Exoskeleton carrying power-assisted robot

Abstract

The invention discloses an exoskeleton carrying power-assisted robot which comprises a back bracket, a central controller, exoskeleton upper limb components and exoskeleton lower limb components, wherein the central controller is fixedly mounted on the rear side of the back bracket; the two lower limb components of the same structures are respectively mounted on two sides of the back bracket; hip joint power devices are mounted at connections of the back bracket of a waist power-assisted robot and exoskeleton lower limbs; and shoulder joint power devices are mounted at exoskeleton shoulders. The hip joint power devices and the shoulder joint power devices consist of transmission devices, harmonic reducers, disk type motors and angle sensors; the angle sensors are used for measuring angle values of joints, and the central control device controls the corresponding joints to move according to the measured angle values; the exoskeleton lower limbs comprise exoskeleton thighs, exoskeleton shoes and expansion and retraction devices and can achieve a certain supporting effect on the back bracket; and exoskeleton upper limbs comprise exoskeleton upper arms, exoskeleton lower arms and elbow joint self-locking mechanisms.

Description

technical field [0001] The invention belongs to the field of assisting robot research, and in particular relates to an exoskeleton carrying assisting robot. Background technique [0002] With the rapid development of my country's economy, the logistics industry has become a pillar industry in my country's economic development. According to statistics, the total cost of social logistics in my country reached 6.1 trillion yuan in 2009, accounting for 18.1% of GDP in the same period; the total cost in 2010 was 7.1 trillion yuan, accounting for 17.8% of GDP in the same period. But at present, the logistics industry mainly relies on pure human handling in the process of cargo warehouse and loading. Therefore, it is particularly important to invent a moderately priced, simple in structure, and easy-to-wear full-body exoskeleton power-assisted robot for auxiliary transportation to improve the efficiency of the human body in carrying goods. [0003] After literature search, the Chi...

AI Technical Summary

Problems solved by technology

[0004] 1) The design of the joints is simple, and there is no sensor system and control system that cannot accurately detect the movement information of the wearer and the exoskeleton, so that the movement purpose of the exoskeleton cannot be sensed and controlled; 2) The lower limbs are hydraulically assisted to start The speed is slow, and the hydraulic cylinder makes the system bulky and increases the structural weight, which is not suitable for wearing on the human body; 3) The device cannot change the structural length of the lower limbs, and is not versatile when worn, and is not suitable for wearing by different people ; 4) The device is bulky and difficult to wear

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