An exoskeleton robot knee joint with adjustable force ratio

Abstract

The invention discloses an exoskeleton robot knee joint with an adjustable force increasing ratio. The exoskeleton robot knee joint comprises a thigh bar, a hydraulic cylinder, a first connecting piece, a second connecting piece, a shank extension bar and a shank sleeve bar, wherein the thigh bar, the first connecting piece, the second connecting piece and the shank extension bar are hinged so as to form a planar four-bar force increasing mechanism; the second connecting piece is connected with different holes in the shank extension bar according to required working conditions, and correspondingly, the length of a rocking bar in the four-bar mechanism is changed, thereby changing the force increasing ratio; the shank extension bar is inserted into a hole of the shank sleeve bar so as to form a sliding pair, a grating type displacement sensor is installed, and the length can be adjusted by extension and can be informed to a wearer through a display screen on the extension bar; the extension bar and the sleeve bar are locked by tightly screwing a bolt on the shank sleeve bar; and a limiting block on the shank extension bar can be used for limiting the movement in an extreme position, so that the damage of exoskeleton to the wearer is avoided. According to the exoskeleton robot knee joint, by using the simple mechanism and matching, the large boosting ratio is realized, and the applicability and safety of the wearer are increased.

Description

technical field [0001] The invention relates to an exoskeleton robot knee joint, in particular to an exoskeleton robot knee joint with adjustable force ratio. Background technique [0002] As one of the important joints of the lower limbs of the human body, the knee joint needs to bear the weight of the entire trunk, and its health directly affects the normal movement of the lower limbs of the human body. Therefore, the design of the exoskeleton robot knee joint is one of the keys for exoskeleton robots to enhance human behavior. [0003] At present, most of the knee joints of exoskeleton-assisted robots adopt a semi-anthropomorphic structural design. For example, a simplified fixed-axis rotating pair is used for the knee joint movement of the human body. The thigh, calf and hydraulic cylinder of the exoskeleton form a three-hinge point linkage mechanism. . Although the layout of this mechanism is relatively simple, it needs a large stroke to meet the angle of motion of th...

AI Technical Summary

Problems solved by technology

Although the layout of this mechanism is relatively simple, it requires a large stroke to meet the angle of motion of the wearer's joints, so it has a large volume and mass, and requires a large input pressure from the hydraulic cylinder. conditions change, resulting in high power consumption

Furthermore, the knee joints of exoskeleton robots on the market do not fully consider the suitability and safety of the wearer, and sometimes only one aspect is considered

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