Active-passive combined lower extremity assistance exoskeleton robot

Abstract

The invention discloses an active-passive combined lower extremity assistance exoskeleton robot, and relates to a robot. The active-passive combined lower extremity assistance exoskeleton robot includes a back part, a waist part, a leg part, and a foot part; the leg part is divided into a left leg and a right leg, and the left leg and the right leg both include a thigh and a lower leg; the active-passive combined lower extremity assistance exoskeleton robot further includes a suspension backpack and flexible driving devices, the suspension backpack includes a backpack connection plate, an elastic rope, back part pulley blocks, shoulder part pulley blocks, and shoulder part brackets; the two shoulder part brackets are mounted at the upper end of a back plate of the back part, the backpack connection plate is arranged on a slide rail on the back surface of the back plate, the two sets of back part pully blocks are mounted on the backpack connection plate, the two shoulder part brackets and the two sets of back part pully blocks are correspondingly arranged, a row of shoulder part pulley blocks are mounted on each shoulder part brackets in the front-rear direction, and two flexible driving devices are mounted on each shoulder part brackets. According to the active-passive combined lower extremity assistance exoskeleton robot, the impact of load on the robot is reduced, movement isflexible, and the assisting effect is good.

Description

technical field [0001] The invention relates to a robot, in particular to an active and passive lower limb assist exoskeleton robot. Background technique [0002] At present, for lower limb assisting exoskeleton robots, most of the existing lower limb assisting exoskeleton robots use steel or aluminum alloy as the main structural material. Although they have good strength, they are very bulky, inconvenient to wear by the human body, and easily cause greater physical energy consumption. Moreover, many exoskeleton robots mainly drive the joints in the way of motor direct drive. The effective torque is greatly reduced due to the weight of the motor and other components, and it is difficult to withstand the movement under heavy load. And at present, when exoskeleton robots directly carry heavy objects on themselves and walk quickly, the impact of the load on the entire exoskeleton will bring many unfavorable factors, so that the stability and reliability of the robot cannot be g...

AI Technical Summary

Problems solved by technology

[0002] At present, for lower limb assisting exoskeleton robots, most of the existing lower limb assisting exoskeleton robots use steel or aluminum alloy as the main structural material. Although they have good strength, they are very cumbersome, and it is inconvenient for the human body to wear them, which is likely to cause greater physical energy consumption.

Moreover, many exoskeleton robots mainly drive the joints in the way of motor direct drive. The effective torque is greatly reduced due to the weight of the motor and other components, and it is difficult to withstand the movement under heavy load.

And at present, when exoskeleton robots directly carry heavy objects on their own for fast walking, the impact of the load on the entire exoskeleton will bring many unfavorable factors, so that the stability and reliability of the robot cannot be guaranteed.

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