Mechanical power-assisted lower limb exoskeleton

Abstract

The invention discloses a mechanical power-assisted lower limb exoskeleton. The mechanical power-assisted lower limb exoskeleton comprises a waist support assembly and self-adaptive leg skeleton moving assemblies, wherein the two self-adaptive leg skeleton moving assemblies are connected to the bottom ends of the two sides of the waist support assembly correspondingly and are symmetrically arranged, the self-adaptive leg skeleton moving assemblies comprise hip joint connecting pieces II, femoral rods, leg guards I, tibia skeleton assemblies and pneumatic spring assemblies, and the top ends of the hip joint connecting pieces II are rotatably connected to the bottom ends of one side of the waist support assembly. According to the mechanical power-assisted lower limb exoskeleton, in order to increase the outdoor utilization rate, a pure mechanical structure is used, a power assisting source comes from redundant potential energy of a user in daily activities, the redundant potential energy is stored in an energy storage element of the device and is released in the next action to play a power assisting role, in addition, for different users, the structural design adopts a modular design, and different requirements can be met only by replacing individual assemblies.

Description

technical field [0001] The invention specifically relates to the field of mechanical lower limb exoskeleton, in particular to a mechanical power-assisted lower limb exoskeleton. Background technique [0002] At present, the research on exoskeleton robots in scientific research institutions in most countries is in the basic initial stage, and the leading countries are mainly the United States and Japan; France, Russia, South Korea, etc. have also made achievements in exoskeleton robot technology; The exploration of the field is relatively late, but as the demand for exoskeleton machines in the society continues to increase, the National Natural Science Foundation of my country, 863 and the Science and Technology Support Program have gradually carried out corresponding research; in 2004, the Naval Aviation Academy launched conducted research on exoskeleton technology, and launched the first-generation exoskeleton robot for the first time in 2006, and then showed the second-gener...

AI Technical Summary

Problems solved by technology

[0005] 1. Endurance problem: Most of them need an external power supply, which is suitable for indoor special operations and not suitable for outdoor situations without charging devices;

[0006] 2. High cost: The price of domestic and foreign equipment is more than 10,000 yuan, and the current economic level of most families cannot accept such high additional expenses;

[0007] 3. Large weight and low portability: the device is too heavy to operate without energy drive, and the overall frame is too large to be inconvenient to store and transport when not in use;

[0008] 4. Safety: Motor drive has certain risks, and the elderly have no corresponding knowledge

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