Anti-falling self-locking mechanism for exoskeleton robot

Abstract

The invention discloses an anti-falling self-locking mechanism for an exoskeleton robot. The robot comprises a first connecting rod and a second connecting rod; the anti-falling self-locking mechanism comprises an electromagnet, a pawl, a ratchet, and a spring, wherein the ratchet is fixedly arranged on the upper end of the second connecting rod, the electromagnet is fixedly arranged on the first connecting rod; a downward telescopic rod is arranged at the bottom of the electromagnet, the telescopic rod is connected with a contact terminal of the electromagnet, the lower end of the telescopic rod is rotatably connected with the pawl; a first pin shaft is fixedly arranged on the first connecting rod, the tail end of the pawl is rotatably connected with the first pin shaft, the front end of the pawl is matched with the ratchet; the upper end and the lower end of the spring are respectively connected with the pawl and the ratchet; and the pawl and the ratchet are laminated with each other under the pulling function of the spring; the stretching of the telescopic rod can be realized through the power-on/off of the electromagnet, thereby driving the pawl to break away from or fit to the ratchet. The anti-falling self-locking mechanism has the advantages that the mechanism can realize the one-way self-locking by use of the self-locking mode of the pawl and the ratchet, so that the human leg can move to the upright direction, the security and the reliability are high.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an anti-drop self-locking mechanism for an exoskeleton robot. Background technique [0002] The number of physically disabled people in my country is huge, and the number is still increasing every year. At present, the existing exoskeleton rehabilitation machines in my country are seriously unbalanced between supply and demand, and most of the existing exoskeleton rehabilitation machines have single functions. At least one normal person to assist. Existing exoskeleton robots do not have self-locking and fall resistance, and their safety and reliability are poor. Contents of the invention [0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a drop-proof self-locking mechanism for an exoskeleton robot to achieve the purpose of safety protection for the wearer of the exoskeleton robot. [0004] The present invention is achieve...

AI Technical Summary

Problems solved by technology

At present, the existing exoskeleton rehabilitation machines in my country are seriously unbalanced between supply and demand, and most of the existing exoskeleton rehabilitation machines have single functions, and the wearers need to be accompanied by normal people throughout the whole process. At least one normal person to assist

Existing exoskeleton robots do not have self-locking and fall resistance, and their safety and reliability are poor

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