Wearable lower limb exoskeleton robot

Abstract

The invention relates to a wearable lower limb exoskeleton robot. The wearable lower limb exoskeleton robot comprises a waist and shoulder binding system and leg movement systems. The waist and shoulder binding system is worn and fixed to the upper part of the human body. The two leg movement systems are arranged at the positions of the left leg and the right leg of the human body respectively and are fixed to the two sides of the waist and shoulder binding system respectively. Each leg movement system comprises a wire winding driving system, a hip joint supporting component, a thigh supporting component and a shank supporting component, wherein the hip joint supporting component and the thigh supporting component are connected through the hip joint, and the thigh supporting component and the shank supporting component are connected through the knee joint. Each wire winding driving system comprises a driving assembly, a driving winch, a hip joint winch, a knee joint winch, a hip joint driving wire and a knee joint driving wire, wherein the driving assembly is arranged on the corresponding hip joint supporting component and located on the waist of the human body. According to the wearable lower limb exoskeleton robot, power devices for driving all the joints can be concentrated at the waist of the human body, and thus the weight of the lower limbs of the exoskeleton robot can be reduced.

Description

technical field [0001] The invention relates to the field of exoskeleton robots used for walking assistance, in particular to a wearable lower limb exoskeleton robot. Background technique [0002] At present, the lower extremity exoskeleton robots, in terms of drive modes, mainly include chain drive, pneumatic, hydraulic drive, four-bar linkage, direct drive of geared motor and other hardware mechanical drive modes. These driving modes have a common feature, that is, each joint is equipped with a driving motor, which leads to problems such as large structure size and heavy weight. [0003] Chinese Invention Patent CN 102327173A The exoskeleton wearable lower limb rehabilitation robot uses the harmonic reducer as the driving unit to realize the joint movement. Since the harmonic reducer has certain reversibility, that is, it does not have a complete self-locking function, and the user can use it for a long time. Instability defects may occur when standing on the ground, whic...

AI Technical Summary

Problems solved by technology

These driving modes have a common feature, that is, each joint is equipped with a driving motor, which leads to the disadvantages of large structure size and heavy weight.

[0003] Chinese Invention Patent CN 102327173A The exoskeleton wearable lower limb rehabilitation robot uses the harmonic reducer as the driving unit to realize the joint movement. Since the harmonic reducer has certain reversibility, that is, it does not have a complete self-locking function, and the user can use it for a long time. There may be instability defects when standing on the ground, which will bring safety hazards

[0004] Chinese invention patent CN 1586434A wearable lower extremity walking exoskeleton uses hydraulic cylinders to drive connecting rods to achieve joint movement. The structure is loose and bulky, the overall structure is complex, and the weight is too heavy.

[0005] Chinese invention patent ZL 201210370654.4 portable wearable lower limb rehabilitation and walking aid exoskeleton robot, each joint is driven by a slider linkage mechanism, and the driving mechanism is set near the joints, which increases the weight of the legs and has a complex structure, making it difficult to further optimize the robot overall weight

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