Exoskeleton robot leg motion system

Abstract

The invention provides a leg movement system of an exoskeleton robot. The leg movement system comprises a line winding drive system, a hip joint support assembly, a thigh support assembly and a shank support assembly, wherein a hip joint drive motor and a knee joint drive motor are both fixed on the hip joint support assembly, a hip joint drive winch is connected onto an output shaft of the hip joint drive motor, and a knee joint drive winch is connected onto an output shaft of the knee joint drive motor; the hip joint support assembly is connected with the upper end of the thigh support assembly through the hip joint, and the lower end of the thigh support assembly is connected with the upper end of the shank support assembly through the knee joint; a hip joint winch is arranged at the hip joint, and a knee joint winch is arranged at the knee joint; the outside of the hip joint drive winch and the outside of the hip joint winch are wound with a hip joint drive line simultaneously; the outside of the knee joint drive winch and the outside of the knee joint winch are wound with a knee joint drive line simultaneously. According to the leg movement system, power devices for driving all joints can be centralized at the human waist, so that the weight of each lower limb 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 leg motion system of an 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 102327173 A wearable exoskeleton lower limb rehabilitation robot uses a harmonic reducer as a driving unit to realize the joint movement, because the harmonic reducer has certain reversibility, that is, it does not have a complete self-locking function, and the user Instability defects may occur when standing for a long time, which brings potential safety h...

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 102327173 A wearable exoskeleton lower limb rehabilitation robot uses a harmonic reducer as a driving unit to realize the joint movement, because the harmonic reducer has certain reversibility, that is, it does not have a complete self-locking function, and the user When standing for a long time, there may be instability defects, which will bring safety hazards

[0004] Chinese invention patent CN 1586434 A wearable lower extremity walking exoskeleton uses hydraulic cylinders to drive connecting rods to achieve joint movement.

[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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