Lower limb load-bearing assisting exoskeleton capable of achieving rapid self-locking in standing state

Abstract

The invention provides a lower limb load-bearing assisting exoskeleton capable of achieving rapid self-locking in a standing state. The lower limb load-bearing assisting exoskeleton comprises hip joints, knee joints and locking mechanisms arranged at the hip joints and the knee joints, wherein the locking mechanisms comprise joint locking units and linear drivers; the joint locking units comprisesfixing bases, locking pins and elastic pieces, the locking pins are assembled in the fixing bases, one ends of the locking pins form locking ends and extend out of the fixing bases, the other ends ofthe locking pins are provided with bosses, and the elastic pieces are arranged between the fixing bases and the bosses; and the linear drivers comprise round rods capable of extending out, one ends of the round rods can abut against the other ends of the locking pins and drive the locking pins to carry out locking action, and locking holes matched with the locking pins are further formed in the hip joints and the knee joints. The lower limb load-bearing assisting exoskeleton capable of achieving rapid self-locking in the standing state can solve the problem of how to reduce the overall energyconsumption of a system composed of the exoskeleton and people to the maximum extent when a wearer rests in the standing state rest under large loads.

Description

technical field [0001] The invention relates to the field of wearing technology, in particular to a lower limb weight-bearing exoskeleton capable of fast self-locking in a standing state. Background technique [0002] For the field of back heavy-duty assistance, the wearer may be a factory porter or a soldier. When the wearer needs to rest after walking for a long time, the wearer must either find the ground to rest or stand on the spot to rest, and when the terrain environment is more complex, it is sometimes more difficult to find the ground to rest. Movements are more difficult. So how to reduce energy consumption as much as possible when the wearer is standing in place is an urgent problem to be solved. [0003] At present, for most wearable active-assist exoskeleton robots, if the wearer needs to maintain a standing position, the driving motors of the hip and knee joints need a large output torque to maintain this state so that the wearer can rest with low energy cons...

AI Technical Summary

Problems solved by technology

[0003] At present, for most wearable active-assist exoskeleton robots, if the wearer needs to maintain a standing position, the driving motors of the hip and knee joints need a large output torque to maintain this state so that the wearer can rest with low energy consumption. This shortens the overall battery life of the exoskeleton and requires a higher output torque value of the drive motor

And those wearable joints passive power-assisted exoskeleton robots only transmit the load to the ground, and the wearer still needs to provide torque at the joints to maintain the balance of the system, which also makes the wearer still need a certain amount of energy consumption

Images