Light active and passive combined lower-limb power-assisted exoskeleton robot

An exoskeleton robot, active and passive technology, applied in the direction of manipulators, program-controlled manipulators, joints, etc., can solve the problems of large energy consumption of human body energy, limited range of motion, low energy utilization rate, etc., to achieve light weight and increase structure The effect of compactness and simple structure

Active Publication Date: 2016-11-09
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems of the existing lower limb assisting exoskeleton robots, such as large volume, heavy weight, limited range of motion, large consumption of human body energy or other energy sources, and low energy utilization rate, the present invention proposes a lightweight active-passive combined type Lower Limb Assisted Exoskeleton Robot

Method used

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  • Light active and passive combined lower-limb power-assisted exoskeleton robot
  • Light active and passive combined lower-limb power-assisted exoskeleton robot
  • Light active and passive combined lower-limb power-assisted exoskeleton robot

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specific Embodiment approach 1

[0026] Specific implementation mode one: combine Figure 1 to Figure 8 Describe this embodiment, this embodiment includes back A, waist B, spring adjustment plate J, two hip joints C, two knee joints D, two thighs E, two calves F, two foot joint bearings G, Two feet H, two legs hip connection axis I, two knee joint connection axes K and two legging plastic plates L;

[0027] Each hip joint C includes hip joint rotating shaft seat C1, upper pulley shaft C2, lower pulley shaft C3, upper pulley C4, lower pulley C5, steel wire C6, guide pulley C7, steel wire fixing piece C8, guide pulley seat C9, spring lower pressure plate C10 1. A set of balance springs C11 and spring upper pressure plate C12. The hip joint shaft seat C1 includes the hip joint shaft C1-1 and two connecting plates C1-2. Two pulley shaft holes C1 are arranged above each connecting plate C1-2. -2-1, there is a leg hip connection shaft hole C1-2-2 under each connecting plate C1-2, the two connecting plates C1-2 are...

specific Embodiment approach 2

[0032] Specific implementation mode two: combination image 3 and Figure 4 To illustrate this embodiment, the back A of this embodiment includes a back support A1 and a back binding connector A2, the back binding connector A2 and the back support A1 are arranged front and back, and the back binding connection A2 and the back support A1 are connected through a connecting element , and the height of the back binding connector A2 can be adjusted through the connection positions of the multiple vertical connection element mounting holes on the back support member A1, so as to adapt to wearers of different heights. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0033] Specific implementation mode three: combination Figure 4 The present embodiment will be described. The number of a set of balance springs C11 in this embodiment is two, and the two balance springs C11 are arranged in parallel. The two balance springs C11 are connected in parallel to balance the gravitational potential energy of the lower extremity of the exoskeleton on one side. The spring adjustment plate J changes the hanging point of the balance spring C11 by adjusting the installation position of the back support A1, so as to change the elongation, original length and stiffness of the balance spring C11, thereby achieving , can also achieve the effect of balancing the elastic potential energy of the spring and the gravitational potential energy of the exoskeleton. Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention discloses a light active and passive combined lower-limb power-assisted exoskeleton robot. A back and a waist are arranged up and down; a waist bundling connecting piece on the waist is connected with a back supporting piece on the back; hip joint rotary shafts on hip joints are hinged to waist hip connecting pieces on the waist; a spring upper pressing plates on the hip joints are connected with a spring adjusting plate; the spring adjusting plate is positioned at the upper end of the back supporting piece and is connected with the back supporting piece; leading pulley seats are fixedly connected with a waist fixing plate on the waist; the upper ends of thighs are hinged to connecting plates on the hip joints through leg hip connecting shafts; steel wire fixed parts on the hip joints are fixedly mounted on outer walls of thighs; the lower ends of the thighs are hinged to the upper ends of knee joint supporting shells through knee joint connecting shafts; a motor encoder, a motor, a speed reducer, a coupler and a lead screw are sequentially arranged in a knee joint from top to bottom; the upper end of shanks are connected with the knee joint supporting shells; and the lower ends of the shanks are hinged to feet through foot joint shafts. The light active and passive combined lower-limb power-assisted exoskeleton robot is used for military loadbearing.

Description

technical field [0001] The invention relates to a lower limb assisting exoskeleton robot, in particular to a lower limb assisting exoskeleton robot with light active and passive combination. Background technique [0002] At present, for the lower limb assist exoskeleton robot, the knee joint and the hip joint are crucial design links, and these two joints have the greatest impact on the robot's assist effect. Existing exoskeleton robots use active drive in the design of the knee joint and hip joint, and use the direct drive of the motor, which requires high motor output and speed, resulting in a large volume and weight of the motor; it is driven by a hydraulic cylinder, and the overall volume is large. It is also necessary to consider the hydraulic pump station, oil source leakage, environmental pollution, low efficiency, and limited range of motion; some exoskeletons only use active drive at the knee joint, using motor direct drive or hydraulic cylinder drive, and the hip j...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J17/00
CPCB25J9/0006B25J17/00
Inventor 朱延河马舜王天铄张国安
Owner HARBIN INST OF TECH
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