Mechanical limiting exoskeleton robot joint

Abstract

The invention discloses a mechanical limiting exoskeleton robot joint. The joint comprises a driving mechanism, a speed reducing mechanism, an executing mechanism and a feedback mechanism, and the exoskeleton robot joint can be driven to rotate at one degree of freedom. The driving mechanism is composed of a motor base, a motor, a rotating shaft, a rear end cover, a bearing, a stator check ring and a rotor check ring. The speed reducing mechanism is composed of a speed reducer, an output flange and a front end cover. The executing mechanism is composed of an upper connecting plate and a lowerconnecting plate. The feedback mechanism is composed of an absolute value encoder and a relative value encoder. A fan-shaped groove with the angle ranging from -6 degrees to 120 degrees is formed in the middle of the front end cover, a boss is designed for the output flange, the boss of the output flange is located in the fan-shaped groove of the front end cover after assembly and can move along the fan-shaped groove, therefore the relative rotation relation between the upper connecting plate and the lower connecting plate is converted into relative rotation between the front end cover and theoutput flange, and mechanical limiting is achieved. Hard limiting of the joint rotation angle is achieved through a mechanical structure, and the working safety and reliability of a robot are improved.

Description

technical field [0001] The invention belongs to the field of robots, and relates to an exoskeleton robot joint with rotation mechanical limit. Background technique [0002] The lower extremity exoskeleton robot is a wearable auxiliary robot. For patients with hemiplegia or unilateral lower limb muscle weakness, it realizes human-machine integration with the patient. It not only supports the patient, but also assists the patient in walking, standing, Squatting and other actions meet their basic movement needs to assist patients in their rapid recovery. The kinematic joints of the lower extremity exoskeleton robot are the power source of the robot's movement, and they need to have a range of motion consistent with that of the human leg joints to ensure the safety of the robot, and mechanically limiting the rotation angle of the joints can improve its reliability. During the movement of the robot, it must conform to the laws of human body movement, and achieve the required mov...

AI Technical Summary

Problems solved by technology

In the existing wearable robot joints, because the joint rotation angle is not mechanically limited, and the joint rotation angle is limited by the operation of setting a soft limit on the motor, the safety and reliability of the wearable robot are not high.

[0003] The publication number is CN201610346270.7, and a hip joint structure of a wearable exoskeleton robot is invented, which is mainly aimed at the structure of the robot hip joint. The transmission mode is inefficient, and the range of motion of the joint angle is small, and the joint rotation is not designed for mechanical limit

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