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Underactuated lower limb assistance exoskeleton robot based on rope-pulley mechanism

An exoskeleton robot and under-actuated technology, which is applied in passive exercise equipment, equipment to help people walk, manipulators, etc., can solve the problems of large mass of exoskeleton itself, large driving energy consumption, and inability of passive joint exoskeleton to provide, etc. Achieve the effects of not easy impact damage, low cost and wide application range

Active Publication Date: 2017-09-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The content of the present invention is to solve the problems that the exoskeleton driven by active joints in the past has a large mass, high driving energy consumption, and the inability to provide effective power assistance for passive joint exoskeletons, and then provides an underactuated lower limb power-assisted exoskeleton robot based on a rope-pulley mechanism

Method used

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  • Underactuated lower limb assistance exoskeleton robot based on rope-pulley mechanism
  • Underactuated lower limb assistance exoskeleton robot based on rope-pulley mechanism
  • Underactuated lower limb assistance exoskeleton robot based on rope-pulley mechanism

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specific Embodiment approach 1

[0014] Specific implementation mode one: combine Figure 1-Figure 19 Describe this embodiment, the underactuated lower limb power-assisted exoskeleton robot based on the rope-pulley mechanism described in this embodiment includes a strap device, a drive control power supply system 74, two thigh rod devices, two calf rod devices, and two ankle rod devices. Joint device, two driving devices and two wire ropes 73; each driving device includes a motor housing support 1, a first motor housing 3, a waist frame 4, a planetary reducer 5, a second motor housing 6, and a servo motor 7 , the third motor housing 8, the hip joint spline shaft 9, the driving pulley 10, the elastic driver 11, the first shaft sleeve 12, the small bevel gear 13, the large bevel gear 14, the second shaft sleeve 15, the fourth motor housing 16, The fifth motor casing 17, the fixed plate and two first bearing end caps 2 with bearings; the motor housing bracket 1 includes a bracket bent plate 1-1, a first straight...

specific Embodiment approach 2

[0016] Specific implementation mode two: combination Figure 1-Figure 3 and Figure 5Describe this embodiment, the underactuated lower limb power-assisted exoskeleton robot based on the rope-pulley mechanism described in this embodiment, the strap device includes a connecting block 61, a waist connecting buckle 63, a first rotating joint connecting buckle 65, an intermediate shaft 69, a second Rotary joint connection buckle 70, two straps 59, two strap plates 62, two connecting springs 64, two swivel bases 66, two first limit blocks 67, two second limit blocks 68, two Hip joint rotation shaft 71, two waist end caps 72 with bearings and a plurality of fixed covers 60 with connecting nails; waist connecting buckles 63 are 'V' shaped blocks, and two strap plates 62 are vertically arranged, each A strap 59 is installed on each strap board 62 through two fixed covers 60 with connecting nails, and the two strap boards 62 are fixedly connected through the connecting block 61. The dr...

specific Embodiment approach 3

[0017] Specific implementation mode three: combination Figure 7-Figure 10 Describe this embodiment, the underactuated lower limb power-assisted exoskeleton robot based on the rope-pulley mechanism described in this embodiment, the thigh rod device includes a hip joint shell 18, a second bearing end cover 19 with bearings, a first thigh shell 20, Thigh binding bushing 21, thigh aluminum plate bushing 22, thigh binding metal ring 23, first thigh rod 24, second thigh rod 25, thigh locking block 26, thigh locking button 27, thigh locking handle 28, calf fixation Frame 30, hip joint pulley 31, hip joint shaft 32, hip joint outer seat 34, thigh binding belt 36, two first torsion springs 33, two thigh binding belt rings 35 and a plurality of thigh fixing supports 29, the second thigh The top of the rod 25 is processed with a hip joint pulley installation groove, and the two side walls of the hip joint pulley installation groove are processed with hip joint shaft installation holes. ...

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Abstract

The invention provides an underactuated lower limb assistance exoskeleton robot based on a rope-pulley mechanism, and relates to an underactuated lower limb assistance exoskeleton robot. The robot aims to solve the problems that a prior active joint-driving exoskeleton has large self-mass, large drive energy consumption, and a passive joint exoskeleton cannot provide effective assistance. The robot comprises a harness device, a drive control power system, two thigh bar devices, two leg bar devices, two ankle devices, two drive devices and two strings; wherein each drive device includes a motor shell bracket, a first motor shell, a waist frame, a planetary reducer, a second motor shell, a servo motor, a third motor shell, a hip joint spline shaft, a drive pulley, an elastic actuator, a first shaft sleeve, a small bevel gear, a large bevel gear, a second shaft sleeve, a fourth motor shell, a fifth motor shell, a sixth motor shell, a fixing plate and two first bearing end covers with bearings. The underactuated lower limb assistance exoskeleton robot based on the rope-pulley mechanism is used for the field of assistance exoskeleton robots.

Description

technical field [0001] The invention relates to an underactuated lower limb assisting exoskeleton robot, in particular to an underactuated lower limb assisting exoskeleton robot based on a rope-pulley mechanism. Background technique [0002] Exoskeleton robot is a wearable power-assisted device that can assist human body movement and improve human movement ability. It is widely used in military and civilian fields. For example, it can improve the weight-bearing capacity of the human body, provide walking assistance or be used for rehabilitation training. The active joint-driven exoskeleton has multiple drive units, and its own weight is large. It needs a lot of energy to drive the exoskeleton to overcome its own gravity. At the same time, it needs a large-capacity battery or other energy storage methods. Passive joint-driven exoskeletons have no active driving force, making it difficult to climb stairs, and provide effective assistance for weight-bearing walking and other s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00A61H1/02B25J9/00
CPCA61H1/0262A61H3/00A61H2003/005A61H2003/007A61H2201/1207A61H2201/1472A61H2201/1642A61H2201/1657A61H2205/10B25J9/0006
Inventor 高永生刘洋朱延河
Owner HARBIN INST OF TECH
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