Bionic rigidity-changeable flexible knee joint of exoskeleton robot

Abstract

The invention discloses a bionic rigidity-changeable flexible knee joint of an exoskeleton robot. The bionic rigidity-changeable flexible knee joint includes an elastic sheet arranged on a knee jointbody, a brushless direct current motor arranged on a crus inner board and for providing power, and a knee joint rotation shaft, wherein one end of an inner side of the knee joint rotation shaft is fixed with a thigh connection rod; the elastic sheet includes an outer ring and an inner ring, and an S-shaped elastic member is connected between the outer ring and the inner ring; the outer ring is fixedly connected to the thigh connection rod; one end of the brushless direction current motor has a small spiral bevel gear; the small spiral bevel gear is engaged with a big spiral bevel gear sleevingthe knee joint rotation shaft; the big spiral bevel gear is clamped with the inner ring; a pawl module is arranged on the crus inner board; a cam rotation plate is fixed on an outer end of the knee joint rotation shaft; one end of a tension spring is fixed on the cam rotation plate through a steel wire rope, and the other end of the tension spring is fixed on a ratchet wheel rotation plate of thepawl module. The bionic rigidity-changeable flexible knee joint adopts flexible drive, can relieve an instant ground impact force while a foot contacts a ground, can protect a human knee joint from being damaged, and can make walking more comfortable.

Description

technical field [0001] The invention relates to the technical field of exoskeleton machinery, in particular to a bionic variable stiffness flexible knee joint of an exoskeleton robot. Background technique [0002] An exoskeleton robot is a mechanical device integrating ergonomics and bionics. It integrates robotic technologies such as sensing, control, information coupling, and mobile computing. It can provide support, protection, and assistance for the human body. Used in fields such as rehabilitation medicine and military. Exoskeleton robot is a human-computer interaction system, and its safety, stability and comfort are particularly important. At present, most of the mechanical structures of exoskeleton robots are rigidly connected, and there are shortcomings such as insufficient flexibility in movement, excessive impact force between the soles of the feet and the ground when humans wear them, and high energy consumption of the system during movement. The impulsive forc...

AI Technical Summary

Problems solved by technology

However, the flexible joint only solves the problem of energy consumption, and its stiffness cannot be adjusted, making it difficult to adapt to different external environments and work requirements

The patent with the publication number of CN 105397837 A introduces a one-way series elastic driver. By installing a one-way elastic transmission mechanism with a torsion spring as an elastic element between the motor and the load, the flexibility of the joint is increased, but the system’s flexibility is not reduced. Energy consumption, and the stiffness is not variable

Images