Bionic lower limb exoskeleton robot based on rope drive

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.

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...

AI Technical Summary

Problems solved by technology

Compared with most of the existing domestic and foreign researches, it is found that there are the following problems: complex mechanism, high quality, high cost; not strong bionicity, uncomfortable to wear, etc.

This design uses a motor + bevel gear to change the transmission direction, and solves the problems of inconvenient wear and risk caused by a huge motor protruding out of the body at the joint when the lower extremity exoskeleton robot is driven by a motor. The structure is too cumbersome, and the mass is increased. The design of the knee joint is just a simple rotation joint, which cannot be well synchronized with the human knee joint during movement.

Images