Lower-limb reinforced exoskeleton robot with series-parallel leg structure

Abstract

The invention discloses a lower-limb reinforced exoskeleton robot with a series-parallel leg structure. Each series-parallel leg mechanism comprises a baffle frame, a leg frame, a second linear actuator, a third linear actuator, a fourth linear actuator, series-parallel legs and feet; a waist mechanism comprises a waist frame and a first linear actuator; the waist frame is hinged to each baffle frame and the first linear actuator; each baffle frame is hinged to the corresponding leg frame and the first linear actuator; each leg frame is hinged to the corresponding second linear actuator and the third linear actuator; the series-parallel legs are connected with the lower parts of the leg frames and connected with the feet; each fourth linear actuator is arranged between the corresponding series-parallel legs and the feet. According to the invention, the lower-limb reinforced exoskeleton robot with the series-parallel leg structure is high in bearing capacity, and large in working space, can adapt to complex terrain, alleviates fatigue when people carry heavy objects, increases the carrying capacity of people, is suitable for soldiers, disaster rescuers, fire rescue personnel and the like, and is a diversified conveying platform.

Description

technical field [0001] The invention belongs to the technical field of robots in mechanical engineering, in particular to an exoskeleton robot of a mixed leg configuration exoskeleton robot with augmented lower limbs. Background technique [0002] The lower extremity augmented exoskeleton can reduce the fatigue of the human body in carrying heavy objects and enhance the carrying capacity of the human body. It is a diversified transportation platform. The lower extremity augmented exoskeleton is mainly used in military soldiers, disaster rescue personnel, fire rescue personnel and other emergency situations, in which individuals need to carry heavy items, such as food, rescue equipment, first aid supplies, communication equipment and weapons, etc., in Walking on complex and unknown terrain saves the most energy for people and helps the wearer walk for the longest time. [0003] After searching, it was found that the Chinese invention patent with application number 2009100883...

AI Technical Summary

Problems solved by technology

However, the structure of the mechanism is bloated and cannot meet the requirements of the remaining degrees of freedom of the lower limbs of the human body.

Images