CN111300377A - Lower limb wearing enhanced exoskeleton robot based on steel wire driving - Google Patents
Lower limb wearing enhanced exoskeleton robot based on steel wire driving Download PDFInfo
- Publication number
- CN111300377A CN111300377A CN201811507269.3A CN201811507269A CN111300377A CN 111300377 A CN111300377 A CN 111300377A CN 201811507269 A CN201811507269 A CN 201811507269A CN 111300377 A CN111300377 A CN 111300377A
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- China
- Prior art keywords
- hip joint
- joint
- pulley
- knee joint
- steel wire
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a lower limb wearing enhanced exoskeleton robot based on steel wire driving, which comprises a back plate base, a battery, a hip joint driver and a knee joint driver, wherein the battery is arranged on one side of the back plate base. Has the advantages that: the whole power mechanism is reduced and integrated to the back of a user through a steel wire transmission technology, the structure of a joint is reduced, the overall thickness of a leg mechanism is reduced, the movement deflection inertia is reduced, a motor and a speed reduction unit which are installed at the joint of the traditional exoskeleton equipment are eliminated, all power reaches each driving joint through the steel wire transmission technology, so that the equipment is miniaturized and lightened, better assistance and following characteristics are provided, the user cannot feel the interference of a machine on a human body, the assistance effect brought by the exoskeleton can be felt in the walking and carrying processes in real time, the working strength of the user is reduced, and the working comfort and the working efficiency are improved.
Description
Technical Field
The invention relates to the technical field of industrial automation, in particular to a lower limb wearing enhanced exoskeleton robot based on steel wire driving.
Background
In the current industrial production operation, a plurality of workers need to use heavy tools or carry some articles in the logistics industry every day, bend down, and the like, long-time repeated and high-strength movement can cause worker fatigue, muscle damage and other series of safety and efficiency problems. The exoskeleton is poor in flexibility, other products adopt pneumatic power design, the device needs a compressor to provide origin, the noise of the device is high, the size of the compressor is large, the moving capacity is limited, the mobility of the exoskeleton is greatly limited, the operation precision of a pneumatic system is low, the pipeline layout is loose and not compact, the occupied space is large, and the wearing effect of the exoskeleton is influenced.
Disclosure of Invention
The invention aims to solve the problems and provide a lower limb wearing reinforced exoskeleton robot based on steel wire driving.
The invention realizes the purpose through the following technical scheme:
a lower limb wearing enhanced exoskeleton robot based on steel wire driving comprises a back plate base, a battery, a hip joint driver and a knee joint driver, wherein the battery is arranged on one side of the back plate base, the hip joint driver is arranged below the battery, the knee joint driver is arranged on one side of the hip joint driver, a hip joint absolute position unit is arranged below the hip joint driver, a knee joint absolute position unit is arranged below the knee joint driver, a pelvis adjusting base is arranged below the back plate base, a pelvis width adjusting and locking handle is arranged below the pelvis adjusting base, a pelvis soft package is arranged below the pelvis width adjusting and locking handle, a first steering pulley is arranged on each of two sides of the hip joint driver and the knee joint driver, a second steering pulley is arranged on one side of the first steering pulley, a hip joint steel wire driving chain is arranged between the first steering pulleys, a steel wire steering structural part is arranged between the second steering pulleys, an outer side pulley II is arranged on one side of each of the second steering pulleys, a hip joint abduction and adduction rotating shaft is arranged on one side of each of the second outer side pulleys, an outer side pulley I is arranged below each of the second outer side pulleys, a hip joint flexion and extension rotating shaft is arranged on one side of each of the first outer side pulleys, a knee joint driving steering pulley is arranged on the periphery of the hip joint flexion and extension rotating shaft, a hip joint driving fixed pulley is arranged on one side of each of the knee joint driving steering pulleys, a hip joint abduction and adduction structure is arranged on one side of each of the hip joint driving fixed pulleys, a knee joint driving steel wire is arranged on each of the knee joint driving steering pulleys, a hip joint is arranged on the other side of each of, the ankle joint bending and stretching device is characterized in that a knee joint is arranged at the lower end of the hip joint, a knee joint rotating shaft is arranged between the knee joint and the hip joint, a lower leg is arranged below the knee joint, a first fixing bandage is arranged on the lower leg, a knee joint force sensor is arranged on the first fixing bandage, a knee joint fixed pulley is arranged on the side wall of the lower leg, an ankle fixer is arranged below the knee joint fixed pulley, an ankle joint bending and stretching rotating shaft is arranged between the ankle fixer and the lower leg, an ankle joint inner and outer overturning shaft is arranged below the ankle joint bending and stretching rotating shaft, and a plantar effect device is arranged below the ankle fixer.
Further, the hip joint driver, the knee joint driver and the backboard base are connected through screws, the model of the hip joint driver is SRS-545SH, and the model of the knee joint driver is SRS-545 SH.
Furthermore, the battery is connected with the back plate base through a clamping groove, and the hip joint absolute position unit and the knee joint absolute position unit are connected with the back plate base through screws.
Further, the pelvis adjusting base is connected with the back plate base through bolts, the pelvis width adjusting and locking handle is connected with the pelvis adjusting base through threads, and the soft bag of the pelvis is connected with the pelvis adjusting base through screws.
Furthermore, the first steering pulley and the second steering pulley are in rolling connection with the pelvis adjusting base, and the first steering pulley and the second steering pulley are connected through the hip joint steel wire driving chain.
Furthermore, the hip joint is connected with the pelvis adjusting base through the hip joint flexion and extension rotating shaft, and the outer side pulley I and the outer side pulley II are connected with the hip joint in a rolling mode.
Furthermore, the hip joint driving fixed pulley and the knee joint driving diverting pulley are connected with the hip joint in a rolling way.
Furthermore, the second fixing bandage is connected with the hip joint through screws, the second fixing bandage is connected with the hip joint force sensor through screws, and the type of the hip joint force sensor is SYS-01B.
Furthermore, the shank is connected with the first fixing bandage through screws, the first fixing bandage is connected with the knee joint force sensor through screws, the shank is connected with the hip joint through the knee joint, and the knee joint force sensor is SYS-01B in model.
Furthermore, the ankle fixator is connected with the shank through the ankle joint inner and outer turnover shaft, and the plantar effector is connected with the ankle fixator through screws.
The specific working principle is as follows: when the pelvis adjusting and locking device is used, firstly, the width of the pelvis adjusting base is adjusted through the pelvis width adjusting and locking handle to be consistent with the pelvis width of a wearer, then, the feet of the wearer are fixed on the ankle fixator, the legs of the wearer are fixed through the first fixing bandage and the second fixing bandage, the backboard base is fixed on the back of the wearer, the hip joint force sensor and the knee joint force sensor can detect the force exerting condition of the legs of the wearer in real time, the battery supplies power for the robot, the hip joint driver and the knee joint driver can detect the force exerting condition of the wearer according to the hip joint force sensor and the knee joint force sensor, force compensation is carried out through self-developed embedded system software, follow motion and power-assisted motion control are carried out, and then force compensation, power-assisted motion control and force compensation are carried out through the first steering pulley, The utility model discloses a leg motion, including two diverting pulleys, outside pulley one and outside pulley two, then the synchronous output process of control moment, with power transmission to hip joint and knee joint on to form the helping hand cooperation to the human body of user, the hip joint is bent and is stretched the pivot and the knee joint pivot provides two degrees of freedom that take power for the motion of wearer's shank, the inside and outside trip shaft of ankle joint, hip joint abduction adduction pivot and the extension pivot of ankle joint flexion provide three under-actuated degree of freedom for the motion of wearer's shank, can fully guarantee the travelling comfort of wearer's wearing process, overall design is compacter simultaneously, the lightweight, and through the hip joint and the ankle of the wearer of silk transmission technology control, leg structural dimension has effectively been reduced for shank rigid structure human joint of laminating more, motion inertia reduces by a wide margin, the mechanism is compact.
The invention has the beneficial effects that:
1. the whole power mechanism is reduced and integrated on the back of a user through a steel wire transmission technology, so that the structure of a joint is reduced, the overall thickness of a leg mechanism is reduced, and the movement deflection inertia is reduced;
2. the invention cancels the motor and the speed reducing unit which are arranged at the joint of the traditional exoskeleton equipment, and all power reaches each driving joint through the steel wire transmission technology, thereby leading the equipment to be miniaturized and lightened and providing better assistance and following characteristics;
3. when the device is used, a user cannot feel the interference of a machine to a human body, can feel the assistance effect brought by the exoskeleton in the walking and carrying processes in real time, reduces the working strength of the user, and improves the working comfort and the working efficiency.
Drawings
FIG. 1 is a front view of a lower limb wearing enhanced exoskeleton robot based on steel wire driving according to the invention;
FIG. 2 is a back view of the reinforced exoskeleton robot for wearing lower limbs based on steel wire driving according to the invention;
FIG. 3 is a schematic diagram of the connection relationship between a pelvis adjusting base, a pelvis width adjusting and locking handle and a pelvis soft bag in the lower limb wearing enhanced exoskeleton robot based on steel wire driving according to the invention;
FIG. 4 is a first schematic view of the connection relationship between the pelvis adjusting base and the hip joint of the steel wire-driven lower limb wearing enhanced exoskeleton robot;
FIG. 5 is a second schematic view of the connection relationship between the pelvis adjusting base and the hip joint of the lower limb wearing enhanced exoskeleton robot based on steel wire driving according to the present invention;
FIG. 6 is a third schematic view of the connection relationship between the pelvis adjusting base and the hip joint of the lower limb wearing enhanced exoskeleton robot based on steel wire driving according to the third embodiment of the invention;
fig. 7 is a circuit block diagram of the lower limb wearing enhanced exoskeleton robot based on steel wire driving.
The reference numerals are explained below:
1. a back plate base; 2. a battery; 3. a hip joint driver; 4. a knee joint driver; 5. a hip joint absolute position unit; 6. a knee joint absolute position unit; 7. a pelvis adjusting base; 8. a pelvis width adjusting and locking handle; 9. soft packing of the pelvis; 10. a hip joint wire drive chain; 11. a steel wire steering structure; 12. a first diverting pulley; 13. a second diverting pulley; 14. the hip joint abducts and adduces the rotating shaft; 15. a first outer pulley; 16. a second outer pulley; 17. a hip joint flexion and extension rotating shaft; 18. the knee joint drives the diverting pulley; 19. the hip joint drives the fixed pulley; 20. a hip joint abduction and adduction structure; 21. a knee joint drive wire; 22. fixing the first binding band; 23. a hip joint force sensor; 24. a knee joint rotating shaft; 25. a knee joint; 26. a knee joint fixed pulley; 27. fixing a second binding band; 28. a knee joint force sensor; 29. an ankle joint flexion and extension rotating shaft; 30. an ankle joint inner and outer overturning shaft; 31. an ankle fixator; 32. a hip joint; 33. a lower leg; 34. a plantar effector.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1-7, a lower limb wearing enhanced exoskeleton robot based on steel wire driving comprises a back plate base 1, a battery 2, a hip joint driver 3 and a knee joint driver 4, wherein the battery 2 is arranged on one side of the back plate base 1, the battery 2 supplies power for the robot to do assisted movement, the hip joint driver 3 is arranged below the battery 2, the knee joint driver 4 is arranged on one side of the hip joint driver 3, the hip joint driver 3 and the knee joint driver 4 provide power for the robot to do assisted movement, a hip joint absolute position unit 5 is arranged below the hip joint driver 3, a knee joint absolute position unit 6 is arranged below the knee joint driver 4, a pelvis adjusting base 7 is arranged below the back plate base 1, a pelvis width adjusting locking handle 8 is arranged below the pelvis adjusting base 7, the pelvis width adjusting and locking handle 8 is used for adjusting the width of a pelvis adjusting base 7, a pelvis soft package 9 is arranged below the pelvis width adjusting and locking handle 8, two sides of the hip joint driver 3 and the knee joint driver 4 are respectively provided with a first steering pulley 12, one side of the first steering pulley 12 is provided with a second steering pulley 13, a hip joint steel wire driving chain 10 is arranged between the first steering pulleys 12, a steel wire steering structural member 11 is arranged between the second steering pulleys 13, one side of the second steering pulley 13 is provided with a second outer side pulley 16, the first steering pulley 12, the second steering pulley 13, the first side pulley and the second side pulley are used for transmitting power, one side of the second outer side pulley 16 is provided with a hip joint extension and retraction rotating shaft 14, one side of the second outer side pulley 16 is provided with a first outer side pulley 15, one side of the first outer side pulley 15 is provided with a hip joint extension and flexion rotating shaft 17, a knee joint driving and steering pulley 18 is arranged on the periphery of the hip joint flexion and extension rotating shaft 17, a hip joint driving fixed pulley 19 is arranged on one side of the knee joint driving and steering pulley 18, a hip joint abduction and adduction structure 20 is arranged on one side of the hip joint driving fixed pulley 19, a knee joint driving steel wire 21 is arranged on the knee joint driving and steering pulley 18, the knee joint 25 driving steel wire 21 is used for transmitting power, a hip joint 32 is arranged on the other side of the knee joint driving and steering pulley 18, a second fixing bandage 27 is arranged on the hip joint 32, a hip joint force sensor 23 is arranged on the second fixing bandage 27, the hip joint force sensor 23 is used for detecting the acting force condition of thighs of a wearer, a knee joint 25 is arranged at the lower end of the hip joint 32, a knee joint rotating shaft 24 is arranged between the knee joint 25 and the hip joint 32, and, the ankle bending and stretching device is characterized in that a first fixing strap 22 is arranged on the lower leg 33, a knee joint force sensor 28 is arranged on the first fixing strap 22, the knee joint force sensor 28 is used for detecting the force exerting condition of the lower leg 33 of a wearer, a knee joint fixed pulley 26 is arranged on the side wall of the lower leg 33, an ankle fixing device 31 is arranged below the knee joint fixed pulley 26, an ankle bending and stretching rotating shaft 30 is arranged between the ankle fixing device 31 and the lower leg 33, an ankle inner and outer overturning shaft 30 is arranged below the ankle bending and stretching rotating shaft 30, and a foot sole effect device 34 is arranged below the ankle fixing device 31.
In this embodiment, the hip joint driver 3 and the knee joint driver 4 are connected to the backplate base 1 by screws, the hip joint driver 3 and the knee joint driver 4 provide power for assistant movement of the robot, the hip joint driver 3 is SRS-545SH, and the knee joint driver 4 is SRS-545 SH.
In this embodiment, the battery 2 is connected to the backboard base 1 through a card slot, the battery 2 supplies power to the robot, and the hip joint absolute position unit 5 and the knee joint absolute position unit 6 are connected to the backboard base 1 through screws.
In this embodiment, pelvis adjustment base 7 with backplate base 1 passes through bolted connection, pelvis width adjustment locking handle 8 with pelvis adjustment base 7 passes through threaded connection, soft package of pelvis 9 with pelvis adjustment base 7 passes through screwed connection, pelvis width adjustment locking handle 8 is used for adjusting pelvis adjustment base 7's width.
In this embodiment, the first diverting pulley 12 and the second diverting pulley 13 are both in rolling connection with the pelvis adjusting base 7, the first diverting pulley 12 and the second diverting pulley 13 are connected through the hip joint steel wire driving chain 10, and the hip joint steel wire driving chain 10 is used for transmitting power.
In this embodiment, the hip joint 32 and the pelvis adjusting base 7 are connected by the hip joint flexion and extension rotating shaft 17, and the first outer pulley 15 and the second outer pulley 16 are both connected with the hip joint 32 in a rolling manner.
In this embodiment, the hip joint driving fixed pulley 19 and the knee joint driving diverting pulley 18 are both connected to the hip joint 32 in a rolling manner, and the hip joint driving fixed pulley 19 and the knee joint driving diverting pulley 18 are both used for transmitting power.
In this embodiment, the second fixing band 27 is connected to the hip joint 32 by screws, the second fixing band 27 is connected to the hip joint force sensor 23 by screws, and the model of the hip joint force sensor 23 is SYS-01B.
In this embodiment, the lower leg 33 is connected to the first fixing strap 22 through a screw, the first fixing strap 22 is connected to the knee joint force sensor 28 through a screw, the lower leg 33 is connected to the hip joint 32 through the knee joint 25, and the model of the knee joint force sensor 28 is SYS-01B.
In this embodiment, the ankle fixator 31 and the lower leg 33 are connected by the ankle inner and outer roll-over shaft 30, and the plantar effector 34 and the ankle fixator 31 are connected by screws.
The specific working principle is as follows: when in use, firstly, the width of the pelvis adjusting base 7 is adjusted through the pelvis width adjusting and locking handle 8 to be consistent with the pelvis width of a wearer, then the feet of the wearer are fixed on the ankle fixator 31, the legs of the wearer are fixed through the first fixing bandage 22 and the second fixing bandage 27, the backboard base 1 is fixed on the back of the wearer, the force exerting condition of the legs of the wearer can be detected in real time through the hip joint force sensor 23 and the knee joint force sensor 28, the battery 2 supplies power for the robot, the hip joint driver 3 and the knee joint driver 4 can carry out force compensation, follow-up movement and assisted movement control through self-developed embedded system software according to the force exerting condition of the wearer detected by the hip joint force sensor 23 and the knee joint force sensor 28, then, the force is transmitted through the first steering pulley 12, the second steering pulley 13, the first outer pulley 15 and the second outer pulley 16, then the synchronous output process of the torque is controlled, the power is transmitted to the hip joint 32 and the knee joint 25, so that the assistance cooperation to the human body of the user is formed, the hip joint flexion and extension rotating shaft 17 and the knee joint rotating shaft 24 provide two degrees of freedom with power for the leg movement of the wearer, the ankle joint internal and external overturning shaft 30, the hip joint abduction and adduction rotating shaft 14 and the ankle joint flexion and extension rotating shaft 29 provide three under-actuated degrees of freedom for the leg movement of the wearer, the comfort in the wearing process of the wearer can be fully ensured, meanwhile, the whole design is more compact and light, the hip joint and the ankle of the wearer controlled by the wire transmission technology effectively reduce the structural size of the leg, the leg rigid structure is more attached to the human joint, the motion inertia is greatly reduced, and the mechanism is compact.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (10)
1. The utility model provides a dress enhancement mode ectoskeleton robot based on steel wire drive low limbs which characterized in that: comprises a backboard base (1), a battery (2), a hip joint driver (3) and a knee joint driver (4), wherein the battery (2) is arranged on one side of the backboard base (1), the hip joint driver (3) is arranged below the battery (2), the knee joint driver (4) is arranged on one side of the hip joint driver (3), a hip joint absolute position unit (5) is arranged below the hip joint driver (3), a knee joint absolute position unit (6) is arranged below the knee joint driver (4), a pelvis adjusting base (7) is arranged below the backboard base (1), a pelvis width adjusting and locking handle (8) is arranged below the pelvis adjusting and locking base (7), a pelvis soft package (9) is arranged below the pelvis width adjusting and locking handle (8), a first steering pulley (12) is arranged on two sides of the hip joint driver (3) and the knee joint driver (4), a second diverting pulley (13) is arranged on one side of the first diverting pulley (12), a hip joint steel wire driving chain (10) is arranged between the first diverting pulleys (12), a steel wire steering structural member (11) is arranged between the second diverting pulleys (13), a second outer pulley (16) is arranged on one side of the second diverting pulley (13), a hip joint abduction and adduction rotating shaft (14) is arranged on one side of the second outer pulley (16), a first outer pulley (15) is arranged below the second outer pulley (16), a hip joint flexion and extension rotating shaft (17) is arranged on one side of the first outer pulley (15), a knee joint driving diverting pulley (18) is arranged on the periphery of the hip joint flexion and extension rotating shaft (17), a hip joint driving fixed pulley (19) is arranged on one side of the knee joint driving diverting pulley (18), a hip joint abduction and adduction structure (20) is arranged on one side of the hip joint driving fixed pulley (19), a knee joint driving steel wire (21) is arranged on the knee joint driving steering pulley (18), a hip joint (32) is arranged on the other side of the knee joint driving steering pulley (18), a second fixing bandage (27) is arranged on the hip joint (32), a hip joint force sensor (23) is arranged on the second fixing bandage (27), a knee joint (25) is arranged at the lower end of the hip joint (32), a knee joint rotating shaft (24) is arranged between the knee joint (25) and the hip joint (32), a lower leg (33) is arranged below the knee joint (25), a first fixing bandage (22) is arranged on the lower leg (33), a knee joint force sensor (28) is arranged on the first fixing bandage (22), a knee joint fixed pulley (26) is arranged on the side wall of the lower leg (33), and an ankle fixer (31) is arranged below the knee joint fixed pulley (26), an ankle joint bending and stretching rotating shaft (30) is arranged between the ankle fixator (31) and the lower leg (33), an ankle joint inner and outer overturning shaft (30) is arranged below the ankle joint bending and stretching rotating shaft (30), and a foot sole effect device (34) is arranged below the ankle fixator (31).
2. The steel wire drive-based lower limb wearing enhanced exoskeleton robot as claimed in claim 1, wherein: the hip joint driver (3) and the knee joint driver (4) are connected with the backboard base (1) through screws, the type of the hip joint driver (3) is SRS-545SH, and the type of the knee joint driver (4) is SRS-545 SH.
3. The steel wire drive-based lower limb wearing enhanced exoskeleton robot as claimed in claim 1, wherein: the battery (2) is connected with the backboard base (1) through a clamping groove, and the hip joint absolute position unit (5) and the knee joint absolute position unit (6) are connected with the backboard base (1) through screws.
4. The steel wire drive-based lower limb wearing enhanced exoskeleton robot as claimed in claim 1, wherein: pelvic bone adjustment base (7) with backplate base (1) passes through bolted connection, pelvic bone width adjustment locking handle (8) with pelvic bone adjustment base (7) pass through threaded connection, soft package of pelvic bone (9) with pelvic bone adjustment base (7) pass through bolted connection.
5. The steel wire drive-based lower limb wearing enhanced exoskeleton robot as claimed in claim 1, wherein: the first diverting pulley (12) and the second diverting pulley (13) are in rolling connection with the pelvis adjusting base (7), and the first diverting pulley (12) is connected with the second diverting pulley (13) through the hip joint steel wire driving chain (10).
6. The steel wire drive-based lower limb wearing enhanced exoskeleton robot as claimed in claim 1, wherein: the hip joint (32) is connected with the pelvis adjusting base (7) through the hip joint flexion and extension rotating shaft (17), and the outer side pulley I (15) and the outer side pulley II (16) are in rolling connection with the hip joint (32).
7. The steel wire drive-based lower limb wearing enhanced exoskeleton robot as claimed in claim 1, wherein: the hip joint driving fixed pulley (19) and the knee joint driving diverting pulley (18) are both in rolling connection with the hip joint (32).
8. The steel wire drive-based lower limb wearing enhanced exoskeleton robot as claimed in claim 1, wherein: the second fixing bandage (27) is connected with the hip joint (32) through screws, the second fixing bandage (27) is connected with the hip joint force sensor (23) through screws, and the type of the hip joint force sensor (23) is SYS-01B.
9. The steel wire drive-based lower limb wearing enhanced exoskeleton robot as claimed in claim 1, wherein: the lower leg (33) is connected with the first fixing strap (22) through screws, the first fixing strap (22) is connected with the knee joint force sensor (28) through screws, the lower leg (33) is connected with the hip joint (32) through the knee joint (25), and the model of the knee joint force sensor (28) is SYS-01B.
10. The steel wire drive-based lower limb wearing enhanced exoskeleton robot as claimed in claim 1, wherein: the ankle fixator (31) is connected with the lower leg (33) through the ankle joint inner and outer overturning shaft (30), and the foot sole effector (34) is connected with the ankle fixator (31) through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811507269.3A CN111300377A (en) | 2018-12-11 | 2018-12-11 | Lower limb wearing enhanced exoskeleton robot based on steel wire driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811507269.3A CN111300377A (en) | 2018-12-11 | 2018-12-11 | Lower limb wearing enhanced exoskeleton robot based on steel wire driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111300377A true CN111300377A (en) | 2020-06-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811507269.3A Pending CN111300377A (en) | 2018-12-11 | 2018-12-11 | Lower limb wearing enhanced exoskeleton robot based on steel wire driving |
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| Country | Link |
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| CN (1) | CN111300377A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113367941A (en) * | 2021-06-18 | 2021-09-10 | 南开大学 | Rigid knee joint exoskeleton |
| CN114886727A (en) * | 2022-04-02 | 2022-08-12 | 长春工业大学 | Wearable three-degree-of-freedom hip joint rehabilitation device |
-
2018
- 2018-12-11 CN CN201811507269.3A patent/CN111300377A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113367941A (en) * | 2021-06-18 | 2021-09-10 | 南开大学 | Rigid knee joint exoskeleton |
| CN114886727A (en) * | 2022-04-02 | 2022-08-12 | 长春工业大学 | Wearable three-degree-of-freedom hip joint rehabilitation device |
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