the height of the ankle joint rotation center or knee joint rotation center of the exoskeleton robot body (3).

Images