Exoskeleton knee joint module and exoskeleton robot

Abstract

The present disclosure provides an exoskeleton knee joint module, comprising: a reducer, including an input end and an output end; a torsion spring base connected with the output end; a casing sleeved on the reducer, and a first end of the casing is An arc-shaped chute is arranged on the end surface; a torsion spring is sleeved on the casing, and both ends of the torsion spring are fixedly connected with the torsion spring base and the first end respectively; a plurality of magnetorheological fluid bearings are sleeved on the reducer at intervals On the upper side, the inner ring of the magnetorheological fluid bearing is connected with the reducer, and the outer ring of the magnetorheological fluid bearing is connected with the outer shell; the excitation coil is arranged between two adjacent magnetorheological fluid bearings; two one-way bearings , the inner ring is sleeved on the shaft of the input end respectively, and the overtaking directions of the two one-way bearings are the same; the first connecting piece is sleeved on the outer ring of one one-way bearing, and the first connecting piece is provided with a boss, the convex The table is slidably clamped in the arc-shaped chute; and the second connecting piece is sleeved on the outer ring of the other one-way bearing. The present disclosure also provides an exoskeleton robot.

Description

technical field [0001] The present disclosure relates to the field of research and engineering of exoskeleton joint modules, and in particular, to an exoskeleton knee joint module and an exoskeleton robot that can enhance human body jumping ability and high-altitude safety jumping ability by applying magnetorheological technology. Background technique [0002] An exoskeleton robot is a wearable device that integrates various technologies such as control technology, ergonomics, and sensing technology. Different from general legged robots, exoskeletons must consider the motion coupling relationship with the human body in the design and testing stages. The speed and torque of the exoskeleton are also limited to the range that the human body can bear, which is harmful to the impact during the movement. Certain restrictions must also be made. According to the function, the exoskeleton can be divided into medical rehabilitation type, industrial assistance type and military enhanc...

AI Technical Summary

Problems solved by technology

Due to the introduction of an excessive reduction ratio, the reverse drive performance of the joint is poor

The driving scheme of the motor accelerator and decelerator mentioned above requires a stable power supply to power it, and it needs to be equipped with a large-capacity battery or a drag line for power supply, which greatly limits the use time and movement range of the equipment.

The motor and the reducer are mechanically rigidly connected. When the joint has a large load or impact, the strength of the parts and the stability of the module will deteriorate. This joint module does not have flexibility and impact resistance, and The torque it provides can only play a general boosting effect, and cannot stably output high torque to enhance the function of the human body.

The above driving methods cannot meet the needs of the module for high torque output and absorption of harmful shocks

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