Lower-limb-boosting exoskeleton robot

Abstract

The invention discloses a lower-limb-boosting exoskeleton robot comprising an upper body structure, leg structures, knee joints and hip joints. Each leg structure comprises a thigh structure and a shank structure. Each hip joint is connected with the upper body structure and the corresponding thigh structure. Each knee joint is connected with the corresponding thigh structure and the corresponding shank structure. The upper body structure comprises a waist assembly, and the size of the waist assembly can be adjusted. The waist assembly comprises hip connecting blocks connected with the hip joints. Each knee joint comprises a first thigh connecting seat, a second shank connecting seat and two first motors, wherein the first thigh connecting seat is connected to the corresponding thigh structure, the second shank connecting seat is connected to the thigh connecting seat in a rotary manner, and the two first motors are connected to the first thigh connecting seat and drive the second shank connecting seat to rotate relative to the first thigh connecting seat.

Description

technical field [0001] The invention belongs to the field of service robots, and more specifically relates to a lower limb-assisted exoskeleton robot suitable for individual equipment. Background technique [0002] The human legs provide a load-bearing and transportation platform, especially in environments that are not suitable for wheeled transportation, and the biped has shown strong mobility. Weight bearing is one of the most common problems faced by human beings. For soldiers, payloads make up a large portion of their overall weight, and carrying them is both inevitable and their responsibility. Carrying a heavy load is not only tiring, but also potentially mentally and physically damaging. [0003] In order to alleviate this burden, lower limb auxiliary support exoskeleton mechanical equipment came into being. By wearing exoskeleton equipment, the weight of a soldier's equipment can be directly transmitted to the ground through the exoskeleton structure, which is eq...

AI Technical Summary

Problems solved by technology

However, the hip joints and knee joints of the walker exoskeleton rehabilitation robot are not provided with limit structures, which may easily cause the rotation angle of the exoskeleton to exceed the limit of the human body and cause damage to the human body, and the size of the waist structure cannot be adjusted. Adapt to people of different body types

Another example is the patent application number 201410063123.X, which discloses a large leg device with knee joint parameter measurement suitable for exoskeleton auxiliary support robots. The large leg device is driven by a hydraulic cylinder, which reduces the size of the knee joint drive element , but the use of hydraulic cylinder drive requires a hydraulic source, and the control accuracy of the mechanism is not high, and the rigidity and stability are not enough. At the same time, the hydraulic mechanism is prone to oil leakage.

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