Length-adjustable lower limb structure and robotic lower limb using the same

Abstract

This paper relates to a lower limb structure with adjustable length applied to the lower limb of a robot, which includes: a hip joint assembly, including a hip joint support part, a hip joint driving part fixed on the hip joint supporting part, and a hip joint driven by the hip joint driving part A transmission handle; a thigh rod connected with a hip joint transmission handle so as to be driven by a hip joint driving part; a knee joint assembly, comprising a knee joint fixing seat, a knee joint driving part fixed on the knee joint fixing seat, and a knee joint driving part driven by the knee joint driving part Knee joint transmission handle; wherein the knee joint fixing seat includes a sleeve part and a connecting part connected with the knee joint driving part, the sleeve part is slidably fixed on the thigh rod along the extending direction of the thigh rod; and a calf rod, which is connected with the knee joint The transmission handle is connected and driven by the knee joint driving part; wherein the center line connecting the thigh rod, the hip joint driving part and the knee joint driving part does not overlap, so that the knee joint can have a wider range of movement on the thigh rod adjusting mechanism.

Description

technical field [0001] The present invention relates to a lower limb structure, in particular, to a lower limb structure whose length is adjustable and can be used for the lower limbs of robots. Background technique [0002] The invention aims to restore and improve the walking ability of patients with chronic bone and joint diseases, patients with spinal and hip injuries and patients with brain injury. At present, most of the patients with lower extremity dysfunction are caused by bone and joint diseases, and the rest are mainly caused by spinal and hip injuries and brain injuries. At present, there are also exoskeleton robots suitable for these patients on the market to help restore their lower limb mobility. [0003] In the prior art exoskeleton robot, the lower limb structure can be roughly divided into two mechanisms: fixed length and adjustable length. For the fixed-length lower limb structure, the manufacturing method is simple, but the fixed length makes the lower ...

AI Technical Summary

Problems solved by technology

For the fixed-length lower limb structure, its manufacturing method is simple, but the fixed length makes the lower limb of the robot not suitable for patients of various heights. Can be adjusted. This repeated wearing is time-consuming and energy-consuming for the patient.

For the length-adjustable lower limb structure, it is generally to realize the adjustment of the sleeve in the form of a telescopic sleeve, and the adjustable range of its length is limited. For example, the minimum length of this length-adjustable lower limb structure is roughly the maximum length. Half of the length, although it can be designed in the form of multiple telescopic sleeves, but the design of multiple telescopic sleeves reduces the strength of the lower limb structure

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