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Hip joint mechanical structure of lower limb exoskeleton robot

An exoskeleton robot, mechanical structure technology, applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of inconsistent degrees of freedom, inconsistent positions, and difficulty in consistent intersections, and achieves increased universality, high degree of fit, The effect of facilitating angle signal acquisition

Pending Publication Date: 2021-04-20
THE 21TH RES INST OF CHINA ELECTRONIC TECH GRP CORP
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the body of various exoskeleton prototypes in China generally cannot achieve a high degree of fit with the movement of the human body. The lateral hip joint has three rotational degrees of freedom, and its rotational center intersects at one point, but it is usually very difficult to make the rotational centers of the three rotational degrees of freedom of the prototype hip joint intersect at one point and coincide with the intersecting point of the human hip joint degrees of freedom

Method used

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  • Hip joint mechanical structure of lower limb exoskeleton robot
  • Hip joint mechanical structure of lower limb exoskeleton robot
  • Hip joint mechanical structure of lower limb exoskeleton robot

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Embodiment Construction

[0032] The present invention will be described in detail below with reference to the accompanying drawings and examples. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, those skilled in the art will recognize that modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For example, features illustrated or described as part of one embodiment can be used on another embodiment to yield a still further embodiment. Therefore, it is intended that the present invention includes such modifications and variations as come within the scope of the appended claims and their equivalents.

[0033] In the description of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", " The orientations or positional relationships indicated by "top", "bottom", etc. are based on the orienta...

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Abstract

The invention provides a hip joint mechanical structure of a lower limb exoskeleton robot. The hip joint mechanical structure comprises a coronal plane degree-of-freedom module, a connecting rod module, a horizontal plane degree-of-freedom module and a sagittal plane degree-of-freedom module; the coronal plane degree-of-freedom module comprises a hip joint base part and a back component, and the hip joint base part and the back component are hinged to form a rotational degree-of-freedom in a coronal plane; the horizontal plane degree-of-freedom module comprises an arc-shaped guide rail and a sliding block module, the arc-shaped guide rail is fixedly arranged on the hip joint base part, and the sliding block module is glidingly arranged on the arc-shaped guide rail to form a rotational degree-of-freedom in a horizontal plane; the connecting rod module comprises a long connecting rod and a short connecting rod, one end of the long connecting rod is hinged to one end of the short connecting rod, the other end of the long connecting rod is hinged to the sliding block module, and the other end of the short connecting rod is hinged to the hip joint base part; and the sagittal plane degree-of-freedom module is fixedly connected with the sliding block module. By means of the hip joint mechanical structure, exoskeleton body hip joint movement can be highly matched with human body hip joint movement.

Description

technical field [0001] The invention relates to the field of exoskeleton robots, in particular to a hip joint mechanical structure of a lower limb exoskeleton robot. Background technique [0002] Exoskeleton robots can be widely used in military and civilian fields, especially as an important development direction of high-tech weapons and equipment in the future, and play a decisive role in the future battlefield pattern. Therefore, exoskeleton robots are currently the focus of developed countries and many developing countries In the field of robotics research, domestic scientific research institutes and universities have also done a lot of research on it. Various related exoskeleton products and prototypes emerge in endlessly. While related technologies have made continuous progress, the advanced mechanical structure design technology of exoskeletons is still restricting the development of exoskeletons. The key technology of various performances of the prototype, and the st...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 张震宇王春雷李昀佶高哲杨亚范春辉
Owner THE 21TH RES INST OF CHINA ELECTRONIC TECH GRP CORP
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