An exoskeleton robot

Abstract

This utility model discloses an exoskeleton robot. In the exoskeleton robot of this application, a first connector and a second connector are connected. A locking member is engaged in one of the locking slots under the elastic force of the elastic connector, so that the waist belt can be wrapped around the user's waist to realize the user's wearing of the waist module. Since the first connector has multiple locking slots spaced apart along a preset direction, users of different body types can overcome the elastic force of the elastic connector to make the locking member disengage from the locking slot. At this time, the user can adjust the first connector to slide relative to the second connector along the preset direction to adjust the tightness of the waist belt. Then, the locking member is released, and the locking member can be inserted into another locking slot under the elastic force of the elastic connector, so that the waist module can be adapted to users of different body types, thereby improving the versatility of the exoskeleton robot of this application.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton structure technology, and in particular to an exoskeleton robot. Background Technology

[0002] Exoskeleton robots are widely used in military, industrial and rehabilitation fields. As a modern wearable device, exoskeleton robots are mainly used to enhance human mobility while providing protection for the wearer. With social progress and the acceleration of aging, human exoskeletons have developed rapidly.

[0003] In related technologies, exoskeleton robots include a waist module and two leg modules. The two leg modules are connected to the waist module. When the exoskeleton robot is in use, the waist belt of the waist module is worn on the user's waist, and the two leg modules are worn on the user's two legs respectively.

[0004] However, different users have different body shapes, which means that exoskeleton robots need to be customized for each user, which reduces the versatility of exoskeleton robots. Utility Model Content

[0005] The purpose of this invention is to solve at least one of the technical problems existing in the prior art, and to provide a more versatile exoskeleton robot.

[0006] The exoskeleton robot provided according to the embodiments of this utility model includes a waist module and a leg module. The waist module includes a waist belt, a first connector, a second connector, and a locking structure. The first connector and the second connector are respectively connected to opposite ends of the waist belt. The first connector and the second connector are slidably connected relative to each other along a preset direction. The first connector has multiple locking slots spaced apart along the preset direction. The locking structure includes a locking member and an elastic connector. The locking member is movably disposed on the second connector and partially passes through the locking slot. The elastic connector is connected to the locking member and the second connector respectively and is used to provide elastic force to keep the locking member locked in the locking slot. Under the action of external force, the locking member can overcome the elastic force of the elastic connector to disengage from the locking slot. There are two leg modules, and both leg modules are connected to the waist module.

[0007] The exoskeleton robot of this utility model has at least the following beneficial effects: In the exoskeleton robot of this application, the first connector and the second connector are connected, and the locking member is engaged in one of the locking slots under the elastic force of the elastic connector, so that the waist belt can be wrapped around the user's waist to realize the user's wearing of the waist module. Since the first connector is provided with multiple locking slots at intervals along a preset direction, for users of different body types, the user can overcome the elastic force of the elastic connector to make the locking member disengage from the locking slot. At this time, the user can adjust the first connector to slide relative to the second connector along the preset direction to adjust the tightness of the waist belt, and then release the locking member. The locking member can be inserted into another locking slot under the elastic force of the elastic connector, so that the waist module can be adapted to users of different body types, thereby improving the versatility of the exoskeleton robot of this application.

[0008] According to the exoskeleton robot of the present invention, the second connector has a connecting hole extending along a preset direction, the first connector is slidably inserted into the connecting hole, the side wall of the connecting hole has an insertion hole, and the locking member is slidably inserted into the insertion hole.

[0009] According to the embodiment of the present invention, the exoskeleton robot has a snap-fit ​​groove at one end of the first connector opposite to the through hole, and the locking member has a hook portion that extends to the side of the first connector opposite to the through hole and passes through the snap-fit ​​groove. The elastic connector is used to provide elastic force to keep the locking member detached from the connector along the through hole.

[0010] According to the embodiment of the present invention, the locking component of the exoskeleton robot includes a button and a locking post. The locking post is sequentially inserted into the insertion hole and the connection hole. One end of the locking post is detachably connected to the button, and the other end of the locking post is bent to form a hook portion. The button can abut against the edge of the insertion hole to prevent the button from extending into the insertion hole.

[0011] According to the embodiments of the present invention, the exoskeleton robot has an elastic connector that is a spring. The spring is sleeved on the snap-fit ​​post, and one end of the spring abuts against the button.

[0012] According to the exoskeleton robot described in this embodiment of the present invention, the button is provided with an annular limiting edge, the limiting edge defines a limiting groove, the snap-fit ​​post part passes through the limiting groove, and the spring part passes through the limiting groove.

[0013] According to the exoskeleton robot of this utility model embodiment, the end of the button facing away from the locking post has a concave pressing surface.

[0014] According to the exoskeleton robot of the present invention, the second connector includes a first shell and a second shell, the first shell and the second shell are detachably connected, and the first shell and the second shell together define a connecting hole and an insertion hole.

[0015] According to the embodiments of the present invention, the first connector includes a plate and a snap-fit ​​part. The snap-fit ​​part is disposed on the plate surface of the plate and is integrally formed with the plate. A snap-fit ​​groove is formed on the snap-fit ​​part.

[0016] According to the embodiment of the present invention, the exoskeleton robot has a belt that includes a first connecting unit and a second connecting unit connected end to end. Each end of the first connecting unit has a connecting groove. Between any two adjacent first and second connecting units, one end of the second connecting unit passes through the connecting groove and is rotatably connected to the groove wall.

[0017] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0019] Figure 1 This is a schematic diagram of the structure of an exoskeleton robot according to an embodiment of the present invention;

[0020] Figure 2 for Figure 1 The diagram shows the structure of the second connector of the exoskeleton robot.

[0021] Figure 3 for Figure 1 A schematic diagram of the structure of the first connector of the exoskeleton robot shown;

[0022] Figure 4 for Figure 1 A schematic diagram of the locking structure of the exoskeleton robot shown;

[0023] Figure 5 This is a schematic diagram of the structure of the first connecting unit and the second connecting unit according to an embodiment of the present invention.

[0024] Figure label:

[0025] Waist modules 10; Leg modules 20;

[0026] Belt 100; First connecting unit 110; Connecting groove 111; Second connecting unit 120;

[0027] First connector 200; plate 210; snap-fit ​​part 220; snap-fit ​​groove 221;

[0028] Second connector 300; connecting hole 301; through hole 302; first housing 310; second housing 320;

[0029] Locking structure 400; locking element 410; button 411; limit stop 411a; pressing surface 411b; locking post 412; locking hook 412a; elastic connector 420. Detailed Implementation

[0030] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0031] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0032] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0033] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0034] The following is for reference. Figures 1 to 5 The exoskeleton robot of this application is described in detail.

[0035] refer to Figure 1 , Figure 2 and Figure 4According to an embodiment of the present invention, an exoskeleton robot includes a waist module 10 and a leg module 20. The waist module 10 includes a waist belt 100, a first connector 200, a second connector 300, and a locking structure 400. The first connector 200 and the second connector 300 are respectively connected to opposite ends of the waist belt 100. The first connector 200 and the second connector 300 are slidably connected relative to each other along a preset direction. The first connector 200 is provided with a plurality of snap-fit ​​grooves 221 spaced apart along the preset direction. The locking structure 400 includes... The locking member 410 and the elastic connector 420 are provided. The locking member 410 is movably disposed on the second connector 300 and partially passes through the snap-fit ​​groove 221. The elastic connector 420 is connected to the locking member 410 and the second connector 300 respectively, and is used to provide the elastic force to keep the locking member 410 snapped into the snap-fit ​​groove 221. Under the action of external force, the locking member 410 can overcome the elastic force of the elastic connector 420 to disengage from the snap-fit ​​groove 221. There are two leg modules 20, and both leg modules 20 are connected to the waist module 10.

[0036] It should be noted that, in use, the exoskeleton robot of this application has a waist belt 100 wrapped around the user's waist. A first connector 200 is connected to one end of the waist belt 100, and a second connector 300 is connected to the other end of the waist belt 100. The first connector 200 and the second connector 300 are slidably connected along a preset direction. The locking member 410, under the elastic force of the elastic connector 420, is inserted into one of the snap-fit ​​slots 221 on the first connector 200 to achieve locking and fixation between the first connector 200 and the second connector 300. At this time, the waist module 10 can... The belt is securely worn around the user's waist. When the tightness of the belt 100 needs to be adjusted, the user can overcome the elastic force of the elastic connector 420 so that the locking member 410 disengages from the snap-fit ​​groove 221. At this time, the operator can drive the first connector 200 to move relative to the second connector 300 in a preset direction. After the tightness of the belt 100 is adjusted, the locking member 410 is released. At this time, the locking member 410 is inserted into another snap-fit ​​groove 221 under the elastic force of the elastic connector 420 to achieve locking and fixing between the first connector 200 and the second connector 300.

[0037] It is understood that in the exoskeleton robot of this application, after the user pulls the locking member 410 out of the snap-fit ​​slot 221, the user can adjust the first connector 200 relative to the second connector 300 in a preset direction, so that the user can adjust the size of the waist belt 100 according to his / her body size. After the adjustment is completed, the user can release the locking member 410 so that the locking member 410 can be inserted into another corresponding snap-fit ​​slot 221 under the elastic force of the elastic connector 420. Thus, the waist module 10 can be comfortably worn on the user's waist, and the waist module 10 can be worn on users of different body types, which improves the versatility of the exoskeleton robot of this application.

[0038] In some embodiments of this utility model, the second connector 300 has a connecting hole 301 extending along a preset direction, the first connector 200 is slidably inserted into the connecting hole 301, the side wall of the connecting hole 301 has an insertion hole 302, and the locking member 410 is slidably inserted into the insertion hole 302.

[0039] For example, such as Figures 1 to 3 As shown, the first connector 200 and the second connector 300 are distributed in the left-right direction, and the second connector 300 is located to the left of the first connector 200. The right side of the first connector 200 is connected to one end of the belt 100, and the left side of the second connector 300 is connected to the other end of the belt 100. The second connector 300 is provided with a connecting hole 301 extending in the left and right directions, and the opening of the connecting hole 301 faces to the right. A vertically extending insertion hole 302 is provided on the upper side wall of the connecting hole 301. The locking member 410 is slidably inserted into the insertion hole 302 in the vertical direction. The snap-fit ​​grooves 221 on the first connector 200 are distributed at intervals in the left-right direction. The first connector 200 is inserted into the connecting hole 301 from right to left.

[0040] It is understandable that the connection hole 301 is designed so that the hole wall of the connection hole 301 can limit the first connector 200, so that the first connector 200 can slide stably along the preset direction.

[0041] In some embodiments of this utility model, the snap-fit ​​groove 221 is provided at one end of the first connector 200 away from the insertion hole 302, the locking member 410 has a hook portion 412a, the hook portion 412a extends to the side of the first connector 200 away from the insertion hole 302 and passes through the snap-fit ​​groove 221, and the elastic connector 420 is used to provide elastic force to keep the locking member 410 away from the connector hole 301 along the insertion hole 302.

[0042] For example, such as Figures 2 to 4As shown, the slot of the snap-fit ​​groove 221 is set downward, and the lower end of the locking member 410 is provided with a hook portion 412a. Part of the structure of the hook portion 412a extends horizontally into the snap-fit ​​groove 221, so that the groove wall of the snap-fit ​​groove 221 can prevent the hook portion 412a from moving upward. The upper and lower ends of the elastic connector 420 are respectively connected to the locking member 410 and the second connector 300, and are used to provide elastic force to keep the locking member 410 moving upward.

[0043] Furthermore, under the elastic force of the elastic connector 420, the locking member 410 moves upward, so that the hook part 412a passes upward into the locking groove 221 and keeps the hook part 412a abutting the groove wall of the locking groove 221. When it is necessary to adjust the size of the belt 100, the user can overcome the elastic force of the elastic connector 420 to press the locking member 410 downward, so that the hook part 412a disengages downward from the locking groove 221. At this time, the user can smoothly drive the first connector 200 to move relative to the second connector 300 in a preset direction. After the user releases the locking member 410, under the elastic force of the elastic connector 420, the locking member 410 moves upward, so that the hook part 412a re-engages into a locking groove 221. At this time, the locking member 410 can prevent the first connector 200 from moving relative to the second connector 300 in a preset direction, so as to achieve locking and fixing between the first connector 200 and the second connector 300.

[0044] Understandably, users can unlock the first connector 200 and the second connector 300 by pressing the locking member 410, making it easier and more convenient for users to drive the locking member 410.

[0045] In some embodiments of this utility model, the locking member 410 includes a button 411 and a locking post 412. The locking post 412 is sequentially inserted into the insertion hole 302 and the connection hole 301. One end of the locking post 412 is detachably connected to the button 411, and the other end of the locking post 412 is bent to form a hook portion 412a. The button 411 can abut against the edge of the insertion hole 302 to prevent the button 411 from extending into the insertion hole 302.

[0046] For example, such as Figure 4 As shown, the locking member 410 includes a button 411 and a locking post 412. The locking post 412 is detachably connected to the lower end of the button 411. The locking post 412 passes through the insertion hole 302. The lower end of the locking post 412 extends into the connection hole 301 and is bent to form a hook portion 412a. The button 411 is located at the upper end of the insertion hole 302, and the button 411 can abut against the upper end hole edge of the insertion hole 302.

[0047] Understandably, by detachably connecting the locking pin 412 and the button 411 to form the entire locking member 410, the locking pin 412 and the button 411 of the locking member 410 can be manufactured as a single piece, reducing the manufacturing difficulty of the locking member 410; at the same time, the button 411 can abut against the upper edge of the through hole 302, which can effectively prevent the entire locking member 410 from being submerged in the through hole 302 due to excessive pressure from the user.

[0048] Specifically, the snap-fit ​​post 412 and the button 411 are connected by threaded connectors such as screws and bolts.

[0049] In some embodiments of this utility model, reference is made to Figure 4 The elastic connector 420 is a spring, which is sleeved on the snap-fit ​​post 412, and one end of the spring abuts against the button 411.

[0050] It is understandable that by fitting the spring onto the snap-fit ​​post 412, the snap-fit ​​post 412 can limit the spring, thereby reducing the probability of the spring automatically falling off during use; at the same time, the spring has a simple structure and low cost.

[0051] In some embodiments of this utility model, the button 411 is provided with an annular limiting stop 411a, the limiting stop 411a defines a limiting groove, the snap-fit ​​post 412 part passes through the limiting groove, and the spring part passes through the limiting groove.

[0052] For example, such as Figure 4 As shown, the lower end of button 411 is provided with an annular limiting stop 411a, which forms a limiting groove. The upper end of the locking post 412 passes through the limiting groove and is connected to button 411 through a threaded connector. There is an installation gap between the circumferential surface of the locking post 412 and the limiting stop 411a. A spring is sleeved on the locking post 412, and the upper end of the spring passes through the installation gap and abuts against the lower end of button 411.

[0053] Understandably, the setting of the limiting stop 411a allows the limiting stop 411a to cooperate with the snap-fit ​​post 412 to limit the spring, thereby reducing the deformation of the spring in the horizontal direction during operation; at the same time, the setting of the limiting stop 411a allows the limiting stop 411a to position the snap-fit ​​post 412 when the button 411 and the snap-fit ​​post 412 are connected, so as to facilitate the subsequent threaded connection of the button 411 and the snap-fit ​​post 412.

[0054] In some embodiments of this utility model, reference is made to Figure 4 The button 411 has a recessed pressing surface 411b at the end opposite to the locking post 412.

[0055] It is understandable that by providing a concave pressing surface 411b at the end of button 411 away from the locking post 412, the concave shape of the pressing surface 411b can adapt to the shape of the user's fingertip, thereby improving the user's feel when pressing button 411.

[0056] In some embodiments of this utility model, reference is made to Figure 3 The second connector 300 includes a first housing 310 and a second housing 320. The first housing 310 and the second housing 320 are detachably connected. The first housing 310 and the second housing 320 together define a connection hole 301 and an insertion hole 302.

[0057] It is understandable that by configuring the second connector 300 to be formed by the detachable connection of the first housing 310 and the second housing 320, the first housing 310 and the second housing 320 can be manufactured separately, thereby reducing the overall manufacturing cost of the second connector 300.

[0058] Specifically, the first housing 310 and the second housing 320 are detachably connected by threaded fasteners such as screws or bolts.

[0059] In some embodiments of this utility model, the first connector 200 includes a plate 210 and a snap-fit ​​part 220. The snap-fit ​​part 220 is disposed on the plate surface of the plate 210 and is integrally formed with the plate 210. The snap-fit ​​groove 221 is formed on the snap-fit ​​part 220.

[0060] For example, such as Figure 2 As shown, the first connector 200 includes a plate 210 and a snap-fit ​​part 220. The snap-fit ​​part 220 is disposed on the front plate surface of the plate 210, and the lower end of the snap-fit ​​part 220 is provided with a snap-fit ​​groove 221 with the opening facing downward.

[0061] It is understandable that by dividing the first connector 200 into a plate 210 and a snap-fit ​​part 220, and by setting the snap-fit ​​part 220 on the plate surface of the plate 210, the plate 210 can make the structural strength of the entire first connector 200 higher.

[0062] In some embodiments of this utility model, reference is made to Figure 5 The belt 100 includes a first connecting unit 110 and a second connecting unit 120 connected end to end. Each of the two opposite ends of the first connecting unit 110 is provided with a connecting groove 111. Between any two adjacent first connecting units 110 and second connecting units 120, one end of the second connecting unit 120 passes through the connecting groove 111 and is rotatably connected to the groove wall of the connecting groove 111.

[0063] It is understandable that, since the belt 100 includes a first connecting unit 110 and a second connecting unit 120 connected end to end, the first connecting unit 110 and the second connecting unit 120 can be manufactured separately during the manufacturing of the belt 100. Workers can select an appropriate number of first connecting units 110 and an appropriate number of second connecting units 120 to splice together according to the length requirements of the belt 100.

[0064] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An exoskeleton robot characterized by comprising: include: A waist module includes a waist belt, a first connector, a second connector, and a locking structure. The first connector and the second connector are respectively connected to opposite ends of the waist belt. The first connector and the second connector are slidably connected relative to each other along a preset direction. The first connector has multiple snap-fit ​​grooves spaced apart along the preset direction. The locking structure includes a locking member and an elastic connector. The locking member is movably disposed on the second connector and partially passes through the snap-fit ​​grooves. The elastic connector is connected to the locking member and the second connector respectively and is used to provide elastic force to keep the locking member snapped into the snap-fit ​​grooves. Under the action of external force, the locking member can overcome the elastic force of the elastic connector to disengage from the snap-fit ​​grooves. There are two leg modules, and both leg modules are connected to the waist module.

2. The exoskeleton robot according to claim 1, characterized in that, The second connector has a connecting hole extending along the preset direction, the first connector is slidably inserted into the connecting hole, the side wall of the connecting hole has an insertion hole, and the locking member is slidably inserted into the insertion hole.

3. The exoskeleton robot according to claim 2, wherein, The snap-fit ​​groove is located at one end of the first connector opposite to the through hole. The locking member has a hook portion that extends to the side of the first connector opposite to the through hole and passes through the snap-fit ​​groove. The elastic connector is used to provide an elastic force that keeps the locking member detached from the connector along the through hole.

4. The exoskeleton robot according to claim 3, wherein, The locking component includes a button and a locking pin. The locking pin is sequentially inserted into the insertion hole and the connection hole. One end of the locking pin is detachably connected to the button, and the other end of the locking pin is bent to form the hook portion. The button can abut against the edge of the insertion hole to prevent the button from extending into the insertion hole.

5. The exoskeleton robot according to claim 4, wherein, The elastic connector is a spring, which is sleeved on the snap-fit ​​post, and one end of the spring abuts against the button.

6. The exoskeleton robot according to claim 5, wherein, The button is provided with an annular limiting edge, which defines a limiting groove. The snap-fit ​​post portion passes through the limiting groove, and the spring portion passes through the limiting groove.

7. The exoskeleton robot according to claim 4, wherein The button has a recessed pressing surface at the end opposite to the locking post.

8. The exoskeleton robot according to claim 2, wherein, The second connector includes a first housing and a second housing, the first housing and the second housing being detachably connected, and the first housing and the second housing together defining the connection hole and the insertion hole.

9. An exoskeleton robot according to claim 1, characterized in that, The first connector includes a plate and a snap-fit ​​part. The snap-fit ​​part is disposed on the plate surface of the plate and is integrally formed with the plate. The snap-fit ​​groove is formed on the snap-fit ​​part.

10. The exoskeleton robot according to claim 1, wherein The belt includes a first connecting unit and a second connecting unit connected end to end. Each end of the first connecting unit has a connecting groove. Between any two adjacent first connecting units and second connecting units, one end of the second connecting unit passes through the connecting groove and is rotatably connected to the groove wall.

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