Variable instantaneous center bionic lower limb exoskeleton robot based on compliant driving

Abstract

The invention discloses a variable instantaneous center bionic lower limb exoskeleton robot based on compliant driving. Drivers in a hip joint structure and a knee joint structure are tandem elastic drivers, each tandem elastic driver comprises a rack, the rack comprises a motor mounting frame and a shell, and the motor mounting frame is fixedly connected with the shell. A frameless direct-current servo motor is arranged in the motor mounting frame, a transmission shaft is arranged in the frameless direct-current servo motor, the output end of the transmission shaft is connected with a harmonic reducer, the harmonic reducer is arranged in the shell, the output end of the harmonic reducer is fixedly connected with an output connecting disc, and an elastic element is arranged on the output connecting disc. The elastic element is used for being connected with a lower-stage mechanism and outputting gentle torque. According to the variable instantaneous center bionic lower limb exoskeleton robot, a flexible direct drive mode is adopted for driving, and in order to improve the man-machine interaction, systematic improvement is carried out on a part of structures with small stress and a mechanism of a man-machine combination part of the lower limb exoskeleton robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a bionic lower limb exoskeleton robot based on compliant drive. Background technique [0002] The exoskeleton comes from biology. It refers to a layer of strong biological bones that can protect and support the structure of the body. The characteristic of the exoskeleton system is that it is closely integrated with the three functions of support, protection, and movement. An exoskeleton robot is a human-machine integrated device that integrates power systems, sensing systems, and control systems. It is similar in structure to a biped walking robot, the difference is that it can be worn outside the body to improve the movement function of the human body, and can complete certain functions and tasks through the operation of the human body. In the field of military operations, exoskeleton robots can help soldiers travel long distances, load a large amount of materials or...

AI Technical Summary

Problems solved by technology

[0004] At present, most of the flexible rehabilitation exoskeletons of the lower limbs use the rope drive method, which has the advantage of reducing the joint mass and inertia, but this structural design lacks mechanical support, and the upper limit of the rope drive output is determined by the connected rope. The upper limit of output is not high, because its joint friction is large, and there is a certain amount of energy consumption in the process of output

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