Heavy-load under-actuated parallel lower-limb assisting exoskeleton with elastic buffer

Abstract

The invention discloses a heavy-load under-actuated parallel lower-limb assisting exoskeleton with elastic buffer, and relates to a lower-limb assisting exoskeleton which solves the problems that an existing lower-limb assisting exoskeleton robot is great in weight, is poor in load capacity and is low in travelling speed. The heavy-load under-actuated parallel lower-limb assisting exoskeleton comprises a back part, a waist part, a left leg, a right leg and foot parts, wherein the back part is connected with the waist part; the two sides of the waist part are separately connected with the left leg and the right leg; the left leg and the right leg are connected with the corresponding foot parts; the waist part is rotatably connected with the back part; each of the left leg and the right leg comprises an ankle joint and two sets of flexion and extension swing telescopic structures; the two sets of flexion and extension swing telescopic structures are separately arranged at the two ends of the waist part; each set of flexion and extension swing telescopic structures comprises hip joint flexion and extension swing telescopic mechanisms and series-parallel connection telescopic mechanisms; and each hip joint flexion and extension swing telescopic mechanism is mounted on the waist part, and can rotate front and back relative to the waist part. The heavy-load under-actuated parallel lower-limb assisting exoskeleton is used for an exoskeleton robot.

Description

technical field [0001] The invention relates to a lower limb power-assisted exoskeleton, in particular to a large-load underactuated parallel lower limb power-assisted exoskeleton with elastic buffering. Background technique [0002] Existing exoskeleton robots mostly adopt serial structure design in hip joint, knee joint and ankle joint design, and each degree of freedom is driven by a separate power source. The direct drive of the motor requires high motor output and speed, resulting in a large volume and weight of the motor. Driven by hydraulic cylinders, the overall volume is large, and hydraulic pump stations need to be considered, oil source leakage, environmental pollution, low efficiency, and limited range of motion; current lower limb exoskeleton robots generally adopt passive forms in the design of ankle joints. The ankle joint of the human body happens to be a relatively weak joint in the lower limb joints of the human body, which greatly limits the carrying capa...

AI Technical Summary

Problems solved by technology

[0003] The present invention aims to solve the problems of the existing lower-limb-assisted exoskeleton robots, such as heavy weight, poor load capacity and slow walking speed, and further proposes a large-load underactuated parallel lower-limb-assisted exoskeleton with elastic buffering

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