CN114378789B - A limb clasping device and an exoskeleton device - Google Patents

Abstract

The invention belongs to the technical field of exoskeleton, and particularly relates to a limb enclasping device and an exoskeleton device, wherein the limb enclasping device comprises a control part and an enclasping part, the enclasping part comprises a right enclasping arm assembly, a left enclasping arm assembly, a mounting seat assembly and the like, the right enclasping arm assembly and the left enclasping arm assembly are symmetrically hinged and connected with the mounting seat assembly, the device is provided with an arc enclasping structure, and an electromagnet controlled by the control part is arranged in the middle of the mounting seat assembly; the arm locking piece is arranged at the joint of the arc-shaped enclasping structure of the right enclasping arm assembly and the left enclasping arm assembly; when the electromagnet is electrified, the electromagnet attracts the right enclasping arm assembly and the left enclasping arm assembly to approach the middle part, so that the arc enclasping structure is closed. In the limb enclasping device, the closing of the right enclasping arm assembly and the left enclasping arm assembly and the locking and unlocking of the enclasping arm locking piece are controlled by the control part, so that the enclasping part of the device can realize automatic wearing and can realize quick wearing.

Description

A limb clasping device and an exoskeleton device

technical field

The invention belongs to the technical field of exoskeleton, and specifically includes a limb clasping device and an exoskeleton device.

Background technique

Exoskeleton is a mechanical device that assists human body movement, rehabilitation, weight bearing, etc., and its application range is more and more extensive. Existing exoskeleton devices all use flexible straps as limb fixers. When in use, the straps need to be tied to the limbs one by one. Although it can fix the exoskeleton and the limbs together, this wearing method is very troublesome. The process of putting on and taking off takes a long time, which is a major problem that plagues existing exoskeleton users. At the same time, it will also seriously limit the development of exoskeleton technology and limit its application range.

Contents of the invention

The purpose of the present invention is to provide a limb tightening device, which completely abandons the soft strap structure, and uses an automated structure to complete the tightening and releasing of the limbs, so as to solve the problems of related products in use. of the above problems.

In order to achieve the above object, the present invention provides the following technical solutions: a limb clasping device, including a control part and a clasping part. The grip part includes a right grip arm assembly, a left grip arm assembly, a grip arm lock and a mount assembly, wherein the right grip arm assembly and the left grip arm assembly are symmetrically hinged to the mount assembly and have an arc shape A tight structure, and an electromagnet controlled by the control part is set in the middle of the mounting seat assembly; the arm lock is arranged at the junction of the arc-shaped tight structure of the right and left tight arm components; The right clasping arm assembly and the left clasping arm assembly can be deflected to both sides, so that the arc-shaped clasping structure is opened, and when the electromagnet is energized, the electromagnet attracts the right clasping arm assembly and the left clasping arm assembly to the middle close together, so as to realize the closure of the arc-shaped clasping structure; the control part also controls the locking and unlocking of the arm lock. Locking of the left clasp arm assembly.

In the above technical scheme, the right clasping arm assembly and the left clasping arm assembly can be opened, and when the limbs are located within the range of its arc-shaped clasping structure, the right clasping arm assembly and the left clasping arm assembly are closed, and the clasping arms are now closed. The locking piece locks the front parts of the right and left cling arm assemblies, and since the rear parts of both are respectively connected to the mount assembly, the right cling arm assembly and the left cling arm assembly can be firmly placed on the periphery of the limb . In the limb clasping device, the closing of the right clasping arm assembly and the left clasping arm assembly and the locking and unlocking of the clasping arm lock are all controlled by the control part, so the clasping part of the device can be automatically worn, and can realize Dress quickly.

As a preferred solution of the hugging part in the limb gripping device scheme above, the right gripping arm assembly and the left gripping arm assembly have the same structure and mirror symmetry, wherein the right gripping arm assembly includes the right gripping arm and the right mounting arm assembly , the left clasping arm assembly includes a left clasping arm and a left mounting arm assembly; the right clasping arm includes an arc-shaped forearm at the front and an inserting arm at the rear, and a middle arm connecting the forearm and the inserting arm; the inserting arm The arm includes several insertion strips, and meshing teeth are set on the side of the insertion strips; the right installation arm assembly includes insertion arm holes corresponding to the number of insertion strips, and a gear accommodating groove is provided on the side of the right installation arm assembly, and the gear accommodates The corresponding part of the slot and the insertion arm hole is provided with a meshing contact port; the right mounting arm assembly also includes a drive shaft arranged in the gear accommodating slot, and bearings for positioning the drive shaft are respectively arranged at the upper and lower parts of the gear accommodating slot ; Gears corresponding to the number and position of the inserts are installed on the drive shaft, and the gears are engaged with the inserts at the meshing contact port; Protrude or indent from the hole. After the right clasping arm and the right mounting arm assembly are closed, the drive shaft is driven through the control part. At this time, the control arm can be retracted backwards, which can appropriately reduce the space and clasping force of the arc-shaped clasping structure, so that The right clasping arm and the right mounting arm assembly clasp the limbs with appropriate strength, and this scheme can make the clinging part suitable for various body types.

As a preferred solution for the above-mentioned right arm assembly and left arm assembly, positioning teeth are provided on the inner wall of the gear accommodating groove; a floating spring, the lower end of the floating spring touches the lower bearing, and provides upward elastic force to the drive shaft; the control part has a longitudinal moving part, and the longitudinal moving part can make the driving shaft be located in different positions by moving up and down, and When the drive shaft moves to the lowermost position, the gear meshes with the insertion arm without contacting the positioning teeth. When the drive shaft is at the uppermost position, the gear meshes with the insertion arm and the positioning teeth simultaneously. During the process of adjusting the extension lengths of the right clasping arm assembly and the left clasping arm assembly, the longitudinal moving part presses the drive shaft down to the bottom, and the gear does not touch the positioning teeth at this time; after adjusting the right clasping arm assembly and the After the holding force of the left arm assembly is tightened, the drive shaft will move upwards by properly raising the longitudinal moving part. At this time, the gear meshes with the insertion arm and the positioning teeth at the same time. Since the positioning teeth are fixedly set, the gears are locked, which can Avoid loosening of the adjusted right clasp arm assembly and left clasp arm assembly.

As a further preferred solution of the clasping part of the above-mentioned limb clasping device, the clasping part is also provided with a limit assembly, which is connected to the mounting seat assembly and is located between the right clasping arm assembly and the left clasping arm assembly ; The limit assembly includes a limit liner, the limit liner has an arc-shaped surface that fits the limb, and when the inserting arm is retracted in the inserting arm hole, the right holding arm assembly and the left holding arm assembly will The limbs are pulled towards the limiting liner, and the three act together to gradually hug the limbs; in addition, the limiting component is also used as a structure to limit the distance between the limb and the exoskeleton. When wearing, by fitting the limbs to the limiting component, the The limb is quickly positioned, and then the limb grasping device performs subsequent operations through the control part.

As a preferred solution of the clamping part with a limit assembly, the limit assembly also includes a floating assembly, the floating assembly includes a floating seat, a guide shaft hole pointing to the mounting seat assembly is set on the floating seat, and a pointing shaft hole is set on the floating seat. The installation seat assembly and the guide sleeve coaxial with the guide shaft hole, and the diameter of the inner hole of the guide sleeve is smaller than the diameter of the guide shaft hole; the floating assembly also includes a guide bolt with a threaded section only at the end, and the guide bolt passes through the guide The shaft hole and the guide sleeve, the threaded section at the front end is threadedly connected with the mounting seat assembly; the length of the guide shaft hole is greater than the length of the nut of the guide bolt, and the nut of the guide bolt is located inside the guide shaft hole; the floating assembly also It includes a floating spring, the floating spring is set on the front of the guide bolt, and its two ends touch the mounting seat assembly and the guide sleeve respectively. When the user's limbs move, the limbs will produce a certain amount of displacement and contraction. Under the action of the floating component, the limit liner directly attached to the limbs will float and change with the changes of the limbs, so that the holding part Keep a good fit with the limbs and avoid mechanical damage to the limbs.

As a further preferred solution of the clinging part with the limiting assembly, the limiting liner includes a supporting plate that fits the limb, and the supporting plate is made of soft material and is arc-shaped; the limiting liner also includes a mounting plate The supporting plate is installed on the front of the installation part, and the insertion shaft is arranged on the back of the installation part. Correspondingly, the socket matching with the insertion shaft is provided on the floating seat. The limit liner is in direct contact with the limbs, which has a buffering effect, and can adapt to the shape of the limbs through appropriate deformation, thereby increasing the fixing performance of the limbs and ensuring comfort. In this scheme, a plug-in structure is used to connect it to the floating seat , it is convenient to customize and replace the limit liner that is more suitable for individuals according to different groups of people.

As a preferred solution of the above-mentioned limb clasping device, the control part further includes a drive motor assembly, a power supply assembly, a controller assembly, and a transmission assembly, wherein the power supply assembly supplies power to the drive motor assembly, and the drive motor assembly is indirectly connected to the drive shaft through the transmission assembly. The control objects of the controller component include the driving motor component and the longitudinal moving part.

As a preferred solution of the control part, the transmission assembly includes a universal joint shaft assembly, the upper end of the universal joint shaft assembly is connected to the drive motor assembly, the lower end is provided with a plug joint, and the drive shaft is plugged and connected to the drive shaft through the plug joint; the universal joint shaft assembly It includes a primary cardan shaft, meshing transmission parts and two secondary cardan shafts, wherein the upper end of the primary cardan shaft is connected to the drive motor assembly, and the lower end is connected to the upper ends of the two secondary cardan shafts through the meshing transmission parts. The lower ends of the two secondary cardan shafts are respectively connected to the drive shaft; the meshing transmission member includes a cage, and the gear shaft group I and the gear shaft group II in meshing contact are arranged on the cage, wherein the gear shaft group I and the gear shaft The lower ends of the group II are respectively connected to the upper ends of the two secondary cardan shafts, and the upper ends of the gear shaft group I are connected to the lower ends of the primary cardan shafts.

The cardan shaft assembly can realize long-distance transmission of power, and the drive motor assembly can be placed away from the holding part to avoid excessive concentration of components in the entire device. In addition, in this scheme, a primary cardan shaft and two secondary The way of combination of multi-level cardan shafts divides a drive motor assembly into two circuits and simultaneously drives the right arm assembly and the left arm assembly in the same holding part, which can simplify the structure and ensure two holding arms The arm components move synchronously, since the two clasping arm components do not need to be controlled independently, the control method of the limb clasping device can also be simplified.

As yet another preferred solution of the control part, the longitudinal movement part of the control part includes a lifting assembly, which includes a lifting platform and a lifting rod, wherein the lifting rod controls the lifting platform to rise or fall; the transmission component is connected to the lifting platform, and the lifting platform The transmission assembly can be disengaged from the drive shaft by upward movement and can be brought into contact with the drive shaft by downward movement.

As a preferred solution of the arm lock in the above-mentioned limb holding device, the arm lock includes a middle lock, an upper lock and a lower lock, wherein the middle lock is fixedly arranged between the right arm assembly and the left arm assembly. In the middle of the junction of the arc-shaped holding structure of the tight arm assembly, the upper locking part and the lower locking part are respectively arranged on the upper and lower parts of the junction of the arc-shaped holding structure of the left holding arm assembly and the right holding arm assembly. The lower part, and when the right clasping arm assembly and the left clasping arm assembly are tightened, the upper locking part, the middle locking part and the lower locking part remain coaxial from top to bottom; the middle setting of the middle locking part is controlled by Partially controlled central electromagnet, and end jacks are set at the upper and lower ends of the middle locking part; the upper locking part and the lower locking part have movable upper and lower insertion shafts respectively, and when the central electromagnet is energized Finally, the central electromagnet absorbs the upper and lower insertion shafts, and inserts the ends of the two into the end jacks at the upper and lower ends of the middle locking piece respectively. When the central electromagnet is powered off, the upper and lower insertion shafts The shaft is separated from the middle lock. Under the adsorption of the electromagnet, the right clasping arm assembly and the left clasping arm assembly are automatically locked together, and the central electromagnet can be controlled through the control part, thereby realizing the locking of the arm locking piece. Therefore, the limb clasping device The tightening part can realize the purpose of automatic tightening, which is convenient for users or assistants to quickly operate.

As a further preferred solution of the arm locking piece above, the middle part of the upper locking piece has an upper shaft hole set through it, the length of the upper insertion shaft is greater than the length of the upper shaft hole, and it is inserted into the upper shaft hole from top to bottom middle; a return spring is set on the upper part of the upper insertion shaft, and the upper return spring provides upward elastic force to the upper insertion shaft; the middle part of the lower locking part has a lower shaft hole through which the length of the lower insertion shaft is greater than The length of the lower shaft hole is inserted into the lower shaft hole from bottom to top; the lower return spring is set on the bottom of the lower insertion shaft, and the lower return spring provides downward elastic force to the lower insertion shaft. Since the upper and lower insertion shafts in the arm lock are equipped with return springs, after the central electromagnet is powered off, the upper and lower insertion shafts can automatically move up and down respectively, so that the arms are locked. The parts realize automatic unlocking, which is convenient for the patient to quickly take off the limb holding device.

As a preferred solution of the above-mentioned limb clasping device, the mounting seat assembly includes a fixed seat and a movable seat, wherein the fixed seat is used for fixedly connecting the exoskeleton, and the movable seat is used for connecting the right clasping arm assembly, the left clasping arm assembly and the limiter. bit assembly; the movable seat and the fixed seat are connected by a hinged shaft assembly, and the movable seat can be separated from the fixed seat by disassembling the hinged shaft assembly; the hinged shaft assembly includes two symmetrically located on both sides of the fixed seat An intermediate shaft assembly, and the intermediate shaft assembly is arranged longitudinally, and two end shaft assemblies respectively arranged on both sides of the movable seat, the end shaft assembly includes an upper end shaft assembly and a lower end shaft assembly, when the fixed seat and the movable seat are combined, The upper end shaft assembly and the lower end shaft assembly are located at the two ends of the intermediate shaft assembly, and the upper end shaft assembly, the lower end shaft assembly and the intermediate shaft assembly pass through coaxially. Based on the mounting base assembly that can be assembled separately, the user can first hold the right arm assembly and the left arm assembly and other related components tightly to the body, and manually lock the arm lock, and then lock the movable The seat is engaged with the fixed seat, and the movable seat can be temporarily disengaged from the fixed seat when wearing it, so as to meet the needs of different situations and increase the application scenarios of the limb clasping device. In addition, the structural design that can be assembled separately also facilitates the disassembly of the limb holding device, which provides convenience for subsequent maintenance and private ordering.

As a preferred solution of the limb clasping device with a fixed seat and a movable seat as the mounting seat assembly, the intermediate shaft assembly has a shaft hole arranged longitudinally, and an intermediate shaft is installed in the shaft hole, and the length of the intermediate shaft is equal to the length of the shaft hole ;A spring accommodation groove is set on the inner wall of the shaft hole of the intermediate shaft assembly, and a return spring II is arranged in the spring accommodation groove, and the intermediate shaft passes through the return spring II; a retaining ring is fixedly arranged on the intermediate shaft, and the retaining ring is located at The upper end of the spring accommodating groove touches the stop ring, and the lower end touches the bottom of the spring accommodating groove; when downward pressure is applied to the intermediate shaft, the lower end of the intermediate shaft protrudes from the shaft hole, and when it is removed When the pressure is lowered, the intermediate shaft can automatically retract into the shaft hole under the action of the return spring II; the upper shaft assembly and the lower shaft assembly have shaft holes arranged longitudinally through them, and are installed in the shaft holes of the upper shaft assembly Movable plug-in shaft, the bottom of this movable plug-in shaft is movably inserted in the shaft hole of the upper end shaft assembly, and its top stretches out, and the reset spring I is set on the top of the movable plug-in shaft; The movable insert shaft moves downward and pushes the intermediate shaft downward. At this time, the lower end of the active insert shaft is inserted into the shaft hole of the intermediate shaft assembly, and the lower end of the intermediate shaft is inserted into the shaft hole of the lower end shaft assembly. During the process of the shaft, the back-moving spring 1 promotes the movable plug-in shaft to move upwards, and the lower end of the movable plug-in shaft is retracted in the shaft hole of the upper end shaft assembly. Based on the intermediate shaft assembly in this scheme, it can be skillfully combined with the longitudinal moving part in the control part. When the longitudinal moving part moves to the top, the uppermost movable insert shaft in the intermediate shaft assembly will automatically move upward and break away from the intermediate shaft. At the same time, the intermediate shaft in the intermediate shaft assembly moves upward under the action of the return spring II, and breaks away from the lower end shaft assembly. At this time, the upper end shaft assembly, the intermediate shaft assembly and the lower end shaft assembly are separated to realize the movement of the movable seat. Automatic disassembly, in the same way, can also realize the automatic installation of the movable seat.

As a further preferred solution of the limb clasping device with a fixed seat and a movable seat in the mounting seat assembly, the rear part of the right mounting arm assembly is symmetrically provided with hinged rings and hinged insertion shafts on both sides, wherein the hinged ring is movably sleeved on the movable insertion shaft. The upper part, and the cross-section of the movable insertion shaft is non-circular, it can only move axially in the shaft hole of the upper shaft assembly, the upper end of the return spring I is restricted by the movable insertion shaft, and the lower end is restricted by the hinge ring; The top part of the hinged insertion shaft is movably inserted into the shaft hole of the lower end shaft assembly. In this solution, the intermediate shaft assembly is used as the hinge shaft structure of the right mounting arm assembly and the left mounting arm assembly at the same time, and makes them realize corresponding functions respectively, so as to achieve the purpose of simplifying the structure. In addition, under the action of the return spring I, when the electromagnet is powered off, the right arm assembly and the left arm assembly can be automatically opened, thereby further improving the automatic operation performance of the limb arm assembly.

As another preferred solution of the limb clasping device with a fixed seat and a movable seat in the mounting seat assembly, the clasping part further includes a locking mechanism, and the locking mechanism includes contact pressing parts respectively arranged on the outer ends of the upper inserting shaft and the lower inserting shaft. The contact pressure head has a deflection axis, which can be deflected around the deflection axis to touch the ends of the upper and lower insertion shafts, and can also be deflected to deviate from the ends of the upper and lower insertion shafts. As the longitudinal moving part moves upward, when the movable seat breaks away from the fixed seat, the control part will be separated from the holding part. When the arm locking part does not have a dedicated power supply, the arm locking part will automatically unlock due to power failure, and By moving the contact pressure head to touch the upper pin shaft and the lower pin shaft, even if the central electromagnet is powered off, the upper pin shaft and the lower pin shaft will not disengage from the end jack, so that the right arm assembly and the left arm assembly can be ensured. The tight arm assembly is in the state of embracing the limb.

Another object of the present invention is to provide an exoskeleton device, which completely abandons the existing strap-type limb fixation method, and can realize automatic and fast wearing, thereby solving the problems of troublesome and time-consuming wearing of the existing exoskeleton.

In order to achieve the above object, the present invention provides an exoskeleton device, which includes an exoskeleton and a wearing device installed on the exoskeleton, wherein the wearing device includes the aforementioned limb holding device, and adopts a strap as the wearing part. Compared with the exoskeleton device, the wearing process of the exoskeleton device is simple and convenient, and has the characteristics of automatic wearing, which can effectively promote the development process of the fast wearing of the exoskeleton device.

As a preferred solution of the exoskeleton device, the wearing device includes at least two limb-holding devices, and in these limb-holding devices, the control parts of at least two limb-holding devices are configured as a total control assembly; The assembly includes a drive motor assembly, a power supply assembly, a controller assembly, and a longitudinal movement part corresponding to each gripping part, wherein the controller assembly can individually control the longitudinal movement part; the total control assembly also includes a primary meshing transmission part and The two-stage meshing transmission part, the first-stage meshing transmission part and the second-stage meshing transmission part have the same gear shaft group I, gear shaft group II and cage as the meshing transmission part, and the gear shaft group I meshed with the gear shaft group I is installed on the cage. Gear shaft group III; the gear shaft group I in the first-stage meshing transmission part is connected to the drive motor assembly through the total cardan shaft, and the gear shaft group I and the gear shaft group II drive the thighs tightly through two sub-cardan shafts I part; the gear shaft group I and the gear shaft group II in the second-stage meshing transmission part respectively drive the crus holding part through two sub-cardan shafts II, and the upper end of the gear shaft group III is connected to the first stage through a series cardan shaft Engages the lower end of gear shaft group III in the transmission. The two gear shaft groups III in the primary meshing transmission part and the secondary meshing transmission part are connected by series cardan shafts. Since the gear transmission can change the transmission direction, it can make the gear shaft group III in the primary meshing transmission part and the secondary meshing transmission part The gear shaft group I and the gear shaft group II rotate synchronously, so as to realize the purpose of series control of the holding part. In addition, by controlling the lifting platform through the controller assembly, the corresponding plug joint and the drive shaft can be separated, so as to realize independent control of the thigh-clutching part or the calf-clutching part. Therefore, this preferred solution can not only meet the control requirements for each component, but also simplify the structure of the device, and the centralized design of the control part can also facilitate the user to flexibly control the entire device.

Description of drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:

FIG. 1 is a schematic diagram of the overall structure of a limb clasping device provided in an embodiment of the present invention;

Fig. 2 is a structural schematic diagram of the control part of the limb clasping device shown in Fig. 1;

Fig. 3 is a schematic diagram of the connection structure between some transmission components and lifting components in the control part shown in Fig. 2;

Fig. 4 is a structural schematic diagram of the lifting assembly in the structure shown in Fig. 3;

Fig. 5 is a schematic structural diagram of the unfolded state of the clasping part of the limb clasping device shown in Fig. 1;

Fig. 6 is a top structural schematic diagram of the holding part shown in Fig. 5;

Fig. 7 is a structural schematic diagram of the embracing part in the embracing state;

Fig. 8 is a schematic diagram of the split structure of the clasping arm assembly and the mounting seat in the clasping part;

Figure 9 is a schematic structural view of the mounting seat;

Fig. 10 is a schematic structural diagram of the limiting assembly in Fig. 6;

Fig. 11 is a schematic diagram of the disassembled structure of the limit liner and the floating assembly in Fig. 10;

Fig. 12 is a schematic diagram of a cutaway structure of the floating seat in Fig. 11;

Fig. 13 is a schematic structural view of the right clasping arm assembly in Fig. 5;

Fig. 14 is a schematic structural view of the right clasping arm;

Figure 15 is a schematic structural view of the right mounting arm assembly;

Fig. 16 is a detailed structural schematic diagram of the right mounting arm assembly shown in Fig. 15;

Fig. 17 is a schematic diagram of the installation structure of the upper middle locking part of the right clasping arm assembly;

Fig. 18 is a schematic diagram of the installation structure of the upper locking part and the lower locking part in the left clasping arm assembly;

Fig. 19 is a schematic diagram of a cutaway structure of the middle locking member;

Fig. 20 is a schematic diagram of a cutaway structure of the upper locking member;

Fig. 21 is a schematic diagram of a cutaway structure of the lower locking member;

Fig. 22 is a schematic diagram of the installation structure of the locking mechanism of the locking arm locking member;

Fig. 23 is a schematic diagram of the structure when the locking mechanism locks the arm lock;

Fig. 24 is a schematic cut-away structure diagram of the intermediate shaft assembly in the hinged shaft assembly;

Fig. 25 is a schematic diagram of the connection structure between the right mounting arm assembly and the movable seat;

Fig. 26 is a schematic diagram of the disassembled structure of the lining assembly in the right clasp arm.

Fig. 27 is a schematic structural diagram of the use state of the exoskeleton device provided by the present invention;

Fig. 28 is a schematic structural view of the general control assembly in the exoskeleton device shown in Fig. 27;

Fig. 29 is a schematic diagram of the serial structure of two gear shaft groups III in the general control assembly.

In the figure, the holding part 1, the driving motor assembly 2, the power supply assembly 3, the controller assembly 4, the transmission assembly 5, the lifting assembly 6, the primary cardan shaft 7, the meshing transmission part 8, the secondary cardan shaft 9, the lifting Table 10, lifting rod 11, installation base 12, guide rail 13, plug joint 14, gear shaft group I15, gear shaft group II16, cage 17, upper plug assembly 18, right clasp arm assembly 19, left clasp arm Component 20, Arm Lock 21, Mounting Seat Component 22, Limiting Component 23, Right Clamping Arm 24, Left Clamping Arm 25, Limiting Liner 26, Right Mounting Arm Component 27, Left Mounting Arm Component 28, Floating Component 29, fixed seat 30, movable seat 31, electromagnet 32, intermediate shaft assembly 33, upper end shaft assembly 34, lower end shaft assembly 35, movable insert shaft 36, return spring I37, supporting plate 38, mounting part 39, floating seat 40 , guide sleeve 41, guide bolt 42, floating spring 43, inserting strip 44, socket 45, inserting shaft 46, guide shaft hole 47, protective cover 48, forearm 49, lining assembly 50, middle arm 51, drive shaft 52 , lower plug assembly 53, hinged ring 54, hinged shaft 55, bayonet 56, inserted arm 57, inserted arm hole 58, gear accommodation groove 59, bearing 60, gear 61, floating spring 62, meshing contact port 63, positioning Teeth 64, middle locking piece 65, upper locking piece 66, lower locking piece 67, center electromagnet 68, end socket 69, upper insertion shaft 70, upper return spring 71, lower insertion shaft 72, contact pressure head 73, shaft Sleeve 74, connecting shaft 75, upper shaft hole 76, lower shaft hole 77, lower return spring 78, intermediate shaft 79, stop ring 81, spring accommodation groove 80, return spring II82, jack 83, middle bonding layer 84, Back plate 85, covering edge 86, plug 87, lower extremity exoskeleton 100, thigh holding part 200, calf holding part 300, main control assembly 400, main cardan shaft 401, primary meshing transmission part 402, branch cardan Shaft I403, series cardan shaft 404, secondary mesh transmission part 405, sub-cardan shaft II406, gear shaft group III407.

Detailed ways

The implementation of the present application will be described in detail below with reference to the accompanying drawings and examples, so as to fully understand and implement the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects.

FIGS. 1-26 are an embodiment of the limb clasping device provided by the present invention. As shown in FIG. 1 , the limb clasping device includes a control part and a clasping part 1 . Wherein the gripping part 1 comprises a right gripping arm assembly 19, a left gripping arm assembly 20, a gripping arm lock 21 and a mount assembly 22, and the above-mentioned right gripping arm assembly 19 and the left gripping arm assembly 20 are symmetrically hingedly connected to the mounting seat Assembly 22, and has an arc-shaped tight structure, and an electromagnet 32 controlled by the control part is set in the middle of the mount assembly 22; the above-mentioned arm lock 21 is arranged on the right arm assembly 19 and the left arm assembly 20 The junction of the arc-shaped holding structure; the right holding arm assembly 19 and the left holding arm assembly 20 can deflect to both sides, so that the arc-shaped holding structure is opened, and when the electromagnet 32 is energized, the electromagnet 32 Adsorb the right clasping arm assembly 19 and the left clasping arm assembly 20 to move closer to the middle, thereby realizing the closure of the arc-shaped clasping structure; the control part also controls the locking and unlocking of the clasping arm lock 21, taking the legs as an example , when the arc-shaped clasping structure is closed, the arm locking member 21 is locked to realize the locking of the right clasping arm assembly 19 and the left clasping arm assembly 20, so that the entire clasping part hugs the legs.

Specifically, as shown in Fig. 1, the control part includes a longitudinally moving part, and the longitudinally moving part includes a lifting assembly 6, which includes a lifting platform 10 and a lifting rod 11 installed on an installation base 12, and on the installation base The seat 12 is provided with a guide rail 13 for guiding the lifting platform 10, wherein the lifting rod 11 controls the lifting platform 10 to rise or fall. The control part also includes a drive motor assembly 2, a power supply assembly 3, a controller assembly 4, and a transmission assembly 5, wherein the power supply assembly 3 supplies power to the entire device, and the control objects of the controller assembly 4 include the drive motor assembly 2 and the lifting rod 11, etc. structure. The above-mentioned transmission assembly 5 includes a cardan shaft assembly, which includes a primary cardan shaft 7, an engaging transmission member 8 and two secondary cardan shafts 9, wherein the upper end of the primary cardan shaft 7 is connected to the drive The lower end of the motor assembly 2 is connected to the upper ends of the two secondary cardan shafts 9 through the meshing transmission part 8, and the lower ends of the two secondary cardan shafts 9 are respectively installed on the lifting platform 10, and the secondary cardan shafts 9 The lower end of the plug joint 14 is installed. The above-mentioned meshing transmission member 8 includes a cage 17, on which the gear shaft group I15 and the gear shaft group II16 in meshing contact are arranged, wherein the lower ends of the gear shaft group I15 and the gear shaft group II16 are respectively connected to two secondary ten thousand To the upper end of the shaft 9, and the upper end of the gear shaft group I15 is connected to the lower end of the primary cardan shaft 7. In addition, as shown in FIG. 4 , an upper plug assembly 18 is provided on the back of the lifting platform 10 , and the upper plug assembly 18 is connected to the power supply assembly 3 through wires.

Above-mentioned right clasping arm assembly 19 and left clasping arm assembly 20 have the same structure and mirror image symmetry, wherein right clasping arm assembly 19 includes right clasping arm 24 and right mounting arm assembly 27, and left clasping arm assembly 20 includes left clasping arm assembly 20. Arm 25 and left mounting arm assembly 28; As shown in Figure 14, right clasping arm 24 comprises the arc-shaped forearm 49 of front part and the insertion arm 57 of rear part, and the middle arm 51 that connects forearm 49 and insertion arm 57, and On the middle arm 51, several bayonets 56 are horizontally arranged; the aforementioned inserting arm 57 includes four insertion strips, and meshing teeth are arranged on the side of the insertion strips; The arm hole 58 corresponding to the bar position, and a gear accommodating groove 59 is set on the side of the right mounting arm assembly 27, and the gear accommodating groove 59 and the corresponding position of the arm hole 58 are provided with an engaging contact port 63; the right mounting arm assembly 27 also includes the drive shaft 52 that is arranged in the gear accommodation groove 59, and the bearing 60 that the drive shaft 52 is positioned is respectively arranged on the gear accommodation groove 59 top and bottom; and the gear 61 corresponding to the position, and the gear 61 is engaged with the cutting strip at the meshing contact port 63; as shown in Figure 13, a protective cover 48 is arranged on the outside of the gear accommodation groove 59, and the bearing 60, the gear 61 and other structures are covered, Only the upper end portion of the drive shaft 52 is exposed. The plug connector 14 installed on the lower end of the secondary cardan shaft 9 can be plugged and connected to the drive shaft 52 , and controls the rotation of the gear 61 , thereby controlling the extension or retraction of the insertion arm 57 in the insertion arm hole 58 . After the right holding arm 24 and the right mounting arm assembly 27 are closed, the driving shaft 52 is driven by the control part, and the control inserting arm 57 can retract backwards at this time, which can appropriately reduce the space and the holding of the arc-shaped holding structure. strength, so that the right clasping arm 24 and the right mounting arm assembly 27 clasp the limbs with a suitable strength, and this scheme can make the clinging part suitable for various body shapes.

In order to prevent the insertion arm 57 from moving automatically in the right mounting arm assembly 27, positioning teeth 64 are set on the inner wall of the gear accommodation groove 59, and the aforementioned drive shaft 52 can move axially under the restriction of the bearing 60, and the drive shaft 52 A floating spring 62 is set in the lower part of the upper body, and the lower end of the floating spring 62 touches the bearing 60 of the lower part, and provides upward elastic force to the drive shaft 52 . In the control part provided by this embodiment, the lifting table 10 of the longitudinal movement part can make the drive shaft 52 be located in different positions by moving up and down, and when the drive shaft 52 moves to the lowest part, the gear 61 meshes with the insertion arm 57 without Contacting the positioning tooth 64, when the drive shaft 52 is at the uppermost position, the gear 61 meshes with the insertion arm 57 and the positioning tooth 64 at the same time. In the process of adjusting the stretching length of the right arm assembly 19 and the left arm assembly 20, the lifting platform 10 presses the drive shaft 52 to the bottom, and now the gear 61 does not contact the positioning teeth 64; After the clamping force of the clamping arm assembly 19 and the left clamping arm assembly 20 is tightened, the drive shaft 52 will move upwards by properly raising the lifting platform 10. At this time, the gear 61 is meshed with the insertion arm 57 and the positioning tooth 64 at the same time. The tooth 64 is fixedly arranged, so the gear 61 is locked, which can prevent the adjusted right clasping arm assembly 19 and the left clasping arm assembly 20 from loosening.

In addition, the clamping part in this embodiment is also provided with a limit assembly 23, which is connected to the mount assembly 22 and is located between the right clasping arm assembly 19 and the left clasping arm assembly 20; when worn, use Those who attach the limbs to the limit assembly 23 can quickly locate the limbs. Specifically, the above-mentioned limiting assembly 23 includes a limiting liner 26, which has an arc-shaped surface that fits the limb, and when the insertion arm 57 is retracted in the insertion arm hole 58, the right arm assembly is held tightly. 19 and the left clasping arm assembly 20 pull the limbs toward the spacer liner 26, and the three work together to gradually cling to the limbs. Therefore, the limiting component 23 can not only increase the tightness of the limbs, increase the bonding area with the limbs, improve comfort, but also limit the distance between the limbs and the exoskeleton.

When the above-mentioned clinging part is in the state of clinging to the legs, when the user's limbs move, the limbs will produce a certain amount of displacement and contraction, mainly manifested in the contraction and expansion of the flesh and the relative deviation of the skin and clothing. In order to make the above-mentioned clinging part adapt to changes in the limbs, as shown in Figure 7, Figure 10, Figure 11, and Figure 12, the above-mentioned limiting assembly 23 is provided with a floating assembly 29, and the floating assembly 29 includes a floating seat 40, and the floating seat 40 is provided with Point to the guide shaft hole 47 of the mounting seat assembly 22, and set a guide sleeve 41 pointing to the mounting seat assembly 22 and coaxial with the guide shaft hole 47 on the floating seat 40, and the inner hole diameter of the guide sleeve 41 is smaller than the guide shaft hole The aperture of 47; Floating assembly 29 also comprises the guide bolt 42 that only end has threaded section, and this guide bolt 42 passes guide shaft hole 47 and guide sleeve 41, and the threaded section of its front end is threadedly connected with mount assembly 22; The length of guide shaft hole 47 is greater than the length of the nut of guide bolt 42, and the nut of guide bolt 42 is positioned at the inside of guide shaft hole 47; The front part, its two ends contact the mounting seat assembly 22 and the guide sleeve 41 respectively. Under the action of the floating assembly 29, the limit liner 26 directly attached to the limb will float and change with the change of the limb, so as to keep the clinging part and the limb in good fit and avoid mechanical damage to the limb.

Since the limbs of different groups of people have different sizes, such as the leg diameters of obese people and thin people, in order to make the limb holding device universal, the limiting assembly 23 provided in this embodiment has a replaceable function, specifically, as shown in Figure 11 As shown, the above-mentioned limiting liner 26 includes a supporting plate 38 that fits the limbs, and the supporting plate 38 is made of soft material and is arc-shaped; the limiting liner 26 also includes a mounting portion 39, and the supporting plate 38 Installed on the front of the installation part 39 , an insertion shaft 46 is provided on the back of the installation part 39 , and correspondingly, an insertion hole 45 matching with the insertion shaft 46 is provided on the floating seat 40 . Before use, the limit liner 26 suitable for the user can be replaced to achieve private customization. In addition, the soft limit liner 26 is in direct contact with the limbs, which has a buffering effect and can be adapted through appropriate deformation. The shape of the limbs, thereby increasing the fixation performance of the limbs and ensuring comfort. In addition, the inserting strip 44 is provided on the side where the supporting plate 38 is attached to the middle arm, and the inserting strip 44 is always inserted into the bayonet 56 during the process of adjusting the clamping arm, which can increase the fixing performance of the supporting plate 38, Avoid supporting plate 38 and clinging arm misalignment because of deformation.

As shown in Figures 17-22, the arm lock 21 in this embodiment includes a middle lock 65, an upper lock 66 and a lower lock 67, wherein the middle lock 65 is fixedly arranged on the right arm assembly 19 In the middle of the junction with the arc-shaped structure of the left arm assembly 20, the upper locking member 66 and the lower locking member 67 are respectively arranged on the arc-shaped arms of the left arm assembly 20 and the right arm assembly 19. The upper and lower parts of the junction of the structure, and after the right clasping arm assembly 19 and the left clasping arm assembly 20 are clasped tightly, the upper locking part 66, the middle locking part 65 and the lower locking part 67 are kept from top to bottom Coaxial; the central electromagnet 68 is set in the middle of the middle locking part 65, and the central electromagnet 68 is connected with the lower plug assembly 53 arranged on the right mounting arm assembly 27 by a wire, and the lower plug assembly 53 is connected with the aforementioned upper plug assembly 18, in addition, the end jacks 69 are set at the upper and lower ends of the middle locking part 65; the upper locking part 66 and the lower locking part 67 have respectively an upper inserting shaft 70 and a lower inserting shaft 72 which are movably arranged, and when After the central electromagnet 68 is energized, the central electromagnet 68 absorbs the upper insertion shaft 70 and the lower insertion shaft 72, and the ends of the two are respectively inserted into the end jacks 69 at the upper end and the lower end of the middle locking member 65. When the central electromagnet After 68 is powered off, the upper insert shaft 70 and the lower insert shaft 72 are separated from the middle locking part 65 . Under the adsorption of the electromagnet 32, the right clasping arm assembly 19 and the left clasping arm assembly 20 automatically engage, and the central electromagnet 68 can be manipulated by the control part, thereby realizing the locking of the clasping arm locking member 21. Therefore, the limb The tightening part in the tightening device can realize the purpose of automatic tightening, which is convenient for users or assistants to quickly operate. Specifically, the middle part of the upper locking member 66 used in this embodiment has an upper shaft hole 76 set through, the length of the upper insertion shaft 70 is greater than the length of the upper shaft hole 76, and is inserted into the upper shaft hole from top to bottom. 76; the return spring 71 is set on the upper part of the upper insertion shaft 70, and the upper return spring 71 provides upward elastic force to the upper insertion shaft 70; the middle part of the lower locking part 67 has a lower shaft hole 77 that runs through it. The length of the lower insertion shaft 72 is greater than the length of the lower shaft hole 77, and is inserted into the lower shaft hole 77 from bottom to top; the lower return spring 78 is set on the bottom of the lower insertion shaft 72, and the lower return spring 78 provides the lower insertion shaft. 72 provides downward resilience. Since the upper inserting shaft 70 and the lower inserting shaft 72 in the arms locker 21 are equipped with return springs, after the central electromagnet 68 is powered off, the upper inserting shaft 70 and the lower inserting shaft 72 can move up and down automatically respectively. , so that the arm locking member 21 is automatically unlocked, which is convenient for the patient to quickly take off the limb clasping device.

As shown in Figures 8-13, the mounting base assembly 22 in this embodiment includes a fixed base 30 and a movable base 31, wherein the fixed base 30 is used for fixedly connecting the exoskeleton, and the movable base 31 is used for connecting the right clasping arm assembly 19 , the left clasping arm assembly 20 and the limit assembly 23; the movable seat 31 and the fixed seat 30 are connected by a hinged insertion shaft assembly, and the movable seat 31 can be separated from the fixed seat 30 by disassembling the hinged insertion shaft assembly; The hinged shaft assembly includes two intermediate shaft assemblies 33 symmetrically on both sides of the fixed seat 30, and the intermediate shaft assemblies 33 are arranged longitudinally, and two end shaft assemblies are respectively arranged on both sides of the movable seat 31, and the end shaft assemblies Including the upper end shaft assembly 34 and the lower end shaft assembly 35, when the fixed seat 30 and the movable seat 31 are combined, the upper end shaft assembly 34 and the lower end shaft assembly 35 are located at the two ends of the intermediate shaft assembly 33, and the upper end shaft assembly 34, the lower end shaft assembly 35 The three coaxially penetrate with the intermediate shaft assembly 33 . Based on the mounting seat assembly 22 that can be assembled separately, the user can first hold the right arm assembly 19 and the left arm assembly 20 and other related components tightly to the body, and manually lock the arm locking member 21, Then the movable seat 31 is engaged with the fixed seat 30, and the movable seat 31 can also be temporarily disengaged from the fixed seat 30 when wearing, so as to meet the needs of different situations and increase the application scenarios of the limb clasping device. In addition, the structural design that can be assembled separately also facilitates the disassembly of the limb holding device, which provides convenience for subsequent maintenance and private ordering. Specifically, the intermediate shaft assembly 33 has a shaft hole arranged longitudinally, and an intermediate shaft 79 is installed in the shaft hole, and the length of the intermediate shaft 79 is equal to the length of the shaft hole; Put groove 80, and reset spring II82 is set in spring accommodation groove 80, and described intermediate shaft 79 passes reset spring II82; On intermediate shaft 79, stop ring 81 is fixedly arranged, and this stop ring is positioned in spring accommodation groove 80, And the upper end of the spring accommodation groove 80 touches the stop ring 81, and the lower end touches the bottom of the spring accommodation groove 80; when the downward pressure is applied to the intermediate shaft 79, the lower end of the intermediate shaft 79 stretches out of the shaft hole, and when it is removed downward When the pressure is high, the intermediate shaft 79 can automatically retract into the shaft hole under the action of the return spring II82; the upper shaft assembly 34 and the lower shaft assembly 35 have shaft holes arranged longitudinally through them, and the shaft of the upper shaft assembly 34 Movable plug-in shaft 36 is installed in the hole, the bottom of this movable plug-in shaft 36 is movably inserted in the axle hole of upper end shaft assembly 34, and its top stretches out, and reset spring I37 is set on the top of movable plug-in shaft 36; Described longitudinal moving part can Press down the movable insertion shaft 36 to move the movable insertion shaft 36 downwards and push the intermediate shaft 79 downwards. At this time, the lower end of the movable insertion shaft 36 is inserted into the shaft hole of the intermediate shaft assembly 33, and the lower end of the intermediate shaft 79 is inserted into the lower end shaft assembly In the shaft hole of 35, in the process that the longitudinal moving part breaks away from the movable plugged shaft 36 gradually, the return spring I37 promotes the movable plugged shaft 36 to move upwards, and the lower end of the movable plugged shaft 36 is retracted in the shaft hole of the upper shaft assembly 34. Based on the intermediate shaft assembly 33 in this solution, it can be skillfully combined with the longitudinal moving parts in the control part. When the longitudinal moving parts move to the top, the uppermost movable insert shaft 36 in the intermediate shaft assembly 33 will automatically move upwards and Break away from the intermediate shaft assembly 33, at the same time, the intermediate shaft 79 in the intermediate shaft assembly 33 moves upward under the effect of the return spring II82, and breaks away from the lower end shaft assembly 35. At this time, the upper end shaft assembly 34, the intermediate shaft assembly 33 and the lower end The shaft assembly 35 is separated to realize the automatic disassembly of the movable seat 31 , and similarly, the automatic installation of the movable seat 31 can also be realized.

In addition, in order to simplify the structure of the device, the present embodiment uses the hinged shaft assembly as the hinge structure of the right mounting arm assembly 27 and the left mounting arm assembly 28 . Specifically, at first, the cross-section of the above-mentioned movable insertion shaft 36 is set to be non-circular, and it can only move axially in the shaft hole of the upper end shaft assembly 34; then, the rear parts of the right mounting arm assembly 27 are arranged symmetrically on both sides The hinged ring 54 and the hinged shaft 55, wherein the hinged ring 54 is movably fitted on the upper part of the movable shaft 36, the upper end of the return spring I37 is restricted by the movable shaft 36, and the lower end is restricted by the hinged ring 54; the hinged shaft 55 The top part of the movably inserts in the shaft hole of lower end shaft assembly 35. Under the effect of back-moving spring I37, after electromagnet 32 power-off, right clasping arm assembly 19 and left clasping arm assembly 20 can be opened automatically, thereby further improve the automatic operation performance of this limb clasping device.

As shown in the foregoing structure, when the lifting platform 10 moves upwards to the highest point, the upper plug assembly 18 will be separated from the lower plug assembly 53, and the central electromagnet 68 will be powered off at this time. In order to make the right side clasping arm assembly 19 and the left clasping arm assembly 20 can still hug the limbs after the movable seat 31 is separated from the fixed seat 30, the clasping part in this embodiment also includes a locking mechanism. The contact pressure head 73 on the outer end of the upper plug shaft 70 and the lower plug shaft 72 . Specifically, bushings 74 are respectively provided outside the upper locking part 66 and the lower locking part 67 , and a connecting shaft 75 is installed in the bushing 74 , and the aforementioned two contact pressure heads 73 are respectively installed at both ends of the connecting shaft 75 . As shown in Fig. 20 and Fig. 23, the contact pressure head 73 can be deflected to the end deviated from the upper insertion shaft 70 and the lower insertion shaft 72. At this time, the automatic unlocking of the arm lock is not affected, and the contact pressure head 73 can also be Deflection to touch the ends of the upper insert shaft 70 and the lower insert shaft 72. At this time, the mechanical structure can prevent the arm lock from unlocking, and thus ensure that the right arm assembly 19 and the left arm assembly 20 are in an engaged state .

In this embodiment, the right clasping arm assembly 19 and the left clasping arm assembly 20 can be opened. , the right clasping arm assembly 19 and the left clasping arm assembly 20 are closed, and the front parts of the right clasping arm assembly 19 and the left clasping arm assembly 20 are locked by the clasping arm lock 21. At this time, the right clasping arm assembly is adjusted by shrinking The arm 24 and the left clasping arm 25 can make the clasping part clasp the limbs. The whole process is simple and easy to operate, and can realize automatic operation, which can realize fast wearing of similar equipment such as exoskeleton.

As shown in Figures 27-29, this embodiment also provides an exoskeleton device, the exoskeleton device includes an exoskeleton and a wearing device installed on the exoskeleton, wherein the wearing device is the aforementioned limb holding device, and adopts Compared with the exoskeleton device in which the strap is the wearing part, the wearing process of the exoskeleton device is simple and convenient, and has the characteristics of automatic wearing, which can effectively promote the development process of fast wearing of the exoskeleton device. In this embodiment, the lower extremity exoskeleton 100 of the exoskeleton device is equipped with four limb-holding devices, including two thigh-holding parts 200 and two calf-holding parts 300 . Taking the two limb clasping devices for fixing the right leg as an example, in this embodiment, the control parts of the two are fused together to form a general control assembly 400, and the clasping part on the same side is controlled by the general control assembly 400. Specifically, the total control assembly 400 includes a drive motor assembly 2, a power supply assembly 3, a controller assembly 4, and two longitudinally moving parts (including a lifting table 10, a lifting rod 11, an installation base 12 and a guide rail 13), wherein the controller Assembly 4 enables separate control of the two longitudinally moving parts.

As shown in Figure 28, the total control assembly 400 also includes a primary meshing transmission member 402 and a secondary meshing transmission member 405, the primary meshing transmission member 402 and the secondary meshing transmission member 405 have the same gear shaft as the meshing transmission member 8 Group I15, gear shaft group II16 and cage 17, in addition, a gear shaft group III407 meshing with gear shaft group I15 is installed on the cage 17. First, the gear shaft group I15 in the first-stage meshing transmission part 402 is connected to the driving motor assembly 2 through the main cardan shaft 401, and the gear shaft group I15 and the gear shaft group II16 are connected to two sub-cardan shafts I403, and are used to drive the thigh hugger. The tightening part 200 ; secondly, the gear shaft group I15 and the gear shaft group II16 in the two-stage meshing transmission part 405 are respectively connected with two sub-cardan shafts II406 , and are used to drive the shank holding part 300 . As shown in Figure 29, the two gear shaft groups III407 in the first-stage meshing transmission part 402 and the two-stage meshing transmission part 405 are connected through a series cardan shaft 404. Since the gear transmission can change the transmission direction, the first-stage meshing transmission can be made The gear shaft group I15 and the gear shaft group II16 in the part 402 and the two-stage meshing transmission part 405 rotate synchronously, so as to realize the purpose of series control of the holding part. In addition, by controlling the lifting platform 10 through the controller assembly 4 , the corresponding plug joint 14 and the drive shaft 52 can be separated, so as to realize independent control of the thigh-clutching part 200 or the calf-clutching part 300 .

According to the above structure and idea, all control parts in the entire exoskeleton device can also be modified. First, use a controller assembly 4 to control all lifting platforms 10, and then change the rotation direction according to the principle of gear meshing to drive the primary mesh The parts are connected with all other two-stage meshing transmission parts to realize the purpose of a drive motor assembly 2 to control all the clinging parts. In actual operation, the controller assembly 4 is used to specifically control the clinging parts that need to be adjusted. This design The structure of the device can be simplified, and the control part can be centrally designed, which is also convenient for users to control flexibly.

Certain terms are used, for example, in the description and claims to refer to particular components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use the difference in name as a way to distinguish components, but use the difference in function of components as a criterion for distinguishing. As mentioned throughout the specification and claims, "comprising" is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

It should be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a good or system comprising a set of elements includes not only those elements but also items not expressly listed other elements, or also include elements inherent in the commodity or system. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the article or system comprising said element.

The above description shows and describes several preferred embodiments of the present invention, but as mentioned above, it should be understood that the present invention is not limited to the forms disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various Various other combinations, modifications, and environments can be made within the scope of the inventive concept described herein, by the above teachings or by skill or knowledge in the relevant field. However, changes and changes made by those skilled in the art do not depart from the spirit and scope of the present invention, and should all be within the protection scope of the appended claims of the present invention.

Claims (16)

1. A limb clasp device, comprising a control part and a clasp part, characterized in that: the clasp part includes a right clasp arm assembly, a left clasp arm assembly, a clasp arm lock and a mount assembly, wherein the right clasp arm assembly The clasping arm assembly and the left clasping arm assembly are symmetrically hinged and connected to the mounting base assembly, and have an arc clasping structure, and an electromagnet controlled by the control part is set in the middle of the mounting base assembly; the clasping arm lock is arranged on the right The junction of the arc-shaped clasp structure of the clasp arm assembly and the left clasp arm assembly; the right clasp arm assembly and the left clasp arm assembly can deflect to both sides, so that the arc clasp structure is opened, and when After the electromagnet is energized, the electromagnet absorbs the right clasping arm assembly and the left clasping arm assembly to move closer to the middle, thereby realizing the closure of the arc clasping structure; the control part also controls the locking and unlocking of the clasping arm lock. After the shape holding structure is closed, the arm locking part is locked to realize the locking of the right holding arm assembly and the left holding arm assembly; The clasping arm assembly includes a right clasping arm and a right mounting arm assembly, and the left clasping arm assembly includes a left clasping arm and a left mounting arm assembly; the right clasping arm includes an arc-shaped forearm at the front and a plugging arm at the rear , and the middle arm connecting the forearm and the insertion arm; the insertion arm includes several insertion strips, and meshing teeth are set on the side of the insertion strip; the right mounting arm assembly includes insertion arm holes corresponding to the number of insertion strips, and on the right The side of the mounting arm assembly is provided with a gear accommodating groove, and the corresponding position between the gear accommodating groove and the insertion arm hole is provided with a meshing contact port; the right mounting arm assembly also includes a drive shaft arranged in the gear accommodating groove, and the The upper and lower parts of the slot are respectively provided with bearings for positioning the drive shaft; gears corresponding to the number and position of the inserts are installed on the drive shaft, and the gears are engaged with the inserts at the meshing contact port; the control part is connected to the drive shaft, and control the rotation of the gear, thereby controlling the extension or retraction of the insertion arm in the insertion arm hole. 2. A limb gripping device as claimed in claim 1, characterized in that: positioning teeth are arranged on the inner wall of the gear accommodation groove; the drive shaft can move axially under the restriction of the bearing, and the drive shaft The lower part of the floating spring is set with a floating spring, and the lower end of the floating spring touches the bearing at the lower part, and provides upward elastic force to the driving shaft; the control part has a longitudinal moving part, and the longitudinal moving part can move the driving shaft at different positions by moving up and down. position, and when the drive shaft moves to the lowest position, the gear meshes with the insertion arm without contacting the positioning teeth, and when the drive shaft is at the uppermost position, the gear meshes with the insertion arm and the positioning teeth at the same time. 3. A limb clasping device according to claim 2, characterized in that: the clasping part is also provided with a limit assembly, the limit assembly is connected to the mounting seat assembly, and is located between the right clasping arm assembly and the left clasping arm assembly. Between the tight arm components; the limit component includes a limit liner, the limit liner has an arc-shaped surface that fits the limb, and when the inserting arm is retracted in the inserting arm hole, the right holding arm assembly and The left clasping arm assembly pulls the limbs toward the limit liner, and the three act together to gradually clasp the limbs. 4. A limb clasping device as claimed in claim 3, characterized in that: the limit assembly further includes a floating assembly, the floating assembly includes a floating seat, the floating seat is provided with a guide shaft hole pointing to the mounting seat assembly, And a guide sleeve pointing to the mounting base assembly and coaxial with the guide shaft hole is set on the floating seat, the inner hole diameter of the guide sleeve is smaller than the guide shaft hole diameter; the floating assembly also includes a guide bolt with only a threaded section at the end , the guide bolt passes through the guide shaft hole and the guide sleeve, and the threaded section at the front end is threadedly connected with the mounting seat assembly; the length of the guide shaft hole is greater than the length of the nut of the guide bolt, and the nut of the guide bolt is located on the guide shaft The inside of the hole; the floating component also includes a floating spring, which is set on the front of the guide bolt, and its two ends touch the mounting seat component and the guide sleeve respectively. 5. A limb clasping device according to claim 3, characterized in that: the limiting liner comprises a supporting plate fitted with the limb, the supporting plate is made of soft material and is arc-shaped; The bit liner also includes a mounting part, the supporting plate is mounted on the front of the mounting part, an insertion shaft is arranged on the back of the installation part, and correspondingly, an insertion hole matching the insertion shaft is provided on the floating seat. 6. A limb clasping device as claimed in claim 2, characterized in that: the control part also includes a drive motor component, a power supply component, a controller component, and a transmission component, wherein the power supply component is used as the power source of the limb clasping device , the drive motor assembly is indirectly connected to the drive shaft through the transmission assembly, and the control objects of the controller assembly include the drive motor assembly and the longitudinal moving part. 7. A limb clasping device as claimed in claim 6, characterized in that: said transmission assembly comprises a universal joint shaft assembly, which comprises a primary universal joint shaft, an engaging transmission member and two Two-stage universal joint shafts, wherein the upper end of the first-stage universal joint shaft is connected to the drive motor assembly, and the lower end is connected to the upper ends of the two second-level universal joint shafts through the meshing transmission parts, and the lower ends of the two second-level universal joint shafts are provided with plug joints, and The drive shaft is plugged and connected by a plug joint; the meshing transmission member includes a cage, and the gear shaft group I and the gear shaft group II that are meshed and contacted are arranged on the cage, wherein the lower ends of the gear shaft group I and the gear shaft group II are respectively connected. The upper ends of the two secondary cardan shafts, and the upper end of the gear shaft group I is connected to the lower end of the primary cardan shaft. 8. A limb clasping device according to claim 6, characterized in that: the longitudinal movement part of the control part includes a lifting assembly, and the lifting assembly includes a lifting platform and a lifting rod, wherein the lifting rod controls the lifting platform to rise or fall; The transmission assembly is connected to the lifting platform, and the lifting platform can disengage the transmission assembly from the drive shaft by moving upward, and can make the transmission assembly contact the drive shaft by moving downward. 9. A limb clasping device as claimed in claim 2, characterized in that: the arm locking member comprises a middle locking member, an upper locking member and a lower locking member, wherein the middle locking member is fixedly arranged on the right arm In the middle of the junction of the arc-shaped tight structure of the arm assembly and the left tight arm assembly, the upper locking part and the lower locking part are respectively arranged on the corresponding arc-shaped tight structure of the left tight arm assembly and the right tight arm assembly. The upper and lower parts of the junction, and when the right clasping arm assembly and the left clasping arm assembly are tightly clasped, the upper locking part, the middle locking part and the lower locking part remain coaxial from top to bottom; the middle locking part The central electromagnet controlled by the control part is set in the middle of the middle part, and the upper and lower ends of the middle locking part are provided with end jacks; the upper locking part and the lower locking part have respectively movable upper and lower insertion shafts, and When the central electromagnet is energized, the central electromagnet absorbs the upper and lower inserting shafts, and inserts the ends of the two into the end jacks at the upper and lower ends of the middle locking piece respectively. When the central electromagnet is powered off, the upper The spigot and the lower spigot are separated from the middle lock. 10. A limb clasping device according to claim 9, characterized in that: the middle part of the upper locking part has an upper shaft hole set through, the length of the upper insertion shaft is greater than the length of the upper shaft hole, and Insert it into the upper shaft hole from top to bottom; set a return spring on the upper part of the upper insertion shaft, and the upper return spring provides upward elastic force to the upper insertion shaft; the middle part of the lower locking part has a lower shaft hole through which it is set , the length of the lower insertion shaft is greater than the length of the lower shaft hole, and is inserted into the lower shaft hole from bottom to top; the lower return spring is set on the lower part of the lower insertion shaft, and the lower return spring provides a downward force for the lower insertion shaft. elastic. 11. A limb clasping device according to any one of claims 2 to 9, characterized in that: the mounting seat assembly includes a fixed seat and a movable seat, wherein the fixed seat is used for fixedly connecting the exoskeleton, and the The right clasping arm assembly and the left clasping arm assembly are connected to the movable seat; the movable seat is connected to the fixed seat through a hinged shaft assembly, and the movable seat can be separated from the fixed seat by disassembling the hinged shaft assembly; the hinged The shaft insertion assembly includes two intermediate shaft assemblies symmetrically on both sides of the fixed seat, and the intermediate shaft assembly is arranged longitudinally, and two end shaft assemblies are respectively arranged on both sides of the movable seat; the end shaft assembly includes an upper end shaft assembly and a lower end shaft assembly. As for the shaft assembly, when the fixed seat and the movable seat are combined, the upper shaft assembly and the lower shaft assembly are located at the two ends of the intermediate shaft assembly, and the upper shaft assembly, the lower shaft assembly and the intermediate shaft assembly pass through coaxially. 12. A limb clasping device according to claim 11, characterized in that: the intermediate shaft assembly has a shaft hole arranged longitudinally, and an intermediate shaft is installed in the shaft hole, and the length of the intermediate shaft is equal to that of the intermediate shaft assembly The length of the shaft hole; the shaft hole inner wall of the intermediate shaft assembly is provided with a spring accommodating groove, and a return spring II is arranged in the spring accommodating groove, and the intermediate shaft passes through the return spring II; a retaining ring is fixedly arranged on the intermediate shaft , the stop ring is located in the spring accommodation groove, and the upper end of the spring accommodation groove touches the stop ring, and the lower end touches the bottom of the spring accommodation groove; when downward pressure is applied to the intermediate shaft, the lower end of the intermediate shaft protrudes out of the middle The shaft hole of the shaft assembly, when the downward pressure is removed, the intermediate shaft can automatically retract into the shaft hole of the intermediate shaft assembly under the action of the return spring II; shaft hole, and a movable plug-in shaft is installed in the shaft hole of the upper end shaft assembly, the bottom of the movable plug-in shaft is movably inserted into the shaft hole of the upper-end shaft assembly, and its top protrudes, and the reset spring I is set on the top of the movable plug-in shaft; The longitudinal moving part can press down the movable insert shaft, so that the movable insert shaft moves downward and pushes the intermediate shaft downward, at this time, the lower end of the movable insert shaft is inserted into the shaft hole of the intermediate shaft assembly, and the lower end of the intermediate shaft is inserted into the lower end shaft assembly In the shaft hole; when the longitudinal moving part moves up and gradually breaks away from the process of the movable insertion shaft, the return spring I pushes the movable insertion shaft to move upwards, and makes the lower end of the movable insertion shaft retract into the shaft hole of the upper shaft assembly, and At the same time, the intermediate shaft retracts the intermediate shaft assembly under the action of the return spring II. 13. A limb clasping device according to claim 12, characterized in that: the rear part of the right mounting arm assembly is symmetrically provided with hinged rings and hinged insertion shafts on both sides, wherein the hinged ring is movably sleeved on the movable insertion shaft The upper part; the cross-section of the movable insertion shaft is non-circular, and it can only move axially in the shaft hole of the upper shaft assembly, the upper end of the return spring I is restricted by the movable insertion shaft, and the lower end is restricted by the hinge ring; The top part of the hinged insertion shaft is movably inserted into the shaft hole of the lower shaft assembly. 14. A limb clasping device according to claim 12, characterized in that: said clasping part further comprises a locking mechanism, and the locking mechanism comprises contact heads respectively arranged on the outer ends of the upper inserting shaft and the lower inserting shaft , the contact pressure head has a deflection axis, which can deflect around the deflection axis to touch the ends of the upper and lower insertion shafts, and can also deflect to deviate from the ends of the upper and lower insertion shafts. 15. An exoskeleton device, comprising an exoskeleton and a wearing device mounted on the exoskeleton, wherein the wearing device includes the limb-clutching device according to any one of claims 1-14. 16. The exoskeleton device according to claim 15, wherein the wearing device comprises at least two limb-holding devices, and the control parts of at least two limb-holding devices in these limb-holding devices are configured as A total control assembly; the total control assembly includes a drive motor assembly, a power supply assembly, a controller assembly, and a longitudinal movement part corresponding to each holding part, wherein the controller assembly can individually control the longitudinal movement part; the total control assembly It also includes a primary meshing transmission part and a secondary meshing transmission part. The primary meshing transmission part and the secondary meshing transmission part have the same gear shaft group I, gear shaft group II and cage as the meshing transmission part. In addition, on the cage Install the gear shaft group II I meshed with the gear shaft group I; the gear shaft group I in the first-stage meshing transmission part is connected to the drive motor assembly through the total cardan shaft, and its gear shaft group I and gear shaft group II pass through two The sub-cardan shaft I drives the thigh clinging part; the gear shaft group I and the gear shaft group II in the two-stage meshing transmission parts respectively drive the calf clinging part through two sub-cardan shafts II, and the upper end of the gear shaft group III passes through A series cardan shaft is connected to the lower end of the gear shaft group III in the first-stage meshing transmission member.

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