Passive flexible knee-ankle joint power-assisted exoskeleton robot

Abstract

The invention relates to the technical field of power-assisted robots, in particular to a passive flexible knee-ankle joint power-assisted exoskeleton robot. Comprising an exoskeleton support and a pair of energy recovery and release devices. Each energy recovery and release device comprises an input clutch mechanism, an energy storage mechanism and an output mechanism; in a knee joint bending stage, a first flexible cable or a second flexible cable pulls a corresponding input transmission pulley to rotate, so that an input transmission gear and a transmission inner gear ring are in meshed transmission, and energy storage of an energy storage spring is realized; in an ankle joint power assisting stage, a steering engine gear is in gear meshing transmission with a transmission rack, so that a clutch gear is meshed with an output transmission gear and an output transmission pulley at the same time, an energy storage spring releases stored energy, and a third flexible cable is stretched to pull a foot plate upwards to move; therefore, part of negative work done by the knee joint during stretching is collected in a mode of assisting the knee joint in doing negative work, part of negative work generated by the knee joint during bending is also absorbed, and the negative work collecting efficiency is higher when the negative work collecting device is used for collecting negative work.

Description

technical field [0001] The invention relates to the technical field of power-assisted robots, and relates to a flexible robot that can be worn on the human body to assist the movement of the ankle joint by collecting knee joint negative work, specifically a passive flexible knee-ankle joint power-assisted exoskeleton robot. Background technique [0002] With the advancement of human society, various life scenes related to social activities are gradually becoming more diverse and complex. Such changes in social life sometimes put forward higher requirements for the executive ability of the human body. For ordinary people, sometimes it is necessary to carry heavy items for a long time or go on foot for a long time in life or work, which will pose certain challenges to the physical affordability of many people; for some middle-aged and elderly people or those who have lost some For patients with motor ability, due to the degeneration or partial loss of their body motor ability,...

AI Technical Summary

Problems solved by technology

However, looking at a variety of passive lower extremity exoskeleton design schemes, most of them use hinged mechanical joints rigidly connected at positions parallel to the human body joints as the input end for collecting negative energy or the output end for assisting. It will interfere with the gait of the human body and make the wearer feel uncomfortable; at the same time, in many current solutions, the designers mostly integrate and install the main components on the joints of the lower limbs far away from the waist. Bring more extra metabolism, so that people need to consume more energy during exercise to offset the quality impact of wearing the exoskeleton

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