A ball joint universal structure for an exoskeleton device

Abstract

A ball joint universal structure for exoskeleton equipment belongs to the technical field of exoskeletons; the first thread on the outer surface of the fixed seat and the center threaded hole are designed with different pitches. When the gland is screwed into the first thread, due to the difference in the pitches of the internal and external threads, a differential adjustment effect is formed, the continuous pre-tightening force of the ball head assembly can be realized, the connection between the ball head and the gland caused by vibration is effectively prevented from loosening, and the connection reliability is significantly improved. A modular ball hinge capable of multidirectional rotation is formed by the ball socket and the connecting seat plate covering the ball head part and fastened by bolts, and flexibility and load capacity are considered; the connecting part of the connecting ball head is provided with an annular positioning groove, and an L-shaped latch is inserted into the positioning groove, so that the ball head assembly itself is prevented from rotating in structure; the outer end of the latch can be clamped into the clamping seat on the outer side of the gland to realize quick assembly and disassembly and fixation, and the safety and maintenance convenience are improved.

Description

Technical Field

[0001] This utility model belongs to the field of exoskeleton technology, specifically relating to a ball-head universal structure for exoskeleton devices. Background Technology

[0002] In the field of exoskeletons, the connection between the exoskeleton device and the human body is a key connection structure that directly transmits mechanical forces. It is responsible for efficiently and stably transmitting the force / torque generated by the device to the human body. The structure must have high rigidity and strength to accurately transmit the load; it must have high stability and safety to ensure the continuity and controllability of force transmission and prevent injury to the human body; and it must be more precisely adapted to the human body to reduce discomfort for the user.

[0003] In existing technologies, pin-rotation structures are commonly used at the connection point between exoskeleton devices and the human body. These structures mainly consist of a fixed base, a rotating component, and a limiting device. The core function of the fixed base is to provide a stable connection and adaptation interface; the core function of the rotating component is to realize and control relative rotational movement; and the core function of the limiting device is to constrain the range of motion and ensure safety. The main problems with currently used pin-rotation structures in actual exoskeleton use are low degrees of freedom of movement, low biomechanical adaptation, low power transmission efficiency, and low dynamic compatibility. Summary of the Invention

[0004] The present invention aims to solve the technical problems existing in the prior art and provide a ball-head universal structure for exoskeleton devices.

[0005] The above-mentioned technical problems of this utility model are mainly solved by the following technical solution: a ball joint universal structure for exoskeleton equipment, including a body connecting plate, the body connecting plate being arc-shaped, a fixed seat being provided at the middle position of the outer arc surface of the body connecting plate, a first thread being provided on the outer surface of the fixed seat, a pressure cap being provided outside the fixed seat, the pressure cap being threadedly connected to the first thread, a threaded hole being provided at the center of the fixed seat, a through hole being provided on the pressure cap concentric with the threaded hole, a ball joint assembly being connected to the fixed seat, the ball joint assembly including a connecting ball joint, a pressure sleeve and a connecting seat plate, the connecting ball joint including a connecting part and a ball head, the connecting part being threadedly connected to the threaded hole of the fixed seat, the connecting seat plate including a mounting ball seat and a connecting plate, both the mounting ball seat and the pressure sleeve having ball-embedding holes, the pressure sleeve and the connecting seat plate covering the ball head of the connecting ball joint through the ball-embedding holes, the pressure sleeve and the connecting seat plate having corresponding screw holes for connection, thereby covering and rotating the connecting ball joint.

[0006] Preferably, the connecting part of the connecting ball head is provided with an annular positioning groove, and the pressure cover is provided with two symmetrically arranged sockets, each of which is slidably connected with a pin. The pin is L-shaped, and the inner end of the pin is placed in the annular positioning groove.

[0007] Preferably, the outer side of the cover is provided with two retaining seats, and the outer end of the pin is fixed in the retaining seats.

[0008] Preferably, the first thread and the threaded hole have different pitches.

[0009] Preferably, a protective plate is hinged to both the left and right sides of the body connecting plate, and an elastic band connects the rear sides of the two protective plates.

[0010] The beneficial effects of this utility model are:

[0011] The first thread on the outer surface of the fixed seat and the center threaded hole adopt different pitch designs. When the gland is screwed into the first thread, the difference in pitch between the inner and outer threads creates a differential adjustment effect, which can achieve a continuous preload on the ball head assembly, effectively preventing the ball head and gland from loosening due to vibration, and significantly improving the connection reliability.

[0012] The ball head is covered by a compression sleeve with a ball-embedded hole and a connecting seat plate, and then fastened with bolts to form a modular ball hinge that can rotate in multiple directions, balancing flexibility and load-bearing capacity.

[0013] The connecting part of the ball head is equipped with an annular positioning groove, which, together with the L-shaped pin, is inserted for positioning, thus preventing the ball head assembly from rotating on its own. The outer end of the pin can be inserted into the slot on the outside of the pressure cover, enabling quick assembly, disassembly and fixation, thus enhancing safety and ease of maintenance. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model;

[0015] Figure 2 This is a schematic diagram of a ball joint assembly of this utility model;

[0016] Figure 3 This is a schematic diagram of one structure of the ball-embedded hole of this utility model;

[0017] Figure 4 This is a schematic diagram of the structure of the fixing base of this utility model.

[0018] In the diagram: 1. Body connecting plate; 2. Fixing seat; 3. First thread; 4. Pressure cap; 5. Threaded hole; 6. Through hole; 7. Connecting ball head; 8. Pressure sleeve; 9. Connecting seat plate; 10. Connecting part; 11. Ball head; 12. Mounting ball seat; 13. Connecting plate; 14. Ball insertion hole; 15. Screw hole; 16. Annular positioning groove; 17. Socket; 18. Pin; 19. Card seat; 20. Protective plate; 21. Elastic band. Detailed Implementation

[0019] The technical solution of this utility model will be further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0020] Example: A ball-head universal joint structure for exoskeleton devices, such as Figures 1-4 As shown, the device includes a body connecting plate, which is arc-shaped. A fixed seat is located at the middle of the outer arc surface of the body connecting plate. A first thread is formed on the outer surface of the fixed seat. A pressure cap is provided outside the fixed seat and is threaded onto the first thread. A threaded hole is provided at the center of the fixed seat. A through hole concentric with the threaded hole is provided on the pressure cap. A ball joint assembly is connected to the fixed seat. The ball joint assembly includes a connecting ball joint, a pressure sleeve, and a connecting seat plate. The connecting ball joint includes a connecting part and a ball head. The connecting part is threaded into the threaded hole of the fixed seat. The connecting seat plate includes a mounting ball seat and a connecting plate. Both the mounting ball seat and the pressure sleeve have ball-embedding holes. The pressure sleeve and the connecting seat plate cover the ball head of the connecting ball joint through the ball-embedding holes. The pressure sleeve and the connecting seat plate have corresponding screw holes for connection, thereby covering and rotating the connecting ball joint.

[0021] The connecting part of the ball head is provided with an annular positioning groove, and the pressure cover is provided with two symmetrically arranged sockets. Each socket is slidably connected with a pin. The pin is L-shaped and the inner end of the pin is placed in the annular positioning groove.

[0022] Two retaining seats are provided on the outer side of the cover, and the outer end of the pin is fixed in the retaining seats.

[0023] The first thread and the threaded hole have different pitches.

[0024] A protective plate is hinged to both the left and right sides of the body connecting plate, and an elastic band connects the rear sides of the two protective plates.

[0025] The principle of this invention is as follows: During installation, first screw the connecting part of the ball head into the threaded hole in the center of the fixing base.

[0026] Subsequently, the pressure cap is screwed onto the first thread on the outer surface of the fixed seat, and the ball head of the connecting ball head is encapsulated in the ball hole of the pressure sleeve and the connecting seat plate and fastened by bolts to form a multi-directional ball hinge. This structure allows the connecting seat plate to rotate flexibly in multiple directions relative to the body connecting plate to accommodate the complex movements of the human hip.

[0027] The annular positioning groove of the connecting ball joint engages with the L-shaped pin on the gland. The inner end of the pin is engaged in the positioning groove. Due to the difference in pitch between the first thread and the central thread hole, a differential effect is generated when the gland is tightened, which generates a continuous and stable axial preload on the internal connecting ball joint. This preload can effectively counteract the vibration during equipment operation, prevent the connecting ball joint from loosening on its own, and prevent the connecting ball joint from rotating relative to the fixed seat when under force.

[0028] The outer end of the pin engages with the retainer on the outside of the pressure cap, enabling quick locking and ensuring that the pin will not slip out accidentally during operation, thus improving safety.

[0029] The curved design of the body connection plate conforms to the curve of the human waist, and the hinged guards on both sides and the elastic band on the back can be adjusted to suit different user body shapes to ensure comfort and stability.

[0030] Finally, it should be noted that the above embodiments are merely representative examples of this utility model. Obviously, this utility model is not limited to the above embodiments and can have many variations. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this utility model should be considered to fall within the protection scope of this utility model.

Claims

1. A ball-head universal joint structure for exoskeleton devices, comprising a body connection plate, characterized in that: The body connecting plate is arc-shaped, and a fixed seat is provided at the middle of the outer arc surface of the body connecting plate. A first thread is provided on the outer surface of the fixed seat. A pressure cap is provided outside the fixed seat, and the pressure cap is threaded to the first thread. A threaded hole is provided at the center of the fixed seat. A through hole concentric with the threaded hole is provided on the pressure cap. A ball joint assembly is connected to the fixed seat. The ball joint assembly includes a connecting ball joint, a pressure sleeve, and a connecting seat plate. The connecting ball joint includes a connecting part and a ball head. The connecting part is threaded into the threaded hole of the fixed seat. The connecting seat plate includes a mounting ball seat and a connecting plate. Both the mounting ball seat and the pressure sleeve are provided with ball-embedding holes. The pressure sleeve and the connecting seat plate cover the ball head of the connecting ball joint through the ball-embedding holes. The pressure sleeve and the connecting seat plate are provided with corresponding screw holes for connection, so as to cover and rotate the connecting ball joint.

2. The ball joint universal structure for an exoskeleton device according to claim 1, characterized in that: The connecting part of the ball head is provided with an annular positioning groove, and the pressure cover is provided with two symmetrically arranged sockets. Each socket is slidably connected with a pin. The pin is L-shaped and the inner end of the pin is placed in the annular positioning groove.

3. The ball joint universal structure for an exoskeleton device according to claim 2, characterized in that: Two retaining seats are provided on the outer side of the cover, and the outer end of the pin is fixed in the retaining seats.

4. The ball joint universal structure for an exoskeleton device according to claim 1, characterized in that: The first thread and the threaded hole have different pitches.

5. The ball joint universal structure for an exoskeleton device according to claim 1, characterized in that: A protective plate is hinged to both the left and right sides of the body connecting plate, and an elastic band connects the rear sides of the two protective plates.

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