Bionic joint and exoskeleton robot

Abstract

The invention discloses a bionic joint and an exoskeleton robot. The bionic joint comprises a bionic joint assembly, a first connecting rod and a joint rotating assembly; the bionic joint assembly comprises a first joint and a second joint, and the second joint and the first joint are oppositely arranged; the first connecting rod is provided with a first rotating shaft hole and a second rotating shaft hole which are formed in the length direction of the first connecting rod in a spaced mode; the joint rotating assembly comprises a first gear fixedly connected with the first joint and a secondgear fixedly connected with the second joint, and the first gear meshes with the second gear; a first rotating shaft is rotatably connected to the first gear and stretches out from the first gear to form a first stretching end, and the first stretching end is rotatably connected to the first rotating shaft hole; and a second rotating shaft is fixedly connected to the second gear and stretches outfrom the second gear to form a second stretching end, and the second stretching end is rotatably connected to the second rotating shaft hole. The bionic joint is used for improving the freedom degreeof the bionic joint and can achieve axis-variable movement to help a human body restore a movement function, and the comfortableness of the human body is improved.

Description

technical field [0001] The invention relates to the technical field of robot bionics, in particular to a bionic joint and an exoskeleton robot. Background technique [0002] Existing exoskeleton joints mostly use a single-axis form, which can only achieve simple single-axis rotational movement. Therefore, the exoskeleton joints have only one degree of freedom and cannot simulate the joint movement form of the human body. [0003] However, due to the complex movement forms of human joints such as flexion and extension, internal rotation, and external rotation, after the human body is put on a single-degree-of-freedom exoskeleton, relative displacement will occur during the movement process, thereby generating additional forces and moments on the human body, not only It cannot help the human body recover its motor function, and it will aggravate joint motor dysfunction, lose the ability of the limbs to move freely, and even cause secondary injuries. Contents of the invention...

AI Technical Summary

Problems solved by technology

[0002] Existing exoskeleton joints mostly use a single-axis form, which can only achieve simple single-axis rotational movement. Therefore, the exoskeleton joints have only one degree of freedom and cannot simulate the joint movement of the human body.

[0003] However, due to the complex movement forms of human joints such as flexion and extension, internal rotation, and external rotation, after the human body is put on a single-degree-of-freedom exoskeleton, relative displacement will occur during the movement process, thereby generating additional forces and moments on the human body, not only It cannot help the human body recover its motor function, and it will aggravate joint motor dysfunction, lose the ability of limbs to move freely, and even cause secondary injuries

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