Double-lasso driving flexible joint used for exoskeleton robot

Abstract

The invention discloses a double-lasso driving flexible joint used for an exoskeleton robot, which comprises a drive mechanism, a pre-tightening mechanism, a lasso transmission mechanism, a flexible mechanism and an exoskeleton joint. A motor drives a drilling roller to rotate; the two ends of a rope are respectively fixedly connected with the driving roller and a load roller; a driving torque is delivered to the load roller through the lasso transmission mechanism; the load roller is fixedly connected with the exoskeleton joint to drive the joint to move; a positioning hole and a positioning groove both capable of limiting the motion range of the joint are formed in the load roller; the pre-tightening mechanism adjusts a pre-tightening force of a rope by changing the screwing depth of a pre-tightening bolt so as to avoid looseness of a drive system; the flexible mechanism enables the joint to achieve flexibility and can measure an output torque based on a displacement offset of the motor and the joint. The double-lasso driving flexible joint used for the exoskeleton robot can realize separation of the motor and the exoskeleton robot, overcomes the problems of the quality of each joint of the exoskeleton and too great inertia, and can perform precise position control and force control on the drive joint.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a double lasso-driven compliant joint device for an exoskeleton robot. Background technique [0002] The exoskeleton robot is a mechanical system that can be worn on the outside of the user. It assists the user and the exoskeleton to coordinate the movement through the drivers installed on each joint, supplemented by angular displacement sensors and joint torque sensors, to achieve power assistance and walking assistance. and rehabilitation functions. [0003] Studies have shown that repetitive exercise training on the affected side of hemiplegia patients can help restore the control and control of the central nervous system over limb movements, enhance the patient's muscle strength, improve movement coordination, and effectively prevent muscle atrophy and bone loss. Symptoms such as looseness. The rehabilitation exoskeleton system is a robotic system that assists or replaces phys...

AI Technical Summary

Problems solved by technology

[0005] At the same time, since the rehabilitation exoskeleton is mainly used for rehabilitation training of patients with motor dysfunction, the exoskeleton joints are required to have a certain degree of flexibility, and the rigid sports joints can easily cause damage to the patient's limbs during rehabilitation training.

In rehabilitation training, it is necessary to control the joint driving torque of the rehabilitation exoskeleton, so it is often necessary to use an additional joint torque sensor, and the price of the joint torque sensor is often very expensive, which will greatly increase the cost of use and the complexity of the overall mechanism

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