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Bionic multi-degree-of-freedom adjustable exoskeleton robot hip joint mechanical structure

An exoskeleton robot and mechanical structure technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems that affect the use of users, strong sense of falling on the waist or back, poor coordination of human body movements, etc., to reduce the sense of falling , The effect of reducing the sense of falling and strong coordination

Pending Publication Date: 2022-06-28
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the prior art, the structure of the hip joint of the exoskeleton is relatively complicated, and the coordination with human body movements is poor, and the waist or back has a strong sense of falling, which affects the user's use

Method used

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  • Bionic multi-degree-of-freedom adjustable exoskeleton robot hip joint mechanical structure
  • Bionic multi-degree-of-freedom adjustable exoskeleton robot hip joint mechanical structure
  • Bionic multi-degree-of-freedom adjustable exoskeleton robot hip joint mechanical structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 2

[0078] On the basis of Embodiment 1, in some embodiments, the drive unit includes a drive motor 5; the rotating shaft of the drive motor 5 is fixedly connected with the end of the thigh support 2; the drive motor 5 is connected with a third an encoder, the third encoder is used to detect the third angle value of the rotation of the drive motor 5;

[0079] The output end of the third encoder is connected with a third control unit, and the third control unit is configured to:

[0080] receiving the third angle value;

[0081] When it is determined that the third angle value exceeds the third set range, the drive motor 5 is controlled to rotate to the initial state; in the initial state, the third angle value is 0.

[0082] Specifically, the third setting range is: -15° to 20°; in the initial state, the human body is in a natural standing state, and the third angle value is 0 at this time.

[0083] For example: when the wearer is performing a larger leg lift, the third encoder ...

Embodiment 3

[0092] On the basis of Embodiment 1, in some embodiments, such as image 3 As shown, a first rotating shaft 11 is fixedly installed on the back plate 1, the first end of the first hip connecting rod 3 is rotatably connected with the first rotating shaft 11, and the first rotating axis is the the central axis of the first rotating shaft 11;

[0093] A first encoder 12 is installed on the first hip connecting rod 3 and corresponding to the first rotating shaft 11 , and the first encoder 12 is used to detect the first angle value θ of the rotation of the first hip connecting rod 3 1 ; The output end of the first encoder 12 is connected with a first control unit, and the output end of the first control unit is connected with a first alarm unit;

[0094] The first control unit is configured to:

[0095] s11: Receive the first angle value θ 1 ;

[0096]s12: Calculate the first angle θ according to formula (1) a :

[0097] θ a =θ 0 +θ 1 ; (one)

[0098] where θ 0 When the ...

Embodiment 4

[0108] On the basis of Embodiment 3, in some embodiments, such as Figure 4 As shown, the second end of the first hip connecting rod 3 is rotatably mounted with a second rotating shaft 31, and the first end of the second hip connecting rod 4 is fixedly connected with the second rotating shaft 31, and the The second rotation axis is the central axis of the second rotation shaft 31;

[0109] A second encoder 32 is installed on the first hip connecting rod 3 and corresponding to the second shaft 31 , and the second encoder 32 is used to detect the second angle value θ at which the second shaft 31 rotates 2 ; The output end of the second encoder 32 is connected with a second control unit, and the output end of the second control unit is connected with a second alarm unit;

[0110] The second control unit is configured to:

[0111] s21: Receive the second angle value θ 2 ;

[0112] s22: Determine the second angle value θ 2 When the range of the second threshold value is exceed...

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Abstract

The invention provides a bionic multi-degree-of-freedom adjustable exoskeleton robot hip joint mechanical structure which is characterized in that a back plate is connected with the back of a human body; the thigh support is connected with the thigh of a human body; the first hip connecting rod is rotatably mounted on the back plate along a first rotating axis, and a set included angle is formed between the first rotating axis and the horizontal plane; the second hip connecting rod is rotatably mounted on the first hip connecting rod along a second rotating axis; the included angle between the second rotation axis and the first rotation axis and far away from the back plate is an acute angle; the driving unit is mounted on the second hip connecting rod; the output end of the driving unit is connected with the thigh support and used for driving the thigh support to rotate along a third rotation axis, and the third rotation axis is perpendicular to the second rotation axis. By means of the structure, the hip and thighs of the human body can stretch inwards and stretch outwards, bend forwards and stretch backwards and rotate inwards and outwards, the coordination between the hip joints and the human body is improved, and the falling feeling of the waist or the back is relieved.

Description

technical field [0001] The present disclosure generally relates to the technical field of exoskeleton robots, and in particular relates to a hip joint mechanical structure of a bionic multi-degree-of-freedom adjustable exoskeleton robot. Background technique [0002] With the rapid development of science and technology and the continuous change of market demand, robot technology has also developed rapidly. In recent years, the application scenarios of robots have become wider and wider, and the types of robots have also increased. [0003] As an important classification of robots, its exoskeleton robots have shown great potential in medical rehabilitation, helping the elderly and the disabled, military operations, handling heavy objects, and industrial production. to a high degree of attention. The movements of the lower limbs of the human body require complex joint cooperation to complete, so the joints of the exoskeleton robot need to be reasonably designed to coordinate...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0006
Inventor 张建华李子宽王唱曹鉴高超
Owner HEBEI UNIV OF TECH