Lower Limb Assisted Exoskeleton Robot

Abstract

The invention discloses a lower limb assist exoskeleton robot, which includes an upper body structure, a leg structure, a knee joint and a hip joint, the leg structure includes a thigh structure and a calf structure, and the hip joint connects the upper body structure and the hip joint. Describe the structure of the thigh. The knee joint connects the upper leg structure and the lower leg structure. The upper body structure includes a size-adjustable lumbar assembly including hip blocks connected to the hip joints. The knee joint includes a first thigh connecting seat connected to the thigh structure, a second calf connecting seat rotatably connected to the thigh connecting seat, and two first motors connected to the first thigh connecting seat. The first motor drives the second shank connecting seat to rotate relative to the 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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