Bionic lower limb exoskeleton robot based on rope drive

A technology of exoskeleton robots and lower limbs, which is applied in the direction of devices that help people walk, manipulators, program-controlled manipulators, etc. It can solve the problems of inability to synchronize human knee joints, uncomfortable wearing, and weak bionics, so as to achieve comfortable wearing and walking , high control precision and low output damping

CN106956243AActive Publication Date: 2017-07-18WUHAN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2017-07-18

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Abstract

The invention relates to a bionic lower limb exoskeleton robot based on rope drive. The bionic lower limb exoskeleton robot comprises a backpack, a waist mechanism, thigh fixing devices, knee joint mechanisms, shank fixing devices and ankle joint mechanisms. A drive control system is placed in the backpack, the backpack is mounted on a waist support of the waist mechanism, a hip joint box is connected to the lower end of the waist support, the upper ends of the thigh fixing devices are connected with thigh connecting parts stretching out of the hip joint box, the lower ends of the thigh fixing devices are connected with the inner side of a knee joint box, the lower end of a swing plate stretching out of the lower end of the knee joint box is connected with the upper ends of the shank fixing devices, the lower ends of the shank fixing devices are connected with an ankle joint connecting plate on an ankle joint box, and ankle joint shafts stretching out of the inner side of the ankle joint box are connected with shoes. The motion error of the exoskeleton robot and the human body can be greatly reduced, the exoskeleton robot can be batter attached to the thighs, the bionic property is high, the size is small, the thickness is small, the mass is small, wearing is comfortable, operation is easy and convenient, and walking is stable.
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Description

technical field

[0001] The invention designs a lower limb exoskeleton robot, specifically a rope-driven bionic lower limb exoskeleton robot. Background technique

[0002] An exoskeleton robot is a wearable device with motion support and protection functions. Since Hardiman, the first power-assisted exoskeleton robot in the United States, was developed in 1966, exoskeleton robots have gradually been widely used and favored. In the military field, exoskeleton robots can assist soldiers to travel long distances, load heavy supplies or weapons, and greatly enhance the combat capability of individual soldiers and the efficiency of logistical reinforcements. In the civilian field, exoskeleton robots can help the disabled and the elderly to walk, and can also play a role in transportation or industry. In the medical field, rehabilitation exoskeleton robots can effectively assist disabled persons in rehabilitation training of upper and lower limbs, greatly reducing the work pres...

Examples

Embodiment Construction

[0029] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0030] Such as figure 1 As shown, the robot of the present invention includes: backpack I, waist mechanism II, thigh fixing device III, knee joint mechanism IV, calf fixing device V, and ankle joint mechanism VI.

[0031] Such as figure 2 As shown, the backpack I of the present invention includes: a sponge pad 1 , a backpack shell 2 , a control panel 3 , a driver 4 , a driver winding reel 5 , and a wire rope 6 .

[0032] Wherein the sponge pad 1 is used for padding between the back of the human body and the backpack I, so that the backpack I is more comfortable to wear. The entire backpack is divided into three...