Auxiliary-supporting lower limb exoskeleton robot

Abstract

The invention discloses an auxiliary-supporting lower limb exoskeleton robot which comprises a waist and abdomen leaning plate, a left leg and a right leg. The left leg and the right leg have the samestructures and are symmetrically arranged on the waist and abdomen leaning plate; and the left leg comprises a thigh support part, a shank support part, a hip joint part, a knee joint part, an anklejoint part and a sole locking device. According to the exoskeleton, the infinite locking of the hip joint, the knee joint and the ankle joint is realized through a sole supporting counter-force, the exoskeleton becomes a rigid body as a whole, and without the need for being driven, the stable support of any gesture of lower limbs of a user can be realized. The movement of the various joints does not influence each other. A multi-stage spherical linkage mechanism is adopted, so that friction plates for controlling the locking of the ankle joint, the knee joint and the hip joint can be arrangedon a sole; and through a plane friction pair, the exoskeleton is locked and unlocked, so that the simplicity and the convenience in operation are realized. The auxiliary-supporting lower limb exoskeleton robot is convenient to wear, and the stable support of any gesture can be provided for the user without the need for fixedly connecting a thigh support plate and a shank support plate with a humanbody.

Description

technical field [0001] The invention relates to the field of power-assisted robots, in particular to an exoskeleton robot for auxiliary support of lower limbs. Background technique [0002] In recent years, in order to reduce the workload of manual laborers, domestic and foreign scholars have been devoting themselves to the research of various auxiliary exoskeleton robots. Today, there have been remarkable achievements in research on load-bearing exoskeletons, power-assisted exoskeletons, and medical and health exoskeletons at home and abroad. Auxiliary equipment for working groups such as medical surgery workers, precision instrument repairers, and large machinery assemblers has yet to be developed. [0003] During the repair or assembly of large-scale precision equipment, the operator needs to maintain a certain strenuous posture for a long time, which is very prone to fatigue. When the staff is fatigued after working for a long time, it will not only affect the assembly...

AI Technical Summary

Problems solved by technology

Existing traditional non-driven lower extremity exoskeleton robots are difficult to provide stable support for users in any posture under complex conditions, while driven exoskeleton robots have problems such as high cost, inconvenient power storage, and complicated control.

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